Tomato automatic sorting and packaging robot system

Abstract

The present invention relates to the technical field of agricultural machinery, and provides a tomato automatic sorting and packaging robot system, comprising: a feeding module, a sorting module, a positioning module, an empty box conveying module and a packing module; the feeding module comprises a module for conveying tomatoes to the sorting module; the sorting module comprises a first visual judgment component and a sorting execution component, which are used to sort tomatoes to be packed; the positioning module is used to position the sorted qualified tomatoes; the empty box conveying module comprises an empty box conveyor and an empty box positioning component, which are used to automatically convey and position the empty packaging box containing tomatoes at the packing position as required; the packing module comprises a motion component and a grabbing component, which are used to quickly grab the tomatoes in the positioning module and put them into the packaging box at a specific position. The present invention realizes the full-automatic and rapid sorting and packing of tomatoes, and no manual participation is required in the whole process, thereby improving the operation efficiency and reducing the operation cost.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an automatic tomato sorting and packaging robot system. Background Art

[0002] Tomato is one of the most widely planted fruits and vegetables in my country, with an annual output of nearly 70 million tons, accounting for 33% of the global output, and has very high nutritional and economic value. As a fresh fruit and vegetable, tomatoes have a short picking cycle, are not easy to store, and are easy to rot. Therefore, vegetables need to be sorted and packaged in time after picking to be sold all over the country. In this way, the sorting and packaging process requires a large number of workers to be hired in a short period of time. The difficulties in recruiting workers, the low added value of tomatoes, the high cost of manual sorting and packaging, the low efficiency, and the difficulty in ensuring quality are more prominent in the tomato sorting and packaging. In order to alleviate this dilemma, it is necessary to develop automated sorting and packaging equipment; on the other hand, tomatoes are tender and fragile, which also brings challenges to the automated sorting and packaging of tomatoes.

[0003] In the related art, some typical sorting equipment can be used to sort the quality of tomatoes, but the sorted tomatoes still require a lot of manual work to pack, and the existing equipment is usually large commercial sorting equipment, which is not suitable for small tomato processing companies. Therefore, there is an urgent need for a fully automatic integrated small operation system suitable for tomato grading and packaging, which can be applied to more scenarios. Summary of the invention

[0004] The present invention provides a tomato automatic sorting and packaging robot system, which is used for automatically sorting and packaging tender and fragile spherical fruit and vegetable products such as tomatoes, and solves the problems of high cost, low efficiency and easy damage to tomatoes in manual sorting and packaging after harvesting tomatoes.

[0005] The present invention provides a tomato automatic sorting and packaging robot system, comprising: a loading module, a sorting module, a positioning module, an empty box conveying module and a packing module; the loading module comprises a material transmission component, and the material transmission component is used to transmit the tomatoes to be packed in a preset transmission direction; the sorting module is connected to the rear end of the material transmission component, so that the tomatoes to be packed are transported to the sorting module by the material transmission component; the sorting module comprises a first visual recognition component and a sorting execution component, the first visual recognition component is arranged above the sorting execution component, the first visual recognition component is used to visually evaluate the surface of the tomatoes to be packed according to a preset strategy, and the sorting execution component is used to rotate the tomatoes to be packed. The tomatoes are boxed and sorted according to the visual evaluation results; the positioning module is connected to the sorting execution component so that the qualified tomatoes to be boxed are moved from the sorting execution component to the positioning module, and the positioning module is used to position the tomatoes to be boxed; the empty box conveying module includes an empty box conveyor and an empty box positioning component, and the empty box positioning component is arranged at the rear end of the empty box conveyor, and the empty box positioning component is used to position the empty packaging box; the boxing module includes a motion component and a gripping component, and the gripping component is connected to the motion component, and the motion component is used to drive the gripping component to move between the positioning module and the empty box positioning component, and the gripping component is used to grip and place the tomatoes to be boxed.

[0006] According to the tomato automatic sorting and packaging robot system provided by the present invention, the material transmission component includes a belt conveyor and a double-cone roller conveyor, the tail end of the belt conveyor is connected to the head end of the double-cone roller conveyor, and the tail end of the double-cone roller conveyor is connected to the sorting module.

[0007] According to the tomato automatic sorting and packaging robot system provided by the present invention, the belt conveyor is horizontally arranged, and the double-cone roller conveyor is inclined; unpowered ball guards are provided on both sides of the belt conveyor, and the ball guards on both sides form an opening structure with a gradually decreasing spacing at one end close to the double-cone roller conveyor, and the opening structure allows a single tomato to be packaged to pass through.

[0008] According to the tomato automatic sorting and packaging robot system provided by the present invention, the double-cone roller conveyor includes a conveyor body and a plurality of double-cone rollers, and the plurality of double-cone rollers are evenly spaced and arranged on the conveyor body; the double-cone roller includes two conical roller parts located in the middle, and the small-diameter ends of the two conical roller parts are oppositely connected, and disc structures are provided at both ends of the double-cone roller, and the outer diameter of the disc structure is greater than the maximum outer diameter of the conical roller part.

[0009] According to the tomato automatic sorting and packaging robot system provided by the present invention, the sorting execution component includes a bracket, a rotating and rolling mechanism, a first movable baffle, a second movable baffle, an electromagnetic push-pull rod and a lifting drive member; the first movable baffle includes a first baffle and a second baffle arranged opposite to each other, so that a sorting and accommodating space is formed in the first baffle and the second baffle, and a through-shooting sensor is provided on the first baffle and the second baffle, and the through-shooting sensor is used to sense whether there is material in the sorting and accommodating space; a connecting member is provided between the first baffle and the second baffle, one end of the connecting member is hinged to the first baffle, and the other end of the connecting member is hinged to the second baffle, and the first baffle is hinged to the bracket; the output end of the electromagnetic push-pull rod is connected to the second baffle, and the electromagnetic push-pull rod is used to push the first movable baffle to rotate to push out the unqualified tomatoes to be boxed; the lifting drive member is arranged on the bracket, and the second movable baffle is connected to the output end of the lifting drive member and is located on one side of the first movable baffle; the rotating and rolling mechanism is arranged at the lower part of the sorting and accommodating space, and the rotating and rolling mechanism is used to drive the tomatoes to be boxed to rotate.

