Small intelligent apple sorting machine

Abstract

The small intelligent apple sorting machine comprises an air washing system, a soft package roller fruit conveying system, an image recognition system, an inferior fruit removing system, a rail type sorting and lower fruit collecting system, a power source and a control box, and the air washing system is arranged on the right side of the whole machine; the soft package roller fruit conveying system is arranged on the left side of the gas washing system; the image recognition system is arranged above the soft package roller fruit conveying system, the inferior fruit removing system is arranged on the left side of the soft package roller fruit conveying system, the right side of the rail type sorting and lower fruit collecting system is connected with the inferior fruit removing system, the power source is arranged below a fruit feeding rack of the soft package roller fruit conveying system, and the control box is arranged on a camera obscura of the image recognition system. According to the intelligent apple sorting machine, inferior fruit screening, inferior fruit removing and size sorting of apple fruits in the orchard garden head are achieved, meanwhile, the whole machine integrates the scientific damage prevention and reduction technology, and the blank of a small intelligent apple sorting machine in the field of orchard garden head sorting is filled.

Description

Technical Field

[0001] The present application belongs to the technical field of agricultural machinery, and specifically relates to a small intelligent apple sorting machine. Background Art

[0002] China is the world's largest apple producer, supplying about half of the world's apples, and Shaanxi is a major apple-producing province in the country, with apple production accounting for about 35% of the country's total. Grading is an important part of apple commercial processing. Currently, preliminary grading in the apple picking process is usually carried out in orchards and relies on manual operation. Existing apple sorting machines are mainly suitable for sorting lines in medium and large fruit warehouses, and are expensive, usually in the range of 2 million to 5 million. In addition, the single unit weight of apples is large and is easily damaged during the grading process. In view of this situation, there is an urgent need to develop a small intelligent apple sorting machine designed specifically for orchard environments to suit the scattered planting methods of my country's fruit farmers, meet the needs of farmers, and fill the gap in the field of automated sorting in my country's apple orchards. Summary of the invention

[0003] This application is based on the current problems of low automation level of apple sorting in orchards in China, large size of apple sorting machinery, large sorting damage, and high threshold for use. A new type of low-loss, small-sized, intelligent apple sorting machine is designed. The machine adopts image recognition and inferior fruit removal technology, integrates track-type size sorting technology and loss prevention and reduction technology, and uses Shaanxi's high-yield apple varieties (Rui Xianghong, Ruixue and Red Fuji) as the sorting objects. It aims to reduce the loss of apples after harvesting and fill the gap in the field of automated sorting in apple orchards. It has the advantages of small size, low sorting damage, high degree of automation, and easy manufacturing. It is expected to provide reference significance and value for subsequent research on domestic apple sorting machinery and loss prevention and reduction methods.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: a small intelligent apple sorting machine, including an air washing system, a soft-bag drum fruit conveying system, an image recognition system, an inferior fruit rejection system, a track-type sorting and lower fruit collection system, a power source and a control box, wherein the air washing system is arranged on the right side of the upper fruit rack of the soft-bag drum fruit conveying system, the soft-bag drum fruit conveying system is arranged on the left side of the air washing system, the image recognition system is arranged above the soft-bag drum fruit conveying system, the inferior fruit rejection system is arranged on the left side of the soft-bag drum fruit conveying system, the right side of the track-type sorting and lower fruit collection system is connected to the inferior fruit rejection system, the power source is arranged below the upper fruit rack of the soft-bag drum fruit conveying system, and the control box is arranged on the dark box of the image recognition system.

[0005] Furthermore, the air washing system includes an air washing gun, a diverter valve, an air washing mounting frame, an air washing air pipe and an air compressor-air washing diverter valve air pipe. The diverter valve is arranged on the rear side of the air washing mounting frame to play the role of air transmission and diversion. The air compressor-air washing diverter valve air pipe is connected to one side of the diverter valve. The air washing air pipe is evenly distributed on the rear side of the diverter valve and is connected to the air washing gun above the air washing mounting frame.

[0006] Furthermore, the air washing gun comprises an air washing gun nozzle, an air washing gun barrel, an air washing gun mounting section, an air washing gun upright pole, an air washing gun air pipe joint and an air washing gun base. The air washing gun base is arranged on the upper side of the air washing gun mounting frame, the air washing gun upright pole is arranged in the air washing gun base, the air washing gun mounting section is arranged in the middle of the air washing gun upright pole, the air washing gun barrel is arranged in the air washing gun mounting section, and the front and rear ends thereof are respectively provided with an air washing gun nozzle and an air washing gun air pipe joint. The cleaning effect of the air washing gun nozzle of the entire air washing system is uniform and stable, and the air washing height and angle can be adjusted, thereby achieving a multi-channel washing effect.

[0007] Furthermore, the soft-packed roller fruit conveying system comprises a fruit loading rack, a roller mechanism motor base, a roller fruit conveying motor, a large roller fruit conveying synchronous belt, a large roller fruit conveying synchronous pulley, a small roller fruit conveying synchronous belt, a small roller fruit conveying synchronous pulley, a gear box, a roller rotating shaft, a wavy soft-packed roller, and a roller bearing seat unit. The fruit loading rack is located above the entire fruit conveying system, the roller mechanism motor base is arranged on the bottom side of the fruit loading rack, the roller fruit conveying motor is arranged in the roller mechanism motor base, one end of the large roller fruit conveying synchronous belt is arranged at the output end of the roller fruit conveying motor, and the other end is arranged on the large roller fruit conveying synchronous pulley in the gear box, the roller rotating shaft is linearly arrayed in the gear box, the wavy soft-packed roller and the roller bearing seat unit are both arranged in the roller rotating shaft, and the small roller fruit conveying synchronous belt is staggered on the left and right sides of the roller rotating shaft close to the inner side of the gear box, and is driven by the small roller fruit conveying synchronous pulley.

[0008] Furthermore, the fruit loading rack comprises a fruit loading rack side panel, a front bottom plate welded steel pipe of the fruit loading rack, a rear bottom plate connecting steel pipe of the fruit loading rack, a fruit channel partition of the fruit loading rack, an H-shaped support frame for fruit loading and a universal wheel of the fruit loading rack. The fruit channel partition of the fruit loading rack is arranged on the upper side of the fruit loading rack, and divides the side panel of the fruit loading rack surrounded thereon into three fruit channels. The front bottom plate welded steel pipe of the fruit loading rack and the rear bottom plate connecting steel pipe of the fruit loading rack are both arranged on the lower side of the fruit loading rack and belong to the front and rear ends respectively. The H-shaped support frame for fruit loading is arranged below the steel pipe connecting the rear bottom plate of the fruit loading rack, and a universal wheel of the fruit loading rack is arranged thereon. The entire soft bag roller fruit conveying system realizes fruit conveying with the characteristics of precise transmission, three fruit channels and universal adjustment.

[0009] Furthermore, the image recognition system includes a dark box, an industrial computer, a photoelectric switch unit, an industrial camera unit and an efficiency indicator light. The dark box is arranged above the fruit loading rack, the efficiency indicator light is arranged above the dark box, the industrial computer is arranged on the side of the dark box, and the photoelectric switch unit and the industrial camera unit are both arranged inside the dark box.

[0010] Furthermore, the photoelectric switch unit includes a photoelectric switch mounting frame, a photoelectric switch mounting frame ball handle, a photoelectric switch and a photoelectric switch mounting frame fixing nylon block. The photoelectric switch mounting frame fixing nylon block is arranged at both ends of the photoelectric switch mounting frame, and a photoelectric switch mounting frame ball handle is provided thereon. The photoelectric switch is arranged on the inner side of the photoelectric switch mounting frame and is arranged in a linear array in an upper and lower side-by-side manner.

[0011] Furthermore, the industrial camera unit includes an industrial camera bracket bottom plate, an industrial camera bracket base, an industrial camera bracket pole, an industrial camera bracket mounting section, an industrial camera bracket cross bar, an industrial camera bracket short rod, an industrial camera bracket T-shaped mounting section, an industrial camera, and a dome-type light source. The industrial camera bracket bottom plate is arranged on the inner side of the edges at both ends of the upper fruit rack, the industrial camera bracket base is respectively arranged at both ends of the industrial camera bracket bottom plate, the industrial camera bracket pole is arranged in the industrial camera bracket base, the dome-type light source is arranged in the middle of the industrial camera bracket pole through the industrial camera bracket mounting section, the industrial camera bracket cross bar is arranged at the upper end of the industrial camera bracket pole through the industrial camera bracket mounting section, one end of the industrial camera bracket short rod is vertically arranged in the industrial camera bracket cross bar through the industrial camera bracket mounting section, and the other end is provided with an industrial camera bracket T-shaped mounting section, the industrial camera is arranged in the industrial camera bracket T-shaped mounting section, and the camera is directly opposite to the dome-type light source opening, the entire image recognition system constructs a dark box environment, detects the fruit channel position of the apple, and completes the fruit quality inspection.

