Mobile fruit picking and sorting apparatus

Abstract

The application discloses a mobile fruit picking and sorting equipment. A conveying mechanism frame and a grading mechanism frame are installed on the top surface of a grooved square tube frame; a picking and feeding mechanism is installed on the conveying mechanism frame and the grooved square tube frame and located at the front part of a walking mechanism; a bucket fruit cup overturning grading mechanism is horizontally installed on the grading mechanism frame and located at the rear part of the walking mechanism; a roller conveying and detecting mechanism is horizontally installed on the conveying mechanism frame and located at the middle part of the walking mechanism; the picking and feeding mechanism, the roller conveying and detecting mechanism and the bucket fruit cup overturning grading mechanism are sequentially arranged along the conveying direction of the fruit; and a vertical discharging mechanism is vertically installed on the side surface of the grading mechanism frame and located at one side of the bucket fruit cup overturning grading mechanism. The application is suitable for outdoor fruit picking scenes, can better meet the field picking and complete the preliminary grading task, can prevent early disease fruits from invading during storage and selling on the field, and has a good application prospect.

Description

Technical Field

[0001] This invention relates to a sorting device, specifically a mobile fruit picking and sorting device. Background Technology

[0002] In the fruit industry, most fruits, after initial screening following harvesting, are transported to low-temperature storage rooms for preservation or ripening, and then undergo further refined sorting before being sold. During storage, if diseased fruit is present, it can easily cause widespread infection, leading to reduced yields and incalculable losses for fruit farmers. However, currently, there is no suitable sorting equipment available in the fields, and sorting still relies on experienced fruit farmers. Therefore, there is an urgent need to develop a mobile fruit sorting system. Summary of the Invention

[0003] To address the problems existing in the background technology, this invention provides a mobile fruit picking and sorting equipment that can be used in the field. The proposed fruit conveying mechanism combines a roller mechanism and a hopper-shaped fruit cup mechanism. It utilizes a machine vision detection module in conjunction with the roller mechanism to complete full-surface inspection of the fruit, providing a basis for the subsequent flipping and grading by the hopper-shaped fruit cup mechanism. The subsequent hopper-shaped fruit cup mechanism then completes the initial sorting of the fruit, thereby meeting the production needs in the field and post-harvest.

[0004] The technical solution adopted in this invention is:

[0005] The mobile fruit picking and sorting equipment of the present invention includes a picking and feeding mechanism, a roller conveying and detection mechanism, a bucket-shaped fruit cup flipping and grading mechanism, a vertical feeding mechanism, and a traveling mechanism. A square tube frame is installed on the top surface of the traveling mechanism, and a grooved square tube frame is installed on the top surface of the square tube frame. The conveying mechanism frame and the grading mechanism frame are both installed on the top surface of the grooved square tube frame. The picking and feeding mechanism is installed on the conveying mechanism frame and the grooved square tube frame and is located at the front of the traveling mechanism. The bucket-shaped fruit cup flipping and grading mechanism is horizontally installed on the grading mechanism frame and is located at the rear of the traveling mechanism. The roller conveying and detection mechanism is horizontally installed on the conveying mechanism frame and is located in the middle of the traveling mechanism. The roller conveying and detection mechanism is located between the picking and feeding mechanism and the bucket-shaped fruit cup flipping and grading mechanism. The picking and feeding mechanism, the roller conveying and detection mechanism, the bucket-shaped fruit cup flipping and grading mechanism, and the vertical feeding mechanism are arranged sequentially along the fruit conveying direction. The vertical feeding mechanism is vertically installed on the side of the grading mechanism frame and is located on one side of the bucket-shaped fruit cup flipping and grading mechanism.

[0006] The harvesting and feeding mechanism includes a main conveyor belt and four harvesting arms. The main conveyor belt is mounted on a conveyor frame and a grooved square tube frame, and all four harvesting arms are mounted on the main conveyor belt. The upper end of the main conveyor belt is hinged to the conveyor frame via a horizontal rotating shaft, and the upper end of the main conveyor belt rotates around the axis of the rotating shaft. The lower end of the main conveyor belt is suspended in the air. The grooved square tube frame includes two grooved square tubes located on the same horizontal plane and arranged parallel to each other. The two grooved square tubes are parallel to the fruit. In the horizontal conveying direction, each grooved square tube has a square tube groove on one side near the picking and feeding mechanism. The square tube grooves of two grooved square tubes face each other. Slide rails are provided on both sides of the main conveyor belt along its length. The main conveyor belt is slidably installed in the two square tube grooves through the two slide rails on both sides. When the upper end of the main conveyor belt rotates around the axis of the rotating shaft, the two slide rails on both sides of the main conveyor belt slide, causing the lower end of the main conveyor belt to move up and down, thereby realizing the angle adjustment of the main conveyor belt.

[0007] The main conveyor belt is equipped with two parallel conveyor belts in two channels, separated by the middle section of the main conveyor. Each conveyor belt has several rubber baffles evenly spaced along its length, perpendicular to the belt. These baffles facilitate the individual arrangement of harvested fruit during loading. The bottom edges of every two adjacent baffles are parallel to each other and perpendicular to the belt's length. The spacing between adjacent baffles and the length of each baffle's bottom edge are slightly larger than the fruit's diameter, helping to fix the fruit's relative position and prevent damage. The top surface of the main conveyor belt... Conveyor baffles are vertically arranged on both sides along the fruit conveying direction. Each conveyor baffle is adjacent to the side of its respective row of rubber partitions with a gap. Each fruit, when conveyed by the main conveyor belt, is located within the conveying space formed by the middle of the main conveyor belt body, two adjacent rubber partitions, and one nearby conveyor baffle. When the fruit reaches the top of the main conveyor belt, it falls into the roller conveyor detection mechanism. Four picking arms are installed in pairs on the side of the two conveyor baffles away from the rubber partitions. The two picking arms installed on each conveyor baffle are located near the top and bottom of the main conveyor belt, respectively, corresponding to picking fruits at different heights. The main conveyor belt is driven by a main conveyor belt motor to operate the dual-channel conveyor belt. Both the main conveyor belt and each picking arm are equipped with a rubber belt tensioning mechanism to adjust the tension of the conveyor belt.

[0008] Each harvesting arm includes a harvesting conveyor belt, a gas spring module, a rotary support, and a tilt adjustment block. The rotary support is installed on the bottom surface of the harvesting arm's root end through a shaft hole. The two ends of the spring module are respectively installed on the same side of the harvesting arm and the rotary support. The tilt adjustment block is installed on the bottom surface of the rotary support through a shaft hole. One side of the tilt adjustment block is connected to the side of the conveyor baffle via a connecting block. The end of the harvesting arm is suspended in the air. Baffles are provided on the top side of the harvesting arm. The root end of the harvesting arm does not have a baffle and serves as the outlet end of the harvesting arm. The gas spring module enables the harvesting arm to swing up and down relative to the rotary support. The rotary support enables itself to rotate relative to the tilt adjustment block. The tilt adjustment block enables the harvesting arm to tilt relative to the main conveyor belt. The gas spring module, rotary support, and tilt adjustment block can realize the harvesting arm's swing with three degrees of freedom—up and down, rotation, and tilt—relative to the main conveyor belt, achieving suspension at any position and facilitating fruit harvesting at different locations in the field. The picking conveyor belt is driven by the motor of the picking arm.

[0009] Each harvesting arm's harvesting conveyor belt has two rows of protruding structures along its length. Each row includes several evenly spaced finger-shaped protrusions. Every four adjacent finger-shaped protrusions in the two rows form a rectangular area with a side length slightly larger than the fruit's diameter. This ensures that each fruit is positioned within a rectangular area during transport on the harvesting arm, maintaining a relatively fixed position and preventing random rolling. The harvesting conveyor belt at the base of the harvesting arm also features an arc-shaped connecting plate that slopes downwards. The lower edge of the arc-shaped connecting plate is located above the conveyor belt of each picking conveyor. The arc-shaped connecting plate can prevent the fruit from falling vertically from the picking arm, which can effectively reduce damage. When each fruit is conveyed by each picking arm, it is located in a rectangular area formed by every four adjacent finger-shaped protrusions in the two rows of protruding structures. Each fruit is conveyed from the end of the picking arm to the root end of the picking arm within the rectangular area, and then falls into one of the conveying spaces of the main conveyor belt below through the arc-shaped connecting plate. It is then conveyed to the upper end by the main conveyor belt and falls into the roller conveyor detection mechanism.

[0010] The harvesting and feeding mechanism also includes two harvesting auxiliary ladders located on both sides of the traveling mechanism. Both ladders are installed on the top surface of the traveling mechanism, adjacent to and positioned beside the two harvesting arms at the upper end of the main conveyor belt. Each harvesting arm includes a platform, handrail, ladder fixing tube, and ladder. The platform is horizontally fixed to the top surface of the traveling mechanism via the ladder fixing tube. The handrail is installed on the top surface of the platform. The upper end of the ladder is hinged to the side of the platform away from the harvesting arm, and the lower end of the ladder faces the ground. The upper end of the ladder can rotate around the hinged side of the platform for storage and support. Harvesters can climb up to the two harvesting arms above using the harvesting auxiliary ladders, harvest the fruit, and then place it onto the harvesting arms.

[0011] The roller conveyor inspection mechanism includes a machine vision inspection module and a conveyor chain drive mechanism. The conveyor chain drive mechanism is horizontally mounted on the conveyor frame, and the machine vision inspection module is mounted on the top surface of the conveyor frame and directly above the conveyor chain drive mechanism. The conveyor chain drive mechanism includes a dual-channel conveyor chain drive device. The two conveyor chain drive devices are symmetrical about the vertical plane, and their axes of symmetry are parallel to the horizontal conveying direction of the fruit. The ends of the two conveyor chain drive devices near the picking and feeding mechanism are respectively aligned with the upper ends of the two conveyor belts of the main conveyor belt of the picking and feeding mechanism. Each conveyor chain drive device includes several rollers, a conveyor chain, and two conveyor sprockets. The two conveyor sprockets are mounted on the conveyor frame, respectively near the picking and feeding mechanism and the bucket-shaped fruit cup turning and grading mechanism. Located in the same vertical plane, the conveyor chain forms a closed loop around two conveyor sprockets. Each conveyor chain drive has rollers mounted circumferentially on the side closest to the other conveyor chain drive. Each roller on each conveyor chain drive is evenly spaced circumferentially on the side of the conveyor chain via a horizontal roller axle at its center. Each roller axle is perpendicular to the horizontal conveying direction of the fruit, and the side of each roller closest to the other conveyor chain drive is suspended. Each roller includes two large discs and one small disc, which are centrally mounted on the roller axle. The small disc is located between the two large discs. The large and small discs can accommodate the conveying and tumbling of fruits of different sizes. Each disc is covered with a rubber sleeve to minimize friction damage to the fruit.

[0012] Horizontally arranged friction tracks are installed between the upper and lower rollers of the two conveyor chain drive devices. These tracks are located directly below the upper rollers with gaps. Side baffles are vertically arranged on opposite sides directly above each of the two conveyor chain drive devices. A middle baffle is vertically arranged on the symmetrical plane of the two side baffles. Both side baffles and the middle baffle are parallel to the horizontal conveying direction of the fruit. The distance between each side baffle and the middle baffle is slightly larger than the diameter of the fruit. The spaces between the side baffles and the middle baffles form two conveying channels, each located directly above the upper rollers of the two conveyor chain drive devices. Gaps are left between the side baffles and the middle baffles and the lower rollers. These two conveying channels are close to the harvesting and feeding mechanism. One side serves as the inlet side, and the two conveyor channels near the bucket-shaped fruit cup flipping and grading mechanism serve as the outlet side. The two inlet sides are respectively opposite the upper ends of the two conveyor belts of the main conveyor belt of the picking and feeding mechanism. Each inlet side is located diagonally below the upper end of the conveyor belt it faces. The distance between each inlet side and the upper end of its respective conveyor belt is slightly less than the height of the rubber partition. After the fruit is transported to the top of the conveyor belt, it falls into the inlet side through a rubber partition in front of it and then enters the conveyor channel of the roller conveyor detection mechanism. The machine vision detection module is installed on the top surface of the two side baffles and the middle baffle. The machine vision detection module includes a light box and two cameras. The bottom surface of the light box is open, and the two cameras are installed on the inner top surface of the light box and face the two conveyor channels directly below.

