CN101288870A - Conveyer device of apple grade and method for grading apple using the conveyer device - Google Patents
Conveyer device of apple grade and method for grading apple using the conveyer device Download PDFInfo
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- CN101288870A CN101288870A CNA2008101135918A CN200810113591A CN101288870A CN 101288870 A CN101288870 A CN 101288870A CN A2008101135918 A CNA2008101135918 A CN A2008101135918A CN 200810113591 A CN200810113591 A CN 200810113591A CN 101288870 A CN101288870 A CN 101288870A
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Abstract
The invention relates to a delivery device for apple classification, comprising a rectangle stander, a driving mechanism which is fixed on the stander, a delivery mechanism which is driven to run by the driving mechanism, a compote chain which consists of a plurality of compotes and is fixedly connected on the delivery mechanism according to certain spacing, a positioning friction mechanism and a turnover rotation mechanism. The delivery device of the invention has simple structure and stable operation, which can lead the apples to be positioned before motioning to a photographing area and ensures that the apple surface information gained by a camera is the whole side surface information containing no stem and calyx of the apple.
Description
Technical field
The present invention relates to a kind of conveying device of apple classification, relate in particular to a kind of motion process and the stressing conditions of profile in transmission, utilize mechanism to be implemented in to carry out in the process of transmission the apple location and around the conveying device of self fruit axle rotation according to apple.
Background technology
The Non-Destructive Testing of apple external sort is the indispensable dynamoelectric equipment of modern apple industry, external sort detected and classification after it can be used for apple-picking, the apple external sort hierarchical detection equipment based on Computerized Information Processing Tech that adopts is compared with traditional mechanical type, electromechanical classifying equipoment at present, can screen from size, shape, color, the blemish many-side of apple, thereby improve the precision and the accuracy of classification, reduce artificial labour intensity.The apple production of China ranks first in the world, but the classification technique means fall behind, need research and development stable performance, the reliable apple classifying equipoment of precision to make apple obtain classification timely and effectively, the apple good and the bad mixes, low-quality is inexpensive, the situation of shortage international competitiveness thereby change.
The conveyer that matches with apple external sort hierarchical detection equipment at present mostly is the general fruit conveyor that is applied to the Citrus circular fruit.Specifically, be the fruit on it to be delivered to the acquisition zone that video camera is housed by the bipyramid formula roller that rotates, so far roller overturns while advancing, drive the fruit upset on it, the image information of camera acquisition fruit surface is sent to Computer Processing, determines the rank of this apple.There is following problem in this conveyer for apple: (1) is transmitted switching mechanism and is adopted the roller transmission, though the profile at apple has been carried out profiling, but because the existence of apple carpopodium, fruit calyx, its rollover states on roller is uncertain, cause obtaining of apple surface information inaccurate, the situation that the surface information collection is incomplete and information gathering repeats easily takes place; The attitude of apple is fixing during (2) owing to information gathering, the position of carpopodium and fruit calyx is uncertain, in the information processing in later stage, need to carry out apple carpopodium and fruit calyx identification and with the differentiation work of apple surface defective, it is bigger to cause judging by accident the classification error that makes this index of blemish; (3) owing to obtain the diversity of apple surface information, cause the information processing difficulty in later stage big, time-consuming and accuracy rate is low; (4) for obtaining surface information more completely, often settle multiple cameras, gather many images, facility cost height and process information amount are huge.
Summary of the invention
The purpose of this invention is to provide a kind of conveying device that is applied to simple in structure, the working stability of apple, make apple before moving to the shooting district, finish the location, guarantee that the apple surface information that video camera obtains is the complete side surface information that does not contain apple carpopodium and fruit calyx.
Another object of the present invention provides a kind of method of carrying and apple being carried out classification.
