Intelligent weighing apparatus and method
Patent Information
- Application Number
- CN202611101445.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-23
- Publication Date
- 2026-09-25
AI Technical Summary
目前此类果蔬称重和分级主要依靠人工式，不仅作业效率偏低、计量误差难以把控，还易因人工操作不当造成果蔬损伤，同时人力成本居高不下，无法匹配集中大批量的处理节奏
目前，果蔬称重和分级主要依靠人工式，不仅作业效率偏低、计量误差难以把控，还易因人工操作不当造成果蔬损伤，同时人力成本居高不下，无法匹配集中大批量的处理节奏。结合行业需求，本发明设计了一种智能称重设备，可以有效解决上述背景技术中提到的称重、补重、分级等问题，降本增效，提高劳动效率。
Smart Images
Figure CN122809027A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of weighing equipment technology, specifically to fruit and vegetable weighing equipment, and also to a method for weighing fruits and vegetables. Background Technology
[0002] Tomatoes, apples, pears, peaches, and other fruits and vegetables need to be packaged to a certain weight and graded according to the requirements of the merchants before entering the market. Currently, the weighing and grading of these fruits and vegetables mainly relies on manual labor, which is not only inefficient and difficult to control in terms of measurement error, but also prone to damage to the fruits and vegetables due to improper manual operation. At the same time, the high labor costs cannot keep up with the pace of centralized large-scale processing.
[0003] To address the above issues and improve production efficiency and work quality, a certain quantity of fruits and vegetables is manually sorted and placed into packaging boxes. To ensure accurate packing, an intelligent weighing device is designed. Based on the weighing results of the packaging boxes, a parallel robot's flexible robotic gripper accurately and safely grasps the required weight of fruits and vegetables for supplementary or reduced weight. During the grasping process, the flexible robotic gripper effectively prevents damage to the fruits and vegetables and ensures a fast, safe, and reliable grasping process. It can accurately control the weight of each portion, reduce the problems of underweight and overweight, increase speed and efficiency, reduce labor intensity and fruit and vegetable losses, and realize automatic recording and traceability of operation data. It comprehensively improves the standardization level of post-harvest processing and is a necessary measure for large-scale fruit and vegetable production to reduce costs and improve quality, and adapt to industrial development.
[0004] To ensure uniformity in the specifications of fruits and vegetables, each portion of produce not only needs to be weighed but also graded. This design incorporates AI visual recognition technology, which learns and builds a knowledge base of the weight and grade of fruits and vegetables of various shapes. The AI system then compares and categorizes the fruits and vegetables, thereby improving the intelligence of the machine's fruit and vegetable grasping and the accuracy of fruit and vegetable classification. Summary of the Invention
[0005] In response to the aforementioned problems, this invention designs an intelligent weighing device that can effectively solve the problems of weighing, weight replenishment, and grading mentioned in the background art.
[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent weighing device, comprising a loading mechanism, a weighing mechanism, an execution mechanism, a storage mechanism, a unloading mechanism, and an AI visual recognition system. The loading mechanism is fixedly connected to the weighing mechanism, and the weighing mechanism is fixedly connected to the unloading mechanism. The execution mechanism is located above the weighing mechanism and the storage mechanism, and the storage mechanism is fixedly connected to the weighing mechanism. The AI visual recognition system is used to identify the shape, position, grade, and predict the weight of fruits and vegetables. Based on parallel robot technology, the AI visual recognition system completes functions such as weighing, weight replenishment, and grading of fruits and vegetables. The loading mechanism includes a loading conveyor belt, a loading frame, and loading troughs. The loading conveyor belt is located on the upper part of the loading frame, and several loading troughs are evenly arranged on the loading conveyor belt. The width of the loading troughs is set to 1.1 to 1.5 times the width of the fruit and vegetable box, ensuring that each loading trough can only hold one fruit and vegetable box at a time. The weighing mechanism includes a weighing bin, a weighing frame, and a push plate. The weighing bin is located on the upper part of the weighing frame. The push plate cooperates with the weighing bin. After the fruit and vegetable box is sent into the weighing bin, it is weighed and then the weight is added. Finally, the push plate pushes the fruit and vegetable box into the unloading mechanism. The actuator includes a parallel robot, a gripper, and a camera. The gripper and camera are located at the head of the parallel robot. The parallel robot can quickly drive the gripper to position itself above the fruit and vegetable box and the storage mechanism. The gripper includes a gripper base, a main suction cup, and finger mechanisms. The main suction cup is located in the center of the gripper base, surrounded by four finger mechanisms. Each finger mechanism consists of a first finger joint, a second finger joint, a lever block, a lever shaft, a linear actuator, a negative pressure suction cup, an air tube, and a vacuum generator. The first finger joint and the second finger joint are hinged at one end, and the other end of the second finger joint is hinged at one end of the lever block. The other end of the lever block is connected to the linear actuator. The device is fixedly connected, with the lever block and the hand claw chassis connected by the lever shaft. The first and second finger joints have pre-set air tubes inside, which are connected to the