Device and method for automatically sorting picked Korla pears

Abstract

The invention discloses an automatic sorting device and method for picked Korla pears, the sorting device comprises a feeding conveying belt arranged at the inlet end of a double-roller type sorting mechanism, a material guiding and discharging part and a plurality of sorting parts are sequentially formed on the double-roller type sorting mechanism in the conveying direction of materials, the sorting parts are respectively provided with a discharging gap, and the discharging gaps are communicated with the feeding conveying belt. The widths of the discharging gaps are gradually increased in the material conveying direction, a sundry collecting kettle is arranged below the material guiding and discharging part, a detecting and taking mechanism is arranged above the material guiding and discharging part, and a side-by-side conveying mechanism is arranged below the sorting parts. The method is operated on the basis of the sorting device, sorting of the Korla pears is achieved, and fruits with poor quality are removed. According to the fruit sorting device, the purpose of automatic sorting is achieved, the operation intensity is reduced, the sorting efficiency is improved, fruits which are poor in quality and locally rotten and collided can be effectively removed, and the effects of fine selection and fine separation are achieved. The Korla pear sorting device is suitable for the technical field of Korla pear sorting.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit and vegetable sorting, and in particular relates to a device and method for automatically sorting Korla fragrant pears after picking. Background Art

[0002] Due to the influence of the growing environment, Korla fragrant pear has a better taste and nutrition, and is liked by consumers. In order to meet the needs of the consumer market, Korla fragrant pear is widely planted. Due to the different sizes of fruits borne by Korla fragrant pear trees in different years, or the influence of factors such as pollination time, different light, and different temperature differences in pear trees in the same year, the sizes of the fruits borne are also different. In this way, fruits of different sizes need to be sorted to facilitate subsequent grading, packaging, transportation and sales of the appearance. The existing sorting method is relatively traditional, generally sorted by manual labor, with high work intensity and low sorting efficiency. When sorting large quantities of fruits, the fruit quality deteriorates due to the long construction period. In order to improve the sorting efficiency, sorting equipment is used for automatic sorting. However, during the sorting process, some fruits with poor quality, partial rot, and partial bumps cannot be identified by the sorting equipment, and then mixed into fruits with better quality, and the effect of selection and precision cannot be achieved. From this, it can be seen that there is an urgent need for an automatic sorting equipment to achieve the purpose of automated sorting, reduce work intensity, improve sorting efficiency, and effectively remove fruits of poor quality, partial rot, and partial bumps, to achieve the effect of selection and precision sorting. Summary of the invention

[0003] The invention provides a device and method for automatically sorting Korla fragrant pears after picking, which are used to achieve the purpose of automatic sorting, reduce work intensity, improve sorting efficiency, and can effectively remove fruits with poor quality, local rot, and local bumps, so as to achieve the effect of selection and precise sorting.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] A device for automatically sorting Korla fragrant pears after picking, comprising a feeding conveyor belt arranged at the inlet end of a roller sorting mechanism, a material guide and discharge portion and a plurality of sorting portions are sequentially formed on the roller sorting mechanism along the material conveying direction, the sorting portions respectively have material discharge gaps, and the widths of the material discharge gaps increase gradually along the material conveying direction, a debris collecting kettle is arranged below the material guide and discharge portion, a detection and picking mechanism is arranged above the material guide and discharge portion, and a side-by-side conveying mechanism is arranged below the plurality of sorting portions.

[0006] Furthermore, the roller type sorting mechanism comprises two multi-stage guide rollers relatively installed in the assembly shell, the axial ends of each of the multi-stage guide rollers are rotatably connected to the assembly shell respectively, and the upper and lower ends of the assembly shell are in an open state.

[0007] Furthermore, the multi-stage material guide roller includes a material guide roller body and a plurality of sorting roller bodies, the radial lengths of these sorting roller bodies decrease along the material conveying direction, and the material guide roller body coincides with the axis of these sorting roller bodies; the material guide portion is composed of two material guide roller bodies in two multi-stage material guide rollers, and each sorting portion is composed of two opposite sorting roller bodies in two multi-stage material guide rollers, and the material unloading gap is formed in the gap between the two opposite sorting roller bodies.

