Automatic cherry tomato placing and sorting device

Abstract

An automatic cherry tomato placing and sorting device comprises a feeding unit, a swing sorting unit, a direction detecting and adjusting unit and a packaging and box placing unit. The swing sorting unit comprises a rotating disc located beside the feeding unit and a first driving mechanism for driving the rotating disc to rotate in the horizontal plane, a plurality of product mounting parts are arranged on the upper surface of the rotating disc, and the swing sorting unit further comprises a first grabbing mechanism for placing products on the feeding unit on the product mounting parts; the direction detection and adjustment unit comprises an image acquisition part for acquiring an image of a product on the turntable to judge the direction of the product, and a second driving mechanism electrically connected with the image acquisition part and used for driving the product mounting part to rotate to turn the direction of the product; the packaging and box placing unit comprises product clamps which are located on the side of the rotary disc and used for placing the products in rows, a second grabbing mechanism for placing the products on the product installation pieces on the product clamps one by one, a product packaging box and a third grabbing mechanism for placing the products in rows in the product clamps into the product packaging box.

Description

Technical Field

[0001] The invention relates to the technical field of fruit and vegetable sorting equipment, and in particular to an automatic placing and sorting device for cherry tomatoes. Background Art

[0002] Cherry tomatoes have a high vitamin content, and have the effects of promoting body fluid and quenching thirst, strengthening the stomach and digestion, clearing away heat and detoxifying, cooling blood and calming the liver, as well as being economical and affordable, and have a promising market prospect. With the continuous development of modern agricultural technology, the production and sales scale of cherry tomatoes is expanding. How to improve the efficiency of cherry tomato sorting and packaging is of great significance to ensuring product quality and improving production efficiency. At present, the cherry tomato sorting in the industry adopts a semi-automatic method combining machine grading with manual boxing. The machine equipment can only grade the cherry tomatoes according to their size, and then the operators place the graded fruits one by one into the packaging box. The boxing speed of cherry tomatoes is slow, and there is a problem of low sorting efficiency. In addition, since cherry tomatoes include a head and a tail, the direction of the cherry tomatoes in the boxing process after grading is not exactly the same. When boxing, the operators need to adjust the placement direction of the cherry tomatoes in real time so that the cherry tomatoes are placed in the same direction. As working hours increase, operators are prone to miss some cherry tomatoes with inconsistent directions due to fatigue, resulting in a high rate of misjudgment of the direction when placing the cherry tomatoes, which in turn affects the boxing quality of the cherry tomatoes. Summary of the invention

[0003] Based on this, it is necessary to provide an automatic placement and sorting device for cherry tomatoes with high sorting efficiency and low direction misjudgment rate to address the above shortcomings.

[0004] An automatic placement and sorting device for cherry tomatoes, comprising a loading unit for receiving incoming products, a swing sorting unit for receiving and swinging to adjust the position of products, a direction detection and adjustment unit for checking and adjusting the direction of products, and a packaging and placing unit for receiving sorted products; The swing sorting unit includes a turntable located beside the feeding unit, a first driving mechanism driving the turntable to rotate in a horizontal plane, a plurality of product mounting members arranged in a ring along the rotation direction of the turntable are provided on the upper surface of the turntable, and the swing sorting unit also includes a first grabbing mechanism for grabbing the products on the feeding unit one by one and placing them on each product mounting member; The direction detection and adjustment unit includes an image acquisition component for acquiring product images on the turntable one by one to determine the product direction, and a second driving mechanism electrically connected to the image acquisition component and driving the product mounting component to rotate to adjust the product direction; The packaging box swinging unit includes a product clamp located next to the turntable and used to place products in rows, a second grabbing mechanism used to grab products on the product mounting piece one by one and place them on the product clamp, a product packaging box located next to the product clamp, and a third grabbing mechanism used to grab rows of products on the product clamp and place the rows of products in the product packaging box.

[0005] In one of the embodiments, the loading unit includes a feeding frame, a buffer mechanism arranged on the feeding frame and away from the turntable, and a straightening mechanism arranged on the feeding frame and adjacent to the turntable; the buffer mechanism includes at least a first conveyor belt for receiving graded products; the straightening mechanism includes an annular conveying structure arranged in a vertical plane and located at the output end of the first conveyor belt, and a third driving mechanism for driving the annular conveying structure to rotate in a vertical plane, and the annular conveying structure is provided with a plurality of limiting rollers distributed in a ring shape and arranged at intervals along its rotation direction, and a straightening position for receiving a product is formed between two adjacent limiting rollers.

[0006] In one of the embodiments, the buffer mechanism further includes a plurality of guide strips located above the first conveyor belt and arranged side by side along the conveying direction of the first conveyor belt, and an extending direction of the guide strips forms an acute angle with the conveying direction of the first conveyor belt.

[0007] In one embodiment, the loading unit also includes a second conveyor belt located on the side of the first conveyor belt away from the annular conveying structure and used to receive the cleaned products, a loading frame, and a driving motor for driving the second conveyor belt to rotate. The second conveyor belt is arranged obliquely in the vertical direction and rotates with the loading frame through a rotating shaft. A plurality of partitions are arranged side by side on the supporting surface of the second conveyor belt along the conveying direction of the second conveyor belt, and a limiting area for limiting the product is formed between two adjacent partitions.

[0008] In one of the embodiments, a first drying mechanism is provided at the loading end of the annular conveying structure, and a plurality of second drying mechanisms are arranged at intervals above the annular conveying structure along the conveying direction of the annular conveying structure.

[0009] In one of the embodiments, the feeding unit further includes a hopper located at the feeding end of the second conveyor belt and used to receive incoming products, and a vibrator fixed to the outer surface of the hopper and driving the hopper to vibrate so that the products enter the second conveyor belt.

[0010] In one embodiment, the first grasping mechanism includes a first mounting frame located above the annular conveying structure and fixed on the feeding frame, a first Y-axis guide rail fixed on the first mounting frame and extending in the horizontal direction, a first Y-axis slider slidably arranged on the first Y-axis guide rail, a fourth driving mechanism driving the first Y-axis slider to slide on the first Y-axis guide rail to make the first Y-axis slider approach or move away from the turntable, a first Z-axis guide rail fixed on the first Y-axis slider and extending in the vertical direction, a first Z-axis slider slidably arranged on the first Z-axis guide rail, a fifth driving mechanism driving the first Z-axis slider to slide on the first Z-axis guide rail to make the first Z-axis slider rise and fall, and a first suction structure fixed at the bottom end of the first Z-axis slider and used to suck products in the straight position, and the first suction structure is connected to an external air pressure device.

[0011] In one embodiment, the automatic placement and sorting device for cherry tomatoes also includes a workbench, a mounting hole penetrating the upper and lower surfaces of the turntable is opened in the middle of the turntable, the swing sorting unit also includes a fixed column passing through the mounting hole and fixedly connected to the workbench, a fixed frame is installed on the top of the fixed column, the image acquisition component is located next to the product mounting component or suspended above the product mounting component, and the image acquisition component is fixedly connected to the fixed frame; the first driving mechanism drives the turntable to rotate relative to the fixed column.

