CN207839435U - Near-infrared fruit internal quality grading robot - Google Patents

Abstract

The utility model relates to a near-infrared fruit internal quality grading robot, comprising a main shell (1), a feeding arm (2), a feeding arm (3), an infrared spectrum detection device, a mobile device, an arm control system and a host computer The computer (6), the upper computer (6) is located above the main housing (1); the loading arm (2), the unloading arm (3) and the infrared spectrum detection device are located in the main housing (1), and the upper computer (6) Control the feeding arm (2) through the arm control system to pick up the fruit, put the fruit on the infrared spectrum detection device for detection, and transmit the detection data to the host computer (1), and the host computer (1) according to the infrared The spectral data classifies the fruit, the robot moves to the side of the fruit box of the corresponding level, the host computer (6) controls the unloading arm (3) through the arm control system to pick up the fruit and put it into the fruit box of the corresponding level, and completes the fruit interior. Automatic grading of quality.

Description

Near infrared fruit internal quality grading robot

technical field

The utility model relates to a fruit grading robot, in particular to a near-infrared fruit internal quality grading robot.

Background technique

In recent years, my country's total fruit output has always been at the forefront of the world, and post-harvest and processed fruits are of great significance to the improvement of the added value of my country's fruits. Visible/near-infrared spectrum detection technology is fast and non-destructive, so it can be used in detection equipment to realize non-destructive real-time detection of the internal quality of fruits.

At present, near-infrared fruit grading equipment on the market is divided into small-scale detection instruments and large-scale grading production lines. Small-scale detection equipment can realize the detection of the internal quality of a single fruit. It is easy to carry and has high precision, but it requires more manual participation and detection efficiency. Low; Large-scale fruit grading line can realize large-scale fruit inspection, which is high in efficiency, but the cost is relatively expensive. At the same time, it has strict requirements on the site and cannot be moved at will.

Contents of the invention

In order to overcome the problems in the background technology, the purpose of this utility model is to provide a near-infrared fruit internal quality grading robot, which can automatically detect and grade the internal quality of fruits, reducing manual participation, saving labor and reducing costs. The utility model content is specifically as follows:

A near-infrared fruit internal quality grading robot is characterized in that it includes a main casing, a feeding arm, a feeding arm, an infrared spectrum detection device, a mobile device, an arm control system and an upper computer, and the upper computer is located above the main casing ;

The feeding arm includes a right fixed shaft, a right outer rotor hub motor, a right rotating bushing, a right connecting rod, a right vacuum sucker and a right vacuum tube, the right fixed shaft is vertically fixed in the main housing, and the upper end of the right fixed shaft is connected to the The stator of the right outer rotor hub motor is connected, and the outer rotor of the right outer rotor hub motor is connected to one end of the right connecting rod through the right rotating sleeve, the right connecting rod is perpendicular to the right rotating sleeve, and the right connecting rod is along the axial direction There is a through hole, and the other end of the right connecting rod is connected with the right vacuum suction cup through the through hole opened in the center of the right vacuum suction cup. Connected to the right vacuum pump;

The structure of the blanking arm is the same as that of the loading arm. The blanking arm includes a left fixed shaft, a left outer rotor hub motor, a left rotating bushing, a left connecting rod, a left vacuum sucker and a left vacuum tube. The left fixed shaft is vertically fixed on the In the main housing, the upper end of the left fixed shaft is connected to the stator of the left outer rotor hub motor, and the outer rotor of the left outer rotor hub motor is connected to one end of the left connecting rod through the left rotating sleeve, and the left connecting rod is perpendicular to the left rotating sleeve, so The left connecting rod has a through hole along the axial direction, and the other end of the left connecting rod is connected with the left vacuum sucker through the through hole opened in the center of the left vacuum sucker. , the other end of the left vacuum tube is connected to the left vacuum pump;

The left and right side walls of the main shell have the same channel, the right outer rotor hub motor of the loading arm drives the right connecting rod and the right vacuum suction cup to rotate in and out from the right channel, and the left outer rotor hub motor of the unloading arm drives the left The connecting rod and the left vacuum suction cup are screwed in and out from the left channel; the loading arm is screwed out from the main shell to pick up the fruit placed outside the main shell, and then screwed into the main shell; the unloading arm is pulled out from the main shell Spin out after picking up the fruit, and put down the graded fruit.

The left and right side walls of the main housing are connected with a fruit box pallet, and the connecting line between the fruit box pallet and the main shell is lower than the lower edge of the channel, or is at the same height as the lower edge of the channel. The end of the loading fruit box pallet close to the main shell is lower than the end away from the main shell; the loading arm picks up the fruit closest to the main shell, and the fruit that is not picked up at the far end spontaneously approaches the robot under the action of gravity Scroll in the direction to prepare for the next pick-up action.

