A miniaturized cherry tomato appearance color sorter

Abstract

The present invention relates to the technical field of color sorters, and more specifically, it relates to a miniaturized cherry tomato appearance color sorter, comprising a frame and a feeding and lifting structure, an overlapping elimination structure, an arranging structure, a rotating sprocket structure, a machine vision device, a pneumatic sorting device, a defective material discharge channel, and a superior material discharge channel arranged on the frame. The cherry tomatoes are transmitted to the rotating sprocket structure through the feeding and lifting structure, the overlapping elimination structure, and the arranging structure. The machine vision device is mounted on the rotating sprocket structure through a chassis, the pneumatic sorting device is arranged at the rear of the machine vision device, the defective material discharge channel and the superior material discharge channel are respectively arranged at the side and the tail of the rotating sprocket structure, and the pneumatic sorting device screens the defective cherry tomatoes to the defective material discharge channel and screens the superior cherry tomatoes to the superior material discharge channel according to the judgment result of the machine vision device. The present invention can improve the color sorting efficiency and color sorting effect of cherry tomatoes.

Description

Technical Field

[0001] The invention relates to the technical field of color sorters, in particular to a miniaturized cherry tomato appearance color sorter. Background Art

[0002] With the continuous advancement of agricultural technology and the increasing demand for high-quality fruits, the cherry tomato planting industry has developed rapidly in recent years. Cherry tomatoes are favored by consumers for their unique taste, rich nutrition and bright appearance. Especially driven by facility agriculture, the planting area and output of cherry tomatoes have shown an increasing trend year by year. However, this rapid development has also brought new challenges, especially the excessive reliance on manual labor in the appearance screening process.

[0003] At present, most cherry tomato planting companies still use the method of manually screening cherry tomatoes based on their appearance. This traditional model is inefficient in the context of large-scale planting. Due to the large differences in the appearance quality of cherry tomatoes, such as color, size, surface smoothness and other factors, they need to be manually observed and selected one by one, which is labor-intensive and costly. At the same time, manual screening is easily affected by subjective judgment, resulting in inconsistent screening standards and affecting the stability of product quality. In addition, the shortage of labor resources and the increase in labor costs have further exacerbated this problem. Therefore, how to achieve efficient and accurate appearance screening of cherry tomatoes through technical means has become a technical problem that needs to be solved urgently, which is of great significance to the healthy development of the industry. Summary of the invention

[0004] In order to solve the problem of manually screening cherry tomatoes based on appearance in the prior art, the present application provides a miniaturized cherry tomato appearance color sorting machine.

[0005] The miniaturized cherry tomato appearance color sorting machine provided by the present invention adopts the following technical solution:

[0006] A miniaturized cherry tomato appearance color sorter comprises a frame and a loading and lifting structure, an overlapping elimination structure, an aligning structure, a rotating sprocket structure, a machine vision device, a pneumatic sorting device, a defective material discharge channel and a superior material discharge channel arranged on the frame. Cherry tomatoes are transferred to the rotating sprocket structure via the loading and lifting structure, the overlapping elimination structure and the aligning structure. The machine vision device is mounted on the rotating sprocket structure through a chassis. The pneumatic sorting device is arranged behind the machine vision device. The defective material discharge channel and the superior material discharge channel are respectively arranged at the side and the tail of the rotating sprocket structure. The pneumatic sorting device screens the defective cherry tomatoes to the defective material discharge channel and screens the superior cherry tomatoes to the superior material discharge channel according to the judgment result of the machine vision device.

[0007] Preferably, the loading and lifting structure includes a first mounting frame, a first motor, a first belt and a first pulley, the first mounting frame is tilted on the frame, two first pulleys are spaced apart along the tilt direction of the first mounting frame, the first motor is disposed on the first mounting frame and is coaxially connected to one of the first pulleys, the first belt is tensioned between the two first pulleys, and a plurality of blocking bars are arranged circumferentially of the first belt, and a loading trough for loading cherry tomatoes is formed between adjacent blocking bars.

[0008] Preferably, the overlap elimination structure includes a second mounting frame, a second motor, a second belt and a second pulley, the second mounting frame is horizontally arranged on the frame, the front end of the second mounting frame is connected to the upper end of the loading and lifting structure, two second pulleys are arranged on the second mounting frame at intervals along the conveying direction, the second motor is arranged on the second mounting frame and is coaxially connected to one of the second pulleys, and the second belt is tensioned between the two second pulleys; the overlap elimination structure also includes a plurality of front frame rods, the plurality of front frame rods are arranged above the second belt at intervals along the conveying direction, and the heights of the plurality of front frame rods gradually decrease along the conveying direction.

