CN110813782A - Apple grading and sorting system and method - Google Patents
Apple grading and sorting system and method Download PDFInfo
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- CN110813782A CN110813782A CN201911131063.XA CN201911131063A CN110813782A CN 110813782 A CN110813782 A CN 110813782A CN 201911131063 A CN201911131063 A CN 201911131063A CN 110813782 A CN110813782 A CN 110813782A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N2015/008—Sorting of fruit and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a system and a method for grading and sorting apples, belonging to the technical field of apple cleaning and sorting, comprising a transmission bracket, wherein a hollow groove is arranged in the middle of the transmission bracket, a plurality of groups of blanking assemblies are connected at positions of the transmission bracket corresponding to two sides of the hollow groove, each blanking assembly comprises a rotating shaft which is rotatably connected to the transmission bracket, one side of the rotating shaft, which is close to the hollow groove, is fixedly connected with a V-shaped rod, two sides of the V-shaped rod are fixedly connected with a plurality of supporting rods, the rotating shaft is fixedly connected with a driving shaft, the transmission bracket is rotatably connected with a cylinder body of a driving cylinder, a piston rod of the driving cylinder is rotatably connected to the driving shaft, the top of the transmission bracket is fixedly connected with a plurality of cover bodies, each cover body is connected with a control system, the control system comprises, reducing the possible effect of a false selection.
Description
Technical Field
The invention relates to the technical field of apple cleaning and sorting, in particular to a system and a method for grading and sorting apples.
Background
At present, apples are picked off from fruit trees and then transported to manufacturers, the manufacturers clean the apples, remove the apples which do not meet the standard, and finally package the apples for delivery. When the apples are sorted, unqualified apples are removed, and the apples also need to be classified according to the sizes of the apples and the like.
In the prior art, reference may be made to a chinese patent invention with an authorization publication number of CN104959318B, which discloses an apple sorting machine, including a rotating disc, a material groove is arranged on the rotating disc, a first conveyor belt is arranged on the left side of the rotating disc, a material selecting plate is arranged on the upper right portion of the rotating disc, a first supporting rod is connected to the right end of the material selecting plate, a material receiving plate is arranged below the material selecting plate, a second supporting rod is hinged to the lower end of the material receiving plate, a support which is axisymmetric is connected to the top of the second supporting rod, a first spring is arranged between the support and the second supporting rod, a second conveyor belt is arranged near the left side of the second supporting rod, a vertical screw rod is arranged near the left side of the second conveyor.
The above prior art solutions have the following drawbacks: when the apples are classified, the apples are different in size and are in a state of being tightly attached to each other in the transportation process, so that the apples with accurate sizes are difficult to separate when being screened, and the classification of the apples is not accurate enough.
Disclosure of Invention
The invention aims to provide an apple grading and sorting system which can automatically and accurately grade apples and reduce the possibility of misselection.
The technical purpose of the invention is realized by the following technical scheme:
an apple grading and sorting system comprises a transmission support, wherein a hollow groove is formed in the middle of the transmission support, the hollow groove is formed in the length direction of the transmission support, a plurality of groups of blanking assemblies are connected to positions, corresponding to the two sides of the hollow groove, of the transmission support, each blanking assembly comprises a rotating shaft which is rotatably connected to the transmission support, a V-shaped rod is fixedly connected to one side, close to the hollow groove, of each rotating shaft, the opening of the V-shaped rod is upward, a plurality of support rods are fixedly connected to the two sides of the V-shaped rod, a driving shaft is fixedly connected to one side, far away from the V-shaped rod, of each rotating shaft, a cylinder body of;
the top of the transmission support is fixedly connected with a plurality of cover bodies, a blanking groove is formed in the position, corresponding to the position under each cover body, of the transmission support, a discharge groove is formed in the position, close to the bottom of the blanking groove, of the transmission support, and the discharge grooves are communicated with the blanking grooves and the transmission support;
each cover body is connected with a control system, and the control system comprises an image acquisition module, a contour judgment module, a size judgment module and a blanking control module;
the image acquisition module comprises cameras which are fixedly connected in each cover body and used for acquiring image information;
the outline judging module is connected with the image acquisition module, receives the image information output by the image acquisition module and judges the outline of the apple in the image information;
the size judging module is connected with the outline judging module and receives the image information output by the outline judging module, the size judging module compares the apple outline in the image information with a set outline size range, and when the apple outline conforming to the outline size range is detected, the outline position of the apple is recorded and the outline position of the apple is output;
the blanking control module is connected with the size judging module and receives the apple profile position output by the size judging module, and the blanking control module controls a piston rod of a driving cylinder corresponding to the apple profile position to complete one-time expansion.