The infrared spectrum detection device is located in the main housing, including a detection base, a ring light source, a miniature fiber optic spectrometer and a detection bracket, the detection base is fixed on the bottom plate of the main housing of the main housing through the detection bracket, and the detection base is processed with grooves , a ring light source is installed on the upper edge of the groove, and a threaded through hole is processed at the bottom of the groove. The threaded through hole is connected to the miniature fiber optic spectrometer through an optical fiber, and the output end of the miniature fiber optic spectrometer is connected to the input end of the host computer. The ring light source emits infrared light; when the fruit is irradiated by infrared rays, the molecules are excited to resonate, and at the same time part of the energy of the light is absorbed, and its absorption spectrum can characterize the characteristics of the measured substance. The fruit is detected by infrared spectrum, and the detected infrared spectrum signal is sent to the host computer;

The vertical distance from the vacuum suction cup to the end of the feeding fruit box pallet near the main housing is equal to the vertical distance from the vacuum suction cup to the detection base; the height of the loading fruit box pallet and the detection base is the same, and the vacuum suction cup of the feeding arm picks After reaching the fruit on the pallet of the fruit box, the outer rotor hub motor drives the vacuum suction cup to rotate and position directly above the detection base, which avoids the adjustment of the vertical position of the vacuum suction cup before the fruit is placed on the detection base, saving energy. The testing procedure and testing time are specified;

The mobile device is a mobile trolley driven by a small motor, and the host computer controls the rotation of the small motor through a small motor controller;

The arm control system includes a motor control board, a right solenoid valve for controlling the opening and closing of the right vacuum tube, and a left solenoid valve for controlling the opening and closing of the left vacuum tube. Connect the input ends of the right outer rotor hub motor and the left outer rotor hub motor. The motor control board indirectly drives the right vacuum chuck to rotate by controlling the right outer rotor hub motor. The rotation of the right vacuum chuck is based on the right fixed shaft as the rotation axis. The control board indirectly drives the left vacuum suction cup to rotate by controlling the left outer rotor hub motor. The rotation of the left vacuum suction cup is based on the left fixed shaft as the rotation axis. The upper computer is electrically connected to the right solenoid valve and the left solenoid valve respectively. Both the right solenoid valve and the left solenoid valve are two-position three-way solenoid valves; define that the right-rotating bushing and the left-rotating bushing are respectively perpendicular to the side of the main casing, and the right hub motor and the left vacuum sucker are respectively located outside the main casing. The positions of the hub motors are the initial positions. After starting the robot, the arm is automatically positioned to the initial position. The right solenoid valve of the feeding arm is opened, the right vacuum pump is connected to the right vacuum tube, and vacuuming starts. The right vacuum suction cup picks up the fruit, and the upper position The machine computer controls the right outer rotor hub motor through the motor control board to drive the right vacuum suction cup to the top of the detection base, the right solenoid valve is closed, the right vacuum tube is connected to the atmosphere, the vacuum state is removed, the fruit falls on the detection base, and the loading arm The right vacuum suction cup returns to the initial position to complete the fruit feeding process. After the inspection is completed, the left vacuum suction cup connected to the unloading arm rotates above the detection base, the left solenoid valve of the loading arm opens, and the left vacuum pump is connected to the left vacuum tube to start Vacuuming, the left vacuum suction cup picks up the fruit on the detection base, the upper computer controls the left outer rotor hub motor of the unloading arm through the motor control board to drive the left vacuum suction cup to the outside of the main shell, the left solenoid valve is closed, and the left vacuum tube is connected to the atmosphere. Connect, remove the vacuum, and the fruit falls.

The right connecting rod of the loading arm is vertically connected with a right crossbar, and the right crossbar is fixed with a right camera, and the output end of the right camera is connected with the input end of the host computer; the left connecting rod of the unloading arm is vertically connected There is a left crossbar, a left camera is fixed on the left crossbar, and the output end of the left camera is connected with the input end of the host computer. Position the fruit, and transmit the position of the fruit to the host computer for more precise positioning and picking of the fruit.

A right stress sensor is installed on the right rotating shaft sleeve of the loading arm, and a left stress sensor is installed on the left rotating shaft sleeve of the unloading arm. It is used to detect whether the loading arm or the unloading arm has picked up the fruit. If the fruit is not picked up, the loading arm or the unloading arm will repeat the action of picking up the fruit to avoid subsequent detection when the fruit is not picked up. The program not only wastes time but also increases the statistics of invalid data.

The bottom of the groove of the detection base is provided with a rubber washer. When the fruit is put into the detection base, the rubber washer acts as a buffer to prevent the fruit from being accidentally bruised.

A weighing device is added between the detection bracket and the bottom plate of the main casing. Weight is also an important indicator for evaluating fruit quality, and increasing the index of weight increases the effectiveness of fruit classification.

The front and rear sides of the main housing are equipped with laser sensors, and the output terminals of the laser sensors are connected with the input terminals of the host computer. The laser sensor can detect obstacles in the moving direction to ensure that the robot will not hit obstacles during the movement.