[0013] Each fruit is fed into two separate conveyor channels of the roller conveyor inspection mechanism via a dual-channel conveyor belt of the main conveyor belt of the picking and feeding mechanism. This ensures that the two rows of fruit, transported from the main conveyor belt, move in a straight line without lateral tumbling. Each fruit rests directly above two adjacent rollers on the upper layer of the conveyor chain drive, causing the bottoms of the upper rollers to rub against the friction track. This friction, caused by the rotation of the two large discs on each roller around its small axle, tumbles the fruit. As each tumbling fruit passes directly beneath its respective camera, the camera captures a full-surface image of the fruit. The spacing between adjacent fruits allows the machine vision inspection module to image each fruit individually. Simultaneously, the rotation of the rollers and the resulting friction allow the camera to capture images of all surfaces of the fruit, enabling subsequent fruit grading.

[0014] The conveyor frame consists of four vertically parallel conveyor frame square tubes, two vertically arranged conveyor support beams connecting the four conveyor frame square tubes, and several vertically parallel support structures forming an overall square frame; the conveyor chain drive mechanism is located within the overall square frame; the upper ends of the main conveyor belt of the picking and feeding mechanism are respectively hinged to the upper parts of two adjacent conveyor frame square tubes of the conveyor frame via horizontal rotating shafts.

[0015] The conveyor chain drive mechanism is mounted on two conveyor support beams of the conveyor frame via conveyor bearings; the two conveyor sprockets near the hopper-shaped fruit cup turning and grading mechanism are mounted on the conveyor support beams via the central conveyor drive shaft. The conveyor chain drive mechanism drives the two conveyor sprockets near the picking and feeding mechanism to rotate via the conveyor motor, and then drives the two conveyor sprockets near the hopper-shaped fruit cup turning and grading mechanism to rotate via the two conveyor chains.

[0016] The described bucket-shaped fruit cup flipping and grading mechanism includes a grading chain drive mechanism and several horizontal conveyor belts. The grading chain drive mechanism is horizontally mounted on the grading mechanism frame. The grading chain drive mechanism includes a dual-channel grading chain drive device, with the two grading chain drive devices symmetrical about the vertical plane and their axes of symmetry parallel to the horizontal conveying direction of the fruit. The ends of the two grading chain drive devices near the roller conveyor detection mechanism are respectively positioned opposite the conveying outlet sides of the two conveying channels of the roller conveyor detection mechanism. Each grading chain drive device includes several bucket-shaped fruit cups, a grading chain, and two grading sprockets. The two grading sprockets are mounted on the grading mechanism frame, respectively near and away from the roller conveyor. On one side of the wheel conveyor detection mechanism, two grading sprockets are located in the same vertical plane, and the grading chain forms a closed loop around the two grading sprockets; each grading chain drive device has various bucket-shaped fruit cups installed circumferentially on the side of its grading chain closest to the other grading chain drive device. Each bucket-shaped fruit cup of each grading chain drive device is installed circumferentially and evenly on the side of the grading chain through a horizontal fruit cup mounting shaft passing through its own side. Each fruit cup mounting shaft is perpendicular to the horizontal conveying direction of the fruit and is connected to the grading chain through a cotter pin. Every two symmetrical bucket-shaped fruit cups of the two grading chain drive devices are connected by a fruit cup mounting shaft.

[0017] In each conveyor chain drive, the space directly above each bucket-shaped fruit cup in the upper layer forms a grading channel along the horizontal conveying direction of the fruit. The entrance sides of the two grading channels are respectively opposite the conveying outlet sides of the two conveying channels of the roller conveyor detection mechanism. The entrance side of each grading channel is located diagonally below its corresponding conveying outlet side. The bucket-shaped fruit cup flipping grading mechanism also includes two transition wheels. The central shafts of the two transition wheels are respectively mounted on the grading mechanism frame through transition wheel fixing components. Each transition wheel is located between the entrance side of the corresponding grading channel and the conveying outlet side of the conveying channel. When the fruit has not fallen, the transition wheel, the hopper-shaped fruit cup, and the roller are not in contact. The transition wheel and the roller are always not in contact, and the distance between the transition wheel and the roller is less than the diameter of the fruit. The transition wheel and the roller have the same structure. After each fruit is conveyed by the roller conveyor detection mechanism, it falls from the conveyor outlet side of the conveyor channel into the top surface of the transition wheel. At this time, the transition wheel is located between a hopper-shaped fruit cup at the entrance side of the grading channel and a roller at the conveyor outlet side of the conveyor channel. The transition wheel is located diagonally below the roller and diagonally above the hopper-shaped fruit cup. The transition wheel and the hopper-shaped fruit cup are in contact, and the fruit falls into the hopper-shaped fruit cup through the top surface of the transition wheel.

[0018] Each horizontal conveyor belt is horizontally spaced on the grading mechanism frame and located between the upper and lower bucket-shaped fruit cups in the two conveyor chain drive devices. The conveying direction of each horizontal conveyor belt is perpendicular to the horizontal conveying direction of the fruit.

[0019] The grading mechanism frame is formed by four vertically parallel conveyor frame square tubes and two vertically arranged grading mechanism support beams connecting the four conveyor frame square tubes. The connection between the grading mechanism frame and the conveyor frame shares two conveyor frame square tubes. Each horizontal conveyor belt is located inside the grading mechanism frame and installed on the two grading mechanism support beams. The grading chain drive mechanism is installed on the grading mechanism support beams of the grading mechanism frame through grading mechanism bearings.

[0020] Two grading sprockets, located away from the roller conveyor detection mechanism, are mounted on the grading mechanism support beam via a central grading drive shaft. The grading chain drive mechanism, driven by a grading motor, rotates the two grading sprockets closest to the roller conveyor detection mechanism, which in turn drive the two grading sprockets furthest from the roller conveyor detection mechanism via two grading chains. The horizontal conveyor belt is driven by a horizontal conveyor belt motor.

[0021] Each funnel-shaped fruit cup is a plate-like structure with a funnel-shaped concave center, which can better accommodate spherical fruits. A circular hole for spectral detection is provided at the bottom center of the plate-like structure, facilitating subsequent testing of the fruit's internal quality. One side of the plate-like structure is fitted parallel to the fruit cup mounting shaft. On the other side of the plate-like structure away from the mounting shaft, a four-finger structure is provided along the plate surface. This four-finger structure includes four parallel and spaced connecting fingers. The four-finger structure transitions to the funnel-shaped concave shape with a rounded surface, further reducing fruit damage. A horizontal fruit cup shaft is provided on the side of the plate-like structure closest to the grading chain it connects to. The funnel-shaped fruit cup is made of plastic, with sleeves on both sides that are movably fitted onto the fruit cup mounting shaft.

[0022] In each conveyor chain drive, directly below the fruit cup mounting shaft of each bucket-shaped fruit cup on the upper layer and its connected grading chain, a sliding rail is mounted on a supporting sheet metal part mounted on the grading mechanism frame. The sliding rail is horizontally arranged along the horizontal conveying direction of the fruit. Each sliding rail is connected to a guide bar at the end near the roller conveyor detection mechanism. The upper part of the guide bar curves in an arc shape in the opposite direction to the roller conveyor detection mechanism, while the lower part of the guide bar points vertically downwards. The lower end of the guide bar and the center of the two grading sprockets are on the same horizontal line. Each bucket-shaped fruit cup moves from the lower layer of the conveyor chain drive to the upper layer as the grading chain is driven. When the funnel-shaped fruit cup moves to the side near the roller conveyor detection mechanism, the small shaft of the funnel-shaped fruit cup contacts the lower end of the guide bar, and then slides to the top surface of the guide bar, so that the plate-like structure of the funnel-shaped fruit cup is finally on a horizontal plane. At this time, the middle two connecting fingers of the four-finger structure of the funnel-shaped fruit cup are inserted into the two gaps between the two large discs and one small disc of the transition wheel near the end of the transition wheel, which is used to support the transition wheel, so as to support the fruit more stably, prevent the fruit from falling, and reduce the fruit drop. After being conveyed by the roller conveyor detection mechanism, the fruit falls on the nearest transition wheel and falls into the central funnel-shaped concave part of the funnel-shaped fruit cup through the four-finger structure. The sliding track requires a smooth surface to reduce vibration, so that the funnel-shaped fruit cup can move smoothly forward on the grading chain drive mechanism. The guide bar is used to guide the posture of the funnel-shaped fruit cup to smoothly transition from the bottom to the horizontal under the drive of the grading chain, so that the posture of the funnel-shaped fruit cup can support the fruit from the natural vertical downward to the horizontal, which can reduce shaking.

[0023] The aforementioned hopper-shaped fruit cup flipping and grading mechanism also includes several grading drive mechanisms. Several mounting openings are provided on the side of each of the two sliding tracks closest to the hopper-shaped fruit cup. The opposing mounting openings on the two sliding tracks are symmetrical about the plane of symmetry of the hopper-shaped fruit cup flipping and grading mechanism and are located directly above the same horizontal conveyor belt. Each mounting opening houses a grading drive mechanism. The grading drive mechanism includes a fixed track plate, a moving track plate, a miniature DC motor, and a motor eccentric bushing. The fixed track plate and the moving track plate are parallel to each other and arranged vertically. The fixed track plate is away from the hopper-shaped fruit cup, and the moving track plate... The grading drive mechanism is installed near the funnel-shaped fruit cup at one of the mounting openings of the sliding track via a fixed track plate. The top edge of the fixed track plate is a bent obtuse angle. One section of the top edge of the fixed track plate is inside the mounting opening and parallel to the top surface of the sliding track. The horizontal section of the top edge of the fixed track plate serves as the horizontal edge of the fixed track, and the other section of the top edge of the fixed track plate slopes downwards as the inclined edge of the fixed track. The top edge of the moving track plate is inside the mounting opening and parallel to the top surface of the sliding track. When the small shaft of the funnel-shaped fruit cup slides on the top surface of the sliding track, the end point of the small shaft of the fruit cup is always located at the horizontal edge of the fixed track. Within the long, narrow plane, when the grading drive mechanism is not operating, the small shaft of the fruit cup continues to slide on the sliding track after passing the horizontal edge of the fixed track and the top edge of the moving track at the mounting opening; one side of the moving track is movably connected to the side of the fixed track via a horizontal connecting shaft, and the moving track rotates around the axis of the connecting shaft; a miniature DC motor is mounted on the side of the fixed track away from the moving track, and the output shaft of the miniature DC motor passes vertically through the fixed track and is synchronously fitted with a motor eccentric bushing, which is supported on the bottom surface of the other end of the moving track; when the fruit is conveyed in a bucket shape... When the fruit cup reaches the grading drive mechanism, the small shaft of the hopper-shaped fruit cup slides onto the horizontal edge of the fixed rail and the top horizontal edge of the moving rail. A miniature DC motor controls the eccentric bushing to rotate, causing the moving rail to tilt downwards. At this point, the top horizontal edge of the moving rail tilts downwards until it is parallel to the inclined edge of the fixed rail. The small shaft of the hopper-shaped fruit cup slides downwards from the inclined edge of the fixed rail and the top inclined edge of the moving rail, causing the entire hopper-shaped fruit cup to tilt and flip downwards. This causes the fruit on the hopper-shaped fruit cup to fall onto the horizontal conveyor belt directly below and then be transported to the vertical unloading mechanism. A support shaft is also provided on the side of the fixed rail near the other end of the moving rail. When the moving rail tilts downwards, the other end of the moving rail abuts against the top surface of the support shaft.