[0008] Furthermore, a first spiral material guide groove is constructed on the circumferential surface of each of the guide roller bodies, and two ends of the first spiral material guide groove are spirally extended along the axis of the guide roller body to the two ends of the guide roller body respectively. A second spiral material guide groove is constructed on the circumferential surface of each sorting roller body, and two ends of the second spiral material guide groove are spirally extended along the axis of the sorting roller body to the two ends of the sorting roller body respectively.

[0009] Furthermore, an exhaust cavity is constructed in the material guide roller body, and a plurality of exhaust holes are evenly opened on the material guide roller body and on the peripheral wall of the first spiral material guide groove, and all of these exhaust holes are connected with the exhaust cavity; an installation shaft tube is coaxially constructed at one end of the material guide roller body away from the sorting roller body, one end of the installation shaft tube is connected with the exhaust cavity, and the other end of the installation shaft tube is in a closed state, the installation shaft tube is rotatably connected to the assembly shell, and the installation shaft tube is connected with the air guide cover.

[0010] Furthermore, a plurality of air guide holes are opened on the portion of the mounting shaft tube located at the air guide hood, and the air guide holes connect the air guide hood and the exhaust chamber. The air guide hood is mounted on the end of the assembly shell, and an air intake joint is constructed on the air guide hood. Transmission gears are respectively mounted on the two mounting shaft tubes, and the two transmission gears are meshed with each other, and a transmission pulley is mounted on one of the mounting shaft tubes.

[0011] Furthermore, the detection and picking mechanism includes a longitudinal guide rail arranged above the material guide and discharge part, the longitudinal guide rail extends along the material conveying direction, and multiple image acquisition components are installed on the longitudinal guide rail; multiple plug-in picking components that can move along the longitudinal guide rail are also installed on the longitudinal guide rail.

[0012] Furthermore, the image acquisition component includes a transverse beam detachably mounted on the upper end of the longitudinal guide rail, and CCD image sensors for capturing materials on the material guide and discharge portion are respectively mounted on the transverse beam and on both sides of the longitudinal guide rail.

[0013] Furthermore, the insertion type picking component includes a linear slide mounted on the lower part of the longitudinal guide rail, a connecting ear is constructed on the linear slide, an angle adjustment motor is installed on the linear slide, an output shaft of the angle adjustment motor is rotatably connected to the connecting ear, an electric cylinder body of the driving electric cylinder is fixedly connected to the output shaft of the angle adjustment motor through an adapter sleeve, an electric cylinder rod of the driving electric cylinder is connected to an insertion rod, an insertion head is constructed at one end of the insertion rod away from the electric cylinder rod, an elastic external expansion bag is constructed between the insertion head and the insertion rod, a first conducting channel and a second conducting channel are provided on the electric cylinder rod, a third conducting channel is provided on the insertion head, two ends of the third conducting channel are respectively connected to the first conducting channel and the outside world, a fourth conducting channel is provided in the insertion rod, two ends of the fourth conducting channel are respectively connected to the second conducting channel and the airbag cavity of the elastic external expansion bag, and the first conducting channel and the second conducting channel are respectively connected to a first hose and a second hose.

[0014] The present invention also discloses a method for automatically sorting the Korla fragrant pears after picking, comprising the following steps:

[0015] Step 1. Continuously supply the Korla fragrant pears to be sorted to the feeding conveyor belt, and control the feeding conveyor belt to continuously move, so as to continuously supply the Korla fragrant pears to the roller sorting mechanism;

[0016] Step 2. Control the action of the roller sorting mechanism so that the Korla fragrant pears are gradually arranged in sequence along the conveying direction of the material at the guide and discharge part;

[0017] Step 3. Suction the debris collection kettle, so that the residual leaves on the Korla fragrant pear enter the debris collection kettle from the guide and discharge part, and then are sucked out;

[0018] Step 4. Control the detection and picking mechanism to detect the Korla fragrant pears arranged in sequence at the guide and discharge part, and remove unqualified Korla fragrant pears;

[0019] Step 5. Korla pears of different sizes are discharged from the unloading gaps at different sorting sections and fall onto the side-by-side conveying mechanism in a separated state, and are then transported away and finally collected separately.

