CN106111556B - The automatic detection of spike fruit is equipped with classification - Google Patents

Abstract

The invention discloses automatic detection and grading equipment for spike-shaped fruits, and relates to the on-line non-destructive automatic detection and grading technology of agricultural products. The invention includes a conveying device, a data collection device, a hierarchical control system, a graded kicking device and a sorting device connected in sequence; a data collection device is arranged on one side of the conveying device, and a graded kicking device is arranged on the other side of the conveying device , There is a sorting device under the grading kicking device. The clamping mechanism of the present invention ensures that the suspended fruit is conveniently loaded, easy to operate, and stable in transportation; image detection and spectral data collection are performed on spike-shaped fruits by using machine vision and spectral technology, and the external quality and internal quality of the fruit are comprehensively judged Grading, so as to overcome the characteristics of few grading indicators and single function; the automatic kicking device can realize automatic grading of fruits without damaging soft fruits; the sorting device speeds up the grading speed, avoids excessive consumption of human resources, and improves grading efficiency.

Description

Automatic detection and grading equipment for spike-shaped fruits

technical field

The invention relates to an on-line non-destructive automatic detection and grading technology for agricultural products, in particular to an automatic detection and grading equipment for spike-shaped fruits.

Background technique

Spike-shaped fruits such as grapes, cherries, hawthorns, etc. have a large planting area in my country, high yield, low price and high nutritional value, and are deeply loved by ordinary people. However, the proportion of these fruits participating in the international market is very low, the export volume is small, and the price is significantly lower than that of developed countries. There are many reasons for my country's poor competitive ability, including a series of problems in fruit production, processing, storage, distribution and sales, among which the most important is the low degree of post-harvest commercialization of fruits. The experience of developed countries tells us that most of the fruit output value is created by its post-harvest processing and processing, so the post-harvest processing of fruit has become the key to improving its market competitiveness.

At present, the vast majority of online non-destructive grading devices in the domestic market are used to detect nearly spherical individual fruits, such as apples, pears, and tomatoes, while the online non-destructive automatic grading technology for spike-shaped fruits such as grapes, cherries, and hawthorns And sorting equipment is still in the research stage. "A device for grading spike-shaped fruits (CN201220247652.1)" discloses a grading assembly line for spike-shaped fruits, which uses machine vision technology to grade spike-shaped fruits. The grading device has the characteristics of single grading index and inconvenient operation. It can only detect and classify the surface characteristics of the fruit, which is inconvenient to feed the fruit and causes great damage to the fruit stem. "Automatic grading device and method for red grapes based on machine vision (CN201210171976.6)" discloses an automatic grading device for red grapes. Market requirements. "Full box red grape fruit size grading device and method based on machine vision (CN201510607956.2)" discloses a whole box red grape fruit size grading device, the research objects are all placed in the box, the fruit The stacking of fruit particles is easy to cause camera errors, and the structure is unreasonable, so it is difficult to vigorously promote.

The detection and grading of the above-mentioned spike-shaped fruits either has a single function and is inconvenient to operate, or causes great damage to the fruit and has a low degree of automation. There is no detection and grading equipment with a reasonable structure, simple operation, and the ability to simultaneously detect the internal and external quality of spike-shaped fruits.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a kind of automatic detection and classification equipment for spike-shaped fruits with reasonable structure, simple operation and high efficiency.

The purpose of the present invention is achieved like this:

Through machine vision and spectral technology, the image detection and spectral data collection of spike-shaped fruits are carried out, and the external quality and internal quality of the fruit are comprehensively judged and graded, so as to overcome the characteristics of few grading indicators and single function; a clamping mechanism designed ensures that The hanging conveying fruit is convenient for loading, easy to operate, and stable in transportation; the designed sorting device speeds up the grading speed, avoids excessive consumption of human resources, and improves the grading efficiency.

Specifically:

1. Automatic detection and grading equipment for spike-shaped fruits (equipment for short)

This equipment includes conveying device, data acquisition device, grading control system, grading kicking device and sorting device;

A data acquisition device is installed on one side of the conveying device, a graded kicking device is arranged on the other side of the conveying device, and a sorting device is arranged below the graded kicking device;

The conveying device, data acquisition device, grading control system, grading kicking device and sorting device are connected in sequence.