vacuum generator. The inner side of the first finger joint is equipped with several negative pressure suction cups. The linear actuator controls the rotation of the lever block, which drives the first and second finger joints to form an opening and closing action. The linear actuator determines whether it contacts the object to be processed based on the change of the load torque. After contact, it stops the action. By relying on negative pressure to adsorb fruits and vegetables, it can achieve the dual action of enveloping and adsorbing to fix fruits and vegetables, effectively preventing damage to fruits and vegetables. It can also achieve the downward folding action of the fruit and vegetable box flap and complete the fruit and vegetable box packaging function. The storage mechanism includes a material tray, a high-precision scale, a storage driver, and a base. The high-precision scale is installed at the bottom of the material tray. The upper end of the storage driver is fixedly connected to the bottom of the high-precision scale, and the lower end of the storage driver is fixedly connected to the base. The storage driver is used to drive the material tray and the high-precision scale to rise and fall. The high-precision scale at the bottom of the material tray is used to measure the weight of the fruits and vegetables contained in the material tray in real time. The unloading mechanism includes an unloading conveyor belt, an unloading frame, grading baffles, a servo motor, a grading box, and a holding box. The unloading conveyor belt is located in the middle of the unloading frame. Several grading baffles are provided at the tail and sides of the unloading conveyor belt. The grading baffles are fixedly connected to the main shaft of the servo motor. The servo motor drives the corresponding grading baffles to open or close. The servo motor determines the arrival of the fruit and vegetable box based on the change in the load torque. A grading box is provided below the grading baffles, and a holding box is provided directly below the grading box. The servo motor drives the grading baffles to rotate to the closed position, quickly pushing the fruit and vegetable box into the sorting hopper. Finally, the fruit and vegetable box falls into the holding box, which is movable. The AI visual recognition system establishes a knowledge base through machine learning of a large amount of fruit and vegetable shape and weight data. The AI visual recognition system can predict the weight and grade of the fruits and vegetables identified in the storage mechanism and fruit and vegetable box, and obtain their location information, thereby controlling the parallel robot of the actuator to quickly grab the required fruits and vegetables, improving the efficiency of the parallel robot in grabbing fruits and vegetables, and avoiding damage to fruits and vegetables from multiple grabs. A weighing method for an intelligent weighing device, combined with an AI visual recognition system, utilizes a parallel robot to perform functions such as weighing, reweighting, and grading of fruits and vegetables. Manually sorted fruit and vegetable boxes are transported to the weighing mechanism via a loading mechanism, where the weight of the boxes is measured. When the weight of the fruit and vegetable box is lower than a set value, the actuator is positioned above the storage mechanism. The camera on the head of the parallel robot of the actuator identifies the shape, position, and grade of the fruits and vegetables in the storage mechanism. The AI visual recognition system determines a suitable weight for a particular fruit or vegetable and then controls the actuator's gripper to pick it up and place it into the fruit and vegetable box, ensuring the weight of the box meets the set value requirement. When the weight of the fruit and vegetable box is higher than the set value, the actuator is positioned above the box. The camera on the head of the parallel robot of the actuator identifies the shape, position, and grade of the fruits and vegetables in the box. The AI visual recognition system determines a suitable weight for a particular fruit or vegetable and then controls the actuator's gripper to pick it up and place it into the storage mechanism. The fruit and vegetable boxes are placed in the storage mechanism to ensure that the weight of the fruit and vegetable boxes meets the set value requirements. If the fruit and vegetables added or removed by the storage mechanism exceed or fall below the upper edge of the material tray, the storage driver under the material tray drives the high-precision scale at the bottom of the material tray to descend or rise so that the fruit and vegetables reach the upper edge of the material tray. This ensures that the actuator can work in one plane when it operates, improving the gripping stability and work efficiency. After the fruit and vegetables are reloaded, the actuator performs a step-by-step pressing and folding action by adsorbing the self-adhesive fruit and vegetable box flaps one by one to complete the fruit and vegetable box packaging action. Then, the push plate pushes the packaged fruit and vegetable boxes to the unloading conveyor belt. The unloading conveyor belt transports the fruit and vegetable boxes to the grading box position of the corresponding fruit and vegetable level. The servo motor drives the corresponding grading baffle to open a certain angle in advance. After the fruit and vegetable boxes arrive, they will apply a certain pressure to the grading baffle. The servo motor judges the arrival of the fruit and vegetable boxes based on the change of the bearing torque. Then, the servo motor drives the grading baffle to rotate to the closed position and quickly pushes the fruit and vegetable boxes into the sorting hopper. Finally, the fruit and vegetable boxes fall into the holding box.
