CN110976327B - Fruit sorting and boxing machine - Google Patents
Fruit sorting and boxing machine Download PDFInfo
- Publication number
- CN110976327B CN110976327B CN201911392517.9A CN201911392517A CN110976327B CN 110976327 B CN110976327 B CN 110976327B CN 201911392517 A CN201911392517 A CN 201911392517A CN 110976327 B CN110976327 B CN 110976327B
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- fruits
- fruit
- chute
- motor
- sorting
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 316
- 229910000831 Steel Inorganic materials 0.000 claims description 73
- 239000010959 steel Substances 0.000 claims description 73
- 229910052751 metal Inorganic materials 0.000 claims description 50
- 239000002184 metal Substances 0.000 claims description 50
- 229910052782 aluminium Inorganic materials 0.000 claims description 42
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 42
- 239000004033 plastic Substances 0.000 claims description 38
- 238000000034 method Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- HVYWMOMLDIMFJA-DPAQBDIFSA-N cholesterol Chemical compound C1C=C2C[C@@H](O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2 HVYWMOMLDIMFJA-DPAQBDIFSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 235000012000 cholesterol Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000002936 tranquilizing effect Effects 0.000 description 1
Classifications
-
- 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
- B07C5/10—Sorting according to size measured by light-responsive means
-
- 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
-
- 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
- B07C5/16—Sorting according to weight
- B07C5/28—Sorting according to weight using electrical control means
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Sorting Of Articles (AREA)
- Container Filling Or Packaging Operations (AREA)
- Packaging Of Special Articles (AREA)
Abstract
The invention discloses a fruit sorting and boxing machine, which comprises a fruit sorting machine, a first chute, a conveyor belt, a boxing machine, a carton, a roller conveyor, an industrial personal computer, a base support, a first belt pulley, a rotating motor, a belt, a roller and a second belt pulley, wherein sorted fruits are transferred to the first chute by the fruit sorting machine, slide onto the conveyor belt from the first chute, move to the lower part of the boxing machine under the transportation of the conveyor belt, the fruits are transferred to the carton by the boxing machine, the industrial personal computer controls the roller conveyor to convey the carton to the lower part of the boxing machine, after the boxing machine is filled with one box of fruits, the industrial personal computer controls the roller conveyor to reversely rotate, the carton filled with fruits is conveyed out, and the next box of fruits is boxed after the carton filled with fruits is manually replaced. The fruit classifying and boxing device can improve fruit classifying accuracy and boxing efficiency and reduce labor intensity of workers.
Description
Technical Field
The invention relates to the field of fruit sorting and boxing, in particular to a fruit sorting and boxing machine.
Background
Eating fruit is beneficial to balancing electrolyte in the body. The fruit contains phosphorus and iron, is easily absorbed by intestinal wall, and has effects of nourishing brain and blood, tranquilizing mind and improving sleep, and reducing cholesterol content. Fruit generally needs to be graded before entering the market. Fruits are classified into different grades, so that the fruits are conveniently priced by the grading so as to meet the demands of consumers.
When the fruits are transported to other places, the fruits are generally required to be sorted and packaged, so that the transportation is convenient. People can carry out preliminary classification according to the size of fruits after picking the fruits, and the existing classification mode is that people directly distinguish with naked eyes and classify the fruits manually, and in the classification process, the fruits with obvious difference in size are possibly separated into a group, so that people can carry out secondary classification, the defects of human factors are large, the working efficiency is reduced, the labor intensity is increased intangibly, and the labor cost is high. And in the boxing process, the sorted fruits are boxed manually, so that the retention time of the fruits is longer, the fruits cannot be quickly boxed and sent out, and the fruits are damaged.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the fruit sorting and boxing machine, wherein a fruit sorting machine is used for sorting fruits into three grades of big fruits, medium fruits and small fruits, and then the sorted fruits are boxed, and boxing parameters are input on an industrial personal computer by workers, so that the boxing machine can automatically load the fruits into a paper box, the fruit sorting and boxing efficiency is improved, and the labor intensity of the workers is reduced.
In order to achieve the above purpose, the fruit sorting and boxing machine provided by the invention is realized by the following steps:
The utility model provides a fruit sorting and case packer, including the fruit sorter, first spout, the conveyer belt, the case packer, the carton, the roller conveyer, the industrial computer, the base support, first belt pulley, the rotating electrical machines, the belt, the cylinder, the second belt pulley, first spout setting is between fruit sorter and conveyer belt, transfer the fruit that will sort out by the fruit sorter to in the first spout, slide on the conveyer belt from first spout, move to the case packer below under the transportation of conveyer belt, transfer fruit to the carton by the case packer, the conveyer belt, the rotating electrical machines, the cylinder is installed on the support, first belt pulley is installed in the axis of rotation of rotating electrical machines, the second belt pulley is installed on the cylinder, the conveyer belt is installed on the cylinder, be equipped with the belt between first belt pulley and the second belt pulley, by the rotating electrical machines control rotating electrical machines, the rotating electrical machines drives first belt pulley and rotates, for the second belt pulley drive the conveyer belt rotates, the industrial computer is installed on the conveyer belt, by the industrial computer control fruit sorter, rotating electrical machines, the container packer, the roller conveyer belt is moved to the case packer below the conveyer belt, transfer fruit to the carton is carried out to the carton by the conveyer belt is filled with the conveyer belt, the carton is carried out to the container packer after the first container conveyer belt is filled, the carton is carried out to the container packer, the container conveyer belt is filled under the first, the container conveyer belt is filled with the container is filled, and then carried out under the container is filled with the container, and control is filled with the container, and then carried by the container.