[0012] In one embodiment, a plurality of supporting discs corresponding to the product mounting parts are fixed on the turntable, and the product mounting parts are rotatably arranged on the supporting discs and limitedly cooperate with the supporting discs in a horizontal plane. A first receiving groove for accommodating the product is provided on the upper surface of the product mounting part. The second driving mechanism is a rotating cylinder or a rotating motor fixed under the turntable. A rotating part is provided on the top of the second driving mechanism, and a magnetic part is fixed on the rotating part to magnetically cooperate with the bottom of the product mounting part.

[0013] In one embodiment, the packaging box unit also includes a first vertical frame fixed to the side of the turntable, a first X-axis guide rail fixed to the first vertical frame and extending in the horizontal direction and used for slidingly installing the product fixture, and a sixth driving mechanism for driving the product fixture to slide on the first X-axis guide rail. The upper surface of the product fixture is provided with a plurality of second receiving grooves arranged side by side and used to receive products, the lower surface of the product fixture is provided with a sliding groove that slides with the first X-axis guide rail, or the lower surface of the product fixture is fixed with a first X-axis slider that slides with the first X-axis guide rail.

[0014] In one embodiment, a second frame is arranged between the turntable and the first frame, and the second grasping mechanism includes a second mounting frame fixed on the second mounting frame, a second Y-axis guide rail fixed on the second mounting frame and extending in the horizontal direction, a second Y-axis slider slidably arranged on the second Y-axis guide rail, a seventh driving mechanism for driving the second Y-axis slider to reciprocate between the first frame and the turntable, a second Z-axis guide rail fixed on the second Y-axis slider and extending in the vertical direction, a second Z-axis slider slidably arranged on the second Z-axis guide rail, an eighth driving mechanism for driving the second Z-axis slider to slide on the second Z-axis guide rail to make the second Z-axis slider rise and fall, and a second suction structure fixed at the bottom end of the second Z-axis slider and used to suck products on the product mounting part, and the second suction structure is connected to an external air pressure device.

[0015] In one embodiment, the fifth drive mechanism and the eighth drive mechanism are both rotating motors arranged in the horizontal direction, the fifth drive mechanism is located on the side of the first mounting frame facing away from the first air suction structure, and the output shaft of the fifth drive mechanism passes through the first mounting frame, the first grasping mechanism also includes a first limit pin fixed on the first Z-axis slider adjacent to the first mounting frame, and a first connecting rod fixedly connected to the output shaft of the fifth drive mechanism and rotatably matched with the first limit pin; the eighth drive mechanism is located on the side of the second mounting frame facing away from the second air suction structure, and the output shaft of the eighth drive mechanism passes through the second mounting frame, and the second grasping mechanism also includes a second limit pin fixed on the side of the second Z-axis slider adjacent to the second mounting frame, and a second connecting rod fixedly connected to the output shaft of the eighth drive mechanism and rotatably matched with the second limit pin.

[0016] In one embodiment, the packaging box unit also includes a third stand located next to the first stand, the third gripping mechanism includes a Y-axis guide rod fixed on the third stand and extending in the horizontal direction, a Y-axis guide block slidably arranged on the Y-axis guide rod, a ninth driving mechanism fixed on the third stand and used to drive the Y-axis guide block to slide on the Y-axis guide rod, a third Z-axis guide rail fixed on the Y-axis guide block and extending in the vertical direction, a third Z-axis slider slidably arranged on the third Z-axis guide rail, a Z-axis driving member driving the third Z-axis slider to rise and fall along the third Z-axis guide rail, and a mounting plate fixed to the bottom end of the third Z-axis slider, wherein a plurality of third suction structures for sucking products on the product fixture are arranged side by side on the mounting plate, and the third suction structures are connected to an external air pressure device.

[0017] In one embodiment, the packaging box swing unit also includes a second X-axis guide rail located below the Y-axis guide rod and used for slidingly mounting the product packaging box, and a tenth driving mechanism that drives the product packaging box to slide on the second X-axis guide rail; a receiving groove is provided on the upper surface of the product packaging box, the bottom surface of the receiving groove is an inclined surface, and the height of the bottom surface of the receiving groove on the side adjacent to the turntable in the receiving groove is lower than the height of the bottom surface of the groove on the side away from the turntable in the receiving groove.

[0018] In one embodiment, the third gripping mechanism also includes an image sensor disposed on the third stand or the Y-axis guide block and used to capture images inside the product packaging box.

[0019] The automatic placement and sorting device for cherry tomatoes of the present invention is implemented, and the direction of each product is adjusted one by one through the direction detection and adjustment unit, so that the products finally loaded into the product packaging box are all placed in the same direction, which can avoid the problem of high misjudgment rate of product placement direction caused by manual picking, and improve the quality of product box placement; the turntable, the direction detection and adjustment unit and a plurality of gripping mechanisms cooperate together to realize full-automatic picking and boxing of products. When boxing, multiple products can be loaded into the product packaging box at one time. Compared with manual picking and boxing placement, its operation speed is significantly improved, and the sorting efficiency of the products is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a cherry tomato automatic placement and sorting device from one perspective in one embodiment of the present invention; Figure 2 It is a structural schematic diagram of another perspective of the automatic placement and sorting device for cherry tomatoes in one embodiment of the present invention; Figure 3 for Figure 1 A schematic diagram of a partially enlarged structure of part A in the illustrated embodiment; Figure 4 for Figure 1 A schematic diagram of a partially enlarged structure of part B in the illustrated embodiment; Figure 5 for Figure 1 A schematic diagram of a partially enlarged structure of part C in the illustrated embodiment; Figure 6 It is a structural schematic diagram of a cherry tomato automatic placement and sorting device from one perspective in another embodiment of the present invention; Figure 7 It is a structural schematic diagram of another perspective of the automatic placement and sorting device for cherry tomatoes in another embodiment of the present invention; Figure 8 The present invention is a schematic structural diagram of an automatic arrangement and sorting device for cherry tomatoes in another embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0022] Please combine Figure 1-3The present invention discloses an automatic placement and sorting device for cherry tomatoes with high sorting efficiency and low direction misjudgment rate. The automatic placement and sorting device for cherry tomatoes includes a feeding unit 100 for receiving incoming products, a swing sorting unit 200 for receiving and swinging to adjust the position of products, a direction detection and adjustment unit 300 for checking and adjusting the direction of products, and a packaging box swinging unit 400 for receiving sorted products. The swing sorting unit 200 includes a turntable 210 located beside the feeding unit 100, a first driving mechanism 220 for driving the turntable 210 to rotate in a horizontal plane, a plurality of product mounting members 230 arranged in a ring along the rotation direction of the turntable 210 are provided on the upper surface of the turntable 210, and the swing sorting unit 200 also includes a first grabbing mechanism 240 for grabbing the products on the feeding unit 100 one by one and placing them on each product mounting member 230. In this embodiment, by setting the turntable 210, on the one hand, the products flowing out of the feeding unit 100 can be transported to the packaging swing box unit 400 after being detected and adjusted in direction by the direction detection and adjustment unit 300, and on the other hand, after the turntable 210 delivers the products to the packaging swing box unit 400, the empty product mounting member 230 can be rotated back to the loading position (i.e., the position close to the first gripping mechanism 240) so as to repeatedly load the products and realize the cycle operation. The direction detection and adjustment unit 300 includes an image acquisition member 310 for collecting product images on the turntable 210 one by one to determine the product direction, and a second driving mechanism 320 electrically connected to the image acquisition member 310 and driving the product mounting member 230 to rotate to turn the product direction. The direction detection and adjustment unit 300 identifies the product direction and turns the reverse product, so that the products flowing out of the direction detection and adjustment unit 300 always maintain the same direction and are delivered to the packaging swing box unit 400. The packaging swing box unit 400 includes a product fixture 410 located beside the turntable 210 and used to place products in rows, a second grabbing mechanism 420 for grabbing and placing products on the product mounting member 230 one by one on the product fixture 410, a product packaging box 430 located beside the product fixture 410, and a third grabbing mechanism 440 for grabbing rows of products on the product fixture 410 and placing the rows of products in the product packaging box 430. In this way, after the products adjusted in direction are loaded into the product fixture 410, multiple products can be placed in the product packaging box 430 at one time through the third grabbing mechanism 440 to improve the efficiency of the box loading operation. In addition, the cherry tomato automatic placement and sorting device also includes an intelligent control unit electrically connected to the feeding unit 100, the swing sorting unit 200, the direction detection and adjustment unit 300 and the packaging swing box unit 400 to control the operation of the electrical components in each unit. The intelligent control unit can be a PLC controller or a single-chip microcomputer.

