Automatic grading device for fruits and vegetables

Abstract

The present invention relates to an automatic fruit and vegetable grading device, comprising a feeding mechanism, a weighing mechanism, a visual inspection mechanism, a flipping and blanking mechanism, and a conveying mechanism. The feeding mechanism is arranged in front of the weighing mechanism and transports fruits and vegetables to the weighing mechanism, which weighs the fruits and vegetables. The visual inspection mechanism performs 360-degree imaging of the appearance of the fruits and vegetables. The conveying mechanism transports the loaded fruits and vegetables. The flipping and blanking mechanism is arranged on the conveying mechanism. The fruits and vegetables that have passed through the weighing mechanism and the visual inspection mechanism are transported along the conveying mechanism on the flipping and blanking mechanism and are flipped and blanked by the flipping and blanking mechanism above the corresponding grade silo before being discharged. The present invention can achieve 360-degree all-round surface quality inspection of fruits and vegetables. The grading action is coherent and the grading speed is fast.

Description

Technical Field

[0001] The present invention relates to the technical field of visual detection and grading equipment, in particular to an automatic grading device for fruits and vegetables. Background Art

[0002] Currently, the existing fruit and vegetable grading methods on the market all use sorting based on the weight or diameter of fruits and vegetables, basically using weighing sensors for weighing and sorting, or variable-spacing rollers for diameter size grading.

[0003] However, the structures of the above-mentioned equipment are relatively simple. For example, weighing and sorting equipment uses a conventional chain drive, with multiple groups of carriers fixed on the chain for rotary and cyclic motion. It is equipped with a loading station, a weighing station, and multiple grading stations. After being weighed, the carriers that arrive at the corresponding grading station are turned sideways to pour the fruits and vegetables out of the carriers, thereby achieving the grading effect. The diameter grading equipment, on the other hand, uses a rotary chain drive. The chains on both sides are equipped with multiple groups of identical long groove plates, and the long groove plates are equipped with rollers that can slide along the long grooves. During operation, the height of the rollers is changed to change the spacing between the rollers. The roller spacing changes from small to large, and fruits and vegetables of different diameters fall into different gaps at the top of the rollers and enter the corresponding grading stations, thereby achieving the diameter grading of fruits and vegetables.

[0004] Furthermore, few sorting equipment on the market can perform both surface quality and weight inspection for sweet potatoes or other fruits and vegetables through visual inspection. Even those that do have visual inspection capabilities typically focus solely on the top surface, failing to provide 360° visual inspection of the fruit and vegetables. Visual inspection systems place high technical demands on companies, requiring significant talent and investment in R&D, which is challenging. Traditional grading equipment, however, often obstructs the bottom or sides of the fruit and vegetables, making it unsuitable for 360° visual image acquisition and failing to meet the requirements of visual inspection. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic fruit and vegetable grading device, which performs grade classification by performing 360° appearance quality and weight data analysis on fruits and vegetables.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an automatic fruit and vegetable grading device, comprising a feeding mechanism, a weighing mechanism, a visual inspection mechanism, a turning and blanking mechanism and a conveying mechanism; the feeding mechanism is arranged in the front of the weighing mechanism, the feeding mechanism transports fruits and vegetables to the weighing mechanism, and the weighing mechanism weighs the fruits and vegetables; the visual inspection mechanism performs 360-degree imaging of the appearance of the fruits and vegetables; the conveying mechanism transmits the loaded fruits and vegetables; the turning and blanking mechanism is arranged on the conveying mechanism; the fruits and vegetables passing through the weighing mechanism and the visual inspection mechanism are transported along the conveying mechanism on the turning and blanking mechanism, and are turned and blanked by the turning and blanking mechanism above the silo of the corresponding grade before being discharged.

[0007] Furthermore, the present invention also includes a docking and blanking mechanism, which is arranged above the weighing mechanism; the docking and blanking mechanism includes a rotatable receiving brush, and a plurality of receiving grooves are evenly arranged on the surface of the receiving brush. The fruits and vegetables transported by the feeding mechanism first fall into the receiving grooves, and then the receiving brush rotates and drives the fruits and vegetables in the receiving grooves to fall into the weighing mechanism.