The included angle between the loading fruit box pallet and the horizontal plane is between 5°-30°. When the included angle is in this range, the fruit on the feeding fruit box supporting plate will not be too fast when rolling towards the direction of the main housing, so as to avoid bruising the fruit.

The mobile trolley includes a synchronous pulley, a synchronous belt, a bearing seat, a driving wheel, a driving shaft and a driven wheel; The motor is fixed under the bottom plate of the main housing, and the two synchronous pulleys are respectively installed on the driving shaft and the rotating shaft of the small motor. The two synchronous pulleys are connected by a synchronous belt, and a driven wheel is fixedly installed under the bottom plate of the main housing. .

The small motor is connected with an encoder through a connecting shaft, and the encoder is fixed on the bottom plate of the main housing through an encoder bracket. The encoder can upload the movement data of the robot to the host computer, especially after an accidental power failure, it can make the robot return to the zero position when it is turned on again.

The lower end of the right fixed shaft of the loading arm is connected with a right first linear stepping motor, the right fixed shaft is connected with the motor shaft of the right first linear stepping motor, and the right first linear stepping motor is fixedly arranged on In the main housing, the output end of the motor control board is connected to the input end of the first right linear stepping motor, and the motor control board indirectly drives the right vacuum chuck to move in the vertical direction by controlling the first right linear stepping motor;

The lower end of the left fixed shaft of the blanking arm is connected with the left first linear stepping motor, the left fixed shaft is connected with the motor shaft of the left first linear stepping motor, and the left first linear stepping motor is fixedly arranged in the main housing , the output end of the motor control board is connected to the input end of the left first linear stepping motor, and the motor control board indirectly drives the left vacuum chuck to move in the vertical direction by controlling the left first linear stepping motor;

The right rotating shaft sleeve of the loading arm is connected with the right second linear stepping motor, the right rotating shaft sleeve is connected with the outer shell of the right second linear stepping motor, the motor shaft of the right second linear stepping motor is connected with the right connecting rod One end is connected vertically, and the output end of the motor control board is connected to the input end of the second right linear stepping motor, and the motor control board indirectly drives the right vacuum chuck to move in the horizontal direction by controlling the second right linear stepping motor;

The left rotating shaft sleeve of the blanking arm is connected with the left second linear stepping motor, the left rotating shaft sleeve is connected with the outer casing of the left second linear stepping motor, and the motor shaft of the left second linear stepping motor is connected to one end of the left connecting rod. Vertically connected, the output end of the motor control board is connected to the input end of the left second linear stepping motor, and the motor control board indirectly drives the left vacuum chuck to move in the horizontal direction by controlling the left second linear stepping motor.

The utility model has beneficial effects: the infrared fruit internal quality grading robot of the utility model can realize the automatic detection and grading of the fruit, and the near-infrared detection device and the weighing device inside the detection device can realize the fruit spectrum and weight. Detection, and transmitted to the host computer for processing and grading, the entire detection process does not require human intervention, and the degree of automation is high. It does not have high requirements on the conditions of the testing site, is convenient to move, and can also be used directly in the fruit picking site to improve the timeliness of fruit testing.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model.

Fig. 2 is a sectional view of the line connecting the left fixed shaft and the right fixed shaft of the present invention.

Fig. 3 is a top view of the internal structure of the utility model.

Fig. 4 is a schematic side view of the utility model.

Fig. 5 is a block diagram of the control system of the present invention.

Fig. 6 is a single fruit grading flowchart of the utility model.

In the figure: 1. Main shell; 2. Loading arm; 3. Unloading arm; 4. Laser sensor; 5. Emergency stop switch; 6. Host computer; 7. Head cover; 8. Loading Fruit box; 9, loading fruit box pallet; 10, unloading fruit box support; 11, unloading fruit box; 12, bearing seat; 13, drive shaft; 14, timing belt; 15, timing pulley; 16, Drive wheel; 17, driven wheel; 18, detection bracket; 19, weighing device; 20, miniature optical fiber spectrometer; 21, ring light source; 22, rubber sealing gasket; 23, detection base; 24, storage battery; 25, encoder bracket ; 26, encoder; 27, encoder connecting shaft; 28, motor shaft; 29, small motor; 111, the first blanking fruit box; 112, the second blanking fruit box; 113, the third blanking fruit box; 201, the first right linear stepping motor; 202, the right fixed shaft; 203, the right outer rotor wheel hub motor; 204, the right rotating sleeve; 205, the second right linear stepping motor; 206, the right connecting rod; 207, 208, right camera; 209, right vacuum sucker; 210, right stress sensor; 211, right vacuum tube; 212, right vacuum pump; 301, left first linear stepping motor; 302, left fixed shaft; 303, Left outer rotor wheel hub motor; 304, left rotary bushing; 305, left second linear stepping motor; 306, left connecting rod; 307, left cross bar; 308, left camera; 309, left vacuum sucker; 310, left stress sensor ; 311, the left vacuum tube; 312, the left vacuum pump;

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described further.

