A citrus automatic arrangement and sorting device

Abstract

The present invention discloses an automatic citrus arrangement and sorting device, comprising a sorting frame, a visual fruit selection component and a fruit diameter sorting component. The visual fruit selection component comprises a detection box fixedly mounted on the surface of the sorting frame and a feeding roller rotatably mounted on the surface of the sorting frame. An industrial camera is arranged in the detection box for visually inspecting the fruit and judging the quality of the fruit through a visual analysis system. The fruit diameter sorting component comprises a diversion guide seat, a turntable and a motor. The turntable is driven by a motor to rotate on the diversion guide seat, and the fruit is graded by fruit diameter through the through holes of the turntable and the diversion holes of the diversion guide holes. The present invention realizes automatic detection, classification and grading of fruits by integrating visual detection and specification sorting functions. A flexible clamping mechanism is adopted to avoid mechanical damage to the fruit during the sorting process. The overall structure of the device is compact and occupies little space. It is suitable for installation in large-scale production lines and sorting requirements of fruits of multiple specifications.

Description

Technical Field

[0001] The invention relates to the technical field of fruit mechanical processing, in particular to an automatic citrus arrangement and sorting device. Background Art

[0002] In the field of fruit sorting, traditional fruit sorting devices usually use mechanical classification or simple screening structures. These devices roughly sort fruits by size or quality through mechanisms such as vibrating screens, mechanical arms or multi-stage diverters. However, such devices usually rely on fixed-size sieve holes or guide plates for sorting, which are complex in structure, inefficient, and lack the ability to accurately judge the quality of fruits, and cannot meet the needs of modern agriculture for high-precision sorting and high-efficiency processing of fruits.

[0003] The traditional technical solutions have the following main defects:

[0004] Low degree of sorting automation: Traditional fruit sorting devices rely solely on mechanical structures to complete screening and cannot integrate visual inspection technology, resulting in the inability to identify fruit quality (such as good and bad fruit). Especially when it is necessary to finely grade the fruit diameter, traditional screening devices are difficult to adapt to the needs of multiple specifications, have low sorting accuracy, and are not suitable for industrial-scale applications. The device has a complex structure, occupies a large space, and is difficult to install and maintain, which further limits its use in large-scale production lines.

[0005] Low efficiency of conveying and sorting: Traditional sorting devices usually use simple conveyor belts or vibrating screens to transport fruits. Due to the lack of a reasonable inclined layout design, fruits are prone to jamming and accumulation during transportation, resulting in poor transportation and affecting sorting efficiency. In addition, traditional devices are often not efficient enough in handling bad fruits, and there is a situation where bad fruits are mixed with good fruits, resulting in a decrease in the quality of sorted products.

[0006] High fruit damage rate: Traditional sorting devices use rigid clamping or mechanical pushing methods, which can easily cause squeezing or bumping of the fruit. Especially when the fruit needs to be guided or adjusted multiple times during the sorting process, the damage rate is high, making it difficult to ensure the integrity of the fruit. This problem is particularly prominent when sorting fragile fruits (such as citrus, apples, etc.).

[0007] Incoherent action and low efficiency: Traditional clamping mechanisms are usually one-way drive devices, which cannot achieve synchronous coordination of clamping and releasing actions, resulting in pauses or waiting time in the sorting process and low sorting efficiency. In addition, due to the lack of optimized design of the action process, traditional devices require multiple independent actuators to control clamping and releasing, which increases the complexity of the control system and increases manufacturing and maintenance costs.

[0008] In summary, traditional fruit sorting devices are difficult to meet the requirements of modern agriculture for high-efficiency, high-precision and low-damage fruit sorting. Therefore, there is an urgent need for a new type of sorting device that can integrate visual inspection, flexible clamping, inclined conveying and efficient synchronous action to solve the above technical problems. Summary of the invention

[0009] The present invention aims to solve one of the technical problems existing in the prior art or related technology. The present invention aims to provide an automatic citrus arrangement and sorting device, optimize the visual fruit selection component and the fruit diameter sorting component, and improve the sorting performance.