[0008] Furthermore, the weighing mechanism described in the present invention includes a first weighing mechanism and a second weighing mechanism; the first weighing mechanism is arranged in front of the falling position of fruits and vegetables, and the second weighing mechanism is arranged behind the falling position of fruits and vegetables; the first weighing mechanism and the second weighing mechanism respectively include a weighing frame, and the weighing frame is provided with a weighing sensor and a weighing support plate; the first weighing mechanism performs weighing calculations before the fruits and vegetables fall, and the second weighing mechanism performs weighing calculations after the fruits and vegetables fall.

[0009] Furthermore, the visual inspection mechanism described in the present invention includes an end visual inspection module, an upper side visual inspection module and a lower side visual inspection module; the end visual inspection module is arranged below the docking and blanking mechanism, and the end visual inspection module performs flying shots of the ends of fruits and vegetables in the process of falling to the weighing mechanism; the upper side visual inspection module and the lower side visual inspection module are both arranged at the rear of the weighing mechanism, the upper side visual inspection module is arranged above the conveying mechanism, and the upper side visual inspection module performs image capture on the upper end surface of fruits and vegetables; the lower side visual inspection module is arranged below the conveying mechanism, and the lower side visual inspection module performs image capture on the lower end surface of fruits and vegetables.

[0010] Furthermore, the end vision detection module described in the present invention includes an end vision bracket assembly, and the end vision bracket assembly is provided with a first camera and a second camera at positions located in the two end directions of fruits and vegetables, and the first camera and the second camera are respectively provided with a first light source and a second light source; the end vision bracket assembly is provided with a third, fourth, fifth, and sixth light sources at positions located on both sides of fruits and vegetables; the third and fourth light sources are provided on one side of the fruits and vegetables, and the fifth and sixth light sources are provided on the other side of the fruits and vegetables.

[0011] Furthermore, the upper visual detection module described in the present invention includes an upper visual support assembly, and the upper visual support assembly is provided with a third camera, a fourth camera, an eighth light source and an eleventh light source at a position obliquely above both sides of the fruits and vegetables; the third camera and the eighth light source are arranged obliquely above one side of the fruits and vegetables, and the fourth camera and the eleventh light source are arranged obliquely above the other side of the fruits and vegetables; the upper visual support assembly is provided with a seventh light source at a position directly above the fruits and vegetables; the upper visual support assembly is provided with a ninth light source and a tenth light source at a position obliquely below both sides of the fruits and vegetables.

[0012] Furthermore, the lower visual detection module described in the present invention includes a lower visual support assembly, and the fifth camera, the sixth camera, the thirteenth light source and the sixteenth light source are arranged on the lower visual support assembly at a position obliquely below both sides of the fruits and vegetables; the fifth camera and the thirteenth light source are arranged obliquely below one side of the fruits and vegetables, and the sixth camera and the sixteenth light source are arranged obliquely below the other side of the fruits and vegetables; the fourteenth light source is arranged on the lower visual support assembly at a position directly below the fruits and vegetables; the twelfth light source and the fifteenth light source are arranged on the lower visual support assembly at a position obliquely above both sides of the fruits and vegetables.

[0013] Furthermore, the flipping and blanking mechanism described in the present invention includes a flipping carrier, which is connected to the conveying mechanism through a carrier shaft, and the conveying mechanism drives the flipping carrier to move forward along the grading side plate; the flipping carrier includes a carrier frame, and the carrier frame is provided with a net bag carrier for supporting fruits and vegetables, and carrier guide wheels are provided at both ends of the carrier frame; the grading side plate is provided with a wear-resistant guide strip, a grading swing plate and a carrier return plate, and the grading swing plate is controlled to swing upward by PLC; after the grading swing plate swings upward, a grading notch is formed between the grading swing plate and the horizontal plane of the grading side plate; the flipping carrier passes through the grading notch and flips downward along the carrier shaft under the action of gravity through the carrier guide wheel; the carrier return plate is provided behind the grading swing plate, and after the flipping carrier flips downward, it returns to the horizontal state before flipping along the carrier return plate.

[0014] Furthermore, the conveying mechanism described in the present invention includes a side roller chain assembly, a blanking buffer brush, a discharging conveyor belt and a grading receiving hopper; the side roller chain assembly is connected to the flipping blanking mechanism to drive the flipping blanking mechanism to move forward; the blanking buffer brush is arranged below the flipping blanking mechanism, the discharging conveyor belt is correspondingly arranged below the blanking buffer brush, and the grading receiving hopper is arranged at the output end of the discharging conveyor belt.