By adopting the above scheme, when the apple gets into transmission support department after the washing is dried and is accomplished, the apple can fall on the bracing piece, then promote preceding apple by later apple and remove on the bracing piece, the V type pole can prevent that the apple from falling out at the removal in-process, the apple all can be detected by control system when every cover body, control system selects the apple that will accord with the specification, when only having an apple on a unloading subassembly, control system control corresponds the V type pole rotation of electing the apple, make the apple of electing fall, get into the blown down tank by the blown down tank in, again by the blown down tank fall out, collect by the staff, can carry out accurate grading to the apple automatically, reduce the possibility of miscelection, practice thrift the human cost, separation efficiency is improved.
The invention is further configured to: the size judging module comprises an information storage unit, a contour calculating unit and a contour comparing unit;
the information storage unit receives and stores a set outline size range, wherein the outline size range is an outline diameter range;
the outline calculation unit receives the image information output by the outline judgment module, extracts the apple outline in the image information and calculates the diameter of the apple outline;
the profile comparison unit receives the diameter of the apple profile output by the profile calculation unit and calls the profile diameter range stored by the information storage module, the profile comparison unit corresponds the diameter of the apple profile to the profile diameter range, and when the diameter of the apple profile is within the profile diameter range, a marking signal with the apple profile information is output.
By adopting the scheme, a user firstly needs to set the outline size range in the information storage unit, the size judgment module receives the judgment of the outline diameter of the apple to determine whether the apple conforms to the set outline size range, the data processing flow is fast, and the judgment result is accurate.
The invention is further configured to: the size judging module also comprises a position recording unit;
the position recording unit receives the marking signal output by the outline comparison unit, searches the number of the driving cylinder corresponding to the outline position of the apple according to the marking signal, and transmits the number to the blanking control module.
By adopting the scheme, the position recording unit judges the number of the driving cylinder, the number is used as the apple outline position to be transmitted to the blanking control module, the data flow is accurate, and errors are not easy to occur.
The invention is further configured to: the conveying support is close to spout one side fixedly connected with and connects the material platform, connects the material platform to set up along conveying support length direction, connects material platform to correspond every spout position department and has all placed the charging basket.
By adopting the above scheme, the charging basket is used for accepting and collecting the apples falling out of the discharge chute, so that workers can collect the apples conveniently.
The invention is further configured to: the top of each cover body is connected with a transverse conveying belt.
Through adopting above-mentioned scheme, horizontal conveyer belt is used for transmitting the charging basket, and after the charging basket on a station was held fully or was carried away, the staff can be by horizontal conveyer belt to connecing material platform department transportation charging basket, and the blown down tank below is placed to the charging basket by the staff at last.
The invention is further configured to: the material receiving platform is connected with a longitudinal conveying belt, the longitudinal conveying belt is arranged along the length direction of the material receiving platform, and the material basket is placed on the longitudinal conveying belt.
By adopting the scheme, the vertical conveying belt can convey the charging basket on the material receiving table to one end of the material receiving table at intervals, and a worker can receive and process all the charging baskets at one end of the material receiving table at the same time.
The invention is further configured to: the diameter added value of two bracing pieces slightly is greater than the average diameter of apple, and the bracing piece all inclines to set up, and the bracing piece is by being close to V type pole one end and setting up to the other end tilt up.
Through adopting above-mentioned scheme, the apple can be better held to the bracing piece of slope, can guarantee to have only an apple on every group unloading subassembly simultaneously.
The invention is further configured to: the conveying support corresponds every charging conduit inside position department and all rotates and is connected with the live-rollers, the outer soft brush hair layer of fixedly connected with of live-rollers, and the brush hair layer can cover the charging conduit, and conveying support is close to live-rollers position department fixedly connected with driving motor, and driving motor's output shaft fixed connection is on the live-rollers.
