A dynamic balanced grading device and grading method for a fruit and vegetable sorting machine

Abstract

The present invention discloses a dynamic balanced grading device for a fruit and vegetable sorting machine, comprising a conveyor, fruit cups, a detection system, a sorting assembly, a packaging and blocking assembly, a PLC control system, and a host computer (PC) control system. The conveyor is provided with a longitudinal conveying section, and further includes an identification and positioning assembly, an accumulation detection sensor, and a fruit cup circulation system. The detection system is provided with a first identifier, and the fruit cups are provided with identification cup labels. Through the interaction of the above structures, the sorting of the fruit cups can be dynamically controlled, preventing frequent accumulation of the fruit cups in the longitudinal conveying section, thereby balancing the sorting efficiency of the sorting equipment and the packaging efficiency of the staff.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural products, relates to the technical field of fruit and vegetable sorting, and in particular to a dynamic balanced grading device and a grading method for a fruit and vegetable sorting machine. Background Art

[0002] With the development of the modern fruit and vegetable sorting industry, more and more fruits are being sorted using sorting machines, greatly improving the speed and efficiency of fruit sorting. Sorting machines are also becoming increasingly refined, versatile, and modularized through continuous iterations. Sorting indicators are becoming more and more numerous and detailed, and the number of sorting outlets is also increasing. However, the matching automatic fruit unloading and packaging systems are difficult to adapt to the increasing number of sorting outlets due to their technical development difficulties, high application requirements, limited versatility, and high costs.

[0003] Therefore, most of the sorting equipment on the market now is equipped with manual packaging of fruits. The contradiction between the high efficiency of sorting equipment and the low speed and low efficiency of manual fruit packaging is becoming more and more prominent. Summary of the Invention

[0004] The present invention aims to solve the problems in the prior art such as the contradiction between the high efficiency of sorting equipment and the low speed and low efficiency of manual fruit packaging, and provides a new dynamic balanced grading device and grading method for a fruit and vegetable sorting machine.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] A dynamic balanced grading device for a fruit and vegetable sorting machine includes a conveyor, a fruit cup, a detection system, a sorting component, a packaging blocking component, a PLC control system, and a host computer PC control system. The conveyor is provided with a longitudinal conveying segment, the number of which is at least 2. The device also includes an identification and positioning component, an accumulation detection sensor, and a fruit cup circulation system. The detection system is provided with a first identifier. The conveyor is provided downstream of the fruit cup circulation system and is connected to the fruit cup circulation system. The fruit cups are arranged on the conveyor and the fruit cup circulation system. The conveyor and the fruit cup circulation system provide driving force for the fruit cups. The fruit cups are provided with fruit cup labels for identification. The detection system and identification and positioning component are provided on the conveyor. The sorting component is provided on the side of the conveyor and is placed corresponding to the longitudinal conveying section of the conveyor. The accumulation detection sensor and the packaging blocking component are respectively provided on the sides of the longitudinal conveying section of the conveyor, and the accumulation detection sensor is located upstream of the packaging blocking component. The conveyor, identification and positioning component, sorting component, accumulation detection sensor, packaging blocking component, and fruit cup circulation system are respectively connected to the PLC control system, and the detection system and PLC control system are respectively connected to the host computer PC control system.

[0007] The conveyor is used to transport fruit cups, the inspection system is used to inspect the quality of fruits and vegetables to be sorted in the fruit cups, the sorting component is used to sort the fruit cups, and the packaging blocking component is used to block the fruits and vegetables to be packaged, thereby facilitating packaging. The PLC control system is used to control the operation of each component and obtain information from each component. The host computer PC control system serves as the overall control center and can coordinate the various components during operation through the PLC control system. The longitudinal conveying sections are used to allow sorted fruits and vegetables to enter and facilitate packaging operations. The first identifier is used to obtain information about the fruit cups, the identification and positioning component is used to determine the position of the fruit cups, and the accumulation detection sensor is used to detect the accumulation of fruit cups in each longitudinal conveying section. This, in conjunction with the sorting component, allows the host computer PC control system to adjust the sorting position of the fruit cups, significantly reducing accumulation of fruit cups in each longitudinal conveying section. The fruit cup circulation system circulates the fruit cups and returns them to the conveyor, thereby improving the efficiency of the fruit cups. Through the mutual cooperation of the above structures, the sorting of the fruit cups can be dynamically controlled, which will not cause frequent accumulation of the fruit cups in the longitudinal conveying sections, and balance the contradiction between the sorting efficiency of the sorting equipment and the packaging efficiency of the staff.