[0015] Furthermore, the feeding mechanism described in the present invention includes a feeding rotary chain assembly and a plurality of unpowered feeding rollers fixed on the feeding rotary chain assembly, and the feeding rotary chain assembly drives the unpowered feeding rollers to move forward.

[0016] The beneficial effects of the present invention are that it solves the defects existing in the background technology, adopts a roller-type docking loading method, and performs flying shots on both sides of the falling fruits and vegetables; the empty carrier is weighed before falling, and is weighed twice after feeding, and the difference is the accurate weight of the fruits and vegetables, and the weighing is accurate and precise; the carrier adopts a net bag form, and the lower side is hollowed out to facilitate the visual image collection of the upper and lower sides, thereby achieving 360° all-round surface quality detection; the net bag grading adopts a vertical falling and flipping form, and a buffer mechanism is provided on the lower side to effectively avoid damage to fruits and vegetables; the chain adopts an outer roller form, which has low resistance, continuous equipment movement, and fast grading speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic structural diagram of the feeding mechanism and the docking and blanking mechanism of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the weighing mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of the terminal visual detection module of the present invention;

[0021] Figure 5 Schematic diagram of the structure of the upper visual detection module of the present invention;

[0022] Figure 6 This is a schematic diagram of the structure of the lower visual detection module of the present invention;

[0023] Figure 7 This is a schematic structural diagram of the flip blanking mechanism of the present invention;

[0024] Figure 8 1 is a schematic diagram of the structure of the flip carrier of the present invention;

[0025] Figure 9 It is a schematic structural diagram of the conveying mechanism of the present invention;

[0026] In the figure: 1. Loading mechanism; 2. Docking and blanking mechanism; 3. Weighing mechanism; 4. Visual inspection mechanism; 5. Flipping and blanking mechanism; 6. Conveying mechanism; 7. Fruits and vegetables;

[0027] 11. Loading base; 12. Loading side plate; 13. Loading rotary chain assembly; 14. Unpowered loading roller;

[0028] 21. Material receiving brush; 22. Material receiving groove;

[0029] 31. First weighing mechanism; 32. Second weighing mechanism; 33. Load-bearing frame; 34. Weighing sensor; 35. Weighing support plate;

[0030] 41. End visual inspection module; 42. Upper side visual inspection module; 43. Lower side visual inspection module;

[0031] 411, end vision support assembly; 412, first camera; 413, second camera; 414, first light source; 415, second light source; 416, third light source; 417, fourth light source; 418, fifth light source; 419, sixth light source;

[0032] 421, upper visual support assembly; 422, third camera; 423, fourth camera; 424, seventh light source; 425, eighth light source; 426, ninth light source; 427, tenth light source; 428, eleventh light source;

[0033] 431, lower visual support assembly; 432, fifth camera; 433, sixth camera; 434, twelfth light source; 435, thirteenth light source; 436, fourteenth light source; 437, fifteenth light source; 438, sixteenth light source;

[0034] 51. Flip carrier; 52. Carrier shaft; 53. Carrier frame; 54. Net bag carrier; 55. Carrier guide wheel; 56. Grading side plate; 57. Wear-resistant guide strip; 58. Grading swing plate; 59. Carrier return plate; 591. First return plate; 592. Second return plate; 510. Grading notch;

[0035] 61. Side roller chain assembly; 62. Material drop buffer brush; 63. Discharge conveyor belt; 64. Grading hopper. DETAILED DESCRIPTION

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0037] like Figures 1-9The illustrated automatic fruit and vegetable grading device includes a loading mechanism 1, a docking and dropping mechanism 2, a weighing mechanism 3, a visual inspection mechanism 4, a flipping and dropping mechanism 5, and a conveying mechanism 6. The loading mechanism 1 loads and conveys the fruits and vegetables. After passing through the weighing mechanism 3 and the visual inspection mechanism 4, the fruits and vegetables are transported along the conveying mechanism 6 by the flipping and dropping mechanism 5. The fruits and vegetables are flipped and dropped by the flipping and dropping mechanism 5 above the corresponding grade silo before being discharged. In this embodiment, the fruits and vegetables 7 are sweet potatoes.