The fruit sorting machine comprises a sorting table, a second chute, a helical blade, a plastic barrel and a servo motor, wherein the second chute is connected between the sorting table and the plastic barrel, the helical blade is arranged on the inner wall of the plastic barrel, the servo motor is arranged below the plastic barrel, the bottom of the plastic barrel is connected with a rotating shaft of the servo motor, fruits are firstly placed in the plastic barrel, the servo motor is controlled by an industrial personal computer to rotate, the fruits in the plastic barrel are rotated onto the helical blade, the helical blade is rotated into the second chute, the second chute is inclined, the fruits entering the second chute slide onto the sorting table under the action of gravity, the fruits are sorted by the sorting table, and the sorted fruits are transferred onto the first chute.
The sorting machine comprises a plastic box, a groove, a high-definition camera, a sorting wall, a pressure sensor and a control circuit board, wherein the groove is formed in the middle of the plastic box, so that fruits in a second chute can be stabilized in the groove and are convenient to grade, the sorting wall is fixed on the plastic box, the high-definition camera is arranged on the sorting wall, the pressure sensor is arranged below the groove, the control circuit board is arranged in the plastic box, when fruits on the second chute slide into the groove, the high-definition camera starts to collect images of the fruits, the collected images are transmitted to the control circuit board, image identification is carried out in the control circuit board, the size of the fruits is identified, the weight of the fruits is collected by the pressure sensor, collected information is transmitted to the control circuit board, the weight of the fruits is calculated by the control circuit board, and the control circuit board determines whether the fruits belong to big fruits or medium fruits or small fruits according to the size and the weight of the fruits, so that the identification of fruit grades is completed.
The sorting wall is a metal aluminum plate, a high-definition camera and a telescopic motor are arranged on the front surface of the metal aluminum plate, a rack, a first stepping motor and a gear are arranged on the back surface of the metal aluminum plate, the bottom of the telescopic motor is arranged at the bottom of the rack, the gear is arranged on a rotating shaft of the first stepping motor, the first stepping motor is controlled by an industrial personal computer to rotate, the first stepping motor drives the gear to rotate, the gear is in rack transmission, the rack drives the telescopic motor to move left and right on the metal aluminum plate, the telescopic motor is controlled by the industrial personal computer to extend out of a telescopic rod, the graded fruits can be pushed into first sliding grooves corresponding to the front surface of the sorting wall, the first stepping motor is controlled by an industrial personal computer to rotate positively, the first stepping motor drives the rack to move left, the telescopic motor further moves left, the graded fruits are pushed into the first sliding grooves on the left, the first stepping motor is controlled by the industrial personal computer to rotate reversely, the first stepping motor further moves right, and the graded fruits are pushed into the first sliding grooves on the right, and grading of the fruits can be completed.
The rack is embedded in the metal aluminum plate, and the two sides of the rack are respectively provided with the gear and the telescopic motor.
The box filling machine comprises a left steel plate, a second stepping motor, a first rotary table, a first steel rod, a first telescopic rod, a sliding plate, an air suction pump, a right steel plate, metal aluminum pipes and rubber rings, wherein the sliding plate is arranged above the left steel plate and the right steel plate, the second stepping motor is arranged outside the left steel plate, a rotating shaft of the second stepping motor penetrates through the left steel plate to be connected with the first rotary table, the first steel rod is arranged on the edge of the first rotary table, the first telescopic rod is connected between the first steel rod and one end of the sliding plate, the air suction pump is arranged on the sliding plate, the output end of the air suction pump is connected with five metal aluminum pipes, the rubber rings are arranged below each metal aluminum pipe, the second stepping motor is controlled to rotate in an empty mode by an industrial personal computer to drive the first rotary table to rotate to one side of a conveyor belt, the sliding plate moves one side of the conveyor belt under the driving of the first telescopic rod, at the moment, the metal aluminum pipe is moved to the position right above the fruits on the conveyor belt, the second stepping motor continuously rotates reversely, so that the rubber ring is close to the fruits, the industrial personal computer controls the suction pump to suck the fruits, then the industrial personal computer controls the second stepping motor to rotate positively, the first steel rod rotates to one side of the paper box, the metal aluminum pipe is moved to the position right above the paper box, then the second stepping motor is controlled to continuously rotate positively, the fruits on the rubber ring enter the paper box, the industrial personal computer controls the suction pump to deflate, so that the fruits on the rubber ring are placed in the paper box, the number of layers of fruit boxing is set in the industrial personal computer, the fruits are sucked up by the suction pump and then placed in the paper box, and when the second stepping motor rotates the first steel rod to the uppermost position, one layer of boxing of the fruits is completed, when the preset boxing number of layers is counted, the industrial personal computer controls the roller conveyor to rotate reversely, the boxed fruits are transported out from the lower part of the boxing machine, and then the next empty carton is put into for next fruit boxing.