[0009] Preferably, the whole column structure includes a third mounting frame, a third motor, a third belt and a third pulley, the third mounting frame is horizontally arranged on the frame, the front end of the third mounting frame is connected to the overlapping elimination structure, two third pulleys are arranged on the third mounting frame at intervals along the conveying direction, the third belt is tensioned between the two third pulleys, a plurality of third belts are provided, and the plurality of third belts are arranged on the third pulley at intervals laterally, and the plurality of third belts are used to separate the cherry tomatoes entering the whole column structure and further convey them; the whole column structure also includes a plurality of rear frame rods, and the plurality of rear frame rods are arranged on the third mounting frame at intervals along the conveying direction.

[0010] Preferably, the rotating sprocket structure includes a fourth mounting frame, a fourth motor, a sprocket and a chain, the fourth mounting frame is horizontally arranged on the frame, the front end of the fourth mounting frame is connected to the rear end of the whole column structure, two groups of sprockets are arranged on the fourth mounting frame at intervals along the conveying direction, and multiple sprockets in the same group are arranged on the fourth mounting frame at intervals along the lateral direction, the fourth motor is connected to one group of sprockets, multiple chains are provided, and the number of chains is equal to the number of sprockets in a single group, each chain is respectively tensioned between two sprockets in different groups, and each chain has multiple cylinders arranged circumferentially, and empty spaces for cherry tomatoes to be placed are formed between adjacent cylinders.

[0011] Preferably, the machine vision device is arranged in the middle of the rotating sprocket structure, and includes a light source, a CCD camera, an image processing unit and a communication module. The CCD camera is used to photograph the appearance of cherry tomatoes, and the light source provides brightness for the shooting of the CCD camera. The image processing unit uses a high-speed AI algorithm to analyze and process the shooting results of the CCD camera, and the analysis and processing results are transmitted to the pneumatic sorting device through the communication module.

[0012] Preferably, the pneumatic sorting device includes a solenoid valve control system, an air source system and multiple pneumatic nozzles. The solenoid valve control system controls different pneumatic nozzles to work according to the results of the machine vision device, so as to deliver defective cherry tomatoes with different defects into different defective discharge channels.

[0013] Preferably, a self-rotation structure is arranged between the cylinder of the rotating sprocket structure and the fourth mounting frame, and the self-rotation structure includes a gear and a rack. There are multiple gears, and the multiple gears are coaxially connected to one end of the cylinder one by one. The rack is arranged on the fourth mounting frame and is located on the path where the gear passes under the machine vision device. When the adjacent multiple gears pass through the rack, the multiple gears are meshed with the rack up and down at the same time, and the rack controls the adjacent multiple gears to rotate in the same direction.

[0014] Preferably, the rack lifting device is arranged on the fourth mounting frame and is connected to a cylinder for controlling its lifting and lowering. The fourth mounting frame is also provided with a rangefinder for monitoring the height change of the middle part of the chain. When the rangefinder detects that the middle part of the chain is sagging, the cylinder controls the rack to descend in height.

[0015] Preferably, the rack includes a plurality of tooth blocks distributed at intervals and a V-shaped connecting rod connecting the bottoms of the plurality of tooth blocks, each section of the V-shaped connecting rod includes a left diagonal rod and a right diagonal rod, the upper ends of the left diagonal rod and the right diagonal rod of adjacent sections of the V-shaped connecting rod are respectively hinged to the bottom of the same tooth block, and the lower ends of the left diagonal rod and the right diagonal rod of the same section of the V-shaped connecting rod are hinged; the fourth mounting frame is provided with a slide groove along the spacing direction of the tooth blocks, and a plurality of slide rods slide horizontally on the slide groove, and a strip hole is provided on the slide rod, and two sliding blocks are rotatably arranged in the strip hole, and the two sliding blocks are also slidably connected to the left diagonal rod and the right diagonal rod of the same section of the V-shaped connecting rod; the number of the tooth blocks is odd, and the tooth block located in the middle is connected to the telescopic end of the cylinder.