[0024] Each horizontal conveyor belt only receives and transports fruits of the same grade. The number of horizontal conveyor belts is the same as the number of fruit grades and equal to half the number of grading drive mechanisms. Fruits are graded based on photos taken by the camera of the machine vision inspection module. When a fruit is determined to be of a certain grade, it is conveyed directly above the horizontal conveyor belt corresponding to that grade. The micro DC motor receives the grading grade signal and rotates, driving the eccentric shaft sleeve of the motor to rotate. The moving rail plate tilts downward, and the small shaft of the fruit cup slides down along the moving rail plate. The bucket-shaped fruit cup flips over, and the fruit falls from the bucket-shaped fruit cup and is caught by the horizontal conveyor belt below, completing the grading. When fruits that do not belong to the corresponding grade pass directly above other horizontal conveyor belts, the corresponding grading drive mechanism is not driven, and the bucket-shaped fruit cup does not flip over. At this time, the small shaft of the bucket-shaped fruit cup moves normally horizontally on the sliding track through the horizontal top edge of the fixed rail plate and the moving rail plate of the grading drive mechanism.

[0025] The vertical feeding mechanism includes several vertical feeding devices, each vertically mounted on the side of the grading mechanism frame. Each vertical feeding device is located on the exit side of its respective horizontal conveyor belt. Each vertical feeding device includes a vertical conveyor belt frame, two sliding table connecting blocks, an optical axis module, an inclined plate, a proximity photoelectric sensor, a motor screw module, two sliding table fixing parts, and a vertical conveyor belt. The vertical conveyor belt is vertically mounted on the vertical conveyor belt frame. Sliding table connecting blocks are installed at symmetrical positions on both sides of the vertical conveyor belt frame. An optical axis module and a motor screw module are also installed on both sides of the vertical conveyor belt frame. The optical axis module includes an optical axis frame, an optical axis, and a slider. The optical axis is vertically mounted on the side of the optical axis frame away from the horizontal conveyor belt, and a slider is slidably mounted on the optical axis. The slider is mounted on a sliding table fixing part on one side of the vertical conveyor belt frame. The optical axis frame is mounted on the side of the grading mechanism frame, near the horizontal conveyor belt. The motor screw module includes a screw motor, a screw, and a screw motor frame. The screw motor body is mounted on the top surface of the screw motor frame, and the screw is vertically mounted on the side of the screw motor frame away from the horizontal conveyor belt. The output shaft of the screw motor is vertically downward and synchronously connected to the top of the screw. A slide table fixing component on the other side of the vertical conveyor belt frame is threaded onto the screw. The side of the screw motor frame near the horizontal conveyor belt is mounted on the side of the grading mechanism frame. The optical axis module is used to maintain torque balance. The inclined plate is horizontally mounted on the bottom surface of the vertical conveyor belt frame, and a proximity photoelectric sensor is mounted on the bottom surface of the inclined plate. The vertical conveyor belt is driven by its own motor. The proximity photoelectric sensor can be an ultrasonic sensor, etc. The number of vertical unloading devices is equal to the number of horizontal conveyor belts.

[0026] The proximity photoelectric sensor is used to determine the distance between the inclined plate and the top layer of fruit in the fruit box. When the distance is less than the preset distance, it sends a signal to the lead screw motor to move upward, controlling the lead screw motor to run, driving the lead screw to rotate, which in turn drives the slide table fixed part on the lead screw to move upward, driving the vertical conveyor frame and the vertical conveyor belt to move upward as a whole, until the distance between the inclined plate and the top layer of fruit in the fruit box is greater than the preset distance, and then the lead screw motor stops running.

[0027] Vertical stop structures are evenly spaced on the conveyor belt of the vertical conveyor belt. Each vertical stop structure includes several finger-shaped strips and two bowl-shaped baffles. One end of each finger-shaped strip is evenly spaced horizontally along the width of the conveyor belt. The two bowl-shaped baffles are respectively installed on both sides of the width of the conveyor belt and located on both sides of each finger-shaped strip. When each vertical stop structure moves with the vertical conveyor belt to a side closer to the horizontal conveyor belt, the bowl-shaped baffles of the vertical stop structure... The bowl-shaped plates are angled upwards and away from the horizontal conveyor belt. The other ends of each finger-shaped plate are angled upwards. After being conveyed by the horizontal conveyor belt, the fruit falls onto the top of a vertical stop structure located at an angle below. Then, it gradually moves downwards from the vertical conveyor belt to the bottom and falls out of the vertical stop structure onto the inclined plate. Finally, it rolls from the inclined plate into the area below the vertical feeding mechanism. The vertical stop structure is designed to prevent the fruit from falling and also prevents it from rolling off the side. The inclined plate cushions the fruit as it rolls.

[0028] The walking mechanism has a base plate frame mounted on its top surface. The base plate frame includes a base plate and a fruit box guide rail. The fruit box guide rail is mounted on the top surface of the base plate, and a square tube frame is mounted on the top surface of the base plate, directly above the fruit box guide rail. The fruit box guide rail includes three horizontally spaced long beams arranged along the length of the walking mechanism. The three long beams are mounted on the top surface of the base plate of the walking mechanism. Each long beam has short beams hinged to both ends. Several fruit box guide wheels are also mounted on the side of each long beam and its two short beams facing outwards from the walking mechanism. The fruit box guide wheels are evenly spaced on one side of each long beam and its two short beams. When the walking mechanism drives the fruit picking and sorting equipment, none of the short beams on the front and rear sides of the walking mechanism touch the ground. When the walking mechanism stops, the short beams on the front and rear sides of the walking mechanism rotate around their respective... The rotation at the hinge joints of the long beams causes the short beams to contact and support the ground. Each short beam serves as a support and also forms an inclined surface to facilitate the entry and exit of the fruit boxes. Before the fruit picking and sorting equipment transports the fruit, several fruit boxes are moved from the ground to directly above the three long beams on one side of the fruit box guide track of the walking mechanism. As the fruit boxes move on the guide track, the guide wheels of each fruit box convert the friction between the fruit box and the chassis frame into rolling friction, which facilitates manual operation. Each fruit box moves to directly below its own vertical feeding mechanism. Each fruit falls into its respective fruit box after being transported sequentially by the picking and feeding mechanism, the roller conveying and detection mechanism, the bucket-shaped fruit cup flipping and grading mechanism, and the vertical feeding mechanism. The distance between the inclined plate of the vertical feeding mechanism and the top layer of fruit in the fruit box directly below is greater than a preset distance.

[0029] The long beam is mounted on the axles at both ends, with the base plate fixed to it. A square tube frame, along with the upper picking and feeding mechanism, roller conveying and detection mechanism, and hopper-shaped fruit cup flipping and grading mechanism, are installed on top. The number of fruit boxes and the vertical feeding mechanism are the same; each fruit box contains fruit of the same grade, but the grades of fruit in each box are different, enabling automatic fruit sorting.

[0030] The beneficial effects of this invention are:

[0031] The equipment of this invention is mainly used to realize online preliminary sorting of fruits in the field. On the one hand, it can improve the level of mechanization, fully liberate labor, and unify the grading standards as much as possible; on the other hand, it can also remove infectious diseased fruits before storage, which is of great help in preventing early diseased fruits from infecting the fruit during storage and in the field distribution, and has good application prospects. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall equipment of the present invention;

[0033] Figure 2This is a schematic diagram of the harvesting and feeding mechanism of the present invention;

[0034] Figure 3 This is a schematic diagram of the harvesting auxiliary ladder of the present invention;

[0035] Figure 4 This is a schematic diagram of a single harvesting arm and a three-degree-of-freedom adjustment mechanism of the present invention;

[0036] Figure 5 This is a schematic diagram of the roller conveying detection mechanism and the bucket-shaped fruit cup flipping mechanism of the present invention;

[0037] Figure 6 This is a schematic diagram of the roller conveying and detection mechanism of the present invention;

[0038] Figure 7 This is a schematic diagram of the roller of the present invention;

[0039] Figure 8 This is a schematic diagram of the machine vision inspection module of the present invention;

[0040] Figure 9 This is a schematic diagram of the bucket-shaped fruit cup flipping and grading mechanism of the present invention;

[0041] Figure 10 This is a schematic diagram of the junction between the roller conveying detection mechanism and the bucket-shaped fruit cup flipping and grading mechanism of the present invention;

[0042] Figure 11 This is a schematic diagram of the funnel-shaped fruit cup of the present invention;

[0043] Figure 12 This is a schematic diagram of the assembly of the funnel-shaped fruit cup of the present invention;

[0044] Figure 13 This is a schematic diagram of the graded drive mechanism of the present invention in the untriggered state;

[0045] Figure 14 This is a schematic diagram of the trigger state of the graded drive mechanism of the present invention;

[0046] Figure 15 This is a schematic diagram of the vertical feeding mechanism of the present invention;

[0047] Figure 16 This is a schematic diagram of the vertical feeding mechanism of the present invention receiving a horizontal conveyor belt;

[0048] Figure 17 This is a schematic diagram of the walking mechanism of the present invention;

[0049] In the diagram: 1. Harvesting and feeding mechanism; 2. Roller full-surface detection mechanism; 3. Bucket-shaped fruit cup flipping and grading mechanism; 4. Vertical feeding mechanism; 5. Traveling mechanism; 101. Rotating shaft; 102. Main conveyor belt; 103. Rubber partition; 104. Harvesting arm motor; 105. Harvesting arm; 106. Rubber belt tensioning mechanism; 107. Arc-shaped connecting plate; 108. Gas spring module; 109. Rotary support; 110. Inclined adjustment block; 111. Main conveyor belt motor; 112. Finger-shaped protrusion; 113. Harvesting auxiliary ladder; 114. Platform; 115. Handrail; 116. 201. Ladder fixing square tube; 202. Conveyor mechanism frame square tube; 203. Side baffle; 204. Fruit; 205. Machine vision inspection module; 206. Middle baffle; 207. Roller; 208. Conveyor chain; 209. Conveyor sprocket; 210. Conveyor drive shaft; 211. Conveyor motor; 212. Conveyor mechanism bearing; 213. Conveyor support beam; 214. Support frame; 215. Friction track; 216. Conveyor chain drive mechanism; 217. Roller shaft; 218. Light box; 301. Camera; 302. Bucket-shaped fruit cup; 303. Grading chain; 304. Grading sprocket, 304; Grading drive shaft, 305; Grading mechanism bearing, 306; Horizontal conveyor belt, 307; Grading mechanism support beam, 308; Support sheet metal parts, 309; Horizontal conveyor belt motor, 310; Grading motor, 311; Grading drive mechanism, 312; Sliding rail, 313; Guide bar, 314; Transition wheel, 315; Transition wheel fixing part, 316; Fruit cup mounting shaft, 317; Cotter pin, 318; Sleeve, 319; Fruit cup small shaft, 320; Fixed rail piece, 321; Moving rail piece, 322; Miniature DC motor, 323; Motor. Eccentric bushing, 324, Grading chain drive mechanism, 401, Screw motor, 402, Vertical conveyor belt frame, 403, Slide table connecting block, 404, Optical shaft module, 405, Inclined plate, 406, Proximity photoelectric sensor, 407, Motor screw module, 408, Slide table fixing component, 409, Vertical conveyor belt conveyor; 501, Square tube frame, 502, Grooved square tube frame, 503, Grading mechanism frame, 504, Conveying mechanism frame, 505, Square tube groove, 506, Long beam, 507, Short beam, 508, Fruit box guide wheel, 509, Base plate, 510, Fruit box. Detailed Implementation

[0050] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] like Figure 1As shown, the mobile fruit picking and sorting equipment of the present invention includes a picking and feeding mechanism 1, a roller conveying and detection mechanism 2, a bucket-shaped fruit cup turning and grading mechanism 3, a vertical feeding mechanism 4, and a traveling mechanism 5. A square tube frame 501 is mounted on the top surface of the traveling mechanism 5, and a grooved square tube frame 502 is mounted on the top surface of the square tube frame 501. The conveying mechanism frame 504 and the grading mechanism frame 503 are both mounted on the top surface of the grooved square tube frame 502. The picking and feeding mechanism 1 is mounted on the conveying mechanism frame 504 and the grooved square tube frame 502 and is located in front of the traveling mechanism 5. The bucket-shaped fruit cup turning and grading mechanism... The roller conveyor detection mechanism 2 is horizontally installed on the frame 503 of the grading mechanism and located at the rear of the traveling mechanism 5. The roller conveyor detection mechanism 2 is horizontally installed on the frame 504 of the conveying mechanism and located in the middle of the traveling mechanism 5. The roller conveyor detection mechanism 2 is located between the picking and feeding mechanism 1 and the bucket-shaped fruit cup flipping and grading mechanism 3. The picking and feeding mechanism 1, the roller conveyor detection mechanism 2, the bucket-shaped fruit cup flipping and grading mechanism 3 and the vertical feeding mechanism 4 are arranged in sequence along the conveying direction of the fruit 203. The vertical feeding mechanism 4 is vertically installed on the side of the grading mechanism frame 503 and located on one side of the bucket-shaped fruit cup flipping and grading mechanism 3.