The right steel plate is provided with a second rotary table, a second steel rod, a second telescopic rod, a bearing and a rotary shaft, the rotary shaft is fixed on the right steel plate, the bearing is arranged on the rotary shaft, the second rotary table is arranged on the bearing, the second steel rod is arranged at the edge of the second rotary table, the second telescopic rod is arranged between the second steel rod and the sliding plate, and in the process that the second stepping motor drives the sliding plate to move, the second telescopic rod pulls the second steel rod, the second steel rod drives the second rotary table to rotate, and the second rotary table assists the first rotary table to drive the sliding plate to move.
The conveyor belt is provided with the metal frames and the baffle plates, the metal frames are used for distributing the fruits sliding down on the first sliding grooves into five channels, so that the fruit on each channel can be accurately sucked up by the boxing machine, and the baffle plates are used for blocking the fruits transmitted by the conveyor belt.
The fruit sorting machine is adopted to sort fruits firstly, and then the sorted fruits are boxed, and the structure that the box filling machine automatically loads the fruits into the paper boxes can be realized by inputting the boxing parameters on the industrial control computer by staff, so that the following beneficial effects can be obtained:
According to the invention, fruits are only required to be poured into the sorting machine for sorting, the sizes of the fruits are identified by adopting the images, the weights of the fruits are identified by adopting the pressure sensors, and then the fruits are sorted into three grades of big fruits, medium fruits and small fruits, so that the accuracy of fruit classification is improved, and the boxing machine can automatically load the fruits into the paper boxes by inputting boxing parameters on the industrial personal computer by workers, thereby improving the classification accuracy of the fruits and the boxing efficiency and reducing the labor intensity of the workers.
Drawings
FIG. 1 is a schematic view of the overall structure of a fruit sorting and boxing machine in accordance with the present invention;
FIG. 2 is a schematic view of a fruit sorter of the fruit sorting and boxing machine according to the present invention;
FIG. 3 is a schematic view of a separator of a fruit sorting and boxing machine according to the present invention;
fig. 4 is a schematic front view of a sorting wall of a fruit sorting and boxing machine according to the present invention;
FIG. 5 is a schematic view showing the back structure of a sorting wall of a fruit sorting and boxing machine according to the present invention;
FIG. 6 is a diagram showing the connection between racks and metal aluminum plates of a fruit sorting and boxing machine in accordance with the present invention;
fig. 7 is a schematic structural view of a case packer for fruit sorting and packing according to the present invention;
FIG. 8 is a schematic view of the structure of a right steel plate of the fruit sorting and boxing machine of the present invention;
FIG. 9 is a schematic view showing a connection structure between a slide plate and left and right steel plates of a fruit sorting and boxing machine in accordance with the present invention;
FIG. 10 is a schematic view showing the mounting structure of a metal frame and a baffle of a fruit sorting and boxing machine in accordance with the present invention;
Fig. 11 is a schematic diagram of the operation of a fruit sorting and boxing machine in accordance with the present invention.
The principal reference numerals illustrate.
| Fruit sorting machine | 1 | First chute | 2 |
| Conveyor belt | 3 | Boxing machine | 4 |
| Paper box | 5 | Roller conveyor | 6 |
| Industrial control computer | 7 | Base support | 8 |
| First belt pulley | 9 | Rotary electric machine | 10 |
| Belt with belt body | 11 | Roller | 12 |
| Second belt pulley | 13 | Sorting table | 14 |
| Second chute | 15 | Spiral blade | 16 |
| Plastic bucket | 17 | Servo motor | 18 |
| Plastic box | 19 | Groove | 20 |
| High definition camera | 21 | Sorting wall | 22 |
| Pressure sensor | 23 | Control circuit board | 24 |
| Metal aluminum plate | 25 | Telescopic motor | 26 |
| Rack bar | 27 | First step motor | 28 |
| Gear wheel | 29 | Left steel plate | 30 |
| Second step motor | 31 | First rotating disc | 32 |
| First steel bar | 33 | First telescopic rod | 34 |
| Sliding plate | 35 | Suction pump | 36 |
| Right steel plate | 37 | Metal aluminum pipe | 38 |
| Rubber ring | 39 | Second rotary table | 40 |
| Second steel bar | 41 | Second telescopic rod | 42 |
| Bearing | 43 | Rotating shaft | 44 |
| Metal frame | 45 | Baffle plate | 46 |
Detailed Description
The invention will be described in further detail below with reference to examples and with reference to the accompanying drawings.
Referring to fig. 1 to 11, a fruit sorting and boxing machine according to the present invention includes a fruit sorting machine 1, a first chute 2, a conveyor belt 3, a boxing machine 4, a carton 5, a roller conveyor 6, an industrial personal computer 7, a base bracket 8, a first belt pulley 9, a rotating motor 10, a belt 11, a roller 12, and a second belt pulley 13.
