Small intelligent apple sorting machine

Abstract

The small intelligent apple sorting machine comprises an air washing system, a soft package roller fruit conveying system, an image recognition system, an inferior fruit removing system, a rail type sorting and lower fruit collecting system, a power source and a control box, and the air washing system is arranged on the right side of the whole machine; the soft package roller fruit conveying system is arranged on the left side of the gas washing system; the image recognition system is arranged above the soft package roller fruit conveying system, the inferior fruit removing system is arranged on the left side of the soft package roller fruit conveying system, the right side of the rail type sorting and lower fruit collecting system is connected with the inferior fruit removing system, the power source is arranged below a fruit feeding rack of the soft package roller fruit conveying system, and the control box is arranged on a camera obscura of the image recognition system. According to the intelligent apple sorting machine, inferior fruit screening, inferior fruit removing and size sorting of apple fruits in the orchard garden head are achieved, meanwhile, the whole machine integrates the scientific damage prevention and reduction technology, and the blank of a small intelligent apple sorting machine in the field of orchard garden head sorting is filled.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and particularly relates to a small intelligent apple sorter. Background Art

[0002] Grading is an important link in the commercialization process of apples. Currently, the preliminary grading during the apple picking process is usually carried out in the orchard and relies on manual operation. Existing apple sorters are mainly applicable to the sorting lines of medium and large-sized fruit storages and are expensive, usually in the range of 2 million to 5 million. In addition, the single unit weight of apples is relatively large, and they are easily damaged during the grading process. In view of this situation, there is an urgent need to develop a small intelligent apple sorter designed specifically for the orchard environment. Summary of the Invention

[0003] Based on the problems of low automation level of apple sorting at the orchard head, large volume of apple sorting machinery, large sorting damage, and high usage threshold in domestic orchards, the utility model designs a new type of low-loss small intelligent apple sorter. It adopts image recognition and defective fruit removal technologies, integrates orbital size sorting technology and anti-loss and damage reduction technology, and takes high-yield apple varieties in Shaanxi (Ruixianghong, Ruixue, and Red Fuji) as sorting objects, aiming to reduce the sorting loss after apple harvesting and fill the gap in the field of automatic sorting at the orchard head of apples. It has the advantages of small volume, low sorting damage, high automation level, and convenient manufacturing, and is expected to provide reference significance and value for the subsequent research on domestic apple sorting machinery and anti-loss and damage reduction methods.

[0004] To achieve the above objectives, the technical solution adopted by the utility model is as follows: A small intelligent apple sorter includes an air washing system, a soft-pack drum fruit conveying system, an image recognition system, a defective fruit removal system, an orbital sorting and fruit collection system, a power source, and a control box. The air washing system is arranged on the right side of the upper fruit rack of the soft-pack drum fruit conveying system. The soft-pack drum fruit conveying system is arranged on the left side of the air washing system. The image recognition system is arranged above the soft-pack drum fruit conveying system. The defective fruit removal system is arranged on the left side of the soft-pack drum fruit conveying system. The right side of the orbital sorting and fruit collection system is connected to the defective fruit removal system. The power source is arranged below the upper fruit rack of the soft-pack drum fruit conveying system. The control box is arranged on the dark box of the image recognition system.

[0005] Further, the air washing system includes an air washing gun, a flow dividing valve, an air washing mounting frame, air washing air pipes, and an air compressor-air washing flow dividing valve air pipe. The flow dividing valve is arranged at the rear side of the air washing mounting frame and plays a role in gas transmission and flow division. The air compressor-air washing flow dividing valve air pipe is connected to one side of the flow dividing valve. The air washing air pipes are evenly distributed at the rear side of the flow dividing valve and are connected to the air washing gun above the air washing mounting frame.

[0006] Furthermore, the air washing gun includes an air washing gun nozzle, an air washing gun barrel, an air washing gun mounting joint, an air washing gun vertical rod, an air washing gun air pipe joint, and an air washing gun base. The air washing gun bases are evenly distributed on the upper side of the air washing gun mounting frame. The air washing gun vertical rod is arranged in the air washing gun base. The air washing gun mounting joint is arranged in the middle of the air washing gun vertical rod. The air washing gun barrel is arranged in the air washing gun mounting joint, and an air washing gun nozzle and an air washing gun air pipe joint are respectively arranged at its front and rear ends. The cleaning effect of the air washing gun nozzle of the entire air washing system is uniform and stable, and the air washing height and angle can be adjusted, achieving the effect of multi-channel parallel washing.

[0007] Furthermore, the soft-pack drum fruit conveying system includes an upper fruit rack, a drum mechanism motor base, a drum fruit conveying motor, a large drum fruit conveying synchronous belt, a large drum fruit conveying synchronous belt pulley, a small drum fruit conveying synchronous belt, a small drum fruit conveying synchronous belt pulley, a gearbox, a drum rotating shaft, a corrugated soft-pack drum, and a drum bearing seat unit. The upper fruit rack is located above the entire fruit conveying system. The drum mechanism motor base is arranged on the bottom side of the upper fruit rack. The drum fruit conveying motor is arranged in the drum mechanism motor base. One end of the large drum fruit conveying synchronous belt is arranged at the output end of the drum fruit conveying motor, and the other end is arranged on the large drum fruit conveying synchronous belt pulley in the gearbox. The drum rotating shafts are linearly arrayed in the gearbox. The corrugated soft-pack drum and the drum bearing seat unit are both arranged in the drum rotating shafts. The small drum fruit conveying synchronous belts are respectively arranged in a left-right staggered manner in the parts of the drum rotating shafts close to the inner side of the gearbox, and are all driven by the small drum fruit conveying synchronous belt pulleys.

[0008] Furthermore, the upper fruit rack includes upper fruit rack side plates, a welded steel pipe for the front bottom plate of the upper fruit rack, a connecting steel pipe for the rear bottom plate of the upper fruit rack, a fruit channel partition of the upper fruit rack, an upper fruit H-shaped support frame, and universal wheels of the upper fruit rack. The fruit channel partition of the upper fruit rack is arranged on the upper side of the upper fruit rack, and divides the upper fruit rack side plates surrounding it into three fruit channels. The welded steel pipe for the front bottom plate of the upper fruit rack and the connecting steel pipe for the rear bottom plate of the upper fruit rack are both arranged on the lower side of the upper fruit rack and belong to the front and rear ends respectively. The upper fruit H-shaped support frame is arranged below the connecting steel pipe for the rear bottom plate of the upper fruit rack, and universal wheels of the upper fruit rack are arranged on it. The entire soft-pack drum fruit conveying system realizes fruit conveying with the characteristics of precise transmission, three fruit channels, and universal adjustability.

[0009] Furthermore, the image recognition system includes a dark box, an industrial control computer, a photoelectric switch unit, an industrial camera unit, and an efficiency indicator light. The dark box is arranged above the upper fruit rack. The efficiency indicator light is arranged above the dark box. The industrial control computer is arranged on the side of the dark box. The photoelectric switch unit and the industrial camera unit are both arranged inside the dark box.

[0010] Further, the photoelectric switch unit includes a photoelectric switch mounting bracket, a spherical handle of the photoelectric switch mounting bracket, a photoelectric switch, and nylon fixing blocks of the photoelectric switch mounting bracket. The nylon fixing blocks of the photoelectric switch mounting bracket are provided at both ends of the photoelectric switch mounting bracket, and the spherical handle of the photoelectric switch mounting bracket is provided thereon. The photoelectric switch is arranged inside the photoelectric switch mounting bracket and is linearly arrayed in a vertically side-by-side manner.

[0011] Further, the industrial camera unit includes an industrial camera support base plate, an industrial camera support base, an industrial camera support vertical rod, an industrial camera support mounting section, an industrial camera support cross bar, an industrial camera support short rod, a T-shaped mounting section of the industrial camera support, an industrial camera, and a dome-shaped light source. The industrial camera support base plate is arranged inside the inner edges at both ends of the upper fruit rack. The industrial camera support bases are respectively arranged at both ends on the industrial camera support base plate. The industrial camera support vertical rod is arranged in the industrial camera support base. The dome-shaped light source is arranged in the middle of the industrial camera support vertical rod through the industrial camera support mounting section. The industrial camera support cross bar is arranged at the upper end of the industrial camera support vertical rod through the industrial camera support mounting section. One end of the industrial camera support short rod is vertically arranged in the industrial camera support cross bar through the industrial camera support mounting section, and the other end is provided with a T-shaped mounting section of the industrial camera support. The industrial camera is arranged at the T-shaped mounting section of the industrial camera support, and the camera lens faces the opening of the dome-shaped light source. The entire image recognition system constructs a dark box environment, detects the fruit channel position of the apple, and completes the quality detection of the fruit.