[0020] Due to the adoption of the above structure, the technical progress achieved by the present invention compared with the prior art is that: the present invention supplies the picked Korla fragrant pears in batches and continuously to the roller sorting mechanism through the feeding conveyor belt. In the process of the Korla fragrant pears passing through the guide and discharge part of the roller sorting mechanism, the guide and discharge part arranges the Korla fragrant pears one by one and gradually moves toward the sorting part. Under the action of the guide and discharge part, a part of the leaves, adhesives, etc. on the Korla fragrant pears will gradually break away and enter the debris collection kettle; at the same time, the detection and picking mechanism located above the guide and discharge part detects the Korla fragrant pears arranged in sequence on the guide and discharge part, and takes out the fruits that fail the detection. Qualified fruits continue to be transported, and these fruits fall from the corresponding sorting parts from small to large, thereby achieving the purpose of automatic sorting; the sorted fruits fall into the side-by-side conveying mechanism, which synchronously transports the sorted fruits, and multiple collection bags or multiple collection cylinders are respectively provided at the discharge end of the side-by-side conveying mechanism, and these collection bags or collection cylinders collect the sorted fruits respectively. In summary, the present invention achieves the purpose of automated sorting, reduces the intensity of work, improves the sorting efficiency, and can effectively remove fruits of poor quality, partial rot, and partial bumps, achieving the effect of selection and precision sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0022] In the attached picture:

[0023] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a roller sorting mechanism according to an embodiment of the present invention;

[0025] Figure 3 It is a top view of the structure of the roller sorting mechanism according to an embodiment of the present invention;

[0026] Figure 4 It is a schematic structural diagram of a single multi-stage guide roller in a roller sorting mechanism according to an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of the partially disassembled structure of the roller sorting mechanism according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of a debris collection kettle according to an embodiment of the present invention;

[0029] Figure 7 It is a structural schematic diagram of a side-by-side conveying mechanism according to an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of a detection and taking mechanism according to an embodiment of the present invention;

[0031] Fig. 9 This is a structural front view of the detection and taking mechanism of an embodiment of the present invention;

[0032] Fig.10 It is a structural schematic diagram of an insert-type taking component in a detection and taking mechanism according to an embodiment of the present invention;

[0033] Fig.11 It is a partial structural cross-sectional view of an inserted taking component in a detection and taking mechanism according to an embodiment of the present invention.

[0034] Labeled parts: 100-feeding conveyor belt, 200-roller sorting mechanism, 201-assembly shell, 202-connecting edge, 203-discharge roller body, 204-first spiral guide trough, 205-exhaust hole, 206-debris discharge gap, 207-sorting roller body, 208-second spiral guide trough, 209-feeding gap, 210-installation shaft tube, 211-air guide hole, 212-air guide cover, 213-intake joint, 214-transmission gear, 215-transmission pulley, 300-side-by-side conveying mechanism, 301-installation frame, 302-conveyor belt, 400-detection and picking mechanism, 401-longitudinal Guide rail, 402-transverse beam, 403-CCD image sensor, 404-linear slide, 405-connecting ear, 406-angle adjustment motor, 407-output shaft, 408-adapter sleeve, 409-electric cylinder body, 410-electric cylinder rod, 411-insertion rod, 412-insertion head, 413-elastic external expansion bag, 414-third conduction channel, 415-airbag cavity, 416-fourth conduction channel, 417-first conduction channel, 418-second conduction channel, 419-first hose, 420-second hose, 500-waste conveyor belt, 600-debris collection kettle, 601-debris discharge connector. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0036] The invention discloses an automatic sorting device for picking Korla fragrant pears. Figure 1-11As shown, it includes a feeding conveyor belt 100, a roller sorting mechanism 200, a debris collection kettle 600, a detection and picking mechanism 400 and a side-by-side conveying mechanism 300. The feeding conveyor belt 100 is arranged at the inlet end of the roller sorting mechanism 200, and a guide and discharge part and a plurality of sorting parts are sequentially formed on the roller sorting mechanism 200 along the conveying direction of the material. These sorting parts respectively have a material discharge gap 209, and the width of these material discharge gaps 209 increases along the conveying direction of the material. The debris collection kettle 600 of the present invention is arranged below the guide and discharge part, the detection and picking mechanism 400 is arranged above the guide and discharge part, and the side-by-side conveying mechanism 300 is arranged below the above-mentioned plurality of sorting parts. The working principle and advantages of the present invention are as follows: the present invention supplies the picked Korla pears in batches and continuously to the roller sorting mechanism 200 through the feeding conveyor belt 100. In the process of the Korla pears passing through the guide and discharge part of the roller sorting mechanism 200, the guide and discharge part arranges the Korla pears one by one and gradually moves toward the sorting part. Under the action of the guide and discharge part, a part of the leaves, adhesives, etc. on the Korla pears will gradually detach and enter the debris collection kettle 600; at the same time, the detection and picking mechanism 400 located above the guide and discharge part detects the Korla pears arranged in sequence on the guide and discharge part, and takes out the fruits that fail the detection. Qualified fruits continue to be transported, and these fruits fall from the corresponding unloading gap 209 of the sorting part from small to large, thereby achieving the purpose of automatic sorting; the sorted fruits fall into the side-by-side conveying mechanism 300, and the side-by-side conveying mechanism 300 synchronously conveys the sorted fruits. A plurality of collecting bags or a plurality of collecting cylinders are respectively provided at the discharge end of the side-by-side conveying mechanism 300, and these collecting bags or collecting cylinders collect the sorted fruits respectively. In summary, the present invention achieves the purpose of automated sorting, reduces the intensity of work, improves the sorting efficiency, and can effectively remove fruits of poor quality, partial rot, and partial bumps, achieving the effect of selection and precision sorting.

