Strawberry height-difference-free conveying and sorting circulation system

Abstract

A strawberry height-difference-free conveying and sorting circulation system, comprising: a cyclic conveying system (1), feeding mechanisms (2), a strawberry external quality testing mechanism (3), several buffering and discharging mechanisms (4) and a strawberry internal quality testing mechanism (5), wherein the cyclic conveying system (1) comprises a synchronous belt cyclic conveying mechanism (11) and several clamping mechanisms (12); the feeding mechanisms (2) convey strawberries to the clamping mechanisms (12); the clamping mechanisms (12) clamp strawberry stems and move same to the strawberry external quality testing mechanism (3) for preliminarily grading of the strawberries, and determine whether the strawberries need to be further graded; if not, the clamping mechanisms clamp the strawberry stems and move same to the buffering and discharging mechanisms (4) of the corresponding grades to discharge the strawberries, and if so, the clamping mechanisms clamp the strawberry stems and move same to the strawberry internal quality testing mechanism (5); and after the strawberry internal quality testing mechanism (5) grades the strawberries, the clamping mechanisms clamp the strawberry stems and move same to the buffering and discharging mechanisms (4) of the corresponding grades to discharge the strawberries. Strawberries are transferred and conveyed by means of clamping strawberry stems, thereby realizing no collision, pressing, falling, etc. throughout the entire process, and avoiding damage to the strawberries.

Description

A strawberry non-drop conveying and sorting circulation system Technical Field

[0001] The invention relates to the technical field of fruit sorting, and in particular to a strawberry non-drop conveying and sorting circulation system. Background Art

[0002] Strawberries are a beloved commodity among consumers. With the expansion of the market and the increase in production, the need for quality-based grading, processing, and marketing has become increasingly urgent. However, current quality control in my country relies primarily on manual grading based on the experience of growers. This process is time-consuming and labor-intensive, with high labor costs and the potential for fruit damage. To reduce reliance on manual labor and ensure the healthy development of the strawberry industry, comprehensive consideration must be given to the commercialization of strawberries, including automated planting, harvesting, and sorting. Stem-retaining strawberry picking is a fundamental requirement for mechanization, ensuring seamless conveying and sorting.

[0003] Currently, small and medium-sized automatic fruit sorting machines on the market generally use drive rollers or conveyor belts for transport, and the method of sorting and unloading by slipping or falling can damage fruits with delicate skins, such as strawberries, and cannot meet the requirements of non-destructive sorting. Non-destructive sorting of strawberries in China is still in the research stage, and current grading equipment fails to achieve efficient, non-destructive sorting of large quantities of strawberries. For example, the prior art discloses an automated sorting system for strawberries according to size. The system uses a gripper to grab the strawberries and place them on a tray. The tray is then transported by a conveyor system to a strawberry image acquisition and grading unit. After the grade is determined, the tray is transported to the corresponding branch track, and the gripper then delivers the strawberries to the corresponding grade packaging box. This gripping mechanism directly grips the strawberries, and the clamping force can easily cause compression damage to the strawberry skin. Moreover, the tray obscures a large portion of the strawberry surface, making it impossible to achieve full-surface image acquisition. Automated strawberry grading equipment should avoid friction, collision, squeezing, and free fall of the fruit during the transport and sorting process to meet the requirements of strawberry sorting operations.

[0004] Summary of the Invention

[0005] In response to the deficiencies in the prior art, the present invention provides a strawberry zero-drop conveying and sorting circulation system, which transports and conveys strawberries by clamping the strawberry stalks, ensuring that there is no collision, squeezing, or falling throughout the process, thereby avoiding damage to the strawberries.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A strawberry zero-drop conveying and sorting circulation system, comprising: a circulation conveying system, a feeding mechanism, a strawberry external quality detection mechanism, a plurality of buffer unloading mechanisms, and a strawberry internal quality detection mechanism;

[0008] The circulating conveying system includes a synchronous belt circulating conveying mechanism and a plurality of clamping mechanisms, wherein the synchronous belt circulating conveying mechanism includes a plurality of double-row synchronous belts for circulating the clamping mechanism;