[0012] Further, the inferior fruit rejection system includes an air compressor - rejection diverter valve air pipe, a rejection mechanism fixing plate, a rejection mechanism diverter valve, a rejection mechanism air pipe diverter valve air pipe joint, a rejection mechanism diverter valve - solenoid valve air pipe, a solenoid valve, a solenoid valve air pipe joint, a solenoid valve - cylinder air pipe, a cylinder, a cylinder push rod, a cylinder air pipe joint, a cylinder U - shaped plate connecting joint, a switch door U - shaped plate connecting joint, a rejection bolt, a cylinder U - shaped plate - switch door U - shaped plate connecting piece, a rejection bolt limit buckle, a rejection switch door, a rejection switch door baffle, a rejection switch door rotating shaft, and a rejection switch door rotating shaft bearing. The rejection mechanism diverter valve is arranged on the upper part of the rejection mechanism fixing plate. The air compressor - rejection diverter valve air pipe is arranged on one side of the rejection mechanism diverter valve through the rejection mechanism air pipe diverter valve air pipe joint. The solenoid valve is arranged on the lower part of the rejection mechanism fixing plate and is connected to the rejection mechanism diverter valve through the diverter valve - solenoid valve air pipe. The solenoid valve air pipe joint is arranged on the opposite side of the solenoid valve from the rejection mechanism diverter valve - solenoid valve air pipe and is connected to the cylinder through the solenoid valve - cylinder air pipe, and the solenoid valve - cylinder air pipe is connected to the cylinder air pipe joint arranged on one side. The cylinder push rod is arranged in the cylinder hole. The cylinder U - shaped plate connecting joint is arranged at the end of the cylinder push rod. The switch door U - shaped plate connecting joint is connected to the cylinder U - shaped plate connecting joint through the cylinder U - shaped plate - switch door U - shaped plate connecting piece. The cylinder U - shaped plate - switch door U - shaped plate connecting piece is arranged in the two U - shaped plate connecting joints through the rejection bolt, and the rejection bolt is fixed in the two U - shaped plate connecting joints and the cylinder U - shaped plate - switch door U - shaped plate connecting piece by the rejection bolt limit buckle. The rejection switch door is arranged on the switch door U - shaped plate connecting joint, and a rejection switch door baffle is arranged in the middle. The rejection switch door rotating shaft is arranged at the root of the rejection switch door and passes through the two rejection switch door rotating shaft bearings arranged on both sides of the rejection switch door. The entire inferior fruit rejection system is powered by an air compressor, and the solenoid valve precisely controls the opening and closing to achieve the rejection of inferior fruits.

[0013] Furthermore, the orbital sorting and fruit dropping and collecting system includes an orbital sorting mechanism, a sorting size grade adjustment mechanism, a fruit attitude correction mechanism, a bottom bin conveyor belt mechanism, a conveyor belt height adjustment mechanism, a fruit dropping buffer brush, and a pipeline-type low-loss fruit dropping and collecting mechanism. The conveyor belt height adjustment mechanism is arranged at the bottom of the orbital sorting and fruit dropping and collecting system and can adjust the height difference between the conveyor belt and the sorting soft rail, minimizing the vertical impact of apples caused by sorting fruit drops to the greatest extent. The orbital sorting mechanism is arranged inside the orbital sorting and fruit dropping and collecting system. Its design strictly controls the damage ratio of apples and grades the apples by size. Above it is a fruit attitude correction mechanism, which is concentrated at the fruit channel outlet to correct the attitude of the apples moving on the sorting soft rail. The sorting size grade adjustment mechanism is arranged on both sides and above the orbital sorting and fruit dropping and collecting system, and adjusts the sorting width of the soft rail through an orbital chuck. The bottom bin conveyor belt mechanism is arranged in the middle layer of the orbital sorting and fruit dropping and collecting system and can convey the sorted apple fruits to the pipeline-type low-loss fruit dropping and collecting mechanism. Above it is a fruit dropping buffer brush, which can reduce the impact speed and impact force of the apple fruits from the sorting soft rail to the conveyor belt, playing a role in reducing apple damage. The pipeline-type low-loss fruit dropping and collecting mechanism is arranged at the front side of the orbital sorting and fruit dropping and collecting system, and continuously and low-loss collects and conveys the sorted fourth-grade apple fruits into the basket.

[0014] Further, the orbital sorting mechanism includes a sorting frame, an upper baffle of the sorting frame, universal wheels of the sorting frame, a rear cross-frame of the sorting frame, an installation plate for the sorting central control box, the sorting central control box, an installation plate for the sorting motor, the sorting motor, a small sorting sprocket, a sorting drive chain, a large sorting sprocket, a bearing seat unit for the sorting track belt pulley, a shaft of the sorting track belt pulley, the sorting track belt pulley, a sorting track, a lower fruit plate for extra-small fruits, a fixing frame for the lower fruit plate of extra-large fruits, and the lower fruit plate of extra-large fruits. The universal wheels of the sorting frame are arranged below the sorting frame. The installation plate for the sorting central control box is arranged on the bottom support rod of the sorting frame. The sorting central control box is arranged in the installation plate for the sorting central control box. The installation plate for the sorting motor is arranged on the bottom support rod of the sorting frame. The sorting motor is arranged in the installation plate for the sorting motor. The small sorting sprocket is arranged at the output end of the sorting motor. A plurality of bearing seat units for the sorting track belt pulley are arranged on the support rod of the sorting frame. The large sorting sprocket is arranged in the bearing seat unit for the sorting track belt pulley. One end of the sorting drive chain is arranged on the small sorting sprocket, and the other end is arranged on the large sorting sprocket. The rear cross-frame of the sorting frame is arranged at the lower rear side of the sorting frame. The fixing frame for the lower fruit plate of extra-large fruits is arranged at the upper rear side of the sorting frame. The lower fruit plate of extra-large fruits is arranged on the fixing frame for the lower fruit plate of extra-large fruits. The shaft of the sorting track belt pulley is arranged in the bearing seat unit for the sorting track belt pulley. The sorting track belt pulley is arranged in the shaft of the sorting track belt pulley. The sorting track is arranged in the middle of the sorting track belt pulley. The upper baffle of the sorting frame is arranged on both sides of the sorting track. The lower fruit plate for extra-small fruits is arranged at the starting end of the sorting frame. The fixing frame for the lower fruit plate of extra-large fruits is arranged at the end of the sorting frame and is provided with the lower fruit plate of extra-large fruits.

[0015] Further, the sorting size grade adjustment mechanism includes a sorting size grade control board, a sorting size grade control rod, a sorting track support frame, and a control rod fixing screw. The sorting size grade control board is arranged on the upper support rods on both sides of the sorting frame. The sorting size grade control rod is arranged in the sorting size grade control board and is fixed by the control rod fixing screw. The sorting track support frame is arranged in the sorting size grade control rod. By adjusting the position of the sorting size grade control rod in the sorting size grade control board, the sorting track is in a "V" shape structure to achieve the effect of sorting apples of different sizes.

[0016] Further, the fruit attitude correction mechanism includes a positive position belt installation plate and a positive position belt. The positive position belt installation plate is arranged above the upper baffle of the sorting frame. The positive position belt is arranged in the positive position belt installation plate.

[0017] Furthermore, the bottom bin conveyor mechanism includes a bottom bin conveyor central control box mounting plate, a bottom bin conveyor central control box, a bottom bin conveyor motor mounting plate, a bottom bin conveyor motor, a bottom bin conveyor small sprocket, a bottom bin drive chain, a bottom bin conveyor large sprocket, a bottom bin conveyor unit, and a size sorting partition. The bottom bin conveyor central control box mounting plate is provided on the bottom support rod of the sorting rack. The bottom bin conveyor central control box is provided in the bottom bin conveyor central control box mounting plate. The bottom bin conveyor motor mounting plate is provided beside the bottom bin conveyor central control box mounting plate. The bottom bin conveyor motor is provided on the bottom bin conveyor motor mounting plate. The bottom bin conveyor small sprocket is provided at the output end of the bottom bin conveyor motor. The bottom bin conveyor large sprocket drives the movement of the bottom bin conveyor unit above. One end of the bottom bin drive chain is linked to the bottom bin conveyor small sprocket, and the other end is linked to the bottom bin conveyor large sprocket. The size sorting partition is provided on the upper side of the bottom bin conveyor unit for separating fruits of different grades.

[0018] Furthermore, the conveyor height adjustment mechanism includes an electric push rod base, an electric push rod, a push rod, an electric push rod U-shaped slot, an electric push rod positioning pin, a snap ring sleeve, a snap ring limit screw, a snap ring, a snap ring mounting plate, a conveyor support base, a conveyor T-shaped support, a T-shaped support limit pin, and a conveyor support U-shaped slot. The electric push rods are connected in parallel in the electric push rod base to achieve the function of adjusting the height simultaneously. The push rod is provided in the electric push rod. The electric push rod U-shaped slot is provided at the end of the push rod and is fixed with an electric push rod positioning pin. The snap ring sleeve is provided on the side of the size sorting partition. The snap ring limit screw is provided on the snap ring mounting plate and is located in the snap ring sleeve, and a snap ring is provided therein to make the height adjustment easier to operate. It is provided on the bottom support rod of the sorting rack. The conveyor support U-shaped slot is provided on the conveyor support base. The conveyor T-shaped support is connected to the conveyor support U-shaped slot through a T-shaped support limit pin.