[0038] like Figure 2 As shown, the feeding mechanism 1 is arranged in the front track of the weighing mechanism. The feeding mechanism 1 includes a feeding base 11, and a feeding side plate 12 is fixed on the feeding base 11. The feeding side plate 12 is provided with a feeding rotary chain assembly 13 that rotates along the track and a plurality of unpowered feeding rollers 14 that are evenly arranged and fixed on the feeding rotary chain assembly. Fruits and vegetables are placed on the unpowered feeding rollers, and the feeding rotary chain assembly drives the unpowered feeding rollers to move forward.

[0039] The docking and blanking structure 2 is located at the discharge end of the feeding mechanism 1 and above the weighing mechanism 3. The docking and blanking mechanism 2 includes a rotating brush 21 that engages the feeding sprocket of the feeding rotary chain assembly. Multiple receiving grooves 22 are evenly distributed on the brush's surface. Fruits and vegetables conveyed by the feeding mechanism first fall into the receiving grooves 22, and then the brush rotates, driving the fruits and vegetables in the receiving grooves into the weighing mechanism. The rotation of the brush to receive and discharge the fruit and vegetables provides a buffered falling process, preventing damage to the fruits and vegetables as they fall. Furthermore, the spacing between the rotating brush and the feeding sprocket is precisely the same as the outer diameter of the fruit or vegetable.

[0040] like Figure 3 As shown, the weighing mechanism 3 weighs the fruits and vegetables. The weighing mechanism 3 includes a first weighing mechanism 31 and a second weighing mechanism 32. The first weighing mechanism 31 is located in front of the falling position of the fruits and vegetables, and the second weighing mechanism 32 is located behind the falling position of the fruits and vegetables. The first weighing mechanism 31 and the second weighing mechanism 32 each include a weighing frame 33, on which a weighing sensor 34 and a weighing support plate 35 are installed. The first weighing mechanism weighs the fruits and vegetables before they fall, and the second weighing mechanism weighs them after they fall. With the dual weighing setup, the weight difference between the fruits and vegetables (sweet potatoes) before and after they fall can accurately display their weight.

[0041] like Figure 4-Figure 6As shown, the visual inspection mechanism 4 performs 360° imaging of the appearance of fruits and vegetables; the visual inspection mechanism 4 includes an end visual inspection module 41, an upper visual inspection module 42 and a lower visual inspection module 43; the end visual inspection module 41 is arranged below the docking and blanking mechanism, and the end visual inspection module performs flying shots of the ends of fruits and vegetables in the process of falling to the weighing mechanism; the upper visual inspection module 42 and the lower visual inspection module 43 are both arranged at the rear of the weighing mechanism, the upper visual inspection module is arranged above the conveying mechanism, and the upper visual inspection module performs image capture on the upper end surface of fruits and vegetables; the lower visual inspection module is arranged below the conveying mechanism, and the lower visual inspection module performs image capture on the lower end surface of fruits and vegetables.

[0042] like Figure 4 As shown, the end vision detection module 41 includes an end vision bracket assembly 411, and the end vision bracket assembly is provided with a first camera 412 and a second camera 413 at positions located in the directions of the two ends of the fruits and vegetables, and the first camera 412 and the second camera 413 are respectively provided with a first light source 414 and a second light source 415; the end vision bracket assembly is provided with a third, fourth, fifth and sixth light sources 416, 417, 418 and 419 at positions on both sides of the fruits and vegetables; the third and fourth light sources are provided on one side of the fruits and vegetables, and the fifth and sixth light sources are provided on the other side of the fruits and vegetables.

[0043] like Figure 5 As shown, the upper visual detection module 42 includes an upper visual support assembly 421, and the upper visual support assembly is provided with a third camera 422, a fourth camera 423, an eighth light source 425 and an eleventh light source 428 at a position obliquely above both sides of the fruits and vegetables; the third camera 422 and the eighth light source 425 are arranged obliquely above one side of the fruits and vegetables, and the fourth camera 423 and the eleventh light source 428 are arranged obliquely above the other side of the fruits and vegetables; the upper visual support assembly is provided with a seventh light source 424 at a position directly above the fruits and vegetables; the upper visual support assembly is provided with a ninth light source 426 and a tenth light source 427 at a position obliquely below both sides of the fruits and vegetables.