[0008] A grading method for a dynamic balanced grading device of a fruit and vegetable sorting machine comprises the following steps:

[0009] A. The fruit cups are circulated into the conveyor by the fruit cup circulation system, and the staff put the fruits and vegetables to be sorted into the fruit cups;

[0010] B. When a fruit cup containing fruits and vegetables to be sorted passes through the detection system, the detection system obtains detection data of the fruits and vegetables to be sorted, and the first identifier obtains fruit cup label data from the fruit cup label on the fruit cup. The detection system then transmits the detection data of the fruits and vegetables to be sorted and the fruit cup label data to a host computer control system via a communication connection. The host computer control system compares the detection data of the fruits and vegetables to be sorted with built-in preset fruit and vegetable grade data to obtain grade data of the fruits and vegetables to be sorted.

[0011] C. The upper computer PC control system obtains the number of packaged fruit cups in each longitudinal conveying section through the PLC control system, and then obtains the sorting outlet data of the fruit cups in combination with the grade data of the fruits and vegetables to be sorted and records it;

[0012] D. The host PC control system sends the fruit cup label data and sorting outlet data of the fruit cup to the PLC control system via communication, and then the host PC control system updates the number of fruit cups to be sorted;

[0013] E. When the fruit cup containing the fruits and vegetables to be sorted passes through the identification and positioning component, the PLC control system obtains the fruit cup label data and fruit cup position information of the fruit cup at the position of the identification and positioning component;

[0014] F. The PLC control system obtains the sorting position of the fruit cup according to the obtained fruit cup label data, sorting outlet data, and fruit cup position information;

[0015] G. The PLC control system controls the sorting component to extend when the fruit carrying cup reaches the predetermined sorting position, changes the moving direction of the fruit carrying cup, and makes the fruit carrying cup enter the longitudinal conveying section corresponding to the sorting position, and updates the number of sorted fruit cups. At this time, the fruits and vegetables on the fruit carrying cup are ready for packaging;

[0016] H. When the sorted fruit cups arrive at the location of the packaging blocking assembly after being transported in sections, the PLC control system controls the packaging blocking assembly to block the fruit cups carrying the fruits and vegetables to be packaged from passing through, waiting for the packaging personnel to take away the fruits and vegetables to be packaged for packaging;

[0017] I. After the packing personnel take away the fruits and vegetables to be packaged, the PLC control system controls the packaging blocking component to release the blockage and updates the number of packed fruit cups. The number of fruit cups to be packaged is obtained by subtracting the number of packed fruit cups from the number of sorted fruit cups;

[0018] J. The PLC control system obtains the stacking status of each longitudinal conveying segment through the stacking detection sensor, and sends the stacking status of each longitudinal conveying segment, the number of fruit cups to be packaged, and the number of packaged fruit cups to the host PC control system through communication, thereby completing the sorting of fruits and vegetables.

[0019] Through the above steps, the present invention can dynamically adjust the number of fruit cups to be packaged in each longitudinal conveying section and detect the stacking status of each longitudinal conveying section, thereby preventing frequent stacking of fruit cups in the longitudinal conveying sections and balancing the contradiction between the sorting efficiency of the sorting equipment and the packaging efficiency of the staff.

[0020] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine, the identification and positioning component includes a second identifier, an identifier trigger device, and a positioning device, the second identifier is located at the front section of the conveyor, and the second identifier is located upstream of the sorting component and downstream of the detection system, the identifier trigger device is located between the sorting component and the second identifier, the conveyor is provided with a drive motor, the positioning device is connected to the drive motor and obtains information of the drive motor, and the second identifier, the identifier trigger device, and the positioning device are respectively connected to the PLC control system;

[0021] In step E, when the fruit cup containing the fruits and vegetables to be sorted passes through the identifier triggering device, the second identifier obtains the fruit cup label data by scanning the fruit cup label on the fruit cup, and the PLC control system obtains the fruit cup position information by calculating the information sent by the positioning device.

[0022] Through the above structure and steps, the fruit cup position information of each fruit carrying cup can be accurately obtained in real time, thereby facilitating the subsequent accurate sorting of each fruit carrying cup and the allocation of the outlet position.

