Sorting fruit cup and sorting method for detecting defects of chain plate three-section type spherical fruits

Abstract

The invention discloses a sorting fruit cup and sorting method for chain plate three-section type spherical fruit defect detection, and the sorting fruit cup for chain plate three-section type spherical fruit defect detection comprises a chain plate three-section type fruit cup, a transverse fruit pushing mechanism, a longitudinal rotating mechanism and a fruit pushing buffer propelling mechanism, according to the chain plate three-section type fruit cup, the front section, the middle section and the rear section are fixed to the chain plate set, and the fruit conveying stability is enhanced through the sectional type structure; the longitudinal rotating mechanism is matched with a friction platform through a rotating wheel, fruit rotation is accurately controlled through the friction transmission ratio of 2: 1, the friction coefficient is increased in combination with a rubber ring with stripes, and full-angle skin image collection is achieved in cooperation with a depth camera; the transverse fruit pushing mechanism realizes lateral pushing of fruits with low damage through a spring reset type fruit pusher and a buffer pushing mechanism by utilizing the synergistic effect of a rubber roller and a spring hinge, and solves the problems of gravity center unbalance, insufficient fruit rotation control precision, unloading damage and the like which are easily caused by matching of an existing fruit cup and a conveying chain.

Description

Technical Field

[0001] The present invention relates to the field of agricultural technologies, and particularly to the detection of epidermal defects of fruits. Specifically, it refers to a sorting fruit cup and a sorting method for detecting defects of spherical fruits in a three-section chain plate type. Background Art

[0002] The visual presentation of the fruit epidermis is one of the core elements for consumers to evaluate the quality of fruits. The current problem of product loss in the agricultural field largely stems from appearance defects that do not meet market aesthetic standards. Although the internal quality of fruits, such as nutrient content, texture characteristics, and practical value, constitutes its core quality indicators, the primary concern at the consumer end during purchase is still the integrity of the product form. In agricultural production, as an independent loading unit in the fruit sorting system, the fruit cup not only undertakes the physical transmission function but also needs to accurately display the multi-dimensional quality characteristics of fruits. This special container provides complete visual data for automated detection equipment by standardizing the display of the three-dimensional form information of fruits. Its structural design and operating efficiency directly determine the processing accuracy and overall working efficiency of the sorting system.

[0003] When performing the conveying task for nearly spherical fruits, it is necessary to customize the conveying fruit cup according to the shape characteristics and surface characteristics of different types of fruits and fix it on the conveying mechanism. For example, the Chinese invention patent with the application publication number CN115365153A discloses a full-angle sorting fruit cup and a sorting method for image detection; this type of fruit cup uses a power roller and two support rollers arranged in the front-back direction, and the left and right ends of the two support rollers are respectively rotatably connected to the left side wall and the right side wall of the guardrail; the power roller is located below the two support rollers and is in transmission connection with the two support rollers, and the side wall of the guardrail and the two support rollers form a fruit placement groove; the roller surface of the power roller contacts a friction platform arranged below the sorting fruit cup and is driven by friction to drive the fruit to rotate, which is beneficial to obtaining the full-angle epidermal information of the fruit; however, during the conveying process of this fruit cup, the cooperation between the fruit cup and the conveying chain lacks robustness, has too high requirements for the strength of the chain, and the cooperation mode between the balance base and the conveying chain easily causes the fruit cup to lose balance in the center of gravity during the conveying and discharging processes. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a sorting fruit cup and a sorting method for detecting defects of spherical fruits in a three-section chain plate type, effectively avoiding the problem that the cooperation mode between the balance base and the conveying chain easily causes the fruit cup to lose balance in the center of gravity during the conveying and discharging processes, and completing the sorting task with a lightweight structure while retaining the functions.

[0005] The present invention is realized through the following technical solutions. A sorting fruit cup for detecting defects of spherical fruits in three sections of a chain plate is provided, which includes a chain plate three-section fruit cup fixedly installed on a chain plate conveying mechanism, a horizontal fruit pushing mechanism installed in the middle section of the fruit cup body, a longitudinal rotating mechanism located in the front section of the fruit cup body, and a fruit pushing buffer propulsion mechanism in the front section and the rear section of the fruit cup body.