[0010] To this end, the technical solution adopted in the present invention is:

[0011] An automatic citrus arrangement and sorting device comprises: a sorting frame, a visual fruit selection component and a fruit diameter sorting component, wherein the visual fruit selection component comprises a detection box fixed to the surface of the sorting frame and a feeding roller rotatably mounted on the surface of the sorting frame, wherein the feeding roller is located directly below the detection box, wherein the surface of the feeding roller is provided with a plurality of fruit drop grooves, wherein the top surface of the sorting frame is provided with a feeding hopper connected to one end of the detection box, wherein a waste box and a sliding bucket are fixedly mounted on the surface of the sorting frame, wherein one end of the sliding bucket extends directly below the visual fruit selection component, wherein the sliding bucket is used for receiving and guiding fruits that are not screened well by the visual fruit selection component, wherein the waste box is used for guiding bad fruits screened out by the visual fruit selection component, wherein a fruit diameter sorting component is fixedly mounted on the surface of the sorting frame, wherein the fruit diameter sorting component is used for diverting and guiding the sorted fruits;

[0012] The visual fruit selection assembly includes a detection box and an industrial camera located inside the detection box, the output end of the industrial camera is electrically connected to a visual analysis system for visually analyzing good and bad fruits, a fruit clamp and an execution drive are fixedly installed on the inner side of the fruit drop groove, the fruit clamp includes a fixed seat, a top seat, a rigid clamp rod and a flexible clamp petal, the rigid clamp rod is rotatably installed on the surface of the fixed seat, and the rigid clamp rod is symmetrically arranged on both sides of the top seat, the flexible clamp petal is rotatably installed on the top end of the rigid clamp rod, and the surface of the rigid clamp rod is provided with a connecting rod connected to the surface of the top seat;

[0013] The fruit diameter sorting component includes a diversion guide seat, a turntable and a motor embedded in the surface of the diversion guide seat, the motor is used to drive the turntable to rotate on the surface of the diversion guide seat, the turntable surface is provided with a plurality of through holes evenly distributed in the circumferential direction for the passage of fruits, and a lifting ear is rotatably installed on the surface of each through hole, a plurality of diversion holes are arranged through the surface of the diversion guide seat, and the diameter of each diversion hole increases step by step along the rotation direction of the turntable, one end of the diversion hole is connected with a conduit, the turntable is arranged obliquely, and a hopper connected with a sliding bucket port is fixedly installed on the outer periphery of the diversion guide seat.

[0014] The feeding hopper is arranged at an angle, and a plurality of flow channels having the same number as the fruit dropping grooves are provided on the surface for feeding the fruit dropping grooves. The waste box and the sliding bucket are arranged at an angle and are used for respectively guiding the bad fruits and the unscreened fruits screened out by the visual fruit selection component.

[0015] The fruit dropping grooves are divided into two groups, and the two groups of fruit dropping grooves are symmetrically arranged relative to the axis of the feeding roller, and each group of fruit dropping grooves is linearly distributed along the axis direction of the feeding roller.

[0016] The number of the fruit grippers is two groups, and the two groups of fruit grippers are symmetrically arranged on the inner side of the feeding roller relative to the execution drive member, and the execution drive member is a bidirectional electric execution rod structure.

[0017] The fruit grippers at both ends of the actuator are located inside the two fruit drop grooves, and the two ends of the output shaft are provided with a symmetrically arranged first output rod and a second output rod, which are respectively used to connect with the top seats of the fruit grippers at both ends.

[0018] The inner side of the detection box is provided with a channel for fruits to pass through, and the shooting end of the industrial camera is vertically opposite to the axis of the feeding roller, and the bottom end of the channel slides against the surface of the feeding roller to guide the fruits into the inner side of the fruit drop groove.

[0019] The surface of the diversion guide bucket is provided with a plurality of slideway grooves of different specifications, and each diversion guide hole is connected with each slideway groove in a one-to-one correspondence through a conduit.