[0052] like Figure 2 As shown, the picking and feeding mechanism 1 includes a main conveyor belt 102 and four picking arms 105. The main conveyor belt 102 is mounted on the conveying mechanism frame 504 and the grooved square tube frame 502, and all four picking arms 105 are mounted on the main conveyor belt 102. The upper end of the main conveyor belt 102 is hinged to the conveying mechanism frame 504 via a horizontal rotating shaft 101, and the upper end of the main conveyor belt 102 rotates around the axis of the rotating shaft 101, while the lower end of the main conveyor belt 102 is suspended in the air. The grooved square tube frame 502 includes two grooved square tubes located on the same horizontal plane and arranged in parallel at intervals. The two grooved square tubes are parallel to each other. In the horizontal conveying direction of the fruit 203, each grooved square tube has a square tube groove 505 on one side near the picking and feeding mechanism 1. The square tube grooves 505 of the two grooved square tubes face each other. The two sides of the main conveyor belt 102 have slide rails along their own length. The main conveyor belt 102 is slidably installed in the two square tube grooves 505 through the two slide rails on both sides. When the upper end of the main conveyor belt 102 rotates around the axis of the rotating shaft 101, the two slide rails on both sides of the main conveyor belt 102 slide, so that the lower end of the main conveyor belt 102 moves up and down, thereby realizing the angle adjustment of the main conveyor belt 102.

[0053] The main conveyor belt 102 is equipped with parallel conveyor belts in two channels, separated by the middle section of the main conveyor belt 102. Each conveyor belt has several rubber partitions 103 evenly spaced along its length, perpendicular to the conveyor belt. These rubber partitions 103 facilitate the single-row arrangement of the subsequently picked and loaded fruits 203. The bottom edges of every two adjacent rubber partitions 103 are parallel to each other and perpendicular to the length of the conveyor belt. The spacing between every two adjacent rubber partitions 103 and the length of the bottom edge of each rubber partition 103 are slightly larger than the diameter of the fruit 203, helping to fix the relative position of the fruit 203 and prevent damage. The top surface of the main conveyor belt 102 has several rubber partitions 103 evenly spaced along its length. The fruit 203 is conveyed by vertically arranged conveyor baffles, each baffle being adjacent to the side of its respective row of rubber partitions 103 with a gap. Each fruit 203, when conveyed by the main conveyor belt 102, is located within the conveying space formed by the middle of the main conveyor belt 102, two adjacent rubber partitions 103, and one adjacent conveyor baffle. When the fruit 203 reaches the upper end of the main conveyor belt 102, it falls into the roller conveyor detection mechanism 2. Four picking arms 105 are installed in pairs on the side of two conveyor baffles away from the rubber partitions 103. The two picking arms 105 installed on each conveyor baffle are located near the upper and lower ends of the main conveyor belt 102, corresponding to fruit picking at different heights. The main conveyor belt 102 is driven by a main conveyor belt motor 111 to operate the dual-channel conveyor belt. The main conveyor belt 102 and each picking arm 105 are equipped with a rubber belt tensioning mechanism 106, which can be used to adjust the tension of the conveyor belt.

[0054] like Figure 4As shown, each harvesting arm 105 includes a harvesting conveyor belt, a gas spring module 108, a rotary support 109, and a tilt adjustment block 110. The rotary support 109 is installed on the bottom surface of the arm root end of the harvesting arm 105 through a shaft hole. The two ends of the spring module 108 are respectively installed on the same side of the harvesting arm 105 and the rotary support 109. The tilt adjustment block 110 is installed on the bottom surface of the rotary support 109 through a shaft hole. One side of the tilt adjustment block 110 is connected to the side of the conveyor baffle via a connecting block. The end of the harvesting arm 105 is suspended in the air. Baffles are provided on the top side of the harvesting arm 105. The harvesting arm 105 has no baffle at its root end, serving as its outlet. A gas spring module 108 enables the harvesting arm 105 to swing up and down relative to the rotary support 109. The rotary support 109 rotates relative to the tilt adjustment block 110, which in turn tilts the harvesting arm 105 relative to the main conveyor belt 102. The gas spring module 108, rotary support 109, and tilt adjustment block 110 allow the harvesting arm 105 to swing up and down, rotate, and tilt relative to the main conveyor belt 102, enabling it to hover at any position and facilitating the harvesting of fruit 203 at different locations in the field. The harvesting conveyor belt is driven by the harvesting arm motor 104.

[0055] Each harvesting arm 105 has two rows of protruding structures along its length on the conveyor belt. Each row includes several evenly spaced finger-shaped protrusions 112. Every four adjacent finger-shaped protrusions 112 in the two rows form a rectangular area with a side length slightly larger than the diameter of the fruit 203. This ensures that each fruit 203 is located within a rectangular area during transport on the harvesting arm 105, allowing the fruit 203 to remain relatively fixed and preventing it from randomly rolling on the harvesting arm 105. The harvesting conveyor belt at the root end of the harvesting arm 105 also has an arc-shaped connecting plate 107. The arc-shaped connecting plate 107 is inclined downwards, and each arc-shaped connecting plate... The lower edge of plate 107 is located above the conveyor belt of each picking conveyor. The arc-shaped connecting plate 107 can prevent the fruit 203 from falling vertically from the picking arm 105, which can effectively reduce damage. When each fruit 203 is conveyed by each picking arm 105, it is located in the rectangular area formed by every four adjacent finger-shaped protrusions 112 in the two rows of protrusion structures. Each fruit 203 is conveyed from the end of the arm of the picking arm 105 to the root end of the arm of the picking arm 105 within the rectangular area and then falls into one of the conveying spaces of the main conveyor belt 102 below through the arc-shaped connecting plate 107. Then it is conveyed by the main conveyor belt 102 to the upper end and falls into the roller conveyor detection mechanism 2.

[0056] like Figure 3As shown, the picking and feeding mechanism 1 also includes two picking auxiliary ladders 113 located on both sides of the traveling mechanism 5. Both picking auxiliary ladders 113 are installed on the top surface of the traveling mechanism 5, and are respectively located near and on the sides of the two picking arms 105 at the upper end of the main conveyor belt 102. Each picking arm 105 includes a platform 114, a handrail 115, a ladder fixing square tube 116, and a ladder. The platform 114 is horizontally fixed to the top surface of the traveling mechanism 5 via the ladder fixing square tube 116. The handrail 115 is installed on the top surface of the platform 114. The upper end of the ladder is hinged to the side of the platform 114 away from the picking arm 105, and the lower end of the ladder faces the ground. The upper end of the ladder can rotate around the hinged side of the platform 114 to achieve ladder storage and support. Pickers can climb up to the sides of the two picking arms 105 above using the picking auxiliary ladders 113, pick the fruit 203, and then place the fruit onto the picking arm 105.

[0057] like Figure 5 and Figure 6 As shown, the roller conveyor inspection mechanism 2 includes a machine vision inspection module 204 and a conveyor chain drive mechanism 215. The conveyor chain drive mechanism 215 is horizontally mounted on the conveyor frame 504. The machine vision inspection module 204 is mounted on the top surface of the conveyor frame 504 and is located directly above the conveyor chain drive mechanism 215. The conveyor chain drive mechanism 215 includes a dual-channel conveyor chain drive device. The two conveyor chain drive devices are symmetrical about the vertical plane and their axes of symmetry are parallel to the horizontal conveying direction of the fruit 203. The ends of the two conveyor chain drive devices near the picking and feeding mechanism 1 are respectively directly opposite the upper ends of the two conveyor belts of the main conveyor belt conveyor 102 of the picking and feeding mechanism 1. Each conveyor chain drive device includes several rollers 206, a conveyor chain 207, and two conveyor sprockets 208. The two conveyor sprockets 208 are mounted on the conveyor frame 504, respectively near the picking and feeding mechanism 1 and the bucket-shaped fruit cup flipping and grading mechanism 3. The sprockets 208 are located in the same vertical plane, and the conveyor chain 207 forms a closed loop around the two conveyor sprockets 208. Each conveyor chain 207 has rollers 206 mounted circumferentially on the side of the conveyor chain 207 closest to the other conveyor chain 207. Each roller 206 on each conveyor chain 207 is evenly spaced circumferentially on the side of the conveyor chain 207 via a horizontal roller shaft 216 at its center. Each roller shaft 216 is perpendicular to the horizontal conveying direction of the fruit 203, and the side of each roller 206 closest to the other conveyor chain 206 is suspended. Each roller 206 includes two large discs and one small disc. The two large discs and one small disc are centrally mounted on the roller shaft 216 of the roller 206, with the small disc located between the two large discs. The large and small discs can accommodate the conveying and tumbling of fruits of different sizes. Each disc is covered with a rubber sleeve to minimize frictional damage to the fruit 203. Figure 7 As shown.

[0058] Horizontally arranged friction tracks 214 are installed between the upper rollers 206 and the lower rollers 206 in the two conveyor chain drive devices. The friction tracks 214 are located directly below the upper rollers 206 and have gaps between them. Side baffles 202 are vertically arranged on opposite sides directly above the two conveyor chain drive devices. A middle baffle 205 is vertically arranged on the symmetrical plane of the two side baffles 202. Both the side baffles 202 and the middle baffle 205 are parallel to the horizontal conveying direction of the fruit 203. The distance between each side baffle 202 and the middle baffle 205 is slightly larger than the diameter of the fruit 203. The space between the two side baffles 202 and the middle baffle 205 forms two conveying channels, which are located in the middle of the two conveyor chain drive devices. Above each of the upper rollers 206, gaps are left between the two side baffles 202 and the middle baffle 205 and the lower rollers 206; the two conveyor channels are positioned with the side near the picking and feeding mechanism 1 as the conveyor inlet side and the side near the bucket-shaped fruit cup turning and grading mechanism 3 as the conveyor outlet side. The two conveyor inlet sides are respectively opposite the upper ends of the two conveyor belts of the main conveyor belt 102 of the picking and feeding mechanism 1. Each conveyor inlet side is located diagonally below the upper end of the conveyor belt it faces. The distance between each conveyor inlet side and the upper end of its respective conveyor belt is slightly less than the height of the rubber partition 103. After the fruit 203 is transported from the conveyor belt to the top, it falls through the rubber partition 103 in front of it into the conveyor inlet side and then enters the conveyor channel of the roller conveyor detection mechanism 2; Figure 8 As shown, the machine vision inspection module 204 is installed on the top surface of the two side baffles 202 and the middle baffle 205. The machine vision inspection module 204 includes a light box 217 and two cameras 218. The bottom surface of the light box 217 is open, and the two cameras 218 are installed on the inner top surface of the light box 217 and face the two conveying channels directly below.