As shown in fig. 1, the first chute 2 is arranged between the fruit sorter 1 and the conveyor belt 3, the sorted fruits are transferred into the first chute 2 by the fruit sorter 1, slide onto the conveyor belt 3 from the first chute 2, move below the box filling machine 4 under the transportation of the conveyor belt 3, the fruits are transferred into the paper boxes 5 by the box filling machine 4, the conveyor belt 3, the rotating motor 10 and the roller 12 are arranged on the bracket, the first belt pulley 9 is arranged on the rotating shaft of the rotating motor 10, the second belt pulley 13 is arranged on the roller 12, the conveyor belt 3 is arranged on the roller 12, a belt 11 is arranged between the first belt pulley 9 and the second belt pulley 13, the rotating motor 10 controls the rotating motor 10 to rotate, the rotating motor 10 drives the first belt pulley 9 to rotate, the second belt pulley 13 drives the roller 12 to rotate, and further drives the conveyor belt 3 to rotate, the industrial personal computer 7 is arranged on the case packer 4, the industrial personal computer 7 is connected with the fruit sorting machine 1, the rotating motor 10, the case packer 4 and the roller 12 conveyor, the industrial personal computer 7 controls the fruit sorting machine 1, the rotating motor 10, the case packer 4 and the roller 12 conveyor to work, the sorted fruits are transferred to the first chute 2 by the fruit sorting machine 1, slide onto the conveyor belt 3 from the first chute 2, move to the lower part of the case packer 4 under the conveying belt 3, the fruits are transferred to the case packer 4, the industrial personal computer 7 controls the roller conveyor 6 to convey the case packer 5 under the case packer 4, after the case packer 4 is filled with one case of fruits, the industrial personal computer 7 controls the roller conveyor 6 to reversely rotate, the case packer 5 filled with the fruits is conveyed out, and the case of the next case of fruits is packed after the case packer 5 filled with the fruits is manually replaced. The fruit sorting machine 1 is provided with three outlets for sorting fruits into three grades of big fruits, medium fruits and small fruits, the fruits in the three grades are respectively transferred into the first chute 2 from the three outlets of the fruit sorting machine 1, two ends of the conveying belt 3 are provided with rollers 12, one of the rollers 12 is used for being connected with the second belt pulley 13, the rollers are used for actively rolling, the force of the rotating motor 10 is mainly transmitted to the conveying belt 3, and the other roller 12 is used for assisting the conveying belt 3 to drive.
As shown in fig. 2, the fruit sorter 1 includes a sorting table 14, a second chute 15, a helical blade 16, a plastic barrel 17, and a servo motor 18, wherein the second chute 15 is connected between the sorting table 14 and the plastic barrel 17, the helical blade 16 is mounted on the inner wall of the plastic barrel 17, the servo motor 18 is mounted below the plastic barrel 17, the bottom of the plastic barrel 17 is connected with the rotating shaft of the servo motor 18, fruits are firstly placed in the plastic barrel 17, the servo motor 18 is controlled by the industrial personal computer 7 to rotate, the fruits in the plastic barrel 17 are rotated onto the helical blade 16, the fruits follow the helical blade 16 to rotate into the second chute 15, the second chute 15 is inclined, the fruits entering the second chute 15 slide onto the sorting table 14 under the action of gravity, the sorted fruits are transferred onto the first chute 2, the width of one piece of the helical fruits is the diameter of the middle fruits, and the helical blade is inclined to the inner wall side of the plastic barrel 17, when the fruits are placed on the helical blade 16, the fruits fall into the plastic barrel 17 under the rotation of the helical blade 16, and then move onto the helical blade 16 again.
As shown in fig. 3, the sorting machine includes a plastic box 19, a groove 20, a high-definition camera 21, a sorting wall 22, a pressure sensor 23, and a control circuit board 24, wherein the groove 20 is arranged in the middle of the plastic box 19, so that the fruits in the second chute 15 can be stabilized in the groove 20, and are convenient for classification, the sorting wall 22 is fixed on the plastic box 19, the high-definition camera 21 is mounted on the sorting wall 22, the pressure sensor 23 is mounted below the groove 20, the control circuit board 24 is mounted in the plastic box 19, after the fruits on the second chute 15 slide into the groove 20, the high-definition camera 21 starts to perform image acquisition on the fruits, and transmits the acquired image to the control circuit board 24, performs image recognition in the control circuit board 24, recognizes the size of the fruits, then the pressure sensor 23 collects the weight of the fruits, and transmits the collected information to the control circuit board 24, and the control circuit board 24 calculates the weight of the fruits according to the size and weight of the fruits, and the control circuit board 24 determines whether the fruits belong to the fruits are in the big fruits or small fruits, i.e. the recognition of the fruit classification is completed. The control circuit board 24 is connected with the high-definition camera 21, the pressure sensor 23 and the industrial personal computer 7, information for jointly identifying fruits by the high-definition camera 21 and the pressure sensor 23 is transmitted to the industrial personal computer 7, the industrial personal computer 7 controls the first stepping motor 28 and the telescopic motor 26 to transfer the fruits to the corresponding grading outlet, the fruits slide onto the conveyor belt 3 in the first sliding groove 2, the fruits are jointly identified by the high-definition camera 21 and the pressure sensor 23, and the sizes and the weights of the fruits are identified, so that grading of the fruits is more accurate.
