Fresh tomato picking, pedicle removing and sorting all-in-one machine

Abstract

The utility model belongs to the field of tomato picking, and particularly relates to a fresh tomato picking, pedicle removing and sorting all-in-one machine which comprises a tomato grading vehicle, a tomato pedicle removing device and a picking manipulator, and the tomato pedicle removing device and the picking manipulator are arranged on the tomato grading vehicle. The tomato grading device comprises a collecting vehicle and a grading mechanism, the grading mechanism is arranged on the collecting vehicle, a buffer pipeline is arranged on the collecting vehicle, and one end of the buffer pipeline corresponds to the grading mechanism; the tomato pedicle removing device is arranged, the tomato pedicle removing device can be matched with a picking robot or a mechanical arm, picked tomatoes are conveyed into the tomato pedicle removing device, the tomatoes are picked, tomato pedicles are removed, and the tomato picking efficiency of the tomato pedicle removing device can be improved; according to the tomato pedicle removing method, the problem that the tomatoes are punctured by the tomato pedicles of the adjacent tomatoes is solved, the tomatoes are prevented from being damaged, the tomatoes can be prevented from being damaged to the maximum extent, the condition of the tomatoes is kept, and the quality guarantee period of the tomatoes is prolonged.

Description

Technical Field

[0001] This application belongs to the field of tomato picking, and specifically relates to an integrated machine for picking, removing the stalks, and sorting fresh tomatoes. Technical Background

[0002] Eating tomatoes raw can better absorb the rich vitamin C in tomatoes, and eating them raw will not cause unnecessary damage to the vitamin C in tomatoes. Adequate intake of vitamin C can enhance the body's immune ability, protect the skin, whiten and remove spots, protect the gums, inhibit bacteria, and enhance the antioxidant ability.

[0003] Tomatoes suitable for eating raw are called fresh tomatoes. Tomatoes with good appearance can increase people's appetite, are more suitable for eating raw, and tomatoes with good appearance can also stimulate consumers' desire to buy. Therefore, during the tomato picking process, it is necessary to pay attention not to damage the tomatoes and reduce their appearance.

[0004] In the prior art, there is an invention patent with the application number CN116982478A and the patent name of a tomato picking robot and its picking method. It provides a tomato picking robot and its picking method, which includes a vehicle body, a control module, a storage mechanism, and a manipulator. The storage mechanism and the manipulator are both arranged on the vehicle body. The control module is arranged on the vehicle body for collecting tomato information and controlling the manipulator to pick. A buffer mechanism is arranged on the vehicle body. The buffer mechanism includes a buffer tube and a shock pad. The buffer tube is arranged on the vehicle body and extends to the storage mechanism. The manipulator places the picked tomatoes in the buffer tube, and the shock pad is arranged on the inner wall of the buffer tube to reduce the bumping of tomatoes. This application has the effect of reducing the collision injury of tomatoes and extending the storage duration of tomatoes. However, there are still the following problems:

[0005] By arranging the shock pad on the inner wall of the buffer tube to reduce the bumping of tomatoes, although the effect of reducing the collision injury of tomatoes and extending the storage duration of tomatoes can be achieved, due to the existence of tomato stalks (the tomato stalk is the stem remaining on the tomato fruit), the harvested tomatoes will be stabbed by the tomato stalks of adjacent tomatoes, and there will still be a problem of partial tomato damage. Summary of the Invention

[0006] The purpose of this application is to solve the problem that in the prior art, the harvested tomatoes will be stabbed by the tomato stalks of adjacent tomatoes, and there will still be a problem of partial tomato damage.

[0007] To achieve the above purpose, this application provides the following technical solutions:

[0008] An integrated machine for picking, removing the stalks, and sorting fresh tomatoes, including a picking manipulator, further including:

[0009] A collection vehicle, on which a grading mechanism and the picking manipulator are provided, and a buffer pipe is correspondingly arranged on one side of the grading mechanism; and

[0010] A tomato stem-removing device, which includes a tomato grasping mechanism and a stem removing mechanism. The tomato grasping mechanism includes a first sleeve, a plurality of flexible air bags and an air pump. The first sleeve is sleeved on one end of the buffer pipe away from the collection vehicle. The plurality of flexible air bags are circumferentially distributed inside the first sleeve. The air pump is communicated with the flexible air bags. The stem removing mechanism includes a second sleeve, a first driving component and a clamping component. One end of the second sleeve is rotatably connected to the first sleeve along the axial direction of the first sleeve. The first driving component is used to drive the second sleeve to rotate relative to the first sleeve. The two clamping components are symmetrically arranged at the other end of the second sleeve. The clamping component is used to clamp the tomato stem.

