A sorting apparatus

Abstract

The present application belongs to the technical field of fruit and vegetable sorting, and particularly relates to a sorting device. The sorting device comprises: a feeding structure for sequentially conveying a plurality of target objects; a rotating structure arranged at the discharge end of the feeding structure and receiving each target object, the rotating structure being used for sequentially conveying each target object in a predetermined direction, the conveying path of the rotating structure being provided with an information acquisition area and a plurality of sorting areas; and a visual shooting structure arranged in the information acquisition area and comprising a camera mechanism and a control mechanism, the camera mechanism being used for shooting the target objects and acquiring quality information of the target objects, the quality information at least including size information and color information, and the control mechanism controlling the rotating structure according to the quality information so that the rotating structure releases each target object to each sorting area. The present application can improve the accuracy and effectiveness of fruit sorting.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fruit and vegetable sorting equipment, and particularly relates to a sorting equipment. BACKGROUND

[0002] At present, fruits or spherical vegetables are mostly sorted and graded by manual operation. Manual sorting is uneven in size and low in efficiency, and thus fruit and vegetable sorting equipment has been developed. In the sorting equipment, fruits and vegetables are generally conveyed by linear conveying, that is, from the initial feeding belt conveyor to the intermediate one-way arrangement conveyor for discharging, and then conveyed to the sorting mechanism of the sorting equipment by the one-way arrangement conveyor, so that the fruits are sequentially sorted.

[0003] The current sorting equipment generally sorts fruits by their shape and size. When the size of a fruit is within a certain range, the fruit is qualitatively classified into a category by mechanical vibration or a filter hole. However, this sorting method has limited sorting parameters and only refers to the shape and size of the fruit to qualitatively determine the quality of the fruit, and thus cannot accurately and effectively sort the quality of the fruit. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a sorting equipment, which aims to solve the problem of how to effectively and accurately sort fruits.

[0005] To achieve the above purpose, the technical solution adopted by the present application is to provide a sorting equipment for sorting a plurality of target objects, which comprises:

[0006] A feeding structure for sequentially conveying a plurality of target objects;

[0007] A rotating structure arranged at the discharge end of the feeding structure and receiving each target object, the rotating structure being used to sequentially convey each target object in a predetermined direction, the conveying path of the rotating structure being provided with an information acquisition area and a plurality of sorting areas; and

[0008] A visual shooting structure arranged in the information acquisition area and comprising a camera mechanism and a control mechanism, the camera mechanism being used to shoot the target object and acquire quality information of the target object, the quality information at least including size information and color information, and the control mechanism being used to control the rotating structure according to the quality information so as to release each target object to each sorting area.

[0009] In some embodiments, the rotating structure comprises a material loading table provided in the information collection area and provided with a material feeding groove for feeding the target objects, and a material pushing member opposite to the material loading table, the material pushing member spans the material feeding groove and is arranged at intervals along the extension path of the material feeding groove, and any two adjacent material pushing members form a material pushing interval for positioning the target objects; the sorting device further comprises a driving structure, the driving structure comprises a first driver and a second driver, the second driver is used to drive the material pushing members to move along the extension path of the material feeding groove, so that the material pushing members respectively push the target objects to slide forward; and the first driver is used to drive the material pushing members to rotate around the central axis thereof, so that the target objects tumble forward in the material pushing intervals.

[0010] In some embodiments, the rotating structure further comprises a material pushing disc rotatably arranged, the extension path of the material feeding groove is arranged along the circumference of the material pushing disc, and one end of each material pushing member is rotatably connected to the disc edge of the material pushing disc, and the second driver drives the material pushing disc to rotate.

[0011] In some embodiments, the material pushing member has a circular cross-sectional shape, the rotating structure further comprises a transmission disc rotatably arranged opposite to the material pushing disc, the transmission disc is used to press each material pushing member towards the material pushing disc, and the first driver drives the transmission disc to rotate, so as to drive each material pushing member to rotate.

[0012] In some embodiments, the rotating structure further comprises a material loading disc rotatably arranged below the material pushing disc, and a material turning seat for carrying the target objects, the material turning seat is rotatably connected to the disc edge of the material loading disc, and each material pushing interval is provided with a material turning seat; the sorting device further comprises a guide structure, the guide structure comprises a guide rail and a link assembly, one end of the link assembly is rotatably connected to the material turning seat and is arranged at intervals with the rotation center of the material turning seat, the other end of the link assembly is used to slide against the guide rail and synchronously rotate with the material loading disc, the guide rail is provided with a first track along the rotation path of the link assembly and a second track arranged at intervals with the first track; the material turning seat has a material supporting state and a material turning state; when the link assembly slides along the first track and the material turning seat is in the material supporting state; the link assembly slides along the second track and pulls the material turning seat to turn outward by a predetermined angle relative to the material loading disc, so that the material turning seat is in the material turning state and the target objects are poured into one of the sorting areas.