Through adopting above-mentioned scheme, when the apple fell into the charging conduit, at first the contact brush hair layer, the brush hair layer played the cushioning effect, prevented that the apple from being fallen into the injury.
The invention aims to provide an apple grading and sorting method which can automatically and accurately grade apples and reduce the possibility of misselection.
The technical purpose of the invention is realized by the following technical scheme:
an apple grading and sorting method comprises the following steps:
firstly, dropping the apples on the supporting rod from one end of the transmission bracket and pushing the apples to move forwards;
secondly, when the apple passes through the cover body, the cover body shoots image information of the apple through the camera, the control system processes the image information and judges whether the outline size of the apple meets the set outline size or not;
when the profile size of the apple conforms to the set profile size, the control system controls the corresponding piston rod of the driving cylinder to stretch and retract so as to drive the V-shaped rod to rotate downwards and then rotate back, and the apple falls off the supporting rod when the V-shaped rod rotates downwards;
and fourthly, the apples fall into the charging chute, fall into the discharge chute through the charging chute, and fall out of the transmission support through the discharge chute.
By adopting the scheme, the apples can be accurately graded automatically through the control system, the possibility of wrong selection is reduced through precise data comparison, the labor cost is effectively reduced, and the sorting efficiency is effectively improved.
The invention is further configured to: further comprising the steps of:
fifthly, dropping the apples into the charging basket through the discharge chute;
and sixthly, the longitudinal conveying belt can rotate towards one end of the conveying support far away from the apple feeding end at intervals.
By adopting the scheme, the vertical conveying belt can move the charging basket for holding the apples, so that the charging basket is gathered together, and workers can collect and process the apples uniformly.
In conclusion, the invention has the following beneficial effects:
1. the apple can be automatically and accurately graded, the possibility of mis-selection is reduced, the labor cost is saved, and the sorting efficiency is improved;
2. the user firstly needs to set a contour size range in the information storage unit, the size judgment module receives the judgment of the contour diameter of the apple to determine whether the apple conforms to the set contour size range, the data processing flow is fast, and the judgment result is accurate;
3. the position recording unit judges the number of the driving cylinder, the number is used as the apple outline position to be transmitted to the blanking control module, data circulation is accurate, and errors are not easy to occur.
Drawings
FIG. 1 is a schematic overall structure diagram of the first embodiment;
FIG. 2 is a schematic view of a protruding drive cylinder and a drive shaft according to the first embodiment;
FIG. 3 is a sectional view of the protruded chute and the discharge chute in the first embodiment;
FIG. 4 is a block diagram of a salient image acquisition module, a contour determination module, a size determination module and a blanking control module in the first embodiment;
FIG. 5 is a block diagram of a burst size determination module according to an embodiment.
In the figure, 1, a transmission bracket; 11. an empty groove; 111. a charging chute; 1111. a rotating roller; 1112. a bristle layer; 1113. a drive motor; 112. a discharge chute; 12. a blanking assembly; 121. a rotating shaft; 122. a V-shaped rod; 123. a support bar; 124. a drive shaft; 125. a driving cylinder; 13. a cover body; 131. a transverse conveyor belt; 2. a receiving platform; 21. a charging basket; 22. a longitudinal conveyor belt; 3. an image acquisition module; 31. a camera; 4. a contour judgment module; 5. a size judgment module; 51. an information storage unit; 52. a contour calculation unit; 53. a contour comparison unit; 54. a position recording unit; 6. and a blanking control module.
Detailed Description
The first embodiment is as follows: an apple grading and sorting system is shown in figures 1 and 2 and comprises a transmission support 1, wherein a hollow groove 11 is formed in the middle of the transmission support 1, and the hollow groove 11 is formed in the length direction of the transmission support 1. The positions of the transmission bracket 1 corresponding to the two sides of the empty groove 11 are connected with a plurality of groups of blanking assemblies 12.