[0019] Furthermore, the pipe-type low-loss fruit dropping and collecting mechanism includes a fruit dropping hose mounting bracket, a fruit dropping hose fixing frame, a fruit dropping bell mouth, a parabolic fruit dropping hose, a very small fruit dropping hose mounting bracket, a very small fruit dropping hose fixing frame, a very small fruit dropping bell mouth, and a very small fruit parabolic fruit dropping hose. The fruit dropping hose mounting bracket is provided in front of the sorting rack. The fruit dropping bell mouth is provided under the fruit dropping hose mounting bracket through the fruit dropping hose fixing frame. The parabolic fruit dropping hose is connected under the fruit dropping bell mouth. The very small fruit dropping hose mounting bracket is provided at the outlet of the very small fruit dropping plate. The very small fruit dropping hose fixing frame is provided on the very small fruit dropping hose mounting bracket. The very small fruit dropping bell mouth is provided in the very small fruit dropping hose fixing frame, and a very small fruit parabolic fruit dropping hose is provided under the interface.

[0020] Furthermore, the power source includes a gasoline generator, an air compressor, a power source base and a universal wheel of the power source base, the universal wheel of the power source base is arranged at the bottom of the power source base, and the gasoline generator and air compressor are both arranged above the power source base, respectively and on both sides of the power source base.

[0021] The beneficial effects achieved by the utility model using the above structure are as follows:

[0022] The utility model provides a small intelligent apple sorting machine. The air washing system provides the initial velocity for the apples entering the fruit tray and cleans the impurities on the surface of the apples. The main function of the soft-bag roller fruit conveying system is to transport the apples in a rolling state, so that the image recognition system can collect images of the various surfaces of the apples, which is convenient for the image recognition system to more accurately complete the screening of inferior fruits (with obvious tumor-like depressions, cracks, lesions and mildew spots and other appearance defects); the image recognition system completes image detection and defective product detection; the inferior fruit rejection system completes the rejection of inferior fruits; the track sorting mechanism of the track sorting and fruit collection system grades the size of apples; the sorting size grade adjustment mechanism of the track sorting and fruit collection system adjusts the soft track sorting width through the track chuck; the track sorting The fruit posture correction mechanism of the sorting and fruit collection system straightens the posture of the apples moving on the sorting soft rail; the bottom bin conveyor belt mechanism of the track-type sorting and fruit collection system transports the sorted apples to the pipeline-type low-loss fruit collection mechanism; the conveyor belt height adjustment mechanism of the track-type sorting and fruit collection system adjusts the height difference between the conveyor belt and the sorting soft rail to minimize the vertical impact of the apples caused by the sorting fruit falling; the fruit brush buffer mechanism of the track-type sorting and fruit collection system reduces the impact speed and impact force of the apples from the sorting soft rail to the conveyor belt, thereby reducing the damage to the apples; the main function of the pipeline-type low-loss fruit collection mechanism of the track-type sorting and fruit collection system is to continuously collect and transport the sorted four-level apples into the basket at a low loss.

[0023] Description of the drawings.

[0024] Figure 1 This is a schematic diagram of the structure of a small intelligent apple sorting machine provided in this application example.

[0025] Figure 2 The rear view of the small intelligent apple sorting machine provided in this application example.

[0026] Figure 3 A front view of the small intelligent apple sorting machine provided in this application example.

[0027] Figure 4 A side view of the small intelligent apple sorting machine provided in this application example.

[0028] Figure 5 Top view of the small intelligent apple sorter provided for the examples of this application.

[0029] Figure 6 Schematic structural diagram of the air washing system provided for the examples of this application.

[0030] Figure 7 Schematic structural diagram of the fruit loading rack provided for the examples of this application.

[0031] Figure 8 Schematic structural diagram of the H-shaped support frame for fruit loading provided for the examples of this application.

[0032] Figure 9 Schematic structural diagram of the soft-pack drum fruit conveying system provided for the examples of this application.

[0033] Figure 10 For Figure 9 Partial enlarged view of the middle transmission system.

[0034] Figure 11 Schematic structural diagram of the image recognition system provided for the examples of this application.

[0035] Figure 12 Schematic structural diagram of the photoelectric switch unit provided for the examples of this application.

[0036] Figure 13 Schematic structural diagram of the industrial camera unit provided for the examples of this application.

[0037] Figure 14 Schematic structural diagram of the defective fruit rejection system provided for the examples of this application.

[0038] Figure 15 For Figure 14 Partial enlarged view of area A in

[0039] Figure 16 Schematic structural diagram of the track-type sorting and fruit unloading and collection system provided for the examples of this application.

[0040] Figure 17 Rear axonometric view of the track-type sorting and fruit unloading and collection system provided for the examples of this application.

[0041] Figure 18 Schematic structural diagram of the pipeline-type low-loss fruit unloading and collection mechanism provided for the examples of this application.

[0042] Figure 19 For Figure 16 Partial enlarged view of area A in

[0043] Figure 20 For Figure 16 Partial enlarged view of area B in

[0044] Figure 21 is Figure 17 The partial enlarged view of area C in

[0045] Figure 22 is Figure 18 The partial enlarged view of area A in

[0046] Figure 23 The structural schematic diagram of the sorting size level adjusting mechanism provided by the example of the present application.

[0047] Figure 24 The top view of the orbital sorting mechanism provided by the example of the present application.

[0048] Markings in the figure:

[0049] 1: Air washing system, 11: Air washing gun, 111: Air washing gun nozzle, 112: Air washing gun barrel, 113: Air washing gun mounting section, 114: Air washing gun vertical rod, 115: Air washing gun air pipe joint, 116: Air washing gun base, 12: Shunt valve, 13: Air washing mounting frame, 14: Air washing air pipe, 15: Air compressor - air washing shunt valve air pipe.

[0050] 2: Soft - package drum fruit - conveying system, 21: Fruit - loading rack, 211: Side plate of fruit - loading rack, 212: Welded steel pipe of front bottom plate of fruit - loading rack, 213: Connecting steel pipe of rear bottom plate of fruit - loading rack, 214: Fruit - channel partition of fruit - loading rack, 215: H - type support frame of fruit - loading rack, 216: Universal wheel of fruit - loading rack, 22: Motor base of drum mechanism, 23: Drum fruit - conveying motor, 24: Large synchronous belt of drum fruit - conveying, 25: Large synchronous belt pulley of drum fruit - conveying, 26: Small synchronous belt of drum fruit - conveying, 27: Small synchronous belt pulley of drum fruit - conveying, 28: Gear box, 29: Drum rotating shaft, 210: Wavy soft - package drum, 211: Bearing seat unit of drum bearing.

[0051] 3: Image recognition system, 31: Dark box, 32: Industrial control computer, 33: Photoelectric switch unit, 331: Photoelectric switch mounting frame, 332: Spherical handle of photoelectric switch mounting frame, 333: Photoelectric switch, 334: Fixed nylon block of photoelectric switch mounting frame, 34: Industrial camera unit, 341: Bottom plate of industrial camera support, 342: Base of industrial camera support, 343: Vertical rod of industrial camera support, 344: Mounting section of industrial camera support, 345: Cross bar of industrial camera support, 346: Short rod of industrial camera support, 347: T - type mounting section of industrial camera support, 348: Industrial camera, 349: Dome - type light source, 35: Efficiency indicator light.

[0052] 4: Inferior Fruit Rejection System, 41: Air Compressor - Rejection Shunt Valve Air Pipe, 42: Rejection Mechanism Fixed Plate, 43: Rejection Mechanism Shunt Valve, 44: Rejection Mechanism Air Pipe Shunt Valve Air Pipe Joint, 45: Rejection Mechanism Shunt Valve - Solenoid Valve Air Pipe, 46: Solenoid Valve, 47: Solenoid Valve Air Pipe Joint, 48: Solenoid Valve - Cylinder Air Pipe, 49: Cylinder, 410: Cylinder Push Rod, 411: Cylinder Air Pipe Joint, 412: Cylinder U-shaped Plate Connecting Section, 413: Door Opening / Closing U-shaped Plate Connecting Section, 414: Rejection Bolt, 415: Cylinder U-shaped Plate - Door Opening / Closing U-shaped Plate Connector, 416: Rejection Bolt Limit Buckle, 417: Rejection Door Opening / Closing, 418: Rejection Door Opening / Closing Baffle, 419: Rejection Door Opening / Closing Rotating Shaft, 420: Rejection Door Opening / Closing Rotating Shaft Bearing.