[0013] In some embodiments, the sorting device further comprises a switching structure, the switching structure comprising a guide block arranged on the rotation path of the linkage assembly and a control driver for controlling rotation of the guide block, the control driver controlling the guide block to rotate by a predetermined angle to guide the linkage assembly to slide along the first track or the second track.

[0014] In some embodiments, the switching structure further comprises a positioning block arranged on the rotation path of the linkage assembly, the positioning block being arranged at a distance from the guide rail, and the guide block being located between the guide rail and the positioning block, the guide block being rotated towards the positioning block to guide the linkage assembly to slide along the second track, or the guide block being rotated away from the positioning block to guide the linkage assembly to slide along the first track.

[0015] In some embodiments, the sorting device further comprises a limiting structure, the limiting structure comprising a limiting rod and a limiting slider connected to the linkage assembly, one end of the limiting rod being connected to the material loading turntable, the other end of the limiting rod extending outwardly and being slidingly connected to the limiting slider, the limiting slider being further connected to the linkage assembly.

[0016] In some embodiments, the rotating structure further comprises a rotating sleeve and a transmission shaft, the material stirring turntable and the material loading turntable being connected to the rotating sleeve, one end of the transmission shaft being rotatably inserted into the rotating sleeve and being connected to the transmission turntable; the first driver being connected to the other end of the transmission shaft, and the second driver being used to drive the rotating sleeve to rotate.

[0017] In some embodiments, the visual shooting structure further comprises a support frame adjacent to the material loading table and a box connected to the support frame and located above the feeding groove, the camera mechanism being connected in the box.

[0018] The sorting device comprises a material loading structure, a rotating structure and a visual shooting structure, the visual shooting structure comprising a camera mechanism and a control mechanism, the camera mechanism being capable of collecting at least size information and color information of the fruits, so that the fruits collected in the same sorting area are of the same quality, and the accuracy and effectiveness of fruit sorting are improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or exemplary technical descriptions will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0020] Figure 1is a perspective structural schematic view of a sorting device provided by an embodiment of the present application;

[0021] Figure 2 is Figure 1 a perspective structural schematic view of a rotating structure and a visual shooting structure;

[0022] Figure 3 is Figure 2 a perspective structural schematic view of a material loading table and a visual shooting structure;

[0023] Figure 4 is Figure 3 a top view of a material loading table and a plurality of material pushing members;

[0024] Figure 5 is Figure 4 an exploded schematic view of a rotating structure and an adjusting structure;

[0025] Figure 6 is Figure 2 an assembly schematic view of a material loading turntable and a material turning seat;

[0026] Figure 7 is Figure 6 a structural schematic view of a material turning seat and a connecting rod assembly;

[0027] Figure 8 is Figure 6 a perspective structural schematic view of a tangential structure;

[0028] Figure 9 is Figure 8 a top view and a structural principle view in which a guide block guides a connecting rod assembly to slide along a first track;

[0029] Figure 10 is Figure 8 a top view and a structural principle view in which a guide block guides a connecting rod assembly to slide along a second track in another embodiment of the present application;

[0030] Figure 11 is Figure 2 a sectional view schematic view of a rotating structure and a driving structure;

[0031] Figure 12 is Figure 11 a partial enlarged view at A of the present application;

[0032] Figure 13 is Figure 11 a perspective structural schematic view of a rotating sleeve.

[0033] In the drawings, reference numerals:

[0034] 500, sorting device; 330, visual shooting structure; 331, box; 332, support frame; 401, roller conveying assembly; 402, belt conveying assembly; 108, information collection area; 109, sorting area; 101, fruit; 205, pushing piece; 600, adjusting structure; 601, compression ring; 6011, compression side plate; 602, elastic piece; 603, guide column; 120, rack; 201, transmission turntable; 200, rotating structure; 300, driving structure; 203, rotating sleeve; 204, transmission shaft; 206, stirring turntable; 207, stirring seat; 301, first driver; 302, second driver; 220, material loading table; 221, feeding groove; 222, pushing area; 800, guide structure; 801, guide rail; 802, connecting rod assembly; 81, first connecting rod; 82, second connecting rod; 83, guide fixed plate; 70, switching structure; 71, guide block; 72, positioning block; 60, limiting structure; 2071, stirring side plate; 2072, stirring groove; 2073, fixed base; 2074, rotating block; 61, limiting rod; 62, limiting slider; 8011, first rail; 8012, second rail; 73, control driver; 110, sorting disc; 202, material loading turntable; 400, feeding structure; 2031, first positioning rod; 2032, second positioning rod; 11, inner ring of first slewing bearing; 12, outer ring of first slewing bearing; 13, inner ring of second slewing bearing; 14, outer ring of second slewing bearing; 15, driven gear; 16, driving gear; 2033, rotating side plate; DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0036] It should be noted that when a component is referred to as being "fixed" or "set" on another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected" to another component, it can be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. For those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "first", "second" are only for the convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0037] Referring to Figures 1 to 13 , the embodiment of the present application provides a sorting device 500 for sorting a plurality of target objects, which can be fruits 101, vegetables or other objects in the shape of a sphere or a body of revolution. In this embodiment, the sorting device 500 is used to sort fruits 101, and in other embodiments, the sorting device 500 can also be used to sort vegetables, which is not limited here.