[0023] The above-mentioned automatic placement and sorting device for cherry tomatoes uses the direction detection and adjustment unit 300 to adjust the direction of each product one by one, so that the products finally loaded into the product packaging box 430 are all placed in the same direction, which can avoid the problem of high misjudgment rate of product placement direction caused by manual picking, and improve the quality of product box placement; through the cooperation of the turntable 210, the direction detection and adjustment unit 300 and a plurality of gripping mechanisms, the fully automatic picking and boxing of products is realized. During boxing, multiple products can be loaded into the product packaging box 430 at one time. Compared with manual picking and boxing placement, its operation speed is significantly improved, thereby improving the sorting efficiency of the products.

[0024] The feeding unit 100 is used to separate the incoming materials one by one after receiving them, so as to feed them one by one to the swing sorting unit 200. Figure 1 and Figure 2 The loading unit 100 includes a feeding frame 110, a buffer mechanism disposed on the feeding frame 110 and away from the turntable 210, and a straightening mechanism disposed on the feeding frame 110 and adjacent to the turntable 210. The buffer mechanism is used to slow down the graded products and convey the products to the straightening mechanism, and the buffer mechanism includes at least a first conveyor belt 120 for receiving the graded products. In one embodiment, the first conveyor belt 120 is tilted, and the angle between the upper surface of the first conveyor belt 120 and the horizontal plane is 5-10°. The height of the upper surface of the first conveyor belt 120 adjacent to the straightening mechanism is lower than the height of the upper surface of the first conveyor belt 120 away from the straightening mechanism, so that the products falling on the first conveyor belt 120 after classification can slide along the upper surface of the first conveyor belt 120 to the straightening position of the straightening mechanism under the action of gravity. In another embodiment, the first conveyor belt 120 is arranged horizontally, and the loading unit 100 also includes a first motor for driving the first conveyor belt 120 to rotate, a first driving wheel drivingly connected to the output shaft of the first motor, and a first driven wheel opposite to the first driving wheel. The transmission belt is sleeved between the first driving wheel and the first driven wheel. In this way, when the first motor is working, it will drive the first driving wheel to rotate, and then drive the first conveyor belt 120 to rotate through the friction force between the first driving wheel and the first conveyor belt 120, so that the products dropped on the first conveyor belt 120 are sent to the straight position of the annular conveying structure.

[0025] The straightening mechanism is used to arrange the products one by one and send them to the swing sorting unit 200. The straightening mechanism includes an annular conveying structure 130 arranged in a vertical plane and located at the output end of the first conveyor belt 120, and a third driving mechanism (not shown) used to drive the annular conveying structure 130 to rotate in the vertical plane. The annular conveying structure 130 is provided with a plurality of limiting rollers 140 distributed in an annular manner and arranged at intervals along its rotation direction, and a straightening position 141 for receiving a product is formed between two adjacent limiting rollers 140. The annular conveying structure 130 includes a driving sprocket and a driven sprocket rotatably mounted on the feeding frame 110 and arranged oppositely, and an annular chain straddling between the driving sprocket and the driven sprocket and meshing with the driving sprocket and the driven sprocket. On at least one side of the annular chain, a plurality of limiting rollers 140 are fixed at intervals along the rotation direction of the annular chain. The third driving mechanism is a second motor drivingly connected to the driving sprocket. Furthermore, each limiting roller 140 is sleeved with an elastic protective sleeve, which is made of foam cotton or silicone material, and the outer diameter of the middle part of the elastic protective sleeve is smaller than the outer diameter of the two ends. In other words, the elastic protective sleeve is in a waist drum-shaped structure, so that the product is positioned by the outer sides of two adjacent elastic protective sleeves. By combining chain transmission with limiting rollers, the products can be sent to the swing sorting unit one by one, and the adjacent limiting rollers are equipped with elastic protective sleeves to accurately clamp the products to avoid the problem of bad fruits caused by mutual collision and friction between products. By adjusting the distance between adjacent limiting rollers and the transmission speed of the ring chain, the arrangement requirements of products of different specifications can be realized. In this way, the products can be transmitted and arranged according to the predetermined trajectory, which improves production efficiency and precision. At the same time, the straightening mechanism has a compact structure, is stable and reliable, and can also be applied to planting environments of various sizes.

[0026] In this embodiment, the inner contour dimension of the straightening position 141 is slightly larger than the outer contour dimension of the product. When the product falls from the first conveyor belt 120 to the annular conveying structure 130, if the product does not fall into the straightening position 141, the product will roll along the outer side surface of the elastic protective cover after contacting the elastic protective cover until the product enters the straightening position 141. Restricted by the outer side surface of the elastic protective cover, the product always remains in the straightening position 141, so that the products are arranged and separated one by one through the straightening mechanism.

[0027] Furthermore, the buffer mechanism also includes a suspension 150 located above the first conveyor belt 120 and fixedly connected to the feed frame 110, and a partition plate 160 is fixed on the suspension 150, which divides the area between the upper surface of the first conveyor belt 120 and the suspension 150 into two parts extending along the product conveying direction. Correspondingly, a plurality of limiting rollers 140 are fixed at intervals on both sides of the circular chain along the rotation direction of the circular chain. In this way, the limiting rollers 140 on both sides of the circular chain correspond one by one to the two parts separated by the partition plate 160, thereby dividing the products on the first conveyor belt 120 into two paths through the straightening mechanism, thereby speeding up the straightening efficiency of the loading unit 100 for the products.