In order to reach these purposes, the technical scheme that a kind of conveying device that is used for the apple classification of the present invention is taked is:
A kind of conveying device of apple classification, comprise the rectangle frame, be fixed on driving mechanism on the frame, by driving mechanism drive its running connecting gear and by a plurality of fruit trays form with certain spacing be connected on the connecting gear closed ring fruit tray chain, this device also comprises:
Feed rake is installed in fruit tray top, is used for successively to the fruit tray apple of packing into;
Locating friction mechanism is installed in fruit tray chain below, is driven and is cooperated fruit tray to use by driving mechanism, the apple that is used for locating fruit tray make it carpopodium and really calyx rotate to the fixed position;
The upset rotating mechanism is installed in the below of fruit tray chain, becomes miter angle with horizontal plane, is driven and is cooperated fruit tray to use by driving mechanism, is used for apple is rotated so that the side surface of apple faces toward image collecting device fully;
Image collecting device places upset rotating mechanism top, is used for the side surface of apple is carried out information gathering, and the data after gathering are sent to data processing equipment;
Data processing equipment receives and also to handle the data that image collecting device transmits, and a result who handles sent to unloads the fruit device;
Unload the fruit device, be installed in the fruit tray inboard, be used for apple being discharged into from fruit tray the apple receiving system of different brackets according to the result of data processing equipment;
Wherein, feed rake, locating friction mechanism, upset rotating mechanism, the erection sequence that unloads the fruit device be, installs successively via feed rake, locating friction mechanism, upset rotating mechanism, the annular landline that unloads the fruit device according to apple.
Described fruit tray comprises one-sided hinged inside and outside fruit tray, the locating friction wheel that can rotate freely is equipped with at wherein interior fruit tray middle part, fruit tray bottom surface in locating friction wheel outer rim is higher than, the hinged side of interior fruit tray and outer fruit tray is equipped with two vertical with interior fruit tray bottom surface internal fruit trays little axles that can rotate freely mutually, and this upper/lower terminal is fixed with spin friction wheel and guiding friction pulley respectively.
Described connecting gear adopts horizontal annular chain delivery form, and the horizontal transmission sprocket wheel is installed at two ends, is wound with chain on the sprocket wheel, the fruit tray that is connected on the chain and arranges with a determining deviation.
Described locating friction mechanism comprises: the location belt wheel, transmit wheel shaft by location power and be installed on the positioning supporting frame; Location power transmits wheel shaft, is used for rotation location belt wheel; The locating friction band is supported and is rotated with certain speed driving fruit tray mechanism by two above-mentioned location belt wheels; The location regulating wheel is installed between two location belt wheels, is used to guarantee the linearity of locating friction band; Positioning supporting frame is installed on the frame.
Described upset rotating mechanism comprises: the rotation belt wheel is installed on the rotation bracing frame by rotary power input wheel shaft; Auxiliary guide rail, symmetry are contained in rotation belt wheel both sides, are used to guarantee that the fruit tray balance carries out the transition to 45 degree flip angles, and move along the spin friction band; Rotary power input wheel shaft is used to rotate belt wheel; The spin friction band is supported and rotation driving fruit tray by the adjustable rotation belt wheel of above-mentioned two center distance; The rotation regulating wheel is distributed between two rotation belt wheels, is used to keep the linearity of spin friction band; The rotation bracing frame is connected on the frame by connecting plate.
Described driving mechanism is made up of motor, sprocket wheel, belt wheel and scroll wheel, motor provides power for sprocket wheel, sprocket wheel is fixed on upper rack, conveyer chain on the sprocket wheel fruit tray inboard that is connected, the fruit tray outside by scroll wheel in the outer race track upper support, conveyer chain drives fruit tray with sprocket rotation and does circulatory motion along horizontal plane, and motor passes to locating friction mechanism and upset rotating mechanism by belt wheel with power, for two mechanisms provide power.
The locating friction wheel at described fruit tray middle part contacts with locating friction mechanism, and its fitted position needs to adjust according to different apple varieties, and its optimal situation is that the friction band of locating friction wheel and locating friction mechanism does not have relative motion.