As shown in fig. 4 and 5, the sorting wall 22 is a metal aluminum plate, the front surface of the metal aluminum plate is provided with the high-definition camera 21 and the telescopic motor 26, the back surface of the metal aluminum plate is provided with the rack 27, the first stepping motor 28 and the gear 29, the bottom of the telescopic motor 26 is arranged at the bottom of the rack 27, the gear 29 is arranged on the rotating shaft of the first stepping motor 28, the first stepping motor 28 is controlled by the industrial personal computer 7 to rotate, the first stepping motor 28 drives the gear 29 to rotate, the gear 29 is driven by the rack 27, the rack 27 drives the telescopic motor 26 to move left and right on the metal aluminum plate, the industrial personal computer 7 controls the telescopic motor 26 to extend out of the telescopic rod, the graded fruits can be pushed into the first chute 2 corresponding to the front surface of the sorting wall 22, the first stepping motor 28 is controlled by the industrial personal computer 7 to rotate positively, the rack 27 is driven by the telescopic motor 26 to move left, the first stepping motor 26 is further moved left, the graded fruits are pushed into the first chute 2 on the left, the first stepping motor 28 is controlled by the industrial personal computer 7 to rotate reversely, the first stepping motor 28 is driven by the first stepping motor 28 to move right, the first stepping motor 27 is driven by the rack 27 to move right, and the fruits are further moved right to the graded fruits right. The first chute 2 corresponding to the front of the sorting wall 22 is used as a big fruit channel, the first chute 2 on the left is used as a middle fruit channel, the first chute 2 on the right is used as a small fruit channel, thus, only the control circuit board 24 is required to judge whether the fruit is big fruit, middle fruit or small fruit according to the size and weight of the fruit, the identification result is transmitted to the industrial personal computer 7, when the identified fruit is big fruit, the industrial personal computer 7 controls the first stepping motor 28 to move the telescopic motor 26 to the middle of a metal aluminum plate, then the telescopic motor 26 is controlled to extend out of the push rod to push the fruit to the first chute 2 corresponding to the front of the sorting wall 22, when the identified fruit is middle fruit, the industrial personal computer 7 controls the telescopic motor 26 to extend out of the push rod, and then controls the first stepping motor 28 to move the telescopic motor 26 to the right to push the fruit to the first chute 2 corresponding to the right of the sorting wall 22.
As shown in fig. 6, the rack 27 is embedded in a metal aluminum plate, and two sides of the rack 27 are respectively provided with a gear 29 and a telescopic motor 26.
As shown in fig. 7, the box filling machine 4 comprises a left steel plate 30, a second stepping motor 31, a first rotating disc 32, a first steel rod 33, a first telescopic rod 34, a sliding plate 35, a suction pump 36, a right steel plate 37, metal aluminum pipes 38 and rubber rings 39, wherein the sliding plate 35 is arranged above the left steel plate 30 and the right steel plate 37, the second stepping motor 31 is arranged outside the left steel plate 30, a rotating shaft of the second stepping motor 31 penetrates through the left steel plate 30 to be connected with the first rotating disc 32, the first steel rod 33 is arranged on the edge of the first rotating disc 32, the first telescopic rod 34 is connected between the first steel rod 33 and one end of the sliding plate 35, the suction pump 36 is arranged on the sliding plate 35, the output end of the suction pump 36 is connected with the five metal aluminum pipes 38, one rubber ring 39 is arranged below each metal aluminum pipe 38, the second stepping motor 31 is controlled to rotate reversely by the industrial personal computer 7, the first steel bar 33 is rotated to one side of the conveyor belt 3, wherein the sliding plate 35 is driven by the first telescopic rod 34 to move to one side of the conveyor belt 3, at the moment, the metal aluminum pipe 38 is moved to the position right above fruits on the conveyor belt 3, the second stepping motor 31 continuously reverses, so that the rubber ring 39 is close to the fruits, the industrial personal computer 7 controls the suction pump 36 to suck the fruits, then the industrial personal computer 7 controls the second stepping motor 31 to rotate positively, the first steel bar 33 is rotated to one side of the paper box 5, the metal aluminum pipe 38 is moved to the position right above the paper box 5, then the second stepping motor 31 is controlled to continuously rotate positively, so that the fruits on the rubber ring 39 enter the paper box 5, the industrial personal computer 7 controls the suction pump 36 to deflate, the number of layers of fruits on the rubber ring 39 are arranged in the paper box 5, the industrial personal computer 7 is provided with the fruits sucked up, and then the fruits are put in the paper box 5, and when the second stepping motor 31 rotates the first steel bar 33 to the uppermost part, the first steel bar is counted once, namely, one layer of fruit boxing is completed, when the preset boxing layer number is counted, the industrial personal computer 7 controls the roller conveyor 6 to rotate reversely, the boxed fruit is transported out from the lower part of the boxing machine 4, the next empty carton 5 is put into the next box for fruit boxing, the first telescopic rod 34 stretches up and down under the drive of the first rotary table 32, the sliding plate 35 is not jacked up, and the five metal aluminum tubes 38 are connected in parallel.
According to the invention, the metal aluminum tubes 38 can be determined according to the boxing requirement, the number of fruit rows of each layer of the paper box 5 is the number of the metal aluminum tubes 38, and the number of fruit columns of each layer of the paper box 5 is the number of the metal aluminum tubes 38, so that the fruits can be conveniently and orderly boxed.
As shown in fig. 8, the right steel plate 37 is provided with a second rotary table 40, a second steel bar 41, a second telescopic rod 42, a bearing 43 and a rotary shaft 44, the rotary shaft 44 is fixed on the right steel plate 37, the bearing 43 is installed on the rotary shaft 44, the second rotary table 40 is installed on the bearing 43, the second steel bar 41 is installed at the edge of the second rotary table 40, the second telescopic rod 42 is installed between the second steel bar 41 and the sliding plate 35, the second steel bar 41 is pulled by the second telescopic rod 42 in the process of driving the sliding plate 35 to move by the second stepping motor 31, the second rotary table 40 is driven to rotate by the second steel bar 41, and the sliding plate 35 is driven to move by the second rotary table 40 in an auxiliary manner.