[0009] The clamping mechanism includes a pressing key, a pressing shaft, a pressing roller, a spring, a rotating shaft, a mounting seat and two clamping claws, the pressing key is mounted on the top end of the pressing shaft, the pressing roller is mounted on the bottom end of the pressing shaft and is perpendicular to the pressing shaft, both ends of the rotating shaft are rotatably mounted on the mounting seat, the two clamping claws are hinged to the rotating shaft, the pressing roller abuts against the two clamping claws, the spring is sleeved on the pressing shaft, the top end of the spring is connected to the pressing key, and the spring is connected to the step hole surface of the mounting seat;

[0010] The feeding mechanism conveys the strawberries to the clamping mechanism, and the clamping mechanism clamps the strawberry stems and moves along the synchronous belt circular conveying mechanism to the strawberry external quality inspection mechanism for preliminary grading of the strawberries to determine whether the strawberries need to be further graded. If not, the clamping mechanism clamps the strawberry stems to the cache unloading mechanism of the corresponding level to unload the strawberries. If so, the clamping mechanism clamps the strawberry stems to the strawberry internal quality inspection mechanism. After the strawberry internal quality inspection mechanism grades the strawberries, the clamping mechanism clamps the strawberry stems to the cache unloading mechanism of the corresponding level to unload the strawberries.

[0011] Furthermore, the circulating conveying system also includes a number of limiting mechanisms, a number of pneumatic pressing mechanisms and a number of switch mechanisms. The limiting mechanisms are installed on the synchronous belt circulating conveying mechanism to rigidly limit the clamping mechanism. The pneumatic pressing mechanism is installed above the synchronous belt circulating conveying mechanism to press the pressing key. The switch mechanism is installed at the fork of the synchronous belt circulating conveying mechanism to guide the clamping mechanism to different conveying branches.

[0012] Furthermore, the feeding mechanism includes a belt transmission mechanism, a support frame, a driving mechanism, a clamping jaw support and a plurality of feeding clamping jaws;

[0013] The support frame is installed on the belt transmission mechanism, the driving mechanism is installed on the support frame, and a plurality of feeding clamps are installed in parallel on the clamp bracket. The driving mechanism can drive the clamp bracket to rotate and move.

[0014] Furthermore, the driving mechanism includes a through-type stepper motor, a feeding mechanism shaft, a first ball screw mechanism and two crank rocker mechanisms. The through-type stepper motor drives the crank of the crank rocker mechanism to rotate. The rocker of the crank rocker mechanism is hinged to the support frame through the feeding mechanism shaft. The clamping bracket is installed on the feeding mechanism shaft. The nut of the first ball screw mechanism is fixedly connected to the clamping bracket.

[0015] Furthermore, the buffer unloading mechanism includes a clamping claw buffer mechanism, a unloading positioning mechanism, a unloading clamping claw pressing mechanism and a packaging conveying mechanism;

[0016] The clamping claw caching mechanism includes: a mechanism mounting plate, a track mounting frame and a plurality of cache rails; the track mounting frame is mounted on the mechanism mounting plate via a rotating shaft, and the plurality of cache rails are mounted parallel to the track mounting frame, and the cache rails are parallel to the conveying direction of the clamping mechanism;

[0017] The blanking positioning mechanism is used to change the horizontal position and tilt angle of the clamping claw buffer mechanism;

[0018] The unloading clamp pressing mechanism is used to press the clamping mechanism on the cache track to unload the material.

[0019] Furthermore, the clamping claw cache mechanism also includes a plurality of limit blocks, which are installed at the end of the cache track and are used to limit the clamping mechanism.

[0020] Furthermore, the blanking positioning mechanism includes a second ball screw mechanism and a locking cylinder mechanism. The nut of the second ball screw mechanism is fixedly connected to the mechanism mounting plate, the cylinder body of the locking cylinder mechanism is installed on the mechanism mounting plate, and the piston rod of the locking cylinder mechanism is connected to the track mounting frame to drive the clamping claw cache mechanism to tilt.

[0021] Furthermore, the blanking clamp pressing mechanism includes a driving synchronous belt, several camshafts, several pressing plates and several spring reset mechanisms. The pressing plate includes an upper plate and a lower plate. The several camshafts are synchronously controlled by the driving synchronous belt. The camshaft is located above the upper plate, and the lower plate is parallel to the cache track. The spring reset mechanism is used to keep the cam surface of the camshaft always tangent to the upper plate.

[0022] Furthermore, the strawberry external quality detection mechanism includes: a darkroom, a camera bracket located in the darkroom, and two sets of sampling mechanisms. The two sets of sampling mechanisms are installed on the camera bracket in opposite directions and staggered. The camera assembly is coaxial with the axis of the curved light source and perpendicular to the white backboard. When the clamping mechanism is transported to the strawberry external quality detection mechanism, the two camera assemblies respectively collect image information on both sides of the strawberry.