[0006] The chain plate three-section fruit cup (1) includes a fruit cup body (11) and a chain plate group (12). The fruit cup body (11) consists of three sections, namely the front, middle, and rear sections, and is vertically installed directly above the chain plate group (12) and fixedly installed at the middle position between the left and right of the chain plate group (12). The chain plate group (12) is composed of three chain plates, which are fixedly installed directly below the fruit cup body (11) corresponding to the front, middle, and rear sections of the fruit cup body (11) one by one. The chain plate group (12) forms a chain plate conveyor belt to carry the fruit cup.

[0007] The longitudinal rotating mechanism (3) includes a rotating wheel (32) and a rubber ring (31). The rotating wheel (32) is fixedly installed in the through hole opened along the left-right direction in the front section (11a) of the fruit cup body, and is in coaxial rotating pair cooperation with the through hole. There are three rubber rings (31) in total, which are respectively installed on the two side wheels and the inner wheel of the rotating wheel (32). The two side wheels are in contact with the friction platform (7) and drive the inner wheel to rotate through frictional transmission. The rubber ring (31) drives the fruit to rotate by friction with the fruit.

[0008] The horizontal fruit pushing mechanism (4) includes a fruit pusher (41) and a spring (42). The fruit pusher (41) is fixedly installed in the middle section (11b) of the fruit cup body and horizontally cuts into the chute of the middle section (11b) of the fruit cup body. One end of the spring (42) is fixedly installed inside the chute of the middle section (11b) of the fruit cup body, and the other end is fixedly installed at the lower end of the curved surface side of the fruit pusher (41).

[0009] The fruit pushing buffer propulsion mechanism (2) includes a front roller support seat (23), a rear roller support seat (24), a spring hinge (21), and a rotating roller (22). There are two front roller support seats (23) and rear roller support seats (24) in total, which are respectively fixedly installed on the same side of the front section (11a) and the rear section (11c) of the fruit cup body. There are two spring hinges (21) in total, and the included angle between the two pages is a right angle. One page is fixedly installed on the same side of the front section (11a) and the rear section (11c) of the fruit cup body through bolts, and the other page is fixedly installed on the right side of the front roller support seat (23) and the rear roller support seat (24) in the same way. There are two rotating rollers (22) in total, which are respectively installed on the vertical shafts of the front roller support seat (23) and the rear roller support seat (24) and are coaxial.

[0010] Preferably, the chain plate group (12) is made of stainless steel and is connected to each section of the fruit cup body (11) by bolts to ensure that the fruit cup passes through the corner; the fruit cup group is made of abs material, and the edges are chamfered to avoid damaging the skin of the fruit. The shape of the fruit placement groove conforms to the contour of the spherical fruit. The front, middle, and rear sections of the fruit cup group (11) are partially hollow, which is a lightweight structure while maintaining the supporting performance.

[0011] Preferably, the inside of the right-angled surface side of the fruit pusher (41) is a triangular support structure, which is a lightweight structure and maintains the fruit pushing strength; the length of the spring (42) is 50mm - 80mm. When the fruit pusher (41) travels to the inner end and the fruit is pushed out, the spring (42) returns to its initial posture and places the fruit pusher (41) in place.

[0012] Preferably, the diameters of the two side wheels of the rotating wheel (32) are smaller than the diameter of the inner wheel; the surface of the inner rubber ring (31) has rough stripes to increase the friction with the skin of the fruit and drive the fruit to rotate.

[0013] Preferably, the front roller support seat (23) and the rear roller support seat (24) are made of abs material and are connected to the front section (11a) and the rear section (11b) of the fruit cup body through spring hinges respectively. The rotating roller (22) is made of rubber. When the fruit is pushed out by the fruit pusher (41), it forms a thrust by rubbing against the skin of the fruit, and the rotating roller (22) is in rolling friction contact with the skin of the fruit without damaging the fruit.

[0014] This solution also provides a method for sorting fruits using this fruit cup, including the following steps:

[0015] Fix the sorting fruit cup on the conveying chain plate, place one fruit in the placement groove of each sorting fruit cup, and under the drive of the conveying chain plate, convey the fruit forward and pass through the depth camera (6) vertically suspended directly above the fruit cup.

[0016] During the process of conveying the fruit, the rotating wheel (32) installed on the front section (11a) of the fruit cup body rubs against the friction platforms (7) on the left and right sides to drive the inner wheel to rotate. The inner wheel cooperates with the rubber ring (31) to drive the fruit to rotate, and the depth camera (6) completes the acquisition of the image of the fruit skin.