[0028] Please combine Figure 6 and Figure 7 In one embodiment, the buffer mechanism further includes a plurality of guide bars 121 located above the first conveyor belt 120 and arranged side by side along the conveying direction of the first conveyor belt 120, and the extending direction of the guide bars 121 forms an acute angle with the conveying direction of the first conveyor belt 120. Specifically, the guide bars 121 include parallel and staggered mounting plates and guide plates, and connecting plates connected between the mounting plates and the guide plates and arranged obliquely relative to the conveying direction of the first conveyor belt 120. The mounting plates of each guide bar 121 are fixedly connected to the feeder frame, the mounting plates of the guide bars 121 are located at one end of the guide bars away from the annular conveying structure, the guide plates of the guide bars 121 are located at one end of the guide bars close to the annular conveying structure, the guide plates of each guide bar and the partition plate 160 jointly form a product guide channel, and the connecting plates of the guide bars 121 farthest from the annular conveying structure and the partition plate 160 surround a trumpet-shaped guide entrance to reduce the difficulty of the product entering the product guide channel. In this embodiment, the guide bars can be made of flexible materials, for example, rubber is used to make the guide bars to reduce the impact and bump of the guide bars on the products.

[0029] In addition, in this embodiment, a limiting baffle 142 is provided on both sides of each row of limiting rollers 140, and the two limiting baffles 142 are used together to limit the conveying path of the product on the annular conveying structure to prevent the product from falling from the limiting rollers. A guide platform 122 fixed to the feeder frame is also provided between the first conveyor belt 120 and the annular conveying structure, and an inclined rubber strip 123 is provided on the guide platform 122. The inclined rubber strip 123 and the limiting baffle 142 together form a guide area for the product to enter the conveying path from the product guide channel, so that the product can smoothly enter the straightening mechanism from the buffer mechanism.

[0030] In one embodiment, the loading unit 100 also includes a second conveyor belt 170 located on the side of the first conveyor belt 120 away from the annular conveying structure and used to receive the cleaned products, a loading frame 171, and a driving motor 172 for driving the second conveyor belt 170 to rotate. The second conveyor belt 170 is arranged inclined in the vertical direction and rotates with the loading frame 171 through a rotating shaft. A plurality of partitions 173 are arranged side by side on the supporting surface of the second conveyor belt 170 along the conveying direction of the second conveyor belt 170, and a limiting area for limiting the product is formed between two adjacent partitions 173. Furthermore, a plurality of water leakage holes are provided at the bottom of each partition 173 along the length direction of the partition 173. The loading rack 171 includes a horizontally arranged receiving portion and a feeding portion fixedly connected to the receiving portion and adjacent to the first conveyor belt, the feeding portion being arranged upwardly inclined, and the second conveyor belt 170 is installed on the loading rack 171 by rotating a plurality of rotating shafts arranged on the loading rack, so as to transport the products at a lower position to a buffer mechanism at a higher position. In other words, the second conveyor belt 170 also includes a horizontally arranged receiving portion and a feeding portion arranged upwardly inclined. By providing water leakage holes on the partition 173, the partition 173 is used to limit the position of the product to prevent the product from sliding downward during the climbing process, and to meet the requirements of the second conveyor belt 170 to lift the product height at a large angle in the vertical direction, the residual water after the product is washed can flow down through the water leakage holes under the action of gravity, so as to reduce the residual washing water on the surface of the product. It should be noted that, in the present embodiment, the driving motor 172 and the pulley for driving the second conveyor belt 170 to rotate are connected via a chain transmission. Of course, they can also be connected via a gear transmission, which will not be described in detail here.

[0031] In one embodiment, a first drying mechanism 180 is provided at the feeding end of the annular conveying structure, and a plurality of second drying mechanisms 190 are arranged at intervals above the annular conveying structure along the conveying direction of the annular conveying structure. The first drying mechanism 180 can be a jet pipe connected to an air pressure device, and a jet port corresponding to the annular conveying structure is provided at the end of the jet pipe. By adjusting the pressure value of the air pressure device, the pressure value can be between 1-2 standard atmospheric pressures, so that while the moisture on the surface of the product is blown away, the product is prevented from being blown apart. The second drying mechanism 190 can be a fan. Preferably, the second drying mechanism 190 is an ion fan to further blow away the moisture on the surface of the product. In this embodiment, the temperature of the wind blown out by the first drying mechanism 180 and the second drying mechanism 190 is both at room temperature to avoid potential damage to the product caused by high temperature, ensure product quality, and reduce energy consumption. In this embodiment, the drying efficiency of the cherry tomato automatic placement and sorting device for the product is less than or equal to 30S / box, the transmission speed of the product on the straightening mechanism is 0-50m / min, the directional accuracy of product sorting is ±1°; the placement accuracy is ±0.5mm (the product position offset is small); the equipment power is less than or equal to 5kW, the equipment dimensions are 3m×3.2m×1.5m in length×width×height, the equipment weight is less than or equal to 200kg, and the entire equipment is made of stainless steel to improve the corrosion resistance and wear resistance of the equipment.

[0032] See also Figure 8 In order to realize automatic loading of products, in this embodiment, the loading unit 100 also includes a hopper 101 located at the loading end of the second conveyor belt 170 and used to receive the incoming product, and a vibrator 102 fixed to the outer surface of the hopper 101 and driving the hopper 101 to vibrate so that the product enters the second conveyor belt 170. The vibrator 102 can be an ultrasonic vibrator or a magnetic vibrator, and can also be other types of vibrators available on the market. Further, the hopper 101 is tilted, and the height of the end of the hopper 101 away from the second conveyor belt 170 is greater than the height of the end of the hopper 101 adjacent to the second conveyor belt 170. The tilt angle of the hopper 101 is preferably 30-45 degrees. In this way, the product poured into the hopper 101 gradually approaches and enters the loading end of the second conveyor belt 170 (i.e., the receiving part of the second conveyor belt) under its gravity and the driving action of the vibrator 102 to realize automatic loading. In this way, there is no need for manual loading, which reduces the operating cost.

[0033] In order to improve the operation efficiency, a production line can be set on each side of the loading unit 100 (such as Figure 6 and Figure 7As shown), that is, a swing sorting unit 200, a direction detection and adjustment unit 300, and a packaging box swing unit 400 are arranged on one side of the loading unit 100, and a swing sorting unit 200, a direction detection and adjustment unit 300, and a packaging box swing unit 400 are arranged on the other side of the loading unit 100 to improve the working efficiency.

[0034] It should be noted that, in the present embodiment, the X-axis direction refers to the conveying direction of the product on the loading unit 100 (that is, the length direction of the feeding rack 110), the Y-axis direction refers to the direction in which the product is conveyed from the straightening mechanism to the turntable 210 (that is, the width direction of the feeding rack 110), and the Z-axis direction refers to the vertical direction. This explanation may be referred to in other embodiments.