[0010] According to the tomato automatic sorting and packaging robot system provided by the present invention, the rotating rolling mechanism includes an active roller and a driven roller, and a gap is provided between the active roller and the driven roller, and the connecting member is located outside the gap, and the gap can accommodate the connecting member; a driving member is provided in the active roller, and the active roller is transmission-connected with the driven roller so that the active roller drives the driven roller to rotate.

[0011] According to the tomato automatic sorting and packaging robot system provided by the present invention, the positioning module includes a shell, a rotation drive component and a second visual recognition component; an installation space is formed in the shell, and a round hole for accommodating the tomatoes to be packaged is opened on the top of the shell, and a support seat is provided at the bottom of the installation space, and the rotation drive component and the second visual recognition component are arranged on the support seat, the rotation drive component is used to drive the tomatoes to be packaged to rotate, the recognition end of the second visual recognition component is arranged corresponding to the round hole, and the second visual recognition component is used to adjust the posture of the tomatoes to be packaged according to a preset strategy.

[0012] According to the tomato automatic sorting and packaging robot system provided by the present invention, the rotating drive component includes a positioning belt conveyor, and the belt of the positioning belt conveyor is a ring-shaped transparent belt; the second visual recognition component is connected to the support base and is located between the upper and lower belt surfaces of the positioning belt conveyor.

[0013] According to the tomato automatic sorting and packaging robot system provided by the present invention, a reflection sensor is provided on the empty box conveyor located at the end of the empty box positioning component; the empty box positioning component includes a push plate cylinder, a fixed push plate and a movable push plate, the fixed push plate is provided on one side of the empty box conveyor, the push plate cylinder is provided on the other side of the empty box conveyor, and the movable push plate is connected to the output end of the push plate cylinder to press the empty packaging box by extending the movable push plate.

[0014] According to the tomato automatic sorting and packaging robot system provided by the present invention, the motion component includes a horizontal moving frame, a moving track is provided on the horizontal moving frame, a slider is slidably provided on the moving track, a horizontal driving device is provided on the top of the slider, the horizontal driving device is used to drive the slider to move along the moving track, a telescopic cylinder is provided at the bottom of the slider, and the output end of the telescopic cylinder is connected to the grasping component; the grasping component includes a fixed frame, a suction cup part and a distance adjustment component, the fixed frame is connected to the telescopic cylinder, and the fixed frame is vertically arranged with the horizontal moving frame. The suction cup part is slidably connected to the fixed frame through a sliding connection block; the distance adjustment component includes a distance sensor, a distance adjustment driving part and a distance adjustment screw, the distance adjustment screw is rotatably arranged in the fixed frame, the output end of the distance adjustment driving part is connected to the distance adjustment screw to drive the distance adjustment screw to rotate, the distance adjustment screw is threadedly connected to the sliding connection block to drive the sliding connection block to move through the distance adjustment screw, the distance sensor is arranged on the fixed frame, and the sensing end of the distance sensor is arranged facing the sliding connection block to sense the moving distance of the sliding connection block.

[0015] The automatic tomato sorting and packaging robot system provided by the present invention can automatically separate scattered tomato materials into individual fruits through a feeding module and transport them one by one to a sorting module. The sorting module performs full-surface quality inspection on the tomatoes to determine whether the tomatoes to be packed are qualified products. If they are unqualified products, the tomatoes will be sorted and rejected. If they are qualified products, the tomatoes to be packed will be transported to a positioning module to achieve accurate positioning of the tomatoes to be packed. At the same time, the empty box conveying module automatically transports the empty packaging boxes containing tomatoes to the packing position as required. The packing module finally grabs and packs the qualified tomatoes. The whole process does not require human participation and is highly automated. The application of patented products can effectively reduce the labor cost of enterprises in the tomato sorting and packaging links and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 The figure is a schematic diagram of the overall structure of the tomato automatic sorting and packaging robot system provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the structure of the feeding module provided by the present invention.

[0019] Figure 3 The present invention provides Figure 2 Schematic diagram of the enlarged top view of the structure at point A in the middle.

[0020] Figure 4 The figure is a schematic diagram of the structure of the double-cone roller in the tomato automatic sorting and packaging robot system provided by the present invention.

[0021] Figure 5 It is a specific structural schematic diagram of the sorting module provided by the present invention.

[0022] Figure 6 It is a structural schematic diagram of the first visual identification component provided by the present invention.

[0023] Figure 7 It is a structural schematic diagram of the first movable baffle in the sorting module provided by the present invention.

[0024] Figure 8 It is a state diagram of the sorting module provided by the present invention pushing tomato materials.

[0025] Fig. 9 It is a structural schematic diagram of the positioning module provided by the present invention.

[0026] Fig.10 It is a schematic diagram of the structure of the second visual recognition component in the positioning module provided by the present invention.

[0027] Fig.11 It is a schematic diagram of the structure of the empty box conveying module provided by the present invention.

[0028] Fig.12 It is a schematic diagram of the structure of the packing module provided by the present invention.

[0029] Fig.13 The present invention provides Fig.12 Schematic diagram of the specific structure enlarged at point B in the middle.

[0030] Fig.14It is a structural schematic diagram of the sliding connection block in the packing module provided by the present invention.