The present invention has following advantage and positive effect:

①The clamping mechanism ensures that the fruit is conveniently loaded, easy to operate, and stable in transportation;

② Use machine vision and spectral technology to perform image detection and spectral data collection on spike-shaped fruits, and comprehensively judge and grade the external and internal quality of fruits, so as to overcome the characteristics of few grading indicators and single functions;

③The automatic kicking device can realize the automatic grading of the fruit without damaging the soft fruit;

④The sorting device speeds up the grading speed, avoids excessive consumption of human resources, and improves the grading efficiency.

Description of drawings

Figure 1 is a structural block diagram of the equipment;

Figure 2 is a schematic structural diagram (three-dimensional) of the equipment;

Figure 3 is a schematic structural diagram of this equipment (front view);

Fig. 4 is the structural representation of clamping mechanism;

Fig. 5 is a schematic structural diagram of a data acquisition device and a hierarchical control system;

Fig. 6 is the structural representation of classification kicking out device;

Fig. 7 is a schematic structural diagram of the sorting device.

in:

000 — spike fruit;

100 — conveying device,

101—frame, 102—foot seat, 103—annular I-beam guide rail, 104—pulley, 105—the first bearing seat,

106—traction chain, 107—the first driving sprocket, 108—the long axis of the sprocket, 109—the second bearing seat,

110—U-shaped version, 111—coupling, 112—motor plate, 113—vertical motor, 114—the first driven sprocket,

115—stretch hook,

116—Fruit clamping mechanism

1161—crossbar head, 1162—limit spring, 1163—the first swing rod, 1164—reset handle,

1165—return spring, 1166—the second fork, 1167—slide, 1168—the first pin,

1169—the second pin shaft.

200—data acquisition device,

210—image acquisition device,

2101—the first photoelectric sensor, 2102—industrial camera, 2103—ring fluorescent lamp,

2104—The first airtight light chamber

220—spectral collection device,

2201—halogen lamp, 2202—spectrometer, 2203—the first airtight light chamber, 2204—the second photoelectric sensor

300—Classified control system,

310—computer, 320—PLC controller, 330—serial port line.

400—Classified kick-out device,

410—fixed bracket, 420—relay, 430—push-pull electromagnet, 440—push rod.

500—sorting device,

501—drive motor, 502—the first triangular bearing seat, 503—the second drive sprocket, 504—drive motor shaft,

505—chain, 506—the second triangular bearing seat, 507—the second driven sprocket, 508—fixed frame,

509—connecting plate, 510—the short shaft of the first roller, 511—the third triangular bearing seat, 512—the backing plate of the bearing seat,

514—driven drum, 515—vertical bearing seat, 516—belt, 517—long axis of drum, 518—driving drum.

detailed description

The following will be described in detail in conjunction with the accompanying drawings and embodiments.

1. Equipment

1. Overall

As shown in Figure 1, this equipment includes a conveying device 100, a data collection device 200, a classification control system 300, a classification kicking device 400 and a sorting device 500;

A data acquisition device 200 is provided on one side of the conveying device 100, a graded kick-out device 400 is provided on the other side of the conveying device 100, and a sorting device 500 is arranged below the graded kick-out device 400;

The conveying device 100, the data collection device 200, the classification control system 300, the classification kicking device 400 and the sorting device 500 are connected in sequence.

2. Functional device

1) Conveying device 100

As shown in Figures 1, 2, and 3, the conveying device 100 includes a frame 101, a foot seat 102, an annular I-shaped steel guide rail 103, a pulley 104, a first bearing seat 105, a traction chain 106, a first driving sprocket 107, and a sprocket length Shaft 108, second bearing seat 109, U-shaped version 110, coupling 111, motor plate 112, vertical motor 113, first driven sprocket 114, protruding hook 115, fruit clamping mechanism 116;

Its location and connection relationship are:

At the bottom of the rectangular frame 101, a foot seat 102 is installed, and an annular I-shaped steel guide rail 103 is suspended with bolts on the lower surface of the frame 101 top. The pulley 104 is connected, and the lower end of the traction chain 106 is connected with the protruding hook 115, and the lower end of the protruding hook 115 is suspended with a fruit clamping mechanism 116;

The lower left side of frame 101 is provided with motor plate 112, is provided with vertical motor 113 on motor plate 112, and the upper and lower ends of sprocket major axis 108 pass through first bearing seat 105 and the 2nd bearing seat 109 and are arranged on respectively The U-shaped plate 110 on the upper left of the frame 101 is connected;