[0011] Preferably, the first driving component includes an external gear ring, a rotating motor and a gear. An external gear ring is arranged on the outer side of the second sleeve. The rotating motor is arranged on the first sleeve. The gear is arranged on the output shaft of the rotating motor, and the gear meshes with the external gear ring.

[0012] Preferably, the clamping component includes a base, a multi-stage telescopic cylinder and a clamping plate. The base is arranged on one side of the second sleeve. The fixed end of the multi-stage telescopic cylinder is arranged on the base, and the telescopic end of the multi-stage telescopic cylinder can telescopically move towards the second sleeve.

[0013] Preferably, anti-slip strips are arranged on one side of the clamping plate facing the axis of the second sleeve.

[0014] Preferably, the grading mechanism includes two grading rollers and a second driving member. The collection vehicle is provided with a plurality of collection cavities along the traveling direction. The two grading rollers are arranged at intervals above the collection cavity along the traveling direction. Along the traveling direction, the gap between the two grading rollers shows a gradually increasing trend, and the buffer pipe is correspondingly arranged for the gap. The second driving member is in transmission connection with the two grading rollers.

[0015] Preferably, a flexible buffer layer is arranged inside the buffer pipe.

[0016] Preferably, the stem removing mechanism further includes a stem recognition camera, and the stem recognition camera is arranged on one side of the second sleeve.

[0017] Preferably, the flexible air bag is an arc-shaped air bag.

[0018] Preferably, anti-slip stripes are arranged on the surface of the flexible air bag.

[0019] Preferably, two picking manipulators are provided and are both located on both sides of the parallel traveling direction of the collection vehicle.

[0020] Advantageous effects: By providing a tomato stem-removing device in this application, it can cooperate with most picking robots or manipulators to realize transporting the picked tomatoes into the tomato stem-removing device. The clamped tomatoes reach the second sleeve through the first sleeve. At this time, the tomato stem and the tomato stalk are within the clamping range of the clamping component on the first sleeve. Then, the air pump is started to inflate a number of flexible air bags. The inflated flexible air bags will expand to fix the tomato fruit part. After the flexible air bags fix the tomato fruit, the picking manipulator can release the clamped tomato stem and stalk, withdraw from the tomato stem-removing device, and carry out the next picking work, improving the picking efficiency of picking tomatoes in this application. After the picking manipulator withdraws from the tomato stem-removing device, the clamping component clamps the protruding stalk on the tomato stem. The second sleeve drives the clamping component to rotate two circles under the drive of the first drive component. The tomato stem clamped by the clamping component also rotates relative to the tomato fruit, so as to remove the tomato stem. Then, the air pump extracts the gas from the number of flexible air bags. The tomato fruits without tomato stems enter the buffer pipeline and are guided and transported to the grading mechanism. The grading mechanism grades the tomatoes by size and puts them into the collection vehicle, so as to achieve the technical effect of picking tomatoes and removing tomato stems. The fruits without tomato stems will no longer have the problem that the harvested tomatoes will be stabbed by the tomato stems of adjacent tomatoes, and there will still be some tomatoes damaged. This application can avoid tomato damage to the greatest extent, maintain the appearance of tomatoes, and extend the shelf life of tomatoes. Description of the Drawings

[0021] Figure 1 Isometric view of the fresh food tomato picking, stem-removing and sorting integrated machine in the embodiment; 2]

[0022] Figure 2 Isometric view of the tomato grading vehicle in the embodiment;

[0023] Figure 3 Cross-sectional view of the tomato grading vehicle in the embodiment;

[0024] Figure 4 Partial cross-sectional view of the buffer pipeline in the embodiment;

[0025] Figure 5 Isometric view of the tomato stem-removing device in the embodiment;

[0026] Figure 6 Structural diagram of the tomato stem-removing device in the embodiment;