[0031] Reference numerals:

[0032] 1. Feeding module; 11. Belt conveyor; 111. Ball guard plate; 12. Double-taper roller conveyor; 121. Double-taper roller; 1211. Embossing; 1212. Mounting hole; 1213. Tapered roller part; 122. Conveyor chain; 1221. Axle pin;

[0033] 2. Sorting module; 21. First movable baffle; 211. First baffle; 212. Second baffle; 213. Connector; 214. Protruding shaft; 215. Opposite-beam sensor; 22. Electromagnetic push-pull rod; 23. Bracket; 24. Rotating rolling mechanism; 241. Active roller; 242. Driven roller; 243. Circular transmission belt; 25. First visual recognition component; 251. First LED light source; 252. First camera; 26. Second movable baffle; 261. Arc baffle; 262. Lifting drive member; 27. First hinged part; 28. Second hinged part;

[0034] 3. Positioning module; 31. Housing; 32. Positioning belt conveyor; 33. Second visual recognition component; 331. Support plate; 332. Second LED light source; 333. Second camera; 34. Support base;

[0035] 4. Empty box conveying module; 41. Empty box conveyor; 42. Empty box positioning assembly; 421. Push plate cylinder; 422. Movable push plate; 43. Reflection sensor;

[0036] 5. Packing module; 51. Horizontal moving frame; 511. Gear; 512. Horizontal driving device; 513. Rack; 514. Sliding block; 515. Moving track; 516. L-shaped connecting part; 52. Telescopic cylinder; 53. Grasping assembly; 531. Pitch-adjusting driving part; 532. Fixed frame; 533. Pitch-adjusting screw; 534. Guide rod; 535. Distance sensor; 536. Sliding connecting block; 5361. Through hole; 5362. Threaded hole; 537. Suction cup; 538. Bearing;

[0037] 100, tomatoes to be packed; 200, empty packaging boxes; 300, full boxes of tomatoes; 400, full box conveyor; 500, conveyor for rejected products. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of explaining the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0040] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0041] In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0043] In this specification, each device for driving the movement of tomatoes and packaging boxes has a predetermined movement direction, with the starting position of the movement as the head end and the ending position of the movement as the tail end. Taking the material transmission component as an example, it can be a belt conveyor, with the starting position of the belt conveyor as the head end and the ending position of the belt conveyor as the tail end.

[0044] Combine the following Figure 1-Figure 10The present invention describes a tomato automatic sorting and packaging robot system, which includes a loading module 1, a sorting module 2, a positioning module 3, an empty box conveying module 4 and a packing module 5; the loading module 1 includes a material transmission component, which is used to transmit the tomatoes 100 to be packed along a preset transmission direction; the sorting module 2 is connected to the rear end of the material transmission component, so that the tomatoes 100 to be packed are transported by the material transmission component to the sorting module 2; the sorting module 2 includes a first visual recognition component 25 and a sorting execution component, the first visual recognition component 25 is arranged above the sorting execution component, the first visual recognition component 25 is used to visually evaluate the surface of the tomatoes to be packed according to a preset strategy, and the sorting execution component is used to rotate the tomatoes 100 to be packed 00 and performs sorting operations according to the results of visual evaluation; the positioning module 3 is connected to the sorting execution component so that the qualified tomatoes 100 to be boxed are moved from the sorting execution component to the positioning module 3, and the positioning module 3 is used to position the tomatoes 100 to be boxed; the empty box conveying module 4 includes an empty box conveyor 41 and an empty box positioning component 42, the empty box positioning component 42 is arranged at the rear end of the empty box conveyor 41, and the empty box positioning component 42 is used to position the empty packaging box 200; the box packing module 5 includes a motion component and a gripping component 53, the gripping component 53 is connected to the motion component, the motion component is used to drive the gripping component 53 to move between the positioning module 3 and the empty box positioning component 42, and the gripping component 53 is used to grip and place the tomatoes 100 to be boxed. In the process of automated packing, it is necessary to realize automatic sorting and automatic packing of tomatoes. In this embodiment, through the cooperation of the loading module 1, the sorting module 2, the positioning module 3, the empty box conveying module 4 and the packing module 5, automatic loading, automatic sorting and automatic packing of tomatoes can be realized. The whole process can be fully automated, which improves the degree of automation, reduces the labor intensity of manual labor, and improves the quality consistency of the final packaged products.

[0045] Specifically, scattered individual tomatoes can be transported through the material transmission component. When they are transported to the target position, they need to be sorted to select qualified tomatoes and remove problematic tomatoes to achieve high-quality packaging. The sorting module 2 can analyze the tomatoes through the visual judgment component, and can rotate the tomatoes through the sorting execution component, so that the visual judgment component can analyze each side, which improves the accuracy of sorting and can accurately judge whether they are qualified or unqualified. Unqualified tomatoes are removed by the sorting execution component, and qualified tomatoes enter the positioning module 3 to achieve the positioning of tomatoes. While the tomatoes are sorted and loaded, the empty packaging box 200 is transported to the position of the empty box positioning component 42 through the empty box conveyor 41. The empty box positioning component 42 can automatically realize the positioning of the empty packaging box 200. At this time, the tomatoes and the empty packaging box 200 are in a stable position. The motion component and the grabbing component 53 in the packaging module 5 are started to move the tomatoes in the positioning module 3 to the fruit nest of the empty packaging box 200, thereby achieving packaging. The entire process is fully automated, which reduces manual labor intensity and improves the quality consistency of the final packaged product.

[0046] Among them, for the specific judgment of the visual judgment component, it can judge whether the tomatoes are qualified or unqualified according to the sorting judgment model in the relevant technology. That is, it includes a data processor, and the data processor is configured with a sorting judgment model. The sorting judgment model can realize the judgment of qualified and unqualified tomatoes, thereby realizing automatic sorting operations. And by cooperating with the sorting execution component, it can realize accurate sorting of each side of the tomato.

[0047] It is understandable that when the tomatoes and the empty packaging boxes 200 are transported, some conventional conveyors in the art can be used for transportation, so that the materials can be transported to the predetermined position. In this embodiment, after the tomatoes arrive at the designated position, the positioning of the tomatoes 100 to be boxed is achieved through sorting and positioning. At the same time, the empty packaging boxes 200 can also be positioned by the empty box conveyor 41 and the empty box positioning component 42. After the empty packaging boxes 200 and the tomatoes are positioned, the boxing module 5 can be used to box. The entire system is implemented by the cooperation of multiple modules. Compared with large-scale sorting and boxing systems, this embodiment occupies less space and can be applied to relatively small spaces.

[0048] According to the embodiment provided by the present invention, Figure 3 , Figure 4As shown, the material transmission assembly includes a belt conveyor 11 and a double-cone roller conveyor 12. The tail end of the belt conveyor 11 is connected to the head end of the double-cone roller conveyor 12, and the tail end of the double-cone roller conveyor 12 is connected to the sorting module 2. Before entering the sorting module 2, tomatoes need to be transported separately and orderly to facilitate the subsequent orderly sorting operation. In this embodiment, the double-cone roller conveyor 12 can be set to allow tomatoes to be transported separately and orderly, which is convenient for sorting operations.