[0037] As a preferred embodiment of the present invention, Figure 2 , 3As shown, the roller sorting mechanism 200 includes an assembly shell 201 and two multi-stage guide rollers, which are relatively installed in the assembly shell 201, and the axial ends of each multi-stage guide roller are respectively rotatably connected to the assembly shell 201. Moreover, the upper and lower ends of the assembly shell 201 of this embodiment are in an open state, and the open upper end of the assembly shell 201 is convenient for the detection and picking mechanism 400 to detect and pick up the fruit; the open lower end of the assembly shell 201 and the position of the debris collection pot 600 are configured with a connecting edge 202, and the connecting edge 202 is detachably connected to the upper end of the debris collection pot 600, so that the fallen debris, branches and leaves can smoothly enter the debris collection pot 600; the open lower end of the assembly shell 201 and the multiple sorting parts are used to smoothly arrange the fruits of different sizes to the corresponding positions of the side-by-side conveying mechanism 300. The two multi-stage guide rollers of this embodiment are driven to rotate relative to each other, so that the Korla fragrant pears located between the two multi-stage guide rollers are gradually transported and sorted.

[0038] As a preferred embodiment of the present invention, Figure 3-5 As shown, the multi-stage guide roller includes a guide roller body 203 and a plurality of sorting roller bodies 207. The radial lengths of the sorting roller bodies 207 are different, and the radial lengths of the sorting roller bodies 207 decrease along the conveying direction of the material. The axes of the guide roller body 203 and the sorting roller bodies 207 coincide with each other. In this embodiment, a debris discharge gap 206 is formed between two guide roller bodies 203. The above-mentioned guide roller body is composed of two guide roller bodies 203 in two multi-stage guide rollers. Each sorting part is composed of two opposite sorting roller bodies 207 in two multi-stage guide rollers. The unloading gap 209 is formed at the gap between the two opposite sorting roller bodies 207. Since the plurality of unloading gaps 209 are arranged in a multi-stage continuous arrangement, that is, the widths of the unloading gaps 209 are arranged in sequence from small to large, the Korla fragrant pears are sorted out in sequence from small to large, avoiding the subsequent mixed loading. The discharge guide of this embodiment discharges the separated debris to the debris collection kettle 600 through the discharge gap, and in the process of relative rotation of the two discharge guide rollers 203, the debris is promoted to enter the debris collection kettle 600 smoothly and quickly. Figure 1 , 7 As shown, the side-by-side conveying mechanism 300 of this embodiment includes a mounting frame 301, on which a plurality of conveyor belts 302 are arranged side by side along the arrangement direction of the sorting sections. These conveyor belts 302 are arranged one-to-one corresponding to the above-mentioned plurality of sorting sections, and are further used to synchronously convey the sorted fruits.