[0027] Figure 7 Cross-sectional view of the tomato stem-removing device in the embodiment;

[0028] Figure 8 Partial enlarged view of the first driving component described in the embodiment

[0029] In the figure: Tomato grading vehicle 1000, collection vehicle 1100, buffer pipeline 1110, flexible buffer layer 1111, collection chamber 1120, grading mechanism 1200, grading roller 1210, second driving member 1220, tomato stalk removal device 2000, tomato grasping mechanism 2100, first sleeve 2110, flexible airbag 2120, air pump 2130, stalk removal mechanism 2200, second sleeve 2210, first driving component 2220, external gear ring 2221, rotating motor 2222, gear 2223, clamping component 2230, base 2231, multi-stage telescopic cylinder 2232, clamping plate 2233, anti-slip strip 2234, stalk identification camera 2240, picking manipulator 3000. Detailed implementation manners

[0030] It should be noted that, without conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The following will further describe the technical solutions of the present application with reference to the drawings of the embodiments of the present application. The present application is not limited to the following specific implementation manners.

[0031] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present application, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right", "top", "bottom", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific situations.

[0032] In a specific implementation manner of the present application, as Figures 1 to 8 shown, there is a fresh food tomato picking, stalk removal and sorting integrated machine, including a picking manipulator 3000, a collection vehicle 1100 and a tomato stalk removal device 2000. Among them, a grading mechanism 1200 and the picking manipulator 3000 are provided on the collection vehicle 1100, and a buffer pipeline 1110 is correspondingly provided on one side of the grading mechanism 1200; and

[0033] Tomato stem-removing device 2000, the tomato stem-removing device 2000 includes a tomato grasping mechanism 2100 and a stem removing mechanism 2200. The tomato grasping mechanism 2100 includes a first sleeve 2110, a plurality of flexible air bags 2120 and an air pump 2130. The first sleeve 2110 is sleeved on one end of the buffer pipe 1110 far away from the collection vehicle 1100. A plurality of the flexible air bags 2120 are circumferentially distributed inside the first sleeve 2110. The air pump 2130 is communicated with the flexible air bags 2120. The stem removing mechanism 2200 includes a second sleeve 2210, a first driving component 2220 and a clamping component 2230. One end of the second sleeve 2210 is rotatably connected with the first sleeve 2110 along the axial direction of the first sleeve 2110. The first driving component 2220 is used to drive the second sleeve 2210 to rotate relative to the first sleeve 2110. Two of the clamping components 2230 are symmetrically arranged at the other end of the second sleeve 2210. The clamping component 2230 is used to clamp the tomato stem. The picking manipulator 3000 used in this application is an existing picking manipulator 3000 or a type with a relatively high degree of freedom and having recognition and control functions in a robotic arm, so as to be able to pick tomatoes and control the clamping of tomatoes to reach the tomato stem-removing device 2000.

[0034] In a specific implementation process, the fresh food tomato picking, stem-removing and sorting integrated machine of the present application can realize the functions of tomato picking, stem-removing and grading according to the size of tomato fruits. A specific implementation method is as follows: The collection vehicle 1100 travels between the tomato ridges. On both sides of the collection vehicle 1100 are tomato branches. The picking manipulator 3000 picks the tomatoes on the branches and clamps and transports them into the tomato stem-removing device 2000. The clamped tomatoes pass through the first sleeve 2110 and reach the second sleeve 2210. At this time, the tomato stem and the tomato stalk are within the clamping range of the clamping component 2230 on the first sleeve 2110. At this time, the air pump 2130 is started to inflate a plurality of flexible air bags 2120. The inflated plurality of flexible air bags 2120 will expand to fix the tomato fruit part. After the flexible air bags 2120 fix the tomato fruit, the picking manipulator 3000 can release the clamped tomato stem and stalk and withdraw from the tomato stem-removing device 2000 to perform the next picking operation. After the picking manipulator 3000 withdraws from the tomato stem-removing device 2000, the clamping component 2230 clamps the protruding stalk on the tomato stem. The second sleeve 2210 is driven by the first driving component 2220 to drive the clamping component 2230 to rotate two circles. The tomato stem clamped by the clamping component 2230 also rotates relative to the tomato fruit, so as to remove the tomato stem. Then the air pump 2130 pumps out the gas in the plurality of flexible air bags 2120. The tomato fruits without stems enter the buffer pipe 1110 and are guided and transported into the grading mechanism 1200. The grading mechanism 1200 grades the tomatoes according to their sizes and puts them into the collection vehicle 1100.