[0035] Please combine Figure 1-3 In order to realize the loading of the product from the straightening mechanism to the turntable 210, the first grabbing mechanism 240 includes a first mounting frame 241 located above the annular conveying structure 130 and fixed on the feeding frame 110, a first Y-axis guide rail 242 fixed on the first mounting frame 241 and extending in the horizontal direction (extending in the Y-axis direction), a first Y-axis slider 243 slidably arranged on the first Y-axis guide rail 242, and a fourth driving mechanism for driving the first Y-axis slider 243 to slide on the first Y-axis guide rail 242 to make the first Y-axis slider 243 approach or move away from the turntable 210. The first Z-axis guide rail 244 is fixed on the first Y-axis slider 243 and extends in the vertical direction (extending in the Z-axis direction), the first Z-axis slider 245 is slidably arranged on the first Z-axis slider 244, the fifth driving mechanism 246 drives the first Z-axis slider 245 to slide on the first Z-axis slider 244 to make the first Z-axis slider 245 rise and fall, and the first suction structure 247 fixed at the bottom of the first Z-axis slider 245 and used to suck the product on the straight position 141, and the first suction structure 247 is connected to the external air pressure device. In this embodiment, the bottom end of the first suction structure 247 is provided with a first suction groove, and the top surface of the first suction groove is provided with a first air hole connected to the external air pressure device. The inner surface shape of the first suction groove is adapted to the outer surface contour shape of the product (cherry tomatoes) to increase the contact area between the first suction structure 247 and the product, so as to avoid the product being crushed due to excessive pressure on the product after the product is adsorbed in the first suction groove under the action of negative pressure. Furthermore, an elastic protective layer, such as a silicone protective layer, may be provided on the inner surface of the first suction groove to further reduce the squeezing force of the inner wall of the first suction groove on the product.

[0036] The fourth driving mechanism may be a cylinder or an electric cylinder connected to the first Y-axis slider 243, or may include a motor, a screw connected to the output shaft of the motor, two guide rods arranged on both sides of the screw rod and fixedly connected to the motor housing, the first Y-axis slider 243 is threadedly connected to the screw rod, and the first Y-axis slider 243 is slidably matched with the two guide rods. In the process of the first grabbing mechanism 240 grabbing the product, the fourth driving mechanism works under the control of the intelligent control unit, and drives the first Y-axis slider 243 to approach the straightening mechanism until the first suction structure 247 moves to the top of the straightening position 141, and then the fifth driving mechanism 246 works under the control of the intelligent control unit, and drives the first Z-axis slider 245 to descend until the product enters the adsorption area of ​​the first suction structure 247, and the first suction structure 247 is connected to the external air pressure device (suction device), so that negative pressure is generated in the first suction groove, so that the product is sucked into the first suction groove under the action of the negative pressure. Then the fifth driving mechanism 246 drives the first air suction structure 247 to rise, and the fourth driving mechanism moves the first air suction structure 247 along the Y-axis direction to above the turntable 210. Finally, the fifth driving mechanism 246 drives the first air suction structure 247 to descend again until the product enters the product mounting part 230 on the turntable 210. The first air suction structure 247 is disconnected from the external air pressure device, thereby placing the product into the product mounting part 230.

[0037] It should be noted that, in this embodiment, the fifth drive mechanism 246 can be a cylinder arranged in the vertical direction or a motor drive. Specifically, the fifth drive mechanism 246 is a rotary motor arranged in the horizontal direction, and the fifth drive mechanism 246 is located on the side of the first mounting frame 241 facing away from the first air suction structure 247, and the output shaft of the fifth drive mechanism 246 passes through the first mounting frame 241, and the first gripping mechanism 240 also includes a first stop pin fixed on the first Z-axis slider 245 adjacent to the first mounting frame 241, and a first connecting rod 248 fixedly connected to the output shaft of the fifth drive mechanism 246 and rotatably matched with the first stop pin. In this way, during the operation of the rotating motor, the output shaft of the rotating motor drives the first connecting rod 248 to rotate. Through the rotational coordination of the first connecting rod 248 and the first limit pin and the sliding limit of the first Z-axis slider 245 and the first Z-axis guide rail 244, the first connecting rod 248 swings relative to the first Z-axis slider 245, and pushes the first Z-axis slider 245 to rise and fall along the first Z-axis guide rail 244, so as to achieve the purpose of lifting and lowering the first suction structure 247.

[0038] Please combine Figure 1-2 as well as Figure 4The automatic placement and sorting device for cherry tomatoes further comprises a workbench 500, a mounting hole penetrating the upper and lower surfaces of the turntable 210 is provided in the middle of the turntable 210, the swing sorting unit 200 further comprises a fixing column 250 penetrating the mounting hole and fixedly connected to the workbench 500, a fixing frame 260 is installed on the top of the fixing column 250, the image acquisition component 310 is located beside the product mounting component 230 or suspended above the product mounting component 230, and the image acquisition component 310 is fixedly connected to the fixing frame 260; the first driving mechanism 220 drives the turntable 210 to rotate relative to the fixing column 250. Preferably, the image acquisition component 310 is suspended above the product mounting component 230, and the image acquisition component 310 is a CCD camera electrically connected to the intelligent control unit. It can be understood that the turntable 210 is actually an annular structure surrounding the fixed column 250. In this way, when the first driving mechanism 220 drives the turntable 210 to rotate relative to the fixed column 250, the products on the turntable 210 can pass through the image acquisition area of ​​the image acquisition component 310 one by one, so as to identify the direction of each product one by one. In one embodiment, the first driving mechanism 220 is a motor arranged in the vertical direction, the output shaft of the motor is located at the top of the motor, and a connecting frame is fixed at the end of the output shaft of the motor. The connecting frame at least includes a pair of symmetrically arranged vertical rods and a connecting rod fixedly connected to each vertical rod and the motor output shaft. The vertical rods are symmetrically distributed on both sides of the fixed column 250 and fixedly connected to the lower surface of the turntable 210. In this way, when the first driving mechanism 220 is working, the connecting frame rotates under the drive of the first driving mechanism 220, and further drives the turntable 210 to rotate. Of course, in other embodiments, the first drive mechanism 220 can also be a motor arranged in the horizontal direction, the output shaft of the motor is installed with a first bevel gear, and a second bevel gear meshing with the first bevel gear is arranged at the first bevel gear, the rotation center of the second bevel gear extends in the vertical direction, and the connecting frame is fixed on the top of the second bevel gear, so as to realize the driving of the turntable 210 by the first drive mechanism 220. In addition, the first drive mechanism 220 can also be a combination of a motor and other transmission mechanisms on the market, and it is only required that the first drive mechanism 220 can drive the turntable 210 to rotate.