[0007] Compared with the prior art, the present invention has the following advantages: Currently, fruit and vegetable weighing and grading mainly rely on manual labor, which is not only inefficient and difficult to control in terms of measurement errors, but also prone to damage due to improper manual operation. Furthermore, high labor costs make it unsuitable for large-scale, centralized processing. In response to industry needs, this invention designs an intelligent weighing device that effectively solves the weighing, reweighting, and grading problems mentioned in the background, reducing costs, increasing efficiency, and improving labor productivity. Attached Figure Description
[0008] Figure 1 This is a structural schematic diagram of an intelligent weighing device according to the present invention.
[0009] Figure 2 This is an enlarged schematic diagram of the hand claw structure of the present invention.
[0010] The diagram labels are: 1. Loading mechanism; 11. Loading conveyor belt; 12. Loading frame; 13. Cargo trough; 21. Weighing mechanism; 22. Weighing bin; 23. Weighing frame; Actuator; 31. Parallel robot; 32. Gripper; 33. Camera; 321. Gripper chassis; 322. Main suction cup; 323. Finger mechanism; 3231 Finger joint one; 3232 Finger joint two; 3233. Negative pressure suction cup; 3234. Lever block; 3235. Linear actuator; Storage mechanism; 41. Material tray; 42. High-precision scale; 43. Linear actuator; 44. Base; Unloading mechanism; 51. Unloading conveyor belt; 52. Unloading frame; 53. Grading baffle; 54. Servo motor; 55. Grading box; 56. Container box. Detailed Implementation
[0011] To illustrate the technical content, structural features, objectives, and effects of this invention in detail, the following will provide a detailed description in conjunction with the embodiments and accompanying drawings.
[0012] When the technicians of this invention were researching fruit and vegetable weighing technology, they found that fruit and vegetable weighing and grading mainly relied on manual labor, which not only resulted in low work efficiency and difficulty in controlling measurement errors, but also easily caused damage to fruits and vegetables due to improper manual operation. At the same time, the high labor costs made it impossible to match the pace of centralized large-scale processing. In order to solve these problems, the technicians invented an intelligent weighing device.
[0013] Combination Figure 1 , Figure 2This invention provides an intelligent weighing device, including a loading mechanism 1, a weighing mechanism 2, an execution mechanism 3, a storage mechanism 4, a unloading mechanism 5, and an AI visual recognition system. The loading mechanism 1 is fixedly connected to the weighing mechanism 2, and the weighing mechanism 2 is fixedly connected to the unloading mechanism 5. The execution mechanism 3 is located above the weighing mechanism 2 and the storage mechanism 4, and the storage mechanism 4 is fixedly connected to the weighing mechanism 2. The AI visual recognition system is used to identify the shape, position, grade, and predict the weight of fruits and vegetables. Based on the parallel robot 31 technology, the AI visual recognition system completes the functions of weighing, supplementing weight, and grading of fruits and vegetables. The loading mechanism 1 includes a loading conveyor belt 11, a loading frame 12, and a trough 13. The loading conveyor belt 11 is located on the upper part of the loading frame 12. Several troughs 13 are evenly arranged on the loading conveyor belt 11. The width of the trough 13 is set to 1.1 to 1.5 times the width of the fruit and vegetable box, ensuring that each trough 13 can only hold one fruit and vegetable box at a time. The weighing mechanism 2 includes a weighing bin 21, a weighing frame 22, and a push plate 23. The weighing bin 21 is located on the upper part of the weighing frame 22. The push plate 23 cooperates with the weighing bin 21. After the fruit and vegetable box is sent into the weighing bin 21, it is weighed and then the weight is added. Finally, the push plate 23 pushes the fruit and vegetable box into the unloading mechanism 5. The actuator 3 includes a parallel robot 31, a gripper 32, and a camera 33. The gripper 32 and camera 33 are located at the head of the parallel robot 31. The parallel robot 31 can quickly drive the gripper 32 to position itself above the fruit and vegetable box and storage mechanism 4. The gripper 32 includes a gripper base 321, a main suction cup 322, and finger mechanisms 323. The main suction cup 322 is located in the middle of the gripper base 321, with four finger mechanisms 323 evenly distributed around it. Each finger mechanism 323 consists of a first finger joint 3231, a second finger joint 3232, a lever block 3234, a lever shaft, a linear actuator 3235, a negative pressure suction cup 3233, an air tube, and a vacuum