[0039] As a preferred embodiment of the present invention, Figure 3 , 4As shown, a first spiral guide groove 204 is configured on the circumference of each material guide roller body 203, and the first spiral guide groove 204 extends spirally along the axis of the material guide roller body 203, and the two ends of the first spiral guide groove 204 extend to the two ends of the material guide roller body 203. In this embodiment, a second spiral guide groove 208 is configured on the circumference of each sorting roller body 207, and the second spiral guide groove 208 extends spirally along the axis of the sorting roller body 207, and the two ends of the second spiral guide groove 208 extend to the two ends of the sorting roller body 207. The working principle and advantages of the present invention are as follows: since the present invention provides a first spiral guide groove 204 on the guide roller body 203 and a second spiral guide groove 208 on the sorting roller body 207, during the relative rotation of the two multi-stage guide rollers, the fruit moves along the axial direction of the multi-stage guide roller under the action of the first spiral guide groove 204 or the second spiral guide groove 208, and the fruit is sequentially arranged between the two guide roller bodies 203 under the action of the two first spiral guide grooves 204, and is gradually transported to the sorting roller body 207. During this process, the fruit flips between the two guide roller bodies 203, and the friction between the two guide roller bodies 203 and the fruit can effectively remove debris on the surface of the fruit; and the fruit of corresponding size falls from the gap between the corresponding two second spiral guide grooves 208, so that the fruit is sorted in an orderly manner.

[0040] As a preferred embodiment of the present invention, Figure 3-6As shown, an exhaust cavity is constructed in the guide and discharge roller body 203, and a plurality of exhaust holes 205 are opened on the guide and discharge roller body 203, and these exhaust holes 205 are located on the peripheral wall of the first spiral guide groove 204, and these exhaust holes 205 are all connected to the exhaust cavity. In this embodiment, a mounting shaft tube 210 is coaxially constructed at one end of the guide and discharge roller body 203 away from the sorting roller body 207, one end of the mounting shaft tube 210 is connected to the exhaust cavity, and the other end of the mounting shaft tube 210 is in a closed state. The mounting shaft tube 210 is rotatably connected to the assembly shell 201, and the mounting shaft tube 210 is connected to the air guide cover 212. In this embodiment, a plurality of air guide holes 211 are opened at the portion of the mounting shaft tube 210 located at the air guide cover 212, and these air guide holes 211 connect the air guide cover 212 and the exhaust cavity. The air guide cover 212 is installed on the end of the assembly shell 201, and an air inlet joint 213 is constructed on the air guide cover 212, and the air inlet joint 213 is connected to the inner cavity of the air guide cover 212. The diameter of the debris collection kettle 600 of this embodiment gradually decreases downward in the vertical direction, and a debris discharge joint 601 is constructed at the lower end of the debris collection kettle 600. In this embodiment, during the process of conveying fruits through the roller sorting mechanism 200, air of a predetermined pressure is introduced into the air guide cover 212, and this part of air swirls out from the first spiral guide groove 204 through the air guide hole 211. With the action of the first spiral guide groove 204, the debris on the surface of the fruit is quickly separated. At the same time, the debris discharge joint 601 is sucked, and the airflow discharged from the air guide hole 211 and the debris separated from the fruit quickly pass through the debris discharge gap 206 under negative pressure, and enter the debris collection kettle 600, and then discharged from the debris discharge joint 601. In this embodiment, transmission gears 214 are respectively installed on two mounting shaft tubes 210, and the two transmission gears 214 mesh with each other, and a transmission pulley 215 is installed on one of the mounting shaft tubes 210. In this embodiment, the transmission pulley 215 is driven to rotate, so that it drives the corresponding mounting shaft tube 210 to rotate, and under the transmission of the two transmission gears 214, the purpose of relative rotation of the two multi-stage guide rollers is achieved.