[0049] Specifically, the belt conveyor 11 and the double-cone roller conveyor 12 also include a driving system, which can drive the belt conveyor 11 and the double-cone roller conveyor 12 to work, and the double-cone roller 121 can drive the tomatoes to move between the two rollers to achieve orderly transportation of the tomatoes.

[0050] It is understandable that the Pitti conveyor has good pressure bearing and stable transmission characteristics. Setting it upstream of the double-cone roller conveyor 12 can achieve efficient loading of tomatoes. The double-cone roller conveyor 12 can achieve orderly transportation of individual tomatoes, making the transportation of tomatoes more orderly and facilitating subsequent sorting.

[0051] In a specific implementation manner, Figure 1 , Figure 2 As shown, the belt conveyor 11 is horizontally arranged, and the double-cone roller conveyor 12 is inclined; both sides of the belt conveyor 11 are provided with unpowered ball guards 111, and the ball guards 111 on both sides form an opening structure with gradually decreasing spacing at one end close to the double-cone roller conveyor 12, and the opening structure allows a single tomato 100 to be boxed to pass through. When the tomatoes are transported, it is necessary to ensure the effective transportation of the tomatoes and avoid accumulation as much as possible. In this embodiment, ball guards 111 are provided on both sides of the belt conveyor 11. The ball guards 111 can assist in transportation to avoid material accumulation, and the double-cone roller conveyor 12 is inclined to reduce the overall plane occupancy and improve its transmission stability.

[0052] Specifically, a ball structure is provided on the opposite side of the ball guard plate 111, and the ball structure can rotate when the tomatoes are in contact, thereby avoiding the accumulation of tomatoes and realizing effective and timely transportation of tomatoes. The setting of its opening structure can avoid blockage when entering the double-cone roller conveyor 12, realizing orderly transportation of tomatoes.

[0053] When doing specific work, such as Figure 1 , Figure 2As shown, the tomatoes 100 to be boxed are transported from the belt conveyor 11 of the loading module 1 to the double-cone roller conveyor 12. The unpowered ball guards 111 on both sides of the belt conveyor 11 can prevent the material from falling while reducing the friction damage between the material and the side plates, thereby achieving auxiliary transportation. Since the unpowered ball guard 111 at the front end of the belt conveyor 11 can only pass a single tomato, the tomatoes transported to the double-cone roller conveyor 12 are arranged in a single row, and only one tomato can be placed between adjacent double-cone rollers 121 (Note: In practice, not all double-cone rollers 121 have tomatoes, but this does not affect the boxing of this system).

[0054] In some specific embodiments, the double-cone roller conveyor 12 includes a conveyor body and a plurality of double-cone rollers 121, and the plurality of double-cone rollers 121 are evenly spaced on the conveyor body; the double-cone roller 121 includes two tapered roller parts 1213 located in the middle, and the small-diameter ends of the two tapered roller parts 1213 are oppositely connected, and a disc structure is provided at both ends of the double-cone roller 121, and the outer diameter of the disc structure is greater than the maximum outer diameter of the tapered roller part 1213. Tomatoes are spherical structures, and their stability needs to be maintained during the transmission process. In this embodiment, the stability of tomato transmission is improved by setting the double-cone roller 121.

[0055] Specifically, the conical roller portion 1213 is a truncated cone structure, and its respective small diameter ends are connected, so that a placement space is formed in the middle of adjacent conical rollers. The placement space is generally conical in structure, which can keep the tomatoes in a stable position, effectively reduce the shaking of the tomatoes, and make the transportation of tomatoes more stable.

[0056] Furthermore, a mounting hole 1212 is opened in the axial direction of the disc structure. During installation, the double-cone roller 121 is installed on the conveying chain 122 through the cooperation of the shaft pin 1221 and the mounting hole 1212. The setting of the disc can further improve the stability of tomato transportation.

[0057] In some embodiments, an embossing 1211 is provided on the outer circumference of the disc structure, and a friction plate is installed under the double-cone roller 121. When the double-cone roller conveyor 12 conveys tomatoes, the double-cone roller 121 contacts and rubs against the embossing 1211 on the friction plate, thereby driving the double-cone roller 121 to rotate, and then rotates with the tomatoes, which helps to manually assist in the fine sorting of tomatoes.

[0058] According to some embodiments provided by the present invention, the sorting execution component includes a bracket 23, a rotating rolling mechanism 24, a first movable baffle 21, a second movable baffle 26, an electromagnetic rod and a lifting drive member 262; the first movable baffle 21 includes a first baffle 211 and a second baffle 212 arranged opposite to each other, so that a sorting accommodation space is formed in the first baffle 211 and the second baffle 212, and a beam sensor 215 is provided on the first baffle 211 and the second baffle 212, and the beam sensor 215 is used to sense whether there is material in the sorting accommodation space; a connecting member 213 is provided between the first baffle 211 and the second baffle 212, and the connecting member 2 One end of the connecting member 213 is hinged to the first baffle 211, the other end of the connecting member 213 is hinged to the second baffle 212, the first baffle 211 is hinged to the bracket 23, the output end of the electromagnetic push-pull rod 22 is connected to the second baffle 212, and the electromagnetic push-pull rod 22 is used to push the first movable baffle 21 to rotate so as to push out the unqualified tomatoes 100 to be packed; the lifting drive member 262 is arranged on the bracket 23, the second movable baffle 26 is connected to the output end of the lifting drive member 262, and is located on one side of the first movable baffle 21; the rotating rolling mechanism 24 is arranged at the lower part of the sorting accommodation space, and the rotating rolling mechanism 24 is used to drive the tomatoes 100 to be packed to rotate. When sorting tomatoes, it is necessary to judge the quality of tomatoes to remove unqualified tomatoes and retain qualified tomatoes. In this embodiment, the first visual recognition component 25 is used to judge the quality of tomatoes, and the cooperation of the magnet, the first movable baffle 21 and the second movable baffle 26 is used to remove or retain tomatoes. The overall structure is simple and the sorting efficiency is high.