[0023] Furthermore, the curved surface light source is a curved surface diffuse reflection light source.

[0024] Beneficial effects of the present invention:

[0025] 1) The present invention fully considers the fragile nature of ripe strawberry fruits and adopts a conveying method that clamps the fruit stems during the loading and unloading and conveying process of the strawberries. This can achieve suspended conveying throughout the entire process, avoid touching and squeezing the skin, and solve the problem of damage to fresh strawberries caused by collision and rolling during the grading and conveying process.

[0026] 2) The present invention can quickly complete the sorting and packaging of strawberries in an assembly line manner, which can reduce the workload of workers and improve the accuracy of grading. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG1 is a schematic structural diagram of a strawberry zero-drop conveying and sorting circulation system according to an embodiment of the present invention;

[0028] FIG2 is a partial structural diagram of a circulating conveying system according to an embodiment of the present invention;

[0029] FIG3 is a schematic diagram of the structure of a clamping mechanism according to an embodiment of the present invention, wherein FIG3 (a) is a schematic diagram of the structure of the clamping mechanism 1, and FIG3 (b) is a schematic diagram of the structure of the clamping mechanism 2;

[0030] FIG4 is a schematic structural diagram of a feeding mechanism according to an embodiment of the present invention;

[0031] FIG5 is a schematic diagram of a strawberry external quality detection mechanism according to an embodiment of the present invention, wherein FIG(a) is a schematic diagram of the overall structure of the strawberry external quality detection mechanism, and FIG(b) is a schematic diagram of the internal structure of the strawberry external quality detection mechanism;

[0032] FIG6 is a schematic diagram of light distribution of a curved light source according to an embodiment of the present invention;

[0033] FIG7 is a schematic structural diagram of a buffer unloading mechanism according to an embodiment of the present invention;

[0034] FIG8 is a schematic structural diagram of a blanking clamp pressing mechanism according to an embodiment of the present invention.

[0035] Reference numerals: 1. Circulating conveying system, 2. Loading mechanism, 3. Strawberry external quality detection mechanism, 4. Buffer unloading mechanism, 5. Strawberry internal quality detection mechanism, 11. Synchronous belt circulating conveying system, 12. Clamping mechanism, 13. Limiting mechanism, 14. Pneumatic pressing mechanism, 15. Turnout mechanism, 111. Double-row synchronous belt, 112. Gantry structure, 121. Press key, 122. Press shaft, 123. Press roller, 124. Spring, 125. Rotating shaft, 126. Clamp, 127. Mounting seat; 21. Belt drive mechanism, 22. Support frame, 23. Through-type stepper motor, 24. Feeding mechanism shaft, 25. Crank rocker mechanism, 26. Ball screw mechanism, 27. Clamp bracket, 28. Feeding clamp; 31. Camera assembly, 32. Curved light source, 33. White backing plate, 34. Camera bracket, 35. Darkroom; 321. Center of curvature of light source, 322. Diffuse reflective coating, 323. LED lamp, 324. Illuminating light, 325. Strawberries to be sampled, 326. Reflected light; 41. Gripper cache mechanism, 42. Second blanking positioning mechanism, 43. Blanking gripper pressing mechanism, 44. Packaging conveying mechanism; 411. Mechanism mounting plate, 412 Second track mounting frame, 413 Cache track, 414 Limit block; 421 Second ball screw mechanism, 422 Locking cylinder mechanism; 431. Drive timing belt, 432. Camshaft, 433. Pressing plate, 434 Spring return mechanism; 441. Scissor-type lifting mechanism, 442. Inclined double-row timing belt. DETAILED DESCRIPTION

[0036] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0038] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] First, a strawberry zero-drop conveying and sorting circulation system according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] Please refer to Figures 1 to 8. A strawberry zero-drop conveying and sorting circulation system according to an embodiment of the present invention includes: a circulating conveying system 1, a loading mechanism 2, a strawberry external quality detection mechanism 3, a plurality of buffer unloading mechanisms 4 and a strawberry internal quality detection mechanism 5.

