CN106723135B - The method of intelligence removal green peel of walnut - Google Patents
The method of intelligence removal green peel of walnut Download PDFInfo
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- CN106723135B CN106723135B CN201611029757.9A CN201611029757A CN106723135B CN 106723135 B CN106723135 B CN 106723135B CN 201611029757 A CN201611029757 A CN 201611029757A CN 106723135 B CN106723135 B CN 106723135B
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- green peel
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- 235000020234 walnut Nutrition 0.000 title claims abstract description 181
- 235000009496 Juglans regia Nutrition 0.000 title claims abstract description 173
- 238000000034 method Methods 0.000 title claims abstract description 31
- 240000007049 Juglans regia Species 0.000 title 1
- 241000758789 Juglans Species 0.000 claims abstract description 172
- 238000005520 cutting process Methods 0.000 claims abstract description 67
- 238000012545 processing Methods 0.000 claims abstract description 13
- 241000758791 Juglandaceae Species 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 claims abstract 5
- 230000008569 process Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 238000007781 pre-processing Methods 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 16
- 239000010959 steel Substances 0.000 description 16
- 206010040844 Skin exfoliation Diseases 0.000 description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 244000144730 Amygdalus persica Species 0.000 description 5
- 235000006040 Prunus persica var persica Nutrition 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 210000003491 skin Anatomy 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002195 synergetic effect Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 235000014571 nuts Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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
- A23N5/00—Machines for hulling, husking or cracking nuts
- A23N5/08—Machines for hulling, husking or cracking nuts for removing fleshy or fibrous hulls of nuts
Landscapes
- 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
本发明提供的智能化去除核桃青皮的方法，包括：启动第一传送带，核桃逐个从第一传送带的入口处落入吸盘上；第一气缸带动位于核桃两侧的第一固定板将该核桃抵住；第二气缸带动第一切刀切入对应核桃的青皮内；第一电机转动，第一切刀切除青皮；第一气缸伸缩轴收缩，核桃重新落入对应的吸盘中并移动至于第二切割组件一一对应处；第四气缸的伸缩轴伸出且当两爪移动至核桃处后两爪闭合抓取核桃；位于核桃两侧的第三气缸的伸缩轴伸出，第四气缸带动核桃上下移动，第二切刀切除核桃两侧的青皮。本发明提供的方法在统计最终宽度值时采用了多次采集数据并对这些数据进行处理以获取最优结果的方式，提高了预定范围的准确性。
The method for intelligently removing walnut green skin provided by the present invention includes: starting a first conveyor belt, and walnuts fall into suction cups one by one from the entrance of the first conveyor belt; Hold; the second cylinder drives the first cutting knife to cut into the green skin of the corresponding walnut; the first motor rotates, and the first cutting knife cuts the green skin; the first cylinder retracts the telescopic shaft, and the walnut falls back into the corresponding suction cup and moves to the second cutting The components correspond one by one; the telescopic shaft of the fourth cylinder extends and when the two claws move to the walnut, the two claws are closed to grab the walnut; the telescopic shaft of the third cylinder located on both sides of the walnut extends, and the fourth cylinder drives the walnut up and down Move, the second knife cuts off the green skin on both sides of the walnut. The method provided by the present invention adopts the method of collecting data multiple times and processing the data to obtain the optimal result when calculating the final width value, which improves the accuracy of the predetermined range.
Description
Technical field
The present invention relates to walnut manufacture fields, more particularly to the method for intelligent removal green peel of walnut.
Background technique
In traditional nut stripping green peel machine, rack, steel wire wheel axle, helical axis and motor-driven belt are generally included
The both ends of wheel, steel wire wheel axle and helical axis pass through bearing support connexon on the rack, pass through steel wire wheel axle, spring pressuring plate group
Part and helical axis tripartite form extrusion chamber and squeeze walnut fruit, to realize that green peel of walnut is stripped completely.But it goes at this
Except in green peel method, being to a large amount of walnut while to handle, it is unable to guarantee each walnut after removing green peel immediately
It is taken out from the machine, to guarantee the integrality of sclerderm inside walnut.
Summary of the invention
The technical problem to be solved by the present invention is to provide the method for intelligent removal green peel of walnut, to realize in protection core
The integrality of green peel is removed while peach.