As shown in fig. 9, the sliding plate 35 is inlaid with the left steel plate 30 and the right steel plate 37, and moves back and forth on the left steel plate 30 and the right steel plate 37 under the driving of the first telescopic rod 34.
As shown in fig. 10, the conveyor belt 3 is provided with a metal frame 45 and a baffle 46, the metal frame 45 is used for distributing the fruit sliding down on the first chute 2 into five channels, so that the boxing machine 4 can accurately suck up the fruit on each channel, and the baffle 46 is used for blocking the fruit transmitted by the conveyor belt 3. Preventing fruits from falling off and simultaneously facilitating the box filling machine 4 to suck up and then fill the cartons 5.
The working principle and working process of the invention are as follows:
As shown in fig. 11, the industrial personal computer 7 controls the servo motor 18 to drive the plastic barrel 17 to rotate, the fruits are conveyed to the second chute 15, the fruits slide to the groove 20 of the sorting machine in the second chute 15, when the fruits on the second chute 15 slide to the groove 20, the high-definition camera 21 starts to collect images of the fruits, the collected images are transmitted to the control circuit board 24, the image recognition is carried out in the control circuit board 24, the size of the fruits is recognized, the weight of the fruits is collected by the pressure sensor 23, the collected information is transmitted to the control circuit board 24, the weight of the fruits is calculated by the control circuit board 24, The control circuit board 24 determines whether the fruit belongs to big fruit or medium fruit or small fruit according to the size and weight of the fruit, namely, the fruit grade identification is finished, information for identifying the fruit is transmitted to the industrial personal computer 7, the industrial personal computer 7 controls the first stepping motor 28 and the telescopic motor 26 to transfer the fruit to the corresponding grading outlet, the fruit slides onto the conveyor belt 3 in the first chute 2, when the identified fruit is big fruit, the industrial personal computer 7 controls the first stepping motor 28 to move the telescopic motor 26 to the middle of the metal aluminum plate, then the telescopic motor 26 is controlled to extend out of the push rod to push the fruit to the first chute 2 corresponding to the front surface of the sorting wall 22, when the identified fruit is medium fruit, the industrial personal computer 7 controls the telescopic motor 26 to extend out of the push rod, then controls the first stepping motor 28 to move the telescopic motor 26 leftwards, pushes fruits into the first chute 2 corresponding to the left side of the sorting wall 22, when the identified fruits are small fruits, the industrial personal computer 7 controls the telescopic motor 26 to extend out of the push rod, then controls the first stepping motor 28 to move the telescopic motor 26 rightwards, pushes the fruits into the first chute 2 corresponding to the right side of the sorting wall 22, the industrial personal computer 7 controls the rotary motor 10 to drive the conveying belt 3 to rotate, the fruits sliding down from the first chute 2 are conveyed to the position of the box filling machine 4, the industrial personal computer 7 controls the second stepping motor 31 to rotate reversely, and drives the first rotary plate 32 to rotate, The first steel bar 33 is rotated to one side of the conveyor belt 3, wherein the sliding plate 35 is driven by the first telescopic rod 34 to move to one side of the conveyor belt 3, at the moment, the metal aluminum pipe 38 is moved to the position right above fruits on the conveyor belt 3, the second stepping motor 31 is continuously rotated reversely, so that the rubber ring 39 is close to the fruits, the industrial personal computer 7 controls the suction pump 36 to suck the fruits, the industrial personal computer 7 controls the second stepping motor 31 to rotate positively, the first steel bar 33 is rotated to one side of the paper box 5, the metal aluminum pipe 38 is moved to the position right above the paper box 5, the second stepping motor 31 is controlled to rotate positively, the fruits on the rubber ring 39 enter the paper box 5, The industrial personal computer 7 controls the suction pump 36 to deflate, so that fruits on the rubber ring 39 are placed in the paper box 5, the number of layers for fruit boxing is set in the industrial personal computer 7, the suction pump 36 sucks the fruits and then places the fruits in the paper box 5, when the second stepping motor 31 rotates the first steel rod 33 to the uppermost side, the fruits are counted once, namely, one layer of fruit boxing is completed, when the preset boxing layer is counted, the industrial personal computer 7 controls the roller conveyor 6 to reversely rotate, the boxed fruits are transported out from the lower side of the boxing machine 4, then the next empty paper box 5 is placed, and next fruit boxing is carried out.
According to the invention, fruits are only required to be poured into the sorting machine for sorting, the sizes of the fruits are identified by adopting the images, the weights of the fruits are identified by adopting the pressure sensors, and then the fruits are sorted into three grades of big fruits, medium fruits and small fruits, so that the accuracy of fruit classification is improved, and the boxing machine can automatically load the fruits into the paper boxes by inputting boxing parameters on the industrial personal computer by workers, thereby improving the classification accuracy of the fruits and the boxing efficiency and reducing the labor intensity of the workers.