[0059] Each fruit 203 is fed by the dual-channel conveyor belt of the main conveyor belt 102 of the picking and feeding mechanism 1 into two conveyor channels of the roller conveyor detection mechanism 2, forming two rows of fruit 203. This ensures that the two rows of fruit 203 conveyed from the main conveyor belt 102 can move forward in a straight line without lateral tumbling. Each fruit 203 is pressed directly above the two adjacent rollers 206 located on the upper layer of the conveyor chain drive device. This causes the bottom of each roller 206 located on the upper layer of the two conveyor chain drive devices to rub against the friction track 214. As a result, the two large discs of each roller 206 rotate around their own small roller shaft 216, causing the fruit 203 to tumble. When each tumbling fruit 203 passes directly under its own camera 218, the camera 218 performs a full-surface imaging detection of the tumbling fruit 203. Each fruit 203 is positioned between two adjacent rollers 206, allowing adjacent fruits to be spaced apart. This facilitates the machine vision detection module 204 to image each fruit 203 individually. At the same time, the rotation and friction of the rollers 206 cause the fruit 203 to rotate, making it easier for the camera 218 to capture images of the various surfaces of the fruit 203, thereby enabling subsequent fruit grading.

[0060] The conveyor frame 504 consists of four vertically parallel conveyor frame square tubes 201, two vertically arranged conveyor support beams 212 connecting the four conveyor frame square tubes 201, and several vertically parallel support frames 213 forming an overall square frame; the conveyor chain drive mechanism 215 is located within the overall square frame; the upper ends of the main conveyor belt 102 of the picking and feeding mechanism 1 are respectively hinged to the upper parts of two close conveyor frame square tubes 201 of the conveyor frame 504 via horizontal rotating shafts 101.

[0061] The conveyor chain drive mechanism 215 is mounted on the two conveyor support beams 212 of the conveyor frame 504 via the conveyor bearing 211; the two conveyor sprockets 208 near the bucket-shaped fruit cup turning and grading mechanism 3 are mounted on the conveyor support beams 212 via the central conveyor drive shaft 209. The conveyor chain drive mechanism 215 drives the two conveyor sprockets 208 near the picking and feeding mechanism 1 to rotate via the conveyor motor 210, and then drives the two conveyor sprockets 208 near the bucket-shaped fruit cup turning and grading mechanism 3 to rotate via the two conveyor chains 207.

[0062] like Figure 5 , Figure 9 and Figure 10As shown, the bucket-shaped fruit cup flipping and grading mechanism 3 includes a grading chain drive mechanism 324 and several horizontal conveyor belts 306. The grading chain drive mechanism 324 is horizontally mounted on the grading mechanism frame 503. The grading chain drive mechanism 324 includes a dual-channel grading chain drive device. The two grading chain drive devices are symmetrical about the vertical plane and their axes of symmetry are parallel to the horizontal conveying direction of the fruit. The ends of the two grading chain drive devices near the roller conveyor detection mechanism 2 are respectively facing the conveying outlet side of the two conveying channels of the roller conveyor detection mechanism 2. Each grading chain drive device includes several bucket-shaped fruit cups 301, a grading chain 302, and two grading sprockets 303. The two grading sprockets 303 are mounted on the grading mechanism frame 503, respectively near and away from the roller conveyor detection mechanism. On one side of structure 2, two grading sprockets 303 are located in the same vertical plane, and the grading chain 302 forms a closed loop around the two grading sprockets 303; each grading chain drive device has a hopper-shaped fruit cup 301 installed circumferentially on the side of the grading chain 302 closest to the other grading chain drive device. Each hopper-shaped fruit cup 301 of each grading chain drive device is evenly spaced circumferentially on the side of the grading chain 302 by a horizontal fruit cup mounting shaft 316 passing through its side. Each fruit cup mounting shaft 316 is perpendicular to the horizontal conveying direction of the fruit 203. The fruit cup mounting shaft 316 is connected to the grading chain 302 by a cotter pin 317. Every two symmetrical hopper-shaped fruit cups 301 of the two grading chain drive devices are connected by a fruit cup mounting shaft 316.

[0063] In each conveyor chain drive device, the space directly above each bucket-shaped fruit cup 301 on the upper layer forms a grading channel along the horizontal conveying direction of the fruit 203. The entrance side of the two grading channels is directly opposite the conveying outlet side of the two conveying channels of the roller conveyor detection mechanism 2. The entrance side of each grading channel is located diagonally below its corresponding conveying outlet side. The bucket-shaped fruit cup flipping grading mechanism 3 also includes two transition wheels 314. The central shafts of the two transition wheels 314 are respectively mounted on the grading mechanism frame 503 through transition wheel fixing parts 315. Each transition wheel 314 is located between the entrance side of the corresponding grading channel and the conveying outlet side of the conveying channel. When the fruit 203 has not fallen, the transition wheel 314 and the bucket-shaped fruit cup 301 and the Rollers 206 do not contact each other, and transition wheel 314 and roller 206 never contact each other. The distance between transition wheel 314 and roller 206 is less than the diameter of fruit 203. Transition wheel 314 and roller 206 have the same structure. After being conveyed by roller conveying detection mechanism 2, each fruit 203 falls from the conveying outlet side of the conveying channel into the top surface of transition wheel 314. At this time, transition wheel 314 is located between a bucket-shaped fruit cup 301 at the entrance side of the grading channel and a roller 206 at the conveying outlet side of the conveying channel. Transition wheel 314 is located diagonally below roller 206 and diagonally above bucket-shaped fruit cup 301. Transition wheel 314 and bucket-shaped fruit cup 301 are in contact, and fruit 203 falls into bucket-shaped fruit cup 301 through the top surface of transition wheel 314.

[0064] Each horizontal conveyor belt 306 is horizontally spaced on the grading mechanism frame 503 and is located between the upper and lower bucket-shaped fruit cups 301 in the two conveyor chain drive devices. The conveying direction of each horizontal conveyor belt 306 is perpendicular to the horizontal conveying direction of the fruit 203.

[0065] The grading mechanism frame 503 is formed by four vertically parallel conveyor frame square tubes 201 and two vertically arranged grading mechanism support beams 307 that connect the four conveyor frame square tubes 201. The connection between the grading mechanism frame 503 and the conveyor frame 504 shares two conveyor frame square tubes 201. Each horizontal conveyor belt conveyor 306 is located inside the grading mechanism frame 503 and is installed on the two grading mechanism support beams 307. The grading chain drive mechanism 324 is installed on the grading mechanism support beams 307 of the grading mechanism frame 503 through the grading mechanism bearings 305.

[0066] Two grading sprockets 303, located away from the roller conveyor detection mechanism 2, are mounted on the grading mechanism support beam 307 via a central grading drive shaft 304. The grading chain drive mechanism 324 drives the two grading sprockets 303 closest to the roller conveyor detection mechanism 2 to rotate via a grading motor 310, which in turn drives the two grading sprockets 303 furthest from the roller conveyor detection mechanism 2 to rotate via two grading chains 302. The horizontal conveyor belt 306 is driven by a horizontal conveyor belt motor 309.

[0067] like Figure 11 and Figure 12 As shown, each funnel-shaped fruit cup 301 is a plate-like structure with a funnel-shaped concave center, which can better accommodate spherical fruits 203. The bottom center of the plate-like structure has a circular hole for spectral detection, facilitating subsequent detection of the internal quality of the fruits 203. One side of the plate-like structure is fitted parallel to the fruit cup mounting shaft 316. On the other side of the plate-like structure away from the fruit cup mounting shaft 316, there is a four-finger structure along the plate surface direction. The four-finger structure includes four parallel and spaced connecting fingers. The four-finger structure and the funnel-shaped concave shape are transitioned by an arc surface, which can further reduce damage to the fruits 203. The plate-like structure has a horizontal fruit cup shaft 319 on one side near the grading chain 302 it is connected to. The funnel-shaped fruit cup 301 is a plastic part with sleeves 318 on both sides, which are movably fitted onto the fruit cup mounting shaft 316.

[0068] In each conveyor chain drive device, directly below the fruit cup mounting shaft 316 of each upper-level bucket-shaped fruit cup 301 and its connected grading chain 302, a sliding rail 312 is mounted via a support sheet metal part 308 mounted on the grading mechanism frame 503. The sliding rail 312 is horizontally arranged along the horizontal conveying direction of the fruit 203. Each sliding rail 312 is connected to a guide bar 313 at one end near the roller conveyor detection mechanism 2. The upper part of the guide bar 313 is curved in the opposite direction to the roller conveyor detection mechanism 2, forming an arc shape, while the lower part of the guide bar 313 is vertically downward. The lower end of the guide bar 313 and the center of the two grading sprockets 303 are located on the same horizontal line. Each bucket-shaped fruit cup 301 moves from the lower level of the conveyor chain drive device to the upper level of the conveyor chain drive device as the grading chain 302 is driven. When the funnel-shaped fruit cup 301 moves to the side near the roller conveyor detection mechanism 2, the small shaft 319 of the funnel-shaped fruit cup 301 contacts the lower end of the guide bar 313, and then slides to the top surface of the upper part of the guide bar 313, so that the plate-like structure of the funnel-shaped fruit cup 301 is finally on the horizontal plane. At this time, the middle two connecting fingers of the four connecting fingers of the funnel-shaped fruit cup 301 are inserted into the two gaps between the two large plates and the small plate of the transition wheel 314 near the end of the transition wheel 314, which is used to support the transition wheel 314, so as to support the fruit 203 more stably, prevent the fruit 203 from falling, and reduce the drop of the fruit 203. After being conveyed by the roller conveyor detection mechanism 2, the fruit 203 falls on the upper part of the nearby transition wheel 314, and falls into the central funnel-shaped concave part of the funnel-shaped fruit cup 301 through the four-finger structure. The sliding track 312 requires a smooth surface to reduce vibration, so that the funnel-shaped fruit cup 301 can move smoothly on the grading chain drive mechanism 324; the guide strip 313 is used to guide the smooth transition of the funnel-shaped fruit cup 301 from the bottom to the horizontal under the drive of the grading chain 302, so that the funnel-shaped fruit cup 301 can receive the fruit 203 from the natural vertical downward to the horizontal, which can reduce shaking.