[0012] Furthermore, the inferior fruit rejection system includes an air compressor-rejection diverter valve air pipe, a rejection mechanism fixing plate, a rejection mechanism diverter valve, a rejection mechanism air pipe diverter valve air pipe joint, a rejection mechanism diverter valve-solenoid valve air pipe, a solenoid valve, a solenoid valve air pipe joint, a solenoid valve-cylinder air pipe, a cylinder, a cylinder push rod, a cylinder air pipe joint, a cylinder U-shaped plate connecting section, a switch door U-shaped plate connecting section, a rejection latch, a cylinder U-shaped plate-switch door U-shaped plate connecting piece, and a rejection latch limit card The reject mechanism is provided with a buckle, a reject switch door, a reject switch door baffle, a reject switch door rotating shaft, and a reject switch door rotating shaft bearing. The reject mechanism diverter valve is arranged on the upper part of the reject mechanism fixed plate. The air compressor-reject diverter valve air pipe is arranged on one side of the reject mechanism diverter valve through the reject mechanism air pipe diverter valve air pipe joint. The solenoid valve is arranged at the lower part of the reject mechanism fixed plate, and the reject mechanism diverter valve is connected to the reject mechanism through the diverter valve-solenoid valve air pipe. The solenoid valve air pipe joint is arranged on the solenoid valve. The flow valve-solenoid valve air pipe is on the opposite side, and the cylinder is connected through the solenoid valve-cylinder air pipe, and the solenoid valve-cylinder air pipe is connected to the cylinder air pipe joint set on one side, the cylinder push rod is set in the cylinder hole, the cylinder U-shaped plate connecting section is set at the end of the cylinder push rod, the switch door U-shaped plate connecting section is connected through the cylinder U-shaped plate-switch door U-shaped plate connecting piece and the cylinder U-shaped plate connecting section, the cylinder U-shaped plate-switch door U-shaped plate connecting piece is set in the two U-shaped plate connecting sections by removing the latch, and The reject pin is fixed by the reject pin limit buckle in the two U-shaped plate connecting sections and the cylinder U-shaped plate-switch door U-shaped plate connecting piece. The reject switch door is arranged on the switch door U-shaped plate connecting section, and a reject switch door baffle is arranged in the middle. The reject switch door rotating shaft is arranged at the root of the reject switch door, and passes through the two reject switch door rotating shaft bearings arranged on both sides of the reject switch door. The entire inferior fruit rejection system is powered by an air compressor, and the solenoid valve accurately controls the opening and closing to achieve the rejection of inferior fruits.

[0013] Furthermore, the track-type sorting and fruit collection system includes a track-type sorting mechanism, a sorting size grade adjustment mechanism, a fruit posture correction mechanism, a bottom bin conveyor belt mechanism, a conveyor belt height adjustment mechanism, a fruit buffer brush and a pipeline-type low-loss fruit collection mechanism. The conveyor belt height adjustment mechanism is arranged at the bottom of the track-type sorting and fruit collection system, and can adjust the height difference between the conveyor belt and the sorting soft rail to minimize the vertical impact of apples caused by sorting and falling fruits. The track-type sorting mechanism is arranged inside the track-type sorting and fruit collection system. Its design strictly controls the damage ratio of apples and grades the size of apples. A fruit posture correction mechanism is arranged above it, and it is concentrated on the fruit outlet. The apples moving on the sorting soft track are adjusted in posture. The sorting size grade adjustment mechanism is arranged on both sides of the track sorting and fruit collection system and is located at the top. The soft track sorting width is adjusted by the track chuck. The bottom bin conveyor belt mechanism is arranged in the middle layer of the track sorting and fruit collection system, and the sorted apples can be transported to the pipeline low-loss fruit collection mechanism. A fruit buffer brush is arranged above the mechanism to reduce the impact speed and impact force of the apples from the sorting soft track to the conveyor belt, thereby reducing the damage to the apples. The pipeline low-loss fruit collection mechanism is arranged on the front side of the track sorting and fruit collection system, and the four-level apples after continuous low-loss collection and sorting are put into the basket.

[0014] Furthermore, the track type sorting mechanism comprises a sorting frame, an upper baffle plate of the sorting frame, a universal wheel of the sorting frame, a rear cross frame of the sorting frame, a sorting control box mounting plate, a sorting control box, a sorting motor mounting plate, a sorting motor, a small sorting sprocket, a sorting transmission chain, a large sorting sprocket, a sorting track pulley bearing bearing seat unit, a sorting track pulley shaft, a sorting track pulley, a sorting track, an extra-small fruit lower fruit plate, an extra-large fruit lower fruit plate fixing frame and an extra-large fruit lower fruit plate, the universal wheel of the sorting frame is arranged below the sorting frame, the sorting control box mounting plate is arranged on the bottom support rod of the sorting frame, the sorting control box is arranged in the sorting control box mounting plate, the sorting motor mounting plate is arranged on the bottom support rod of the sorting frame, the sorting motor is arranged in the sorting motor mounting plate, the small sorting sprocket is arranged at the output end of the sorting motor, and the A plurality of sorting track pulley bearing seat units are arranged on the sorting frame support rod, the large sorting sprocket is arranged in the sorting track pulley bearing seat unit, one end of the sorting transmission chain is arranged on the small sorting sprocket, and the other end is arranged on the large sorting sprocket, the rear cross frame of the sorting frame is arranged on the rear lower side of the sorting frame, the extra-large fruit lower fruit plate is fixedly mounted on the rear upper side of the sorting frame, the extra-large fruit lower fruit plate is arranged on the extra-large fruit lower fruit plate fixed frame, the sorting track pulley shaft is arranged in the sorting track pulley bearing seat unit, the sorting track pulley is arranged in the sorting track pulley shaft, the sorting track is arranged in the middle of the sorting track pulley, the upper baffle of the sorting frame is arranged on both sides of the sorting track, the extra-small fruit lower fruit plate is arranged at the starting end of the sorting frame, the extra-large fruit lower fruit plate is fixedly mounted at the end of the sorting frame, and an extra-large fruit lower fruit plate is provided.

[0015] Furthermore, the sorting size grade adjustment mechanism includes a sorting size grade control plate, a sorting size grade control rod, a sorting track support frame and a control rod fixing screw. The sorting size grade control plate is arranged on the two upper support rods of the sorting frame, the sorting size grade control rod is arranged in the sorting size grade control plate and fixed by the control rod fixing screws, and the sorting track support frame is arranged in the sorting size grade control rod. By adjusting the position of the sorting size grade control rod in the sorting size grade control plate, the sorting track is made to have an "eight" structure, thereby achieving the effect of sorting apples of different sizes.

[0016] Furthermore, the fruit posture correction mechanism includes a straightening belt mounting plate and a straightening belt, the straightening belt mounting plate is arranged above the baffle plate on the sorting frame, and the straightening belt is arranged in the straightening belt mounting plate.

[0017] Furthermore, the bottom bin conveyor belt mechanism includes a bottom bin conveyor belt central control box mounting plate, a bottom bin conveyor belt central control box, a bottom bin conveyor belt motor mounting plate, a bottom bin conveyor belt motor, a bottom bin conveyor belt small sprocket, a bottom bin transmission chain, a bottom bin conveyor belt large sprocket, a bottom bin conveyor belt unit and a size sorting partition, the bottom bin conveyor belt central control box mounting plate is arranged on the bottom support rod of the sorting frame, the bottom bin conveyor belt central control box is arranged in the bottom bin conveyor belt central control box mounting plate, the bottom bin conveyor belt motor mounting plate is arranged next to the bottom bin conveyor belt central control box mounting plate, the bottom bin conveyor belt motor is arranged on the bottom bin conveyor belt motor mounting plate, the bottom bin conveyor belt small sprocket is arranged at the output end of the bottom bin conveyor belt motor, the bottom bin conveyor belt large sprocket drives the bottom bin conveyor belt unit to move at the top, one end of the bottom bin transmission chain is connected to the bottom bin conveyor belt small sprocket, and the other end is connected to the bottom bin conveyor belt large sprocket, and the size sorting partition is arranged on the upper side of the bottom bin conveyor belt unit for separating fruits of different grades.