[0041] Specifically, as shown in Figure 2, the circulating conveyor system includes a synchronous belt circulating conveyor system 11, a clamping mechanism 12, a limiting mechanism 13, a pneumatic pressing mechanism 14, and a switch mechanism 15. The synchronous belt circulating conveyor system comprises a plurality of double-row synchronous belts 111, which are suspended and mounted below a gantry structure 112. During installation, they are divided into multiple double-row synchronous belt sections based on spatial constraints, and together they constitute the synchronous belt circulating conveyor system 11. The clamping mechanism 12 is T-shaped and suspended in the middle of the double-row parallel synchronous belt 111, and is conveyed by the friction of the synchronous belts on both sides; the limiting mechanism 13 is installed on the double-row parallel synchronous belt 111 to rigidly limit the clamping mechanism 12; the pneumatic pressing mechanism 14 is installed above the double-row parallel synchronous belt 111 to control the opening and closing of the clamping mechanism 12; the switch mechanism 15 is installed at the fork of the double-row synchronous belt 111 to guide the clamping mechanism 12 to different conveying branches to realize the sorting function; after completing the unloading action, the clamping mechanism 12 returns to the synchronous belt circulation conveying system 11.

[0042] As shown in FIG2 , the clamping mechanism 12 includes a pressing key 121, a pressing shaft 122, a pressing roller 123, a spring 124, a rotating shaft 125, a mounting seat 127 and two clamping claws 126. The pressing key 121 is mounted on the top of the pressing shaft 122, the pressing roller 123 is mounted on the bottom of the pressing shaft 122 and is perpendicular to the pressing shaft 122. Both ends of the rotating shaft 125 are rotatably mounted on the mounting seat 127. The two clamping claws 126 are hinged to the rotating shaft 125. The pressing roller 123 is hinged to the two The clamping claws 126 are in contact, and the spring 124 is sleeved on the pressing shaft 122. The top end of the spring 124 is connected to the pressing key 121, and the spring 124 is connected to the step hole surface of the mounting seat 127; the pressing key 121 moves downward after being pressed, and the pressing roller 123 is squeezed downward, and the two clamping claws 126 rotate around the rotating shaft 125 to open; after the pressing is completed, the pressing key 121 moves upward under the elastic force of the spring 124, and the pressing roller 123 is squeezed upward, and the two clamping claws rotate around the rotating shaft 125 126 to close, thereby realizing the grasping and release of the strawberry stalk.

[0043] As shown in Figure 4, the feeding mechanism includes: a belt transmission mechanism 21, a support frame 22, a driving mechanism, a clamping bracket 27 and a plurality of feeding clamps 28; the support frame 22 is installed on the belt transmission mechanism 21, and the driving mechanism includes a through-type stepping motor 23, a feeding mechanism shaft 24, a first ball screw mechanism 26 and two crank rocker mechanisms 25. The nut of the first ball screw mechanism 26 is fixedly connected to the clamping bracket 27, and the clamping bracket 27 can be driven to move through the first ball screw mechanism 26. The through-type stepping motor 23 drives the crank of the crank-rocker mechanism 25 to rotate, and the rocker of the crank-rocker mechanism 25 is hinged to the support frame 22 through the feeding mechanism shaft 24. The clamping jaw bracket 27 is installed on the feeding mechanism shaft 24. When the feeding mechanism shaft 24 rotates, the clamping jaw bracket 27 is driven to rotate. Several feeding clamps 28 are installed in parallel on the clamping jaw bracket 27 for clamping strawberry stalks. The two extreme positions of the rocker of the crank-rocker mechanism 25 are the position for clamping the strawberry stalks and the position for releasing the strawberry stalks, respectively.

[0044] As shown in Figure 5, the strawberry external quality detection mechanism includes: a darkroom 35, a camera bracket 34 located in the darkroom 35, and two sets of sampling mechanisms. The two sets of sampling mechanisms are installed on the camera bracket 34 in opposite directions. The camera assembly 31 is coaxial with the axis of the curved light source 32 and perpendicular to the white backboard 33. When the clamping mechanism 12 is transported to the strawberry external quality detection mechanism, the two camera assemblies 31 respectively collect image information on both sides of the strawberry to comprehensively obtain image information of the strawberry surface.

[0045] Furthermore, the camera assembly 31 includes a color camera and a fixed-focus telecentric lens, which reduces the distortion of the captured image and ensures the accuracy of the strawberry's appearance. The color camera's main parameters are as follows: 5-megapixel resolution, 1 / 2.5" target size, 2.2μm pixel size, and a USB 3.0 data transmission interface. The fixed-focus telecentric lens' main parameters are as follows: 0.1 magnification, 190mm working distance, 11mm object field of view, 11mm image field of view, and 64.3mm depth of field.