[0039] A plurality of supporting discs 211 corresponding to each product mounting member 230 are fixed on the turntable 210. The product mounting member 230 is rotatably arranged on the supporting disc 211 and is limitedly matched with the supporting disc 211 in a horizontal plane. A first receiving groove 231 for receiving the product is provided on the upper surface of the product mounting member 230. The second driving mechanism 320 is a rotating cylinder or a rotating motor fixed under the turntable 210. A rotating part is provided on the top of the second driving mechanism 320. A magnetic part that is magnetically matched with the bottom of the product mounting member 230 is fixed on the rotating part. In this embodiment, the rotating part is a dividing disc driven and connected to the second driving mechanism 320. By controlling the working parameters of the second driving mechanism 320, the rotation angle and rotation speed of the dividing disc can be adjusted, and efficient sorting and arrangement of products of different specifications and directions can be achieved, so as to solve the problem of chaotic product arrangement and improve the efficiency of subsequent processing. Preferably, first notches 232 communicating with the external environment are respectively provided on two opposite sides of the first receiving groove 231, so that when the product is placed in the first receiving groove 231, the gas in the first receiving groove 231 can be discharged smoothly, avoiding the gas in the first receiving groove 231 from forming resistance to the product, so as to reduce the difficulty of placing the product in the first receiving groove 231. In one embodiment, the support disc 211 is provided with through holes penetrating the upper and lower surfaces thereof, the turntable 210 is provided with through holes corresponding to the through holes, and the bottom of the product mounting member 230 is fixed with a connecting column penetrating the through holes and the through holes, and at least the bottom of the connecting column is made of metal iron or stainless steel. In this way, when the image acquisition member 310 detects that the product is set in reverse, the second driving mechanism 320 works under the control of the intelligent control unit and drives the magnetic member to rotate 180°. In this process, the magnetic member and the bottom of the connecting column are magnetically matched, so that the magnetic member further drives the connecting column and the product mounting member 230 to rotate 180°, thereby reversing the direction of the product. When the direction of the product is turned, the first driving mechanism 220 drives the turntable 210 to rotate a preset angle. During the rotation of the turntable 210, the connecting column is separated from the magnetic part under the constraints of the inner wall of the through hole and the inner wall of the through hole, so that the next product can be rotated to the image acquisition area of ​​the image acquisition component 310 to facilitate the direction detection and adjustment of the next product.

[0040] In one embodiment, the packaging swing box unit 400 further includes a first stand 450 fixed to the side of the turntable 210, a first X-axis guide rail 451 fixed to the first stand 450 and extending in the horizontal direction (extending in the X-axis direction) and used for slidingly installing the product fixture 410, and a sixth driving mechanism (not shown in the figure) for driving the product fixture 410 to slide on the first X-axis guide rail 451, and the upper surface of the product fixture 410 is provided with a plurality of second receiving grooves 411 arranged side by side and used for receiving products, and the lower surface of the product fixture 410 is provided with a slide groove that slides with the first X-axis guide rail 451, or the lower surface of the product fixture 410 is fixed with a first X-axis slider that slides with the first X-axis guide rail 451. Preferably, the two opposite sides of the second receiving groove 411 are respectively provided with a second notch 412 that communicates with the external environment. Further, in this embodiment, the packaging swing box unit 400 includes two product packaging boxes 430 arranged side by side, and each product packaging box 430 is provided with a third gripping mechanism 440 above each. The product fixture 410 is driven to move along the X-axis direction by the sixth driving mechanism, and two product fixtures 410 can be set on the first X-axis guide rail 451 at the same time. When a product fixture 410 is full of products, the product fixture 410 can be moved to one side of the first X-axis guide rail 451, and the third grabbing mechanism 440 on this side grabs the products in the product fixture 410 and sends them into the corresponding product packaging box 430. At the same time, the other product fixture 410 moves to the vicinity of the turntable 210 and receives the products sent from the turntable 210. In this way, the efficiency of product boxing and placement can be improved by alternating the two product fixtures 410 and the two third grabbing mechanisms 440. In this embodiment, the sixth driving mechanism can be a cylinder or an electric cylinder, and the sixth driving mechanism can also include a motor, a screw rod drivingly connected to the output shaft of the motor, and two guide rods relatively arranged on both sides of the screw rod and fixedly connected to the motor housing. The product fixture 410 is threadedly connected to the screw rod, and the product fixture 410 is slidably matched with the two guide rods.

[0041] Please combine Figure 1-2 as well as Figure 5A second stand 460 is provided between the turntable 210 and the first stand 450, and the second gripping mechanism 420 includes a second mounting frame 421 fixed on the second stand 460, a second Y-axis guide rail 422 fixed on the second mounting frame 421 and extending in the horizontal direction (extending in the Y-axis direction), a second Y-axis slider 423 slidably provided on the second Y-axis guide rail 422, a seventh driving mechanism (not shown) for driving the second Y-axis slider 423 to reciprocate between the first stand 450 and the turntable 210, and a fixed A second Z-axis guide rail 424 extending in the vertical direction (extending in the Z-axis direction) on the second Y-axis slider 423, a second Z-axis slider 425 slidably disposed on the second Z-axis guide rail 424, an eighth driving mechanism 426 driving the second Z-axis slider 425 to slide on the second Z-axis guide rail 424 to lift and lower the second Z-axis slider 425, and a second suction structure 427 fixed at the bottom end of the second Z-axis slider 425 and used to suck the product on the product mounting member 230, the second suction structure 427 being connected to an external air pressure device. Further, a second suction groove is provided at the bottom end of the second suction groove, a second air hole connected to an external air pressure device is provided on the top surface of the second suction groove, and an elastic protective layer may also be provided on the inner surface of the second suction groove. The seventh driving mechanism can be a cylinder or an electric cylinder driven and connected to the second Y-axis slider 423, or it can be a combination of a motor and a screw nut. Its specific structure can refer to the structure of the aforementioned fourth driving mechanism. Correspondingly, the action process of the second grasping mechanism 420 is the same as the action process of the first grasping mechanism 240, which will not be repeated here.

[0042] In this embodiment, the eighth drive mechanism 426 can be a cylinder arranged in the vertical direction or a motor drive. Specifically, the eighth drive mechanism 426 is a rotary motor arranged in the horizontal direction, and the eighth drive mechanism 426 is located on the side of the second mounting frame 421 facing away from the second air suction structure 427, and the output shaft of the eighth drive mechanism 426 passes through the second mounting frame 421, and the second gripping mechanism 420 also includes a second stop pin fixed on the second Z-axis slider 425 adjacent to the second mounting frame 421, and a second connecting rod 428 fixedly connected to the output shaft of the eighth drive mechanism 426 and rotatably matched with the second stop pin. In this way, during the operation of the rotating motor, the output shaft of the rotating motor drives the second connecting rod 428 to rotate. Through the rotational coordination of the second connecting rod 428 and the second limit pin and the sliding limit of the second Z-axis slider 425 and the second Z-axis guide rail 424, the second connecting rod 428 swings relative to the second Z-axis slider 425, and pushes the second Z-axis slider 425 to rise and fall along the second Z-axis guide rail 424, so as to achieve the purpose of lifting and lowering the second suction structure 427.