[0035] Beneficial effects: By providing the tomato stem-removing device 2000, the present application can cooperate with most picking robots or manipulators to realize transporting the picked tomatoes into the tomato stem-removing device 2000. The clamped tomatoes reach the second sleeve 2210 through the first sleeve 2110. At this time, the tomato stem and the tomato stalk are within the clamping range of the clamping component 2230 on the first sleeve 2110. Then, the air pump 2130 is started to inflate several flexible air bags 2120. The inflated flexible air bags 2120 will expand to fix the tomato fruit part. After the flexible air bags 2120 fix the tomato fruit, the picking manipulator 3000 can release the clamped tomato stem and stalk, withdraw from the tomato stem-removing device 2000, and perform the next picking operation, improving the picking efficiency of picking tomatoes in the present application. After the picking manipulator 3000 withdraws from the tomato stem-removing device 2000, the clamping component 2230 clamps the protruding stalk on the tomato stem. The second sleeve 2210 drives the clamping component 2230 to rotate two circles under the drive of the first driving component 2220. The tomato stem clamped by the clamping component 2230 also rotates relative to the tomato fruit, so as to remove the tomato stem. Then, the air pump 2130 pumps out the gas in the several flexible air bags 2120. The tomatoes without tomato stems enter the buffer pipeline 1110 and are guided and transported to the grading mechanism 1200. The grading mechanism 1200 grades the tomatoes by size and puts them into the collection vehicle 1100, thus achieving the technical effect of picking tomatoes and removing tomato stems. The fruits without tomato stems will no longer have the problem that the harvested tomatoes will be stabbed by the tomato stems of adjacent tomatoes, and there will still be some problems of tomato damage. The present application can avoid tomato damage to the greatest extent, maintain the appearance of tomatoes, and extend the shelf life of tomatoes.

[0036] Further, the first driving component 2220 includes an external gear ring 2221, a rotating motor 2222 and a gear 2223. The external gear ring 2221 is arranged on the outer side of the second sleeve 2210. The rotating motor 2222 is arranged on the first sleeve 2110. The gear 2223 is arranged on the output shaft of the rotating motor 2222, and the gear 2223 meshes with the external gear ring 2221. This kind of transmission meshing method has a light structure and low cost.

[0037] In the above implementation process, if a precise clamping component 2230 is adopted, such as a mechanical gripper with visual recognition and path planning, not only is the cost high, but in the field picking operation, the complex field environment is difficult to ensure the accuracy of recognition, and it may not be able to accurately clamp the tomato stem. In a possible embodiment, the clamping component 2230 includes a base 2231, a multi-stage telescopic cylinder 2232, and a clamping plate 2233. The base 2231 is disposed on one side of the second sleeve 2210. The fixed end of the multi-stage telescopic cylinder 2232 is disposed on the base 2231, and the telescopic end of the multi-stage telescopic cylinder 2232 can telescopically move toward the second sleeve 2210. By the relative movement of the two clamping plates 2233 to clamp the tomato stem, it can ensure that the clamping component 2230 clamps the tomato stem, increasing the reliability of the present application, and still being able to ensure clamping of the tomato stem even under complex field conditions.

[0038] In the above implementation process, the surface of the clamping plate 2233 is a smooth plate structure, which is likely to cause the tomato stem to slip off when twisting off the tomato stem, thus affecting the reliability of the tomato stem removal operation. In a possible embodiment, anti-slip strips 2234 are provided on one side of the clamping plate 2233 facing the axis of the second sleeve 2210. The anti-slip strips 2234 can be mutually meshed concave and convex tooth shapes, or the anti-slip strips 2234 with a rough surface. When the two clamping plates 2233 approach each other, the tomato stem is clamped by the anti-slip strips 2234. For example, the tomato stem is firmly fixed between the two clamping plates 2233 by the mutually meshed concave and convex tooth shapes, avoiding the slipping of the tomato stem and ensuring that the tomato stem can be removed from the tomato fruit, increasing the reliability of the tomato stem removal operation.