As shown in Figure 1, a near-infrared fruit internal quality grading robot includes a main shell 1, a feeding arm 2, a feeding arm 3, an infrared spectrum detection device, a mobile device, an arm control system, and a host computer 6. The machine computer 6 is placed on the main housing 1 top, and the host computer 6 is an embedded engineering computer, which is installed in the head cover plate 7, and the head cover plate 7 plays a protective role to the engineering computer.

The structure of loading arm 2 and unloading arm 3 is identical, as shown in Figure 2, loading arm 2 comprises right first linear stepping motor 201, right fixed shaft 202, right outer rotor hub motor 203, right rotating shaft Cover 204, right second linear stepping motor 205, right connecting rod 206, right cross bar 207, right camera 208, right vacuum chuck 209, right stress sensor 210, right vacuum tube 211 and right vacuum pump 212. The blanking arm 3 includes a left first linear stepping motor 301, a left fixed shaft 302, a left outer rotor wheel hub motor 303, a left rotating shaft sleeve 304, a left second linear stepping motor 305, a left connecting rod 306, and a left cross bar. 307 , left camera 308 , left vacuum chuck 309 , left stress sensor 310 , left vacuum tube 311 and left vacuum pump 312 .

The left and right side walls of the main housing 1 have an inverted "U"-shaped channel, and the loading arm 2 and the unloading arm 3 are symmetrically arranged on the side wall of the main housing 1. 2 The structure is described in detail. The first right linear stepping motor 201 is located in the main housing 1 and is vertically fixed on the side wall. The right outer rotor hub motor 203 indirectly drives the right connecting rod 206 and the right vacuum suction cup 209 to rotate from the channel. In and out, the motor shaft upper end of the right first linear stepper motor 201 is connected with the fixed shaft 202, and the upper end of the right fixed shaft 202 is connected with the stator of the right outer rotor hub motor 203, and the outer rotor of the right outer rotor hub motor 203 is connected with the The right rotation sleeve 204 is connected, the right rotation sleeve 204 is perpendicular to the right fixed shaft 202, the right stress sensor 35 is installed on the right rotation sleeve 204, and the right outer rotor hub motor 203 drives the right rotation sleeve 204 with the right fixed shaft as the axis Rotate, the right second linear stepping motor 205 is installed on the right rotating shaft sleeve 204, can realize the extension of arm in the horizontal direction, the rotating shaft of the right second linear stepping motor 205 is vertically connected with an end of the right connecting rod 206, described The right connecting rod 206 has a through hole along the axial direction, and the other end of the right connecting rod 206 is connected with the right vacuum sucker 209 through the through hole opened in the center position of the right vacuum chuck 209, and the through hole of the right connecting rod 206 is near the second right linear step. One end of the inlet motor 205 is connected with a right vacuum tube 211 , and the other end of the right vacuum tube 211 is connected with a right vacuum pump 212 . The upper computer 6 controls the on-off between the right vacuum tube 211 and the vacuum pump 212 through the right solenoid valve. Right connecting rod 206 is vertically connected with right cross bar 207, and right cross bar 207 is fixed with right camera 308, and the output end of right camera 308 is connected with the input end of host computer 6, and fruit is carried out image acquisition and location.

As shown in Figure 5, the described arm control system comprises a motor control board, a right solenoid valve for controlling the opening and closing of the right vacuum tube 211, and a left solenoid valve for controlling the opening and closing of the left vacuum tube 311. The output terminals of the motor control board are respectively connected to the first right linear stepper motor 201, the second right linear stepper motor 205, the right outer rotor hub motor 203, the first left linear stepper motor 301, and the second left linear stepper motor. The input end of the stepper motor 305 and the left outer rotor hub motor 303, the motor control board indirectly drives the right vacuum chuck 209 to move in the vertical direction by controlling the first right linear stepping motor 201, and the motor control board controls the right outer rotor hub The motor 203 indirectly drives the right vacuum chuck 209 to rotate with the right fixed shaft 202 as the axis, the motor control board indirectly drives the right vacuum chuck 209 to move in the horizontal direction by controlling the second right linear stepper motor 205, and the motor control board controls the left first straight The line stepper motor 301 indirectly drives the left vacuum chuck 309 to move in the vertical direction. The motor control board indirectly drives the left vacuum chuck 309 to rotate around the left fixed shaft 302 by controlling the left outer rotor hub motor 303. Two linear stepping motors 305 indirectly drive the left vacuum chuck 309 to move in the horizontal direction, and the upper computer 6 is electrically connected with the right solenoid valve and the left solenoid valve respectively, and the right solenoid valve and the left solenoid valve are two-position three-way solenoid valves ;