[0023] Preferably, in the grading method of the dynamic balanced grading device of the fruit and vegetable sorting machine described above, the sorting assembly includes a sorting drive device, a sorting head, a position detection sensor, and a base, wherein the sorting drive device is arranged on the base, the sorting head is connected to the sorting drive device and cooperates with the fruit carrying cup, the position detection sensor is arranged on the sorting drive device, and the sorting drive device and the position detection sensor are respectively connected to the PLC control system;

[0024] In step G, when the fruit carrying cup reaches a predetermined sorting position, the PLC control system controls the sorting drive device to extend and drives the sorting head to extend. After the sorting head contacts the fruit carrying cup, the moving direction of the fruit carrying cup is changed, so that the fruit carrying cup enters the longitudinal conveying section corresponding to the sorting position. When the sorting drive device extends to the detection position of the position detection sensor, the PLC control system controls the sorting drive device to retract and updates the number of sorted fruit cups.

[0025] Through the above structure and steps, each fruit cup can be sorted accurately and the status information of the sorting operation can be fed back in time.

[0026] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine, when the sorting drive device extends to the detection position of the position detection sensor, the PLC control system controls the sorting drive device to stay for 10ms to 200ms, and then the PLC control system controls the sorting drive device to retract and update the number of sorted fruit cups.

[0027] Through the above arrangement, the sorting drive device can better sort the fruit carrying cups, reduce the impact of the sorting action on the fruits and vegetables to be sorted on the fruit carrying cups, and further improve the success rate of sorting.

[0028] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of the fruit and vegetable sorting machine, the packaging blocking assembly includes a blocking drive device, a blocking head, a trigger device, a detection device, and a carrying platform, the blocking drive device, the trigger device, and the detection device are respectively arranged on the carrying platform, and the trigger device is located downstream of the blocking drive device, the detection device is located downstream of the trigger device, the blocking head is connected to the blocking drive device, and the blocking drive device, the trigger device, and the detection device are respectively connected to the PLC control system;

[0029] In step H, when the sorted fruit-carrying cups arrive at the location of the trigger device after being transported in sections longitudinally, if the trigger device detects that there are fruits and vegetables to be packaged on the fruit-carrying cups, the PLC control system controls the blocking drive device to extend and block the fruit-carrying cups carrying the fruits and vegetables to be packaged from passing through;

[0030] In step I, after the packer takes away the fruits and vegetables to be packaged, the trigger device detects that there are no more fruits and vegetables to be packaged in the fruit cups. The PLC control system then controls the blocking drive device to retract. The detection device then records the number of fruit cups that have passed the detection device's position and sends the number to the PLC control system. The PLC control system then updates the number of fruit cups to be packaged and the number of packaged fruit cups.

[0031] Through the above settings, the packaged fruits and vegetables can be better blocked, making it easier for staff to pack the packaged fruits and vegetables. At the same time, the number of packaged fruit cups can be detected in real time, making it easier for the host PC control system to better dynamically allocate each longitudinal conveying segment.

[0032] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of the fruit and vegetable sorting machine, the end of the longitudinal conveying segment is connected to the fruit cup circulation system;

[0033] In step I, when the PLC control system controls the packaging blocking component to release the blocking, the empty fruit cups are transported longitudinally and segmented into the fruit cup circulation system, waiting for circulation and then entering the conveyor again.

[0034] By setting the above structure, empty fruit cups can also directly enter the fruit cup circulation system, further improving the circulation efficiency of the fruit cups, thereby reducing the processing cost and processing time of the empty fruit cups.

[0035] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine, the accumulation detection sensor is located at the front 1 / 3 to 1 / 4 position of the longitudinal conveying segment, and the accumulation detection sensor is a photoelectric sensor or a capacitive proximity sensor.

[0036] Through the setting of the above structure, a larger stacking area can be formed under the premise of ensuring normal packaging by the staff, avoiding the reduction of dynamic allocation efficiency due to the stacking buffer zone of the longitudinal conveying segment being too short. In addition, the stacking detection sensor uses the above sensor, which can realize contactless detection and avoid the impact of the fruit cup on the stacking detection sensor.

[0037] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine, the detection system is one or any combination of a weight detection device, a visual detection device, and a sugar content detection device.

[0038] Different devices and combinations can be selected according to the needs of different customers, thereby making the application scope of the present invention wider and easier to promote.