A kind of conveying and to the method that apple carries out classification may further comprise the steps:
Apple enters fruit tray from feed rake, drives fruit tray by connecting gear and does circulatory motion along horizontal plane;
When apple was sent to locating friction mechanism part, described locating friction mechanism positioned apple, and under the effect of locating friction mechanism, the carpopodium of apple or fruit calyx partly forward the bottom of fruit tray to, thereby finish the location;
Apple behind the location enters upset rotating mechanism part, and apple is in the rotary course, and its side surface information can be by placing the image collecting device on the upset rotating mechanism to be gathered, and is sent to data processing equipment and carries out the view data processing;
Apple is entered and unloads the fruit device by after the information of having gathered, and by unloading the apple image information result that the fruit device was handled according to data processing equipment, apple is unloaded to the apple gathering-device of correspondence.
Beneficial effect:
The invention has the advantages that:
1) device adopts the horizontal annular delivery form, rationally utilizes the conveyer chain space to realize every function, makes mechanism's compactness, technology simple, and cost of manufacture is low;
2) apple is realized the location in transmission, for the IMAQ in later stage is laid a solid foundation;
3) during IMAQ, can gather the complete side surface information of apple, be convenient to the Image Information Processing in later stage;
4) reasonable, the energy savings of power utilization.
Description of drawings
Fig. 1 is an apple conveying device overall structure vertical view of the present invention;
Fig. 2 is an apple conveying device overall structure front view of the present invention;
Fig. 3 is an apple conveying device overall structure rearview of the present invention;
Fig. 4 does not lift structural representation for the interior fruit tray of the fruit tray of apple conveying device of the present invention;
Fig. 5 lifts structural representation for the interior fruit tray of the fruit tray of apple conveying device of the present invention;
Fig. 6 is an apple conveying device positioning section work schematic diagram of the present invention;
Fig. 7 is an apple conveying device shooting section work schematic diagram of the present invention.
Among the figure: A---the feeding section; B---positioning section; C---shooting section; D---unload the fruit section; I---locating friction mechanism; II---upset rotating mechanism; 1---fruit tray; 2---feed rake; 3---unload the fruit device; 4---conveyer chain; 5---the shooting case; 6---sprocket wheel; 7---outer race track; 8---the side backplate; 9---vertical frame; 10---road wheel; 11---the location belt wheel; 12---location power transmits wheel shaft; 13---the locating friction band; 14---the location regulating wheel; 15---positioning supporting frame; 16---horizontal frame; 17---motor; 18---auxiliary guide rail; 19---rotary power input wheel shaft; 20---the spin friction band; 21---rotation regulating wheel B; 22---the rotation bracing frame; 23---the rotation belt wheel; 24---outer fruit tray; 25---the spin friction wheel; 26---little axle; 27---interior fruit tray; 28---the locating friction wheel; 29---pin; 30---the guiding friction pulley; 31---the apple before the location; 32---the apple behind the location; 33---scroll wheel.
The specific embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
Apple conveying device of the present invention comprises with the lower part: the rectangle frame, be fixed on the driving mechanism on the frame and driven the apple transfer structure of its running by driving mechanism.Apple transfer structure main part is by conveyer chain and be connected in the fruit tray chain that is made of a plurality of fruit trays on the conveyer chain.This apple transfer structure sequence of batching products according to apple on main part is divided into apple feeding section A, positioning section B, shooting section C again and unloads fruit section D.Wherein be provided with apple feed rake 2 in the feeding section, be provided with the I of locating friction mechanism at positioning section, be provided with upset rotating mechanism II and place image collecting device above the upset rotating mechanism that (this image scanner can be video camera in shooting section, also can be other the camera head that can carry out image acquisition), be provided with and unload fruit device 3 unloading fruit section.Wherein the structure of feed rake can place the fruit tray top of feeding section with the conveyer belt form, also can be connected the fruit tray top with other form, can make apple enter into fruit tray successively as long as satisfy; Wherein shooting section can be installed a Photo Studio, above image collecting device can be installed in.Fig. 1, Fig. 2, Fig. 3 are respectively vertical view, front view and the rearview of the overall structure schematic diagram of apple conveying device in the while accompanying drawing.As can be seen from Figure 1 whole transmission device is the ring form of level, and fruit tray 1 is emitted on the conveyer chain 4 with certain spacing, drives driving-chain by counterclockwise transmitting by the Motor Drive sprocket wheel, and whole transmission circulation can be divided into A～D four-stage.The movement locus of apple is: the feed rake from feeding section A enters fruit tray, being sent to positioning section B by fruit tray positions, apple behind the location enters shooting section C, video camera carries out the collection of apple surface image information and is sent to data processing equipment handling at this section, when apple arrives when unloading fruit section D by unloading the result of fruit device 3 after according to the apple Image Information Processing, apple is unloaded to the apple gathering-device of correspondence.Wherein data processing equipment is a computer system.