[0016] The beneficial effects of the present invention are:

[0017] 1. In the miniaturized cherry tomato appearance color sorter of the present invention, the appearance of cherry tomatoes is identified by taking photos with a CCD camera and combining with a high-speed AI algorithm. In combination with software logic, cherry tomatoes with different characteristic appearances are screened into corresponding channels. The detection efficiency is high and the recognition effect is outstanding, which can effectively solve the shortcomings of manual screening of cherry tomatoes in the prior art;

[0018] 2. A self-rotation structure is provided between the cylinder of the rotating sprocket structure and the fourth mounting frame. The self-rotation structure controls the cylinder to rotate when passing under the machine vision device, thereby driving the cherry tomatoes between adjacent cylinders to rotate, so that the CCD camera can shoot the entire surface of the cherry tomatoes, thereby obtaining a more accurate judgment result;

[0019] 3. When the rangefinder detects that the middle part of the chain is sagging, the cylinder controls the rack to descend to adapt to the changes in the middle part of the chain, avoid affecting the meshing smoothness of the gear and the rack, and avoid damage to the structure. The process of the cylinder controlling the rack to descend is as follows: the cylinder first controls the middle tooth block to descend, and the tooth block can drive the remaining tooth blocks on both sides to descend and gather together through the V-shaped connecting rod and the sliding rod, thereby shortening the tooth pitch, allowing the cherry tomatoes to rotate more when passing under the CCD camera, ultimately ensuring that even if the current batch of cherry tomatoes is large in size, the CCD camera can still capture the entire surface of the cherry tomatoes, thereby improving the accuracy of judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a miniaturized cherry tomato appearance color sorting machine in Embodiment 1;

[0021] Figure 2 It is a structural schematic diagram of the material loading and lifting structure in the first embodiment;

[0022] Figure 3 is a schematic structural diagram of eliminating overlapping structures in Embodiment 1;

[0023] Figure 4 It is a structural schematic diagram of the entire column structure in the first embodiment;

[0024] Figure 5 is a structural schematic diagram of the rotating sprocket structure in the first embodiment;

[0025] Figure 6 is a schematic diagram of a partial structure of the rotating sprocket structure in the first embodiment;

[0026] Figure 7 is a structural schematic diagram of the self-rotation structure in the second embodiment;

[0027] Figure 8 is a schematic diagram of the internal structure of the rack in the second embodiment;

[0028] Fig. 9 yes Figure 8 A partial enlarged view of point A in the middle.

[0029] Explanation of the reference numerals: 1. material loading and lifting structure; 11. first mounting frame; 12. first motor; 13. first belt; 14. blocking rod; 2. structure for eliminating overlap; 21. second mounting frame; 22. second motor; 23. second belt; 24. front frame rod; 3. straightening structure; 31. third mounting frame; 32. third motor; 33. third belt; 34. rear frame rod; 4. rotating sprocket structure; 41. fourth mounting frame; 42. sprocket; 43. chain; 44. cylinder; 5. machine vision device; 51. CCD camera; 6. unloading channel for defective products; 7. unloading channel for superior products; 81. gear; 82. rack; 83. gear block; 9. cylinder; 101. left diagonal rod; 102. right diagonal rod; 103. slide groove; 104. slide rod; 105. slider. DETAILED DESCRIPTION

[0030] The following will be combined Figure 1-Figure 9 The present invention is further illustrated by the following embodiments.

[0031] Embodiment 1

[0032] This embodiment discloses a miniaturized cherry tomato appearance color sorting machine.

[0033] Reference Figure 1 The miniaturized cherry tomato appearance color sorter includes a frame and a loading and lifting structure 1, an overlapping elimination structure 2, an arranging structure 3, a rotating sprocket structure 4, a machine vision device 5, a pneumatic sorting device, a defective material discharge channel 6 and a high-quality material discharge channel 7 arranged on the frame, wherein the cherry tomatoes are transmitted to the rotating sprocket structure 4 through the loading and lifting structure 1, the overlapping elimination structure 2 and the arranging structure 3, the machine vision device 5 is mounted on the rotating sprocket structure 4 through a chassis, the pneumatic sorting device is arranged behind the machine vision device 5, the defective material discharge channel 6 and the high-quality material discharge channel 7 are respectively arranged on the side and tail of the rotating sprocket structure 4, and the pneumatic sorting device screens the defective cherry tomatoes to the defective material discharge channel 6 and screens the high-quality cherry tomatoes to the high-quality material discharge channel 7 according to the judgment result of the machine vision device 5.