[0069] like Figure 13 and Figure 14As shown, the hopper-shaped fruit cup flipping and grading mechanism 3 also includes several grading drive mechanisms 311. Several mounting openings are provided on the side of each of the two sliding tracks 312 near the hopper-shaped fruit cup 301. The opposite mounting openings on the two sliding tracks 312 are symmetrical about the plane of symmetry of the hopper-shaped fruit cup flipping and grading mechanism 3 and are located directly above the same horizontal conveyor belt 306. A grading drive mechanism 311 is installed at each mounting opening. The grading drive mechanism 311 includes a fixed track plate 320, a moving track plate 321, a micro DC motor 322, and a motor eccentric bushing 323. The fixed track plate 320 and the moving track plate 321 are parallel to each other and arranged vertically. The fixed track plate 320 is away from the hopper-shaped fruit cup 301, and the moving track plate 321... 1. The grading drive mechanism 311 is installed at one of the mounting openings of the sliding track 312 via a fixed track plate 320. The top edge of the fixed track plate 320 is a bent obtuse angle. One section of the top edge of the fixed track plate 320 is inside the mounting opening and parallel to the top surface of the sliding track 312. The horizontal section of the top edge of the fixed track plate 320 serves as the horizontal side of the fixed track, and the other section of the top edge of the fixed track plate 320 slopes downward as the inclined side of the fixed track. The top edge of the moving track plate 321 is inside the mounting opening and parallel to the top surface of the sliding track 312. When the fruit cup shaft 319 of the hopper-shaped fruit cup 301 slides on the top surface of the sliding track 312, the end point of the fruit cup shaft 319 is always located on the horizontal strip where the horizontal side of the fixed track is located. In the plane, when the grading drive mechanism 311 is not running, the fruit cup shaft 319 continues to slide on the sliding track 312 after passing the horizontal edge of the fixed track and the top edge of the moving track piece 321 at the mounting opening; one side of the moving track piece 321 is movably connected to the side of the fixed track piece 320 through a horizontal connecting shaft, and the moving track piece 321 rotates around the axis of the connecting shaft; a micro DC motor 322 is installed on the side of the fixed track piece 320 away from the moving track piece 321, and the output shaft of the micro DC motor 322 passes vertically through the fixed track piece 320 and is synchronously fitted with a motor eccentric bushing 323, which is supported on the bottom surface of the other end of the moving track piece 321; when the fruit cup 301 conveys the fruit 203... When the grading drive mechanism 311 is reached, the small shaft 319 of the fruit cup 301 slides to the horizontal edge of the fixed track plate 320 and the top horizontal edge of the moving track plate 321. The micro DC motor 322 controls the eccentric bushing 323 to rotate, causing the moving track plate 321 to tilt downwards. At this time, the top horizontal edge of the moving track plate 321 tilts downwards to be parallel to the inclined edge of the fixed track. The small shaft 319 of the fruit cup 301 slides downwards from the inclined edge of the fixed track plate 320 and the top inclined edge of the moving track plate 321. The entire fruit cup 301 tilts downwards and flips, causing the fruit 203 on the fruit cup 301 to fall onto the horizontal conveyor belt 306 directly below and then be conveyed to the vertical unloading mechanism 4. A support shaft is also provided on the side of the fixed track plate 320 near the other end of the moving track plate 321. When the moving track plate 321 tilts downwards, the other end of the moving track plate 321 abuts against the top surface of the support shaft.

[0070] Each horizontal conveyor belt 306 only receives and transports fruits of the same grade. The number of horizontal conveyor belts 306 is the same as the number of fruit grades and equal to half the number of grading drive mechanisms 311. The fruits are graded based on photos taken by the camera 218 of the machine vision inspection module 204. When a fruit is determined to be of a certain grade, it is transported directly above the horizontal conveyor belt 306 corresponding to that grade. The micro DC motor 322 receives the grading grade signal and rotates, driving the motor eccentric bushing 323 to rotate. The moving rail 321 tilts downward, and the fruit cup shaft... 319 slides down along the moving track 321, the bucket-shaped fruit cup 301 flips, and the fruit 203 falls from the bucket-shaped fruit cup 301 and is received by the horizontal conveyor belt 306 below, completing the grading; when the fruit does not belong to the corresponding grade passes directly above other horizontal conveyor belts 306, the corresponding grading drive mechanism 311 is not driven, and the bucket-shaped fruit cup 301 does not flip. At this time, the small shaft 319 of the bucket-shaped fruit cup 301 moves normally horizontally on the sliding track 312 through the fixed track 320 of the grading drive mechanism 311 and the horizontal top edge of the moving track 321.

[0071] like Figure 15 and Figure 16As shown, the vertical feeding mechanism 4 includes several vertical feeding devices, each of which is vertically installed on the side of the grading mechanism frame 503. Each vertical feeding device is located on the outlet side of its respective horizontal conveyor belt 306. Each vertical feeding device includes a vertical conveyor belt frame 402, two slide table connecting blocks 403, an optical axis module 404, an inclined plate 405, a proximity photoelectric sensor 406, a motor screw module 407, two slide table fixing parts 408, and a vertical conveyor belt 409. The conveyor 409 is vertically mounted on the vertical conveyor frame 402. Slide connecting blocks 403 are installed symmetrically on both sides of the vertical conveyor frame 402. A light shaft module 404 and a motor lead screw module 407 are also installed on both sides of the vertical conveyor frame 402. The light shaft module 404 includes a light shaft frame, a light shaft, and a slider. The light shaft is vertically mounted on the side of the light shaft frame away from the horizontal conveyor 306. A slider is slidably mounted on the light shaft, and the slider is fixed to a slide on one side of the vertical conveyor frame 402. On component 408, the optical shaft bracket is mounted on the side of the grading mechanism frame 503 near the horizontal conveyor belt 306; the motor screw module 407 includes a screw motor 401, a screw, and a screw motor frame. The body of the screw motor 401 is mounted on the top surface of the screw motor frame, and the screw is vertically mounted on the side of the screw motor frame away from the horizontal conveyor belt 306. The output shaft of the screw motor 401 is vertically downward and synchronously connected to the top of the screw. A slide table fixing component 4 on the other side of the vertical conveyor belt frame 402 is threaded onto the screw. 08. The screw motor frame is installed on the side of the grading mechanism frame 503 near the horizontal conveyor belt 306. The optical axis module 404 is used to maintain torque balance. The inclined plate 405 is horizontally installed on the bottom surface of the vertical conveyor belt frame 402. The proximity photoelectric sensor 406 is installed on the bottom surface of the inclined plate 405. The vertical conveyor belt 409 is driven by its own motor. The proximity photoelectric sensor 406 can be an ultrasonic sensor, etc. The number of vertical feeding devices is equal to the number of horizontal conveyor belts 306.

[0072] The proximity photoelectric sensor 406 is used to determine the distance between the inclined plate 405 and the top layer of fruit 203 in the fruit box 510. When the distance is less than the preset distance, it sends a signal to the lead screw motor 401 to move upward, controlling the lead screw motor 401 to run, driving the lead screw to rotate, thereby driving the slide table fixing part 408 on the lead screw to move upward, driving the vertical conveyor frame 402 and the vertical conveyor 409 to move upward as a whole, until the distance between the inclined plate 405 and the top layer of fruit 203 in the fruit box 510 is greater than the preset distance, and then the lead screw motor 401 stops running.

[0073] Vertical connecting structures are evenly spaced on the conveyor belt of the vertical conveyor belt 409. Each vertical connecting structure includes several finger-shaped strips and two bowl-shaped baffles. One end of each finger-shaped strip is evenly spaced horizontally along the width direction of the conveyor belt of the vertical conveyor belt 409. The two bowl-shaped baffles are respectively installed on both sides of the width direction of the conveyor belt of the vertical conveyor belt 409 and located on both sides of each finger-shaped strip. When each vertical connecting structure moves with the vertical conveyor belt 409 to a side close to the horizontal conveyor belt 306, the bowl-shaped baffles of the vertical connecting structure are angled upwards. And facing away from the horizontal conveyor belt 306, the other end of each finger-shaped strip plate is inclined upward. After being conveyed by the horizontal conveyor belt 306, the fruit 203 falls into the top of a vertical stop structure that is inclined downward. Then, it gradually moves downward from the conveyor belt of the vertical conveyor belt 409 to the bottom and falls out of the vertical stop structure and onto the inclined plate 405. Finally, it rolls from the inclined plate 405 into the lower part of the vertical feeding mechanism 4. The vertical stop structure is not easy to fall when receiving the falling fruit 203, and it can also prevent the fruit 203 from rolling off the side. The inclined plate 405 can cushion the fruit 203 when it rolls down.

[0074] like Figure 17As shown, a base plate frame is installed on the top surface of the walking mechanism 5. The base plate frame includes a base plate 509 and a fruit box guide rail. The fruit box guide rail is installed on the top surface of the base plate 509. The square tube frame 501 is installed on the top surface of the base plate 509 and is located directly above the fruit box guide rail. The fruit box guide rail includes three horizontally spaced long beams 506 arranged along the length of the walking mechanism 5. The three long beams 506 are installed on the top surface of the base plate 509 of the walking mechanism 5. Each long beam 506 is also hinged to two ends with short beams 50. 7. Each long beam 506 and its two short beams 507 on both sides are also equipped with several fruit box guide wheels 508 on the side facing the outside of the walking mechanism 5. The fruit box guide wheels 508 are evenly spaced on one side of each long beam 506 and its two short beams 507 on both sides. When the walking mechanism 5 drives the fruit picking and sorting equipment to move, none of the short beams 507 on the front and rear sides of the walking mechanism 5 touch the ground. When the walking mechanism 5 stops, the short beams 507 on the front and rear sides of the walking mechanism 5 rotate around the ground. Rotation at the hinge points of the long beams 506 causes the short beams 507 to contact and support the ground. Each short beam 507 serves a supporting function and also forms an inclined surface to facilitate the entry and exit of the fruit boxes 510. Before the fruit picking and sorting equipment transports the fruit 203, several fruit boxes 510 are moved from the ground via three short beams 507 on one side of the fruit box guide track of the walking mechanism 5 to directly above the three long beams 506. As the fruit boxes 510 move on the fruit box guide track, the guide wheels 508 of each fruit box... The friction between the fruit box 510 and the chassis frame is converted into rolling friction, which facilitates manual operation. Each fruit box 510 moves to the direct under its own vertical feeding mechanism 4. Each fruit 203 is successively conveyed by the picking and feeding mechanism 1, the roller conveying and detection mechanism 2, the bucket-shaped fruit cup flipping and grading mechanism 3 and the vertical feeding mechanism 4 and falls into the respective fruit box 510. The distance between the inclined plate 405 of the vertical feeding mechanism 4 and the top layer of fruit 203 in the fruit box 510 directly below is greater than the preset distance.

[0075] The long beam 506 is mounted on the axles at both ends, and the base plate 509 is fixed on the long beam 506. A square tube frame 501, a picking and feeding mechanism 1, a roller conveying and detection mechanism 2, and a hopper-shaped fruit cup flipping and grading mechanism 3 are mounted on top. The number of fruit boxes 510 and the vertical feeding mechanism 4 are the same; each fruit box 510 contains fruit of the same grade, but the grades of fruit in each fruit box 510 are different, enabling automatic fruit sorting.

[0076] In practice, after harvesting, the fruit is manually placed into the harvesting arm 105 of the harvesting and feeding mechanism 1. It is then transported via the main conveyor belt 102 to the roller conveyor inspection mechanism 2. The rollers 206 of the roller conveyor inspection mechanism 2 contact the friction track 214 under the pressure of the fruit, causing friction and rotation of both the rollers 206 and the fruit. The machine vision inspection module 204 performs full-surface imaging inspection of the fruit's external quality. After being received by the transition wheel 314, the fruit is transferred to the bucket-shaped fruit cup 301 of the bucket-shaped fruit cup flipping and grading mechanism 3. The bucket-shaped fruit cup 301 moves with the grading chain drive mechanism 324, and the fruit cup shaft 31... Fruits 9 are supported by guide bars 313 and sliding rails 312 respectively. Their posture changes from a natural downward droop to a horizontal position. After receiving a signal from the machine vision detection module 204, the grade of the fruit is determined, and the grading drive mechanism 311 is triggered above the horizontal conveyor belt 306. The bucket-shaped fruit cup 301 is flipped so that the fruit falls into the horizontal conveyor belt 306 and is transferred to the vertical unloading mechanism 4. The vertical unloading mechanism 4 receives the fruit conveyed by the horizontal conveyor belt 306 and transports the fruit smoothly into the fruit box 510. Finally, the walking mechanism 5 can complete the initial sorting of fruit in the field with the assistance of human hands.

[0077] The above embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. The conveying and grading mechanisms involved in the invention are not limited to the combined roller and cup-type fruit conveying and grading system designed in this invention; other conveying and grading mechanisms, such as those entirely composed of rollers or entirely composed of cups, may also be used. Any improvements or equivalent modifications made to individual components, methods, and steps based on the principles of this invention are within the scope of protection of this invention.