[0020] The surface of the diverter guide seat is in the shape of an inclined plane, and the turntable is arranged obliquely on the inclined surface of the diverter guide seat and is in sliding contact with the inclined surface of the diverter guide seat. The lifting ear is in the shape of a semicircular arc and is arranged perpendicular to the surface direction of the turntable.

[0021] The diameter of the through hole on the turntable surface is greater than or equal to the inner diameter of the largest branch guide hole. The branch guide hole is arranged away from the center of the turntable through hole and the bottom end is tangent to the bottom end of the turntable through hole.

[0022] In summary, the present invention significantly improves the efficiency and accuracy of fruit sorting by integrating functions such as visual inspection, flexible clamping, high-precision fruit diameter grading, and two-way synchronous operation, and is particularly suitable for the sorting needs of modern agriculture.

[0023] The beneficial effects achieved by the present invention are:

[0024] 1. In the present invention, visual inspection and specification sorting are integrated to realize automatic inspection, classification and sorting of fruits. The specification sorting component can realize the refined classification of fruit diameters to meet the sorting requirements of fruits of different specifications. The device as a whole adopts a compact layout design, and each component is reasonably arranged, which occupies a small space and is suitable for installation and use in large-scale production lines, which is conducive to industrialized large-scale application. At the same time, the modular design of the device is convenient for transportation, installation and maintenance, reducing the cost of use.

[0025] 2. In the present invention, the feeding roller and the diversion guide seat are arranged obliquely, so that the fruit can be smoothly conveyed under the action of gravity without the need for additional driving force. The conveying path of the fruit is optimized and reasonable, and the sorting action is smooth and coherent, and it is not easy to get stuck. After the good and bad fruits are visually inspected, they are accurately classified during the rotation of the feeding roller, and the bad fruits are directly introduced into the waste box through a special diversion device, realizing efficient removal.

[0026] 3. In the present invention, a flexible clamping structure is adopted to flexibly clamp the fruit through the linkage of the rigid clamping rod and the flexible clamping petals, and at the same time, the synchronous action of the bidirectional electric actuator is combined to make the clamping process smooth and accurate, avoiding the damage of the fruit by mechanical hard squeezing. In addition, the fruit diameter sorting component is designed with lifting ears, which can effectively hold up the fruit and pass through the guide holes one by one to achieve high-precision graded output, which not only sorts accurately, but also avoids damage caused by squeezing the fruit against each other, ensuring the appearance quality and integrity of the fruit.

[0027] 4. In the present invention, the design of the double output rod realizes the synchronous action of the fruit clamps at both ends through a single driving source. While one end completes the clamping, the other end automatically releases the fruit, thereby reducing the complexity of independently controlling each clamping mechanism. A seamless connection is achieved between the clamping action and the fruit releasing action. While the fruit clamp at one end clamps the fruit and rotates synchronously with the feed roller to complete the transportation, the fruit clamp at the other end automatically releases the sorted fruit into the guiding device without waiting, avoiding the pause phenomenon caused by the sorting process, further improving the sorting efficiency, and is particularly suitable for continuous sorting needs in high-yield scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the structure of a visual fruit selection component according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the exploded structure of a fruit diameter sorting component according to an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the surface structure of a flow dividing guide seat according to an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the cross-sectional structure of a feed roller according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of a fruit clamp according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the exploded structure of a fruit clamp according to an embodiment of the present invention;

[0035] Figure 8 The figure is a schematic diagram of the distribution structure of through holes and branch guide holes on the surface of a turntable according to an embodiment of the present invention.

[0036] Reference numerals:

[0037] 100, sorting frame; 110, feeding hopper; 120, waste box; 130, diversion guide hopper; 140, sliding hopper;

[0038] 200, visual fruit selection assembly; 210, detection box; 220, feeding roller; 230, fruit clamp; 240, execution drive; 211, industrial camera; 221, fruit drop groove; 231, fixed seat; 232, top seat; 233, rigid clamping rod; 234, flexible clamping petal; 235, connecting rod; 241, first output rod; 242, second output rod;

[0039] 300, fruit diameter sorting assembly; 310, diversion guide seat; 320, turntable; 330, diversion guide hole; 311, hopper; 312, motor; 321, lifting ear; 331, guide tube. DETAILED DESCRIPTION

[0040] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in combination with specific implementations and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0041] It is to be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0042] like Figures 1 to 8 As shown, the present invention provides an automatic arrangement and sorting device for fruit sorting, which includes a sorting frame 100, a visual fruit selection component 200 and a fruit diameter sorting component 300.