[0039] Furthermore, the grading mechanism 1200 includes two grading rollers 1210 and a second driving member 1220. The collection vehicle 1100 is provided with a plurality of collection cavities 1120 along the traveling direction. The two grading rollers 1210 are arranged at intervals above the collection cavities 1120 along the traveling direction. Along the traveling direction, the gap between the two grading rollers 1210 shows a gradually increasing trend, and the buffer pipe 1110 is correspondingly arranged for the gap. The second driving member 1220 is in transmission connection with the two grading rollers 1210. Most tomato grading mechanisms 1200 have harsh required conditions and can only be applied to factories or production workshops, and it is difficult to be assembled on a small vehicle such as the collection vehicle 1100. The above grading mechanism 1200 is convenient for being assembled on the movable collection vehicle 1100.

[0040] Further, a flexible buffer layer 1111 is provided in the buffer pipeline 1110. The flexible buffer layer 1111 can be made of foam, an air-filled bag or any material with a buffering effect, so as to prevent the tomatoes after pedicel removal from being damaged by the impact force during the process of rolling down in the buffer pipeline 1110 to the grading mechanism 1200, and further avoid the tomatoes from being squeezed or collided and damaged in the buffer pipeline 1110.

[0041] In the above implementation process, although when the present application is used in cooperation with the picking manipulator 3000, it can rely on the picking manipulator 3000 to identify the tomato fruits, so as to find the positions of the tomato fruits, use the picking manipulator 3000 to pick the tomatoes, and clamp the tomato stems to move the tomatoes to the pedicel removal mechanism 2200. However, since the lengths of the tomato stems carried by the tomato fruits are different, if the tomato stems carried by the fruits are short, it may occur that the tomato stems cannot be clamped by the clamping plate 2233. In a possible embodiment, the pedicel removal mechanism 2200 further includes a pedicel recognition camera 2240. The pedicel recognition camera 2240 is arranged on one side of the second sleeve 2210 and is in the same plane as the clamping plate 2233, ensuring that all the tomato stems that can be recognized can be clamped by the clamping plate 2233. Connect the pedicel recognition camera 2240 to the control module of the picking manipulator 3000 with which the present application is coordinated, electrically connect the multi-stage telescopic cylinder 2232 to the pedicel recognition camera 2240, and connect them to the control module together. When it occurs that the tomato stems carried by the fruits are short and cannot be clamped by the clamping plate 2233, the pedicel recognition camera 2240 cannot recognize the pedicel (the pedicel is the tomato stem carried by the tomato fruit), and the signal is transmitted to the control module. The control module responds and drives the picking manipulator 3000 to make the picking manipulator 3000 drive the tomato pedicel to slightly move from the first sleeve 2110 to the second sleeve 2210 until the pedicel recognition camera 2240 recognizes the pedicel. The control module receives the signal of recognizing the pedicel and then controls the multi-stage telescopic cylinder 2232 to extend, so that the two clamping plates 2233 clamp the pedicel, and then drives the first driving component 2220 to make the second sleeve 2210 rotate relative to the first sleeve 2110 to twist off the pedicel, ensuring that in the case of short tomato stems carried by the fruits, it is possible to judge whether the pedicel is in place (in place means that the pedicel is in a position where it can be clamped by the clamping plate 2233), and then control the robotic arm of the robot used in cooperation with the present application to adjust the position of the tomato that needs to have its pedicel removed.

[0042] Further, the flexible airbag 2120 is an arc-shaped airbag. An arc-shaped airbag is an airbag whose side facing the central axis of the first sleeve 2110 is circular after inflation. Although the shape of a tomato is irregular, the cross-sectional shape of a tomato is generally circular or oval. Compared with airbags of other shapes, the arc-shaped airbag can better conform to the cross-sectional shape of the tomato, avoiding excessive airbag pressure from squeezing and damaging the tomato, and at the same time, being able to firmly fix the tomato fruit with the arc surface that better conforms to the shape of the tomato.