[0018] Furthermore, the conveyor belt height adjustment mechanism includes an electric push rod base, an electric push rod, a push rod, an electric push rod U-shaped slot, an electric push rod positioning pin, a retaining spring sleeve, a retaining spring limit screw, a retaining spring, a retaining spring mounting plate, a conveyor belt bracket base, a conveyor belt T-shaped bracket, a T-shaped bracket limit pin and a conveyor belt bracket U-shaped slot. The electric push rod is arranged in parallel in the electric push rod base to achieve the effect of adjusting the height at the same time. The push rod is arranged in the electric push rod, and the electric push rod U-shaped slot is arranged at the end of the push rod, which is fixed with an electric push rod positioning pin. The retaining spring sleeve is arranged on the side of the size sorting partition, and the retaining spring limit screw is arranged on the retaining spring mounting plate and is located in the retaining spring sleeve, in which a retaining spring is arranged to make height adjustment easier to operate. The conveyor belt bracket is arranged on the bottom support rod of the sorting machine frame, and the conveyor belt T-shaped bracket is connected to the conveyor belt bracket U-shaped slot through the T-shaped bracket limit pin.

[0019] Furthermore, the pipeline-type low-loss fruit collection mechanism includes a fruit hose mounting bracket, a fruit hose fixing frame, a fruit trumpet, a parabolic fruit hose, an extra-small fruit fruit hose mounting bracket, an extra-small fruit fruit hose fixing frame, an extra-small fruit fruit trumpet and an extra-small fruit parabolic fruit hose. The fruit hose mounting bracket is arranged in front of the sorting machine frame, the fruit trumpet is arranged under the fruit hose mounting bracket through the fruit hose fixing frame, the parabolic fruit hose is connected under the fruit trumpet, the extra-small fruit fruit hose mounting bracket is arranged at the outlet of the extra-small fruit fruit plate, the extra-small fruit fruit hose fixing frame is arranged on the extra-small fruit fruit hose mounting bracket, the extra-small fruit fruit trumpet is arranged in the extra-small fruit fruit hose fixing frame, and an extra-small fruit parabolic fruit hose is arranged under the interface.

[0020] Furthermore, the power source includes a gasoline generator, an air compressor, a power source base and a universal wheel of the power source base, the universal wheel of the power source base is arranged at the bottom of the power source base, and the gasoline generator and air compressor are both arranged above the power source base, respectively and on both sides of the power source base.

[0021] The beneficial effects achieved by the above structure in this application example are as follows:

[0022] The present application example provides a small intelligent apple sorting machine, in which the air washing system provides the initial velocity for the apples entering the fruit tray and cleans the impurities on the surface of the apples; the main function of the soft-bag roller fruit conveying system is to transport the apples in a rolling state, so that the image recognition system can collect images of the various surfaces of the apples, which facilitates the image recognition system to more accurately complete the screening of inferior fruits (with obvious appearance defects such as tumor-like depressions, cracks, lesions and mildew spots); the image recognition system completes image detection and defective product detection; the inferior fruit rejection system completes the rejection of inferior fruits; the track sorting mechanism of the track sorting and fruit collection system grades the apples by size; the sorting size grade adjustment mechanism of the track sorting and fruit collection system adjusts the soft track sorting width through the track chuck; The fruit posture correction mechanism of the sorting and fruit collection system straightens the posture of the apples moving on the sorting soft rail; the bottom bin conveyor belt mechanism of the track-type sorting and fruit collection system transports the sorted apples to the pipeline-type low-loss fruit collection mechanism; the conveyor belt height adjustment mechanism of the track-type sorting and fruit collection system adjusts the height difference between the conveyor belt and the sorting soft rail to minimize the vertical impact of the apples caused by the sorting fruit falling; the fruit brush buffer mechanism of the track-type sorting and fruit collection system reduces the impact speed and impact force of the apples from the sorting soft rail to the conveyor belt, thereby reducing the damage to the apples; the main function of the pipeline-type low-loss fruit collection mechanism of the track-type sorting and fruit collection system is to continuously collect and transport the sorted four-level apples into the basket at a low loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a small intelligent apple sorting machine provided in this application example.

[0025] Figure 2 The rear view of the small intelligent apple sorting machine provided in this application example.

[0026] Figure 3 A front view of the small intelligent apple sorting machine provided in this application example.

[0027] Figure 4 A side view of the small intelligent apple sorting machine provided in this application example.

[0028] Figure 5 A top view of the small intelligent apple sorting machine provided in this application example.

[0029] Figure 6 A schematic diagram of the structure of the air washing system provided in this application example.

[0030] Figure 7 This is a schematic diagram of the structure of the fruit loading rack provided in this application example.

[0031] Figure 8 This is a schematic diagram of the structure of the upper fruit H-shaped support frame provided in this application example.

[0032] Fig. 9 This is a schematic diagram of the structure of the soft-bag drum fruit conveying system provided in this application example.

[0033] Fig.10 for Fig. 9 A partial enlarged view of the transmission system.

[0034] Fig.11 A schematic diagram of the structure of the image recognition system provided in this application example.

[0035] Fig.12 This is a schematic diagram of the structure of the photoelectric switch unit provided in this application example.

[0036] Fig.13 A schematic diagram of the structure of the industrial camera unit provided in this application example.

[0037] Fig.14 This is a schematic diagram of the structure of the inferior fruit removal system provided in this application example.

[0038] Fig.15 for Fig.14 A partial enlarged view of area A.

[0039] Fig.16 This is a schematic diagram of the structure of the track sorting and fruit collection system provided in this application example.

[0040] Fig.17 This is a rear axonometric view of the track-type sorting and fruit collection system provided in this application example.

[0041] Fig.18 This is a schematic diagram of the structure of the pipeline-type low-loss fruit collection mechanism provided in this application example.

[0042] Fig.19 for Fig.16 A partial enlarged view of area A.

[0043] Fig. 20 for Fig.16 A partial enlarged view of area B in the middle.

[0044] Fig.21 for Fig.17 A partial enlarged view of the middle C area.

[0045] Fig. 22 for Fig.18 A partial enlarged view of area A.

[0046] Fig.23 A schematic diagram of the structure of the sorting size grade adjustment mechanism provided in this application example.

[0047] Fig.24 A top view of the track-type sorting mechanism provided in the example of this application.

[0048] Markings in the figure:

[0049] 1: air washing system, 11: air washing gun, 111: air washing gun nozzle, 112: air washing gun barrel, 113: air washing gun installation section, 114: air washing gun upright pole, 115: air washing gun air pipe joint, 116: air washing gun base, 12: diverter valve, 13: air washing mounting frame, 14: air washing air pipe, 15: air compressor-air washing diverter valve air pipe.

[0050] 2: Soft-packed roller fruit conveying system, 21: Fruit loading rack, 211: Fruit loading rack side panel, 212: Fruit loading rack front bottom plate welded steel pipe, 213: Fruit loading rack rear bottom plate connecting steel pipe, 214: Fruit channel partition of fruit loading rack, 215: Fruit loading H-type support frame, 216: Fruit loading rack universal wheel, 22: Roller mechanism motor base, 23: Roller fruit conveying motor, 24: Roller fruit conveying large synchronous belt, 25: Roller fruit conveying large synchronous pulley, 26: Roller fruit conveying small synchronous belt, 27: Roller fruit conveying small synchronous pulley, 28: Gear box, 29: Roller rotating shaft, 210: Wave-shaped soft-packed roller, 211: Roller bearing seat unit.

[0051] 3: Image recognition system, 31: Dark box, 32: Industrial computer, 33: Photoelectric switch unit, 331: Photoelectric switch mounting bracket, 332: Photoelectric switch mounting bracket ball handle, 333: Photoelectric switch, 334: Photoelectric switch mounting bracket fixing nylon block, 34: Industrial camera unit, 341: Industrial camera bracket bottom plate, 342: Industrial camera bracket base, 343: Industrial camera bracket vertical pole, 344: Industrial camera bracket mounting section, 345: Industrial camera bracket cross bar, 346: Industrial camera bracket short rod, 347: Industrial camera bracket T-type mounting section, 348: Industrial camera, 349: Dome-type light source, 35: Efficiency indicator light.

[0052] 4: Inferior fruit rejection system, 41: Air compressor-rejection diverter valve air pipe, 42: Rejection mechanism fixing plate, 43: Rejection mechanism diverter valve, 44: Rejection mechanism air pipe diverter valve air pipe joint, 45: Rejection mechanism diverter valve-solenoid valve air pipe, 46: Solenoid valve, 47: Solenoid valve air pipe joint, 48: Solenoid valve-cylinder air pipe, 49: Cylinder, 410: Cylinder push rod, 411: Cylinder air pipe joint, 412: Cylinder U-shaped plate connecting section, 413: Switch door U-shaped plate connecting section, 414: Rejection latch, 415: Cylinder U-shaped plate-switch door U-shaped plate connecting piece, 416: Rejection latch limit buckle, 417: Reject switch door, 418: Reject switch door baffle, 419: Reject switch door rotating shaft, 420: Reject switch door rotating shaft bearing.