Claims

1. A mobile fruit picking and sorting apparatus, characterized by: The system includes a picking and feeding mechanism (1), a roller conveyor detection mechanism (2), a bucket-shaped fruit cup turning and grading mechanism (3), a vertical feeding mechanism (4), and a walking mechanism (5). A square tube frame (501) is installed on the top surface of the walking mechanism (5), and a grooved square tube frame (502) is installed on the top surface of the square tube frame (501). The conveying mechanism frame (504) and the grading mechanism frame (503) are both installed on the top surface of the grooved square tube frame (502). The picking and feeding mechanism (1) is installed on the conveying mechanism frame (504) and the grooved square tube frame (502) and is located in front of the walking mechanism (5). The bucket-shaped fruit cup turning and grading mechanism (3) is horizontally installed on the grading mechanism. The grade mechanism frame (503) is located at the rear of the walking mechanism (5). The roller conveying detection mechanism (2) is horizontally installed on the conveying mechanism frame (504) and located in the middle of the walking mechanism (5). The roller conveying detection mechanism (2) is located between the picking and feeding mechanism (1) and the bucket-shaped fruit cup flipping and grading mechanism (3). The picking and feeding mechanism (1), the roller conveying detection mechanism (2), the bucket-shaped fruit cup flipping and grading mechanism (3) and the vertical feeding mechanism (4) are arranged in sequence along the conveying direction of the fruit (203). The vertical feeding mechanism (4) is vertically installed on the side of the grade mechanism frame (503) and located on one side of the bucket-shaped fruit cup flipping and grading mechanism (3). The conveyor chain drive mechanism (215) includes a dual-channel conveyor chain drive device; The aforementioned bucket-shaped fruit cup flipping and grading mechanism (3) includes a grading chain drive mechanism (324) and several horizontal conveyor belts (306). The grading chain drive mechanism (324) is horizontally mounted on the grading mechanism frame (503). The grading chain drive mechanism (324) includes a dual-channel grading chain drive device. The two grading chain drive devices are symmetrical about the vertical plane and their axis of symmetry is parallel to the horizontal conveying direction of the fruit. The ends of the two grading chain drive devices near the roller conveying detection mechanism (2) are respectively facing the conveying outlet side of the two conveying channels of the roller conveying detection mechanism (2). Each grading chain drive device includes several bucket-shaped fruit cups (301), a grading chain (302), and two grading sprockets (303). The two grading sprockets (303) are mounted on the grading mechanism frame (503). Two grading sprockets (303) are located in the same vertical plane, one close to and one far from the roller conveyor detection mechanism (2). The grading chain (302) forms a closed loop around the two grading sprockets (303). Each grading chain drive device has a hopper-shaped fruit cup (301) installed on its circumference on the side close to the other grading chain drive device. Each hopper-shaped fruit cup (301) of each grading chain drive device is evenly spaced on the side of the grading chain (302) through a horizontal fruit cup mounting shaft (316) passing through its side. Each fruit cup mounting shaft (316) is perpendicular to the horizontal conveying direction of the fruit (203). Every two symmetrical hopper-shaped fruit cups (301) of the two grading chain drive devices are connected by a fruit cup mounting shaft (316). The hopper-shaped fruit cup flipping and grading mechanism (3) also includes two transition wheels (314); Each funnel-shaped fruit cup (301) is a plate-like structure with a funnel-shaped concave center. One side of the plate-like structure is fitted parallel to the fruit cup mounting shaft (316). On the other side of the plate-like structure away from the fruit cup mounting shaft (316), there is a four-finger structure along the plate surface direction. The four-finger structure includes four parallel and spaced connecting fingers. The plate-like structure has a horizontal fruit cup shaft (319) on one side near the grade chain (302) it is connected to. In each conveyor chain drive device, a sliding rail (312) is installed directly below the fruit cup mounting shaft (316) of each upper-level bucket-shaped fruit cup (301) and the grading chain (302) connected to it. The sliding rail (312) is arranged horizontally along the horizontal conveying direction of the fruit (203). Each sliding rail (312) is connected to a guide strip (313) at one end near the roller conveyor detection mechanism (2). The upper part of the guide strip (313) is curved in the opposite direction to the roller conveyor detection mechanism (2) to form an arc, and the lower part of the guide strip (313) is vertically downward. Each bucket-shaped fruit cup (301) moves from the lower level of the conveyor chain drive device to the upper level of the conveyor chain drive device as the grading chain (302) is driven. When the bucket-shaped fruit cup... (301) When it moves to the side near the roller conveyor detection mechanism (2), the small shaft (319) of the fruit cup (301) contacts the lower end of the guide bar (313) and then slides to the top surface of the upper part of the guide bar (313), so that the plate structure of the fruit cup (301) is finally on the horizontal plane. At this time, the middle two connecting fingers of the four connecting fingers of the four-finger structure of the fruit cup (301) are inserted into the two gaps between the two large plates and one small plate of the transition wheel (314) near the end of the transition wheel (314). After the fruit (203) is conveyed by the roller conveyor detection mechanism (2), it falls on the upper part of the nearby transition wheel (314) and falls into the central bucket-shaped concave part of the fruit cup (301) through the four-finger structure.

2. The mobile fruit picking and sorting equipment according to claim 1, characterized in that: The picking and feeding mechanism (1) includes a main conveyor belt (102) and four picking arms (105). The main conveyor belt (102) is mounted on the conveying mechanism frame (504) and the grooved square tube frame (502). All four picking arms (105) are mounted on the main conveyor belt (102). The upper end of the main conveyor belt (102) is hinged to the conveying mechanism frame (504) through a horizontal rotating shaft (101). The upper end of the main conveyor belt (102) rotates around the axis of the rotating shaft (101). The grooved square tube frame (502) includes two grooved square tubes located on the same horizontal plane and arranged in parallel and spaced apart. The two grooved square tubes are parallel to the horizontal conveying direction of the fruit (203). Each grooved square tube has a square tube groove (505) on one side near the picking and feeding mechanism (1). The square tube grooves (505) of the two grooved square tubes face each other. The two sides of the main conveyor belt (102) are provided with slide rails along their own length direction. The main conveyor belt (102) is slidably installed in the two square tube grooves (505) through the two slide rails on both sides. The main conveyor belt (102) is equipped with parallel conveyor belts with two channels. The two conveyor belts are separated by the middle section of the main conveyor belt (102). Each conveyor belt has several rubber baffles (103) evenly spaced along its length, perpendicular to the conveyor belt. The bottom edges of every two adjacent rubber baffles (103) are fixed to the conveyor belt and are parallel to each other and perpendicular to the length of the conveyor belt. Conveying baffles are vertically arranged on both sides of the top surface of the main conveyor belt (102) along the conveying direction of the fruit (203). Each conveying baffle is close to the side of its respective row of rubber baffles (103). And leave gaps; each fruit (203) is located in the conveying space formed by the middle body of the main conveyor belt (102), two adjacent rubber partitions (103) and a nearby conveying baffle when it is conveyed by the main conveyor belt (102). When the fruit (203) is conveyed to the upper end of the main conveyor belt (102), it falls into the roller conveying detection mechanism (2) by the main conveyor belt (102); four picking arms (105) are installed in pairs on the side of the two conveying baffles away from each rubber partition (103). The two picking arms (105) installed on each conveying baffle are close to the upper and lower ends of the main conveyor belt (102) respectively.

3. The mobile fruit picking and sorting equipment according to claim 2, characterized in that: Each harvesting arm (105) includes a harvesting conveyor belt, a gas spring module (108), a rotary support (109), and a tilt adjustment block (110). The rotary support (109) is installed on the bottom surface of the arm root end of the harvesting arm (105). The two ends of the spring module (108) are respectively installed on the same side of the harvesting arm (105) and the rotary support (109). The tilt adjustment block (110) is installed on the bottom surface of the rotary support (109). One side of the tilt adjustment block (110) is connected to the side of the conveyor baffle by a connecting block. The gas spring module (108) enables the harvesting arm (105) to swing up and down relative to the rotary support (109). The rotary support (109) enables itself to rotate relative to the tilt adjustment block (110). The tilt adjustment block (110) enables the harvesting arm (105) to tilt relative to the main conveyor belt (102). Each picking arm (105) has two rows of protruding structures along its length on the conveyor belt of the picking conveyor. Each row of protruding structures includes several finger-shaped protrusions (112) evenly spaced. An arc-shaped connecting plate (107) is also provided on the body of the picking conveyor at the root end of the picking arm (105). The arc-shaped connecting plate (107) is inclined downwards, and the lower edge of each arc-shaped connecting plate (107) is located above the conveyor belt of its respective picking conveyor. Each fruit (2 03) Each fruit (203) is transported from the end of the picking arm (105) to the root of the picking arm (105) within a rectangular area formed by four adjacent finger protrusions (112) in the two columns of protrusions during the transport of each picking arm (105). After being transported by each picking arm (105), the fruit (203) falls into one of the transport spaces of the main conveyor belt (102) below via the arc-shaped connecting plate (107). Then, it is transported by the main conveyor belt (102) to the upper end and falls into the roller conveyor detection mechanism (2).

4. The mobile fruit picking and sorting equipment according to claim 2, characterized in that: The harvesting and feeding mechanism (1) also includes two harvesting auxiliary ladders (113) located on both sides of the walking mechanism (5). The two harvesting auxiliary ladders (113) are installed on the top surface of the walking mechanism (5). The two harvesting auxiliary ladders (113) are respectively close to and located on the sides of the two harvesting arms (105) at the upper end of the main conveyor belt (102). Each harvesting arm (105) includes a platform (114), a handrail (115), a ladder fixing square tube (116) and a ladder. The platform (114) is horizontally fixed to the top surface of the walking mechanism (5) through the ladder fixing square tube (116). The handrail (115) is installed on the top surface of the platform (114). The upper end of the ladder is hinged to the side of the platform (114) away from the harvesting arm (105), and the lower end of the ladder faces the ground.