As shown in fig. 1 and 2, the blanking assembly 12 includes a rotating shaft 121 rotatably connected to the transmission bracket 1, a V-shaped rod 122 is fixedly connected to one side of the rotating shaft 121 close to the empty slot 11, and the V-shaped rod 122 opens upward. V type pole 122 both sides fixedly connected with many spinal branchs pole 123, the diameter added value of two spinal branchs pole 123 slightly is greater than the average diameter of apple, and bracing piece 123 all inclines to set up, and bracing piece 123 sets up by being close to V type pole 122 one end to the other end tilt up. The side of the rotating shaft 121 far from the V-shaped rod 122 is fixedly connected with a driving shaft 124, the position of the transmission bracket 1 near each driving shaft 124 is rotatably connected with a cylinder body of a driving cylinder 125, and a piston rod of the driving cylinder 125 is rotatably connected to the driving shaft 124. When the apples enter the conveying support 1 after being cleaned and dried, the apples fall on the supporting rods 123, and then the later apples push the front apples to move on the supporting rods 123, so that the V-shaped rods 122 can prevent the apples from falling out in the moving process. The piston rod of the driving cylinder 125 can extend and retract to drive the V-shaped rod 122 to rotate. The support rod 123 that inclines can better hold the apple, can guarantee to have only an apple on every group unloading subassembly 12 simultaneously.
As shown in fig. 1 and fig. 3, a plurality of cover bodies 13 are fixedly connected to the top of the transmission support 1, a charging chute 111 is provided at a position of the transmission support 1 under each cover body 13, a discharging chute 112 is provided at a position of the transmission support 1 near the bottom of the charging chute 111, and the discharging chute 112 is communicated with the charging chute 111 and the transmission support 1. The apples fall from the V-shaped rod 122, fall into the charging chute 111, enter the discharging chute 112 from the charging chute 111, fall out from the discharging chute 112 and are collected by workers.
As shown in fig. 1 and 3, the transmission support 1 is rotatably connected with a rotating roller 1111 corresponding to the inner position of each charging chute 111, a soft bristle layer 1112 is fixedly connected to the outer side of the rotating roller 1111, the bristle layer 1112 can cover the charging chute 111, a driving motor 1113 is fixedly connected to the position of the transmission support 1 close to the rotating roller 1111, and an output shaft of the driving motor 1113 is fixedly connected to the rotating roller 1111. When falling into the charging chute 111, the apple firstly contacts the bristle layer 1112, and the bristle layer 1112 plays a role in buffering to prevent the apple from being hurt.
As shown in fig. 1 and 3, the conveying support 1 is close to one side of the discharge chute 112 and is fixedly connected with a receiving platform 2, the receiving platform 2 is arranged along the length direction of the conveying support 1, and the position of the receiving platform 2 corresponding to each discharge chute 112 is provided with a charging basket 21. The receiving platform 2 is connected with a longitudinal conveyer belt 22, the longitudinal conveyer belt 22 is arranged along the length direction of the receiving platform 2, and the charging basket 21 is placed on the longitudinal conveyer belt 22. The charging basket 21 is used for receiving and collecting apples falling from the discharge chute 112, the charging basket 21 on the receiving platform 2 is transported to one end of the receiving platform 2 by the longitudinal conveyor belt 22 at intervals, and a worker can receive and process all the charging baskets 21 at one end of the receiving platform 2 at the same time.
As shown in fig. 1 and 3, a transverse conveyor belt 131 is attached to the top of each cover 13. The transverse conveyor belt 131 is used for conveying the charging basket 21, when the charging basket 21 at a station is full or is transported away, a worker can convey the charging basket 21 to the receiving platform 2 through the transverse conveyor belt 131, and finally the worker places the charging basket 21 below the discharging groove 112.
As shown in fig. 3 and 4, each cover 13 is connected to a control system, and the control system includes an image acquisition module 3, a contour determination module 4, a size determination module 5, and a blanking control module 6. The image capturing module 3 includes a camera 31 fixedly attached to each housing 13 for capturing image information.
As shown in fig. 4 and 5, the size judgment module 5 includes an information storage unit 51, a contour calculation unit 52, a contour comparison unit 53, and a position recording unit 54. The information storage unit 51 receives and stores the set contour size range, which is a contour diameter range. The outline calculation unit 52 receives the image information output by the outline judgment module 4, and the outline calculation unit 52 extracts the apple outline in the image information and measures and calculates the diameter of the apple outline.