[0059] Specifically, the bracket 23 can be connected to the body at the rear end of the double-cone roller conveyor 12, and of course, it can also be set in an independent support connection mode. The first baffle 211 is an "L"-shaped structure as a whole, and the second baffle 212 is arranged on the opposite side of the first baffle 211 through the connecting member 213, so that a sorting and accommodating space for placing tomatoes to be tested is formed between the first baffle 211 and the second baffle 212, and the connecting member 213 is a block structure, one end of the connecting member 213 is provided with a first hinge part 27, and the other end of the connecting member 213 is provided with a second hinge part 28. The first baffle 211 is hinged to the connecting member 213 through the first hinge part 27, and the second baffle 212 is hinged to the connecting member 213 through the second hinge part 28, so that the first baffle 211 and the second baffle 212 can both rotate relative to the connecting member 213 at a predetermined angle. For example, the first hinge portion 27 and the second hinge portion 28 are angle positioning hinges, which enables the first baffle plate 211 and the second baffle plate 212 to stop rotating after rotating relative to each other at a certain angle, thereby pushing out unqualified tomatoes.

[0060] Furthermore, the second movable baffle 26 is an arc-shaped baffle 261 , a curved surface of which is located in the sorting and accommodating space, and a bottom of the arc-shaped baffle 261 is connected to the lifting drive member 262 .

[0061] The main body of the electromagnetic push-pull rod 22 is fixedly connected, and the push rod of the electromagnetic push-pull rod 22 is connected to the second baffle 212. When the electromagnet is energized, the push rod can push the second baffle 212, and make the entire first movable baffle 21 rotate, so that the sorting and accommodating space is opened, and unqualified tomatoes are pushed out. After being pushed out, the push rod of the battery push-pull rod is restored to the initial state by power failure, so that the first baffle 211 and the second baffle 212 re-form the sorting and accommodating space, and this is repeated to achieve the removal of unqualified tomatoes.

[0062] Furthermore, in order to better position the tomatoes, the side walls of the first baffle 211, the second baffle 212 and the second movable baffle 26 facing the accommodating space are concave arc surfaces, so that the tomatoes 100 to be packed can be placed more stably and avoid falling when the tomatoes are rotated.

[0063] During the specific operation, tomatoes are slowly transported by the double-cone roller conveyor 12 to the rotating rolling mechanism 24 of the sorting module 2. At this time, the state of the sorting module 2 is Figure 5 and Figure 8 (left) (specially, at this time, the second movable baffle 26 is in the raised state under the action of the lifting drive member 262), when the tomatoes are transported to the rotating rolling mechanism 24 of the sorting module 2, the shooting sensor 215 will immediately detect that there are tomatoes in the sorting space, and send a signal to the rotating rolling mechanism 24 and the first visual recognition component 25. The rotating rolling mechanism 24 drives the tomatoes to rotate, and the first visual recognition component 25 can evaluate the surface image of the tomatoes. If the tomatoes are evaluated as unqualified, the electromagnetic push-pull rod 22 will be powered on, and the push rod will push the second baffle 212 forward and make the entire first movable baffle 21 rotate, as shown in FIG. Figure 8 As shown in (right), the material is pushed onto the reject conveyor 500 and output through the reject conveyor.

[0064] In particular, Figure 7 and Figure 8 As shown, a convex shaft 214 is respectively provided on both sides of one end of the bottom of the first baffle 211, and the convex shaft 214 is installed on the bracket 23, and the first baffle 211 can rotate around the convex shaft 214. Therefore, when the electromagnetic push-pull rod 22 pushes the second baffle 212 forward to remove unqualified tomatoes, the connecting member 213 will synchronously pull the first baffle 211 to rotate around the convex shaft 214, so as to remove unqualified tomatoes. After the tomatoes are removed, the electromagnetic push-pull rod 22 is powered off, and the first baffle 211 will return to its original state through the spring disposed on the outer surface of the push rod, that is, Figure 8At this time, the through-beam sensor 215 detects that there is no tomato on the rotating and rolling mechanism 24, and the rotating and rolling mechanism 24 stops rotating, and then the next tomato is transported to the sorting and accommodating space.

[0065] Furthermore, if the tomatoes on the rotating rolling mechanism 24 are evaluated as qualified products, the second movable baffle 26 will be pulled downward by the lifting drive member 262, so that the tomatoes on the rotating rolling mechanism 24 will be transported to the positioning module 3 (at this time, the through-beam sensor 215 detects that there are no tomatoes on the rotating rolling mechanism 24, the rotating rolling mechanism 24 stops rotating, and then the next tomato is transported to the sorting and accommodating space).

[0066] According to some embodiments provided by the present invention, the rotating rolling mechanism 24 includes an active roller 241 and a driven roller 242, a gap is provided between the active roller 241 and the driven roller 242, the connecting member 213 is located outside the gap, and the gap can accommodate the connecting member 213; a driving component is provided inside the active roller 241, and the active roller 241 is transmission-connected with the driven roller 242 so that the active roller 241 drives the driven roller 242 to rotate. When the quality is judged by the first visual recognition component 25, the tomato needs to be driven to rotate, so as to enable comprehensive detection and judgment. In this embodiment, by setting two rollers, the tomato is driven to rotate by the roller, thereby achieving comprehensive detection.

[0067] Specifically, the active roller 241 and the driven roller 242 are connected by a circular transmission belt 243, and the circular transmission belt 243 is located at an end away from the connecting member 213, so that the active roller 241 and the driven roller 242 have gaps at their ends close to the connecting member 213, so that the connecting member 213 can extend into the gap when pushing the tomato, thereby pushing the tomato out.

[0068] Among them, Figure 6 As shown, the first visual recognition component 25 includes a first camera 252, which is arranged on a fixed seat, and a first LED light source 251 is arranged on the fixed seat. The first LED light source 251 can provide fill light for the first camera 252 to improve the recognition effect. When performing recognition, the active roller 241 rotates to drive the driven roller 242 to rotate, and then drives the tomato on the rotating rolling mechanism 24 to rotate. While the tomato rotates, the first camera 252 takes multiple images of the tomato surface to perform a full surface evaluation of the tomato quality.