[0038] Referring to Figure 1 , Figure 2 and Figure 11 , the sorting device 500 includes a feeding structure 400, a rotating structure 200 and a visual shooting structure 330. The feeding structure 400 is used to sequentially convey a plurality of target objects. It can be understood that the feeding structure 400 has a feeding end and a discharging end, and a plurality of fruits 101 enter the feeding structure 400 from the feeding end and sequentially flow out of the feeding structure 400 from the discharging end.

[0039] Referring to Figure 1 , Figure 2 and Figure 11 , the rotating structure 200 is arranged at the discharging end of the feeding structure 400 and receives each target object, and the rotating structure 200 is used to sequentially convey each target object along a predetermined direction along the conveying path of the rotating structure 200. The conveying path of the rotating structure 200 is provided with an information acquisition area 108 and a sorting area 109, and a plurality of sorting areas 109 are arranged along the conveying path.

[0040] Referring to Figure 1 , Figure 2 and Figure 11The visual shooting structure 330 is arranged in the information collection area 108 and includes a camera mechanism and a control mechanism. The camera mechanism is configured to shoot the target objects and collect quality information of the target objects, the quality information at least including size information and color information. The control mechanism is configured to control the rotating structure 200 according to the quality information, so that the rotating structure 200 releases each target object to a corresponding sorting area 109. The camera mechanism can be a CCD camera. It can be understood that the size and the color determine the maturity of the fruit 101, thereby affecting the quality of the fruit 101. The quality of the fruit 101 is classified by the size information and the color information, so that the fruits 101 received in the same sorting area 109 have the same quality, thereby improving the accuracy and effectiveness of the fruit 101 sorting.

[0041] The sorting device 500 provided by the embodiment of the present application includes the feeding structure 400, the rotating structure 200 and the visual shooting structure 330. The visual shooting structure 330 includes a camera mechanism and a control mechanism. The camera mechanism can at least collect size information and color information of the fruit 101, so that the fruits 101 received in the same sorting area 109 have the same quality, thereby improving the accuracy and effectiveness of the fruit 101 sorting.

[0042] It can be understood that the quality information further includes surface smoothness information of the fruit 101. The camera mechanism judges the surface smoothness of the fruit 101 by shooting the surface texture of the fruit 101, thereby judging the maturity of the fruit 101.

[0043] Referring to Figure 1 Optionally, the feeding structure 400 includes a roller conveying assembly 401 and a belt conveying assembly 402. One end of the belt conveying assembly 402 is connected to the roller conveying assembly 401, and the other end of the belt conveying assembly 402 is connected to the rotating structure 200. The roller conveying assembly 401 is arranged obliquely to convey the plurality of target objects to the belt conveying assembly 402. The belt conveying assembly 402 uses the differential principle to convey the target objects to the rotating structure 200 in sequence.

[0044] Referring to Figures 2 to 4 In some embodiments, the rotating structure 200 includes a material loading table 220 arranged in the information collection area 108 and provided with a feeding groove 221, and a pushing member 205 arranged opposite to the material loading table 220. The feeding groove 221 is configured to convey the target objects. The pushing member 205 spans the feeding groove 221 and is arranged in multiple along the extension path of the feeding groove 221. Any two adjacent pushing members 205 form a pushing interval 222 for positioning the target objects. The pushing interval 222 can receive a fruit 101 at the discharge end of the feeding structure 400.

[0045] Referring to Figure 11The sorting device 500 further comprises a driving structure 300, which comprises a first driver 301 and a second driver 302. The second driver 302 is configured to drive the pushing members 205 to move along the extension path of the feeding groove 221, so as to push the target objects to slide forward in the pushing area 222. The first driver 301 is configured to drive the pushing members 205 to rotate around the central axis thereof, so as to roll the target objects forward in the pushing area 222.