[0043] Among them, the visual fruit selection component 200 includes a detection box 210 fixed on the surface of the sorting frame 100 and a feeding roller 220 rotatably installed on the surface of the sorting frame 100, wherein an industrial camera 211 is provided in the detection box 210 for visual detection of fruits; the feeding roller 220 is located directly below the detection box 210, and a plurality of fruit drop grooves 221 are provided on the surface of the feeding roller 220, and a plurality of fruit drop grooves 221 are provided on the surface of the feeding roller 220 for the introduction and transportation of fruits; a feeding hopper 110 connected to the detection box 210 is provided on the top surface of the sorting frame 100, and the fruit enters the detection box 210 through the feeding hopper 110 for detection.

[0044] In combination with the above, a waste box 120 and a slide hopper 140 are fixedly installed on the surface of the sorting frame 100. One end of the slide hopper 140 extends to directly below the visual fruit selection component 200. The slide hopper 140 is used to receive and guide the unscreened fruits of the visual fruit selection component 200. The waste box 120 is used to export the bad fruits screened out by the visual fruit selection component 200. A fruit diameter sorting component 300 is fixedly installed on the surface of the sorting frame 100. The fruit diameter sorting component 300 is used to divert and export the sorted fruits.

[0045] In combination with the above, the visual fruit selection component 200 includes a detection box 210 and an industrial camera 211 located inside the detection box 210. The output end of the industrial camera 211 is electrically connected to a visual analysis system for visually analyzing good and bad fruits. The industrial camera 211 detects the quality of the fruit through the visual analysis system and outputs a judgment signal of good or bad fruit. The visual analysis system is a preferred software system, which is not an innovative design of our technical solution and belongs to the existing technology.

[0046] In combination with the above, a fruit clamp 230 and an actuator 240 are fixedly installed on the inner side of the fruit drop groove 221, and the fruit clamp 230 includes a fixed seat 231, a top seat 232, a rigid clamp rod 233 and a flexible clamp flap 234. The rigid clamp rod 233 is rotatably installed on the surface of the fixed seat 231, and the rigid clamp rod 233 is symmetrically arranged on both sides of the top seat 232. The flexible clamp flap 234 is rotatably installed on the top of the rigid clamp rod 233, and the surface of the rigid clamp rod 233 is provided with a connecting rod 235 connected to the surface of the top seat 232; when the fruit is detected as good fruit, the fruit located in the fruit drop groove 221 is clamped by the fruit clamp 230 and rotates synchronously with the feeding roller 220, and a judgment signal of good fruit or bad fruit is output. If the fruit is detected as bad fruit, the fruit is directly introduced into the waste box through the waste box 120. The actuator 240 is a bidirectional electric actuator rod, and its two ends are respectively connected to two groups of fruit clamps 230 to achieve flexible clamping and release of the fruit. In this embodiment, the motor drives the turntable to grade the fruit diameter. Combined with the different pipe diameter designs of the guide holes and the diversion function of the conduit, high-precision graded output of the fruit can be achieved to meet the needs of sorting fruits of multiple specifications.

[0047] Specifically, during use, the fruit first passes through the feeding hopper 110 and enters the detection box 210 for visual inspection. After the inspection is completed, the fruit falls into the fruit drop groove 221. The good fruit is clamped by the fruit clamp 230 under the drive of the execution drive member 240 and rotates synchronously with the feeding roller 220, and is finally guided to the sliding bucket 140; the bad fruit is directly transported to the waste box 120 for rejection.