Among Fig. 2, the I of locating friction mechanism comprises that location belt wheel 11, location power transmit wheel shaft 12, locating friction band 13, location regulating wheel 14, positioning supporting frame 15 etc., and this mechanism is positioned at the below of apple transfer structure main part.Wherein locate belt wheel 11 and be installed on the positioning supporting frame 15 by axle and the bearing that location power transmits wheel shaft 12, two location belt wheel 11 center distance are adjustable; Locating friction band 13 is supported by location belt wheel 11, the locating friction band contacts with the locating friction wheel outer rim of fruit tray, because two location belt wheel 11 center distance are adjustable, the rate of tension of locating friction band 13 is also adjustable, but must guarantee single fruit tray thereon travel time can enough finish apple and locate; Simultaneously, location regulating wheel 14 is distributed between two location belt wheels 11, to guarantee the linearity of locating friction band 13.And positioning supporting frame 15 is connected on the horizontal frame 16 by connecting plate.Between location power transmission wheel shaft 12 and positioning supporting frame 15, can be provided with pad, regulate the height that rubs with 13 by the height of regulating pad, and adjustable center distance owing to 11 of two location belt wheels, thereby friction can also be regulated with 13 rate of tension, drives the locating friction wheel rotation of fruit tray with certain speed to guarantee the friction band.
Among Fig. 3, upset rotating mechanism II comprises auxiliary guide rail 18, rotary power input wheel shaft 19, spin friction band 20, rotation regulating wheel 21, rotation bracing frame 22, rotation belt wheel 23 etc., described spin friction mechanism places the below of apple transfer structure main part, and whole upset whirligig becomes 45 degree to install with horizontal plane.Wherein auxiliary guide rail 18 symmetries are contained in rotation belt wheel 23 both sides, described auxiliary guide rail 18 carries out the transition to 45 degree flip angles in order to guarantee the little axle of fruit tray lower end guiding friction pulley 30 balances, thereby move along spin friction band 20, and little axle 26 and upper and lower two-wheeled thereof are driven in rotation under the driving of spin friction band 20, fruit tray is under the effect of guiding friction pulley 30 simultaneously, and 45 degree upwards overturn; Spin friction band 20 is supported by rotation belt wheel 23, rotation belt wheel 23 is installed on the rotation bracing frame 22 by axle and bearing, two rotation belt wheels, 23 center distance are adjustable, to guarantee the rate of tension of spin friction band 20, simultaneously, rotation regulating wheel 21 is distributed between two rotation belt wheels 23, to guarantee the linearity of spin friction band 20.Rotation bracing frame 22 is connected on the horizontal frame by connecting plate.