[0046] The first driver 301 is configured to drive the pushing members 205 to rotate around the central axis thereof, and the second driver 302 is configured to drive the pushing members 205 to move along the extension path of the feeding groove 221. Thus, the pushing members 205 can apply a forward pushing force and an upward rolling force to the fruits 101, so as to continuously move and roll the fruits 101 forward relative to the pushing members 205, avoid the fruits 101 from being stuck between the loading table 220 and the pushing members 205, i.e., avoid the occurrence of the fruit sticking phenomenon, improve the smoothness of the movement of the fruits 101, and improve the sorting efficiency of the subsequent fruits 101.

[0047] Optionally, the extension path of the feeding groove 221 is a straight line, and the pushing members 205 are linearly arranged along the extension path of the feeding groove 221.

[0048] Optionally, the extension path of the feeding groove 221 is a curve, and the pushing members 205 are arranged along the extension path of the feeding groove 221 in a curved manner. It can be understood that the curve can be a segment of an arc of a circle or the entire circle.

[0049] Please refer to Figure 5 In some embodiments, the rotating structure 200 further comprises a rotatingly arranged pushing disc 206. The extension path of the feeding groove 221 is arranged along the circumference of the pushing disc 206, i.e., the extension path of the feeding groove 221 is a segment of a circular arc, and the center of the circular arc is located at the rotation center of the pushing disc 206. One end of the pushing member 205 is rotationally connected to the edge of the pushing disc 206, and the other end of the pushing member 205 extends outward to above the loading table 220. A plurality of pushing members 205 are arranged along the circumference of the pushing disc 206 in a spaced manner, and the plurality of pushing members 205 are arranged in a radial manner on the pushing disc 206. The second driver 302 is configured to drive the pushing disc 206 to rotate, so as to drive the pushing members 205 to apply a forward pushing force to the fruits 101, and drive the fruits 101 to move along the feeding groove 221.

[0050] Please refer to Figure 4 and Figure 5It can be understood that, for the two adjacent pushing members 205, the pushing member 205 at the rear exerts a pushing force on the fruit 101, the direction of the pushing force is parallel to the surface of the loading table 220 where the feeding groove 221 is formed, the pushing member 205 at the rear also exerts a tumbling force upward on the fruit 101, the direction of the tumbling force is substantially perpendicular to the surface of the loading table 220 where the feeding groove 221 is formed, and the pushing member 205 at the front does not directly exert a force on the fruit 101, so that the fruit 101 is continuously moved forward and tumbled, and the phenomenon of fruit jamming does not occur.

[0051] Referring to Figure 4 and Figure 5 In some embodiments, the cross-sectional shape of the pushing member 205 is circular, and the rotating structure 200 further comprises a transmission disc 201 rotatably arranged relative to the pushing disc 206, the pushing disc 206 is located below the transmission disc 201, the transmission disc 201 presses each pushing member 205 towards the pushing disc 206, and the first driver 301 drives the transmission disc 201 to rotate, thereby driving each pushing member 205 to rotate.

[0052] Optionally, the pushing member 205 is a roller, the roller is rotatably connected to the side surface of the pushing disc 206 through a bearing, the output shaft of the first driver 301 is connected to the transmission disc 201 and drives the transmission disc 201 to rotate, and the transmission disc 201 drives each pushing member 205 to rotate around the central axis thereof through friction during rotation.

[0053] Referring to Figure 4 and Figure 5 The rotation direction w of the transmission disc 201 is opposite to the rotation direction w of the pushing disc 206, and the rotation direction of the pushing member 205 itself is indicated as w.

[0054] It can be understood that the first driver 301 and the second driver 302 can both be servo motors, the servo motors can control speed and have very accurate position accuracy, and can convert a voltage signal into torque and speed to drive a control object.

[0055] Referring to Figure 5 In some embodiments, the sorting device 500 further comprises an adjusting structure 600, the adjusting structure 600 comprises a pressing ring 601, the pressing ring 601 is located between the transmission disc 201 and the pushing disc 206, abuts against each pushing member 205 and drives each pushing member 205 to rotate, and the distance between the pressing ring 601 and the transmission disc 201 is adjustable, so that the rollers with different diameters can be adapted.

[0056] It can be understood that when sorting fruits 101 of different sizes, rollers of different diameters can be selected to apply a suitable forward thrust to the fruits 101, and by adjusting the spacing between the compression ring 601 and the stirring disc 206, it can be ensured that the compression ring 601 always contacts the rollers to drive the rollers to rotate.

[0057] Referring to Figure 5 In some embodiments, the adjusting structure 600 further comprises an elastic member 602 having an elastic restoring force, one end of the elastic member 602 being connected to the compression ring 601, and the other end of the elastic member 602 being connected to the transmission disc 201. In this embodiment, the elastic member 602 is a tube spring, which is in a compressed deformed state to drive the compression ring 601 to compress the rollers.