As shown in fig. 4 and 5, the outline comparison unit 53 receives the diameter of the apple outline output by the outline calculation unit 52 and calls the outline diameter range stored in the information storage module, and the outline comparison unit 53 associates the diameter of the apple outline with the outline diameter range. When the diameter of the apple profile is within the profile diameter range, outputting a mark signal with the apple profile information.
As shown in fig. 4 and 5, the position recording unit 54 receives the mark signal output by the contour comparing unit 53, and the position recording unit 54 searches the number of the driving cylinder 125 corresponding to the contour position of the apple according to the mark signal and transmits the number to the blanking control module 6.
The use method comprises the following steps: when the apples enter the conveying support 1 after being cleaned and dried, the apples fall on the supporting rod 123, then the later apples push the front apples to move on the supporting rod 123, the V-shaped rod 122 can prevent the apples from falling out in the moving process, the apples can be detected by the control system when passing through each cover body 13, the control system selects the apples meeting the specification, when only one apple is arranged on one blanking assembly 12, the control system controls the V-shaped rod 122 corresponding to the selected apple to rotate, the selected apples fall, the blanking groove 111 enters the discharging groove 112, the discharging groove 112 falls into the charging basket 21, and the apples are collected by workers.
Example two: a apple grading and sorting method comprises the following specific steps:
in the first step, the apple falls on the supporting rod 123 from one end of the transmission bracket 1 and is pushed to advance.
And secondly, when the apple passes through the cover body 13, the cover body 13 shoots the image information of the apple through the camera 31, and the control system processes the image information and judges whether the outline size of the apple meets the set outline size.
Thirdly, when the profile size of the apple conforms to the set profile size, the control system controls the corresponding piston rod of the driving cylinder 125 to stretch and retract, so as to drive the V-shaped rod 122 to rotate downwards and then rotate back, and the apple falls off from the supporting rod 123 when the V-shaped rod 122 rotates downwards.
And fourthly, the apples fall into the blanking groove 111, fall into the discharge groove 112 through the blanking groove 111, and fall out of the transmission support 1 through the discharge groove 112.
And fifthly, dropping the apples into the charging basket 21 from the discharging groove 112.
In a sixth step, the longitudinal conveyor belt 22 is rotated at intervals towards the end of the transport support 1 remote from the apple feeding end.
According to the method, the apples can be automatically and accurately graded through the control system, the possibility of wrong selection is reduced through precise data comparison, the labor cost is effectively reduced, and meanwhile, the sorting efficiency is effectively improved.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. The utility model provides an apple is hierarchical selects separately system which characterized in that: the automatic feeding device comprises a transmission support (1), an empty groove (11) is formed in the middle of the transmission support (1), the empty groove (11) is arranged along the length direction of the transmission support (1), positions, corresponding to the empty groove (11), of the transmission support (1) are connected with a plurality of groups of blanking assemblies (12), each blanking assembly (12) comprises a rotating shaft (121) which is rotatably connected onto the transmission support (1), a V-shaped rod (122) is fixedly connected onto one side, close to the empty groove (11), of each rotating shaft (121), the opening of each V-shaped rod (122) faces upwards, a plurality of supporting rods (123) are fixedly connected onto two sides of each V-shaped rod (122), a driving shaft (124) is fixedly connected onto one side, far away from each V-shaped rod (122), of the transmission support (1), positions, close to each driving shaft (124), of each transmission support (1) are rotatably connected with a cylinder body of;
the top of the transmission support (1) is fixedly connected with a plurality of cover bodies (13), a blanking groove (111) is formed in the position, corresponding to the position under each cover body (13), of the transmission support (1), a discharge groove (112) is formed in the position, close to the bottom of the blanking groove (111), of the transmission support (1), and the discharge groove (112) is communicated with the blanking groove (111) and the transmission support (1) externally;
each cover body (13) is connected with a control system, and the control system comprises an image acquisition module (3), a contour judgment module (4), a size judgment module (5) and a blanking control module (6);
the image acquisition module (3) comprises cameras (31) which are fixedly connected in each cover body (13) and are used for acquiring image information;
the outline judging module (4) is connected with the image acquisition module (3) and receives the image information output by the image acquisition module (3) and judges the outline of the apple in the image information;
the size judging module (5) is connected with the outline judging module (4) and receives the image information output by the outline judging module (4), the size judging module (5) compares the apple outline in the image information with a set outline size range, and when the apple outline conforming to the outline size range is detected, the position of the apple outline is recorded and the position of the apple outline is output;
the blanking control module (6) is connected with the size judgment module (5) and receives the apple profile position output by the size judgment module (5), and the blanking control module (6) controls a piston rod of a driving cylinder (125) corresponding to the apple profile position to complete one-time expansion.