The left and right side walls of the main housing 1 are connected with a loading fruit box supporting plate 9, and the position of the connecting line between the loading fruit box supporting plate 9 and the main housing 1 is lower than the height of about 5 cm from the lower edge of the channel or Equal to the lower edge of the channel, the end of the loading fruit box supporting plate 9 near the main housing 1 is lower than the end away from the main housing 1, and the angle with the horizontal plane can be between 5°-30°. The feeding fruit box 8 is divided into several rectangular areas along the feeding direction, and a fruit can be accommodated in the width direction of the rectangular area. On board 9, the robot will pick up the fruit close to the robot shell first, and the unpicked fruit in the same rectangular area will roll towards the direction close to the robot by itself under the action of gravity, preparing for the next pick-up; After the fruit is picked up, start to pick up the fruit in another channel. On the left side of the robot, a fruit box support 10 for feeding is independently placed, and the fruit box support 10 for cutting forms a slight angle of about 5°-30° with the horizontal plane, and the end near the robot body is slightly higher than the end far away from the robot body. The box 11 is placed on the fruit box support 10. Before the fruit detection, the grade of the fruit is artificially set in the system, and the division parameters of each grade are set. A blanking fruit box 11 and a blanking fruit box support 10. After the fruit is graded, the robot moves to the side of the corresponding grade of the blanking fruit box 11. The vacuum suction cup 209 of the blanking arm 3 rotates into the main body shell 1 and rests on the detection base. 23, pick up the fruit, then unscrew it from the main housing 1, stay on the top of the lower fruit box 11 of the corresponding level, release the fruit, and the fruit will roll away from the end of the robot in the lower fruit box 11 due to gravity. Loading fruit box 8 and blanking fruit box 11 inwalls are all covered by cushion, prevent fruit from being scratched.

An emergency stop switch 5 is installed on the cover plate of the main housing 1, and the emergency stop switch 5 is connected with the power supply. When the robot is working, pressing the switch 5 can cut off the power supply at any time and carry out a protective emergency stop; Bottom plate; the front and rear sides of the main housing 1 are equipped with laser sensors 4, the output end of the laser sensor 4 is connected to the input end of the host computer 6, and the laser sensor 4 detects the surrounding obstacles. Objects within a safe distance can automatically trigger an alarm; the storage battery 24 is located in the main housing 1 and installed on the bottom plate to provide power for the entire robot system.

As shown in Figure 2 and Figure 3, the detection base 23 is installed on the detection bracket 18, and the lower end of the detection bracket 18 is equipped with a weighing device 19, and the weighing device 19 is fixed on the base plate, and the weighing device 19 is located at the first left and right. On the center line of the linear stepping motor connection, ensure that the distance between the detection base 23 and the loading arm 2 and the unloading arm 3 is the same, so as to facilitate the placement and picking of fruits; the detection base 23 is processed with grooves, and the upper edge of the grooves A ring light source 21 is installed at the end to emit infrared rays. A rubber sealing gasket 22 with certain elasticity is fixed at the bottom of the groove, and a threaded through hole is processed at the bottom of the groove. The threaded through hole is connected with the miniature fiber optic spectrometer 20 through an optical fiber. When the loading arm 2 places the detected fruit on the detection base 23, the lower end of the fruit will be closely attached to the rubber sealing gasket 22, forming a closed space with the detection base 23 to prevent outside stray light from entering; the ring light source 21 emits infrared light The light penetrates the fruit, and is transmitted to the miniature fiber optic spectrometer 20 fixed on the base plate through the optical fiber, and the miniature fiber optic spectrometer 20 transmits the spectral information to the host computer 6; at the same time, the weighing device 19 at the bottom of the detection device will also collect the The fruit weight information is sent to the host computer 6 to complete the information collection of fruit infrared spectrum and weight.

As shown in Figures 3 and 4, the small motor 29 is fixed on the bottom plate of the main housing 1 near the side of the driving wheel 16 to provide power for the movement of the robot, while the encoder 26 is connected to the motor shaft 28 through the encoder connecting shaft 27, And be fixed on the base plate by encoder bracket 25, encoder 26 is done real-time monitoring to the distance that robot moves when robot is working, and mobile information is passed to host computer 6; Two identical synchronous belt pulleys 15 are respectively installed on On the motor shaft 28 and the driving shaft 13, they are connected by a synchronous belt 14. The driving shaft 13 is fixed on the base plate through the bearing seat 12, and the two ends are respectively equipped with driving wheels 16. When the motor is running, it is driven by the synchronous belt pulley 15 and the synchronous belt 14. The driving shaft 13 rotates to realize the movement; two driven wheels 17 are installed on the other side of the base plate, and the driven wheels 17 are universal wheels with adjustable directions common on the market. When the robot is working, the direction lock can be fixed to make it move forward Direction movement, when carrying or moving the robot, the direction lock can be opened for easy transportation.