[0058] Referring to Figure 5 It can be understood that the spacing between the compression ring 601 and the transmission disc 201 can be adjusted in real time by the elastic member 602, and the elastic member 602 drives the compression ring 601 to compress the rollers towards the stirring disc 206 under the action of the elastic restoring force, so that the rollers are in real-time contact with the compression ring 601.

[0059] Optionally, a plurality of elastic members 602 are arranged at intervals along the circumference of the compression ring 601.

[0060] Referring to Figure 5 In some embodiments, the adjusting structure 600 further comprises a guide column 603, the compression ring 601 being provided with a guide hole, one end of the guide column 603 being connected to the transmission disc 201, and the other end of the guide column 603 being slidably inserted into the guide hole.

[0061] Optionally, the number of guide columns 603 is matched with the number of tube springs, each tube spring being respectively sleeved on each guide column 603, and the compression ring 601 can be guided to move relative to the transmission disc 201 by the cooperation of the guide column 603 and the guide hole.

[0062] Referring to Figure 5 In some embodiments, the compression ring 601 comprises a compression side plate 6011 arranged opposite to the transmission disc 201, the compression side plate 6011 being provided in a plurality, and each compression side plate 6011 being sequentially connected end to end.

[0063] Optionally, the compression side plate 6011 is an arc-shaped compression side plate 6011, and the plurality of compression side plates 6011 collectively form a circular compression ring 601, and the plurality of compression side plates 6011 can improve the convenience of installation and disassembly of the compression ring 601.

[0064] Referring to Figure 5 Optionally, each compression side plate 6011 is provided with at least two elastic members 602 and two guide columns 603.

[0065] Please refer to Figures 6 to 7 In some embodiments, the rotating structure 200 further comprises a carrier rotating disc 202 located below the material stirring rotating disc 206 and rotatingly arranged, and a material stirring seat 207 for carrying the target objects, the material stirring seat 207 is rotationally connected to the disc edge of the carrier rotating disc 202, and any pushing material section 222 is provided with a corresponding material stirring seat 207; the sorting device 500 further comprises a guide structure 800, the guide structure 800 comprises a guide rail 801 and a connecting rod assembly 802, one end of the connecting rod assembly 802 is rotationally connected to the material stirring seat 207 and is arranged at intervals with the rotation center of the material stirring seat 207, the other end of the connecting rod assembly 802 is slidingly abuts the guide rail 801 and rotates synchronously with the carrier rotating disc 202, the guide rail 801 is provided with a first track 8011 along the rotation path of the connecting rod assembly 802 and a second track 8012 arranged at intervals with the first track 8011; the material stirring seat 207 has a material supporting state and a material stirring state; the connecting rod assembly 802 slides along the first track 8011, and the material stirring seat 207 is in the material supporting state; the connecting rod assembly 802 slides along the second track 8012 and pulls the material stirring seat 207 to overturn a predetermined angle outward relative to the carrier rotating disc 202, so that the material stirring seat 207 is in the material stirring state and the target objects are poured into one of the sorting areas 109.

[0066] Please refer to Figures 6 to 8 It can be understood that the extension shapes of the first track 8011 and the second track 8012 are non-linear and are basically the same as the rotation path of the carrier rotating disc 202. The material stirring seat 207 has a material supporting state and a material stirring state; as Figure 9 As shown by the dotted arrow, when the material stirring seat 207 is in the material supporting state, the connecting rod assembly 802 slides along the first track 8011 and the target objects are supported on the material stirring seat 207; so that the target objects are not poured out of the material stirring seat 207, but released into the corresponding sorting area 109.

[0067] As Figure 10 As shown by the dotted arrow, the connecting rod assembly 802 slides along the second track 8012 and pulls the material stirring seat 207 to overturn a predetermined angle outward relative to the carrier rotating disc 202, the material stirring seat 207 is in the material stirring state and the target objects are poured into the corresponding sorting area 109, achieving the fruit picking of the target objects, and the carrier rotating disc 202 performs a rotating motion, which can save the occupation of space and is conducive to the compactness of the sorting device. It can be understood that the second track 8012 is closer to the rotation center of the carrier rotating disc 202 than the first track 8011, and when the connecting rod assembly 802 slides along the second track 8012, the connecting rod assembly 802 will be bent to pull the material stirring seat 207 to rotate outward.