Described fruit tray 1 is split type fruit tray, fruit tray 1 shape such as Fig. 4, shown in Figure 5, fruit tray 1 is by outer fruit tray 24 and 27 one-sided hinged compositions of interior fruit tray, interior fruit tray 27 middle part hollow outs, the locating friction wheel 28 that can rotate freely is housed, fruit tray bottom surface in the external diameter edge of locating friction wheel 28 protrudes, its difference in height optimum is 1.5mm, regulates slightly according to the big I of apple variety.One-sided at interior fruit tray, there are two little axles 26 vertically to pass interior fruit tray, the internal mutually fruit tray 27 of little axle 26 can rotate freely, little axle top and bottom are equipped with fixing spin friction wheel 25 and guiding friction pulley 30 respectively, spin friction wheel 25 in upper end is apart from interior fruit tray plane 30～45mm, its concrete numerical value is looked the kind difference of apple, and lower end guiding friction pulley 30 also can be adjusted according to the kind of apple apart from interior fruit tray lower plane 40mm.Locating friction wheel 28, spin friction wheel 25 and guiding friction pulley 30 be owing to need abutment surface frictional force to drive, so all there is alternately screw thread on the surface with increase frictional force.Among Fig. 5, interior fruit tray is upset upwards, becomes miter angle with outer fruit tray.The most of the time all is in Fig. 4 state in the entire work process of fruit tray, and when fruit tray entered the shooting section, fruit tray was in Fig. 5 state.When fruit tray entered positioning section, locating friction wheel 28 contacted with 13 with friction under the locating friction mechanism and is driven with certain speed by the friction band and rotates; When fruit tray enters when section shooting, the rotating mechanism effect of being overturn of guiding friction pulley, the interior fruit tray miter angle that upwards overturns, guiding friction pulley 30 is reversed the friction of rotating mechanism and is with 20 to drive, and drives whole little axle and 25 rotations of spin friction wheel.
Wherein said rectangle frame serve as reasons vertical frame and laterally frame be welded to form, driving mechanism is fixed on the level frame bottom, the apple transfer structure is fixed on horizontal upper rack, driving mechanism is made up of motor, sprocket wheel, belt wheel and scroll wheel, motor provides power for sprocket wheel, sprocket wheel is fixed on horizontal upper rack, conveyer chain on the sprocket wheel fruit tray inboard that is connected, the fruit tray outside by scroll wheel 33 in the outer race track upper support, conveyer chain drives fruit tray with sprocket rotation and does circulatory motion along horizontal plane, forms the apple transfer structure.Motor passes to locating friction mechanism and upset rotating mechanism by belt wheel with power, for two mechanisms provide power.
Wherein the locating friction wheel at fruit tray middle part needs to adjust according to different apple varieties with the fitted position of locating friction mechanism.Its optimal situation is that the friction band of locating friction wheel and locating friction mechanism does not have relative motion.
The fundamental diagram of apple location as shown in Figure 6.Fruit tray is entering under the drive of driving-chain above the locating friction mechanism; the locating friction wheel 28 at fruit tray middle part contacts with the locating friction band 13 under the locating friction mechanism; under the driving of locating friction band 13, produce and rotatablely move; apple placed on it is subjected to frictional force under the effect of the locating friction wheel 28 of rotation; in frictional force; under gravity and the action of inertia; carry out irregular rotatablely moving; carpopodium or fruit calyx until apple partly forward on the locating friction wheel 28; because its profile depression; apple and locating friction wheel 13 do not come in contact; frictional force disappears, the apple stop motion, and finish the location.
The state that apple behind the location is sent to shooting section as shown in Figure 7.Guiding friction pulley 30 is under the effect of auxiliary guide rail 18, smooth transition is with on 20 to the guiding friction, the guiding friction is with 20 planes to become miter angle with horizontal plane, therefore, guiding friction pulley 30 and the interior fruit tray that is connected thereof 45 degree that upwards overturn, spin friction wheel 25 supports apple with interior fruit tray 27, the spin friction wheel 25 that guiding friction pulley 30 drives on whole little axle 26 and the axle under guiding rubs with 20 effect rotates, the apple 32 that spin friction wheel 25 drives on it rotates around apple self fruit axle, its side surface information can be by placing the camera acquisition of upset above the rotating mechanism in rotary course for apple 32, offer computer and carry out information processing, with the result be sent to unload the fruit device 3, wherein unload fruit device 3 and adopt pneumatic mechanisms (this pneumatic mechanism is a prior art), according to received signal produce jet action with apple by classify and blow receiving system to correspondence.