[0041] As a preferred embodiment of the present invention, Figure 1 , 8As shown, the detection and picking mechanism 400 includes a longitudinal guide rail 401, a plurality of image acquisition components and a plurality of insert-type picking components. The longitudinal guide rail 401 is arranged above the material guide and discharge portion, and the longitudinal guide rail 401 extends along the conveying direction of the material. The plurality of image acquisition components are installed on the longitudinal guide rail 401 at intervals along the length direction of the longitudinal guide rail 401. The plurality of insert-type picking components are installed on the longitudinal guide rail 401 at intervals along the length direction of the longitudinal guide rail 401, and each insert-type picking component can move on the longitudinal guide rail 401. In this embodiment, multiple image acquisition components are used to perform image recognition on the fruits arranged in sequence on the guide and discharge part. Under the action of the guide and discharge part, the fruits are turned over in all directions, so that the image acquisition components can detect the surface of the fruits without blind spots, and then identify defective and inferior fruits. After that, the action of the insertion and picking components at the corresponding positions is controlled to be synchronously aligned with the fruits to be removed. After that, the insertion and picking components insert the target fruits and transfer them to the waste conveyor belt 500 on one side of the roller sorting mechanism 200. The waste conveyor belt 500 transports the fruits on it to the waste collection barrel for subsequent centralized processing or other uses.

[0042] As a preferred embodiment of the present invention, Figure 8 As shown, the image acquisition component includes a transverse beam 402 and two CCD image sensors 403. The transverse beam 402 is detachably mounted on the upper end surface of the longitudinal guide rail 401, and the two CCD image sensors 403 are respectively mounted on both ends of the transverse beam 402, and the two CCD image sensors 403 are respectively located on both sides of the longitudinal guide rail 401. The function of the CCD image sensor 403 is to collect the material (fruit) on the guide and discharge part.

[0043] As a preferred embodiment of the present invention, Figure 9-11As shown, the insertion type picking assembly includes a linear slide 404, an angle adjustment motor 406, a driving electric cylinder and an insertion rod 411. The linear slide 404 is assembled at the lower part of the longitudinal guide rail 401 and can move on the longitudinal guide rail 401 along the length direction of the longitudinal guide rail 401. A connecting ear 405 is constructed on the linear slide 404, and the angle adjustment motor 406 is installed on the linear slide 404. The output shaft 407 of the angle adjustment motor 406 is rotatably connected to the connecting ear 405. An adapter sleeve 408 is constructed at the upper end of the electric cylinder body 409 of the driving electric cylinder, and the adapter sleeve 408 is fixedly connected to the output shaft 407 of the angle adjustment motor 406. The electric cylinder rod 410 driving the electric cylinder is connected to the insertion rod 411. The insertion rod 411 is configured with an insertion head 412 at one end away from the electric cylinder rod 410. An elastic external expansion bag 413 is configured between the insertion head 412 and the insertion rod 411. The elastic external expansion bag 413 is in an inwardly concave state under normal pressure. The electric cylinder rod 410 is provided with a first conduction channel 417 and a second conduction channel 418, which are independent of each other; the insertion head 412 is provided with a third conduction channel 414, and the two ends of the third conduction channel 414 are respectively connected to the first conduction channel 417 and the outside world; the insertion rod 411 is provided with a fourth conduction channel 416, and the two ends of the fourth conduction channel 416 are respectively connected to the second conduction channel 418 and the airbag cavity 415 of the elastic external expansion bag 413, and the first conduction channel 417 and the second conduction channel 418 are respectively connected to the first hose 419 and the second hose 420. The working principle and advantages of this embodiment are as follows: this embodiment achieves the purpose of synchronous movement with the target fruit by controlling the linear slide 404 to move on the longitudinal guide rail 401, and at the same time, controls the angle adjustment motor 406 to adjust the angle of the driving electric cylinder so that the insertion rod 411 is aligned with the target fruit; then, controls the driving electric cylinder to extend so that it drives the insertion rod 411 to move toward the target fruit until the insertion head 412, the elastic external expansion bag 413 and part of the insertion rod 411 are inserted into the target fruit; then, pressurizes the airbag cavity 415 with high-pressure gas through the second hose 420, so that the elastic external expansion bag 413 expands outward and expands tightly in the target fruit to prevent the insertion rod 411 from separating from the target fruit ; Then, the driving electric cylinder is controlled to contract, and at the same time, the angle adjustment motor 406 is controlled to drive the driving electric cylinder to deflect a certain angle until the insertion rod 411 is obliquely aligned with the waste conveyor belt 500; the high-pressure gas in the airbag cavity 415 is discharged from the second hose 420, so that the elastic external expansion bag 413 releases the expansion of the target fruit, and then the high-pressure gas is passed into the insertion head 412 through the first hose 419, and the high-pressure gas directly acts on the target fruit through the third conducting channel 414. Under the action of the high-pressure gas, the target fruit is separated from the insertion rod 411 and driven away to the waste conveyor belt 500; after completion, the angle adjustment motor 406 and the driving electric cylinder are controlled to return to their positions for the next fruit insertion operation.This embodiment can efficiently take out the target fruit through the insert-type taking component, avoiding the situation where the target fruit cannot be taken out smoothly due to the uneven surface of the target fruit.