[0046] As shown in Figure 6, because the strawberry's surface is curved and uneven, image capture must ensure uniformity of reflected light from the strawberry to prevent overexposure on the curved surface. In this embodiment, curved light source 32 uses a 210 mm diameter, diffusely reflecting white light. The strawberry to be sampled 325 is positioned at the center of curvature 321 of the light source, and the camera assembly 31 is mounted on the axis of the curved surface. Because the diffusely reflecting coating 322 within the light source reflects the illumination light 324 emitted by the LED lamp 323 into uniform illumination in all directions, the light 326 reflected from the surface of the strawberry to be sampled 325 is uniformly parallel, ensuring effective imaging.

[0047] As shown in Figure 7, the cache unloading mechanism 4 includes: a clamping claw cache mechanism 41, a unloading positioning mechanism 42, a unloading clamping claw pressing mechanism 43 and a packaging conveying mechanism 44; the clamping claw cache mechanism 41 includes: a mechanism mounting plate 411, a track mounting frame 412, a plurality of limit blocks 414 and a plurality of cache rails 413; the track mounting frame 412 is installed on the mechanism mounting plate 411 through a rotating shaft, and a plurality of the cache rails 413 are installed parallel to the track mounting frame 412. The cache rails 413 are parallel to the conveying direction of the clamping mechanism 12. The end of each of the cache rails 413 is installed with the limit block 414, which is used to limit the clamping mechanism 12 entering the cache rail 413. After the unloading action is completed, the limit block 414 is actuated to release the clamping mechanism 12 to enter the circulating conveying track system.

[0048] Furthermore, the blanking and positioning mechanism 42 includes a second ball screw mechanism 421 and a locking cylinder mechanism 422. The second ball screw mechanism 421 is mounted on a fixed bracket, and the nut of the second ball screw mechanism 421 is fixedly connected to the mechanism mounting plate 411, which is used to achieve horizontal movement and positioning of the clamping claw buffer mechanism 41. The cylinder body of the locking cylinder mechanism 422 is mounted on the mechanism mounting plate 411, and the piston rod of the locking cylinder mechanism 422 is connected to the track mounting frame 412, which is used to drive the clamping claw buffer mechanism 41 to tilt.

[0049] Furthermore, the unloading jaw pressing mechanism 43 includes a drive timing belt 431, several camshafts 432, several pressing plates 433, and several spring return mechanisms 434. The pressing plates 433 include an upper plate and a lower plate. The camshafts 432 are synchronously controlled by the drive timing belt 431. The camshafts 432 are located above the upper plate, and the lower plate is parallel to the buffer track 413. The spring return mechanism 434 is used to maintain the cam surface of the camshafts 432 at all times tangent to the upper plate. The unloading jaw pressing mechanism 43 achieves stable unloading by coordinating the drive timing belt 431 and the camshafts 432 to achieve synchronous opening and closing of the jaw mechanism 12.

[0050] Furthermore, the packaging conveyor mechanism 44 includes a scissor-type lifting mechanism 441 and an inclined conveyor belt 442. The scissor-type lifting mechanism 441 is installed below the inclined conveyor belt 442 and is used to adjust the height of the inclined conveyor belt 442. The inclined conveyor belt 442 is a conveyor belt for conveying and unloading packaging boxes, and works in conjunction with the clamping claw buffer mechanism 41, the unloading positioning mechanism 42, and the unloading clamping claw pressing mechanism 43 to ensure the unloading position of the strawberries.

[0051] The strawberry internal quality detection mechanism 5 uses near-infrared spectroscopy technology to detect internal quality information of strawberries, such as the sugar content; first, the strawberries follow the clamping mechanism 12 along the synchronous belt circular conveying mechanism 11 to the detection area of ​​the strawberry internal quality detection mechanism 5, and then the strawberry internal quality detection mechanism 5 collects the internal information of the strawberries and judges the internal quality grade of the strawberries based on the relevant information.