[0053] 5: Orbital sorting and fruit dropping and collection system, 51: Orbital sorting mechanism, 511: Sorting frame, 512: Upper baffle of sorting frame, 513: Universal wheels of sorting frame, 514: Rear cross-frame of sorting frame, 515: Installation plate for sorting central control box, 516: Sorting central control box, 517: Installation plate for sorting motor, 518: Sorting motor, 519: Small sorting sprocket, 5110: Sorting drive chain, 5111: Large sorting sprocket, 5112: Bearing seat unit for sorting track pulley bearing, 5113: Sorting track pulley shaft, 5114: Sorting track pulley, 5115: Sorting track, 5116: Fruit dropping plate for extra-small fruits, 5117: Fixing frame for fruit dropping plate for extra-large fruits, 5118: Fruit dropping plate for extra-large fruits, 52: Sorting size grade adjustment mechanism, 521: Sorting size grade control board, 522: Sorting size grade control rod, 523: Sorting track support frame, 524: Fixing screw for control rod, 53: Fruit attitude correction mechanism, 531: Installation plate for positive position belt, 532: Positive position belt, 54: Bottom bin conveyor belt mechanism, 541: Installation plate for bottom bin conveyor belt central control box, 542: Bottom bin conveyor belt central control box, 543: Installation plate for bottom bin conveyor belt motor, 544: Bottom bin conveyor belt motor, 545: Small sprocket for bottom bin conveyor belt, 546: Bottom bin drive chain, 547: Large sprocket for bottom bin conveyor belt, 548: Bottom bin conveyor belt unit, 549: Size sorting partition board, 55: Conveyor belt height adjustment mechanism, 551: Electric push rod base, 552: Electric push rod, 553: Push rod, 554: U-shaped slot for electric push rod, 555: Positioning pin for electric push rod, 556: Snap ring sleeve, 557: Snap ring limit screw, 558: Snap ring, 559: Snap ring installation plate, 5510: Conveyor belt support base, 5511: Conveyor belt T-shaped support, 5512: T-shaped support limit pin, 5513: U-shaped slot for conveyor belt support, 56: Fruit dropping buffer brush, 57: Pipeline type low-loss fruit dropping and collection mechanism, 571: Installation bracket for fruit dropping hose, 572: Fixing frame for fruit dropping hose, 573: Fruit dropping bell mouth, 574: Parabolic fruit dropping hose, 575: Installation bracket for fruit dropping hose for extra-small fruits, 576: Fixing frame for fruit dropping hose for extra-small fruits, 577: Fruit dropping bell mouth for extra-small fruits, 578: Parabolic fruit dropping hose for extra-small fruits.

[0054] 6: Power source, 61: Gasoline generator, 62: Air compressor, 63: Power source base, 64: Universal wheels of power source base.

[0055] 7: Control box. Detailed implementation method

[0056] To more clearly illustrate the technical solution of the present utility model, the following will briefly introduce the attached drawings required for the description. Obviously, the attached drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained based on these drawings. To facilitate the understanding of the present utility model, the present utility model will be described in more detail below in conjunction with the attached drawings and specific embodiments.

[0057] As Figures 1 - 5 shown, a small intelligent apple sorter includes an air washing system 1, a soft bag drum fruit conveying system 2, an image recognition system 3, a defective fruit removing system 4, a track type sorting and fruit discharging and collecting system 5, a power source 6 and a control box 7. The air washing system 1 is arranged on the right side of the fruit loading rack 21 of the soft bag drum fruit conveying system 2. The soft bag drum fruit conveying system 2 is arranged on the left side of the air washing system 1. The image recognition system 3 is arranged above the soft bag drum fruit conveying system 2. The defective fruit removing system 4 is arranged on the left side of the soft bag drum fruit conveying system 2. The right side of the track type sorting and fruit discharging and collecting system 5 is connected to the defective fruit removing system 4. The power source 6 is arranged below the fruit loading rack 21 of the soft bag drum fruit conveying system 2. The control box 7 is arranged on the dark box 31 of the image recognition system 3.

[0058] As Figure 6 shown, the air washing system 1 includes an air washing gun 11, a flow dividing valve 12, an air washing mounting frame 13, an air washing air pipe 14 and an air compressor - air washing flow dividing valve air pipe 15. The flow dividing valve 12 is arranged at the rear side of the air washing mounting frame 13 and plays a role in gas transmission and flow division. The air compressor - air washing flow dividing valve air pipe 15 is connected to one side of the flow dividing valve 12. The air washing air pipes 14 are evenly distributed at the rear side of the flow dividing valve 12 and are connected to the air washing gun 11 above the air washing mounting frame 13. The main function of the air washing system is to provide an initial velocity for the apples entering the fruit tray and clean the impurities on the surface of the apples.

[0059] The air washing gun 11 includes an air washing gun nozzle 111, an air washing gun barrel 112, an air washing gun mounting joint 113, an air washing gun vertical rod 114, an air washing gun air pipe joint 115 and an air washing gun base 116. The air washing gun bases 116 are evenly distributed on the upper side of the air washing mounting frame 13. The air washing gun vertical rod 114 is arranged in the air washing gun base 116. The air washing gun mounting joint 113 is arranged in the middle of the air washing gun vertical rod 114. The air washing gun barrel 112 is arranged in the air washing gun mounting joint 113, and the air washing gun nozzle 111 and the air washing gun air pipe joint 115 are respectively arranged at the front and rear ends thereof. The cleaning effect of the air washing gun nozzles 111 of the entire air washing system is uniform and stable, and the air washing height and angle can be adjusted, realizing the effect of multi - path parallel washing and universal adjustment.

[0060] As Figures 7 - 10As shown in the figure, the flexible package drum fruit conveying system 2 includes a fruit loading frame 21, a drum mechanism motor base 22, a drum fruit conveying motor 23, a large drum fruit conveying synchronous belt 24, a large drum fruit conveying synchronous belt pulley 25, a small drum fruit conveying synchronous belt 26, a small drum fruit conveying synchronous belt pulley 27, a gearbox 28, a drum rotating shaft 29, a wavy flexible package drum 210, and a drum bearing seat unit 211. The fruit loading frame 21 is located above the entire fruit conveying system 2. The drum mechanism motor base 22 is arranged on the bottom side of the fruit loading frame 21. The drum fruit conveying motor 23 is arranged in the drum mechanism motor base 22. One end of the large drum fruit conveying synchronous belt 24 is arranged at the output end of the drum fruit conveying motor 23, and the other end is arranged on the large drum fruit conveying synchronous belt pulley 25 in the gearbox 28. The drum rotating shafts 29 are arranged in a linear array in the gearbox 28. Both the wavy flexible package drum 210 and the drum bearing seat unit 211 are arranged in the drum rotating shafts 29. The small drum fruit conveying synchronous belts 26 are arranged in a left-right staggered manner in the parts of the drum rotating shafts 29 close to the inner side of the gearbox 28 and are all driven by the small drum fruit conveying synchronous belt pulleys 27. The main function of the flexible package drum fruit conveying system is to transport apple fruits in a rolling motion state, so that the image recognition system can collect images of all surfaces of the apples, facilitating the image recognition system to more accurately complete the screening work of inferior fruits (with obvious appearance defects such as tumor-like depressions, cracks, disease spots, and mildew spots).

[0061] The fruit loading frame 21 includes a fruit loading frame side plate 211, a welded steel pipe for the front bottom plate of the fruit loading frame 212, a connecting steel pipe for the rear bottom plate of the fruit loading frame 213, a fruit channel partition plate of the fruit loading frame 214, an H-shaped support frame for the fruit loading 215, and a universal wheel of the fruit loading frame 216. The fruit channel partition plate 214 of the fruit loading frame is arranged on the upper side of the fruit loading frame 21 and divides the fruit loading frame side plates 211 surrounding it into three fruit channels. The welded steel pipe for the front bottom plate of the fruit loading frame 212 and the connecting steel pipe for the rear bottom plate of the fruit loading frame 213 are both arranged on the lower side of the fruit loading frame 21 and belong to the front and rear ends respectively. The H-shaped support frame 215 for the fruit loading is arranged below the connecting steel pipe 213 for the rear bottom plate of the fruit loading frame, and a universal wheel 216 of the fruit loading frame is arranged thereon. The entire flexible package drum fruit conveying system 2 realizes fruit conveying with the characteristics of precise transmission, three fruit channels, and universal adjustability.