The technical scheme is that a kind of method of intelligent removal green peel of walnut, the method includes the steps:
S1, the first conveyer belt of starting, do not go the walnut of green peel to fall into sucker from the inlet of first conveyer belt one by one
On, first conveyer belt by all walnuts be transferred to respectively at the first cutting assembly one-to-one correspondence, first conveyer belt
Stop motion；
The telescopic shaft stretching of S2, the first cylinder, the first fixed plate positioned at walnut two sides resist the walnut；
The telescopic shaft stretching of S3, the second cylinder, drive the first cutter to cut in the green peel of corresponding walnut；
S4, first motor rotation, drive walnut rotation, and first cutter cuts off green peel；
S5, the first Telescopic-cylinder axis are shunk, and walnut is fallen into again in corresponding sucker, start first transmission
Band, it is all through first cutter treated walnut it is mobile as the second cutting assembly one-to-one correspondence at；
S6, the telescopic shaft stretching of the 4th cylinder and two pawl cylinders drive two pawls to open, when two pawl is moved at walnut
Two pawls closure crawl walnut afterwards；
S7, positioned at walnut two sides third cylinder telescopic shaft stretch out, drive two the second cutters of two sides to move respectively
To two of walnut to side, the 4th cylinder drives walnut to move up and down, the blueness of the second cutter excision walnut two sides
Skin.
Preferably, being further comprised the steps of: between step S4 and step S5
S01, the first motor rotation acquires walnut image from the surface of each walnut after a week and carries out every time
Processing, judges whether detect green peel in the preset range of walnut according to the walnut image, if so, executing step S02；It is no
Then, step S5 is executed；
S02, judge whether walnut inner surface exposes according to the walnut image, if exposing, execute step S03；Otherwise, it holds
Row step S3；
S03, first cylinder synergistic effect positioned at walnut two sides drive walnut along the axial direction side of first cylinder
To movement, return step S3.
Preferably, being further comprised the steps of: before step S01
S00, obtain the distance that first conveyor belt two sides are oppositely arranged two first fixed plates, by it is described away from
From the corresponding preset range of walnut for obtaining the two the first fixed plate clampings.
Preferably, being further comprised the steps of: before step S01
S00, obtain the distance that first conveyor belt two sides are oppositely arranged two first fixed plates, by it is described away from
From the corresponding preset range of walnut for obtaining the two the first fixed plate clampings.
Preferably, obtaining the process packet that first conveyor belt two sides are oppositely arranged the distance of two first fixed plates
Include step:
S001, the second cylinder right above first fixed plate axial direction shoot image, obtain fixed plate figure
Picture；
S002, the fixed plate image is pre-processed, obtains gray level image；
S003, obtain in the gray level image it is all along the vertical direction on rectilinear strip；
S004, corresponding four lines of first fixed plate are identified from all rectilinear strips；
The width value of the nearest two lines item of distance in four lines that S005, acquisition identify；
And repeat step S001 to step S002 several times, obtain several width values, to the width value into
Row processing obtains final width value, obtains the preset range according to the final width value.
Preferably, the calculation formula of the final width value are as follows:
Hi=min (H 'i)
Wherein, H is the final width value, and m is the group number after being divided all width values,It is i-th group
Described in width value average value, H 'iFor the standard deviation of width value described in i-th group, HiFor the minimum of width criteria difference in m group
Value, n is the number of the image acquisition device measured every time, Li,jFor the width value that j-th of image acquisition device in i-th group obtains, h
(H′i) it is first choice function, HiaFor the spare width value in i-th group, h (h (H 'i)) be and first choice function h (H 'i) fixed
The second opposite selection function of adopted domain.
Above-mentioned technical proposal has the following advantages that or the utility model has the advantages that by the above method, realizes to the quick, smart of walnut
Quasi- goes green peel to handle.The use of two-stage cutting assembly, guarantee do not damage inside walnut while to green peel carried out quickly,
Accurately remove.In addition, constantly judging whether to protect at the epidermis of cutter walnut with this during cutting off green peel
Fine and to walnut inner surface the protection of entire excision process is demonstrate,proved.It is worth noting that due to the difference of walnut size,
So the requirement in cutting process is also different, therefore by the way of determining preset range according to walnut width, so that entirely
Cutting process is more fine and intelligent.Finally, the accuracy in order to guarantee entire cutting process, when counting final width value
It uses multi collect data and these data is handled in a manner of obtaining optimal result, improve the standard of preset range
True property.