5. The mobile fruit picking and sorting apparatus according to claim 2, wherein: The roller conveyor inspection mechanism (2) includes a machine vision inspection module (204) and a conveyor chain drive mechanism (215). The conveyor chain drive mechanism (215) is horizontally mounted on the conveyor frame (504). The machine vision inspection module (204) is mounted on the top surface of the conveyor frame (504) and located directly above the conveyor chain drive mechanism (215). The two conveyor chain drive devices of the conveyor chain drive mechanism (215) are symmetrical about the vertical plane and the axis of symmetry is parallel to the horizontal conveying direction of the fruit (203). The ends of the two conveyor chain drive devices near the picking and feeding mechanism (1) are respectively directly opposite the upper ends of the two conveyor belts of the main conveyor belt conveyor (102) of the picking and feeding mechanism (1). Each conveyor chain drive device includes several rollers (206), a conveyor chain (207) and two conveyor sprockets (208). The two conveyor sprockets (208) are mounted on the conveyor frame (504). 04) On the side of the picking and feeding mechanism (1) and the hopper fruit cup turning and grading mechanism (3) respectively, the two conveyor sprockets (208) are located in the same vertical plane, and the conveyor chain (207) is wrapped around the two conveyor sprockets (208) to form a closed loop; the conveyor chain (207) of each conveyor chain drive device has rollers (206) installed around its own circumference on the side of the conveyor chain (207) near the other conveyor chain drive device, and each roller (206) on each conveyor chain drive device is evenly spaced along the side of the conveyor chain (207) through the horizontal roller shaft (216) at its center, and each roller shaft (216) is perpendicular to the horizontal conveying direction of the fruit (203); each roller (206) includes two large discs and one small disc, and the center of the two large discs and one small disc is movably fitted on the roller shaft (216) of the roller (206), and the small disc is located between the two large discs; In the two conveyor chain drive devices, horizontally arranged friction tracks (214) are installed between the upper rollers (206) and the lower rollers (206). The friction tracks (214) are located directly below the upper rollers (206) and have gaps. Side baffles (202) are vertically arranged on opposite sides directly above the two conveyor chain drive devices. A middle baffle (205) is vertically arranged on the symmetrical plane of the two side baffles (202). The two side baffles (202) and the middle baffle (205) are parallel to the horizontal conveying direction of the fruit (203). The space between the two side baffles (202) and the middle baffle (205) forms two conveying channels. The two conveying channels are located at the upper rollers of the two conveyor chain drive devices. The two conveying channels directly above the wheel (206) are located on the side of the picking and feeding mechanism (1) as the conveying inlet side, and on the side of the two conveying channels directly above the bucket-shaped fruit cup flipping and grading mechanism (3) as the conveying outlet side. The two conveying inlet sides are respectively located at the upper ends of the two conveying belts of the main conveyor belt conveyor (102) of the picking and feeding mechanism (1). Each conveying inlet side is located diagonally below the upper end of the conveying belt directly opposite to it. The machine vision detection module (204) is installed on the top surface of the two side baffles (202) and the middle baffle (205). The machine vision detection module (204) includes a light box (217) and two cameras (218). The bottom surface of the light box (217) is open. The two cameras (218) are installed on the inner top surface of the light box (217) and face the two conveying channels directly below. Each fruit (203) is fed into two rows of conveyor channels of the roller conveyor detection mechanism (2) by the dual-channel conveyor belt of the main conveyor belt conveyor (102) of the picking and feeding mechanism (1). Each fruit (203) is pressed directly above the two adjacent rollers (206) located on the upper layer of the conveyor chain drive device, so that the bottom of each roller (206) located on the upper layer of the two conveyor chain drive devices rubs downward with the friction track (214), thereby causing the two large discs of each roller (206) to rotate around their own roller axle (216) and rub against each other, causing the fruit (203) to tumble. When each tumbling fruit (203) passes directly under its own camera (218), the camera (218) performs full-surface imaging detection of the tumbling fruit (203).

6. A mobile fruit picking and sorting apparatus according to claim 5, characterized in that: In each conveyor chain drive device, the space directly above each bucket-shaped fruit cup (301) on the upper layer forms a grading channel along the horizontal conveying direction of the fruit (203). The entrance sides of the two grading channels are respectively opposite to the conveying outlet sides of the two conveying channels of the roller conveyor detection mechanism (2). The entrance side of each grading channel is located diagonally below its corresponding conveying outlet side. The central shafts of the two transition wheels (314) of the bucket-shaped fruit cup flipping grading mechanism (3) are respectively mounted on the grading mechanism frame (503) through transition wheel fixing parts (315). Each transition wheel (314) is located on the entrance side of the grading channel and the conveying outlet side of the conveying channel. Between; the transition wheel (314) and the roller (206) have the same structure; each fruit (203) falls from the conveying outlet side of the conveying channel into the top surface of the transition wheel (314) after being conveyed by the roller conveying detection mechanism (2). At this time, the transition wheel (314) is located between a bucket-shaped fruit cup (301) at the entrance side of the grading channel and a roller (206) at the conveying outlet side of the conveying channel. The transition wheel (314) is located diagonally below the roller (206) and diagonally above the bucket-shaped fruit cup (301). The transition wheel (314) and the bucket-shaped fruit cup (301) are in contact. The fruit (203) falls into the bucket-shaped fruit cup (301) through the top surface of the transition wheel (314). Each horizontal conveyor belt (306) is horizontally spaced on the grading mechanism frame (503) and located between the upper and lower bucket-shaped fruit cups (301) in the two conveyor chain drive devices. The conveying direction of each horizontal conveyor belt (306) is perpendicular to the horizontal conveying direction of the fruit (203).

7. The mobile fruit picking and sorting apparatus according to claim 1, wherein: The aforementioned hopper-shaped fruit cup flipping and grading mechanism (3) also includes several grading drive mechanisms (311). Several mounting ports are provided on the side of the two sliding rails (312) near the hopper-shaped fruit cup (301). The mounting ports on the two sliding rails (312) are symmetrical to the symmetry plane of the hopper-shaped fruit cup flipping and grading mechanism (3) and are located directly above the same horizontal conveyor belt (306). A grading drive mechanism (311) is installed at each mounting port. The grading drive mechanism (311) includes a fixed track plate (320), a moving track plate (321), a micro DC motor (322), and a motor eccentric bushing (323). The fixed track plate (320) and the moving track plate (321) are arranged parallel to each other and vertically. The fixed track plate (320) is away from the hopper-shaped fruit cup (301), and the moving track plate (321) is close to the hopper-shaped fruit cup (301). The grading drive mechanism (311) is mounted on the sliding track (320) via the fixed track plate (320). At one of the mounting openings of the sliding rail (312), the top edge of the fixed rail piece (320) is a bent obtuse angle. One section of the top edge of the fixed rail piece (320) is inside the mounting opening and parallel to the top surface of the sliding rail (312). The top edge of the horizontal section of the fixed rail piece (320) serves as the horizontal edge of the fixed rail. The other section of the top edge of the fixed rail piece (320) slopes downward as the inclined edge of the fixed rail. The top edge of the moving rail piece (321) is inside the mounting opening and parallel to the top surface of the sliding rail (312). One side of the moving track plate (321) is movably connected to the side of the fixed track plate (320) via a horizontal connecting shaft, and the moving track plate (321) rotates around the axis of the connecting shaft; a micro DC motor (322) is installed on the side of the fixed track plate (320) away from the moving track plate (321), and the output shaft of the micro DC motor (322) passes vertically through the fixed track plate (320) and is synchronously fitted with a motor eccentric bushing (323), which is supported on the bottom surface of the other end of the moving track plate (321); when the hopper-shaped fruit cup (301) that conveys the fruit (203) runs to the grading drive mechanism (311), the small shaft (319) of the hopper-shaped fruit cup (301) slides. On the fixed horizontal edge of the fixed track plate (320) and the horizontal top edge of the moving track plate (321), the micro DC motor (322) controls the eccentric bushing (323) of the motor to rotate, so that the moving track plate (321) tilts downward. At this time, the horizontal top edge of the moving track plate (321) tilts downward to be parallel to the inclined edge of the fixed track. The small shaft (319) of the fruit cup (301) slides downward from the inclined edge of the fixed track plate (320) and the inclined top edge of the moving track plate (321). The entire fruit cup (301) tilts downward and flips, so that the fruit (203) on the fruit cup (301) falls into the horizontal conveyor belt (306) directly below and is then transported to the vertical unloading mechanism (4).

8. The mobile fruit picking and sorting apparatus according to claim 6, wherein: The vertical feeding mechanism (4) includes several vertical feeding devices, each of which is vertically installed on the side of the grading mechanism frame (503). Each vertical feeding device is located on the outlet side of its respective horizontal conveyor belt (306). Each vertical feeding device includes a vertical conveyor belt frame (402), two slide table connecting blocks (403), an optical axis module (404), an inclined plate (405), a proximity photoelectric sensor (406), a motor screw module (407), and two slide table fixing parts. (408) and a vertical conveyor belt (409), the vertical conveyor belt (409) is vertically mounted on the vertical conveyor belt frame (402), and slide connecting blocks (403) are respectively installed at symmetrical positions on both sides of the vertical conveyor belt frame (402). A light axis module (404) and a motor screw module (407) are also respectively installed on both sides of the vertical conveyor belt frame (402). The light axis module (404) includes a light axis frame, a light axis and a slider. The light axis is vertically mounted on the light axis frame away from the horizontal conveyor belt. On one side of the conveyor (306), a slider is slidably mounted on the optical shaft. The slider is mounted on a slide table fixture (408) on one side of the vertical conveyor frame (402). The side of the optical shaft frame closer to the horizontal conveyor (306) is mounted on the side of the grading mechanism frame (503). The motor screw module (407) includes a screw motor (401), a screw, and a screw motor frame. The body of the screw motor (401) is mounted on the top surface of the screw motor frame, and the screw is vertically mounted on the screw motor frame away from the horizontal conveyor. On one side of the conveyor (306), the output shaft of the lead screw motor (401) is vertically downward and synchronously connected to the top of the lead screw. The lead screw is threaded with a slide table fixture (408) on the other side of the vertical conveyor frame (402). The side of the lead screw motor frame close to the horizontal conveyor (306) is installed on the side of the grading mechanism frame (503). The inclined plate (405) is horizontally installed on the bottom surface of the vertical conveyor frame (402), and the proximity photoelectric sensor (406) is installed on the bottom surface of the inclined plate (405). Vertical stop structures are evenly spaced on the conveyor belt of the vertical conveyor belt (409). Each vertical stop structure includes several finger-shaped strips and two bowl-shaped baffles. One end of each finger-shaped strip is evenly spaced along the width direction of the conveyor belt of the vertical conveyor belt (409). The two bowl-shaped baffles are respectively installed on both sides of the width direction of the conveyor belt of the vertical conveyor belt (409) and located on both sides of each finger-shaped strip. Each vertical stop structure moves with the conveyor belt of the vertical conveyor belt (409) to a position close to the horizontal conveyor belt. When the fruit (203) is on one side of the machine (306), the bowl-shaped baffle of the vertical connecting structure is inclined upward and faces away from the horizontal conveyor belt (306). The other end of each finger-shaped strip plate is inclined upward. After being conveyed by the horizontal conveyor belt (306), the fruit (203) falls into the top of a vertical connecting structure that is close to it and is inclined downward. Then, it gradually moves downward from the conveyor belt of the vertical conveyor belt (409) to the bottom and falls out of the vertical connecting structure and onto the inclined plate (405). Finally, it rolls from the inclined plate (405) into the lower part of the vertical feeding mechanism (4).

9. A mobile fruit picking and sorting apparatus according to claim 8, characterized in that: The top surface of the walking mechanism (5) is equipped with a base plate frame, which includes a base plate (509) and a fruit box guide rail. The fruit box guide rail is installed on the top surface of the base plate (509), and the square tube frame (501) is installed on the top surface of the base plate (509) and located directly above the fruit box guide rail. The fruit box guide rail includes three horizontally spaced long beams (506) arranged along the length of the walking mechanism (5). The three long beams (506) are installed on the top surface of the base plate (509) of the walking mechanism (5). Each long beam (506) is also hinged to two short beams (507) at both ends. Each long beam (506) and its two short beams (507) on both sides are also equipped with several fruit box guide wheels (508) on the side facing the outside of the walking mechanism (5). The fruit box guide wheels (508) are evenly spaced on one side of each long beam (506) and its two short beams (507) on both sides. When the walking mechanism (5) drives the fruit picking and sorting equipment to move, the two sides of the walking mechanism (5) move forward and backward. Each of the short beams (507) on the side does not touch the ground. When the walking mechanism (5) stops, each of the short beams (507) on the front and rear sides of the walking mechanism (5) rotates around the hinge point of each of its own and each of its long beams (506) so that each of the short beams (507) contacts and is supported on the ground. Before the fruit picking and sorting equipment transports the fruit (203), several fruit boxes (510) are moved from the ground through three short beams (507) on one side of the fruit box guide track of the walking mechanism (5) to three long beams (506). Above the fruit box (510), each fruit box (510) moves to the direct under of its own vertical feeding mechanism (4). Each fruit (203) is transported in sequence by the picking and feeding mechanism (1), the roller conveying and detection mechanism (2), the bucket-shaped fruit cup flipping and grading mechanism (3) and the vertical feeding mechanism (4) and falls into each fruit box (510). The distance between the inclined plate (405) of the vertical feeding mechanism (4) and the topmost fruit (203) in the fruit box (510) directly below is greater than the preset distance.

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