[0052] A strawberry sorting method according to an embodiment of the present invention includes:

[0053] Step 1: The tray containing the strawberries with stems is delivered to the loading position by the synchronous belt circulation conveying mechanism 11;

[0054] Step 2: The feeding mechanism 2 grips the strawberry stems and takes them out from the tray, and delivers them to the gripping position of the gripping mechanism 12 on the circulating conveying system 1;

[0055] Step 3: The clamping claws of the clamping mechanism 12 clamp the strawberry stems and convey the strawberries to the image acquisition area that triggers the strawberry external quality detection mechanism 3 through the synchronous belt circulation conveying mechanism 11;

[0056] Step 4: Trigger the strawberry external quality detection mechanism 3 to shoot, obtain color images of both sides of the strawberry, and perform preliminary grading of the strawberries;

[0057] Step 5: Determine whether the strawberries need to be further graded. If so, proceed to step 6; if not, proceed to step 7:

[0058] Step 6: The clamping mechanism 12 clamps the strawberry stems to the strawberry internal quality inspection mechanism 5, and the strawberry internal quality inspection mechanism 5 grades the strawberries;

[0059] Step 7: The switch mechanism 15 diverts the clamping mechanism 12 to the corresponding level of conveying branch, and the clamping mechanism 12 clamps the strawberry stems to the corresponding level of the buffer unloading mechanism 4 to unload the strawberries;

[0060] Step 8: After the cache unloading mechanism 4 is full, the cache track 413 is tilted, and the unloading clamping claw press 43 presses the clamping mechanism 12 to release the strawberry stalks and place the strawberries into the packaging box on the double-row synchronous belt 44. The clamping mechanism 12 returns to the step one area through the synchronous belt circulation conveying mechanism 11.

[0061] In step 4 of this embodiment, strawberries are classified into three grades based on appearance specifications, and large and medium fruits are further classified into three grades based on internal quality. Small fruits are no longer classified based on internal quality, so there are seven grades in total to improve grading efficiency.

[0062] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0063] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A strawberry non-drop conveying and sorting circulation system, characterized in that: include: A circulating conveying system (1), a feeding mechanism (2), a strawberry external quality detection mechanism (3), a plurality of buffer unloading mechanisms (4) and a strawberry internal quality detection mechanism (5); The circulating conveying system (1) comprises a synchronous belt circulating conveying mechanism (11) and a plurality of clamping mechanisms (12); the synchronous belt circulating conveying mechanism (11) comprises a plurality of double-row synchronous belts (111) for circulating the clamping mechanisms (12); The clamping mechanism (12) comprises a pressing key (121), a pressing shaft (122), a pressing roller (123), a spring (124), a rotating shaft (125), a mounting seat (127) and two clamping claws (126), wherein the pressing key (121) is mounted on the top end of the pressing shaft (122), the pressing roller (123) is mounted on the bottom end of the pressing shaft (122) and is perpendicular to the pressing shaft (122), and the rotating shaft (125) is mounted on the bottom end of the pressing shaft (122). 5) are rotatably mounted on the mounting seat (127), the two clamping claws (126) are hinged to the rotating shaft (125), the pressing roller (123) is in contact with the two clamping claws (126), the spring (124) is sleeved on the pressing shaft (122), the top end of the spring (124) is connected to the pressing key (121), and the spring (124) is connected to the step hole surface of the mounting seat (127); The feeding mechanism (2) conveys the strawberries to the clamping mechanism (12), and the clamping mechanism (12) clamps the strawberry stems and moves along the synchronous belt circulation conveying mechanism (11) to the strawberry external quality inspection mechanism (3) to perform preliminary grading on the strawberries and determine whether the strawberries need to be further graded. If not, the clamping mechanism (12) clamps the strawberry stems to the corresponding level of the buffer unloading mechanism (4) to unload the strawberries. If yes, the clamping mechanism (12) clamps the strawberry stems to the strawberry internal quality inspection mechanism (5). After the strawberry internal quality inspection mechanism (5) grades the strawberries, the clamping mechanism (12) clamps the strawberry stems to the corresponding level of the buffer unloading mechanism (4) to unload the strawberries.

2. The strawberry zero-drop conveying and sorting circulation system according to claim 1, characterized in that: The circulating conveying system (1) further comprises a plurality of limiting mechanisms (13), a plurality of pneumatic pressing mechanisms (14) and a plurality of switch mechanisms (15); the limiting mechanisms (13) are mounted on the synchronous belt circulating conveying mechanism (11) to rigidly limit the clamping mechanism (12); the pneumatic pressing mechanism (14) is mounted above the synchronous belt circulating conveying mechanism (11) to press the pressing key (121); and the switch mechanism (15) is mounted at the bifurcation of the synchronous belt circulating conveying mechanism (11) to guide the clamping mechanism (12) to different conveying branches.