Vertical motor 113, shaft coupling 111, sprocket major axis 108 and the first driving sprocket 107 are connected in sequence, the first driving sprocket 107 is engaged with the left end of traction chain 106, and the right end of traction chain 106 is connected with the first driven chain wheel 114 engages;

As shown in Figure 4, the fruit clamping mechanism 116 includes a cross bar head 1161, a limit spring 1162, a first fork 1163, a reset handle 1164, a return spring 1165, a second fork 1166, a slideway 1167, a first pin shaft 1168 and the second pin shaft 1169;

Its location and connection relationship are:

The crossbar head 1161 is provided with a hook and a left and right through hole, and the first swing rod 1163 and the second swing rod 1166 are respectively suspended in the left and right through holes through the second pin shaft 1169, and the first swing rod 1163 and the second swing rod 1166 are connected to each other. A limit spring 1162 is connected between them, a slideway 1167 is provided on the left side of the bottom of the first swing bar 1163, a first pin shaft 1168 is provided at the bottom of the second swing bar 1166, and the reset handle 1164 is installed on the first pin shaft On 1168, a return spring 1165 is provided on the top of the second fork 1166, the upper side of the second fork 1166 is close to the return spring 1165, and the lower side of the second fork 1166 is close to the slideway 1167; Between 1163 and the lower end of the second swing bar 1166, there is an ear-shaped fruit 000.

Its working mechanism is:

The vertical motor 113 provides the power of the entire conveying device 100, which drives the first driving sprocket 107 and the first driven sprocket 114 to rotate, and the traction chain 106 meshed with it drives the pulley 104 to move along the annular I-shaped steel guide rail 103; The fruit clamping mechanism 116 suspended by the protruding hook 115 below the traction chain 106 also moves along the ring-shaped I-beam guide rail 103 .

When the fringe fruit 000 will be clamped, its fruit stem is placed between the first fork 1163 and the second fork 1166, and the two fork are pinched inwardly with hands, because the back-moving spring 1165 has a downward thrust, resets The lower end of the handle 1164 can be self-locked with a certain ratchet on the slideway 1167, and the fruit stem is firmly clamped by the two swing bars; When the self-locking state is released, the two swing bars are separated by the outward thrust of the limit spring 1162, and the fruit can be taken down immediately; The operator realizes fast and accurate loading and unloading. The clamping force brought by the self-locking is enough to clamp the fruit stem, and the elastic clamping part will not damage the fruit stem.

2) Data acquisition device 200

As shown in Figures 1 and 5, the data acquisition device 200 includes an image acquisition device 210 and a spectrum acquisition device 220;

The image acquisition device 210 includes the first photoelectric sensor 2101, industrial camera 2102, annular fluorescent lamp 2103 and the first airtight light chamber 2104; the first airtight light chamber 2104 is a rectangular box with a groove in the middle of its top surface, and the top The right side is provided with a round hole, and the two sides of the bottom are provided with round holes; the first photoelectric sensor 2101 is installed in the round hole near the top, and is aligned with the crossbar head 1161 of the fruit clamping mechanism 116; the industrial camera 2102 is installed on the In the round hole at the bottom, align with the ear-shaped fruit 000, and the annular fluorescent lamp 2103 is set on the industrial camera 2102, and is close to the inner surface of the first airtight light chamber 2104;

The spectrum acquisition device 220 includes a halogen lamp 2201, a spectrometer 2202, a second airtight light chamber 2203 and a second photoelectric sensor 2204; the second airtight light chamber 2203 is a rectangular box with a cut groove in the middle of its top surface, and the top right The side is provided with round holes, and the two sides of the bottom end are provided with round holes; the second photoelectric sensor 2204 is installed in the round holes near the top, aiming at the cross bar head 1161 of the fruit clamping mechanism 116; Halogen lamps 2201 and spectrometers 2202 are respectively installed in the round holes on the left and right sides of the bottom of 2203, both of which are aimed at the ear-shaped fruit 000;

The industrial camera 2102 , the first photoelectric sensor 2101 , the second photoelectric sensor 2204 and the spectrometer 2202 are respectively connected to the hierarchical control system 300 .