Claims (9)
1, a kind of conveying device of apple classification, comprise rectangle frame, be fixed on driving mechanism on the frame, drive the connecting gear of its running and form with certain spacing by driving mechanism and be connected in closed ring fruit tray chain on the connecting gear by a plurality of fruit trays, it is characterized in that this device also comprises:
Feed rake is installed in fruit tray top, is used for successively to the fruit tray apple of packing into;
Locating friction mechanism is installed in fruit tray chain below, is driven and is cooperated fruit tray to use by driving mechanism, the apple that is used for locating fruit tray make it carpopodium and really calyx rotate to the fixed position;
The upset rotating mechanism is installed in the below of fruit tray chain, becomes miter angle with horizontal plane, is driven and is cooperated fruit tray to use by driving mechanism, is used for apple is rotated so that the side surface of apple faces toward image collecting device fully;
Image collecting device places upset rotating mechanism top, is used for the side surface of apple is carried out information gathering, and the data after gathering are sent to data processing equipment;
Data processing equipment receives and also to handle the data that image collecting device transmits, and a result who handles sent to unloads the fruit device;
Unload the fruit device, be installed in the fruit tray inboard, be used for apple being discharged into from fruit tray the apple receiving system of different brackets according to the result of data processing equipment;
Wherein, feed rake, locating friction mechanism, upset rotating mechanism, the erection sequence that unloads the fruit device be, installs successively via feed rake, locating friction mechanism, upset rotating mechanism, the annular landline that unloads the fruit device according to apple.
2, the conveying device of apple classification as claimed in claim 1, it is characterized in that, described fruit tray comprises one-sided hinged inside and outside fruit tray, the locating friction wheel that can rotate freely is equipped with at wherein interior fruit tray middle part, fruit tray bottom surface in locating friction wheel outer rim is higher than, the hinged side of interior fruit tray and outer fruit tray is equipped with two little axles that can rotate freely with the vertically opposite interior fruit tray in interior fruit tray bottom surface, and this little axle upper/lower terminal is fixed with the spin friction wheel and the friction pulley that leads respectively.
3, the conveying device of apple classification as claimed in claim 2 is characterized in that, described locating friction wheel outer rim is 1.5mm to the distance of interior fruit tray bottom surface.
4, the conveying device of apple classification as claimed in claim 1 is characterized in that, described connecting gear adopts horizontal annular chain delivery form, and the horizontal transmission sprocket wheel is installed at two ends, is wound with chain on the sprocket wheel, the fruit tray that is connected on the chain and arranges with a determining deviation.
5, the conveying device of apple classification as claimed in claim 1 is characterized in that, described locating friction mechanism comprises:
The location belt wheel transmits wheel shaft by location power and is installed on the positioning supporting frame;
Location power transmits wheel shaft, is used for rotation location belt wheel;
The locating friction band is supported and is rotated with certain speed driving fruit tray mechanism by two above-mentioned location belt wheels;
The location regulating wheel is installed between two location belt wheels, is used to guarantee the linearity of locating friction band;
Positioning supporting frame is installed on the frame.
6, the conveying device of apple classification as claimed in claim 1 is characterized in that, described upset rotating mechanism comprises:
The rotation belt wheel is installed on the rotation bracing frame by rotary power input wheel shaft;
Auxiliary guide rail, symmetry are contained in rotation belt wheel both sides, are used to guarantee that the fruit tray balance carries out the transition to the spin friction band;
Rotary power input wheel shaft is used for rotation rotation belt wheel;
The spin friction band is supported and rotation driving fruit tray by the adjustable rotation belt wheel of above-mentioned two center distance;
The rotation regulating wheel is distributed between two rotation belt wheels, is used to keep the linearity of spin friction band;
The rotation bracing frame is connected on the frame by connecting plate.
7, the conveying device of apple classification as claimed in claim 1, it is characterized in that, described driving mechanism is made up of motor, sprocket wheel, belt wheel and scroll wheel, motor provides power for sprocket wheel, sprocket wheel is fixed on the rectangle upper rack, conveyer chain on the sprocket wheel fruit tray inboard that is connected, the fruit tray outside by scroll wheel in the outer race track upper support, conveyer chain drives fruit tray with sprocket rotation and does circulatory motion along horizontal plane, motor passes to locating friction mechanism and upset rotating mechanism by belt wheel with power, for two mechanisms provide power.