As shown in Figure 6, the following uses the citrus detection and classification as an example to describe the operation process in detail:

Set citrus will be divided into three grades;

Place blanking fruit box 11 and blanking fruit box support 10 at the place of robot blanking, described blanking fruit box 11 comprises the first blanking fruit box 111, the second blanking fruit box 112 and the 3rd blanking fruit box Box 113 is arranged sequentially from front to back, and the corresponding fruit boxes are filled with first-grade citrus, second-grade tangerine and second-grade tangerine respectively; the spectrum and weight threshold value corresponding to each grade are set in the host computer 6; The relative coordinate positions of three blanking fruit boxes are set in the host computer 6;

The feeding fruit box 8 is divided into 4 rectangular areas on average, defining the right rotation bushing 204, the left rotation bushing 304 perpendicular to the side wall of the main housing 1, the first right linear stepping motor 201 and the first left linear stepping motor The motor 301 is in the longest elongation state, the second right linear stepper motor 205 and the second left linear stepper motor 305 are in the shortest elongation state, and the position of the arm when the vacuum chuck is outside the main housing 1 is the initial position. The steps for the robot to automatically detect fruit are as follows:

1) The robot loading arm 2 and unloading arm 3 are reset to their initial positions;

2) The right camera 308 observes the loading fruit box 8, and then calculates the local relative position of the fruit relative to the specific reference object in the scene through image analysis, target recognition and other technologies, and sends the position coordinates to the host computer 6;

3) According to the received coordinate information, the host computer 6 controls the right first linear stepper motor 201, the right second linear stepper motor 31 and the right outer rotor hub motor 203 through the motor control board to cooperate to complete the right vacuum chuck 209. position;

The upper computer 6 controls the right electromagnetic valve connected to the right vacuum tube 211 to open, the right vacuum tube 211 is connected with the right vacuum pump 312, the right vacuum sucker 209 is in a negative pressure state and sucks the citrus, and completes the picking of the citrus by the feeding arm 2; Machine computer 6 judges the citrus pick-up situation by the right stress sensor 35 that is installed on the right rotation axle sleeve 204, if pick up successfully then pick up again, if pick up successfully, right first straight line stepper motor 201, right second straight line The stepper motor 31 and the right outer rotor hub motor 203 get back to the initial position, and proceed to the next step;

4) The host computer 6 controls the right first linear stepper motor 201, the right second linear stepper motor 31 and the right outer rotor hub motor 203 through the control board to complete the rotation of the right vacuum chuck 209 to the position above the detection base 23; Save the positioning program, you can directly set the positioning coordinates above the detection base 23, the position coordinates of the detection base 23 have been preset in the host computer 6, according to the size of the fruit to be measured, the coordinate value in the vertical direction is increased by 1.5 times Or the height of 2 times of fruit is the positioning coordinates above the detection base 23; for example: if the coordinates of the detection base 23 are (a, b, c), the average height of citrus is 7cm, then the vacuum suction cup 209 positioning coordinates can be set to (a, b ₁ , c), where b+10.5cm≤b _1≤b +14cm, the obtained coordinates are the positioning coordinates of the right vacuum chuck 209 this time.

In this step, the right camera 208 can also be selected to locate the right vacuum chuck 209: the host computer 6 controls the right first linear stepping motor 201, the right second linear stepping motor 205 and the right outer The rotor hub motor 203 cooperates to complete the rotation and positioning of the right vacuum chuck 209 to the top of the detection base 23, and the right camera 208 performs image acquisition, identification and positioning on the detection base 23, and calculates the best coordinate position of the right vacuum chuck 209, in the vertical direction Fine-tune the right vacuum suction cup 209 and then position it;

After the positioning of the vacuum sucker 209 is completed, the host computer 6 controls the right solenoid valve connected to the right vacuum tube 211, closes the connection between the vacuum tube 211 and the vacuum pump 312, opens the connection between the vacuum tube 211 and the atmosphere, and removes the negative pressure. On the base 23, the feeding arm 2 is reset to the initial position afterwards, and the above-mentioned steps 1)-4) are repeated to pick up and release the citrus;

5) Miniature fiber optic spectrometer 20 receives the spectral information of citrus through optical fiber and uploads to host computer 6 for analysis, and weighing device 19 also transmits the citrus weight information collected to host computer 6;

6) The host computer 6 classifies and judges oranges according to the spectral information and weight information of oranges;

7) If the host computer 6 compares the data and obtains the detected citrus as the first-grade citrus, then the robot moves to the first lower fruit box 111 according to the coordinate position of the first lower fruit box 111 that has been set in the upper computer 6. Fruit box 111;

The left vacuum chuck 309 of the robot blanking arm 3 is positioned to the preset coordinates or positioned above the detection base 23 by the left camera 308 of the blanking arm 3. The positioning method is the same as that of the right vacuum chuck of the loading arm 2 in step 4). 209 is positioned above the detection seat 23 with the same positioning method; the upper computer 6 controls the left solenoid valve to open, the left vacuum tube 311 is connected to the left vacuum pump 312, and the left vacuum suction cup 309 is in a negative pressure state and sucks the citrus to complete the robot's unloading The arm 3 picks up the citrus; the host computer 6 judges the picking of the citrus through the left stress sensor 310 installed on the left rotating shaft sleeve 304, if the picking is not successful, reposition the picking, if the picking is successful, then the unloading arm 3 times to the initial position;

8) After the blanking arm 3 returns to the initial position, the host computer 6 controls the left solenoid valve, closes the connection between the left vacuum tube 311 of the blanking arm 3 and the left vacuum pump 312, opens the connection between the left vacuum tube 311 and the atmosphere, and removes the negative pressure , the citrus falls in the first-level unloading fruit box 11; the unloading arm 3 repeats steps 7)-8) to pick up and drop the citrus.