[0043] Further, anti-slip stripes are provided on the surface of the flexible airbag 2120. By providing stripes or granular bands, the fixing effect of the flexible airbag 2120 on the tomato fruit is further increased, avoiding rotational displacement of the tomato fruit under the torsional force of removing the stem, resulting in the inability to remove the tomato stem, and also avoiding bruising of the tomato epidermis when the tomato fruit rotates.

[0044] Further, two picking manipulators 3000 are provided, and both are located on both sides of the collection vehicle 1100 parallel to the traveling direction. Since the picking manipulator 3000 holds the tomato stem and places the tomato into the first sleeve 2110 and is fixed by the flexible airbag 2120, it can then release the tomato stem and continue the picking operation. The clamping component 2230 takes over to clamp the tomato stem, and the picking efficiency of tomatoes can be improved. The stem-removing operation can be achieved by simply rotating the clamping component 2230 after clamping the tomato stem. When the flexible airbag 2120 releases the tomato, the tomato can roll into the buffer pipe 1110. The entire stem-removing and collection process is very fast. The picking speed of a single picking manipulator 3000 is far slower than the operation speed of this process, and a single picking manipulator 3000 is difficult to meet this fast stem-removing operation speed, resulting in a discontinuous stem-removing process. By providing two picking manipulators 3000, not only can the picking speed catch up with the stem-removing operation speed, but if the two picking manipulators 3000 are arranged on both sides of the collection vehicle 1100, it is also possible to pick tomatoes on the tomato branches on both sides while the present application travels in the tomato field, further increasing the picking efficiency of the present application.

[0045] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation manners of the present application. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A fresh tomato picking, stem removal and sorting machine, including a picking robot, characterized in that: Also includes: A collecting vehicle, wherein the collecting vehicle is provided with a grading mechanism and the picking manipulator, and a buffer pipe is correspondingly provided on one side of the grading mechanism; and A tomato stem removal device, the tomato stem removal device includes a tomato grasping mechanism and a stem removal mechanism, the tomato grasping mechanism includes a first sleeve, a plurality of flexible air bags and an air pump, the first sleeve is sleeved on the end of the buffer pipe away from the collection vehicle, the plurality of flexible air bags are circumferentially distributed on the inner side of the first sleeve, the air pump is connected to the flexible air bags, the stem removal mechanism includes a second sleeve, a first drive assembly and a clamping assembly, one end of the second sleeve is rotatably connected to the first sleeve along the axial direction of the first sleeve, the first drive assembly is used to drive the second sleeve to rotate relative to the first sleeve, the two clamping assemblies are symmetrically arranged at the other end of the second sleeve, and the clamping assembly is used to clamp the tomato stem.

2. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: The first driving assembly includes an outer ring gear, a rotating motor and a gear. The outer ring gear is provided on the outside of the second sleeve. The rotating motor is provided on the first sleeve. The gear is provided on the output shaft of the rotating motor, and the gear is meshed with the outer ring gear.

3. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: The clamping assembly includes a base, a multi-stage telescopic cylinder and a clamping plate. The base is arranged on one side of the second sleeve. The fixed end of the multi-stage telescopic cylinder is arranged on the base, and the telescopic end of the multi-stage telescopic cylinder can telescopically move toward the second sleeve.

4. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: A flexible buffer layer is arranged in the buffer pipe.

5. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: The grading mechanism includes two grading rollers and a second driving member. The collecting vehicle is provided with a plurality of collecting chambers along the traveling direction. The two grading rollers are arranged above the collecting chambers at intervals along the traveling direction. Along the traveling direction, the gap between the two grading rollers tends to gradually increase, and the buffer pipe is arranged corresponding to the gap. The second driving member is transmission-connected to the two grading rollers.

6. The fresh tomato picking, stem removal and sorting integrated machine according to claim 3, characterized in that: An anti-slip strip is provided on one side of the clamping plate facing the axis of the second sleeve.

7. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: The fruit stem removal mechanism also includes a fruit stem recognition camera, which is arranged on one side of the second sleeve.

8. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: The flexible airbag is an arc-shaped airbag.

9. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: The surface of the flexible airbag is provided with anti-slip stripes.

10. The fresh tomato picking, stem removal and sorting integrated machine according to claim 1, characterized in that: There are two picking manipulators, both located on both sides of the parallel moving direction of the collecting vehicle.

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