8, the conveying device of apple classification as claimed in claim 2 is characterized in that, the locating friction wheel at described fruit tray middle part contacts with locating friction mechanism, and described locating friction wheel does not have relative motion with the friction band of locating friction mechanism.
9, a kind of conveying and to the method that apple carries out classification is characterized in that, may further comprise the steps:
Apple enters fruit tray from feed rake, drives fruit tray by connecting gear and does circulatory motion along horizontal plane;
When apple was sent to locating friction mechanism part, described locating friction mechanism positioned apple, and under the effect of locating friction mechanism, the carpopodium of apple or fruit calyx partly forward the bottom of fruit tray to, thereby finish the location;
Apple behind the location enters upset rotating mechanism part, and apple is in the rotary course, and its side surface information can be by placing the image collecting device on the upset rotating mechanism to be gathered, and is sent to data processing equipment and carries out the view data processing;
Apple is entered and unloads the fruit device by after the information of having gathered, and by unloading the apple image information result that the fruit device was handled according to data processing equipment, apple is unloaded to the apple gathering-device of correspondence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101135918A CN101288870A (en) | 2008-05-29 | 2008-05-29 | Conveyer device of apple grade and method for grading apple using the conveyer device |
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| CNA2008101135918A CN101288870A (en) | 2008-05-29 | 2008-05-29 | Conveyer device of apple grade and method for grading apple using the conveyer device |
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| CNA2008101135918A Pending CN101288870A (en) | 2008-05-29 | 2008-05-29 | Conveyer device of apple grade and method for grading apple using the conveyer device |
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| CN104338693A (en) * | 2013-08-06 | 2015-02-11 | 江门市力泰科技有限公司 | Cartridge case detection device |
| CN105903689A (en) * | 2016-06-08 | 2016-08-31 | 江南大学 | Automatic apple grading system and method based on apple orienteering |
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| CN106423900A (en) * | 2016-09-30 | 2017-02-22 | 正安县旺利农业科技发展有限责任公司 | Multifunctional stauntonia chinensis screening machine |
| CN106423900B (en) * | 2016-09-30 | 2018-07-31 | 正安县旺利农业科技发展有限责任公司 | Multi-functional stauntonvine screening machine |
| CN106345707A (en) * | 2016-12-07 | 2017-01-25 | 石河子大学 | Small fruit detection and grading device |
| CN107561977A (en) * | 2017-08-17 | 2018-01-09 | 临沂大学 | It is a kind of to be used for apple quality intellectualized detection and the agricultural machinery of classification |
| CN107561977B (en) * | 2017-08-17 | 2019-06-28 | 临沂大学 | It is a kind of for apple quality intellectualized detection and the agricultural machinery of classification |
| CN110496797A (en) * | 2018-05-16 | 2019-11-26 | 扬州福尔喜果蔬汁机械有限公司 | A kind of photoelectricity fruit-vegetable sorting machine |
| CN110558475A (en) * | 2019-09-26 | 2019-12-13 | 陕西科技大学 | Blue light sterilization device for fruits and vegetables with shapes tending to be spherical |
| CN112191555A (en) * | 2020-10-14 | 2021-01-08 | 合肥泰禾光电科技股份有限公司 | Method and device for improving sorting precision of inner mould apples |
| CN112537493A (en) * | 2020-11-24 | 2021-03-23 | 塔里木大学 | Bergamot pear posture correcting unit |
| CN112537493B (en) * | 2020-11-24 | 2022-04-15 | 塔里木大学 | Bergamot pear posture correcting unit |
| CN113510074A (en) * | 2021-05-11 | 2021-10-19 | 内蒙古农业大学 | Red apple size classified screening device outside of stopper |
| CN113510074B (en) * | 2021-05-11 | 2022-05-06 | 内蒙古农业大学 | Red apple size classified screening device outside of stopper |
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