[0048] In combination with the above, the fruit diameter sorting component 300 is installed on the surface of the sorting frame 100, and the fruit diameter sorting component 300 includes a diversion guide seat 310, a turntable 320 and a motor 312 embedded and installed on the surface of the diversion guide seat 310, wherein the motor 312 drives the turntable 320 to rotate on the surface of the diversion guide seat 310, wherein the motor 312 drives the turntable 320 to rotate on the diversion guide seat 310, and the fruit is sorted step by step along the circumferential direction through the through holes of the turntable 320, and the surface of the turntable 320 is provided with a plurality of through holes evenly distributed in the circumferential direction for the passage of the fruit, and the surface of each through hole is rotatably installed with a lifting ear 321, and the lifting ear 321 is used to support and lift the fruit, and the diversion guide seat 310 A plurality of branch guide holes 330 are arranged through the surface, and the grading is completed through the branch guide holes 330 one by one, and the diameter of each branch guide hole 330 increases step by step along the rotation direction of the turntable 320. One end of the branch guide hole 330 is connected with a conduit 331, and the turntable 320 is arranged inclined. A hopper 311 connected with the port of the slide bucket 140 is fixedly installed on the outer periphery of the diversion guide seat 310, and the conduit 331 is connected with the branch guide hole 330. In the specification sorting stage, the good fruits are further diverted through the fruit diameter sorting component 300, and the fruit diameter is accurately graded through the branch guide hole 330, and finally slides into the corresponding slide groove through the conduit 331, and the specification sorting of the fruit is completed through the slide groove corresponding to the fruit sorting path.

[0049] The present invention realizes automatic classification and specification sorting of fruits through the integrated design of the feeding hopper 110, the visual fruit selection component 200 and the fruit diameter sorting component 300. It has a compact structure, occupies a small space, is suitable for use in large-scale production lines, and the sorting process is coherent and efficient.

[0050] In this embodiment, the visual inspection and fruit diameter grading functions are integrated to achieve efficient and automated sorting of fruits, which is suitable for the sorting needs of fruits of different specifications.

[0051] In combination with the above, the feeding hopper 110 is arranged at an angle, and a plurality of flow channels having the same number as the fruit dropping grooves 221 are provided on the surface for feeding the fruit dropping grooves 221, and the waste box 120 and the slide bucket 140 are arranged at an angle for respectively guiding the bad fruits and the unscreened fruits to be screened out by the visual fruit selection component 200; the fruit dropping grooves 221 are divided into two groups, and the two groups of fruit dropping grooves 221 are arranged symmetrically with respect to the axis of the feed roller 220, and each group of fruit dropping grooves 221 is distributed in a straight line along the axis direction of the feed roller 220; through the inclined arrangement of the feeding hopper 110, the waste box 120 and the slide bucket 140, the fruits can be smoothly introduced and classified, reducing the phenomenon of poor transportation caused by mechanical jamming, and improving the operation efficiency of the overall device.

[0052] In combination with the above, there are two groups of fruit grippers 230, and the two groups of fruit grippers 230 are symmetrically arranged on the inner side of the feed roller 220 relative to the execution drive 240, and the execution drive 240 is a bidirectional electric execution rod structure; the fruit grippers 230 at both ends of the execution drive 240 are respectively located on the inner sides of the two fruit drop grooves 221, and the two ends of the output shaft are respectively provided with a symmetrically arranged first output rod 241 and a second output rod 242, and the first output rod 241 and the second output rod 242 are respectively used to connect with the top seats 232 of the fruit grippers 230 at both ends; the bidirectional electric execution structure of the execution drive 240 is used to realize the synchronization of the clamping action and the releasing action. When the fruit gripper 230 at one end clamps the fruit, the fruit gripper 230 at the other end automatically releases the fruit, thereby improving the continuity and sorting efficiency of the sorting action.

[0053] In combination with the above, a channel for fruits to pass through is provided on the inner side of the detection box 210, and the shooting end of the industrial camera 211 is vertically opposite to the axis of the feed roller 220, and the bottom end of the channel slides against the surface of the feed roller 220 to guide the fruits into the inner side of the fruit drop groove 221.