[0062] As Figure 11As shown in the figure, the image recognition system 3 includes a dark box 31, an industrial control computer 32, a photoelectric switch unit 33, an industrial camera unit 34, and an efficiency indicator light 35. The dark box 31 is arranged above the upper fruit rack 21, the efficiency indicator light 35 is arranged above the dark box 31, the industrial control computer 32 is arranged on the side of the dark box 31, and both the photoelectric switch unit 33 and the industrial camera unit 34 are arranged inside the dark box 31. The working principle of the image recognition system is that when an apple enters the soft-pack drum fruit conveying system and triggers the photoelectric switch to generate an electrical signal, this electrical signal is transmitted to the coil of the relay module to drive the contact of the relay module to close. The relay and the industrial control computer are connected through the RS232 interface. The apple intelligent detection algorithm of the industrial control computer controls the image acquisition of the CCD camera and intelligently detects defective fruits (with obvious appearance defects such as tumor-like depressions, cracks, disease spots, and mildew spots). The returned result is 0 or 1. 0 indicates that the recognized fruit is a defective fruit, and 1 indicates that the recognized fruit is a good fruit. Furthermore, the time required for the defective fruit to reach the rejection system is calculated based on the apple position and the apple movement speed, and the rejection system is triggered on time.

[0063] As Figure 12 As shown in the figure, the photoelectric switch unit 33 includes a photoelectric switch mounting bracket 331, a spherical handle 332 of the photoelectric switch mounting bracket, a photoelectric switch 333, and a fixed nylon block 334 of the photoelectric switch mounting bracket. The fixed nylon block 334 of the photoelectric switch mounting bracket is arranged at both ends of the photoelectric switch mounting bracket 331, and the spherical handle 332 of the photoelectric switch mounting bracket is provided thereon. The photoelectric switch 333 is arranged inside the photoelectric switch mounting bracket 331 and is linearly arrayed in a vertically side-by-side manner.

[0064] As Figure 13As shown in the figure, the industrial camera unit 34 includes an industrial camera support base plate 341, an industrial camera support base 342, an industrial camera support vertical rod 343, an industrial camera support mounting section 344, an industrial camera support cross bar 345, an industrial camera support short rod 346, an industrial camera support T-shaped mounting section 347, an industrial camera 348, and a dome-shaped light source 349. The industrial camera support base plate 341 is provided inside the inner edges at both ends of the upper fruit rack 21. The industrial camera support bases 342 are respectively provided at both ends on the industrial camera support base plate 341. The industrial camera support vertical rod 343 is provided in the industrial camera support base 342. The dome-shaped light source 349 is provided in the middle of the industrial camera support vertical rod 343 through the industrial camera support mounting section 344. The industrial camera support cross bar 345 is provided at the upper end of the industrial camera support vertical rod 343 through the industrial camera support mounting section 344. One end of the industrial camera support short rod 346 is vertically provided in the industrial camera support cross bar 345 through the industrial camera support mounting section 344, and the other end is provided with an industrial camera support T-shaped mounting section 347. The industrial camera 348 is provided in the industrial camera support T-shaped mounting section 347, and the camera is facing the opening of the dome-shaped light source 349. The entire image recognition system 3 constructs a dark box environment, detects the fruit channel position of the apple, and completes the quality detection of the fruit.

[0065] As Figures 14 - 15As shown, the inferior fruit removal system 4 includes an air compressor - removal shunt valve air pipe 41, a removal mechanism fixing plate 42, a removal mechanism shunt valve 43, a removal mechanism air pipe shunt valve air pipe joint 44, a removal mechanism shunt valve - solenoid valve air pipe 45, a solenoid valve 46, a solenoid valve air pipe joint 47, a solenoid valve - cylinder air pipe 48, a cylinder 49, a cylinder push rod 410, a cylinder air pipe joint 411, a cylinder U - shaped plate connecting joint 412, a switch door U - shaped plate connecting joint 413, a removal bolt 414, a cylinder U - shaped plate - switch door U - shaped plate connecting member 415, a removal bolt limit buckle 416, a removal switch door 417, a removal switch door baffle 418, a removal switch door rotating shaft 419, and a removal switch door rotating shaft bearing 420. The removal mechanism shunt valve 43 is arranged on the upper part of the removal mechanism fixing plate 42. The air compressor - removal shunt valve air pipe 41 is arranged on one side of the removal mechanism shunt valve 43 through the removal mechanism air pipe shunt valve air pipe joint 44. The solenoid valve 46 is arranged on the lower part of the removal mechanism fixing plate 42 and is connected to the removal mechanism shunt valve 43 through the shunt valve - solenoid valve air pipe 45. The solenoid valve air pipe joint 47 is arranged on the side of the solenoid valve 46 opposite to the shunt valve - solenoid valve air pipe 45 and is connected to the cylinder 49 through the solenoid valve - cylinder air pipe 48, and the solenoid valve - cylinder air pipe 48 is connected to the cylinder air pipe joint 411 arranged on one side. The cylinder push rod 410 is arranged in the hole of the cylinder 49. The cylinder U - shaped plate connecting joint 412 is arranged at the end of the cylinder push rod 410. The switch door U - shaped plate connecting joint 413 is connected to the cylinder U - shaped plate connecting joint 412 through the cylinder U - shaped plate - switch door U - shaped plate connecting member 415. The cylinder U - shaped plate - switch door U - shaped plate connecting member 415 is arranged in the two U - shaped plate connecting joints through the removal bolt 414, and the removal bolt 414 is fixed in the two U - shaped plate connecting joints and the cylinder U - shaped plate - switch door U - shaped plate connecting member 415 by the removal bolt limit buckle 416. The removal switch door 417 is arranged on the switch door U - shaped plate connecting joint 413, and a removal switch door baffle 418 is arranged in the middle. The removal switch door rotating shaft 419 is arranged at the root of the removal switch door 417 and passes through the two removal switch door rotating shaft bearings 420 arranged on both sides of the removal switch door 417. The entire inferior fruit removal system 4 is powered by an air compressor, and the solenoid valve 46 precisely controls the opening and closing to achieve the removal of inferior fruits.

[0066] As Figure 16As shown in the figure, the orbital sorting and fruit dropping and collecting system 5 includes an orbital sorting mechanism 51, a sorting size grade adjusting mechanism 52, a fruit attitude correcting mechanism 53, a bottom bin conveyor belt mechanism 54, a conveyor belt height adjusting mechanism 55, a fruit dropping buffer brush 56, and a pipeline type low-loss fruit dropping and collecting mechanism 57. The conveyor belt height adjusting mechanism 55 is arranged at the bottom of the orbital sorting and fruit dropping and collecting system 5, and can adjust the height difference between the conveyor belt and the sorting soft rail, minimizing the vertical impact of apples caused by sorting fruit drops to the greatest extent. The orbital sorting mechanism 51 is arranged inside the orbital sorting and fruit dropping and collecting system 5. Its design strictly controls the damage ratio of apples and grades the sizes of apples. Above it is a fruit attitude correcting mechanism 53, which is concentrated at the fruit channel outlet to correct the attitudes of apples moving on the sorting soft rail. The sorting size grade adjusting mechanism 52 is arranged on both sides and above the orbital sorting and fruit dropping and collecting system 5, and adjusts the sorting width of the soft rail through an orbital chuck. The bottom bin conveyor belt mechanism 54 is arranged in the middle layer of the orbital sorting and fruit dropping and collecting system 5, and can convey the sorted apple fruits to the pipeline type low-loss fruit dropping and collecting mechanism. Above it is a fruit dropping buffer brush 56, which can reduce the impact speed and impact force of apple fruits from the sorting soft rail to the conveyor belt, playing a role in reducing apple damage. The pipeline type low-loss fruit dropping and collecting mechanism 57 is arranged at the front side of the orbital sorting and fruit dropping and collecting system 5, and continuously and low-loss collects and conveys the sorted fourth-grade apple fruits into the basket.

[0067] As Figures 17 - 18As shown in the figure, the orbital sorting mechanism 51 includes a sorting machine frame 511, an upper baffle of the sorting machine frame 512, universal wheels of the sorting machine frame 513, a rear cross-frame of the sorting machine frame 514, an installation plate for the sorting central control box 515, a sorting central control box 516, an installation plate for the sorting motor 517, a sorting motor 518, a sorting small sprocket 519, a sorting drive chain 5110, a sorting large sprocket 5111, a bearing seat unit for the sorting track pulley bearing 5112, a sorting track pulley shaft 5113, a sorting track pulley 5114, a sorting track 5115, a lower fruit plate for extra-small fruits 5116, a fixing frame for the lower fruit plate of extra-large fruits 5117, and a lower fruit plate for extra-large fruits 5118. The universal wheels 513 of the sorting machine frame are arranged below the sorting machine frame 511. The installation plate 515 for the sorting central control box is arranged on the bottom support rod of the sorting machine frame 511. The sorting central control box 516 is arranged in the installation plate 515 for the sorting central control box. The installation plate 517 for the sorting motor is arranged on the bottom support rod of the sorting machine frame 511. The sorting motor 518 is arranged in the installation plate 517 for the sorting motor. The sorting small sprocket 519 is arranged at the output end of the sorting motor 518. A plurality of bearing seat units 5112 for the sorting track pulley bearing are arranged on the support rod of the sorting machine frame 511. The sorting large sprocket 5111 is arranged in the bearing seat unit 5112 for the sorting track pulley bearing. One end of the sorting drive chain 5110 is arranged on the sorting small sprocket 519, and the other end is arranged on the sorting large sprocket 5111. The rear cross-frame 514 of the sorting machine frame is arranged at the lower rear side of the sorting machine frame 511. The fixing frame 5117 for the lower fruit plate of extra-large fruits is arranged at the upper rear side of the sorting machine frame 511. The lower fruit plate 5118 for extra-large fruits is arranged on the fixing frame 5117 for the lower fruit plate of extra-large fruits. The sorting track pulley shaft 5113 is arranged in the bearing seat unit 5112 for the sorting track pulley bearing. The sorting track pulley 5114 is arranged in the sorting track pulley shaft 5113. The sorting track 5115 is arranged in the middle of the sorting track pulley 5114. The upper baffle 512 of the sorting machine frame is arranged on both sides of the sorting track 5115. The lower fruit plate 5116 for extra-small fruits is arranged at the starting end of the sorting machine frame 511. The fixing frame 5117 for the lower fruit plate of extra-large fruits is arranged at the end of the sorting machine frame 511 and is provided with a lower fruit plate 5118 for extra-large fruits.