Detailed description of the invention
With reference to appended attached drawing, more fully to describe the embodiment of the present invention.However, appended attached drawing be merely to illustrate and
It illustrates, and is not meant to limit the scope of the invention.
Fig. 1 is a kind of partial structure diagram one for the assembly line for removing green peel of walnut of the present invention；
Fig. 2 is a kind of partial structure diagram two for the assembly line for removing green peel of walnut of the present invention；
Fig. 3 is the structural schematic diagram of transport channel in a kind of assembly line for removing green peel of walnut of the present invention；
Fig. 4 is the structural schematic diagram of secondary peeling device in a kind of assembly line for removing green peel of walnut of the present invention；
Fig. 5 is the flow chart one of the method for the intelligent removal green peel of walnut of the present invention；
Fig. 6 is the flowchart 2 of the method for the intelligent removal green peel of walnut of the present invention；
Fig. 7 is the flow chart 3 of the method for the intelligent removal green peel of walnut of the present invention；
In such as figure: 1, cutting rack；11, lower support plate；12, upper support board；2, the first conveyer belt；21, sucker；31,
First motor；32, the first cylinder；33, the first fixed plate；34, the second cylinder；35, the first cutter；41, third cylinder；42,
Two fixed plates；43, the second cutter；44, the 4th cylinder；45, two pawl cylinder；5, transport channel；51, pedestal；52, the second transmission
Band；53, guide plate；54, baffle；55, sliding rail；6, secondary peeling device；61, bracket；62, steel wire bucket；63, bell mouth；64,
Two motors；65, brush roll；66, water pipe；67, tap.
Specific embodiment
The method of intelligent removal green peel of walnut of the invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of assembly line for removing green peel of walnut, comprising:
Cutting rack 1, being arranged also on the cutting rack 1 has lower support plate 11, and top is provided with upper support board 12；
First conveyer belt 2, is arranged in the lower support plate 11 of cutting rack 1, can be moved in lower support plate 11 with
Carry out the transmission of walnut；
Several first cutting assemblies are arranged on cutting rack 1, are removed to the circumference around walnut to green peel of walnut；
Several second cutting assemblies are arranged on cutting rack 1, to remove the green peel at walnut both ends；
The tail portion of the first conveyer belt 2 is arranged in transport channel 5, to carry out the walnut after the cutting of the second cutting assembly
Conveying；
Secondary peeling device 6 is connect with transport channel 5, to by transport channel 5 upload send, through the first cutting group
Part and the processed walnut of the second cutting assembly are removed the peel cleaning treatment again.
Specifically, in above-mentioned assembly line, walnut passes through assembly line inlet first and enters the first conveyer belt 2 in turn
On, the first conveyer belt 2 will walnut identical with the first cutting assembly quantity to be respectively sent to each first cutting assembly corresponding
Position at, the walnut of corresponding position is carried out first time peeling processing by the first cutting assembly, will be around one week green peel of walnut
Removal.Then, the first conveyer belt 2 starts, these walnuts are successively transported at the corresponding position of each second cutting assembly, so
The second cutting assembly carries out secondary peeling to walnut afterwards, to remove the green peel at walnut both ends.Finally, by transport channel 5, by this
It examines and approves peach and is sent to secondary peeling device 6, realization completely removes green peel of walnut.In the apparatus, as shown in Fig. 2, first
The quantity of cutting assembly and the second cutting assembly be it is identical, can be realized in this way to simultaneously to a collection of walnut carry out
Green peel is gone to handle, relative to a walnut per treatment, which is greatly improved work efficiency.
For further, several suckers 21 are provided on the first conveyer belt 2.When work, with the shifting of the first conveyer belt 2
Dynamic sucker 21 also can adsorb the walnut entered from assembly line inlet in each sucker 21 of movement.Wherein, adjacent sucker
21 distance is all identical at a distance from the first adjacent cutting assembly or the second adjacent cutting assembly, so sucker 21 can be quasi-
True send every batch of walnut to the first cutting assembly or the corresponding position of the second cutting assembly, to guarantee entire assembly line
Accuracy improves working efficiency.