The above-mentioned specific embodiments are used to explain the utility model, rather than to limit the utility model. Within the spirit of the utility model and the protection scope of the claims, any modifications and changes made to the utility model all fall into the scope of the utility model. A new type of protection.

Claims (10)

1. The near-infrared fruit internal quality grading robot is characterized in that it includes a main shell (1), a feeding arm (2), a feeding arm (3), an infrared spectrum detection device, a mobile device, an arm control system and a host computer (6), the host computer (6) is located above the main casing (1); The feeding arm (2) includes a right fixed shaft (202), a right outer rotor hub motor (203), a right rotating bushing (204), a right connecting rod (206), a right vacuum sucker (209) and a right The vacuum tube (211), the right fixed shaft (202) is vertically fixed in the main casing (1), the upper end of the right fixed shaft (202) is connected with the stator of the right outer rotor hub motor (203), and the right outer rotor hub motor (203) ) of the outer rotor is connected to one end of the right connecting rod (206) through the right rotating bushing (204), the right connecting rod (206) is perpendicular to the right rotating bushing (204), and the right connecting rod (206) is along There is a through hole in the axial direction, and the other end of the right connecting rod (206) is connected with the right vacuum sucker (209) through the through hole opened in the center of the right vacuum sucker (209), and the through hole of the right connecting rod (206) is close to the One end of the rotating shaft sleeve (204) is connected with a right vacuum tube (211), and the other end of the right vacuum tube (211) is connected with the right vacuum pump (212); The described blanking arm (3) has the same structure as the loading arm (2), and the blanking arm (3) includes a left fixed shaft (302), a left outer rotor hub motor (303), a left rotating bushing (304), The left connecting rod (306), the left vacuum suction cup (309) and the left vacuum tube (311), the left fixed shaft (302) are vertically fixed in the main casing (1), and the upper end of the left fixed shaft (302) is connected with the left outer rotor hub The stator of the motor (303) is connected, and the outer rotor of the left outer rotor hub motor (303) is connected to one end of the left connecting rod (306) through the left rotating bushing (304), and the left connecting rod (306) is connected to the left rotating bushing ( 304) is vertical, the left connecting rod (306) has a through hole along the axial direction, and the other end of the left connecting rod (306) is connected with the left vacuum sucker (309) through the through hole opened in the center of the left vacuum sucker (309), The through hole of the left connecting rod (306) is connected with a left vacuum tube (311) at an end close to the left rotation bushing (304), and the other end of the left vacuum tube (311) links to each other with the left vacuum pump (312); The left and right side walls of the main housing (1) have the same passage, and the right outer rotor hub motor (203) of the feeding arm (2) drives the right connecting rod (206) and the right vacuum sucker (209) to rotate from the right passage. In and out, the left outer rotor hub motor (303) of the blanking arm (3) drives the left connecting rod (306) and the left vacuum suction cup (309) to rotate in and out from the left channel; The right side wall of the main casing (1) is connected with a loading fruit box supporting plate (9), and the position of the connecting line between the loading fruit box supporting plate (9) and the main casing (1) is lower than the lower part of the channel. Edge or the same height as the lower edge of the channel, the end of the loading fruit box pallet (9) close to the main housing (1) is lower than the end away from the main housing (1); The infrared spectrum detection device is located in the main housing (1), and includes a detection base (23), a ring light source (21), a miniature fiber optic spectrometer (20) and a detection bracket (18), and the detection base (23) passes through the detection bracket (18) is fixed on the bottom plate of the main housing (1), the detection base (23) is processed with a groove, the ring light source (21) is installed on the upper edge of the groove, and the bottom of the groove is processed with a threaded through hole, the threaded through hole Be connected with miniature fiber optic spectrometer (20) by optical fiber, the output end of miniature fiber optic spectrometer (20) is connected with the input end of host computer (6), and described ring light source (21) sends infrared light; The vertical distance from the vacuum suction cup (209) to the end of the feeding fruit box pallet (9) near the main housing (1) is equal to the vertical distance from the vacuum suction cup (209) to the detection base (23); Described moving device is the mobile dolly driven by small motor (29), and host computer computer (6) controls small motor (29) to rotate through small motor (29) controller; The arm control system includes a motor control board, a right solenoid valve for controlling the opening and closing of the right vacuum tube (211) and a left solenoid valve for controlling the opening and closing of the left vacuum tube (311), the output terminal of the upper computer (6) and the input of the motor control board The output ends of the motor control board are respectively connected to the input ends of the right outer rotor hub motor (203) and the left outer rotor hub motor (303), and the upper computer (6) is electrically connected with the right solenoid valve and the left solenoid valve respectively. The right solenoid valve and the left solenoid valve described above are two-position three-way solenoid valves. 