Its working mechanism is:

In the data acquisition device 200, when the fruit clamping mechanism 116 approaches the sensor, the first photoelectric sensor 2101 and the second photoelectric sensor 2204 are triggered, and the generated signal triggers the classification control system 300 to control the industrial camera 2102 and the spectrometer 2202 to collect the fruit. The data information of shape fruit 000.

3) Hierarchical control system 300

As shown in Figure 5, the hierarchical control system 300 includes a computer 310, a PLC controller 320 and a serial port line 330;

(1) Computer 310

The hardware configuration of computer 310 is CPU, Inter Core i5-3210, 2.50GHz processor, RAM (8G), windows64-bit system;

(2) PLC controller 320

It is a general purchased part, such as Siemens CPU226 S7-200CN;

Its function is to receive the trigger signal and send the signal to the computer 310

(3) Serial cable 330

It is a general purchased part;

Its function is to transmit the classification signal of the computer 310 to the PLC controller 320 .

Its working mechanism is:

The data information of spike fruit 000 collected by the data acquisition device 200 is transmitted to the computer 310 through the data line, and it is processed and graded by the image processing software and spectrum analysis software in the computer 310, and the graded signal obtained is transmitted through the serial port line 330 To the PLC controller 320, the PLC controller 320 sends a signal to control the power on and off of the relay 420.

4) Grading kick out device 400

As shown in Figures 1, 3 and 6, the grading kick-out device 400 includes a fixed bracket 410, a relay 420, a push-pull electromagnet 430 and a push rod 440;

Its location and connection relationship are:

A fixed bracket 410 is arranged on the upper front end of the frame 101, a push-pull electromagnet 430 is arranged on the fixed bracket 410, a relay 420 is arranged on the top of the push-pull electromagnet 430, and a push-pull electromagnet 430 is installed on the front end of the push-pull electromagnet 430. Rod 440 , the push rod 440 is aligned with the crossbar head 1161 of the fruit clamping mechanism 116 .

*The relay 420 described is a general-purpose part;

Its function is to control the power on and off of the push-pull electromagnet 430 .

*The push-pull electromagnet 430 is a common part, which can automatically expand and contract.

*The push rod 440 described is a general purpose fork rod.

Its working mechanism is:

When the grading signal came from the PLC controller 320, the relay 420 in one of the push-pull electromagnets 430 was closed and energized to make it complete the automatic telescopic action, and the fruit clamping mechanism 116 was pushed by the push rod 440 to make the fruit clamping mechanism 116 Kick out from the protruding hook 115 below the traction chain 106.

5) Sorting device 500

As shown in Figure 7, the sorting device 500 comprises a drive motor 501, a first triangular bearing seat 502, a second driving sprocket 503, a drive motor shaft 504, a chain 505, a second triangular bearing seat 506, a second driven sprocket 507, Fixed frame 508, connecting plate 509, first roller short shaft 510, third triangular bearing seat 511, bearing seat backing plate 512 (8 pieces), second roller short shaft 513, driven roller 514, vertical bearing seat 515 (7 pieces), belt 516, roller long axis 517 and driving roller 518;

Its location and connection relationship are:

A bearing seat backing plate 512 is arranged on the upper end surface of the fixed frame 508, and a vertical bearing seat 515 is installed on the bearing seat backing plate 512;

A connecting plate 509 is provided on the side of the fixed frame 508, and a circular hole is provided at the front, middle and rear positions of the connecting plate 509, and the first triangular bearing seat 502, the second triangular bearing seat 506 and the third triangular bearing seat 506 are fixed respectively. Bearing seat 511; Drive motor 501 is installed on the left side of connecting plate 509 front ends, and drive motor shaft 504 links to each other with the 2nd drive sprocket 507 by the 1st triangular bearing seat 502 of front end, and the 2nd drive sprocket 507 passes chain 505 and The second driven sprocket 507 is connected, the right side of the long shaft 517 of the drum is connected with the second driven sprocket 507 through the second triangular bearing seat 506 in the middle of the connecting plate 509, and the left side of the long shaft 517 of the drum is fixed on the vertical bearing seat 515 Above, the long shaft 517 of the drum is connected with the driving drum 518; the right end of the short shaft 510 of the first drum is fixed on the connecting plate 509 through the third triangular bearing seat 511 at the rear end of the connecting plate 509, and the left end of the short shaft 510 of the first drum is fixed on the vertical On the type bearing seat 515, the short shaft 513 of the second roller is connected with the driven roller 514;

The belt 516 wraps the driven drum 514 and the driving drum 518 to form a belt transmission mechanism, and there is a certain gap between two adjacent belt transmission mechanisms to form a grading channel.