[0053] 5: Track sorting and fruit collection system, 51: Track sorting mechanism, 511: Sorting rack, 512: Sorting rack upper baffle, 513: Sorting rack universal wheel, 514: Sorting rack rear cross frame, 515: Sorting control box mounting plate, 516: Sorting control box, 517: Sorting motor mounting plate, 518: Sorting motor, 519: Sorting small sprocket, 5110: Sorting transmission chain, 5111: Sorting large sprocket, 5112: Sorting track pulley bearing bearing seat unit, 5 113: sorting track pulley shaft, 5114: sorting track pulley, 5115: sorting track, 5116: extra small fruit lowering plate, 5117: extra large fruit lowering plate fixing frame, 5118: extra large fruit lowering plate, 52: sorting size grade adjustment mechanism, 521: sorting size grade control board, 522: sorting size grade control rod, 523: sorting track support frame, 524: control rod fixing screw, 53: fruit posture correction mechanism, 531: positive shifting belt mounting plate, 532: positive Position shifting belt, 54: bottom bin conveyor belt mechanism, 541: bottom bin conveyor belt central control box mounting plate, 542: bottom bin conveyor belt central control box, 543: bottom bin conveyor belt motor mounting plate, 544: bottom bin conveyor belt motor, 545: bottom bin conveyor belt small sprocket, 546: bottom bin transmission chain, 547: bottom bin conveyor belt large sprocket, 548: bottom bin conveyor belt unit, 549: size sorting partition, 55: conveyor belt height adjustment mechanism, 551: electric push rod base, 552: electric push rod, 553: Push rod, 554: Electric push rod U-shaped slot, 555: Electric push rod positioning pin, 556: circlip sleeve, 557: circlip limit screw, 558: circlip, 559: circlip mounting plate, 5510: Conveyor belt bracket base, 5511: Conveyor belt T-shaped bracket, 5512: T-shaped bracket limit pin, 5513: Conveyor belt bracket U-shaped slot, 56: Fruit lowering buffer brush, 57: Pipeline low-loss fruit lowering collection mechanism, 571: Fruit lowering hose mounting bracket, 572: Fruit lowering hose fixing frame, 573: Fruit lowering trumpet, 574: Parabolic fruit lowering hose, 575: Extra small fruit fruit lowering hose mounting bracket, 576: Extra small fruit fruit lowering hose fixing frame, 577: Extra small fruit fruit lowering trumpet, 578: Extra small fruit parabolic fruit lowering hose.

[0054] 6: power source, 61: gasoline generator, 62: air compressor, 63: power source base, 64: universal wheel of power source base.

[0055] 7: Control box. DETAILED DESCRIPTION

[0057] In order to more clearly illustrate the technical solution of the example of the present application, the drawings required for use in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work. In order to facilitate the understanding of this application example, the embodiment of the present application is described in more detail below in combination with the drawings and specific embodiments.

[0058] like Figure 1-Figure 5 As shown, a small intelligent apple sorting machine includes an air washing system 1, a soft-bag drum fruit conveying system 2, an image recognition system 3, an inferior fruit rejection system 4, a track-type sorting and lower fruit collection system 5, a power source 6 and a control box 7. The air washing system 1 is arranged on the right side of the upper fruit rack 21 of the soft-bag drum fruit conveying system 2, the soft-bag drum fruit conveying system 2 is arranged on the left side of the air washing system 1, the image recognition system 3 is arranged above the soft-bag drum fruit conveying system 2, the inferior fruit rejection system 4 is arranged on the left side of the soft-bag drum fruit conveying system 2, the right side of the track-type sorting and lower fruit collection system 5 is connected to the inferior fruit rejection system 4, the power source 6 is arranged below the upper fruit rack 21 of the soft-bag drum fruit conveying system 2, and the control box 7 is arranged on the dark box 31 of the image recognition system 3.

[0059] like Figure 6 As shown, the air washing system 1 includes an air washing gun 11, a diverter valve 12, an air washing mounting frame 13, an air washing air pipe 14 and an air compressor-air washing diverter valve air pipe 15. The diverter valve 12 is arranged on the rear side of the air washing mounting frame 13 to play the role of air transmission and diversion. The air compressor-air washing diverter valve air pipe 15 is connected to one side of the diverter valve 12. The air washing air pipe 14 is evenly distributed on the rear side of the diverter valve 12 and is connected to the air washing gun 11 above the air washing mounting frame 13. The main function of the air washing system is to provide an initial velocity for the apples entering the fruit plate and clean the impurities on the surface of the apples.

[0060] The gas washing gun 11 comprises a gas washing gun nozzle 111, a gas washing gun barrel 112, a gas washing gun installation section 113, a gas washing gun upright 114, a gas washing gun air pipe joint 115 and a gas washing gun base 116. The gas washing gun base 116 is arranged on the upper side of the gas washing gun mounting frame 13, the gas washing gun upright 114 is arranged in the gas washing gun base 116, the gas washing gun installation section 113 is arranged in the middle of the gas washing gun upright 114, the gas washing gun barrel 112 is arranged in the gas washing gun installation section 113, and the front and rear ends thereof are respectively provided with the gas washing gun nozzle 111 and the gas washing gun air pipe joint 115. The cleaning effect of the gas washing gun nozzle 111 of the entire gas washing system is uniform and stable, and the gas washing height and angle can be adjusted, realizing the effect of multi-way washing and universal adjustment.

[0061] like Figure 7-Figure 10As shown, the soft-packed roller fruit conveying system 2 includes a fruit loading frame 21, a roller mechanism motor base 22, a roller fruit conveying motor 23, a large roller fruit conveying synchronous belt 24, a large roller fruit conveying synchronous pulley 25, a small roller fruit conveying synchronous belt 26, a small roller fruit conveying synchronous pulley 27, a gear box 28, a roller rotating shaft 29, a wavy soft-packed roller 210, and a roller bearing bearing seat unit 211. The fruit loading frame 21 is located above the entire fruit conveying system 2, the roller mechanism motor base 22 is arranged on the bottom side of the fruit loading frame 21, the roller fruit conveying motor 23 is arranged in the roller mechanism motor base 22, one end of the roller fruit conveying large synchronous belt 24 is arranged at the output end of the roller fruit conveying motor 23, and the other end is arranged at the gear box. On the large synchronous pulley 25 of the fruit conveying roller 28, the roller rotating shaft 29 is linearly arrayed in the gear box 28, the wavy soft-packed roller 210 and the roller bearing bearing seat unit 211 are both arranged in the roller rotating shaft 29, and the small synchronous belt 26 of the fruit conveying roller is staggered on the left and right sides and is close to the inner side of the gear box 28, and is driven by the small synchronous pulley 27 of the fruit conveying roller. The main function of the soft-packed roller fruit conveying system is to transport apples in a rolling state, so that the image recognition system can collect images of various surfaces of the apples, which is convenient for the image recognition system to more accurately complete the screening of inferior fruits (having obvious tumor-like depressions, cracks, lesions and mildew spots and other appearance defects).

[0062] The fruit loading rack 21 comprises a fruit loading rack side plate 211, a fruit loading rack front bottom plate welded steel pipe 212, a fruit loading rack rear bottom plate connecting steel pipe 213, a fruit loading rack fruit path partition 214, a fruit loading H-shaped support frame 215 and a fruit loading rack universal wheel 216. The fruit loading rack fruit path partition 214 is arranged on the upper side of the fruit loading rack 21, and divides the fruit loading rack side plate 211 arranged thereon into three fruit paths. The fruit loading rack front bottom plate welded steel pipe 212 and the fruit loading rack rear bottom plate connecting steel pipe 213 are both arranged on the lower side of the fruit loading rack 21 and belong to the front and rear ends respectively. The fruit loading H-shaped support frame 215 is arranged below the fruit loading rack rear bottom plate connecting steel pipe 213, and is provided with a fruit loading rack universal wheel 216. The entire soft bag roller fruit conveying system 2 realizes fruit conveying with the characteristics of precise transmission, three fruit paths and universal adjustment.