Claims (5)
1. A fruit sorting and boxing machine, which is characterized in that: the fruit sorting machine comprises a fruit sorting machine, a first chute, a conveyor belt, a box filling machine, a carton, a roller conveyor, an industrial personal computer, a base support, a first belt pulley, a rotating motor, a belt, a roller and a second belt pulley, wherein the first chute is arranged between the fruit sorting machine and the conveyor belt, sorted fruits are transferred to the first chute by the fruit sorting machine, the fruits slide onto the conveyor belt from the first chute, the fruits are moved to the lower part of the box filling machine under the transportation of the conveyor belt, the fruits are transferred to the carton by the box filling machine, the conveyor belt, the rotating motor and the roller are arranged on the support, the first belt pulley is arranged on a rotating shaft of the rotating motor, the second belt pulley is arranged on the roller, the rotating motor is controlled by the industrial personal computer to rotate, the first belt pulley is driven to rotate, the second belt pulley is driven to rotate, the conveyor belt is driven to rotate, the fruit sorting machine, the rotating motor is controlled by the industrial personal computer, the roller conveyor belt is moved to the lower part of the box filling machine, the fruits are transferred to the carton from the first chute to the lower part of the carton, the box filling machine is fully filled with the fruit sorting machine, the fruit sorting machine is moved to the lower part of the carton is controlled by the conveyor, the conveyor belt is firstly, and then is moved to the box filling machine under the carton is filled with the conveyor, and is moved to the container, and is filled in the container, and filled with the fruit sorting machine, and is moved to the container is firstly, and then moved by the manual machine;
The fruit sorting machine comprises a sorting table, a second chute, a helical blade, a plastic barrel and a servo motor, wherein the second chute is connected between the sorting table and the plastic barrel, the helical blade is arranged on the inner wall of the plastic barrel, the servo motor is arranged below the plastic barrel, the bottom of the plastic barrel is connected with a rotating shaft of the servo motor, fruits are firstly placed in the plastic barrel, the servo motor is controlled by an industrial personal computer to rotate, the fruits in the plastic barrel are rotated onto the helical blade, the fruits follow the helical blade to rotate into the second chute, the second chute is arranged to incline, the fruits entering the second chute slide onto the sorting table under the action of gravity, the fruits are sorted by the sorting table, and the sorted fruits are transferred onto the first chute;
The sorting machine comprises a plastic box, a groove, a high-definition camera, a sorting wall, a pressure sensor and a control circuit board, wherein the groove is formed in the middle of the plastic box, the sorting wall is fixed on the plastic box, the high-definition camera is arranged on the sorting wall, the pressure sensor is arranged below the groove, the control circuit board is arranged in the plastic box, after fruits on a second chute slide into the groove, the high-definition camera starts to collect images of the fruits, the collected images are transmitted to the control circuit board, image identification is carried out in the control circuit board, the size of the fruits is identified, the weight of the fruits is collected by the pressure sensor, the collected information is transmitted to the control circuit board, the weight of the fruits is calculated by the control circuit board, and the control circuit board determines whether the fruits belong to big fruits or medium fruits or small fruits according to the size and weight of the fruits, namely, the identification of fruit grades is completed;
The control circuit board is connected with the high-definition camera, the pressure sensor and the industrial personal computer, information for jointly identifying fruits by the high-definition camera and the pressure sensor is transmitted to the industrial personal computer, the industrial personal computer controls the first stepping motor and the telescopic motor to transfer the fruits to the corresponding grading outlets, the fruits slide on the conveyor belt in the first sliding groove, and the high-definition camera and the pressure sensor jointly identify the fruits and the size and the weight of the fruits;
The sorting wall is made of a metal aluminum plate, a high-definition camera and a telescopic motor are arranged on the front surface of the metal aluminum plate, a rack, a first stepping motor and a gear are arranged on the back surface of the metal aluminum plate, the bottom of the telescopic motor is arranged at the bottom of the rack, the gear is arranged on a rotating shaft of the first stepping motor, the first stepping motor is controlled by an industrial control computer to rotate, the first stepping motor drives the gear to rotate, the gear is in rack transmission, the rack drives the telescopic motor to move left and right on the metal aluminum plate, the industrial control computer controls the telescopic motor to extend out of a telescopic rod, the graded fruits can be pushed into first sliding grooves corresponding to the front surface of the sorting wall, the first stepping motor is controlled by an industrial control mechanism to rotate positively, the first stepping motor drives the rack to move left, the telescopic motor is controlled by the industrial control mechanism to rotate reversely, the first stepping motor drives the rack to move right, the telescopic motor is controlled by the industrial control mechanism to move right, and the graded fruits are pushed into the first sliding grooves on the right, and grading of the fruits can be completed;
The first chute that the front of separation wall corresponds is big fruit passageway, the first chute on the left is well fruit passageway, the first chute on the right is little fruit passageway, control circuit board judges according to the size and the weight of fruit that fruit is big fruit, well fruit, little fruit back, transmit the recognition result to industrial computer, when the fruit of discernment is big fruit, the first step motor of industrial computer control moves the telescopic motor to metal aluminum plate centre, the push rod is stretched out to the rethread control telescopic motor and the first chute that the front of separation wall corresponds is pushed to fruit, when the fruit of discernment is well fruit, the telescopic motor of industrial computer control stretches out the push rod, the first step motor of control is moved to the left again, push fruit to the first chute that the left corresponds of separation wall in, when the fruit of discernment is little fruit, the telescopic motor of industrial computer control stretches out the push rod, the first step motor of control is moved to the right again, push fruit to the first chute that the right corresponds of separation wall.