3. The strawberry zero-drop conveying and sorting circulation system according to claim 1, characterized in that: The feeding mechanism (2) comprises a belt transmission mechanism (21), a support frame (22), a driving mechanism, a clamping claw support (27) and a plurality of feeding clamping claws (28); The support frame (22) is installed on the belt transmission mechanism (21), the driving mechanism is installed on the support frame (22), a plurality of feeding clamps (28) are installed in parallel on the clamp bracket (27), and the driving mechanism can drive the clamp bracket (27) to rotate and move.

4. The strawberry non-drop conveying and sorting circulation system according to claim 3, characterized in that: The driving mechanism comprises a through-type stepping motor (23), a feeding mechanism rotating shaft (24), a first ball screw mechanism (26) and two crank rocker mechanisms (25); the through-type stepping motor (23) drives the crank of the crank rocker mechanism (25) to rotate; the rocker of the crank rocker mechanism (25) is hinged to the support frame (22) through the feeding mechanism rotating shaft (24); the clamping jaw bracket (27) is mounted on the feeding mechanism rotating shaft (24); and the nut of the first ball screw mechanism (26) is fixedly connected to the clamping jaw bracket (27).

5. The strawberry zero-drop conveying and sorting circulation system according to claim 1, characterized in that: The buffer unloading mechanism (4) comprises a clamping claw buffering mechanism (41), a unloading positioning mechanism (42), a unloading clamping claw pressing mechanism (43) and a packaging conveying mechanism (44); The clamping claw caching mechanism (41) comprises: a mechanism mounting plate (411), a track mounting frame (412) and a plurality of caching rails (413); the track mounting frame (412) is mounted on the mechanism mounting plate (411) via a rotating shaft, and a plurality of caching rails (413) are mounted in parallel on the track mounting frame (412); the caching rails (413) are parallel to the conveying direction of the clamping mechanism (12); The material unloading positioning mechanism (42) is used to change the horizontal position and the tilt angle of the clamping claw buffer mechanism (41); The unloading clamping claw pressing mechanism (43) is used to press the clamping mechanism (12) on the cache track (413) to unload the material.

6. The strawberry non-drop conveying and sorting circulation system according to claim 5, characterized in that: The clamping claw buffer mechanism (41) further comprises a plurality of limit blocks (414), wherein the limit blocks (414) are mounted at the ends of the buffer tracks (413) and are used to limit the position of the clamping mechanism (12).

7. The strawberry non-drop conveying and sorting circulation system according to claim 5, characterized in that: The material unloading positioning mechanism (42) comprises a second ball screw mechanism (421) and a locking cylinder mechanism (422); the nut of the second ball screw mechanism (421) is fixedly connected to the mechanism mounting plate (411); the cylinder body of the locking cylinder mechanism (422) is mounted on the mechanism mounting plate (411); the piston rod of the locking cylinder mechanism (422) is connected to the track mounting frame (412) and is used to drive the clamping claw buffer mechanism (41) to tilt.

8. The strawberry non-drop conveying and sorting circulation system according to claim 5, characterized in that: The unloading clamp pressing mechanism (43) comprises a driving synchronous belt (431), a plurality of camshafts (432), a plurality of pressing plates (433) and a plurality of spring reset mechanisms (434); the pressing plate (433) comprises an upper plate and a lower plate; the plurality of camshafts are synchronously controlled by the driving synchronous belt (431); the camshafts are located above the upper plate; the lower plate is parallel to the cache track (413); and the spring reset mechanism (434) is used to keep the cam surface of the camshaft always tangent to the upper plate.

9. The strawberry zero-drop conveying and sorting circulation system according to claim 1, characterized in that: The strawberry external quality detection mechanism comprises: a darkroom (35), a camera support (34) located in the darkroom (35), and two sets of sampling mechanisms, wherein the two sets of sampling mechanisms are installed on the camera support (34) in opposite directions and staggered, and the camera assembly (31) is coaxial with the axis of the curved light source (32) and perpendicular to the white back plate (33), and when the clamping mechanism (12) is transported to the strawberry external quality detection mechanism, the two camera assemblies (31) respectively collect image information on both sides of the strawberry.

10. The strawberry non-drop conveying and sorting circulation system according to claim 9, characterized in that: The curved surface light source (32) is a curved surface diffuse reflection light source.

Images