[0034] Reference Figure 2 The feeding and lifting structure 1 includes a first mounting frame 11, a first motor 12, a first belt 13 and a first pulley. The first mounting frame 11 is tilted on the frame, and two first belt wheels 13 are spaced apart along the tilt direction of the first mounting frame 11. The first motor 12 is arranged on the first mounting frame 11 and is coaxially connected to one of the first pulleys. The first belt 13 is tensioned between the two first pulleys, and a plurality of blocking rods 14 are arranged circumferentially of the first belt 13, and a feeding trough for loading cherry tomatoes is formed between adjacent blocking rods 14.

[0035] Reference Figure 3 The structure 2 for eliminating overlap includes a second mounting frame 21, a second motor 22, a second belt 23 and a second pulley. The second mounting frame 21 is horizontally arranged on the frame. The front end of the second mounting frame 21 is connected to the upper end of the feeding and lifting structure 1. Two second pulleys are arranged on the second mounting frame 21 at intervals along the transmission direction. The second motor 22 is arranged on the second mounting frame 21 and is coaxially connected to one of the second pulleys. The second belt 23 is tensioned between the two second pulleys. The structure 2 for eliminating overlap also includes a plurality of front racks 24. The plurality of front racks 24 are arranged above the second belt 23 at intervals along the transmission direction. The height of the plurality of front racks 24 gradually decreases along the transmission direction. When the cherry tomatoes are transmitted to the front racks 24, the front racks 24 can block the cherry tomatoes that have reached their height to avoid the cherry tomatoes from stacking and passing through each other, thereby achieving the effect of eliminating overlap. As the heights of the multiple front racks 24 gradually decrease, a multi-level blocking effect is formed, so that some cherry tomatoes with lower overlapping heights can be blocked by the front racks 24 at the rear, reducing the blocking pressure of the front racks 24 at the front.

[0036] Reference Figure 4 The row structure 3 includes a third mounting frame 31, a third motor 32, a third belt 33 and a third pulley. The third mounting frame 31 is horizontally arranged on the frame. The front end of the third mounting frame 31 is docked with the overlap elimination structure 2. Two third belts 33 are arranged on the third mounting frame 31 at intervals along the transmission direction. The third belt 33 is tensioned between the two third pulleys. In particular, a plurality of third belts 33 are provided. The plurality of third belts 33 are arranged on the third pulley at intervals laterally. The plurality of third belts 33 are used to separate the cherry tomatoes entering the row structure 3 and further transmit them to achieve the row effect. Further, the row structure 3 also includes a plurality of rear racks 34. The plurality of rear racks 34 are arranged on the third mounting frame 31 at intervals along the transmission direction. The plurality of rear racks 34 are used to eliminate the overlap of the cherry tomatoes again on the row structure 3 to ensure the overlap elimination effect.

[0037] Reference Figure 5 and Figure 6The rotating sprocket structure 4 includes a fourth mounting frame 41, a fourth motor, a sprocket 42 and a chain 43. The fourth mounting frame 41 is horizontally arranged on the frame, and the front end of the fourth mounting frame 41 is connected to the rear end of the entire structure 3. Two groups of sprockets 42 are arranged on the fourth mounting frame 41 at intervals along the transmission direction, and multiple sprockets 42 in the same group are arranged on the fourth mounting frame 41 at intervals along the transverse direction. The fourth motor is connected to one group of sprockets 42 through a synchronous wheel and a synchronous belt. A plurality of chains 43 are provided, and the number of chains 43 is equal to the number of a single group of sprockets 42. Each chain 43 is respectively tensioned between two sprockets 42 of different groups. Each chain 43 is circumferentially arranged with a plurality of cylinders 44, and empty spaces for cherry tomatoes are formed between adjacent cylinders 44. Finally, the multiple chains 43 of the rotating sprocket structure 4 can convey the cherry tomatoes to the bottom of the machine vision device 5 for shooting and identification.

[0038] Reference Figure 1 and Figure 5 The machine vision device 5 is arranged in the middle of the rotating sprocket structure 4. The machine vision device 5 includes a light source, a CCD camera 51, an image processing unit and a communication module. The CCD camera 51 is used to photograph the appearance of cherry tomatoes. The light source provides brightness for the shooting of the CCD camera 51. The image processing unit uses a high-speed AI algorithm to analyze and process the shooting results of the CCD camera 51 to identify the color, size, shape and surface defects of the cherry tomatoes. The analysis and processing results are transmitted to the pneumatic sorting device through the communication module.