[0044] like Figure 6As shown, the lower visual detection module 43 includes a lower visual support assembly 431, and the fifth camera 432, the sixth camera 433, the thirteenth light source 435 and the sixteenth light source 438 are arranged on the lower visual support assembly at a position obliquely below both sides of the fruits and vegetables; the fifth camera and the thirteenth light source are arranged obliquely below one side of the fruits and vegetables, and the sixth camera and the sixteenth light source are arranged obliquely below the other side of the fruits and vegetables; the fourteenth light source 436 is arranged on the lower visual support assembly directly below the fruits and vegetables; the twelfth light source 434 and the fifteenth light source 437 are arranged on the lower visual support assembly at a position obliquely above both sides of the fruits and vegetables.

[0045] like Figure 7-Figure 8 As shown, the flipping and blanking mechanism 5 is arranged on the conveying mechanism 6; the flipping and blanking mechanism 5 includes a flipping carrier 51, which is connected to the conveying mechanism through a carrier shaft 52, and the conveying mechanism drives the flipping carrier to move forward along the grading side plate 56; the flipping carrier 51 includes a carrier frame 53, and the carrier frame is provided with a net bag carrier 54 for supporting fruits and vegetables. The net bag type or hollow type carrier can simultaneously perform graphic data collection on the upper end face and the lower end face; carrier guide wheels 55 are provided at both ends of the carrier frame; the grading side plate is provided with a wear-resistant guide strip 57, a grading swing plate 58 and a carrier return plate 59, and the grading swing plate is controlled to swing upward by PLC ; After the grading swing plate swings upward, a grading slot 510 is formed between the grading side plate and the horizontal surface; the flip carrier passes through the grading slot through the carrier guide wheel and flips downward along the carrier rotation axis under the action of gravity; the vertical flip carrier form allows fruits and vegetables to fall vertically freely; the carrier return plate is arranged behind the grading swing plate, and the carrier return plate is divided into a first return plate 591 and a second return plate 592, the first return plate is an inclined long strip plate, which is convenient for the carrier guide wheel to move; the second return plate is a horizontal flip plate hinged to the grading side plate, which is convenient for the carrier guide wheel to return to the original direction of travel; after the flip carrier flips downward, it returns to the horizontal state before flipping along the carrier return plate.

[0046] like Figure 9 As shown, the conveying mechanism 6 transports the fruits and vegetables after loading; the conveying mechanism 6 includes a side roller chain assembly 61, a blanking buffer brush 62, a discharge conveyor belt 63 and a grading receiving hopper 64; the side roller chain assembly is connected to the flipping and blanking mechanism to drive the flipping and blanking mechanism to move forward; the blanking buffer brush is arranged below the flipping and blanking mechanism, the discharge conveyor belt is correspondingly arranged below the blanking buffer brush, and the grading receiving hopper is arranged at the output end of the discharge conveyor belt.