[0054] The present invention realizes accurate detection of fruit quality through an industrial camera, and utilizes the symmetrical driving design of the clamping structure of the fruit clamp and the execution driving member to realize flexible clamping and classification of the fruit, improve the sorting accuracy, and avoid mechanical damage to the fruit.

[0055] In combination with the above, a plurality of slide grooves of different specifications are provided on the surface of the diversion guide hopper 130, and each branch guide hole 330 is connected to each slide groove one by one through a conduit 331; through the connection between the slide grooves and the branch guide holes 330 provided on the surface of the diversion guide hopper 130, the fruits can enter the sorting areas of different specifications along the slide grooves respectively, thereby realizing refined diversion of specification classification.

[0056] In the specific structure, the surface of the diversion guide seat 310 is in the shape of a slope, and the turntable 320 is arranged obliquely on the inclined surface of the diversion guide seat 310 and slides against the inclined surface of the diversion guide seat 310, and the lifting ear 321 is in the shape of a semicircular arc and is arranged perpendicular to the surface direction of the turntable 320; the diameter of the through hole on the surface of the turntable 320 is greater than or equal to the inner diameter of the maximum branch guide hole 330, and the branch guide hole 330 is arranged away from the center of the through hole of the turntable 320 and the bottom end is tangent to the bottom end of the through hole of the turntable 320; through the optimized design of the through hole and the branch guide hole on the surface of the turntable, the inclined design of the turntable 320 cooperates with the step-by-step branch guide hole structure of the branch guide hole 330, so that the fruit is not prone to jamming during the sorting process, the fruit can pass through the through hole smoothly, and be accurately introduced into the diversion area, thereby improving the accuracy and efficiency of sorting.

[0057] In a preferred embodiment, the feeding hopper 110, the waste box 120 and the sliding hopper 140 are designed to be structures with adjustable tilt angles to adapt to different fruit fluidity and conveying path requirements.

[0058] Specifically, the tilt angle of the hopper 110 can be adjusted according to the size of the fruit to ensure that the fruit is smoothly introduced into the detection box 210 under the action of gravity. The waste box 120 and the slide hopper 140 can also adjust the tilt angle according to the actual use scenario to optimize the diversion path of bad fruit and unscreened fruit.

[0059] During use, the fruit enters the detection box 210 through the feeding hopper 110 for detection. After grading, it is introduced into the sorting path through the fruit drop trough 221. Bad fruits are quickly removed through the waste box 120 with adjustable inclination, and unscreened fruits are introduced into the guiding device through the adjusted sliding bucket 140, ensuring that the fruit sorting action is more efficient.

[0060] The flexibility and adaptability of the fruit conveying and sorting process are further improved through the adjustable design of the feeding hopper 110, the waste box 120 and the sliding bucket 140. After adjusting the angle, the fruit flows more smoothly, the mechanical resistance during the conveying process is reduced, and the overall sorting efficiency is improved.

[0061] The working process of the present invention specifically includes the following steps: Fruit introduction: The fruit is tiltedly introduced into the internal channel of the detection box 210 through the feeding hopper 110, and an industrial camera 211 is installed inside the detection box for visual inspection of the fruit.

[0062] Visual analysis: Industrial camera 211 detects the quality of the fruit through a visual analysis system to determine whether the fruit is good or bad.

[0063] Fruit conveying: Through the rotation of the feeding roller 220, the fruits enter the fruit drop groove 221, and the good fruits and bad fruits are respectively introduced into the corresponding processing paths.

[0064] Good fruit processing: When the good fruit is detected, the execution drive 240 controls the clamping structure of the corresponding fruit clamp 230 to clamp the fruit, so that the fruit moves synchronously along the rotation of the feeding roller and falls into the unscreened good fruit guide slide 140.

[0065] Bad fruit processing: When the fruit is detected to be bad, the clamping structure does not clamp the fruit, and the fruit is directly tilted and poured into the waste box 120 through the rotation of the feeding roller.