For further, the first cutting assembly includes the fixation rotating unit for being oppositely arranged on conveyor belt two sides, Mei Gegu
Determining rotating unit all includes the first motor 31 being fixed in lower support plate 11, is fixed on the output shaft of first motor 31
There is the first cylinder 32, is fixedly installed on 32 telescopic shaft of the first cylinder solid with the telescopic shaft vertically disposed first of the first cylinder 32
Fixed board 33.It is worth noting that the axis of the telescopic shaft of the output shaft of first motor 31 and the first cylinder 32 is in same straight line
On.When walnut is transported to the corresponding position of the first cutting assembly, 32 telescopic shaft of the first cylinder at both ends stretches out, and passes through two sides
Two piece of first fixed plate 33 by sucker 21 corresponding to the first corresponding set of cutting assembly walnut fixation clamp.
In addition to this, the first cutting assembly further includes the second cylinder 34 that 12 lower end surface of upper support board is arranged in, this
Vertically downward, the bottommost of the telescopic shaft is fixed with the first cutter 35 to the telescopic shaft of two cylinders 34.When corresponding first fixation
After plate 33 clamps walnut, sucker 21 stops suction, and flexible second cylinder 34 on top stretches out, and the first cutter 35 connects with green peel
Touching, two first motors 31 being then correspondingly arranged are rotated with identical speed around identical direction simultaneously, drive walnut rotation,
The cutting to green peel is realized in turn.It is worth noting that if since the depth of the first cutter 35 insertion green peel is too deep, it can be right
Internal Cortex walnut damages, so after completing cutting in one week again, flexible second cylinder 34 on top a little downward again
It is mobile, to realize the excision from level to level to green peel, it ensure that the integrality of internal walnut.
Wherein, due to the 35 width very little of the first cutter on top, thus every time can only very little area to walnut a circle
It is cut, so a in practical applications, moving left and right for walnut is realized in flexible second cylinder, 34 mating reaction of two sides,
Walnut is cut to greatest extent with this.By the above-mentioned means, realizing the fining cutting to walnut, walnut ensure that
The integrality of skin.
For further, the second cutting assembly includes the third cylinder that 2 two sides of the first conveyer belt are arranged in and are oppositely arranged
41, it is fixedly installed one second fixed plate 42 on the telescopic shaft of third cylinder 41, it is horizontally disposed in the second fixed plate 42
There is the second cutter 43.In addition to this, the second cutting assembly further includes the 4th cylinder 44 that 12 lower end surface of upper support board is arranged in
(not shown) and two pawl cylinders 45 being arranged on 44 telescopic shaft of the 4th cylinder, the opening of two pawl cylinders 45 and/or are closed
The direction of transfer of conjunction direction and the first conveyer belt 2 is on same straight line.When work, when after the first cutting assembly cutting process
Walnut the corresponding position of the second cutting assembly is sent to by the first conveyer belt 2 after, the 4th cylinder 44 stretches out two pawl gas simultaneously
Cylinder 45 activates to open two pawls, and then two pawl cylinders 45 are moved downward at walnut, the work of two pawl cylinders 45, and two pawls closure will
Walnut is fixed.It is worth noting that two pawls are stuck in the middle section of walnut, that is, it is stuck in walnut and has been gone at the first cutting assembly
Remove the place of green peel.Later, the third cylinder 41 of two sides is stretched out towards walnut direction, and 44 stretching motion of the 4th cylinder drives
Walnut moves up and down, and realizes the removal to walnut both ends green peel with this.In addition, the integrality in order to guarantee Cortex walnut, so
The thickness of second cutter 43 insertion green peel every time is little, i.e. the pushing ahead slowly of third cylinder 41, is being eliminated as much as with this
The maximum protection to Cortex walnut is realized under the premise of green peel.
In addition, two groups of cutting assemblies are used cooperatively, first removed the peel according in circumferential direction about green peel, but due to walnut
Both ends are resisted by the first fixed plate 33, so the green peel at both ends can not be removed by the first cutting assembly.But it is cut second
It cuts at component, for the green peel at walnut both ends, after the position that walnut eliminates green peel is fixed on two pawls, using setting first
2 both ends of conveyer belt, the blade that is fixed on the 4th cylinder 44, realize the removal to walnut both ends green peel.
For further, since walnut can generate a large amount of green peel during removing green peel, if excessive green peel is shelved
In lower support plate 11, follow-up work can be impacted.So being provided with multiple through-holes (figure in lower support plate 11
In be not shown), to prevent a large amount of green peels to be deposited in lower support plate 11.