[0043] Please combine Figure 1-2The packaging box swinging unit 400 also includes a third stand 470 located next to the first stand 450, and the third grasping mechanism 440 includes a Y-axis guide rod 441 fixed on the third stand 470 and extending in the horizontal direction (extending in the Y-axis direction), a Y-axis guide block 442 slidably set on the Y-axis guide rod 441, a ninth driving mechanism fixed on the third stand 470 and used to drive the Y-axis guide block 442 to slide on the Y-axis guide rod 441, a third Z-axis guide rail 443 fixed on the Y-axis guide block 442 and extending in the vertical direction, and a third Z-axis guide rail 443 slidably set on the third Z-axis guide rail 443. The third Z-axis slider (not shown in the figure), the Z-axis driving member (not shown in the figure) driving the third Z-axis slider to rise and fall along the third Z-axis guide rail 443, and the mounting plate 444 fixed to the bottom end of the third Z-axis slider. The Z-axis driving member is a cylinder or an electric cylinder. A plurality of third suction structures 445 for sucking products on the product fixture 410 are arranged side by side on the mounting plate 444. The third suction structure 445 is connected to an external air pressure device. In this way, multiple products can be grabbed from the product fixture 410 at one time and placed in the product packaging box 430 through the third grabbing mechanism 440, thereby improving the efficiency of product placement and boxing operations. In this embodiment, a third suction groove is provided at the bottom end of the third suction groove, and a third air hole connected to the external air pressure device is provided on the top surface of the third suction groove. An elastic protective layer can also be provided on the inner surface of the third suction groove. In addition, in this embodiment, a motor electrically connected to the intelligent control unit is fixed at the bottom of the third Z-axis slider, and the mounting plate 444 is drivingly connected to the output shaft of the motor, so that by controlling the operation of the motor, the plurality of third air suction structures 445 can be synchronously rotated to adjust the position of the product as a whole. Preferably, the rotation angle of the third air suction structure 445 is within the range of -180°-180°.

[0044] Furthermore, the third grasping mechanism also includes an image sensor arranged on the third stand 470 or the Y-axis guide block 442 and used to capture images inside the product packaging box. The image sensor is electrically connected to the intelligent control unit and is used to detect the filling status of the product packaging box in real time, so that the intelligent control unit can control the operation of the third grasping mechanism to automatically adjust the placement position, thereby further improving the placement accuracy and efficiency.

[0045] The ninth driving mechanism includes a third motor 446 fixed on the third frame 470, a driving belt gear 447 fixedly connected to the output shaft of the third motor 446, a driven belt gear 448 rotatably mounted on the third frame 470 and opposite to the driving belt gear 447, and a synchronous belt 449 straddling the driving belt gear 447 and the driven belt gear 448, the inner surface of the synchronous belt 449 is meshed with the driving belt gear 447 and the driven belt gear 448, and the synchronous belt 449 is fixedly connected to the Y-axis guide block 442. In this way, when the third motor 446 is working, the output shaft of the third motor 446 drives the driving belt gear 447 to rotate, and then through the meshing action of the driving belt gear 447 and the synchronous belt 449, the synchronous belt 449 and the Y-axis guide block 442 are driven to move along the Y-axis direction, so that the third suction structure 445 can approach or move away from the product fixture 410, so as to grasp the product and put the product into the product packaging box 430.

[0046] In one embodiment, the packaging box swing unit 400 also includes a second X-axis guide rail 480 located below the Y-axis guide rod 441 and used for slidingly installing the product packaging box 430, and a tenth driving mechanism (not shown) for driving the product packaging box 430 to slide on the second X-axis guide rail 480, and the tenth driving mechanism is an electric cylinder or a cylinder electrically connected to the intelligent control unit. The upper surface of the product packaging box 430 is provided with a receiving groove 431, and the bottom surface of the groove of the receiving groove 431 is an inclined surface, and the height of the bottom surface of the groove adjacent to the turntable 210 in the receiving groove 431 is lower than the height of the bottom surface of the groove away from the turntable 210 in the receiving groove 431. In this way, the product packaging box 430 can be driven to move on the second X-axis guide rail 480 by the tenth driving mechanism, so that the product packaging box 430 is close to the third suction structure 445 and receives the product to adapt to the position of the third suction structure 445. The bottom surface of the receiving groove 431 of the product packaging box 430 is designed to be an inclined surface, so that after the product is placed in the receiving groove 431, it can slide along the bottom surface of the receiving groove 431 toward the side close to the turntable 210, so that the product gradually fills the receiving groove 431 from the part adjacent to the turntable 210 to the part away from the turntable 210.

[0047] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cherry tomato automatic placement and sorting device, characterized in that: It includes a loading unit for receiving incoming products, a swing sorting unit for receiving and swinging to adjust the position of products, a direction detection and adjustment unit for checking and adjusting the direction of products, and a packaging box placing unit for receiving sorted products; The swing sorting unit includes a turntable located beside the feeding unit, a first driving mechanism driving the turntable to rotate in a horizontal plane, a plurality of product mounting members arranged in a ring along the rotation direction of the turntable are provided on the upper surface of the turntable, and the swing sorting unit also includes a first grabbing mechanism for grabbing the products on the feeding unit one by one and placing them on each product mounting member; The direction detection and adjustment unit includes an image acquisition component for acquiring product images on the turntable one by one to determine the product direction, and a second driving mechanism electrically connected to the image acquisition component and driving the product mounting component to rotate to adjust the product direction; The packaging box swinging unit includes a product clamp located next to the turntable and used to place products in rows, a second grabbing mechanism used to grab products on the product mounting piece one by one and place them on the product clamp, a product packaging box located next to the product clamp, and a third grabbing mechanism used to grab rows of products on the product clamp and place the rows of products in the product packaging box.

2. The automatic placing and sorting device for cherry tomatoes according to claim 1, characterized in that: The loading unit includes a feeding frame, a buffer mechanism arranged on the feeding frame and away from the turntable, and a straightening mechanism arranged on the feeding frame and adjacent to the turntable; the buffer mechanism includes at least a first conveyor belt for receiving graded products; the straightening mechanism includes an annular conveying structure arranged in a vertical plane and located at the output end of the first conveyor belt, and a third driving mechanism for driving the annular conveying structure to rotate in the vertical plane, and the annular conveying structure is provided with a plurality of limiting rollers distributed in a ring shape and arranged at intervals along its rotation direction, and a straightening position for receiving a product is formed between two adjacent limiting rollers.

3. The automatic placing and sorting device for cherry tomatoes according to claim 2, characterized in that: The buffer mechanism also includes a plurality of guide bars which are located above the first conveyor belt and arranged side by side along the conveying direction of the first conveyor belt. The extending direction of the guide bars forms an acute angle with the conveying direction of the first conveyor belt.

4. The automatic placing and sorting device for cherry tomatoes according to claim 2, characterized in that: The loading unit also includes a second conveyor belt located on the first conveyor belt away from the annular conveying structure and used to receive the cleaned products, a loading frame, and a driving motor for driving the second conveyor belt to rotate. The second conveyor belt is arranged obliquely in the vertical direction and rotates with the loading frame through a rotating shaft. A plurality of partitions are arranged side by side on the supporting surface of the second conveyor belt along the conveying direction of the second conveyor belt, and a limiting area for limiting the product is formed between two adjacent partitions.