[0063] like Fig.11As shown, the image recognition system 3 includes a dark box 31, an industrial computer 32, a photoelectric switch unit 33, an industrial camera unit 34 and an efficiency indicator light 35. The dark box 31 is arranged above the fruit loading rack 21, the efficiency indicator light 35 is arranged above the dark box 31, the industrial computer 32 is arranged on the side of the dark box 31, and the photoelectric switch unit 33 and the industrial camera unit 34 are both arranged inside the dark box 31. The working principle of the image recognition system is that when the apple enters the soft-pack drum fruit conveying system, the photoelectric switch is triggered to generate an electrical signal, and the electrical signal is transmitted to the coil of the relay module to drive the contact of the relay module to close. The relay and the industrial computer are connected through an RS232 interface. The apple intelligent detection algorithm of the industrial computer controls the CCD camera image acquisition and intelligently detects defective fruits (with obvious tumor-like depressions, cracks, lesions and mildew spots and other appearance defects). The returned result is 0 or 1, 0 indicates that the fruit is identified as defective fruit, and 1 indicates that the fruit is identified as good fruit. Then, the time required for the defective fruit to reach the rejection system is calculated according to the apple position and the apple movement speed, and the rejection system is triggered on time.

[0064] like Fig.12 As shown, the photoelectric switch unit 33 includes a photoelectric switch mounting frame 331, a photoelectric switch mounting frame ball handle 332, a photoelectric switch 333 and a photoelectric switch mounting frame fixing nylon block 334. The photoelectric switch mounting frame fixing nylon block 334 is arranged at both ends of the photoelectric switch mounting frame 331, and a photoelectric switch mounting frame ball handle 332 is provided thereon. The photoelectric switch 333 is arranged on the inner side of the photoelectric switch mounting frame 331, and is arranged in a linear array in an upper and lower side-by-side manner.

[0065] like Fig.13As shown, the industrial camera unit 34 includes an industrial camera bracket bottom plate 341, an industrial camera bracket base 342, an industrial camera bracket pole 343, an industrial camera bracket installation section 344, an industrial camera bracket cross bar 345, an industrial camera bracket short rod 346, an industrial camera bracket T-shaped installation section 347, an industrial camera 348, and a dome-type light source 349. The industrial camera bracket bottom plate 341 is arranged on the inner side of the edges of both ends of the upper fruit frame 21, the industrial camera bracket base 342 is respectively arranged at both ends of the industrial camera bracket bottom plate 341, the industrial camera bracket pole 343 is arranged in the industrial camera bracket base 342, and the dome-type light source 349 is through The industrial camera bracket mounting node 344 is arranged in the middle of the industrial camera bracket upright pole 343, the industrial camera bracket cross bar 345 is arranged at the upper end of the industrial camera bracket upright pole 343 through the industrial camera bracket mounting node 344, one end of the industrial camera bracket short rod 346 is vertically arranged in the industrial camera bracket cross bar 345 through the industrial camera bracket mounting node 344, and the other end is provided with an industrial camera bracket T-shaped mounting node 347, the industrial camera 348 is arranged on the industrial camera bracket T-shaped mounting node 347, and the camera is facing the opening of the dome-type light source 349, and the entire image recognition system 3 constructs a dark box environment, detects the position of the fruit path of the apple, and completes the quality inspection of the fruit.

[0066] like Figure 14-15As shown, the inferior fruit rejection system 4 includes an air compressor-rejection diverter valve air pipe 41, a rejection mechanism fixing plate 42, a rejection mechanism diverter valve 43, a rejection mechanism air pipe diverter valve air pipe joint 44, a rejection mechanism diverter valve-solenoid valve air pipe 45, a solenoid valve 46, a solenoid valve air pipe joint 47, a solenoid valve-cylinder air pipe 48, a cylinder 49, a cylinder push rod 410, a cylinder air pipe joint 411, a cylinder U-shaped plate connecting section 412, a switch door U-shaped plate connecting section 413, a rejection latch 414, a cylinder U-shaped plate-switch door U-shaped plate connecting piece 415, and a rejection latch limit card The reject mechanism comprises a buckle 416, a reject switch door 417, a reject switch door baffle 418, a reject switch door rotating shaft 419, and a reject switch door rotating shaft bearing 420. The reject mechanism diverter valve 43 is arranged on the upper part of the reject mechanism fixed plate 42. The air compressor-rejection diverter valve air pipe 41 is arranged on one side of the reject mechanism diverter valve 43 through the reject mechanism air pipe diverter valve air pipe joint 44. The solenoid valve 46 is arranged at the lower part of the reject mechanism fixed plate 42, and is connected to the reject mechanism diverter valve 43 through the diverter valve-solenoid valve air pipe 45. The solenoid valve air pipe joint 47 is arranged on the solenoid valve 46. The diverter valve-solenoid valve air pipe 45 is on the opposite side, connected to the cylinder 49 through the solenoid valve-cylinder air pipe 48, and the solenoid valve-cylinder air pipe 48 is connected to the cylinder air pipe joint 411 provided on one side, the cylinder push rod 410 is provided in the cylinder 49 hole, the cylinder U-shaped plate connecting section 412 is provided at the end of the cylinder push rod 410, the switch door U-shaped plate connecting section 413 is connected through the cylinder U-shaped plate-switch door U-shaped plate connecting piece 415 and the cylinder U-shaped plate connecting section 412, the cylinder U-shaped plate-switch door U-shaped plate connecting piece 415 is provided on the two U-shaped plate connecting sections by removing the latch 414 The reject pin 414 is fixed by the reject pin limit buckle 416 in the two U-shaped plate connecting sections and the cylinder U-shaped plate-switch door U-shaped plate connecting piece 415. The reject switch door 417 is arranged on the switch door U-shaped plate connecting section 413, and a reject switch door baffle 418 is arranged in the middle. The reject switch door rotating shaft 419 is arranged at the root of the reject switch door 417, and passes through the two reject switch door rotating shaft bearings 420 arranged on both sides of the reject switch door 417. The entire inferior fruit rejection system 4 is powered by an air compressor, and the solenoid valve 46 accurately controls the opening and closing to achieve the rejection of inferior fruits.

[0067] like Fig.16As shown, the track sorting and fruit collection system 5 includes a track sorting mechanism 51, a sorting size grade adjustment mechanism 52, a fruit posture correction mechanism 53, a bottom bin conveyor belt mechanism 54, a conveyor belt height adjustment mechanism 55, a fruit buffer brush 56 and a pipeline low-loss fruit collection mechanism 57. The conveyor belt height adjustment mechanism 55 is arranged at the bottom of the track sorting and fruit collection system 5, and can adjust the height difference between the conveyor belt and the sorting soft rail to minimize the vertical impact of apples caused by sorting and falling fruits. The track sorting mechanism 51 is arranged inside the track sorting and fruit collection system 5, and its design strictly controls the damage ratio of apples and grades the apples by size. A fruit posture correction mechanism 53 is arranged above it, and a collection mechanism 57 is provided. At the fruit channel exit, the posture of the apples moving on the sorting soft track is straightened. The sorting size grade adjustment mechanism 52 is arranged on both sides of the track sorting and fruit collection system 5 and is located at the top. The soft track sorting width is adjusted by the track chuck. The bottom bin conveyor belt mechanism 54 is arranged in the middle layer of the track sorting and fruit collection system 5, and the sorted apple fruits can be transported to the pipeline type low-loss fruit collection mechanism. A fruit buffer brush 56 is arranged above it, which can reduce the impact speed and impact force of the apple fruits from the sorting soft track to the conveyor belt, thereby reducing the damage to the apples. The pipeline type low-loss fruit collection mechanism 57 is arranged on the front side of the track sorting and fruit collection system 5, and the four-level apple fruits after continuous low-loss collection and transportation sorting are put into the basket.

[0068] like Figure 17-18As shown, the track sorting mechanism 51 includes a sorting frame 511, an upper baffle plate 512 of the sorting frame, a universal wheel 513 of the sorting frame, a rear cross frame 514 of the sorting frame, a sorting control box mounting plate 515, a sorting control box 516, a sorting motor mounting plate 517, a sorting motor 518, a sorting small sprocket 519, a sorting transmission chain 5110, a sorting large sprocket 5111, a sorting track pulley bearing bearing seat unit 5112, a sorting track pulley shaft 5113, a sorting track pulley 5114, a sorting track 5115, and a special small fruit lower plate. 5116, a super large fruit lowering plate fixing frame 5117 and a super large fruit lowering plate 5118, the universal wheel 513 of the sorting frame is arranged below the sorting frame 511, the sorting control box mounting plate 515 is arranged on the bottom support rod of the sorting frame 511, the sorting control box 516 is arranged in the sorting control box mounting plate 515, the sorting motor mounting plate 517 is arranged on the bottom support rod of the sorting frame 511, the sorting motor 518 is arranged in the sorting motor mounting plate 517, the sorting small sprocket 519 is arranged at the output end of the sorting motor 518, The plurality of sorting track pulley bearing seat units 5112 are arranged on the supporting rod of the sorting frame 511, the large sorting sprocket 5111 is arranged in the sorting track pulley bearing seat unit 5112, one end of the sorting transmission chain 5110 is arranged on the small sorting sprocket 519, and the other end is arranged on the large sorting sprocket 5111, the rear cross frame 514 of the sorting frame is arranged on the rear lower side of the sorting frame 511, the extra-large fruit lower fruit plate fixing frame 5117 is arranged on the rear upper side of the sorting frame 511, and the extra-large fruit lower fruit plate 5118 is arranged on the extra-large fruit lower fruit plate fixing frame 5119. The sorting track 5115 is arranged in the middle of the sorting track pulley 5114, the baffle 512 on the sorting frame is arranged on both sides of the sorting track 5115, the extra-small fruit lower fruit plate 5116 is arranged at the starting end of the sorting frame 511, and the extra-large fruit lower fruit plate fixing frame 5117 is arranged at the end of the sorting frame 511, and is provided with an extra-large fruit lower fruit plate 5118.