For further, if one end of the first conveyer belt 2 is directly connected with transport channel 5, the first conveyer belt 2
Fallen green peel all can be sent to next ring by transport channel 5 on walnut and the first conveyer belt 2 after upper peeling
Section, this will affect the subsequent processing to walnut.So as shown in figure 3, transport channel 5 includes pedestal 51,52 and of the second conveyer belt
The both ends of guide plate 53, the second conveyer belt 52 and guide plate 53 are both provided with baffle 54, and the baffle at 52 both ends of the second conveyer belt
54 are fixedly connected with the baffle 54 at 53 both ends of guide plate.In addition, second conveyer belt 52 is horizontally disposed, cunning is provided on pedestal 51
Rail 55, the bottom of guide plate 53 are provided with the card slot that can be moved on the sliding rail 55.In addition, being further fixedly arranged on pedestal 51
5th cylinder (not shown), the side of guide plate 53 are fixedly connected with there is the telescopic shaft of the 5th cylinder, and the 5th cylinder is stretched
Contracting drives sliding of the guide plate 53 on sliding rail 55.When work, when the second cutting assembly to walnut after processing is completed, the 4th cylinder
44 two pawl cylinders 45 of drive move up, and the starting of the 5th cylinder drives transport channel 5 to move, and the second conveyer belt 52 is moved to two pawls
Underface, two pawl cylinders 45 control two pawls and open, and all walnuts fall on the second conveyer belt 52.Second conveyer belt 52 opens
Dynamic, walnut is moved on guide plate 53 with the second conveyer belt 52, is slid downwards therewith.It is worth noting that in the second cutting
When component carries out cutting work, the second conveyer belt 52 is located at the side of the second cutting assembly, has no effect on the second cutting assembly
It works normally.In addition, the length long enough of the second conveyer belt 52, the walnut on all two pawls can fall into the second conveyer belt 52
On.By the transport channel 5, it ensure that all green peels cut down do not enter next processing links, be not only able to be next
Processing links provide best operating condition, prevent green peel from affecting subsequent processing, improve the high efficiency of peeling.Except this
Except, the green peel of walnut surface picked is all dirtier, in this way just gets rid of dirty part from the first link, protects
The health of subsequent environments is demonstrate,proved.And gone in green peel device existing, a large amount of walnut is usually uniformly carried out to green peel processing,
It needs to be rinsed with a large amount of water during this, the waste of water is quite serious.So guaranteeing core by above-mentioned assembly line
Green peel, and entire working environment clean hygiene are fast and accurately eliminated while complete inside peach, do not need to utilize water energy
Enough clean degrees for guaranteeing walnut after removing the peel, have greatly saved water resource, have saved cost while protecting environment.
For further, as shown in figure 4, secondary peeling device 6 includes a bracket 61, a surface is provided on the bracket 61
Grid-shaped steel wire bucket 62, the steel wire bucket 62 are inclined to set.The upper end of steel wire bucket 62 is provided with a funnel shaped funnel
The exit of 5 guide plate 53 of transport channel is arranged in mouth 63, the bell mouth 63, and the walnut slid from guide plate 53 enters the leakage
In quarrel 63.Brush roll 65 and the second motor 64 are additionally provided in the steel wire bucket 62, wherein brush roll 65 and the second motor
64 are obliquely installed, and brush roll 65 is located at the inside of steel wire bucket 62, and the second motor 64 is located at the outside of steel wire bucket 62, and second
The axis of the output shaft of motor 64 and the axis of brush roll 65 are on the same line.When work, walnut enters steel from bell mouth 63
Fiber barrel 62, and the second motor 64 drives brush roll 65 to rotate, the hairbrush in brush roll 65 cleans walnut again, i.e., in hair
Under the action of brush, a small amount of green peel remained on walnut is completely removed, and ensure that the integrality of peeling with this.In addition, steel wire
The use of bucket 62, ensure that the green peel removed can expose out of bucket, i.e., green peel is not accumulated in bucket, and then realizes entire dress
The lasting operation set.
For further, since secondary peeling device 6 is the removal to a small amount of residual green peel, it is possible that there is small part green
Skin is sticked to hairbrush top and easily falls.Therefore, it is additionally provided with watering unit on secondary peeling device 6, which includes along steel
62 inclined direction of fiber barrel and the water pipe 66 being located at outside steel wire bucket 62, are provided with several spray-type taps 67 on water pipe 66.