[0039] The pneumatic sorting device includes a solenoid valve control system, an air source system and multiple pneumatic nozzles. The solenoid valve control system controls different pneumatic nozzles to work according to the results of the machine vision device 5 to send defective cherry tomatoes with different defects into different defective discharge channels 6.

[0040] In summary, in the miniaturized cherry tomato appearance color sorter of the present invention, the appearance of the cherry tomatoes is identified by taking pictures with the CCD camera 51 and combining with the high-speed AI algorithm. Combined with the software logic, the cherry tomatoes with different characteristic appearances are screened into the corresponding channels. The detection efficiency is high and the recognition effect is outstanding, which can effectively solve the shortcomings of manual screening of cherry tomatoes in the prior art.

[0041] Embodiment 2

[0042] This embodiment also discloses a miniaturized cherry tomato appearance color sorting machine.

[0043] Reference Figure 7, which is different from the first embodiment, a self-rotation structure is provided between the cylinder 44 of the rotating sprocket structure 4 and the fourth mounting frame 41, and the self-rotation structure controls the cylinder 44 to rotate when passing under the machine vision device 5, thereby driving the cherry tomatoes between the adjacent cylinders 44 to rotate, so that the CCD camera 51 can shoot the entire surface of the cherry tomatoes, thereby obtaining a more accurate determination result. The self-rotation structure includes a gear 81 and a rack 82, and a plurality of gears 81 are provided, and the plurality of gears 81 are coaxially connected to one end of the cylinder 44 in a one-to-one correspondence, and the rack 82 is provided on the fourth mounting frame 41 and is located on the path of the gear 81 passing under the machine vision device 5. When the adjacent plurality of gears 81 pass through the rack 82, the plurality of gears 81 are simultaneously meshed with the rack 82 up and down, and the rack 82 controls the adjacent plurality of gears 81 to rotate in the same direction, and finally controls the cherry tomatoes between the adjacent gears 81 to rotate.

[0044] Reference Figures 7 to 9 , because different batches of cherry tomatoes may have large size differences, different batches of cherry tomatoes may have different effects on the sprocket 42 of the rotating sprocket structure 4. For example, when the size of the cherry tomatoes in this batch is large, the chain 43 may sag in the middle due to the large weight it carries, which in turn causes the height of the multiple adjacent gears 81 passing under the machine vision device 5 to drop, which not only affects the meshing smoothness of the gear 81 and the rack 82, but also easily causes damage to the structure, affecting the stability of the transmission. In addition, the rotating sprocket structure 4 may also experience a decrease in the tension of the chain 43 during long-term use, which may also cause the middle of the chain 43 to droop. In order to avoid this risk, the rack 82 is lifted and set on the fourth mounting frame 41 and is connected to a cylinder 9 that controls it to lift and lower. The fourth mounting frame 41 is also provided with a rangefinder that monitors the height change of the middle of the chain 43. When the rangefinder detects that the middle of the chain 43 is drooping, the cylinder 9 controls the rack 82 to drop in height to adapt to the change in the middle of the chain 43.

[0045] Reference Figures 7 to 9In addition, when the cherry tomatoes are large, it means that if the CCD camera 51 wants to capture the entire surface of the cherry tomatoes, the cherry tomatoes need to rotate more when passing under the CCD camera 51. To this end, the rack 82 of the self-rotating structure is also improved as follows. Specifically, the rack 82 includes a plurality of spaced tooth blocks 83 and a V-shaped connecting rod connecting the bottoms of the plurality of tooth blocks 83, each section of the V-shaped connecting rod includes a left oblique rod 101 and a right oblique rod 102, the upper ends of the left oblique rod 101 and the right oblique rod 102 of adjacent sections of the V-shaped connecting rod are respectively hinged to the bottom of the same tooth block 83, and the lower ends of the left oblique rod 101 and the right oblique rod 102 of the same section of the V-shaped connecting rod are hinged. Furthermore, the fourth mounting frame 41 is provided with a slide groove 103 along the spacing direction of the tooth block 83, and a plurality of slide bars 104 are horizontally slid on the slide groove 103, and a strip hole is provided on the slide bar 104, and two sliders 105 are rotatably arranged in the strip hole, and the two sliders 105 are also slidably connected to the left oblique rod 101 and the right oblique rod 102 of the same section of the V-shaped connecting rod. Further, the number of the tooth blocks 83 is odd, and the tooth block 83 in the middle is connected to the telescopic end of the cylinder 9. Through the above arrangement, the process of the cylinder 9 controlling the rack 82 to descend is as follows: the cylinder 9 first controls the middle tooth block 83 to descend, and the tooth block 83 can drive the remaining tooth blocks 83 on both sides to descend and gather together through the V-shaped connecting rod and the sliding rod 104, thereby shortening the tooth pitch, allowing the cherry tomatoes to rotate more when passing under the CCD camera 51, ultimately ensuring that even if the current batch of cherry tomatoes is large in size, the CCD camera 51 can still capture the entire surface of the cherry tomatoes, thereby improving the accuracy of judgment.