[0047] When the equipment is running, fruits and vegetables (sweet potatoes) are placed continuously on the unpowered feeding roller of the feeding mechanism manually, and the feeding rotary chain assembly rotates forward, driving the unpowered feeding roller fixed on the feeding rotary chain assembly to move forward, thereby driving the fruits and vegetables (sweet potatoes) to move upward and enter the receiving groove of the receiving brush of the docking and blanking mechanism. When the fruits and vegetables (sweet potatoes) pass through the receiving brush and fall through the end visual detection module, the first camera and the second camera, with the assistance of several light sources, take flying shots of the two ends of the fruits and vegetables (sweet potatoes) to collect images; then, the fruits and vegetables (sweet potatoes) fall into the net bag carrier of the flip carrier, and the flip carrier is fixed on the side roller chain assembly that moves forward along the frame assembly and moves forward with the fruits and vegetables (sweet potatoes); Before the vegetables (sweet potatoes) fall in, the flip carrier, driven by the side roller chain assembly, first passes through the weighing plate of the first weighing mechanism. The weighing sensor at the lower end of the weighing plate and fixed to the upper end of the weighing frame will record the weight of the flip carrier when there are no fruits and vegetables (sweet potatoes); after the fruits and vegetables (sweet potatoes) fall in, the flip carrier continues to move forward driven by the side roller chain assembly, and passes through the weighing plate of the second weighing mechanism. The weighing sensor at the lower end of the weighing plate and fixed to the upper end of the weighing frame will record the weight of the flip carrier when it is carrying fruits and vegetables (sweet potatoes). The system software will automatically calculate the data difference between the two weighing sensors, which is the actual weight of the fallen fruits and vegetables (sweet potatoes); the flip carrier carrying fruits and vegetables (sweet potatoes) continues to move forward driven by the side roller chain assembly. The net bag carrier of the flipping carrier is in the form of a mesh hollow, which will not affect the visual graphic collection of the lower side of the fruits and vegetables (sweet potatoes). The third camera and the fourth camera collect images of the upper end face of the fruits and vegetables (sweet potatoes) with the assistance of several light sources, and the fifth camera and the sixth camera collect images of the lower end face of the fruits and vegetables (sweet potatoes) with the assistance of several light sources. At this point, the weight data information of the fruits and vegetables (sweet potatoes) and the graphic information of the two ends, the upper end face and the lower end face (i.e., 360° all-round) have been collected and transmitted to the control system. After the algorithm runs and the data is processed, the fruits and vegetables (sweet potatoes) are classified by grade. The flipping carrier of the fruits and vegetables (sweet potatoes) after collecting the data is on the side roller chain. The vehicle continues to move forward driven by the component. When it passes the corresponding grading blanking position, the grading swing plate arranged in the flip blanking mechanism swings upward under the control of the PLC system. A grading notch for the carrier guide wheel to pass through is formed between the wear-resistant guide strips on the grading side plates on both sides and the grading swing plate. After passing the grading notch, the carrier guide wheel of the flip carrier will break away from the support of the wear-resistant guide strip and fall downward. The flip carrier carrying fruits and vegetables (sweet potatoes) will flip downward along the carrier rotating shaft under the action of gravity. The fruits and vegetables (sweet potatoes) will break away from the flip carrier component, fall onto the blanking buffer brush arranged under the flip carrier, and enter the discharging conveyor belt. After passing the discharging conveyor belt, it reaches the corresponding grading receiving hopper, thereby achieving the grading effect of the surface quality and weight of the fruits and vegetables (sweet potatoes).

[0048] The above description only describes specific embodiments of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can make modifications or variations to the specific embodiments described above without departing from the essence and scope of the invention.

Claims

1. An automatic grading device for fruits and vegetables, characterized by: It includes a feeding mechanism, a weighing mechanism, a visual inspection mechanism, a turning and blanking mechanism, and a conveying mechanism; the feeding mechanism is arranged in front of the weighing mechanism, and the feeding mechanism transports fruits and vegetables to the weighing mechanism, and the weighing mechanism weighs the fruits and vegetables; the visual inspection mechanism takes 360-degree images of the appearance of the fruits and vegetables; the conveying mechanism transports the loaded fruits and vegetables; the turning and blanking mechanism is arranged on the conveying mechanism; the fruits and vegetables that pass through the weighing mechanism and the visual inspection mechanism are transported along the conveying mechanism on the turning and blanking mechanism, and are turned and blanked by the turning and blanking mechanism above the corresponding grade silo before being discharged; The overturning and blanking mechanism includes a overturning carrier, which is connected to the conveying mechanism through a carrier rotating shaft, and the conveying mechanism drives the overturning carrier to move forward along the grading side plate; the overturning carrier includes a carrier frame, and the carrier frame is provided with a net bag carrier for supporting fruits and vegetables, and carrier guide wheels are provided at both ends of the carrier frame; the grading side plates are provided with wear-resistant guide strips, grading swing plates and carrier return plates, and the grading swing plates are controlled to swing upward by PLC; after the grading swing plates swing upward, a grading notch is formed between the grading notch and the horizontal plane of the grading side plates; the overturning carrier passes through the grading notch and is overturned downward along the carrier rotating shaft under the action of gravity through the carrier guide wheels; the carrier return plate is provided behind the grading swing plate, and after the overturning carrier is overturned downward, it returns to the horizontal state before overturning along the carrier return plate; The conveying mechanism includes a side roller chain assembly, a blanking buffer brush, a discharging conveyor belt and a grading receiving hopper; the side roller chain assembly is connected to the flipping and blanking mechanism to drive the flipping and blanking mechanism to move forward; the blanking buffer brush is arranged below the flipping and blanking mechanism, the discharging conveyor belt is correspondingly arranged below the blanking buffer brush, and the grading receiving hopper is arranged at the output end of the discharging conveyor belt.