For further, bristle and fur are arranged at intervals in brush roll 65, bristle is remaining green on walnut for removing
Skin, and fur is for cleaning to walnut.In this way, while completely removing green peel, walnut is also achieved
Cleaning treatment, i.e., the walnut come out from the assembly line is clean enough, does not need to carry out cleaning again or secondary treatment.Separately
Outside, the lower end of steel wire bucket 62 is provided with outlet, since steel wire bucket 62, brush roll 65 are all obliquely installed, so while gravity
Effect, walnut can slide out after the processing of brush roll 65 from outlet again.
For a kind of above-mentioned assembly line for removing green peel of walnut, the invention also provides a kind of intelligent removal green peel of walnut
Method.
A kind of method of intelligent removal green peel of walnut, comprising steps of
As shown in figure 5, S1, the first conveyer belt 2 of starting, do not go the walnut of green peel one by one from the inlet of the first conveyer belt 2
Into at the sucker 21 on conveyer belt, wherein a walnut is sucked on sucker 21 identical with the first cutting assembly quantity, and
By walnut be moved to at the first cutting assembly one-to-one correspondence, 2 stop motion of the first conveyer belt；
The telescopic shaft stretching of S2, the first cylinder 32, the first fixed plate 33 positioned at walnut two sides resist walnut；
The telescopic shaft stretching of S3, the second cylinder 34, drive the first cutter 35 to cut in the green peel of walnut；
S4, first motor 31 rotate, and walnut is driven to rotate with it, and the first cutter 35 cuts off green peel around walnut；
S5,32 telescopic shaft of the first cylinder are shunk, and walnut falls into corresponding sucker again, start the first conveyer belt 2, and walnut moves
Move to at the second cutting assembly one-to-one correspondence；
S6, the telescopic shaft stretching of the 4th cylinder 44 and two pawl cylinders 45 drive two pawls to open, and the 4th cylinder 44 drives two pawls
Cylinder 45 moves down, two pawls closure crawl walnut；
The telescopic shaft stretching of S7, third cylinder 41, drive the second cutter 43 to be moved to the side of walnut, 44 band of the 4th cylinder
Kinetonucleus peach moves up and down, and the second cutter 43 cuts off the green peel of walnut two sides.
Specifically, as shown in fig. 6, being further comprised the steps of: between step S4 and step S5
S01, the rotation of each first motor acquire walnut image from the surface of walnut after a week and are handled, and judge
Whether green peel is detected in the preset range of walnut image, if so, executing step S02；Otherwise, step S5 is executed；
Whether S02, judgement walnut inner surface after secondary cutting process expose, if it is not, executing step S3；Otherwise, it executes
Step S03；
S03, the first cylinder 32 synergistic effect positioned at walnut two sides drive walnut to move along the axial direction of the first cylinder 32
It is dynamic, return step S3.
Wherein, above-mentioned preset range refers to right above walnut in collected walnut image, in the centre of the image
Whether part there is the color (usually green) of green peel.In this way, it is capable of deciding whether as far as possible in predetermined model
The removal to green peel is completed in enclosing, if it is complete, then carry out next step by the second cutting assembly, otherwise, then needs the
The first cylinder 32 in one cutting assembly moves left and right, and the first cutter 35 is helped to remove on walnut circumferencial direction as far as possible
Green peel ensure that the removal most fine to green peel with this.
For further, the preset range is related with the diameter of walnut, i.e., further comprises the steps of: before step S01
(distance is core to the distance between first fixed plate 33 that S00, acquisition 2 two sides of the first conveyer belt are oppositely arranged
The diameter of peach), the corresponding preset range of the walnut between two the first fixed plates 33 at this time is obtained by the distance.
Wherein, as shown in fig. 7, obtaining the distance between first fixed plate 33 that 2 two sides of the first conveyer belt are oppositely arranged
Process comprising steps of
S001, the second cylinder 34 right above first fixed plate 33 axial direction shoot image, obtain fixed plate
Image；
S002, the fixed plate image is pre-processed, obtains gray level image；
S003, using the direction of transfer of the first transmission belt 2 as vertical direction, obtain gray level image in it is all along the vertical direction
On rectilinear strip；
S004, corresponding four lines of the first fixed plate 33 are identified from all rectilinear strips；
S005, the width value for obtaining two rectilinear strips that distance is nearest in four lines, the distance are to be oppositely arranged
The distance between the first fixed plate 33.