Its working mechanism is:

The drive motor shaft 504 passes through the connecting plate 509 to drive the second driving sprocket 503 to rotate, and the chain 505 meshed with it drives the second driven sprocket 507 to move; Cylinder 518 provides power source, thus drives the motion of whole belt transmission mechanism; There is enough gap between the bearing base plate 512 on both sides of belt transmission mechanism, forms classification passage; During passage, the bottom of the crossbar head 1161 of the clamping mechanism has contact with two adjacent belts, and the fruit clamping mechanism 116 is transported smoothly on the belt conveyor, and the staff can complete the sorting work of the fruit.

2. How to use

①The experienced workers in the fruit plantation pick a number of spike-shaped fruits of different quality 000 (the internal and external qualities are different);

2. clamp the fruit stem of the spiked fruit 000 after picking on the fruit clamping mechanism 116, then manually hang it on the protruding hook 115 at the lower end of the traction chain 106, under the drive of the vertical motor 113, with the first The traction chain 106 that driving sprocket 107 and the 1st driven sprocket 114 engage drives the clamping mechanism 116 that is hung with fruit to transport along the ring-shaped I-beam ring guide rail 103, and the vertical motor 113 can control the speed of the whole transport;

③When the spike-shaped fruit 000 enters the image acquisition device 210, the fruit clamping mechanism 116 is close to the first photoelectric sensor 2101, and the signal generated by the first photoelectric sensor 2101 controls the industrial camera 2101 to take a picture of the spike-shaped fruit 000, and the cameras on both sides take the result The picture of the fruit is transmitted to the computer 310 through the data line, and the fruit appearance quality is detected and graded by the computer 310;

④ When the spike-shaped fruit 000 enters the spectrum acquisition device 220, the fruit clamping mechanism 116 approaches the second photoelectric sensor 2204, the second photoelectric sensor 2204 is triggered, and under the transmission of the halogen lamp 2201, the spectrometer 2202 receives the control signal and collects The spectral data of spike fruit 000, the spectral data is transmitted to the computer 310 through the data line, and the internal quality detection and classification of the fruit are carried out by the computer 310;

⑤ After steps ③ and ④, the internal and external quality of the fruit is graded, and then it reaches the grading and kicking device 400. The control signal sent by the PLC controller 320 controls the relay 420 in the electromagnet 430 to close and energize, so that it can complete the automatic telescopic action , the fruit clamping mechanism 116 is promoted by the push rod 440, and the fruit clamping mechanism 116 is kicked out from the protruding hook 115 below the traction chain 106, thereby completing the automatic grading of the spike fruit 124.

⑥After step ⑤, the fruit clamping mechanism 116 holding the spike-shaped fruit 000 falls to the sorting device 500, and is stably transported on the belt 516, and the operator can complete the fruit sorting work.

Claims (1)