2. The near-infrared fruit internal quality grading robot according to claim 1 is characterized in that a right crossbar (207) is vertically connected with a right crossbar (207) on the right connecting rod (206) of the feeding arm (2), and the right crossbar (207) The right camera (208) is fixed on the top, and the output end of the right camera (208) is connected with the input end of the host computer (6); On the left connecting rod (306) of the blanking arm (3), the vertical connection is provided with the left crossbar ( 307), the left crossbar (307) is fixed with a left camera (308), and the output end of the left camera (308) is connected with the input end of the host computer (6). 3. The near-infrared fruit internal quality grading robot according to claim 1 is characterized in that a right stress sensor (210) is installed on the right rotation bushing (204) of the loading arm (2), and the unloading arm (3) A left stress sensor (310) is installed on the left rotation axle sleeve (304). 4. The near-infrared fruit internal quality grading robot according to claim 1, the bottom of the groove of the detection base (23) is provided with a rubber sealing washer (22). 5. The near-infrared fruit internal quality grading robot according to claim 1, characterized in that a weighing device (19) is added between the detection bracket (18) and the bottom plate of the main housing (1). 6. The near-infrared fruit internal quality grading robot according to claim 1 is characterized in that laser sensors (4) are installed on the front and rear sides of the main housing (1), and the output of the laser sensors (4) End is connected with the input end of upper computer (6). 7. The near-infrared fruit internal quality grading robot according to claim 1, characterized in that the angle between the loading fruit box pallet (9) and the horizontal plane is between 5°-30°. 8. The near-infrared fruit internal quality grading robot according to claim 1, characterized in that said mobile trolley comprises a synchronous pulley (15), a synchronous belt (14), a bearing block (12), a driving wheel (16) , drive shaft (13) and driven wheel (17); drive shaft (13) is fixed below the bottom plate of main casing (1) by bearing seat (12), and drive shaft (13) two ends are respectively equipped with drive wheel (16 ), the small motor (29) is fixed below the bottom plate of the main casing (1), and two synchronous pulleys (15) are installed on the driving shaft (13) and the rotating shaft of the small motor respectively, and are connected by the synchronous belt (14). A synchronous pulley (15) is also fixedly installed with a driven wheel (17) below the base plate of the main housing (1). 9. The near-infrared fruit internal quality grading robot according to claim 1, characterized in that the small motor (29) is connected with an encoder (26) through a connecting shaft (27), and the encoder (26) passes through the encoder The support (25) is fixed on the base plate of the main casing (1). 10. According to the near-infrared fruit internal quality grading robot described in any one of claims 1-9, it is characterized in that the lower end of the right fixed shaft (202) of the feeding arm (2) is connected with the first right linear stepping motor ( 201), the right fixed shaft (202) is connected with the motor shaft of the first right linear stepper motor (201), and the first right linear stepper motor (201) is fixedly arranged in the main casing (1), and the motor control The output end of the board is connected to the input end of the right first linear stepping motor (201), and the motor control board indirectly drives the right vacuum chuck (209) to move in the vertical direction by controlling the right first linear stepping motor (201); The lower end of the left fixed shaft (302) of the blanking arm (3) is connected with the left first linear stepping motor (301), and the left fixed shaft (302) is connected with the motor shaft of the left first linear stepping motor (301) , the left first linear stepping motor (301) is fixedly arranged in the main housing (1), the output end of the motor control board is connected to the input end of the left first linear stepping motor (301), and the motor control board controls the left The first linear stepping motor (301) indirectly drives the left vacuum chuck (309) to move in the vertical direction; The right rotating shaft sleeve (204) of the feeding arm (2) is connected with the second right linear stepping motor (205), and the right rotating shaft sleeve (204) is connected with the outer shell of the right second linear stepping motor (205) , the motor shaft of the right second linear stepping motor (205) is vertically connected with one end of the right connecting rod (206), the output end of the motor control board is connected with the input end of the right second linear stepping motor (205), and the motor control board passes through Control the second right linear stepper motor (205) to indirectly drive the right vacuum chuck (209) to move in the horizontal direction; The left rotating shaft sleeve (304) of the blanking arm (3) is connected with the left second linear stepping motor (305), and the left rotating shaft sleeve (304) is connected with the outer shell of the left second linear stepping motor (305). The motor shaft of the second linear stepping motor (305) is vertically connected with an end of the left connecting rod (306), and the output end of the motor control board is connected with the input end of the second linear stepping motor (305) on the left, and the motor control board controls the left The second linear stepper motor (305) indirectly drives the left vacuum chuck (309) to move in the horizontal direction.