[0066] In the above specific steps, when the feed roller 220 rotates, when the industrial camera 211 detects that the fruit entering the inner side of the fruit drop groove 221 is a good fruit, the execution drive member 240 drives the first output rod 241 and the second output rod 242 to move to one side, and cooperates with the weight of the fruit to press down and pull the top seat 232 downward, and then the top seat 232 links the rigid clamping rod 233 and the flexible clamping petal 234 to deflect, so as to clamp the good fruit and move synchronously with the rotation of the feed roller 220; synchronously, due to the synchronous movement of the first output rod 241 and the second output rod 242, the fruit clamp 230 rotated to the bottom of the feed roller 220 is opened, so that the fruit inside the corresponding fruit clamp 230 falls into the inside of the sliding bucket 140;

[0067] When the industrial camera 211 detects that the fruit entering the fruit drop groove 221 is a bad fruit, the output end of the execution driving member 240 pushes up to make the top seat 232 move upward to support the bad fruit without clamping. The fruit is tilted and poured into the waste box 120 through the rotation of the feeding roller 220 to remove the bad fruit.

[0068] Fruit diameter sorting: Good fruits are further sorted by diameter through the fruit diameter sorting assembly 300, the tilted design of the turntable 320 and the through holes distributed in the circumferential direction. Fruits of different specifications are lifted in turn by the lifting ears 321 during the rotation of the turntable until they slide into the diversion guide hopper 130 in the appropriate diversion guide hole 330 to achieve diversion output according to the diameter of the fruit.

[0069] The working process of the present invention is as follows: before the device is operated, the operator needs to check the installation status of each component, including whether the feeding hopper 110, the visual fruit selection component 200, the fruit diameter sorting component 300, etc. are normally in place.

[0070] After the device is started, the fruits are poured into the feeding hopper 110, and the fruits enter the detection box 210 along the channel for visual inspection.

[0071] The industrial camera 211 collects fruit images and determines the quality of the fruit through an analysis system, and controls the actuator 240 to achieve clamping or supporting.

[0072] The fruits are conveyed by the feeding roller 220 and introduced into the unscreened fruit guide hopper 140 or the waste box 120 according to the classification path.

[0073] The visually classified fruits are further graded by diameter by the fruit diameter sorting assembly 300 and finally slide into the corresponding diversion guide hopper 130 from the diversion guide hole 330 .

[0074] After sorting is completed, the device stops working and the operator collects the fruits and cleans up the waste.

[0075] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", 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 present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0076] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A citrus automatic arrangement and sorting device, characterized in that: include: A sorting frame (100), a visual fruit selection assembly (200) and a fruit diameter sorting assembly (300), wherein the visual fruit selection assembly (200) comprises a detection box (210) fixed to the surface of the sorting frame (100) and a feeding roller (220) rotatably mounted on the surface of the sorting frame (100), wherein the feeding roller (220) is located directly below the detection box (210), and a plurality of fruit drop grooves (221) are provided on the surface of the feeding roller (220), and a feeding hopper (111) connected to one end of the detection box (210) is provided on the top surface of the sorting frame (100). 0), a waste box (120) and a sliding bucket (140) are fixedly mounted on the surface of the sorting frame (100), one end of the sliding bucket (140) extends to directly below the visual fruit selection component (200), the sliding bucket (140) is used to receive and guide the unscreened fruits of the visual fruit selection component (200), the waste box (120) is used to guide the bad fruits screened out by the visual fruit selection component (200), and a fruit diameter sorting component (300) is fixedly mounted on the surface of the sorting frame (100), the fruit diameter sorting component (300) is used to divert and guide the sorted fruits; The visual fruit selection assembly (200) comprises a detection box (210) and an industrial camera (211) located inside the detection box (210); the output end of the industrial camera (211) is electrically connected to a visual analysis system for visually analyzing good and bad fruits; a fruit clamp (230) and an execution drive member (240) are fixedly installed inside the fruit drop groove (221); the fruit clamp (230) comprises a fixed seat (231), a top seat (232), a rigid clamp rod (233) and a flexible clamp flap (234); the rigid clamp rod (233) is rotatably installed on the fixed seat (231); The surface of the seat (231) is provided with a rigid clamping rod (233) symmetrically arranged on both sides of the top seat (232); the flexible clamping flap (234) is rotatably mounted on the top of the rigid clamping rod (233); the surface of the rigid clamping rod (233) is provided with a connecting rod (235) connected to the surface of the top seat (232); the number of the fruit clamping devices (230) is two groups, and the two groups of the fruit clamping devices (230) are symmetrically arranged on the inner side of the feeding roller (220) relative to the execution drive member (240); the execution drive member (240) is a bidirectional electric execution rod structure; The fruit diameter sorting assembly (300) comprises a flow diversion guide seat (310), a rotating disk (320), and a motor (312) embedded in the surface of the flow diversion guide seat (310); the motor (312) is used to drive the rotating disk (320) to rotate on the surface of the flow diversion guide seat (310); the surface of the rotating disk (320) is provided with a plurality of through holes evenly distributed in a circumferential direction for the passage of fruits; a lifting ear (321) is rotatably mounted on the surface of each through hole; a plurality of branch guide holes (330) are arranged through the surface of the flow diversion guide seat (310); and the diameter of each branch guide hole (330) increases step by step along the rotation direction of the rotating disk (320); one end of the branch guide hole (330) is connected to a guide tube (331); the rotating disk (320) is arranged in an inclined manner; and a hopper (311) connected to a port of a sliding bucket (140) is fixedly mounted on the outer periphery of the flow diversion guide seat (310).