1. An automatic detection and grading equipment for spike-shaped fruits, comprising a conveying device (100), a data acquisition device (200), a grading control system (300), a grading kicking device (400) and a sorting device (500); A data acquisition device (200) is arranged on one side of the conveying device (100), a graded kicking device (400) is arranged on the other side of the conveying device (100), and a classification device (400) is arranged below the graded kicking device (400). Picking device (500); The conveying device (100), the data collection device (200), the classification control system (300), the classification kicking device (400) and the sorting device (500) are sequentially connected; It is characterized by: The conveying device (100) includes a frame (101), a foot seat (102), an annular I-shaped steel guide rail (103), a pulley (104), a first bearing seat (105), a traction chain (106), a first 1 Drive sprocket (107), long axis of sprocket (108), second bearing housing (109), U-shaped plate (110), coupling (111), motor plate (112), vertical motor (113) , the first driven sprocket (114), protruding hook (115) and fruit clamping mechanism (116); Its location and connection relationship are: Foot seat (102) is installed at the bottom of rectangular frame (101), and ring-shaped I-beam guide rail (103) is suspended with bolts on the lower surface of frame (101) top, and pulley (104) is arranged on ring-shaped I-beam On the guide rail (103), the upper end of the traction chain (106) is connected with the pulley (104), and the lower end of the traction chain (106) is connected with the extension hook (115), and the lower end of the extension hook (115) is suspended with a fruit clamping mechanism ( 116); A motor plate (112) is arranged on the lower left side of the frame (101), a vertical motor (113) is arranged on the motor plate (112), and the upper and lower ends of the long axis of the sprocket (108) pass through the first bearing seat respectively (105) and the 2nd bearing seat (109) are connected with the U-shaped plate (110) that is arranged on the upper left of the frame (101); The vertical motor (113), coupling (111), sprocket long shaft (108) and the first driving sprocket (107) are connected in sequence, and the first driving sprocket (107) meshes with the left end of the traction chain (106) , the right end of the traction chain (106) engages with the first driven sprocket (114); Described fruit clamping mechanism (116) comprises cross bar head (1161), limit spring (1162), the 1st fork (1163), reset handle (1164), return spring (1165), the 2nd fork ( 1166), slideway (1167), the 1st bearing pin (1168) and the 2nd bearing pin (1169); Its position and connection relation are: cross bar head (1161) is provided with hook and left and right through holes on it, in left and right Through the second pin shaft (1169), the first swing link (1163) and the second swing link (1166) are suspended respectively, and a limit spring is connected between the first swing link (1163) and the second swing link (1166). (1162), the left side of the bottom of the 1st fork (1163) is provided with a slideway (1167), the bottom of the 2nd fork (1166) is provided with the 1st bearing pin (1168), reset handle (1164) Installed on the first pin shaft (1168), a return spring (1165) is arranged on the top of the second pendulum (1166), the upper side of the second pendulum (1166) is close to the return spring (1165), and the second pendulum The lower side of the rod (1166) is close to the slideway (1167); between the lower ends of the first swing rod (1163) and the second swing rod (1166), the ear-shaped fruit (000) is clamped; The grading kick-out device (400) includes a fixed bracket (410), a relay (420), a push-pull electromagnet (430) and a push rod (440); Its location and connection relationship are: A fixed bracket (410) is arranged on the upper front end of the frame (101), a push-pull electromagnet (430) is arranged on the fixed bracket (410), and a relay (420) is arranged on the top of the push-pull electromagnet (430). ), a push rod (440) is installed at the front end of the push-pull electromagnet (430), and the push rod (440) is aligned with the crossbar head (1161) of the fruit clamping mechanism (116); The sorting device (500) includes a driving motor (501), a first triangular bearing seat (502), a second driving sprocket (503), a driving motor shaft (504), a chain (505), a second triangular bearing Seat (506), second driven sprocket (507), fixed frame (508), connecting plate (509), first roller short shaft (510), third triangular bearing seat (511), bearing seat backing plate (512), the 2nd cylinder short axis (513), driven cylinder (514), vertical bearing block (515), belt (516), cylinder long axis (517) and driving cylinder (518); Its location and connection relationship are: A bearing seat backing plate (512) is arranged on the upper end surface of the fixed frame (508), and a vertical bearing seat (515) is installed on the bearing seat backing plate (512); A connecting plate (509) is arranged on the side of the fixed frame (508), and a circular hole is arranged at the front, middle and rear positions of the connecting plate (509), and the first triangular bearing seat (502), the second triangular bearing seat (502) and the second Triangular bearing seat (506) and the 3rd triangular bearing seat (511); Drive motor (501) is installed on the left side of connecting plate (509) front end, and drive motor shaft (504) passes the 1st triangular bearing seat (502) of front end ) is connected with the second driving sprocket (507), the second driving sprocket (507) is connected with the second driven sprocket (507) through the chain (505), and the right side of the long axis of the drum (517) passes through the connecting plate (509 ) in the middle of the second triangular bearing seat (506) is connected with the second driven sprocket (507), the left side of the long axis of the drum (517) is fixed on the vertical bearing seat (515), and the long axis of the drum (517) is connected with the driving The cylinder (518) is connected; the right end of the short axis of the first cylinder (510) is fixed on the connection plate (509) through the third triangular bearing seat (511) at the rear end of the connection plate (509), and the short axis of the first cylinder (510) The left end is fixed on the vertical bearing seat (515), and the short shaft of the second roller (513) is connected with the driven roller (514); The belt (516) wraps the driven drum (514) and the driving drum (518) to form a belt transmission mechanism, and there is a certain gap between two adjacent belt transmission mechanisms to form a grading channel.