[0069] The fruit posture correction mechanism 53 includes a positioning belt mounting plate 531 and a positioning belt 532. The positioning belt mounting plate 531 is arranged above the baffle 512 on the sorting frame, and the positioning belt 532 is arranged in the positioning belt mounting plate 531.

[0070] The bottom bin conveyor belt mechanism 54 includes a bottom bin conveyor belt central control box mounting plate 541, a bottom bin conveyor belt central control box 542, a bottom bin conveyor belt motor mounting plate 543, a bottom bin conveyor belt motor 544, a bottom bin conveyor belt small sprocket 545, a bottom bin transmission chain 546, a bottom bin conveyor belt large sprocket 547, a bottom bin conveyor belt unit 548 and a size sorting partition 549. The bottom bin conveyor belt central control box mounting plate 541 is arranged on the bottom support rod of the sorting frame 511, the bottom bin conveyor belt central control box 542 is arranged in the bottom bin conveyor belt central control box mounting plate 541, and the bottom bin conveyor belt motor mounting plate 543 is arranged beside the bottom bin conveyor belt central control box mounting plate 541, the bottom bin conveyor belt motor 544 is arranged on the bottom bin conveyor belt motor mounting plate 543, the bottom bin conveyor belt small sprocket 545 is arranged at the output end of the bottom bin conveyor belt motor 544, the bottom bin conveyor belt large sprocket 547 drives the bottom bin conveyor belt unit 548 to move at the top, one end of the bottom bin transmission chain 546 is connected to the bottom bin conveyor belt small sprocket 545, and the other end is connected to the bottom bin conveyor belt large sprocket 547, the size sorting partition 549 is arranged on the upper side of the bottom bin conveyor belt unit 548, and is used to separate fruits of different grades.

[0071] like Figure 19-21 As shown, the conveyor belt height adjustment mechanism 55 includes an electric push rod base 551, an electric push rod 552, a push rod 553, an electric push rod U-shaped slot 554, an electric push rod positioning pin 555, a retaining spring sleeve 556, a retaining spring limiting screw 557, a retaining spring 558, a retaining spring mounting plate 559, a conveyor belt bracket base 5510, a conveyor belt T-shaped bracket 5511, a T-shaped bracket limiting pin 5512 and a conveyor belt bracket U-shaped slot 5513. The electric push rod 552 is arranged in parallel in the electric push rod base 551 to achieve the effect of adjusting the height at the same time. The push rod 553 is arranged in the electric push rod 552. The push rod U-shaped slot 554 is arranged at the end of the push rod 553, which is fixed by an electric push rod locating pin 555. The retaining spring sleeve 556 is arranged on the side of the size sorting partition 549. The retaining spring limit screw 557 is arranged on the retaining spring mounting plate 559 and is located in the retaining spring sleeve 556, in which a retaining spring 558 is arranged to make height adjustment easier to operate. The conveyor belt bracket U-shaped slot 5513 is arranged on the bottom support rod of the sorting frame 511, and the conveyor belt bracket base 5510. The conveyor belt T-shaped bracket 5511 is connected to the conveyor belt bracket U-shaped slot 5513 through the T-shaped bracket limit pin 5512.

[0072] like Fig. 22As shown, the pipeline-type low-loss fruit collection mechanism 57 includes a fruit hose mounting bracket 571, a fruit hose fixing frame 572, a fruit trumpet 573, a parabolic fruit hose 574, a super-small fruit hose mounting bracket 575, a super-small fruit hose fixing frame 576, a super-small fruit trumpet 577 and a super-small fruit parabolic fruit hose 578. The fruit hose mounting bracket 571 is arranged in front of the sorting rack 511, and the fruit trumpet 573 is connected to the fruit hose through the fruit hose. The fixing frame 572 is arranged under the lower fruit hose mounting bracket 571, the parabolic lower fruit hose 574 is connected to the lower fruit trumpet mouth 573, the extra small fruit lower fruit hose mounting bracket 575 is arranged at the outlet of the extra small fruit lower fruit plate 5116, the extra small fruit lower fruit hose fixing frame 576 is arranged on the extra small fruit lower fruit hose mounting bracket 575, the extra small fruit lower fruit trumpet mouth 577 is arranged in the extra small fruit lower fruit hose fixing frame 576, and an extra small fruit parabolic lower fruit hose 578 is arranged under the interface.

[0073] like Fig.23 As shown, the sorting size grade adjustment mechanism 52 includes a sorting size grade control plate 521, a sorting size grade control rod 522, a sorting track support frame 523 and a control rod fixing screw 524. The sorting size grade control plate 521 is arranged on the two upper support rods of the sorting frame 511, the sorting size grade control rod 522 is arranged in the sorting size grade control plate 521, and is fixed by the control rod fixing screw 524, and the sorting track support frame 523 is arranged in the sorting size grade control rod 522. By adjusting the position of the sorting size grade control rod 522 in the sorting size grade control plate 521, the sorting track 5115 is made to have an "eight" structure, thereby achieving the effect of sorting apples of different sizes.

[0074] like Fig.24 As shown, the lower fruit buffer brush 56 is arranged on the sorting track support frame 523 of the sorting size grade adjustment mechanism 52, and is located above the bottom bin conveyor belt unit of the bottom bin conveyor belt mechanism 54. It can reduce the impact speed and impact force of the apple fruit from the sorting soft track to the conveyor belt, thereby reducing the damage to the apple.

[0075] During specific use, the apples are first placed at the end of the fruit loading rack 21. The design height of the fruit loading H-shaped support frame 215 is greater than the sorting rack 511. Therefore, the fruit loading rack 21 will tilt after installation, causing the apples to roll toward the sorting rack 511 due to gravity. After passing under the air washing system 1, the air compressor 62 provides power and transmits it to the three air washing guns 11 through the diverter valve. The air washing guns 11 then air wash the apples. While cleaning the surface, the direction of the air washing gun head is consistent with the rolling direction of the apples. Therefore, it can also provide a certain amount of kinetic energy for the air-washed apples, thereby improving the sorting efficiency.

[0076] After the apples are air-washed, they will reach three roller fruit channels separated by the fruit channel partition plate 214 of the upper fruit rack. Among them, the kinetic energy of the roller fruit channel is provided by the roller fruit conveying motor 23, and is transmitted to the first roller rotating shaft 29 through the large roller fruit conveying synchronous belt 24 and the large roller fruit conveying synchronous belt pulley. The power is transmitted to each roller rotating shaft 29 through the cooperation of the small roller fruit conveying synchronous belt 26 and the small roller fruit conveying synchronous belt pulley 27 to drive the rollers to rotate. When the apples are on the roller fruit channel, the rollers will continue to rotate, driving the apples to continue rolling in the original direction. The apple fruits are transported in a rolling motion state, enabling the image recognition system to collect images of all surfaces of the apples, facilitating the image recognition system to more accurately complete the screening work of inferior fruits (with obvious appearance defects such as tumor-like depressions, cracks, disease spots, and mildew spots).