generator. The first finger joint 3231 is hinged to one end of the second finger joint 3232, and the other end of the second finger joint 3232 is hinged to one end of the lever block 3234. The other end of block 3234 is fixedly connected to linear actuator 3235. Lever block 3234 is connected to gripper base 321 through lever shaft. Finger joint 1 3231 and finger joint 2 3232 have pre-set air tubes inside, which are connected to vacuum generator. Several negative pressure suction cups 3233 are provided on the inner side of finger joint 1 3231. Linear actuator 3235 controls lever block 3234 to rotate. Lever block 3234 drives finger joint 1 3231 and finger joint 2 3232 to form an opening and closing action. Linear actuator 3235 judges whether to contact the object to be processed according to the change of bearing torque. After contact, the action stops. Relying on negative pressure to adsorb fruits and vegetables, it can realize the double action of enveloping and adsorbing to fix fruits and vegetables, effectively preventing damage to fruits and vegetables. It can also realize the downward folding action of adsorbing fruit and vegetable box flaps and complete the fruit and vegetable box packaging function. The storage mechanism 4 includes a material tray 41, a high-precision scale 42, a storage driver 43, and a base 44. The high-precision scale 42 is installed at the bottom of the material tray 41. The upper end of the storage driver 43 is fixedly connected to the bottom of the high-precision scale 42, and the lower end of the storage driver 43 is fixedly connected to the base 44. The storage driver 43 is used to drive the material tray 41 and the high-precision scale to rise and fall. The high-precision scale at the bottom of the material tray 41 is used to measure the weight of the fruits and vegetables contained in the material tray 41 in real time. The unloading mechanism 5 includes an unloading conveyor belt 51, an unloading frame 52, grading baffles 53, a servo motor 54, a grading box 55, and a holding box 56. The unloading conveyor belt 51 is located in the middle of the unloading frame 52. Several grading baffles 53 are provided at the tail and sides of the unloading conveyor belt 51. The grading baffles 53 are fixedly connected to the main shaft of the servo motor 54. The servo motor 54 drives the corresponding grading baffles 53 to open or close. The servo motor 54 determines the arrival of the fruit and vegetable box based on the change in the load torque. The grading box 55 is provided below the grading baffles 53, and the holding box 56 is provided directly below the grading box 55. The servo motor 54 drives the grading baffles 53 to rotate to the closed position, quickly pushing the fruit and vegetable box into the hopper. Finally, the fruit and vegetable box falls into the holding box 56, which is movable. The AI visual recognition system builds a knowledge base through machine learning of a large amount of fruit and vegetable shape and weight data. The AI visual recognition system can predict the weight and grade of the fruits and vegetables identified in the storage mechanism and fruit and vegetable box, and obtain their location information, thereby controlling the parallel robot 31 of the actuator 3 to quickly grab the required fruits and vegetables, improving the efficiency of the parallel robot 31 in grabbing fruits and vegetables, and avoiding damage to fruits and vegetables by grabbing them multiple times. A weighing method for an intelligent weighing device, combined with an AI visual recognition system, utilizes a parallel robot 31 to perform functions such as weighing, reweighting, and grading of fruits and vegetables. Manually sorted fruit and vegetable boxes are transported to a weighing mechanism 2 via a loading mechanism 1. The weight of the fruit and vegetable boxes is measured. When the weight of a fruit and vegetable box is lower than a set value, a control actuator 3 is positioned above a storage mechanism 4. The camera 33 on the head of the parallel robot 31 of the actuator 3 identifies the shape, position, and grade of the fruits and vegetables in the storage mechanism 4. The AI visual recognition system then determines a suitable [item / category]. After weighing the fruits and vegetables, the gripper 32 of the actuator 3 grasps a particular fruit or vegetable and places it into the fruit and vegetable box, ensuring that the weight of the fruit and vegetable box meets the set value requirement. When the weight of the fruit and vegetable box exceeds the set value, the actuator 3 is positioned above the fruit and vegetable box. The camera 33 on the head of the parallel robot 31 of the actuator 3 identifies the shape, position, and grade of the fruits and vegetables in the fruit and vegetable box. The AI vision recognition system determines a suitable weight for the fruit and vegetable, and then controls the