[0017] After the acquisition of the fruit skin information is completed, the conveying chain plate conveys the fruit cup to the sorting area. According to different grading information, when the fruit cup travels to the corresponding position, the electromagnetic push rod (5) releases the push rod to push the fruit pusher (41) to slide out parallel to the middle section of the fruit cup body. The front roller support seat (23) and the rear roller support seat (24) of the rotating roller (22) fixed on the front section (11a) and the rear section (11c) of the fruit cup body cooperate with the spring hinge (21), twist along the moving direction of the fruit cup, and then return in the reverse direction to push out the fruit.

[0018] Preferably, the friction transmission ratio between the rotating wheel (32) installed at the front section (11a) of the fruit cup group and the fruit surface is 2:1, that is, when the rotating wheel (32) rotates two circles, the fruit rotates one circle. When the rotating wheel (32) rotates one circle, it drives the fruit to rotate half a circle, and the depth camera (6) captures a photo at the same time.

[0019] Preferably, during the process of the front roller support seat (23) and the rear roller support seat (24) rotating the roller (22) and cooperating with the spring hinge (21) to push out the fruit, they twist along the moving direction of the fruit cup to the position of the longitudinal horizontal diameter of the fruit. After the fruit passes through this critical point, the spring hinge (21) drives the front roller support seat (23) and the rear roller support seat (24) to retract in the opposite direction of the fruit movement direction, and the rotating roller (22) rubs against the fruit skin to push out the fruit.

[0020] The beneficial effects of the present invention are as follows:

[0021] By fixing the fruit cups in segments to the corresponding chain plates respectively, the problem that the matching method of the equilibrium base and the conveyor chain is likely to cause the center of gravity of the fruit cups to be unbalanced during the conveying and discharging processes is overcome, and the robustness of the sorting process is enhanced.

[0022] Through the interaction between the rotating wheel at the front section (11a) of the fruit cup group and the friction platform, the inner wheel is driven to rotate and rub against the fruit through the striped rubber ring (31), and the precise acquisition of the fruit surface information is achieved by matching a strict transmission ratio.

[0023] By pushing the fruit horizontally out of the fruit cup from the side of the fruit cup, the drop damage to the fruit skin is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings, and the present application can also be applied to other similar scenarios according to the provided drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the drawings represent the same structure or operation.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the three-section fruit cup of the chain plate of the present invention;

[0027] Figure 3 It is a schematic diagram of the longitudinal rotation mechanism and part of the fruit pushing buffer propulsion mechanism of the present invention;

[0028] Figure 4 Schematic diagram of the lateral fruit pushing mechanism of the present invention;

[0029] Figure 5 Schematic diagram of the partial fruit pushing buffer and propulsion mechanism of the present invention;

[0030] Figure 6 Schematic diagram of the lateral fruit pushing and discharging of the present invention;

[0031] Figure 7 Schematic diagram of rotating fruits of the present invention and collecting surface images of fruits.

[0032] As shown in the figure:

[0033] 1. Chain plate three-section fruit cup, 2. Fruit pushing buffer and propulsion mechanism, 3. Longitudinal rotation mechanism, 4. Lateral fruit pushing mechanism, 5. Electromagnetic push rod, 6. Depth camera, 7. Friction platform, 11. Fruit cup body, 12. Chain plate group, 11a. Front section of fruit cup body, 11b. Middle section of fruit cup body, 11c. Rear section of fruit cup body, 12a. Front section of chain plate group, 12b. Middle section of chain plate group, 12c. Rear section of chain plate group, 21. Spring hinge, 22. Rotating drum, 23. Front drum support seat, 24. Rear drum support seat, 31. Rubber ring, 32. Rotating wheel, 41. Fruit pusher, 42. Spring. Detailed implementation manners

[0034] The following further elaborates the present application in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant application, rather than limiting the application. The described embodiments are only a part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope protected by the present application.

[0035] It should be noted that for ease of description, only parts related to the relevant application are shown in the drawings. Without conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily, as long as the combined technical features are not mutually contradictory. All feasible feature combinations are the technical contents clearly recorded herein. Any one of the multiple sub-features included in the same statement can be applied independently without necessarily being applied together with other sub-features.