[0077] After passing through the soft-pack roller fruit conveying system 2, the apples are conveyed to the image recognition system 3. After starting the industrial control computer 32, first, the apples enter the area surrounded by the dark box 31, where there is a dome-shaped light source 349 for creating a brighter environment to facilitate the recognition of the industrial camera 348. Then, the apples reach the photoelectric switch unit 33 with the wavy soft-pack roller 210. By blocking the photoelectric switch 333 to generate a signal, the industrial camera 348 can receive the signal and take a photo, transmit the image to the industrial control computer 32, and detect the qualification of the apples through the apple intelligent detection algorithm, and then output it to the screen of the industrial control computer 32. The height position of the industrial camera 348 is adjustable to ensure that the photoelectric switch unit 33 can be completely detected and photographed. The position of the apples is jointly determined by the photoelectric switch 333 and the camera image. Suppose the inlet photoelectric switch detects M times, the outlet photoelectric switch detects N times, and the middle photoelectric switch detects X times. The maximum detection times of each photoelectric switch is 10 times, and the distance is appropriate to ensure that there will be no situation where M is two maximum detection times larger than N. Then, there are two situations as shown in the figure: 1. When M > N, there are a total of (M / X - N) apples in the middle 2. When M < N, there are a total of (10 - N + M / X) apples in the middle At the same time, judge the status of each photoelectric switch this time and the last time. If they are the same, the apple rotates and its position remains unchanged. If there is a change, it is considered that the detection times +1, the apple moves forward, and then combined with the information fed back by vision to decide the retention or removal of the apple. If there is one unqualified, it is unqualified, and all need to be recognized as qualified to be considered qualified.

[0078] Until they reach the inferior fruit rejection system 4 after passing through the last photoelectric switch 333.

[0079] The inferior fruit rejection system 4 will control the state of the solenoid valve 46 according to the judgment of the software, and the air compressor 62 will realize the change of the state of the solenoid valve 46. When the apple is detected as inferior fruit, the gas generated by the air compressor 62 is transmitted to the rejection mechanism diverter valve 43 through the air compressor-rejection diverter valve air pipe 41, and then through the rejection mechanism diverter valve-solenoid valve air pipe 45 carried by the rejection mechanism diverter valve 43 to each solenoid valve 46, and then through the solenoid valve-cylinder air pipe 48 to each cylinder 49, so that the cylinder push rod 410 therein realizes the opening and closing of the rejection switch door 417.

[0080] After the inferior fruits are removed, the apples are conveyed to the sorting system 5. After the power is turned on, the sorting system 5 uses the sorting motor 518 as the power source, and transmits it to the sorting track pulley shaft 5113 through the sorting small sprocket 519, the sorting transmission chain 5110, and the sorting large sprocket 5111, so that the sorting track pulley 5114 rotates, thereby driving the sorting track 5115 to rotate, and driving it forward under the clamping and friction of the two tracks. In addition, the gap between the sorting tracks 5115 is designed to be from narrow to wide. When the apple moves to the position where the gap between the sorting belts is larger than the diameter of the apple, the apple will no longer be affected by the support force of the sorting belt, and will fall into the fruit plate.

[0081] In addition to the basic size sorting function, the sorting system is also provided with a sorting control box 516 for controlling the rotation speed of the sorting motor 518, thereby adjusting the speed of the sorting track. A sorting size grade adjustment mechanism 52 is provided under the sorting track to adjust the size of each sorting grade.

[0082] After the size sorting is completed, the apples leave the sorting track 5115 and enter the fruit unloading mechanism. First, after the apples leave the sorting track, the fruit unloading buffer brush 56 installed under the sorting track will slow down the falling speed of the apples and reduce the damage to the apples. In addition, the bottom bin conveyor belt unit 548 is wrapped with soft packaging material to reduce the damage to the apples.

[0083] When the apples are on the bottom bin conveyor belt unit 548, the bottom bin conveyor belt motor 544 serves as a power source, and the bottom bin conveyor belt central control box 542 controls the rotation speed. The power is transmitted to the bottom bin conveyor belt unit 548 through the bottom bin conveyor belt small sprocket 545, the bottom bin transmission chain 546, and the bottom bin conveyor belt large sprocket 547, thereby driving the apples to move in the direction of the lower fruit, and finally completing the fruit unloading after passing through the parabolic fruit unloading hose 574.

[0084] In order to reduce the damage to the fruits, brackets are provided at both ends of the bottom bin conveyor belt unit 548. The left end bracket serves as a fixed end to limit the height adjustment of the left end, while the right end is set as a movable unit. The height of the bottom bin conveyor belt unit 548 can be adjusted up and down by an electric push rod 552.

Claims

1. A small intelligent apple sorting machine, Features: A small intelligent apple sorting machine comprises an air washing system (1), a soft-wrapped roller fruit conveying system (2), an image recognition system (3), an inferior fruit rejection system (4), a track-type sorting and lower fruit collection system (5), a power source (6) and a control box (7). The air washing system (1) is arranged on the right side of a fruit upper frame (21) of the soft-wrapped roller fruit conveying system (2), the soft-wrapped roller fruit conveying system (2) is arranged on the left side of the air washing system (1), the image recognition system (3) is arranged above the soft-wrapped roller fruit conveying system (2), the inferior fruit rejection system (4) is arranged on the left side of the soft-wrapped roller fruit conveying system (2), the right side of the track-type sorting and lower fruit collection system (5) is connected to the inferior fruit rejection system (4), the power source (6) is arranged below the fruit upper frame (21) of the soft-wrapped roller fruit conveying system (2), and the control box (7) is arranged on a dark box (31) of the image recognition system (3).

2. A small intelligent apple sorting machine according to claim 1, Features: The air washing system (1) comprises an air washing gun (11), a diverter valve (12), an air washing mounting frame (13), an air washing air pipe (14) and an air compressor-air washing diverter valve air pipe (15); the diverter valve (12) is arranged on the rear side of the air washing mounting frame (13); the air compressor-air washing diverter valve air pipe (15) is connected to one side of the diverter valve (12); the air washing air pipe (14) is evenly distributed on the rear side of the diverter valve (12) and is connected to the air washing gun (11) above the air washing mounting frame (13).

3. A small intelligent apple sorting machine according to claim 1, Features: The soft-packed fruit conveying system (2) comprises a fruit loading frame (21), a roller mechanism motor base (22), a roller fruit conveying motor (23), a large roller fruit conveying synchronous belt (24), a large roller fruit conveying synchronous belt pulley (25), a small roller fruit conveying synchronous belt (26), a small roller fruit conveying synchronous belt pulley (27), a gear box (28), a roller rotating shaft (29), a wavy soft-packed roller (210), and a roller bearing seat unit (211). The fruit loading frame (21) is located above the entire fruit conveying system (2), the roller mechanism motor base (22) is arranged on the bottom side of the fruit loading frame (21), and the roller fruit conveying motor (23) is arranged on the bottom side of the fruit loading frame (21). ) is arranged in the motor base (22) of the roller mechanism, one end of the large synchronous belt (24) of the roller fruit conveying is arranged at the output end of the roller fruit conveying motor (23), and the other end is arranged on the large synchronous belt pulley (25) of the roller fruit conveying in the gear box (28), the roller rotating shaft (29) is linearly arrayed in the gear box (28), the wavy soft-packed roller (210) and the roller bearing seat unit (211) are both arranged in the roller rotating shaft (29), and the small synchronous belt (26) of the roller fruit conveying is staggered on the left and right sides of the roller rotating shaft (29) close to the inner side of the gear box (28), and is driven by the small synchronous belt pulley (27) of the roller fruit conveying.

4. A small intelligent apple sorting machine according to claim 1, Features: The image recognition system (3) comprises a dark box (31), an industrial computer (32), a photoelectric switch unit (33), an industrial camera unit (34) and an efficiency indicator light (35); the dark box (31) is arranged above a fruit loading rack (21); the efficiency indicator light (35) is arranged above the dark box (31); the industrial computer (32) is arranged on the side of the dark box (31); and the photoelectric switch unit (33) and the industrial camera unit (34) are both arranged inside the dark box (31).

5. A small intelligent apple sorting machine according to claim 4, Features: The photoelectric switch unit (33) comprises a photoelectric switch mounting frame (331), a photoelectric switch mounting frame ball handle (332), a photoelectric switch (333) and a photoelectric switch mounting frame fixing nylon block (334); the photoelectric switch mounting frame fixing nylon block (334) is arranged at both ends of the photoelectric switch mounting frame (331), and a photoelectric switch mounting frame ball handle (332) is arranged thereon; the photoelectric switch (333) is arranged on the inner side of the photoelectric switch mounting frame (331) and is arranged in a linear array in an upper and lower side-by-side manner; the industrial camera unit (34) comprises an industrial camera support base plate (341), an industrial camera support base (342), an industrial camera support vertical pole (343), an industrial camera support mounting section (344), an industrial camera support horizontal pole (345), an industrial camera support short pole (346), an industrial camera support T-shaped mounting section (347), an industrial camera (348), a dome-type light source (349); the industrial camera The machine support base plate (341) is arranged on the inner side of the edges of both ends of the upper fruit frame (21); the industrial camera support base (342) is respectively arranged at both ends of the industrial camera support base plate (341); the industrial camera support upright pole (343) is arranged in the industrial camera support base (342); the dome-type light source (349) is arranged in the middle of the industrial camera support upright pole (343) through the industrial camera support mounting section (344); the industrial camera support cross bar (345) is arranged at the upper end of the industrial camera support upright pole (343) through the industrial camera support mounting section (344); one end of the industrial camera support short rod (346) is vertically arranged in the industrial camera support cross bar (345) through the industrial camera support mounting section (344), and the other end is provided with an industrial camera support T-shaped mounting section (347); the industrial camera (348) is arranged on the industrial camera support T-shaped mounting section (347), and the camera head is directly opposite to the opening of the dome-type light source (349).