[0068] The fruit attitude correction mechanism 53 includes a positive position belt installation plate 531 and a positive position belt 532. The positive position belt installation plate 531 is arranged above the upper baffle 512 of the sorting machine frame. The positive position belt 532 is arranged in the positive position belt installation plate 531.

[0069] The bottom bin conveyor belt mechanism 54 includes a bottom bin conveyor belt central control box mounting plate 541, a bottom bin conveyor belt central control box 542, a bottom bin conveyor belt motor mounting plate 543, a bottom bin conveyor belt motor 544, a bottom bin conveyor belt small sprocket 545, a bottom bin drive chain 546, a bottom bin conveyor belt large sprocket 547, a bottom bin conveyor belt unit 548, and a size sorting partition 549. The bottom bin conveyor belt central control box mounting plate 541 is provided on the bottom support rod of the sorting rack 511. The bottom bin conveyor belt central control box 542 is provided in the bottom bin conveyor belt central control box mounting plate 541. The bottom bin conveyor belt motor mounting plate 543 is provided beside the bottom bin conveyor belt central control box mounting plate 541. The bottom bin conveyor belt motor 544 is provided on the bottom bin conveyor belt motor mounting plate 543. The bottom bin conveyor belt small sprocket 545 is provided at the output end of the bottom bin conveyor belt motor 544. The bottom bin conveyor belt large sprocket 547 drives the bottom bin conveyor belt unit 548 to move above. One end of the bottom bin drive chain 546 is connected to the bottom bin conveyor belt small sprocket 545, and the other end is connected to the bottom bin conveyor belt large sprocket 547. The size sorting partition 549 is provided on the upper side of the bottom bin conveyor belt unit 548 for separating fruits of different grades.

[0070] As Figures 19 - 21 shown, the conveyor belt height adjustment mechanism 55 includes an electric push rod base 551, an electric push rod 552, a push rod 553, an electric push rod U-shaped card slot 554, an electric push rod positioning pin 555, a snap ring sleeve 556, a snap ring limit screw 557, a snap ring 558, a snap ring mounting plate 559, a conveyor belt support base 5510, a conveyor belt T-shaped support 5511, a T-shaped support limit pin 5512, and a conveyor belt support U-shaped card slot 5513. The electric push rods 552 are arranged in parallel in the electric push rod base 551 to achieve the function of adjusting the height simultaneously. The push rod 553 is arranged in the electric push rod 552. The electric push rod U-shaped card slot 554 is provided at the end of the push rod 553 and is fixed with the electric push rod positioning pin 555. The snap ring sleeve 556 is provided on the side of the size sorting partition 549. The snap ring limit screw 557 is provided on the snap ring mounting plate 559 and is located in the snap ring sleeve 556, in which a snap ring 558 is provided to make the height adjustment easier to operate. It is provided on the bottom support rod of the sorting rack 511. The conveyor belt support U-shaped card slot 5513 is provided on the conveyor belt support base 5510. The conveyor belt T-shaped support 5511 is connected to the conveyor belt support U-shaped card slot 5513 through the T-shaped support limit pin 5512.

[0071] As Figure 22As shown in the figure, the pipeline type low-loss fruit dropping and collecting mechanism 57 includes a fruit dropping hose mounting bracket 571, a fruit dropping hose fixing frame 572, a fruit dropping bell mouth 573, a parabolic fruit dropping hose 574, a very small fruit dropping hose mounting bracket 575, a very small fruit dropping hose fixing frame 576, a very small fruit dropping bell mouth 577 and a very small fruit parabolic fruit dropping hose 578. The fruit dropping hose mounting bracket 571 is arranged in front of the sorting rack 511. The fruit dropping bell mouth 573 is arranged under the fruit dropping hose mounting bracket 571 through the fruit dropping hose fixing frame 572. The parabolic fruit dropping hose 574 is connected under the fruit dropping bell mouth 573. The very small fruit dropping hose mounting bracket 575 is arranged at the outlet of the very small fruit dropping plate 5116. The very small fruit dropping hose fixing frame 576 is arranged on the very small fruit dropping hose mounting bracket 575. The very small fruit dropping bell mouth 577 is arranged in the very small fruit dropping hose fixing frame 576, and a very small fruit parabolic fruit dropping hose 578 is arranged under the interface.

[0072] As Figure 23 shown in the figure, the sorting size grade adjusting mechanism 52 includes a sorting size grade control board 521, a sorting size grade control rod 522, a sorting track support frame 523 and a control rod fixing screw 524. The sorting size grade control board 521 is arranged on the two upper side support rods of the sorting rack 511. The sorting size grade control rod 522 is arranged in the sorting size grade control board 521 and fixed by the control rod fixing screw 524. The sorting track support frame 523 is arranged in the sorting size grade control rod 522. By adjusting the position of the sorting size grade control rod 522 in the sorting size grade control board 521 including it, the sorting track 5115 is in a "V" shape structure to achieve the effect of sorting apples of different sizes.

[0073] As Figure 24 shown in the figure, the fruit dropping buffer brush 56 is arranged on the sorting track support frame 523 of the sorting size grade adjusting mechanism 52, above the bottom bin conveyor belt unit of the bottom bin conveyor belt mechanism 54, which can reduce the impact speed and impact force of apple fruits from the sorting soft track to the conveyor belt, and play a role in reducing apple damage.

[0074] During specific use, apples are first put at the end of the upper fruit rack 21. The upper fruit H-shaped support frame 215 is designed to be higher than the sorting rack 511 in height. Therefore, after installation, the upper fruit rack 21 will be inclined, so that the apples roll towards the sorting rack 511 due to gravity. After passing under the air washing system 1, power is provided by the air compressor 62 and conveyed to the three air washing guns 11 through the flow dividing valve, and then the apples are air washed by the air washing guns 11. While cleaning the surface, the direction of the air washing gun head is the same as the rolling direction of the apples. Therefore, it can also provide a certain kinetic energy for the air washed apples and improve the sorting efficiency.

[0075] It should be noted that in the translation of the description of the "sorting track 5115 is in a 'V' shape structure" in item , there may be an error in the original text description. It is speculated that it should be "in an 'eight' - shaped structure". The translation is adjusted according to the corrected text.After the apples are air-washed, they will reach three roller fruit channels separated by the fruit channel partition plate 214 of the upper fruit rack. Among them, the kinetic energy of the roller fruit channels is provided by the roller fruit conveyor motor 23, and is transmitted to the first roller rotating shaft 29 through the large roller fruit conveyor synchronous belt 24 and the large roller fruit conveyor synchronous belt pulley. The power is transmitted to each roller rotating shaft 29 through the cooperation of the small roller fruit conveyor synchronous belt 26 and the small roller fruit conveyor synchronous belt pulley 27 to drive the rollers to rotate. When the apples are on the roller fruit channels, the rollers will continue to rotate, driving the apples to continue rolling in the original direction. The apple fruits are transported in a rolling motion state, enabling the image recognition system to collect images of all surfaces of the apples, facilitating the image recognition system to more accurately complete the screening of defective fruits (with obvious appearance defects such as tumor-like depressions, cracks, disease spots, and mildew spots).

[0076] After the apples pass through the soft-pack roller fruit conveyor system 2, they are transmitted to the image recognition system 3. After starting the industrial control computer 32, first, the apples enter the area surrounded by the dark box 31, where there is a dome-shaped light source 349 for arranging a brighter environment to facilitate the recognition of the industrial camera 348. Then, the apples reach the photoelectric switch unit 33 with the wavy soft-pack roller 210. By blocking the photoelectric switch 333 to generate a signal, the industrial camera 348 can receive the signal and take a photo, transmit the image to the industrial control computer 32, and detect the qualification of the apples through the apple intelligent detection algorithm, and then output it to the screen of the industrial control computer 32. The height position of the industrial camera 348 is adjustable to ensure that the photoelectric switch unit 33 can be completely detected and photographed. The position of the apples is jointly determined by the photoelectric switch 333 and the camera image.