[0036] As shown in this application and the claims, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. A method or device may also include other steps or elements. An element defined by the statement "comprising one..." does not exclude the existence of other identical elements in the process, method, product, or device that includes the element.

[0037] Among them, in the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B can mean A or B; "and / or" herein is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0038] To make the technical means, creative features, achieved purposes, and effects of the present invention easy to understand, the technical solutions in the specific embodiments of the present invention are clearly and completely described below to further elaborate the present invention. Obviously, the described specific embodiments are only a part of the embodiments of the present invention, rather than all of them.

[0039] This specific embodiment is a sorting fruit cup and sorting method for detecting defects of spherical fruits in a three-section chain plate. The structural schematic diagram of the fruit cup is as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 shown. The fruit cup body 11 is fixedly installed in three sections corresponding to the upper part of the chain plate group 12. The fruit cup body 11 is divided into three sections: front, middle, and rear. The front section 11a of the fruit cup body is provided with through holes, and the rotating wheel 32 is coaxially installed in cooperation with the through holes. The inner wheel of the rotating wheel 32 can be driven by the outer wheel to rotate. There is a front roller support seat 23 above, and the rotating roller 22 is rotatably installed on the fixed shaft provided by the front roller support seat 23 and can rotate along the fixed shaft. The front roller support seat 23 and the front section 11a of the fruit cup body are respectively connected to the left and right pages of the spring hinge 21. The left and right pages of the spring hinge 21 are at a right angle and can swing left and right within the rotation range.

[0040] Please refer to Figure 4 , the middle section 11b of the fruit cup body is provided with sliding grooves along the left and right sides. Springs 42 are installed inside the sliding grooves. One end is fixed inside the sliding grooves and the other end is fixed to the bottom slider of the fruit pusher 41. The fruit pusher 41 slides into the installation along the side of the sliding groove of the middle section 11b of the fruit cup body and can be pushed by the electromagnetic push rod 5 to slide inward. After losing the thrust, it returns to its original position with the spring 42 restoring its deformation.

[0041] Please refer to Figure 5 , in the middle of the rear section 11c of the fruit cup body, there is a push plate. As the conveying chain plate pushes the fruit forward, there is a rear roller support seat 11c above. The rotating roller 22 is rotatably installed on the fixed shaft provided by the rear roller support seat 24 and can rotate along the fixed shaft. The rear roller support seat 24 and the front section 11a of the fruit cup body are respectively connected to the left and right pages of the spring hinge 21. The left and right pages of the spring hinge 21 are at a right angle and can swing left and right within the rotation range.

[0042] Please refer to Figure 6 , Figure 7 , when the fruit is conveyed and sorted through this fruit cup, the fruit is placed in the fruit cup slot. The contour of the slot is close to the contour of the fruit and the surface is made of rubber. Along with the conveying of the chain plate, the push plate of the rear section 11c of the fruit cup body drives the fruit to move forward. The outer wheel of the rotating wheel 32 on the front section 11a of the fruit cup body interacts with the friction platform 7 to drive the inner wheel to rotate. Through the friction between the rubber ring 31 and the surface of the fruit, the fruit is driven to rotate, and the depth camera 6 is used to complete the acquisition of the surface information of the fruit. After the evaluation is completed and the fruit reaches the designated sorting area, the electromagnetic push rod 5 pushes the fruit pusher 41 to move inward. The fruit pushes the front section 11a of the fruit cup body and the spring hinge 21 of the rear section of the fruit cup body to swing outward. The rotating roller 22 installed on the rear roller support seat 24 interacts with the surface of the fruit and swings inward and retracts when passing through the longitudinal horizontal diameter of the fruit, assisting in pushing the fruit outwards to complete the sorting.

[0043] In addition, by chamfering the edges of the front, middle, and rear sections of the fruit cup body 11, the force on the fruit during the conveying and pushing processes can be made more uniform, reducing the pressure on the contact between the edge of the fruit cup seat and the fruit, thereby greatly reducing the damage to the fruit during this process and ensuring the sorting quality of the fruit.

[0044] A method for sorting using the fruit cup of this embodiment includes the following steps:

[0045] 1. Fix and install the sorting fruit cup on the conveying chain plate. Place one fruit in the placement slot of each sorting fruit cup. Driven by the conveying chain plate, the fruit is conveyed forward, and through the depth camera vertically suspended directly above the fruit cup.