[0039] Preferably, in the grading method of the dynamic balanced grading device of the fruit and vegetable sorting machine described above, the process of acquiring the sorting outlet data is as follows:

[0040] S1. The host PC control system obtains the quantity information of all built-in longitudinal conveying segments, and obtains the allocable outlet list E based on the preset fruit and vegetable grade data and the quantity information of all longitudinal conveying segments. The allocable outlet list E includes the number of fruit cups to be sorted in each longitudinal conveying segment. The specific structure of the allocable outlet list E is as follows:

[0041] Where EXIT is a single exit storage list, and n is the total number of longitudinal conveying segments;

[0042] S2. Obtain the number of fruit cups to be sorted in each longitudinal conveying segment from the list of allocable outlets E and subtract the number of packaged fruit cups to obtain the fruit cup inventory value. The specific formula is COUNT i =Cin i -Cout i , where COUNT is the fruit cup inventory value, Cin is the number of fruit cups to be sorted, Cout is the number of packaged fruit cups, and i is the index value of each longitudinal conveying segment, thereby obtaining the conveying segment fruit cup inventory list C. The specific structure of the conveying segment fruit cup inventory list C is as follows:

[0043]

[0044] S21. At this time, if the host computer PC control system receives the accumulation status of each longitudinal conveying segment sent by the PLC control system, the host computer PC control system replaces the fruit cup inventory value of the longitudinal conveying segment with the total storage upper limit of the fruit cups at the sorting outlet, thereby updating the conveying segment fruit cup inventory list C. The specific formula is as follows:

[0045] COUNT=C max ,COUNT<C max , where Cmax is the upper limit of the total storage capacity of the fruit cups at the sorting outlet;

[0046] S3. Obtain the minimum value C in the corresponding conveying segment fruit cup inventory list C according to the grade data of the fruits and vegetables to be sorted. min , the minimum value C min The calculation formula is: C min =MIN(COUNT1,COUNT2,COUNTn);

[0047] S4, will have the minimum value C min The longitudinal conveying segments are used as the final sorting export data and sent to the PLC control system;

[0048] S5. Update the number of fruit cups to be sorted in the longitudinal conveying section. The calculation formula is as follows:

[0049] Where k is the minimum value C min The index value of the longitudinal transport segment.

[0050] Through the above steps, the fruit cup inventory value in each longitudinal conveying section can be monitored in real time, so that the sorting outlet can be dynamically allocated according to the equipment status. In addition, when the longitudinal conveying section accumulates, the system has an automatic correction function to prevent the accumulation error from affecting the normal operation of the equipment.

[0051] Preferably, in the above-mentioned grading method of the dynamic balanced grading device of the fruit and vegetable sorting machine, in step G, if the PLC control system detects that the number of sorted fruit cups has not been updated, it is determined that the sorting component has failed to extend when the fruit-carrying cup reaches the predetermined sorting position, and the PLC control system sends a sorting failure flag and fruit cup label data to the host computer PC control system. Then, the host computer PC control system obtains the current position of the fruit-carrying cup from the PLC control system based on the fruit cup label data and re-obtains the sorting outlet data of the fruit-carrying cup in combination with the grade data of the fruits and vegetables to be sorted, and then sends the sorting outlet data to the PLC control system.

[0052] Through the above steps, timely feedback can be given when sorting fails and a new sorting outlet can be dynamically allocated, thereby avoiding direct backflow of the fruit cup and improving sorting efficiency.

[0053] The present invention has the following beneficial effects:

[0054] 1. The present invention solves the problem that the sorting efficiency of the sorting equipment is inconsistent with the packaging efficiency of the manual packers, which leads to frequent accumulation at the sorting machine outlet. It also solves the defects of the existing sorting equipment, such as a large amount of backflow fruit, fruit damage, and low efficiency of the sorting machine.

[0055] 2. The present invention can monitor the sorting status and accumulation status of each grading outlet in real time, thereby dynamically adjusting the sorting level and setting the maximum accumulation range through the accumulation detection sensor, thereby realizing automatic calibration of the accumulation error and avoiding the situation where the equipment cannot operate normally due to accumulation of fruit cups. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a structural schematic diagram of the present invention;

[0057] Figure 2 for Figure 1 A partial enlarged view of part A in the middle;

[0058] Figure 3 for Figure 1 A partial enlarged view of part B in the middle;

[0059] Figure 4 for Figure 1 A partial enlarged view of the middle C section;

[0060] Figure 5 is a flow chart of the present invention;

[0061] Figure 6 This is a flow chart for obtaining sorting export data in the present invention. DETAILED DESCRIPTION

[0062] The following is combined with Figure 1-6 The present invention is further described in detail with specific embodiments, but they are not intended to limit the present invention:

[0063] Example 1

[0064] like Figures 1 to 6As shown, a dynamic balanced grading device for a fruit and vegetable sorting machine includes a conveyor 1, a fruit cup 2, a detection system 3, a sorting component 5, a packaging blocking component 7, a PLC control system 100, and a host computer PC control system 200. The conveyor 1 is provided with a longitudinal conveying segment 11, the number of which is at least 2, and further includes an identification and positioning component 4, an accumulation detection sensor 6, and a fruit cup circulation system 8. The detection system 3 is provided with a first identifier 31. The conveyor 1 is provided downstream of the fruit cup circulation system 8 and is connected to the fruit cup circulation system 8. The fruit cup 2 is arranged on the conveyor 1 and the fruit cup circulation system 8. The conveyor 1 and the fruit cup circulation system 8 provide driving force for the fruit cup 2. The fruit cup 2 is provided with a fruit cup label for identification. The detection system 3 and the identification and positioning component 4 are arranged on the conveyor 1. The sorting component 5 is arranged on the side of the conveyor 1 and is placed corresponding to the longitudinal conveying section 11 of the conveyor 1. The accumulation detection sensor 6 and the packaging blocking component 7 are respectively arranged on the side of the longitudinal conveying section 11 of the conveyor 1, and the accumulation detection sensor 6 is located upstream of the packaging blocking component 7. The conveyor 1, the identification and positioning component 4, the sorting component 5, the accumulation detection sensor 6, the packaging blocking component 7, and the fruit cup circulation system 8 are respectively connected to the PLC control system 100, and the detection system 3 and the PLC control system 100 are respectively connected to the host computer PC control system 200.

[0065] A grading method for a dynamic balanced grading device of a fruit and vegetable sorting machine comprises the following steps:

[0066] A. The fruit cups 2 are circulated by the fruit cup circulation system 8 into the conveyor 1, and the staff put the fruits and vegetables to be sorted into the fruit cups 2;

[0067] B. When the fruit cup 2 containing the fruits and vegetables to be sorted passes through the detection system 3, the detection system 3 obtains detection data of the fruits and vegetables to be sorted, and the first identifier 31 obtains the fruit cup label data from the fruit cup label on the fruit cup 2. The detection system 3 then transmits the detection data and the fruit cup label data to the host computer PC control system 200 via a communication connection. The host computer PC control system 200 compares the detection data of the fruits and vegetables to be sorted with the built-in preset fruit and vegetable grade data to obtain the grade data of the fruits and vegetables to be sorted.

[0068] C. The upper computer PC control system 200 obtains the number of packaged fruit cups in each longitudinal conveying section 11 through the PLC control system 100, and then obtains and records the sorting outlet data of the fruit cup 2 in combination with the grade data of the fruits and vegetables to be sorted;

[0069] D. The host computer PC control system 200 sends the fruit cup label data and sorting outlet data of the fruit cup 2 to the PLC control system 100 via communication, and then the host computer PC control system 200 updates the number of fruit cups to be sorted;

[0070] E. When the fruit cup 2 containing the fruits and vegetables to be sorted passes through the identification and positioning component 4, the PLC control system 100 obtains the fruit cup label data and fruit cup position information of the fruit cup 2 at the position of the identification and positioning component 4;

[0071] F. The PLC control system 100 obtains the sorting position of the fruit cup 2 according to the obtained fruit cup label data, sorting outlet data, and fruit cup position information;

[0072] G. The PLC control system 100 controls the sorting assembly 5 to extend when the fruit cup 2 reaches the predetermined sorting position, changes the moving direction of the fruit cup 2, causes the fruit cup 2 to enter the longitudinal conveying section 11 corresponding to the sorting position, and updates the number of sorted fruit cups. At this time, the fruits and vegetables on the fruit cup 2 are ready for packaging.

[0073] H. When the sorted fruit cups 2 arrive at the location of the packaging blocking assembly 7 via the longitudinal conveying segment 11, the PLC control system 100 controls the packaging blocking assembly 7 to block the fruit cups 2 containing the fruits and vegetables to be packaged from passing through, waiting for the packaging personnel to take the fruits and vegetables to be packaged for packaging;

[0074] I. After the packing personnel take away the fruits and vegetables to be packaged, the PLC control system 100 controls the packaging blocking component 7 to release the blocking, and updates the number of packed fruit cups. The number of fruit cups to be packaged is obtained by subtracting the number of packed fruit cups from the number of sorted fruit cups;

[0075] J. The PLC control system 100 obtains the stacking status of each longitudinal conveying segment 11 through the stacking detection sensor 6, and sends the stacking status of each longitudinal conveying segment 11, the number of fruit cups to be packaged, and the number of packaged fruit cups to the host computer PC control system 200 via communication, thereby completing the sorting of fruits and vegetables.