2. The automatic fruit and vegetable grading device according to claim 1, characterized in that: The machine also includes a docking and dropping mechanism, which is arranged above the weighing mechanism; the docking and dropping mechanism includes a rotatable receiving brush, and a plurality of receiving grooves are evenly arranged on the surface of the receiving brush. The fruits and vegetables transported by the feeding mechanism first fall into the receiving grooves, and then the receiving brush rotates and drives the fruits and vegetables in the receiving grooves to fall into the weighing mechanism.

3. The automatic fruit and vegetable grading device according to claim 1 or 2, characterized in that: The weighing mechanism includes a first weighing mechanism and a second weighing mechanism; the first weighing mechanism is arranged in front of the falling position of the fruits and vegetables, and the second weighing mechanism is arranged behind the falling position of the fruits and vegetables; the first weighing mechanism and the second weighing mechanism respectively include a weighing frame, and the weighing frame is provided with a weighing sensor and a weighing support plate; the first weighing mechanism performs weighing calculations before the fruits and vegetables fall, and the second weighing mechanism performs weighing calculations after the fruits and vegetables fall.

4. The automatic fruit and vegetable grading device according to claim 3, characterized in that: The visual inspection mechanism includes an end visual inspection module, an upper visual inspection module and a lower visual inspection module; the end visual inspection module is arranged below the docking and blanking mechanism, and the end visual inspection module performs flying shots of the ends of fruits and vegetables in the process of falling to the weighing mechanism; the upper visual inspection module and the lower visual inspection module are both arranged at the rear of the weighing mechanism, the upper visual inspection module is arranged above the conveying mechanism, and the upper visual inspection module performs image capture on the upper end surfaces of fruits and vegetables; the lower visual inspection module is arranged below the conveying mechanism, and the lower visual inspection module performs image capture on the lower end surfaces of fruits and vegetables.

5. The automatic fruit and vegetable grading device according to claim 4, characterized in that: The end vision detection module includes an end vision bracket assembly, and a first camera and a second camera are arranged on the end vision bracket assembly at positions located in the two end directions of fruits and vegetables, and the first camera and the second camera are respectively provided with a first light source and a second light source; the end vision bracket assembly is provided with a third, fourth, fifth and sixth light sources at positions located on both sides of the fruits and vegetables; the third and fourth light sources are arranged on one side of the fruits and vegetables, and the fifth and sixth light sources are arranged on the other side of the fruits and vegetables.

6. The automatic fruit and vegetable grading device according to claim 4, characterized in that: The upper visual detection module includes an upper visual support assembly, and the upper visual support assembly is provided with a third camera, a fourth camera, an eighth light source and an eleventh light source at positions obliquely above both sides of the fruits and vegetables; the third camera and the eighth light source are provided obliquely above one side of the fruits and vegetables, and the fourth camera and the eleventh light source are provided obliquely above the other side of the fruits and vegetables; the upper visual support assembly is provided with a seventh light source directly above the fruits and vegetables; the upper visual support assembly is provided with a ninth light source and a tenth light source at positions obliquely below both sides of the fruits and vegetables.

7. The automatic fruit and vegetable grading device according to claim 4, characterized in that: The lower visual detection module includes a lower visual support assembly, and the fifth camera, the sixth camera, the thirteenth light source and the sixteenth light source are arranged on the lower visual support assembly at a position obliquely below both sides of the fruits and vegetables; the fifth camera and the thirteenth light source are arranged obliquely below one side of the fruits and vegetables, and the sixth camera and the sixteenth light source are arranged obliquely below the other side of the fruits and vegetables; the fourteenth light source is arranged on the lower visual support assembly directly below the fruits and vegetables; the twelfth light source and the fifteenth light source are arranged on the lower visual support assembly at a position obliquely above both sides of the fruits and vegetables.

8. The automatic fruit and vegetable grading device according to claim 1 or 2, characterized in that: The feeding mechanism includes a feeding rotary chain assembly and a plurality of unpowered feeding rollers fixed on the feeding rotary chain assembly. The feeding rotary chain assembly drives the unpowered feeding rollers to move forward.

Images