[0069] According to some embodiments provided by the present invention, the positioning module 3 includes a housing 31, a rotation drive component and a second visual recognition component 33; an installation space is formed in the housing 31, and a round hole for accommodating the tomato 100 to be boxed is opened at the top of the housing 31, and a support seat 34 is provided at the bottom of the installation space, and the rotation drive component and the second visual recognition component 33 are arranged on the support seat 34, the rotation drive component is used to drive the tomato 100 to be boxed to rotate, and the recognition end of the second visual recognition component 33 is arranged for the round hole, and the second visual recognition component 33 is used to adjust the posture of the tomato 100 to be boxed according to a preset strategy. Before the tomatoes are boxed, it is necessary to ensure that the posture of the tomatoes is in a predetermined posture, and it is necessary to ensure that the tomatoes are stably positioned for easy grasping. In this embodiment, the round hole can achieve stable positioning of the tomatoes, and the second visual recognition component 33 can make the tomatoes maintain a preset posture before boxing.

[0070] Specifically, the aperture of the circular hole is larger than the diameter of the tomato, which enables the bottom of the tomato to contact the rotating drive component. The rotating drive component can drive the tomato to rotate, thereby adjusting the posture of the tomato. After the tomato posture adjustment is completed, it is grabbed and packed through the grabbing mechanism.

[0071] It can be understood that, through the setting of the shell, the rotation drive component and the second visual identification component 33 are both installed in the internal space, which reduces the overall space occupancy, can be applied to small scenes, and improves the flexibility of installation.

[0072] In the specific setting, a rubber pad or other flexible material can be provided on the edge of a circle of the circular hole to prevent the tomato from being injured during the rotation process.

[0073] In some embodiments, the rotation drive assembly includes a positioning belt conveyor 32, the belt of the positioning belt conveyor 32 is an endless transparent belt; the second visual identification assembly 33 is connected to the support base 34 and is located between the upper and lower belt surfaces of the positioning belt conveyor 32. By setting the positioning belt conveyor 32, it can drive the tomatoes to rotate without causing damage to the tomatoes.

[0074] Specifically, the ring-shaped transparent belt forms the conveyor belt of the positioning belt conveyor 32, so that the second visual identification component 33 can be arranged under the conveyor belt without affecting the operation of the second visual identification component 33, making the overall structure more compact and reducing the overall space occupancy.

[0075] The second visual recognition component 33 includes a second camera 333, which is connected to the housing 31 via a support plate 331, and a second LED light source 332 is provided on the support plate 331. The second LED light source 332 can provide supplementary light for the second camera 333, thereby improving the recognition effect, and a long hole for the belt to pass through is provided on the support plate 331, so that the belt can pass through. In this way, the entire positioning module 3 is more compact and occupies less space.

[0076] like Fig. 9 and Fig.10 As shown, the qualified tomatoes are transported to the positioning module 3 after being sorted, and the tomatoes are located on the positioning belt conveyor 32 and in the round hole of the housing 31. The second camera 333 detects the presence of materials and analyzes whether the current position of the tomatoes is the predetermined packing position. In this embodiment, the tomato stalk is set to face downward as the predetermined position. If the detection result is no (indicating that the tomato stalk is not facing downward at this time), the positioning belt conveyor 32 starts to start, and the tomatoes rotate until the second camera 333 detects that the tomato stalk is facing downward (i.e., the stalk is facing the camera), and the positioning belt conveyor 32 stops rotating. The tomatoes on the positioning belt conveyor 32 are in the predetermined position at this time, ensuring the quality of subsequent grabbing and packing.

[0077] According to some embodiments provided by the present invention, a reflection sensor 43 is provided on the empty box conveyor 41 at the end of the empty box positioning assembly 42; the empty box positioning assembly 42 includes a push plate cylinder 421, a fixed push plate and a movable push plate 422, the fixed push plate is provided on one side of the empty box conveyor 41, the push plate cylinder 421 is provided on the other side of the empty box conveyor 41, and the movable push plate 422 is connected to the output end of the push plate cylinder 421, so as to press the empty packaging box 200 by extending the movable push plate 422. While the tomatoes are being loaded, the empty packaging box 200 also needs to be transported to the designated position, so that the tomatoes can be accurately transported and packed. In this embodiment, the empty box positioning assembly 42 can realize the position positioning of the empty packaging box 200, which is conducive to the subsequent grasping device to accurately place the tomatoes.

[0078] Specifically, the empty box conveyor 41 is a belt conveyor, and the reflective sensor 43 is arranged near the end of the empty box conveyor 41. During the conveying process, when the reflective sensor detects an empty packaging box 200, it means that an empty packaging box 200 has arrived at the position of the empty box positioning component 42. At this time, the empty box positioning component 42 is started to press the empty packaging box 200 to achieve the positioning of the empty packaging box 200. After the empty packaging box 200 is positioned, it is convenient for the packing module 5 to place qualified tomatoes.

[0079] like Figure 1 , Fig.11As shown, during the process of feeding, conveying, quality evaluation, and positioning of tomatoes, the empty box conveyor 41 will also synchronously convey the empty packaging boxes 200 forward. When the reflective sensor 43 located on one side of the empty box conveyor 41 detects the first empty packaging box 200, the empty box conveyor 41 stops conveying. At this time, the empty box positioning components 42 on both sides of the empty box conveyor 41 are activated, and the push plate cylinder 421 pushes the movable push plate 422 forward, thereby clamping the empty packaging box 200 between the fixed push plate and the movable push plate 422. When the positioned empty packaging box 200 is full, the push plate cylinder 421 pulls the movable push plate 422 backward, the empty box conveyor 41 starts and conveys the full box of tomatoes 300 to the full box conveyor 400. The next empty packaging box 200 is detected by the reflective sensor 43, and the empty box conveyor 41 stops conveying, thereby repeating the empty packaging box 200 and full box conveying operations.