[0046] The above are all preferred embodiments of the present invention, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A miniaturized cherry tomato appearance color sorter, characterized by: The invention comprises a frame and a loading and lifting structure (1), an overlapping elimination structure (2), an arranging structure (3), a rotating sprocket structure (4), a machine vision device (5), a pneumatic sorting device, a defective material discharge channel (6) and a superior material discharge channel (7) arranged on the frame. Cherry tomatoes are transferred to the rotating sprocket structure (4) via the loading and lifting structure (1), the overlapping elimination structure (2) and the arranging structure (3). The overlapping elimination structure (2) comprises a plurality of front racks (24). The plurality of front racks (24) are arranged along the conveying direction, and the height of the plurality of front racks (24) gradually decreases along the conveying direction. The rotating sprocket structure (4) ) is provided with a self-rotating structure, the rotating sprocket structure (4) conveys the cherry tomatoes, the self-rotating structure controls the cherry tomatoes to rotate, the machine vision device (5) is mounted on the rotating sprocket structure (4) through a chassis, the pneumatic sorting device is arranged behind the machine vision device (5), the inferior product discharge channel (6) and the superior product discharge channel (7) are respectively arranged on the side and the tail of the rotating sprocket structure (4), and the pneumatic sorting device screens the inferior cherry tomatoes to the inferior product discharge channel (6) and screens the superior cherry tomatoes to the superior product discharge channel (7) according to the judgment result of the machine vision device (5); The overlapping elimination structure (2) comprises a second mounting frame (21), a second motor (22), a second belt (23) and a second pulley, wherein the second mounting frame (21) is horizontally arranged on the frame, the front end of the second mounting frame (21) is connected to the upper end of the loading and lifting structure (1), two second pulleys are arranged on the second mounting frame (21) at intervals along the conveying direction, the second motor (22) is arranged on the second mounting frame (21) and is coaxially connected to one of the second pulleys, and the second belt (23) is tensioned between the two second pulleys; a plurality of front frame rods (24) are arranged above the second belt (23) at intervals along the conveying direction; The row-forming structure (3) comprises a third mounting frame (31), a third motor (32), a third belt (33) and a third pulley. The third mounting frame (31) is horizontally arranged on the frame. The front end of the third mounting frame (31) is connected to the overlap elimination structure (2). Two third pulleys are arranged on the third mounting frame (31) at intervals along the conveying direction. The third belt (33) is tensioned between the two third pulleys. A plurality of third belts (33) are provided. The plurality of third belts (33) are arranged on the third pulley at intervals laterally. The plurality of third belts (33) are used to separate the cherry tomatoes entering the row-forming structure (3) and further convey them. The row-forming structure (3) also comprises a plurality of rear frame rods (34). The plurality of rear frame rods (34) are arranged on the third mounting frame (31) at intervals along the conveying direction.

2. A miniaturized cherry tomato appearance color sorting machine according to claim 1, characterized in that: The loading and lifting structure (1) comprises a first mounting frame (11), a first motor (12), a first belt (13) and a first pulley, wherein the first mounting frame (11) is tiltedly arranged on the frame, and two first pulleys are arranged at intervals along the tilting direction of the first mounting frame (11); the first motor (12) is arranged on the first mounting frame (11) and is coaxially connected to one of the first pulleys; the first belt (13) is tensioned between the two first pulleys, and a plurality of blocking rods (14) are arranged circumferentially on the first belt (13); and a loading trough for loading cherry tomatoes is formed between adjacent blocking rods (14).