[0068] In some embodiments, the first track 8011 and the second track 8012 are respectively arranged on the opposite side surfaces of the guide rail 801. The guide rail 801 is arranged on the horizontally arranged guide fixed plate 83, and the first track 8011 and the second track 8012 are both curved surfaces arranged in the vertical direction. Bearings can be arranged at the abutting end of the linkage assembly 802, so as to improve the smoothness of sliding.

[0069] Referring to Figures 8 to 10 In some embodiments, the sorting device 500 further comprises a switching structure 70, which comprises a guide block 71 rotatably arranged on the rotation path of the linkage assembly 802 and a control driver 73 for controlling the rotation of the guide block 71. The control driver 73 controls the guide block 71 to rotate by a predetermined angle, so as to guide the linkage assembly 802 to slide along the first track 8011 or the second track 8012. The guide block 71 is rotatably connected to the guide fixed plate 83 through a rotating shaft and is arranged on the upper plate surface of the guide fixed plate 83. The control driver 73 is arranged on the lower plate surface of the guide fixed plate 83 and can drive the rotating shaft to rotate. The control driver 73 controls the rotation of the guide block 71 according to a control signal. It can be understood that the front visual shooting structure 330 takes a picture of the target object and analyzes the picture information to determine the quality classification level of the target object and sends a control signal to the control driver 73. The control driver 73 determines whether to pick the target object on the turnover seat 207 according to the control signal and drives the guide block 71 to rotate so that the guide block 71 guides the linkage assembly 802 to slide along the first track 8011 or the second track 8012.

[0070] It can be understood that when the turnover seat 207 carrying the fruit 101 moves to a certain sorting area 109, the control mechanism sends a corresponding control signal to the control driver 73 based on the quality information, and the control driver 73 determines whether to pick the fruit 101 on the turnover seat 207 according to the control signal.

[0071] Referring to Figures 8 to 10 In some embodiments, the switching structure 70 further comprises a positioning block 72 arranged on the rotation path of the linkage assembly 802. The positioning block 72 is arranged in a spaced manner with the guide rail 801, and the guide block 71 is located between the guide rail 801 and the positioning block 72. The guide block 71 rotates towards the positioning block 72 to guide the linkage assembly 802 to slide along the second track 8012, or the guide block 71 rotates away from the positioning block 72 to guide the linkage assembly 802 to slide along the first track 8011. When the linkage assembly 802 needs to slide along the second track 8012, the positioning block 72 can make the rotation radius of the linkage assembly 802 shrink in advance, so as to improve the smoothness of picking.

[0072] Referring to Figures 6 to 7In some embodiments, the sorting device 500 further comprises a limiting structure 60, which comprises a limiting rod 61 and a limiting slider 62 connected to the linkage assembly 802, one end of the limiting rod 61 is connected to the material loading turntable 202, the other end of the limiting rod 61 extends outward and is slidingly connected to the limiting slider 62, the limiting slider 62 is further connected to the linkage assembly 802, so as to guide the bending and stretching of the linkage assembly 802 and improve the smoothness of the fruit picking.

[0073] In some embodiments, the linkage assembly 802 comprises a first linkage 81 and a second linkage 82 hingedly connected to the first linkage 81 and connected to the limiting slider 62, the free end of the first linkage 81 is rotatably connected to the material turning seat 207, the free end of the second linkage 82 is capable of slidingly abutting the guide rail 801, and the free end of the second linkage 82 slides along the first track 8011 or the second track 8012.

[0074] Please refer to Figures 6 to 10 In some embodiments, the material turning seat 207 comprises a fixed base 2073 connected to the material loading turntable 202, a material turning side plate 2071, and a rotating block 2074 rotatably connected to the fixed base 2073, the material turning side plate 2071 is provided with two, one end of the two material turning side plates 2071 is butted and forms a material turning groove 2072, the butted portion of the two material turning side plates 2071 is connected to the rotating block 2074, and the linkage assembly 802 is connected to the material turning side plate 2071 away from the rotation center of the material loading turntable 202.

[0075] Optionally, the material turning side plate 2071 is arranged to be inclined relative to the horizontal plane, and the cross-sectional shape of the material turning groove 2072 is V-shaped, so that after the material turning seat 207 is rotated by a certain angle, the target objects can be easily rolled out of the material turning groove 2072.

[0076] A plurality of material turning seats 207 can be arranged along the circumference of the material loading turntable 202, so as to realize continuous sorting operation.

[0077] Please refer to Figures 11 to 13 In some embodiments, the rotating structure 200 further comprises a rotating sleeve 203 and a transmission shaft 204, the material stirring turntable 206 and the material loading turntable 202 are both connected to the rotating sleeve 203, one end of the transmission shaft 204 is rotatably inserted into the rotating sleeve 203 and connected to the transmission turntable 201; the first driver 301 is connected to the other end of the transmission shaft 204, and the second driver 302 is used to drive the rotating sleeve 203 to rotate.