[0077] Suppose the photoelectric switch at the inlet detects M times, the photoelectric switch at the outlet detects N times, and the middle photoelectric switch detects X times. The maximum detection number of each photoelectric switch is 10 times, and the distance is appropriate to ensure that there will be no situation where M is two maximum detection times larger than N. Then, there are two situations as shown in the figure:

[0078] 1. When M > N, there are a total of (M / X - N) apples in the middle

[0079] 2. When M < N, there are a total of (10 - N + M / X) apples in the middle

[0080] At the same time, for each photoelectric switch, judge the state of this time and the last time. If they are the same, the apple rotates and the position remains unchanged; if there is a change, it is considered that the detection number +1, the apple moves forward, and then combined with the information fed back by vision to decide the retention or rejection of the apple. If there is one unqualified, it is unqualified, and all need to be recognized as qualified to be considered qualified.

[0081] Until it reaches the defective fruit rejection system 4 after passing through the last photoelectric switch 333.

[0082] The inferior fruit rejection system 4 will control the state of the solenoid valve 46 according to the judgment of the software, and the air compressor 62 will realize the change of the state of the solenoid valve 46. When the apple is detected as inferior fruit, the gas generated by the air compressor 62 is transmitted to the rejection mechanism diverter valve 43 through the air compressor-rejection diverter valve air pipe 41, and then through the rejection mechanism diverter valve-solenoid valve air pipe 45 carried by the rejection mechanism diverter valve 43 to each solenoid valve 46, and then through the solenoid valve-cylinder air pipe 48 to each cylinder 49, so that the cylinder push rod 410 therein realizes the opening and closing of the rejection switch door 417.

[0083] After the inferior fruits are removed, the apples are conveyed to the sorting system 5. After the power is turned on, the sorting system 5 uses the sorting motor 518 as the power source, and transmits it to the sorting track pulley shaft 5113 through the sorting small sprocket 519, the sorting transmission chain 5110, and the sorting large sprocket 5111, so that the sorting track pulley 5114 rotates, thereby driving the sorting track 5115 to rotate, and driving it forward under the clamping and friction of the two tracks. In addition, the gap between the sorting tracks 5115 is designed to be from narrow to wide. When the apple moves to the position where the gap between the sorting belts is larger than the diameter of the apple, the apple will no longer be affected by the support force of the sorting belt, and will fall into the fruit plate.

[0084] In addition to the basic size sorting function, the sorting system is also provided with a sorting control box 516 for controlling the rotation speed of the sorting motor 518, thereby adjusting the speed of the sorting track. A sorting size grade adjustment mechanism 52 is provided under the sorting track to adjust the size of each sorting grade.

[0085] After the size sorting is completed, the apples leave the sorting track 5115 and enter the fruit unloading mechanism. First, after the apples leave the sorting track, the fruit unloading buffer brush 56 installed under the sorting track will slow down the falling speed of the apples and reduce the damage to the apples. In addition, the bottom bin conveyor belt unit 548 is wrapped with soft packaging material to reduce the damage to the apples.

[0086] When the apples are on the bottom bin conveyor belt unit 548, the bottom bin conveyor belt motor 544 serves as a power source, and the bottom bin conveyor belt central control box 542 controls the rotation speed. The power is transmitted to the bottom bin conveyor belt unit 548 through the bottom bin conveyor belt small sprocket 545, the bottom bin transmission chain 546, and the bottom bin conveyor belt large sprocket 547, thereby driving the apples to move in the direction of the lower fruit, and finally completing the fruit unloading after passing through the parabolic fruit unloading hose 574.

[0087] In order to reduce the damage to the fruits, brackets are provided at both ends of the bottom bin conveyor belt unit 548. The left end bracket serves as a fixed end to limit the height adjustment of the left end, while the right end is set as a movable unit. The height of the bottom bin conveyor belt unit 548 can be adjusted up and down by an electric push rod 552.

Claims

1. A small intelligent apple sorter, characterized in that: A small intelligent apple sorter includes an air washing system (1), a soft-pack drum fruit conveying system (2), an image recognition system (3), a defective fruit rejection system (4), an orbital sorting and fruit discharging and collecting system (5), a power source (6) and a control box (7). The air washing system (1) is arranged on the right side of the fruit loading rack (21) of the soft-pack drum fruit conveying system (2). The soft-pack drum fruit conveying system (2) is arranged on the left side of the air washing system (1). The image recognition system (3) is arranged above the soft-pack drum fruit conveying system (2). The defective fruit rejection system (4) is arranged on the left side of the soft-pack drum fruit conveying system (2). The right side of the orbital sorting and fruit discharging and collecting system (5) is connected to the defective fruit rejection system (4). The power source (6) is arranged below the fruit loading rack (21) of the soft-pack drum fruit conveying system (2). The control box (7) is arranged on the dark box (31) of the image recognition system (3).

2. The small intelligent apple sorter according to claim 1, characterized in that: The air washing system (1) includes an air washing gun (11), a flow dividing valve (12), an air washing mounting frame (13), an air washing air pipe (14) and an air compressor-air washing flow dividing valve air pipe (15). The flow dividing valve (12) is arranged at the rear side of the air washing mounting frame (13). The air compressor-air washing flow dividing valve air pipe (15) is connected to one side of the flow dividing valve (12). The air washing air pipes (14) are evenly distributed at the rear side of the flow dividing valve (12) and communicate with the air washing guns (11) above the air washing mounting frame (13).

3. The small intelligent apple sorter according to claim 1, characterized in that: The soft-pack drum fruit conveying system (2) includes a fruit loading rack (21), a drum mechanism motor base (22), a drum fruit conveying motor (23), a drum fruit conveying large synchronous belt (24), a drum fruit conveying large synchronous belt pulley (25), a drum fruit conveying small synchronous belt (26), a drum fruit conveying small synchronous belt pulley (27), a gear box (28), a drum rotating shaft (29), a wavy soft-pack drum (210), and a drum bearing and bearing seat unit (211). The fruit loading rack (21) is located above the entire fruit conveying system (2). The drum mechanism motor base (22) is arranged on the bottom side of the fruit loading rack (21). The drum fruit conveying motor (23) is arranged in the drum mechanism motor base (22). One end of the drum fruit conveying large synchronous belt (24) is arranged at the output end of the drum fruit conveying motor (23), and the other end is arranged on the drum fruit conveying large synchronous belt pulley (25) in the gear box (28). The drum rotating shafts (29) are arranged in a linear array in the gear box (28). The wavy soft-pack drum (210) and the drum bearing and bearing seat unit (211) are both arranged in the drum rotating shafts (29). The drum fruit conveying small synchronous belts (26) are arranged in a left-right staggered manner in the part of the drum rotating shafts (29) close to the inner side of the gear box (28) and are all driven by the drum fruit conveying small synchronous belt pulleys (27).

4. A small intelligent apple sorter according to claim 1, characterized in that: The image recognition system (3) includes a dark box (31), an industrial control computer (32), a photoelectric switch unit (33), an industrial camera unit (34), and an efficiency indicator light (35). The dark box (31) is arranged above the upper fruit rack (21), the efficiency indicator light (35) is arranged above the dark box (31), the industrial control computer (32) is arranged on the side of the dark box (31), and both the photoelectric switch unit (33) and the industrial camera unit (34) are arranged inside the dark box (31).

5. The small intelligent apple sorter according to claim 4, wherein: The photoelectric switch unit (33) includes a photoelectric switch mounting bracket (331), a spherical handle of the photoelectric switch mounting bracket (332), a photoelectric switch (333), and a fixed nylon block of the photoelectric switch mounting bracket (334). The fixed nylon block of the photoelectric switch mounting bracket (334) is arranged at both ends of the photoelectric switch mounting bracket (331), and the spherical handle of the photoelectric switch mounting bracket (332) is provided thereon. The photoelectric switch (333) is arranged inside the photoelectric switch mounting bracket (331) and is linearly arrayed in a vertically side-by-side manner. The industrial camera unit (34) includes an industrial camera bracket bottom plate (341), an industrial camera bracket base (342), an industrial camera bracket vertical rod (343), an industrial camera bracket mounting section (344), an industrial camera bracket cross bar (345), an industrial camera bracket short rod (346), an industrial camera bracket T-shaped mounting section (347), an industrial camera (348), and a dome-shaped light source (349). The industrial camera bracket bottom plate (341) is arranged inside the inner edges at both ends of the upper fruit rack (21). The industrial camera bracket bases (342) are respectively arranged at both ends on the industrial camera bracket bottom plate (341). The industrial camera bracket vertical rod (343) is arranged in the industrial camera bracket base (342). The dome-shaped light source (349) is arranged in the middle of the industrial camera bracket vertical rod (343) through the industrial camera bracket mounting section (344). The industrial camera bracket cross bar (345) is arranged at the upper end of the industrial camera bracket vertical rod (343) through the industrial camera bracket mounting section (344). One end of the industrial camera bracket short rod (346) is vertically arranged in the industrial camera bracket cross bar (345) through the industrial camera bracket mounting section (344), and the other end is provided with an industrial camera bracket T-shaped mounting section (347). The industrial camera (348) is arranged at the industrial camera bracket T-shaped mounting section (347), and the camera is facing the opening of the dome-shaped light source (349).