[0080] According to some embodiments provided by the present invention, the motion component includes a horizontal moving frame 51, a moving track 515 is provided on the horizontal moving frame 51, a slider 514 is slidably provided on the moving track 515, a horizontal driving device 512 is provided on the top of the slider 514, the horizontal driving device 512 is used to drive the slider 514 to move along the moving track 515, a telescopic cylinder 52 is provided at the bottom of the slider 514, and the output end of the telescopic cylinder 52 is connected to the grasping component 53; the grasping component 53 includes a fixed frame 532, a suction cup part 537 and a distance adjustment component, the fixed frame 532 is connected to the telescopic cylinder 52, and the fixed frame 532 is vertically arranged with the horizontal moving frame 51, and the suction cup The distance adjusting assembly includes a distance sensor 535, a distance adjusting driving unit 531 and a distance adjusting screw 533. The distance adjusting screw 533 is rotatably arranged in the fixed frame 532. The output end of the distance adjusting driving unit 531 is connected to the distance adjusting screw 533 to drive the distance adjusting screw 533 to rotate. The distance adjusting screw 533 is threadedly connected to the sliding connection block 536 to drive the sliding connection block 536 to move through the distance adjusting screw 533. The distance sensor 535 is arranged on the fixed frame 532. The sensing end of the distance sensor 535 is arranged facing the sliding connection block 536 to sense the moving distance of the sliding connection block 536. When the tomato is grasped and moved, it needs to be moved from the position of the positioning module 3 to the empty packaging box 200. In this embodiment, the horizontal moving frame 51 can realize the movement from the position of the positioning module 3 to the empty packaging box 200, and the distance adjusting assembly can realize the placement of tomatoes in the fruit cavity of each empty packaging box 200.

[0081] Specifically, the horizontal moving frame 51 is located above the positioning module 3 and the empty box conveying module 4, and the horizontal moving frame 51 spans between the two, so that the grab assembly 53 can move back and forth between the two positions under the drive of the horizontal driving device 512. The fixed frame 532 and the horizontal moving frame 51 are vertically arranged in space, so that the suction cup part 537 slidably connected to the fixed frame 532 can move along the front and rear direction of the horizontal moving frame 51 (i.e., the conveying direction of the empty packaging box 200), thereby achieving accurate placement of tomatoes.

[0082] In the specific configuration, the horizontal driving part includes a servo motor, the output end of the servo motor is connected to a gear 511, and a rack 513 is provided on the top of the horizontal moving frame 51. The gear 511 is meshed with the rack 513, and the servo motor can drive the gear 511 to rotate, drive the slider 514 to move, and then realize the movement of the suction cup part 537. The telescopic rod of the telescopic cylinder 52 is connected to the grabbing assembly 53, and the telescopic cylinder 52 can realize the movement of the grabbing assembly 53 in the vertical direction, so as to realize the grabbing operation.

[0083] like Figure 1 , Fig.12 , Fig.13 and Fig.14 As shown, when the tomatoes on the positioning belt conveyor 32 are positioned, the servo motor rotates to drive the gear 511 to rotate. Since the gear 511 is meshed with the rack 513, one end of the bar slider 514 is connected to the servo motor, and the other end is connected to the telescopic cylinder 52 through the L-shaped connecting part 516. The output end of the telescopic cylinder 52 is connected to the grabbing assembly 53. Therefore, the rotation of the servo motor will drive the grabbing assembly 53 to quickly move along the rack 513 on the horizontal moving frame 51 to the initial position, that is, the suction cup part 537 is just located above the tomatoes on the positioning belt conveyor 32. The telescopic cylinder 52 pushes the grabbing assembly 53 downward, and the suction cup part 537 on the grabbing assembly 53 sucks up the tomatoes, and then the telescopic cylinder 52 retracts backward, and the grabbing assembly 53 moves upward to the set position, and the rotation of the servo motor drives the grabbing assembly 53 to quickly move along the rack 513 on the horizontal moving frame 51 to the packing position for packing.

[0084] Specifically, the distance adjustment driving part 531 is a stepping motor, and has a sliding groove in the fixed frame 532. A guide rod 534 is fixed in the sliding groove. The suction cup part 537 is slidably connected to the guide rod 534 through a sliding connecting block 536, so that the suction cup part 537 can slide back and forth along the guide rod 534 under the drive of the stepping motor.

[0085] In particular, if Fig.12 , Fig.13 , Fig.14As shown, a through hole 5361 is provided on each side of the upper end of the sliding connection block 536, and a threaded hole 5362 is provided in the middle. A bearing 538 is installed in the middle of the two side walls of the sliding groove of the fixed frame 532, and a distance sensor 535 is installed on one side wall. The guide rod 534 and the pitch-adjusting screw 533 are both installed in the sliding groove, and pass through the through holes 5361 on both sides of the upper end of the sliding connection block 536 and the middle threaded hole 5362, respectively. Both ends of the pitch-adjusting screw 533 are installed on the bearing 538, and one end of the pitch-adjusting screw 533 is connected to the output shaft of the stepping motor through a coupling. Based on this design, the rotation of the stepper motor can make the sliding connection block 536 move along the screw rod, and then move the grabbed tomatoes in the front and rear direction (i.e., the conveying direction of the empty packaging box 200). The distance sensor 535 will detect the moving distance in real time. When the tomatoes are moved to the appropriate position, the stepper motor stops rotating, the telescopic cylinder 52 pushes the grabbing assembly 53 downward and gently places the tomatoes sucked by the suction cup 537 into the appropriate fruit socket in the empty packaging box 200. The telescopic cylinder 52 retracts backward, and the grabbing assembly 53 moves upward to the set position. Then, the stepper motor starts and resets the sliding connection block 536 to the initial position.