[0044] The present invention also discloses a method for automatically sorting the Korla fragrant pears after picking, comprising the following steps:

[0045] Step 1. Continuously supply the Korla fragrant pears to be sorted to the feeding conveyor belt 100, and control the feeding conveyor belt 100 to continuously move, so as to continuously supply the Korla fragrant pears to the roller sorting mechanism 200;

[0046] Step 2: Control the action of the roller sorting mechanism 200 so that the Korla fragrant pears are gradually arranged in sequence along the conveying direction of the material at the guide and discharge part;

[0047] Step 3. Suction is applied to the debris collection kettle 600, so that the residual leaves on the Korla pear enter the debris collection kettle 600 from the guide and discharge part, and then are sucked out;

[0048] Step 4: Control the detection and taking mechanism 400 to detect the Korla fragrant pears arranged in sequence at the guide and discharge part, and remove the unqualified Korla fragrant pears;

[0049] Step 5. Korla pears of different sizes are discharged from the unloading gaps 209 at different sorting sections, and fall onto the side-by-side conveying mechanism 300 in a separated state, and are then conveyed away and finally collected separately.

[0050] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. An automatic sorting device for picking Korla fragrant pears, characterized in that: It includes a feeding conveyor belt arranged at the inlet end of a double-roller sorting mechanism, a material guide and discharge portion and a plurality of sorting portions are sequentially formed on the double-roller sorting mechanism along the material conveying direction, the sorting portions respectively have material discharge gaps, and the widths of the material discharge gaps increase gradually along the material conveying direction, a debris collecting kettle is arranged below the material guide and discharge portion, a detection and picking mechanism is arranged above the material guide and discharge portion, and a side-by-side conveying mechanism is arranged below the plurality of sorting portions.

2. The automatic sorting device for picking Korla pears according to claim 1 is characterized in that: The roller sorting mechanism comprises two multi-stage guide rollers relatively installed in an assembly shell, the axial ends of each multi-stage guide roller are rotatably connected to the assembly shell respectively, and the upper and lower ends of the assembly shell are in an open state.

3. The automatic sorting device for picking Korla fragrant pears according to claim 2 is characterized in that: The multi-stage material guide roller comprises a material guide roller body and a plurality of sorting roller bodies, the radial lengths of the sorting roller bodies decrease along the material conveying direction, and the axes of the material guide roller body and the sorting roller bodies coincide with each other; the material guide portion is composed of two material guide roller bodies in two multi-stage material guide rollers, each sorting portion is composed of two opposite sorting roller bodies in two multi-stage material guide rollers, and the material unloading gap is formed in the gap between the two opposite sorting roller bodies.

4. The automatic sorting device for picking Korla fragrant pears according to claim 3 is characterized in that: A first spiral material guide groove is constructed on the circumferential surface of each of the guide and discharge roller bodies, and two ends of the first spiral material guide groove are spirally extended along the axis of the guide and discharge roller body to the two ends of the guide and discharge roller body respectively. A second spiral material guide groove is constructed on the circumferential surface of each sorting roller body, and two ends of the second spiral material guide groove are spirally extended along the axis of the sorting roller body to the two ends of the sorting roller body respectively.