3. A miniaturized cherry tomato appearance color sorting machine according to claim 1, characterized in that: The rotating sprocket structure (4) comprises a fourth mounting frame (41), a fourth motor, a sprocket (42) and a chain (43). The fourth mounting frame (41) is horizontally arranged on the frame. The front end of the fourth mounting frame (41) is butted against the rear end of the entire structure (3). Two groups of sprockets (42) are arranged on the fourth mounting frame (41) at intervals along the transmission direction. A plurality of sprockets (42) in the same group are arranged on the fourth mounting frame (41) at intervals along the transverse direction. The fourth motor is connected to one group of the sprockets (42). A plurality of chains (43) are arranged. The number of the chains (43) is equal to the number of the sprockets (42) in a single group. Each chain (43) is respectively tensioned between two sprockets (42) in different groups. A plurality of cylinders (44) are arranged circumferentially on each chain (43). Spaces for cherry tomatoes to be placed are formed between adjacent cylinders (44).

4. A miniaturized cherry tomato appearance color sorting machine according to claim 1, characterized in that: The machine vision device (5) is arranged in the middle of the rotating sprocket structure (4), and comprises a light source, a CCD camera (51), an image processing unit and a communication module. The CCD camera (51) is used to photograph the appearance of cherry tomatoes. The light source provides brightness for the photography of the CCD camera (51). The image processing unit uses a high-speed AI algorithm to analyze and process the photography results of the CCD camera (51), and the analysis and processing results are transmitted to the pneumatic sorting device through the communication module.

5. A miniaturized cherry tomato appearance color sorting machine according to claim 1, characterized in that: The pneumatic sorting device comprises an electromagnetic valve control system, an air source system and a plurality of pneumatic nozzles. The electromagnetic valve control system controls different pneumatic nozzles to operate according to the result of the machine vision device (5) so as to feed defective cherry tomatoes with different defects into different defective discharge channels (6).

6. A miniaturized cherry tomato appearance color sorting machine according to claim 3, characterized in that: The self-rotating structure is arranged between the cylinder (44) and the fourth mounting frame (41), and the self-rotating structure includes a gear (81) and a rack (82). There are multiple gears (81), and the multiple gears (81) are coaxially connected to one end of the cylinder (44) in a one-to-one correspondence. The rack (82) is arranged on the fourth mounting frame (41) and is located on the path where the gear (81) passes below the machine vision device (5). When the adjacent multiple gears (81) pass through the rack (82), the multiple gears (81) are simultaneously meshed with the rack (82) up and down, and the rack (82) controls the adjacent multiple gears (81) to rotate in the same direction.

7. A miniaturized cherry tomato appearance color sorting machine according to claim 6, characterized in that: The rack (82) is lifted and arranged on the fourth mounting frame (41) and is connected to a cylinder (9) for controlling the lifting and lowering thereof. The fourth mounting frame (41) is also provided with a distance meter for monitoring the height change of the middle part of the chain (43). When the distance meter detects that the middle part of the chain (43) is drooping, the cylinder (9) controls the rack (82) to descend.

8. A miniaturized cherry tomato appearance color sorting machine according to claim 7, characterized in that: The rack (82) comprises a plurality of tooth blocks (83) distributed at intervals and a V-shaped connecting rod connecting the bottoms of the plurality of tooth blocks (83); each section of the V-shaped connecting rod comprises a left oblique rod (101) and a right oblique rod (102); the upper ends of the left oblique rod (101) and the right oblique rod (102) of adjacent sections of the V-shaped connecting rod are respectively hinged to the bottom of the same tooth block (83); the lower ends of the left oblique rod (101) and the right oblique rod (102) of the same section of the V-shaped connecting rod are hinged; the fourth mounting frame (41) is arranged along A sliding groove (103) is provided in the spacing direction of the tooth block (83), and a plurality of sliding rods (104) are horizontally slidable on the sliding groove (103). The sliding rod (104) is provided with a strip hole, and two sliding blocks (105) are rotatably arranged in the strip hole. The two sliding blocks (105) are also slidably connected to the left oblique rod (101) and the right oblique rod (102) of the same section of the V-shaped connecting rod respectively; the number of the tooth blocks (83) is odd, and the tooth block (83) located in the middle is connected to the telescopic end of the cylinder (9).

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