gripper 32 of the actuator 3 to grasp this fruit and vegetable and place it into the storage mechanism 4, ensuring that the weight of the fruit and vegetable box meets the set value requirement. If the fruits and vegetables added or removed by the storage mechanism 4 exceed or fall below the upper edge of the material tray 41, the storage driver 43 under the material tray 41 drives the high-precision scale 42 at the bottom of the material tray 41 to descend or rise, so that the fruits and vegetables reach the upper edge of the material tray 41. This ensures that the actuator 3 can work in one plane during operation, improving grasping stability and work efficiency. After the fruits and vegetables are weighed, the actuator 3 completes the fruit and vegetable box packaging action by adsorbing the self-adhesive fruit and vegetable box flaps one by one and pressing down and folding them step by step. The pusher plate 23 pushes the packaged fruit and vegetable boxes to the unloading conveyor belt 51. The unloading conveyor belt 51 transports the fruit and vegetable boxes to the grading box 55 of the corresponding fruit and vegetable grade. The servo motor 54 drives the corresponding grading baffle 53 to open at a certain angle in advance. After the fruit and vegetable box arrives, it will apply a certain pressure to the grading baffle 53. The servo motor 54 judges the arrival of the fruit and vegetable box based on the change of the bearing torque. Then, the servo motor 54 drives the grading baffle 53 to rotate to the closed position and quickly pushes the fruit and vegetable box into the distributing hopper. Finally, the fruit and vegetable box falls into the holding box 56.
Claims
1. An intelligent weighing device, characterized in that, It includes a loading mechanism, a weighing mechanism, an execution mechanism, a storage mechanism, a unloading mechanism, and an AI visual recognition system; the loading mechanism is fixedly connected to the weighing mechanism, the weighing mechanism is fixedly connected to the unloading mechanism, the execution mechanism is located above the weighing mechanism and the storage mechanism, the storage mechanism is fixedly connected to the weighing mechanism, and the AI visual recognition system is used to identify the shape, position, grade, and predict the weight of fruits and vegetables; The loading mechanism includes a loading conveyor belt, a loading frame, and cargo troughs. The loading conveyor belt is located on the upper part of the loading frame, and several cargo troughs are evenly arranged on the loading conveyor belt. The weighing mechanism includes a weighing bin, a weighing frame, and a push plate. The weighing bin is located on the upper part of the weighing frame, and the push plate cooperates with the weighing bin. The actuator includes a parallel robot, a gripper, and a camera. The gripper and camera are located at the head of the parallel robot, which can quickly drive the gripper to position itself above the fruit and vegetable box and the storage mechanism. The gripper includes a gripper base, a main suction cup, and finger mechanisms. The main suction cup is located in the center of the gripper base, surrounded by four finger mechanisms. Each finger mechanism includes finger joint one, finger joint two, a lever block, a lever shaft, a linear actuator, a negative pressure suction cup, an air tube, and a vacuum generator. Finger joint one and finger joint two are hinged at one end, and the other end of finger joint two is hinged to one end of the lever block. The other end of the lever block is fixedly connected to the linear actuator. The lever block is connected to the gripper base via the lever shaft. Air tubes are pre-installed inside finger joint one and finger joint two, and the air tubes are connected to the vacuum generator. Several negative pressure suction cups are provided on the inner side of finger joint one. The linear actuator controls the rotation of the lever block, and the lever block drives finger joint one and finger joint two to form an opening and closing action. The linear actuator determines whether to contact the object being processed based on changes in the load torque. After contact, the action stops, and the negative pressure is used to adsorb fruits and vegetables, achieving a dual action of enveloping and adsorbing to fix the fruits and vegetables; effectively preventing damage to the fruits and vegetables, and at the same time, the downward folding action of the fruit and vegetable box flap is achieved to complete the fruit and vegetable box packaging function; The storage mechanism includes a material tray, a high-precision scale, a storage driver, and a base. The high-precision scale is installed at the bottom of the material tray. The upper end of the storage driver is fixedly connected to the bottom of the high-precision scale, and the lower end of