5. The automatic sorting device for picking Korla fragrant pears according to claim 4 is characterized in that: An exhaust cavity is constructed in the material guide roller body, and a plurality of exhaust holes are evenly opened on the material guide roller body and on the peripheral wall of the first spiral material guide groove, and all of these exhaust holes are connected with the exhaust cavity; an installation shaft tube is coaxially constructed at one end of the material guide roller body away from the sorting roller body, one end of the installation shaft tube is connected with the exhaust cavity, and the other end of the installation shaft tube is in a closed state, the installation shaft tube is rotatably connected to the assembly shell, and the installation shaft tube is connected with the air guide cover.

6. The automatic sorting device for picking Korla fragrant pears according to claim 5, characterized in that: A plurality of air guide holes are provided on the portion of the mounting shaft tube located at the air guide hood, and the air guide holes connect the air guide hood and the exhaust chamber. The air guide hood is mounted on the end of the assembly shell, and an air intake joint is constructed on the air guide hood. Transmission gears are respectively mounted on the two mounting shaft tubes, and the two transmission gears are meshed with each other. A transmission pulley is mounted on one of the mounting shaft tubes.

7. The automatic sorting device for picking Korla fragrant pears according to claim 1, characterized in that: The detection and picking mechanism includes a longitudinal guide rail arranged above the material guide and discharge part, the longitudinal guide rail extends along the material conveying direction, and multiple image acquisition components are installed on the longitudinal guide rail; multiple plug-in picking components that can move along the longitudinal guide rail are also installed on the longitudinal guide rail.

8. The automatic sorting device for picking Korla fragrant pears according to claim 7, characterized in that: The image acquisition component comprises a transverse beam detachably mounted on the upper end of the longitudinal guide rail, and CCD image sensors for collecting materials on the material guide and discharge part are respectively mounted on the transverse beam and on both sides of the longitudinal guide rail.

9. The automatic sorting device for picking Korla fragrant pears according to claim 7, characterized in that: The insertion type picking component includes a linear slide mounted on the lower part of the longitudinal guide rail, a connecting ear is constructed on the linear slide, an angle adjustment motor is installed on the linear slide, an output shaft of the angle adjustment motor is rotatably connected to the connecting ear, an electric cylinder body of the driving electric cylinder is fixedly connected to the output shaft of the angle adjustment motor through an adapter sleeve, an electric cylinder rod of the driving electric cylinder is connected to an insertion rod, an insertion head is constructed at one end of the insertion rod away from the electric cylinder rod, an elastic external expansion bag is constructed between the insertion head and the insertion rod, a first conducting channel and a second conducting channel are provided on the electric cylinder rod, a third conducting channel is provided on the insertion head, two ends of the third conducting channel are respectively connected to the first conducting channel and the outside world, a fourth conducting channel is provided in the insertion rod, two ends of the fourth conducting channel are respectively connected to the second conducting channel and the airbag cavity of the elastic external expansion bag, and the first conducting channel and the second conducting channel are respectively connected to a first hose and a second hose.

10. A method for automatically sorting Korla fragrant pears after picking according to any one of claims 1 to 9, characterized in that: The steps include: Step 1. Continuously supply the Korla fragrant pears to be sorted to the feeding conveyor belt, and control the feeding conveyor belt to continuously move, so as to continuously supply the Korla fragrant pears to the roller sorting mechanism; Step 2. Control the action of the roller sorting mechanism so that the Korla fragrant pears are gradually arranged in sequence along the conveying direction of the material at the guide and discharge part; Step 3. Suction the debris collection kettle, so that the residual leaves on the Korla fragrant pear enter the debris collection kettle from the guide and discharge part, and then are sucked out; Step 4. Control the detection and picking mechanism to detect the Korla fragrant pears arranged in sequence at the guide and discharge part, and remove unqualified Korla fragrant pears; Step 5. Korla pears of different sizes are discharged from the unloading gaps at different sorting sections and fall onto the side-by-side conveying mechanism in a separated state, and are then transported away and finally collected separately.

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