[0046] 2. During the process of conveying the fruit, the rotation installed on the front section of the fruit cup body rubs against the friction platforms on the left and right sides to drive the inner wheels to rotate. The inner wheels cooperate with the rubber rings to drive the fruit to rotate, and the depth camera completes the acquisition of the epidermal image of the fruit;

[0047] 3 After the collection of the fruit skin information is completed, the conveying chain plate conveys the fruit cups to the sorting area. According to different grading information, when the fruit cups move to the corresponding positions, the electromagnetic push rod releases the push rod to push the fruit pusher to slide out parallel to the middle section of the fruit cup body. The rear roller support seat and the rotating roller fixedly installed at the front section and the rear section of the fruit cup body cooperate with the spring hinge. After twisting along the moving direction of the fruit cup, they return in the reverse direction to push out the fruit. Preferably, the friction transmission ratio between the rotating wheel installed at the front section of the fruit cup body and the fruit surface is 2:1, that is, the rotating wheel rotates two circles while the fruit rotates one circle, and the rotating wheel drives the fruit to rotate half a circle every time it rotates one circle. The depth camera captures a photo at the same time. Preferably, during the process of the roller support seat and the rotating roller cooperating with the spring hinge to push out the fruit, they twist along the moving direction of the fruit cup to the position of the longitudinal horizontal diameter of the fruit. After the fruit passes through this critical point, the spring hinge drives the front roller support seat and the rear roller support seat to retract in the opposite direction of the moving direction of the fruit. The rotating roller rubs against the fruit skin to assist in pushing out the fruit.

[0048] The above describes the main technical features, basic principles and related advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary specific embodiments, and can be implemented in other specific forms without departing from the concept or basic features of the present invention. Therefore, from any point of view, the above specific embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to include all changes falling within the meaning and scope of the equivalent elements of the claims in the present invention.

[0049] It should be understood that although this specification is described according to each embodiment, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A three-stage chain plate sorting fruit cup for detecting spherical fruit defects, characterized in that: include: A chain plate three-section fruit cup (1) fixedly mounted on a chain plate conveying mechanism, the chain plate three-section fruit cup (1) comprising a fruit cup body (11) and a chain plate group (12), the fruit cup body (11) being divided into three sections, namely a front section (11a) of the fruit cup body, a middle section (11b) of the fruit cup body and a rear section (11c) of the fruit cup body, and being vertically mounted directly above the chain plate group (12) and fixedly mounted at the left, middle and right positions of the chain plate group (12), the chain plate group (12) being composed of three chain plates, corresponding one by one to the front section (11a) of the fruit cup body, the middle section (11b) of the fruit cup body and the rear section (11c) of the fruit cup body and being fixedly mounted directly below the fruit cup body (11), the chain plate group (12) forming a chain plate conveyor belt to carry the fruit cups; A longitudinal rotating mechanism (3) is located at the front section (11a) of the fruit cup body, the longitudinal rotating mechanism (3) comprising a rotating wheel (32) and a rubber ring (31), the rotating wheel (32) being fixedly mounted on a through hole opened in the left-right direction of the front section (11a) of the fruit cup body, and being coaxially rotatingly matched with the through hole; there are three rubber rings (31), which are respectively mounted on the two side wheels and the inner side wheel of the rotating wheel (32), the two side wheels are in contact with the friction platform (7) and drive the inner side wheel to rotate through friction transmission, and the rubber ring (31) drives the fruit to rotate by friction with the fruit; A transverse fruit pushing mechanism (4) is located in the middle section (11b) of the fruit cup body, the transverse fruit pushing mechanism (4) comprising a fruit pusher (41) and a spring (42), the fruit pusher (41) being fixedly mounted in the middle section (11b) of the fruit cup body and being transversely cut into a slide groove in the middle section (11b) of the fruit cup body, one end of the spring (42) being fixedly mounted on the inner side of the slide groove in the middle section (11b) of the fruit cup body, and the other end being fixedly mounted on the lower end of the curved surface side of the fruit pusher (41); A fruit pushing and buffering mechanism (2) is located at the front section (11a) and the rear section (11c) of the fruit cup body, the fruit pushing and buffering mechanism (2) comprising a front roller support seat (23), a rear roller support seat (24), a spring hinge (21) and a rotating roller (22), the front roller support seat (23) and the rear roller support seat (24) being two in total and fixedly mounted on the same side of the front section (11a) and the rear section (11c) of the fruit cup body respectively; the spring hinge (21) being two in total, the angle between the two leaves being a right angle, one leaf being fixedly mounted on the same side of the front section (11a) and the rear section (11c) of the fruit cup body by bolts, and the other leaf being fixed on the right side of the front roller support seat (23) and the rear roller support seat (24) in the same manner; the rotating roller (22) being two in total and being mounted on the vertical axis and coaxially of the front roller support seat (23) and the rear roller support seat (24) respectively.