5. The automatic placing and sorting device for cherry tomatoes according to claim 2, characterized in that: A first drying mechanism is disposed at the feeding end of the annular conveying structure, and a plurality of second drying mechanisms are disposed at intervals above the annular conveying structure along the conveying direction of the annular conveying structure.

6. The automatic placing and sorting device for cherry tomatoes according to claim 4, characterized in that: The feeding unit also includes a hopper located at the feeding end of the second conveyor belt and used for receiving incoming products, and a vibrator fixed on the outer surface of the hopper and driving the hopper to vibrate so that the products enter the second conveyor belt.

7. The automatic placing and sorting device for cherry tomatoes according to claim 2, characterized in that: The first gripping mechanism includes a first mounting frame located above the annular conveying structure and fixed on the feeding frame, a first Y-axis guide rail fixed on the first mounting frame and extending in the horizontal direction, a first Y-axis slider slidably arranged on the first Y-axis guide rail, a fourth driving mechanism driving the first Y-axis slider to slide on the first Y-axis guide rail to make the first Y-axis slider approach or move away from the turntable, a first Z-axis guide rail fixed on the first Y-axis slider and extending in the vertical direction, a first Z-axis slider slidably arranged on the first Z-axis guide rail, a fifth driving mechanism driving the first Z-axis slider to slide on the first Z-axis guide rail to make the first Z-axis slider rise and fall, and a first suction structure fixed at the bottom end of the first Z-axis slider and used to suck products in the straight position, and the first suction structure is connected to an external air pressure device.

8. The automatic placing and sorting device for cherry tomatoes according to claim 1, characterized in that: The automatic placement and sorting device for cherry tomatoes also includes a workbench, a mounting hole penetrating the upper and lower surfaces of the turntable is opened in the middle of the turntable, the swing sorting unit also includes a fixing column passing through the mounting hole and fixedly connected to the workbench, a fixing frame is installed on the top of the fixing column, the image acquisition component is located beside the product mounting component or suspended above the product mounting component, and the image acquisition component is fixedly connected to the fixing frame; the first driving mechanism drives the turntable to rotate relative to the fixing column.

9. The automatic placing and sorting device for cherry tomatoes according to claim 1, characterized in that: A plurality of supporting discs corresponding to the product mounting parts are fixed on the turntable, and the product mounting parts are rotatably arranged on the supporting discs and limitedly cooperate with the supporting discs in a horizontal plane. A first receiving groove for accommodating the product is provided on the upper surface of the product mounting part. The second driving mechanism is a rotating cylinder or a rotating motor fixed under the turntable. A rotating part is provided on the top of the second driving mechanism, and a magnetic part is fixed on the rotating part to magnetically cooperate with the bottom of the product mounting part.

10. The automatic placing and sorting device for cherry tomatoes according to claim 67, characterized in that: The packaging box unit also includes a first vertical frame fixed to the side of the turntable, a first X-axis guide rail fixed to the first vertical frame and extending in the horizontal direction and used for slidingly installing a product fixture, and a sixth driving mechanism for driving the product fixture to slide on the first X-axis guide rail. The upper surface of the product fixture is provided with a plurality of second receiving grooves arranged side by side and used for accommodating products, the lower surface of the product fixture is provided with a sliding groove that slides with the first X-axis guide rail, or the lower surface of the product fixture is fixed with a first X-axis slider that slides with the first X-axis guide rail.

11. The automatic placing and sorting device for cherry tomatoes according to claim 910, characterized in that: A second frame is arranged between the turntable and the first frame, and the second gripping mechanism includes a second mounting frame fixed on the second mounting frame, a second Y-axis guide rail fixed on the second mounting frame and extending in the horizontal direction, a second Y-axis slider slidably arranged on the second Y-axis guide rail, a seventh driving mechanism for driving the second Y-axis slider to reciprocate between the first frame and the turntable, a second Z-axis guide rail fixed on the second Y-axis slider and extending in the vertical direction, a second Z-axis slider slidably arranged on the second Z-axis guide rail, an eighth driving mechanism for driving the second Z-axis slider to slide on the second Z-axis guide rail to lift and lower the second Z-axis slider, and a second suction structure fixed at the bottom end of the second Z-axis slider and used for sucking products on the product mounting part, and the second suction structure is connected to an external air pressure device.

12. The automatic placing and sorting device for cherry tomatoes according to claim 1011, characterized in that: The fifth drive mechanism and the eighth drive mechanism are both rotating motors arranged in the horizontal direction. The fifth drive mechanism is located on the side of the first mounting frame facing away from the first air suction structure, and the output shaft of the fifth drive mechanism passes through the first mounting frame. The first grasping mechanism also includes a first limit pin fixed on the first Z-axis slider adjacent to the first mounting frame, and a first connecting rod fixedly connected to the output shaft of the fifth drive mechanism and rotatably matched with the first limit pin; the eighth drive mechanism is located on the side of the second mounting frame facing away from the second air suction structure, and the output shaft of the eighth drive mechanism passes through the second mounting frame. The second grasping mechanism also includes a second limit pin fixed on the side of the second Z-axis slider adjacent to the second mounting frame, and a second connecting rod fixedly connected to the output shaft of the eighth drive mechanism and rotatably matched with the second limit pin.

13. The automatic placing and sorting device for cherry tomatoes according to claim 1112, characterized in that: The packaging box swing unit also includes a third stand located next to the first stand, the third gripping mechanism includes a Y-axis guide rod fixed on the third stand and extending in the horizontal direction, a Y-axis guide block slidably arranged on the Y-axis guide rod, a ninth driving mechanism fixed on the third stand and used to drive the Y-axis guide block to slide on the Y-axis guide rod, a third Z-axis guide rail fixed on the Y-axis guide block and extending in the vertical direction, a third Z-axis slider slidably arranged on the third Z-axis guide rail, a Z-axis driving member driving the third Z-axis slider to rise and fall along the third Z-axis guide rail, and a mounting plate fixed to the bottom end of the third Z-axis slider, wherein a plurality of third suction structures for sucking products on the product fixture are arranged side by side on the mounting plate, and the third suction structures are connected to an external air pressure device.

14. The automatic placing and sorting device for cherry tomatoes according to claim 1213, characterized in that: The packaging box swing unit also includes a second X-axis guide rail located below the Y-axis guide rod and used for slidingly mounting the product packaging box, and a tenth driving mechanism driving the product packaging box to slide on the second X-axis guide rail; a receiving groove is provided on the upper surface of the product packaging box, the bottom surface of the receiving groove is an inclined surface, and the height of the bottom surface of the receiving groove on the side adjacent to the turntable in the receiving groove is lower than the height of the bottom surface of the groove on the side away from the turntable in the receiving groove.

15. The automatic placing and sorting device for cherry tomatoes according to claim 1213, characterized in that: The third grasping mechanism also includes an image sensor arranged on the third stand or the Y-axis guide block and used to capture images inside the product packaging box.

Images