the storage driver is fixedly connected to the base. The storage driver is used to drive the material tray and the high-precision scale to rise and fall. The high-precision scale at the bottom of the material tray is used to measure the weight of the fruits and vegetables contained in the material tray in real time. The unloading mechanism includes an unloading conveyor belt, an unloading frame, grading baffles, a servo motor, a grading box, and a holding box. The unloading conveyor belt is located in the middle of the unloading frame. Several grading baffles are provided at the tail and sides of the unloading conveyor belt. The grading baffles are fixedly connected to the main shaft of the servo motor. The servo motor drives the corresponding grading baffles to open or close. A grading box is provided below the grading baffles. A holding box is provided directly below the grading box. The servo motor drives the grading baffles to rotate to the start and close positions, and the holding box can move. The AI visual recognition system establishes a knowledge base through machine learning of a large amount of fruit and vegetable shape and weight data. The AI visual recognition system estimates the weight and grade of the fruits and vegetables identified in the storage mechanism and fruit and vegetable box, and obtains their location information, thereby controlling the parallel robot of the actuator to quickly grab the required fruits and vegetables, improving the efficiency of the parallel robot in grabbing fruits and vegetables, and avoiding damage to fruits and vegetables from repeated grabbing.
2. The intelligent weighing device according to claim 1, characterized in that, The width of the trough should be set to 1.1 to 1.5 times the width of the fruit and vegetable box.
3. A weighing method for an intelligent weighing device as described in any one of claims 1 to 2, characterized in that: The AI visual recognition system, based on a parallel robot, performs functions such as weighing, reweighting, and grading of fruits and vegetables. Manually sorted fruit and vegetable boxes are transported to the weighing mechanism via the loading mechanism. The weight of the fruit and vegetable boxes is measured. When the weight of a fruit and vegetable box is lower than a set value, the actuator is controlled to position itself above the storage mechanism. The camera on the head of the parallel robot of the actuator identifies the shape, position, and grade of the fruits and vegetables in the storage mechanism. The AI visual recognition system determines a suitable weight for a fruit or vegetable and then controls the actuator's gripper to pick up the fruit and vegetable and place it into the fruit and vegetable box, ensuring the weight of the fruit and vegetable box meets the set value requirement. When the weight of a fruit and vegetable box is higher than the set value, the actuator is controlled to position itself above the fruit and vegetable box. The camera on the head of the parallel robot of the actuator identifies the shape, position, and grade of the fruits and vegetables in the fruit and vegetable box. The AI visual recognition system determines a suitable weight for a fruit or vegetable and then controls the actuator's gripper to pick up the fruit and vegetable and place it into the storage mechanism. The structure ensures that the weight of the fruit and vegetable box meets the set value requirements. If the added or removed fruits and vegetables by the storage mechanism exceed or fall below the upper edge of the material tray, the storage driver under the material tray drives the high-precision scale at the bottom of the material tray to descend or rise so that the fruits and vegetables reach the upper edge of the material tray. This ensures that the actuator can work in one plane when it operates, improving the gripping stability and work efficiency. After the fruits and vegetables are reloaded, the actuator performs a step-by-step pressing and folding action by adsorbing the self-adhesive fruit and vegetable box flaps one by one to complete the fruit and vegetable box packaging action. Then, the push plate pushes the packaged fruit and vegetable box to the unloading conveyor belt. The unloading conveyor belt transports the fruit and vegetable box to the grading box position of the corresponding fruit and vegetable level. The servo motor drives the corresponding grading baffle to open a certain angle in advance. After the fruit and vegetable box arrives, it will apply a certain pressure to the grading baffle. The servo motor judges the arrival of the fruit and vegetable box based on the change of the bearing torque. Then, the servo motor drives the grading baffle to rotate to the closed position and quickly pushes the fruit and vegetable box into the sorting hopper. Finally, the fruit and vegetable box falls into the holding box.