2. The fruit sorting and boxing machine according to claim 1, wherein: the rack is embedded in the metal aluminum plate, and the gear and the telescopic motor are arranged on two sides of the rack.
3. The fruit sorting and boxing machine according to claim 2, wherein: the box filling machine comprises a left steel plate, a second stepping motor, a first rotary table, a first steel rod, a first telescopic rod, a sliding plate, an air suction pump, a right steel plate, metal aluminum pipes and rubber rings, wherein the sliding plate is arranged above the left steel plate and the right steel plate, the second stepping motor is arranged outside the left steel plate, a rotating shaft of the second stepping motor penetrates through the left steel plate to be connected with the first rotary table, the first steel rod is arranged on the edge of the first rotary table, the first telescopic rod is connected between the first steel rod and one end of the sliding plate, the air suction pump is arranged on the sliding plate, the output end of the air suction pump is connected with five metal aluminum pipes, the rubber rings are arranged below each metal aluminum pipe, the second stepping motor is controlled to rotate in an empty mode by an industrial personal computer to drive the first rotary table to rotate to one side of a conveyor belt, the sliding plate moves one side of the conveyor belt under the driving of the first telescopic rod, at the moment, the metal aluminum pipe is moved to the position right above the fruits on the conveyor belt, the second stepping motor continuously rotates reversely, so that the rubber ring is close to the fruits, the industrial personal computer controls the suction pump to suck the fruits, then the industrial personal computer controls the second stepping motor to rotate positively, the first steel rod rotates to one side of the paper box, the metal aluminum pipe is moved to the position right above the paper box, then the second stepping motor is controlled to continuously rotate positively, the fruits on the rubber ring enter the paper box, the industrial personal computer controls the suction pump to deflate, so that the fruits on the rubber ring are placed in the paper box, the number of layers of fruit boxing is stored in the industrial personal computer, the fruits are sucked up by the suction pump and then placed in the paper box, and when the second stepping motor rotates the first steel rod to the uppermost position, one layer of boxing of the fruits is completed, when the preset boxing number of layers is counted, the industrial personal computer controls the roller conveyor to rotate reversely, the boxed fruits are transported out from the lower part of the boxing machine, and then the next empty carton is put into for next fruit boxing.
4. A fruit sorting and boxing machine in accordance with claim 3, wherein: the second rotating disc, the second steel bar, the second telescopic rod, the bearing and the rotating shaft are arranged on the right steel plate, the rotating shaft is fixed on the right steel plate, the bearing is arranged on the rotating shaft, the second rotating disc is arranged on the bearing, the second steel bar is arranged at the edge of the second rotating disc, the second telescopic rod is arranged between the second steel bar and the sliding plate, the second stepping motor drives the sliding plate to move, in the process of moving, the second telescopic rod pulls the second steel bar, the second steel bar drives the second rotating disc to rotate, the second rotating disc assists the first rotating disc to drive the sliding plate to move, the sliding plate is inlaid with the left steel plate and the right steel plate, and the sliding plate moves back and forth on the left steel plate and the right steel plate under the driving of the first telescopic rod.
5. The fruit sorting and boxing machine according to claim 4, wherein: the conveying belt is provided with a metal frame and a baffle, the metal frame is used for distributing the fruits sliding down on the first sliding groove into five channels, and the baffle is used for blocking the fruits conveyed by the conveying belt.
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| CN112718499A (en) * | 2020-12-24 | 2021-04-30 | 刘修俊 | Circular fruit cleaning and sorting device |
| CN113071772B (en) * | 2021-03-23 | 2022-12-27 | 湖南金湘东软包装材料有限公司 | Automatic label sticking device |
| CN114570664B (en) * | 2022-03-11 | 2024-01-30 | 郑州大学 | Fruit softness and hardness recognition method based on force sense, sorting device and control method |
| CN114890160B (en) * | 2022-05-20 | 2024-02-20 | 广东信源物流设备有限公司 | Airport logistics auxiliary boxing treatment system and boxing method thereof |
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| CN108273764A (en) * | 2017-12-28 | 2018-07-13 | 华东交通大学 | A kind of intelligence fruit sorter |
| CN109335077A (en) * | 2018-12-06 | 2019-02-15 | 唐山学院 | A kind of classification of multi-grade fruit and packaging system |
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| JP2012055792A (en) * | 2010-09-06 | 2012-03-22 | Kazuhisa Otsuki | Cross net automatic packaging machine intensive installation type fruit sorting packaging sorting device |
| JP6166583B2 (en) * | 2013-04-30 | 2017-07-19 | 日本協同企画株式会社 | Fruit vegetable automatic sorting box packing equipment |
| CN109351655B (en) * | 2018-12-12 | 2024-05-17 | 华东交通大学 | Red date sorting unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108273764A (en) * | 2017-12-28 | 2018-07-13 | 华东交通大学 | A kind of intelligence fruit sorter |
| CN109335077A (en) * | 2018-12-06 | 2019-02-15 | 唐山学院 | A kind of classification of multi-grade fruit and packaging system |
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