6. A small intelligent apple sorting machine according to claim 1, Features: The bad fruit rejection system (4) comprises an air compressor-rejection diverter valve air pipe (41), a rejection mechanism fixing plate (42), a rejection mechanism diverter valve (43), a rejection mechanism air pipe diverter valve air pipe joint (44), a rejection mechanism diverter valve-electromagnetic valve air pipe (45), an electromagnetic valve (46), an electromagnetic valve air pipe joint (47), an electromagnetic valve-cylinder air pipe (48), a cylinder (49), a cylinder push rod (410), a cylinder air pipe joint (411), a cylinder U-shaped plate connecting section (412), a switch door U-shaped plate connecting section (413), a rejection latch (414), a cylinder U-shaped plate-switch door U-shaped plate connecting piece (415), a rejection latch The reject mechanism comprises a pin limit buckle (416), a reject switch door (417), a reject switch door baffle (418), a reject switch door rotating shaft (419), and a reject switch door rotating shaft bearing (420); the reject mechanism diverter valve (43) is arranged on the upper part of the reject mechanism fixing plate (42); the air compressor-rejection diverter valve air pipe (41) is arranged on one side of the reject mechanism diverter valve (43) through a reject mechanism air pipe diverter valve air pipe joint (44); the solenoid valve (46) is arranged on the lower part of the reject mechanism fixing plate (42) and is connected to the reject mechanism diverter valve (43) through a diverter valve-solenoid valve air pipe (45); the solenoid valve air pipe joint (47) is arranged On the opposite side of the solenoid valve (46) and the diverter valve-solenoid valve air pipe (45), the cylinder (49) is connected through the solenoid valve-cylinder air pipe (48), and the solenoid valve-cylinder air pipe (48) is connected to a cylinder air pipe joint (411) provided on one side, the cylinder push rod (410) is provided in the cylinder (49) hole, the cylinder U-shaped plate connecting section (412) is provided at the end of the cylinder push rod (410), the switch door U-shaped plate connecting section (413) is connected to the cylinder U-shaped plate connecting section (412) through the cylinder U-shaped plate-switch door U-shaped plate connecting member (415), and the cylinder U-shaped plate-switch door U-shaped plate connecting member (415) is connected to the cylinder U-shaped plate connecting section (412) by removing the latch ( The rejecting switch door (417) is arranged below the switch door U-shaped plate connection section (413) and is connected to the rejecting mechanism fixed plate (42) through a rejecting switch door rotating shaft (419). A rejecting switch door rotating shaft bearing (420) is arranged on the rotating shaft to ensure its smooth rotation. A rejecting switch door baffle (418) is arranged at the bottom edge of the rejecting switch door (417) to prevent the fruit from continuing to fall after the rejecting action is completed.

7. A small intelligent apple sorting machine according to claim 1, Features: The track type sorting and fruit collection system (5) comprises a track type sorting mechanism (51), a sorting size grade adjustment mechanism (52), a fruit posture correction mechanism (53), a bottom bin conveyor belt mechanism (54), a conveyor belt height adjustment mechanism (55), a fruit buffer brush (56) and a pipeline type low-loss fruit collection mechanism (57), wherein the conveyor belt height adjustment mechanism (55) is arranged at the bottom of the track type sorting and fruit collection system (5), and the track type sorting mechanism (51) is arranged at the bottom of the track type sorting and fruit collection system (5). Inside the sorting and fruit collection system (5), a fruit posture correction mechanism (53) is arranged above it, the sorting size grade adjustment mechanism (52) is arranged on both sides of the track sorting and fruit collection system (5) and is located above it, the bottom bin conveyor belt mechanism (54) is arranged in the middle layer of the track sorting and fruit collection system (5), and a fruit buffer brush (56) is arranged above it, and the pipeline low-loss fruit collection mechanism (57) is arranged on the front side of the track sorting and fruit collection system (5).

8. A small intelligent apple sorting machine according to claim 7, Features: The bottom bin conveyor belt mechanism (54) comprises a bottom bin conveyor belt central control box mounting plate (541), a bottom bin conveyor belt central control box (542), a bottom bin conveyor belt motor mounting plate (543), a bottom bin conveyor belt motor (544), a bottom bin conveyor belt small sprocket (545), a bottom bin transmission chain (546), a bottom bin conveyor belt large sprocket (547), a bottom bin conveyor belt unit (548) and a size sorting partition plate (549), wherein the bottom bin conveyor belt central control box mounting plate (541) is arranged on a bottom support rod of a sorting machine frame (511), the bottom bin conveyor belt central control box (542) is arranged in the bottom bin conveyor belt central control box mounting plate (541), and the bottom bin transmission chain (546) is arranged on a bottom support rod of a sorting machine frame (511). The conveyor motor mounting plate (543) is arranged beside the bottom bin conveyor belt central control box mounting plate (541); the bottom bin conveyor belt motor (544) is arranged on the bottom bin conveyor belt motor mounting plate (543); the bottom bin conveyor belt small sprocket (545) is arranged at the output end of the bottom bin conveyor belt motor (544); the bottom bin conveyor belt large sprocket (547) drives the bottom bin conveyor belt unit (548) to move at the top; one end of the bottom bin transmission chain (546) is connected to the bottom bin conveyor belt small sprocket (545) and the other end is connected to the bottom bin conveyor belt large sprocket (547); and the size sorting partition (549) is arranged on the upper side of the bottom bin conveyor belt unit (548).

9. A small intelligent apple sorting machine according to claim 7, Features: The conveyor belt height adjustment mechanism (55) comprises an electric push rod base (551), an electric push rod (552), a push rod (553), an electric push rod U-shaped slot (554), an electric push rod positioning pin (555), a retaining spring sleeve (556), a retaining spring limit screw (557), a retaining spring (558), a retaining spring mounting plate (559), a conveyor belt support base (5510), a conveyor belt T-shaped bracket (5511), a T-shaped bracket limit pin (5512) and a conveyor belt support U-shaped slot (5513), wherein the electric push rod (552) is arranged in parallel in the electric push rod base (551), the push rod (553) is arranged in the electric push rod (552), and the electric push rod U-shaped slot (554) is arranged in the push rod ( 553), which is fixed by an electric push rod locating pin (555), the retaining spring sleeve (556) is arranged on the side of the size sorting partition (549), the retaining spring limiting screw (557) is arranged on the retaining spring mounting plate (559) and is located in the retaining spring sleeve (556), in which a retaining spring (558) is arranged, the conveyor belt support base (5510) is arranged on the bottom support rod of the sorting frame (511), the conveyor belt support U-shaped groove (5513) is arranged on the conveyor belt support base (5510), and the conveyor belt T-shaped bracket (5511) is connected to the conveyor belt bracket U-shaped groove (5513) through the T-shaped bracket limiting pin (5512), so as to be fixed on the conveyor belt support base (5510).

10. A small intelligent apple sorting machine according to claim 7, Features: The pipeline-type low-loss fruit collection mechanism (57) comprises a fruit hose mounting bracket (571), a fruit hose fixing frame (572), a fruit trumpet (573), a parabolic fruit hose (574), a super-small fruit hose mounting bracket (575), a super-small fruit hose fixing frame (576), a super-small fruit trumpet (577) and a super-small fruit parabolic fruit hose (578). The fruit hose mounting bracket (571) is arranged in front of the sorting machine frame (511). The fruit trumpet (573) is connected to the fruit hose through the fruit hose. The fixing frame (572) is arranged under the fruit lower hose mounting bracket (571), the parabolic fruit lower hose (574) is connected to the lower fruit bell mouth (573), the extra small fruit fruit lower hose mounting bracket (575) is arranged at the outlet of the extra small fruit lower fruit plate (5116), the extra small fruit fruit lower hose fixing frame (576) is arranged on the extra small fruit fruit lower hose mounting bracket (575), the extra small fruit fruit bell mouth (577) is arranged in the extra small fruit fruit lower hose fixing frame (576), and an extra small fruit parabolic fruit lower hose (578) is arranged under the interface.

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