2. The automatic citrus sorting device according to claim 1, characterized in that: The feeding hopper (110) is arranged in an inclined manner and has a plurality of flow channels on its surface, the same number as the fruit drop grooves (221), for feeding the fruit drop grooves (221). The waste box (120) and the sliding bucket (140) are arranged in an inclined manner and are used to respectively guide the bad fruits and unscreened fruits screened out by the visual fruit selection assembly (200).

3. The automatic citrus sorting device according to claim 2, characterized in that: The fruit drop grooves (221) are divided into two groups, and the two groups of fruit drop grooves (221) are symmetrically arranged with respect to the axis of the feeding roller (220), and each group of fruit drop grooves (221) is linearly distributed along the axis direction of the feeding roller (220).

4. The automatic citrus sorting device according to claim 1, characterized in that: The fruit grippers (230) at both ends of the execution drive member (240) are respectively located inside the two fruit drop grooves (221), and the two ends of the output shaft are respectively provided with a symmetrically arranged first output rod (241) and a second output rod (242), and the first output rod (241) and the second output rod (242) are respectively used to connect with the top seats (232) of the fruit grippers (230) at both ends.

5. The automatic citrus sorting device according to claim 1, characterized in that: The inner side of the detection box (210) is provided with a passage for fruits to pass through, and the shooting end of the industrial camera (211) is vertically opposite to the axis of the feeding roller (220), and the bottom end of the passage slides against the surface of the feeding roller (220) to abut against the inner side of the fruit drop groove (221) for guiding fruits.

6. The automatic citrus sorting device according to claim 1, characterized in that: It also comprises a flow diversion guide bucket (130), the surface of which is provided with a plurality of slideway grooves of different specifications, and each of the branch guide holes (330) is connected to each of the slideway grooves in a one-to-one correspondence via a conduit (331).

7. The automatic citrus sorting device according to claim 6, characterized in that: The surface of the flow diversion guide seat (310) is in an inclined shape, and the rotating disk (320) is arranged obliquely on the inclined surface of the flow diversion guide seat (310) and is in sliding contact with the inclined surface of the flow diversion guide seat (310), and the lifting ear (321) is in a semicircular arc shape and is arranged perpendicular to the surface direction of the rotating disk (320).

8. The automatic citrus sorting device according to claim 7, characterized in that: The diameter of the through hole on the surface of the rotating disk (320) is greater than or equal to the inner diameter of the largest branch guide hole (330).

9. The automatic citrus sorting device according to claim 8, characterized in that: The branch guide hole (330) is arranged offset from the center of the through hole of the rotating disk (320), and the bottom end is tangent to the bottom end of the through hole of the rotating disk (320).

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