It is worth noting that in practical applications, being obtained if only acquiring a fixed plate image and calculate
As a result, the reliability of the result is not high, it is most likely that there are biggish errors.So in the above-mentioned methods, needing to be repeated several times
The process of S001-S005 obtains multiple width values, and selects the width value, using the final width value that will acquire as
The distance between first fixed plate 33 being oppositely arranged.
The calculation formula of final width value is described in detail below:
Hi=min (H 'i)
Wherein, H is final width value, and m is that will mark off the group number come in all width values (will acquire image every time
The width value obtained afterwards is lined up all in accordance with computation sequence, and these data are divided into several groups),It is wide in i-th group
The average value of angle value, H 'iFor the standard deviation of width value in i-th group, HiFor the minimum value of width criteria difference in m group, n is to survey every time
The number of the image acquisition device of amount, Li,jFor the width value that j-th of image acquisition device in i-th group obtains, h (H 'i) it is first choice
Function selects the numerical value for meeting function requirements, HiaFor the spare width value in i-th group, h (h (H 'i)) be and the first choosing
Select function h (H 'i) the second opposite selection function of domain, the numerical value for meeting function requirements is selected.
By the above method, realizes and go green peel to handle the fast and accurate of walnut.The use of two-stage cutting assembly,
Guaranteeing to have carried out fast and accurate removal to green peel while damage inside walnut.In addition, during cutting off green peel
Constantly judge whether at the epidermis of cutter walnut, the fine of entire excision process ensure that with this and in walnut
The protection on surface.It is worth noting that due to the difference of walnut size, so the requirement in cutting process is also different, therefore
By the way of determining preset range according to walnut width, so that entire cutting process is more fine and intelligent.Finally, in order to
The accuracy for guaranteeing entire cutting process uses multi collect data when counting final width value and carries out to these data
Processing improves the accuracy of preset range in a manner of obtaining optimal result.
For a person skilled in the art, after reading above description, various changes and modifications undoubtedly be will be evident.
Therefore, appended claims should regard the whole variations and modifications for covering true intention and range of the invention as.It is weighing
The range and content of any and all equivalences, are all considered as still belonging to the intent and scope of the invention within the scope of sharp claim.
Claims (4)
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|---|---|---|---|---|
| GB1237478A (en) * | 1968-11-29 | 1971-06-30 | Oltremare Ind Prodotti Aliment | Apparatus for feeding and shelling cashew nuts |
| FR2945913B1 (en) * | 2009-06-02 | 2011-07-08 | Maurice Guillot | DEVICE FOR DECORTIATING HOLLOW OR DOUBLE DRUM FRUITS |
| CN203563655U (en) * | 2013-11-01 | 2014-04-30 | 陕西省农业机械研究所 | Brush rotary cutting type green walnut huller |
| CN204603927U (en) * | 2015-05-12 | 2015-09-02 | 周志花 | Pneumatic manipulator |
| CN105708298A (en) * | 2016-03-31 | 2016-06-29 | 深圳市百果乐农业发展有限公司 | Automatic peeling machine |
| CN105942828A (en) * | 2016-07-19 | 2016-09-21 | 袁华冰 | Peeling device for juicer |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1237478A (en) * | 1968-11-29 | 1971-06-30 | Oltremare Ind Prodotti Aliment | Apparatus for feeding and shelling cashew nuts |
| FR2945913B1 (en) * | 2009-06-02 | 2011-07-08 | Maurice Guillot | DEVICE FOR DECORTIATING HOLLOW OR DOUBLE DRUM FRUITS |
| CN203563655U (en) * | 2013-11-01 | 2014-04-30 | 陕西省农业机械研究所 | Brush rotary cutting type green walnut huller |
| CN204603927U (en) * | 2015-05-12 | 2015-09-02 | 周志花 | Pneumatic manipulator |
| CN105708298A (en) * | 2016-03-31 | 2016-06-29 | 深圳市百果乐农业发展有限公司 | Automatic peeling machine |
| CN105942828A (en) * | 2016-07-19 | 2016-09-21 | 袁华冰 | Peeling device for juicer |
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