[0078] It can be understood that the disc center of the material stirring disc 206 and the material carrying disc 202 is provided with a positioning hole, and the material stirring disc 206 and the material carrying disc 202 are sleeved on the outer surface of the rotating sleeve 203 through the positioning hole. The transmission disc 201 is rotationally connected to the end face of the rotating sleeve 203, and one end of the transmission shaft 204 is rotationally inserted into the rotating sleeve 203 and connected to the transmission disc 201. In the rotation process, the transmission shaft 204 does not interfere with the inner wall of the rotating sleeve 203.

[0079] Please refer to Figures 11 to 13 In some embodiments, the main body shape of the material carrying disc 202 and the main body shape of the transmission disc 201 are both circular, and the diameter of the material carrying disc 202 is greater than the diameter of the transmission disc 201, so that the transmission disc 201 does not cover the upper part of the material carrying disc 202, which is convenient for the target material to fall onto the material stirring seat 207 of the material carrying disc 202, and is also conducive to the subsequent turning of the target material from the material carrying disc 202 into the sorting area 109. It can be understood that the sorting disc 110 is arranged in each sorting area 109, so as to collect the fruits 101.

[0080] In some embodiments, the driving structure 300 further comprises a first slewing bearing, and the outer ring 12 of the first slewing bearing is connected to the rotating sleeve 203, and the transmission disc 201 and the transmission shaft 204 are connected through the inner ring 11 of the first slewing bearing.

[0081] Optionally, the slewing bearing, also known as the rotary disc bearing, comprises an outer ring, an inner ring, a rolling body and the like, and is a mechanical part capable of bearing large axial, radial and tilting moments, and has good bearing capacity. The first slewing bearing can stably rotationally connect the transmission disc 201 to the upper end of the rotating sleeve 203.

[0082] Please refer to Figures 11 to 13 In some embodiments, the rotating sleeve 203 comprises rotating side plates 2033, a first positioning rod 2031 and a second positioning rod 2032, the rotating side plates 2033 are provided in plurality, the rotating side plates 2033 are sequentially connected in head-to-tail manner around the circumference of the transmission shaft 204, one end of the first positioning rod 2031 is connected to the material stirring disc 206, and the other end of the first positioning rod 2031 is connected to one of the side plates; one end of the second positioning rod 2032 is connected to the material carrying disc 202, and the other end of the second positioning rod 2032 is connected to one of the side plates.

[0083] Please refer to Figures 11 to 13 In the present embodiment, four rotating side plates 2033 are provided, the four rotating side plates 2033 are connected in head-to-tail manner, and a first positioning rod 2031 and a second positioning rod 2032 are arranged on each rotating side plate 2033 in the vertical direction. The lower surface of the material stirring disc 206 is connected to the four first positioning rods 2031, and the lower surface of the material carrying disc 202 is connected to the four second positioning rods 2032.

[0084] In some embodiments, the driving structure 300 further comprises a second slewing bearing, an inner ring 13 of the second slewing bearing is fixedly arranged, an outer ring 14 of the second slewing bearing is connected with the rotating sleeve 203, and the second driver 302 is configured to drive the outer ring 14 of the second slewing bearing to rotate.

[0085] In some embodiments, the sorting device further comprises a rack 120, and the inner ring 13 of the second slewing bearing is fixed to the rack 120.

[0086] Optionally, the slewing bearing, also known as a rotary bearing, comprises an outer ring, an inner ring, rolling elements, etc., and is a mechanical part capable of bearing large axial, radial and tilting moments, and has good load-carrying capacity. Through the second slewing bearing, the rotating sleeve 203 can be stably connected to the rack 120 and smoothly rotated.

[0087] In some embodiments, the outer ring 14 of the second slewing bearing is provided with a driven gear 15, and the output shaft of the second driver 302 is provided with a driving gear 16 engaged with the driven gear 15. Through the cooperation of the driven gear 15 and the driving gear 16, the rotating sleeve 203 can be smoothly rotated.

[0088] Please refer to Figures 11 to 13 , the gear transmission has a compact structure, which is beneficial to the miniaturization of the sorting device 500, and the gear transmission also has the characteristics of reliable motion transmission, constant instantaneous transmission ratio, large applicable load and speed range, high use efficiency and long service life, etc. In some embodiments, the visual shooting structure 330 further comprises a support frame 332 adjacent to the loading table 220 and a box 331 connected with the support frame 332 and located above the feeding groove 221, and the camera mechanism is connected in the box 331. The support frame 332 is connected with the rack 120 and is used to support the box 331, and the bottom of the box 331 is hollowed out, so as to facilitate the camera mechanism to shoot the fruits 101 passing through the box 331.