2. The apple grading and sorting system of claim 1, wherein: the size judging module (5) comprises an information storage unit (51), a contour calculating unit (52) and a contour comparing unit (53);
the information storage unit (51) receives and stores a set outline size range, wherein the outline size range is an outline diameter range;
the outline calculation unit (52) receives the image information output by the outline judgment module (4), and the outline calculation unit (52) extracts the apple outline in the image information and calculates the diameter of the apple outline;
the profile comparison unit (53) receives the diameter of the apple profile output by the profile calculation unit (52) and calls the profile diameter range stored by the information storage module, the profile comparison unit (53) corresponds the diameter of the apple profile to the profile diameter range, and when the diameter of the apple profile is within the profile diameter range, a marking signal with the apple profile information is output.
3. The apple grading and sorting system of claim 2, wherein: the size judging module (5) further comprises a position recording unit (54);
the position recording unit (54) receives the marking signal output by the outline comparison unit (53), and the position recording unit (54) searches the number of the driving cylinder (125) corresponding to the outline position of the apple according to the marking signal and transmits the number to the blanking control module (6).
4. The apple grading and sorting system of claim 1, wherein: one side of the transmission support (1) close to the discharge chute (112) is fixedly connected with a receiving platform (2), the receiving platform (2) is arranged along the length direction of the transmission support (1), and the receiving platform (2) corresponds to each discharge chute (112) and is provided with a charging basket (21).
5. The apple grading and sorting system of claim 4, wherein: the top of each cover body (13) is connected with a transverse conveying belt (131).
6. The apple grading and sorting system of claim 4, wherein: the receiving platform (2) is connected with a longitudinal conveying belt (22), the longitudinal conveying belt (22) is arranged along the length direction of the receiving platform (2), and the charging basket (21) is placed on the longitudinal conveying belt (22).
7. The apple grading and sorting system of claim 1, wherein: the diameter added value of the two supporting rods (123) is slightly larger than the average diameter of the apples, the supporting rods (123) are all obliquely arranged, and the supporting rods (123) are all obliquely arranged from one end close to the V-shaped rod (122) to the other end.
8. The apple grading and sorting system of claim 1, wherein: transmission support (1) corresponds every silo (111) inside position department and all rotates and be connected with live-rollers (1111), soft brush hair layer (1112) of live-rollers (1111) outer fixedly connected with, and the silo (111) can be covered on brush hair layer (1112), and transmission support (1) is close to live-rollers (1111) position department fixedly connected with driving motor (1113), and the output shaft fixed connection of driving motor (1113) is on live-rollers (1111).
9. The apple grading and sorting method is characterized by comprising the following steps:
firstly, the apples fall on a supporting rod (123) from one end of a transmission bracket (1) and are pushed to advance;
secondly, when the apple passes through the cover body (13), the cover body (13) shoots the image information of the apple through the camera (31), and the control system processes the image information and judges whether the outline size of the apple meets the set outline size;
when the outline size of the apple conforms to the set outline size, the control system controls the corresponding piston rod of the driving cylinder (125) to stretch and retract so as to drive the V-shaped rod (122) to rotate downwards and then rotate back, and the apple falls off from the supporting rod (123) when the V-shaped rod (122) rotates downwards;
fourthly, the apples fall into the blanking groove (111), fall into the discharging groove (112) through the blanking groove (111), and fall out of the transmission support (1) through the discharging groove (112).
10. The apple classifying and sorting method according to claim 9, further comprising the steps of:
fifthly, the apples fall into the charging basket (21) through the discharge chute (112);
and sixthly, the longitudinal conveyor belt (22) rotates towards one end of the conveying support (1) far away from the apple feeding end at intervals.
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