[0086] It should be noted that when the system is started, all tasks such as tomato transportation, quality inspection, removal of defective products, positioning of qualified products, empty box transportation, and packing of qualified products are carried out in a coordinated and orderly manner, thus achieving fully automatic integrated operation of tomato sorting, packing and packaging.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tomato automatic sorting and packaging robot system, characterized in that: include: A loading module, the loading module comprising a material transmission component, the material transmission component is used to transmit the tomatoes to be boxed along a preset transmission direction; A sorting module, wherein the sorting module is connected to the rear end of the material transmission component so that the tomatoes to be boxed are transported by the material transmission component to the sorting module; the sorting module comprises a first visual recognition component and a sorting execution component, wherein the first visual recognition component is arranged above the sorting execution component, and the first visual recognition component is used to visually evaluate the surface of the tomatoes to be boxed according to a preset strategy, and the sorting execution component is used to rotate the tomatoes to be boxed and perform sorting operations according to the visual evaluation results; A positioning module, the positioning module is connected to the sorting execution component, so that the qualified tomatoes to be boxed are moved from the sorting execution component to the positioning module, and the positioning module is used to position the tomatoes to be boxed; An empty box conveying module, the empty box conveying module comprises an empty box conveyor and an empty box positioning assembly, the empty box positioning assembly is arranged at the rear end of the empty box conveyor, and the empty box positioning assembly is used to position an empty packaging box; A packing module, the packing module comprising a moving component and a grabbing component, the grabbing component is connected to the moving component, the moving component is used to drive the grabbing component to move between the positioning module and the empty box positioning component, and the grabbing component is used to grab and place the tomatoes to be packed; The sorting execution assembly includes a bracket, a rotating rolling mechanism, a first movable baffle, a second movable baffle, an electromagnet push-pull rod and a lifting drive member; the first movable baffle includes a first baffle and a second baffle arranged opposite to each other, so as to form a sorting accommodation space in the first baffle and the second baffle, and a corresponding shooting sensor is provided on the first baffle and the second baffle, and the corresponding shooting sensor is used to sense whether there is material in the sorting accommodation space; a connecting member is provided between the first baffle and the second baffle, one end of the connecting member is hinged to the first baffle, and the other end of the connecting member is hinged to the second baffle, and the first baffle is hinged to the bracket; the output end of the electromagnet push-pull rod is connected to the second baffle, and the electromagnet push-pull rod is used to push the first movable baffle to rotate so as to push out the unqualified tomatoes to be boxed; the lifting drive member is arranged on the bracket, and the second movable baffle is connected to the output end of the lifting drive member and is located on one side of the first movable baffle; the rotating rolling mechanism is arranged at the lower part of the sorting accommodation space, and the rotating rolling mechanism is used to drive the tomatoes to be boxed to rotate; The positioning module includes a shell, a rotation drive component and a second visual recognition component; an installation space is formed in the shell, and a round hole for accommodating the tomatoes to be packaged is opened on the top of the shell, and a support seat is provided at the bottom of the installation space, and the rotation drive component and the second visual recognition component are arranged on the support seat, the rotation drive component is used to drive the tomatoes to be packaged to rotate, the recognition end of the second visual recognition component is arranged corresponding to the round hole, and the second visual recognition component is used to adjust the posture of the tomatoes to be packaged according to a preset strategy.

2. The tomato automatic sorting and packaging robot system according to claim 1 is characterized in that: The material transmission component comprises a belt conveyor and a double-cone roller conveyor, the tail end of the belt conveyor is connected to the head end of the double-cone roller conveyor, and the tail end of the double-cone roller conveyor is connected to the sorting module.

3. The tomato automatic sorting and packaging robot system according to claim 2 is characterized in that: The belt conveyor is horizontally arranged, and the double-cone roller conveyor is inclinedly arranged; Both sides of the belt conveyor are provided with unpowered ball guards, and the ball guards on both sides form an opening structure with gradually decreasing spacing at one end close to the double-cone roller conveyor, and the opening structure allows a single tomato to be boxed to pass through.

4. The tomato automatic sorting and packaging robot system according to claim 3 is characterized in that: The double-cone roller conveyor comprises a conveyor body and a plurality of double-cone rollers, wherein the plurality of double-cone rollers are evenly spaced and arranged on the conveyor body; The double-tapered roller comprises two tapered roller parts located in the middle, the small diameter ends of the two tapered roller parts are oppositely connected, and disc structures are provided at both ends of the double-tapered roller, and the outer diameter of the disc structure is greater than the maximum outer diameter of the tapered roller part.

5. The tomato automatic sorting and packaging robot system according to claim 1, characterized in that: The rotating rolling mechanism includes an active roller and a driven roller, a gap is provided between the active roller and the driven roller, the connecting member is located outside the gap, and the gap can accommodate the connecting member; a driving member is provided inside the active roller, and the active roller is transmission-connected with the driven roller so that the active roller drives the driven roller to rotate.

6. The tomato automatic sorting and packaging robot system according to claim 1, characterized in that: The rotary drive assembly includes a positioning belt conveyor, and the belt of the positioning belt conveyor is an endless transparent belt; The second visual identification component is connected to the support seat and is located between the upper and lower belt surfaces of the positioning belt conveyor.

7. The tomato automatic sorting and packaging robot system according to claim 1, characterized in that: A reflective sensor is provided on the empty box conveyor at the end of the empty box positioning assembly; The empty box positioning assembly includes a push plate cylinder, a fixed push plate and a movable push plate. The fixed push plate is arranged on one side of the empty box conveyor, and the push plate cylinder is arranged on the other side of the empty box conveyor. The movable push plate is connected to the output end of the push plate cylinder to press the empty packaging box by extending the movable push plate.

8. The tomato automatic sorting and packaging robot system according to claim 1, characterized in that: The motion assembly comprises a horizontal moving frame, a moving track is provided on the horizontal moving frame, a slider is slidably provided on the moving track, a horizontal driving device is provided on the top of the slider, the horizontal driving device is used to drive the slider to move along the moving track, a telescopic cylinder is provided at the bottom of the slider, and the output end of the telescopic cylinder is connected to the grabbing assembly; The grabbing assembly comprises a fixed frame, a suction cup part and a distance adjustment assembly, the fixed frame is connected to the telescopic cylinder, and the fixed frame is vertically arranged with the horizontal moving frame, and the suction cup part is slidably connected with the fixed frame through a sliding connection block; The pitch adjustment component includes a distance sensor, a pitch adjustment drive unit and a pitch adjustment screw. The pitch adjustment screw is rotatably arranged in the fixed frame. The output end of the pitch adjustment drive unit is connected to the pitch adjustment screw to drive the pitch adjustment screw to rotate. The pitch adjustment screw is threadedly connected to the sliding connection block to drive the sliding connection block to move through the pitch adjustment screw. The distance sensor is arranged on the fixed frame, and the sensing end of the distance sensor is arranged facing the sliding connection block to sense the moving distance of the sliding connection block.

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