[0089] The above is only an optional embodiment of the present application and is not used to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. A sorting device for sorting multiple target objects, characterized in that, The sorting equipment includes: A feeding structure is used to sequentially convey multiple target objects; A rotating structure, disposed at the discharge end of the feeding structure and receiving each of the target objects, is used to sequentially convey each of the target objects along a predetermined direction. The conveying path of the rotating structure is provided with an information collection area and a sorting area, with multiple sorting areas arranged in sequence. A visual imaging structure is provided in the information acquisition area and includes a camera mechanism and a control mechanism. The camera mechanism is used to photograph the target object and collect the quality information of the target object. The quality information includes at least size information and color information. The control mechanism controls the rotating structure according to the quality information so that the rotating structure releases each of the target objects into each of the sorting areas. The rotating structure includes a loading platform located in the information acquisition area and having a feeding trough, and pushing members disposed opposite the loading platform. The feeding trough is used to transport each of the target objects. Multiple pushing members are arranged across the feeding trough and at intervals along the extension path of the feeding trough, and a pushing interval for positioning the target object is formed between any two adjacent pushing members. The sorting device also includes a driving structure, which includes a first driver and a second driver. The second driver is used to drive each of the pushing members to move along the extension path of the feeding trough, so that each of the pushing members pushes each of the target objects forward. The first driver is used to drive the pushing members to rotate around their central axis, so that each of the target objects rolls forward within each pushing interval. The rotating structure also includes a rotating feeding turntable, the extension path of the feeding groove is arranged along the circumference of the feeding turntable, one end of each of the pushing members is rotatably connected to the edge of the feeding turntable, and the second driver drives the feeding turntable to rotate. The rotating structure further includes a material-carrying turntable located below the material-feeding turntable and rotatably arranged, and a tilting seat for carrying the target object. The tilting seat is rotatably connected to the edge of the material-carrying turntable, and a tilting seat is correspondingly arranged in any material-feeding area. The sorting equipment also includes a guiding structure, which includes a guide rail and a connecting rod assembly. One end of the connecting rod assembly is rotatably connected to the tilting seat and spaced apart from the rotation center of the tilting seat. The other end of the connecting rod assembly slides against the guide rail and rotates synchronously with the material-carrying turntable. The guide rail has a first track and a second track spaced apart from the first track along the rotation path of the connecting rod assembly. The tilting seat has a material-supporting state and a material-tilting state. When the connecting rod assembly slides along the first track and the tilting seat is in the material-supporting state, the connecting rod assembly slides along the second track and pulls the tilting seat to flip outward relative to the material-carrying turntable by a predetermined angle, so that the tilting seat is in the material-tilting state and the target object is tilted into one of the sorting areas. The sorting equipment also includes a limiting structure, which includes a limiting rod and a limiting slider connected to the linkage assembly. One end of the limiting rod is connected to the material turntable, and the other end of the limiting rod extends outward and is slidably connected to the limiting slider. The limiting slider is also connected to the linkage assembly. The rotating structure also includes a rotating sleeve and a transmission shaft. The feeding turntable and the loading turntable are both connected to the rotating sleeve. One end of the transmission shaft is rotatably inserted into the rotating sleeve and connected to the transmission turntable. The first driver is connected to the other end of the transmission shaft, and the second driver is used to drive the rotating sleeve to rotate.

2. The sorting equipment as described in claim 1, characterized in that: The pusher has a circular cross-sectional shape. The rotating structure also includes a transmission turntable that rotates relative to the feeding turntable. The transmission turntable presses each of the pushers against the feeding turntable. The first driver drives the transmission turntable to rotate, thereby causing each of the pushers to rotate.

3. The sorting equipment as described in claim 1, characterized in that: The sorting device further includes a switching structure, which includes a guide block rotatably disposed on the rotation path of the linkage assembly and a control driver that controls the rotation of the guide block. The control driver controls the guide block to rotate by a predetermined angle to guide the linkage assembly to slide along the first track or the second track.

4. The sorting equipment as described in claim 3, characterized in that: The switching structure further includes a positioning block disposed on the rotation path of the linkage assembly. The positioning block is spaced apart from the guide rail, and the guide block is located between the guide rail and the positioning block. The guide block rotates toward the positioning block to guide the linkage assembly to slide along the second track, or the guide block rotates away from the positioning block to guide the linkage assembly to slide along the first track.

5. The sorting device as described in any one of claims 1-3, characterized in that: The visual imaging structure also includes a support frame adjacent to the material carrier and a box connected to the support frame and located above the feeding trough, with the camera mechanism connected to the box.

Images