6. A small intelligent apple sorter according to claim 1, characterized in that: The inferior fruit removal system (4) includes an air compressor - removal diverter valve air pipe (41), a removal mechanism fixing plate (42), a removal mechanism diverter valve (43), a removal mechanism air pipe diverter valve air pipe joint (44), a removal mechanism diverter valve - solenoid valve air pipe (45), a solenoid valve (46), a solenoid valve air pipe joint (47), a solenoid valve - cylinder air pipe (48), a cylinder (49), a cylinder push rod (410), a cylinder air pipe joint (411), a cylinder U - shaped plate connecting section (412), a switch door U - shaped plate connecting section (413), a removal bolt (414), a cylinder U - shaped plate - switch door U - shaped plate connecting member (415), a removal bolt limit buckle (416), a removal switch door (417), a removal switch door baffle (418), a removal switch door rotating shaft (419), and a removal switch door rotating shaft bearing (420). The removal mechanism diverter valve (43) is arranged on the upper part of the removal mechanism fixing plate (42). The air compressor - removal diverter valve air pipe (41) is arranged on one side of the removal mechanism diverter valve (43) through the removal mechanism air pipe diverter valve air pipe joint (44). The solenoid valve (46) is arranged on the lower part of the removal mechanism fixing plate (42) and is connected to the removal mechanism diverter valve (43) through the diverter valve - solenoid valve air pipe (45). The solenoid valve air pipe joint (47) is arranged on the opposite side of the diverter valve - solenoid valve air pipe (45) on the solenoid valve (46) and is connected to the cylinder (49) through the solenoid valve - cylinder air pipe (48), and the solenoid valve - cylinder air pipe (48) is connected to the cylinder air pipe joint (411) arranged on one side. The cylinder push rod (410) is arranged in the hole of the cylinder (49). The cylinder U - shaped plate connecting section (412) is arranged at the end of the cylinder push rod (410). The switch door U - shaped plate connecting section (413) is connected to the cylinder U - shaped plate connecting section (412) through the cylinder U - shaped plate - switch door U - shaped plate connecting member (415). The cylinder U - shaped plate - switch door U - shaped plate connecting member (415) is arranged between the two U - shaped plate connecting sections through the removal bolt (414), and the removal bolt (414) is fixed in the two U - shaped plate connecting sections and the cylinder U - shaped plate - switch door U - shaped plate connecting member (415) by the removal bolt limit buckle (416). The removal switch door (417) is arranged below the switch door U - shaped plate connecting section (413) and is connected to the removal mechanism fixing plate (42) through the removal switch door rotating shaft (419). A removal switch door rotating shaft bearing (420) is arranged on the rotating shaft to ensure its smooth rotation. A removal switch door baffle (418) is arranged at the bottom edge of the removal switch door (417) to prevent the fruits from continuing to fall after the removal action is completed.

7. A small intelligent apple sorter according to claim 1, characterized in that: The orbital sorting and fruit dropping and collecting system (5) includes an orbital sorting mechanism (51), a sorting size level adjustment mechanism (52), a fruit attitude correction mechanism (53), a bottom bin conveyor belt mechanism (54), a conveyor belt height adjustment mechanism (55), a fruit dropping buffer brush (56) and a pipeline type low-loss fruit dropping and collecting mechanism (57). The conveyor belt height adjustment mechanism (55) is arranged at the bottom of the orbital sorting and fruit dropping and collecting system (5). The orbital sorting mechanism (51) is arranged inside the orbital sorting and fruit dropping and collecting system (5), and the fruit attitude correction mechanism (53) is arranged above it. The sorting size level adjustment mechanism (52) is arranged on both sides of the orbital sorting and fruit dropping and collecting system (5) and above it. The bottom bin conveyor belt mechanism (54) is arranged in the middle layer of the orbital sorting and fruit dropping and collecting system (5), and the fruit dropping buffer brush (56) is arranged above it. The pipeline type low-loss fruit dropping and collecting mechanism (57) is arranged at the front side of the orbital sorting and fruit dropping and collecting system (5).

8. The small intelligent apple sorter according to claim 7, characterized in that: The bottom bin conveyor belt mechanism (54) includes a bottom bin conveyor belt central control box mounting plate (541), a bottom bin conveyor belt central control box (542), a bottom bin conveyor belt motor mounting plate (543), a bottom bin conveyor belt motor (544), a bottom bin conveyor belt small sprocket (545), a bottom bin drive chain (546), a bottom bin conveyor belt large sprocket (547), a bottom bin conveyor belt unit (548) and a size sorting partition plate (549). The bottom bin conveyor belt central control box mounting plate (541) is arranged on the bottom support rod of the sorting rack (511). The bottom bin conveyor belt central control box (542) is arranged in the bottom bin conveyor belt central control box mounting plate (541). The bottom bin conveyor belt motor mounting plate (543) is arranged beside the bottom bin conveyor belt central control box mounting plate (541). The bottom bin conveyor belt motor (544) is arranged on the bottom bin conveyor belt motor mounting plate (543). The bottom bin conveyor belt small sprocket (545) is arranged at the output end of the bottom bin conveyor belt motor (544). The bottom bin conveyor belt large sprocket (547) drives the bottom bin conveyor belt unit (548) to move above. One end of the bottom bin drive chain (546) is connected to the bottom bin conveyor belt small sprocket (545), and the other end is connected to the bottom bin conveyor belt large sprocket (547). The size sorting partition plate (549) is arranged on the upper side of the bottom bin conveyor belt unit (548).

9. The small intelligent apple sorter according to claim 7, wherein: The conveyor belt height adjustment mechanism (55) includes an electric push rod base (551), an electric push rod (552), a push rod (553), an electric push rod U-shaped card slot (554), an electric push rod positioning pin (555), a snap ring sleeve (556), a snap ring limit screw (557), a snap ring (558), a snap ring mounting plate (559), a conveyor belt support base (5510), a conveyor belt T-shaped support (5511), a T-shaped support limit pin (5512), and a conveyor belt support U-shaped card slot (5513). The electric push rod (552) is arranged in parallel in the electric push rod base (551), the push rod (553) is arranged in the electric push rod (552), the electric push rod U-shaped card slot (554) is arranged at the end of the push rod (553) and is fixed by the electric push rod positioning pin (555). The snap ring sleeve (556) is arranged on the side of the size sorting partition plate (549), the snap ring limit screw (557) is arranged on the snap ring mounting plate (559) and is located in the snap ring sleeve (556), and a snap ring (558) is arranged therein. The conveyor belt support base (5510) is arranged on the bottom support rod of the sorting frame (511), the conveyor belt support U-shaped card slot (5513) is arranged on the conveyor belt support base (5510), and the conveyor belt T-shaped support (5511) is connected to the conveyor belt support U-shaped card slot (5513) through the T-shaped support limit pin (5512) and is thus fixed on the conveyor belt support base (5510).

10. A small intelligent apple sorter according to claim 7, characterized in that: The pipeline type low-loss fruit dropping and collecting mechanism (57) includes a fruit dropping hose mounting bracket (571), a fruit dropping hose fixing frame (572), a fruit dropping bell mouth (573), a parabolic fruit dropping hose (574), a very small fruit dropping hose mounting bracket (575), a very small fruit dropping hose fixing frame (576), a very small fruit dropping bell mouth (577), and a very small fruit parabolic fruit dropping hose (578). The fruit dropping hose mounting bracket (571) is arranged in front of the sorting frame (511), the fruit dropping bell mouth (573) is arranged under the fruit dropping hose mounting bracket (571) through the fruit dropping hose fixing frame (572), the parabolic fruit dropping hose (574) is connected under the fruit dropping bell mouth (573), the very small fruit dropping hose mounting bracket (575) is arranged at the outlet of the very small fruit dropping plate (5116), the very small fruit dropping hose fixing frame (576) is arranged on the very small fruit dropping hose mounting bracket (575), the very small fruit dropping bell mouth (577) is arranged in the very small fruit dropping hose fixing frame (576), and a very small fruit parabolic fruit dropping hose (578) is arranged under the interface.

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