2. The three-stage chain plate sorting fruit cup for detecting spherical fruit defects according to claim 1, characterized in that: The chain plate group (12) is made of stainless steel and is connected to each section of the fruit cup body (11) by means of bolts; The fruit cup body (11) is made of ABS material, and the edges are chamfered to avoid damaging the fruit skin. The shape of the fruit placement groove fits the contour of the spherical fruit, and the front, middle and rear sections of the fruit cup body (11) are hollow.

3. The three-stage chain plate sorting fruit cup for detecting spherical fruit defects according to claim 1, characterized in that: The right-angled surface of the fruit pusher (41) has a triangular support structure inside; the length of the spring (42) is 50 mm-80 mm. When the fruit pusher (41) moves to the inner end and pushes out the fruit, the spring (42) returns to its initial position and puts the fruit pusher (41) in its original position.

4. The three-stage chain plate sorting fruit cup for detecting spherical fruit defects according to claim 1, characterized in that: The diameters of the two side wheels of the rotating wheel (32) are smaller than the diameter of the inner wheel; the surface of the inner rubber ring (31) has rough stripes.

5. The three-stage chain plate sorting fruit cup for detecting spherical fruit defects according to claim 1, characterized in that: The front roller support seat (23) and the rear roller support seat (24) are made of ABS material and are respectively connected to the front section (11a) and the rear section (11c) of the fruit cup body through a spring hinge (21). The rotating roller (22) is made of rubber material. When the fruit is pushed out by the fruit pusher (41), it rubs against the fruit skin to form a thrust force to push the fruit out. The rotating roller (22) is in rolling friction contact with the fruit skin.

6. A sorting method, characterized in that: The fruit sorting cup for detecting defects of spherical fruits with three-stage chain plates according to any one of claims 1 to 5 comprises the following steps: (1) The sorting fruit cup is fixedly mounted on the conveying chain plate, and a fruit is placed in the placement slot of each sorting fruit cup. Driven by the conveying chain plate, the fruit is transported forward and passes through a depth camera vertically suspended just above the fruit cup; (2) During the fruit conveying process, the rotating wheel installed at the front of the fruit cup body rubs against the friction platforms on the left and right sides to drive the inner wheel to rotate. The inner wheel cooperates with the rubber ring to drive the fruit to rotate, and the depth camera completes the collection of fruit skin images; (3) After completing the collection of fruit skin information, the conveyor chain transports the fruit cup to the sorting area. According to different grading information, when the fruit cup moves to the corresponding position, the electromagnetic push rod releases the push rod and pushes the fruit pusher to slide out parallel to the middle section of the fruit cup body. The roller support seat and the rotating roller fixedly installed at the front section and the rear section of the fruit cup body cooperate with the spring loose-leaf, twist along the movement direction of the fruit cup, and then return to the reverse position to push out the fruit.

7. The sorting method according to claim 6, characterized in that: The friction transmission ratio between the rotating wheel installed at the front of the fruit cup group and the surface of the fruit is 2:1, that is, the rotating wheel rotates two circles and the fruit rotates one circle. Each time the rotating wheel rotates one circle, the fruit rotates half a circle, and the depth camera captures a photo at the same time. Preferably, when the roller support seat and the rotating roller cooperate with the spring hinge to push out the fruit, they are twisted along the movement direction of the fruit cup to the longitudinal horizontal diameter position of the fruit. After the fruit passes through the critical point, the spring hinge drives the roller support seat to retract in the opposite direction of the fruit movement, and the rotating roller rubs against the fruit skin to push out the fruit.

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