[0076] Preferably, the identification and positioning component 4 includes a second identifier 41, an identifier trigger device 42, and a positioning device 43. The second identifier 41 is located at the front section of the conveyor 1, and the second identifier 41 is located upstream of the sorting component 5 and downstream of the detection system 3. The identifier trigger device 42 is located between the sorting component 5 and the second identifier 41. The conveyor 1 is provided with a drive motor 12. The positioning device 43 is connected to the drive motor 12 and obtains information of the drive motor 12. The second identifier 41, the identifier trigger device 42, and the positioning device 43 are respectively connected to the PLC control system 100.

[0077] In step E, when the fruit cup 2 containing the fruits and vegetables to be sorted passes the identifier trigger device 42, the second identifier 41 obtains the fruit cup label data by scanning the fruit cup label on the fruit cup 2, and the PLC control system 100 obtains the fruit cup position information by calculating the information sent by the positioning device 43.

[0078] Preferably, the sorting assembly 5 includes a sorting drive device 51, a sorting head 52, a position detection sensor 53, and a base 54. The sorting drive device 51 is arranged on the base 54, the sorting head 52 is connected to the sorting drive device 51 and cooperates with the fruit cup 2, and the position detection sensor 53 is arranged on the sorting drive device 51. The sorting drive device 51 and the position detection sensor 53 are respectively connected to the PLC control system 100.

[0079] In step G, when the fruit carrying cup 2 reaches the predetermined sorting position, the PLC control system 100 controls the sorting drive device 51 to extend and drives the sorting head 52 to extend. After the sorting head 52 contacts the fruit carrying cup 2, the moving direction of the fruit carrying cup 2 is changed, so that the fruit carrying cup 2 enters the longitudinal conveying section 11 corresponding to the sorting position. When the sorting drive device 51 extends to the detection position of the position detection sensor 53, the PLC control system 100 controls the sorting drive device 51 to retract and updates the number of sorted fruit cups.

[0080] Preferably, when the sorting drive device 51 extends to the detection position of the position detection sensor 53, the PLC control system 100 controls the sorting drive device 51 to stay for 10ms, and then controls the sorting drive device 51 to retract and update the number of sorted fruit cups.

[0081] Preferably, the packaging blocking assembly 7 includes a blocking drive device 71, a blocking head 72, a trigger device 73, a detection device 74, and a carrying platform 75. The blocking drive device 71, the trigger device 73, and the detection device 74 are respectively arranged on the carrying platform 75, and the trigger device 73 is located downstream of the blocking drive device 71, and the detection device 74 is located downstream of the trigger device 73. The blocking head 72 is connected to the blocking drive device 71, and the blocking drive device 71, the trigger device 73, and the detection device 74 are respectively connected to the PLC control system 100;

[0082] In step H, when the sorted fruit cups 2 arrive at the location of the trigger device 73 via the longitudinal conveying section 11, if the trigger device 73 detects that there are fruits and vegetables to be packaged on the fruit cups 2, the PLC control system 100 controls the blocking drive device 71 to extend and block the fruit cups 2 carrying the fruits and vegetables to be packaged from passing through.

[0083] In step I, after the packer takes away the fruits and vegetables to be packaged, the trigger device 73 detects that there are no more fruits and vegetables to be packaged in the fruit cups 2. The PLC control system 100 then controls the blocking drive device 71 to retract. The detection device 74 then records the number of fruit cups 2 that have passed the position of the detection device 74 and sends the number to the PLC control system 100. The PLC control system 100 then updates the number of fruit cups to be packaged and the number of packaged fruit cups.

[0084] Preferably, the end of the longitudinal conveying segment 11 is connected to the fruit cup circulation system 8;

[0085] In step I, when the PLC control system 100 controls the packaging blocking component 7 to release the blocking, the empty fruit cups 2 enter the fruit cup circulation system 8 through the longitudinal conveying segment 11 and wait for circulation before entering the conveyor 1 again.

[0086] Preferably, the accumulation detection sensor 6 is located at the front 1 / 3 to 1 / 4 position of the longitudinal conveying section 11, and the accumulation detection sensor 6 is a photoelectric sensor or a capacitive proximity sensor.

[0087] Preferably, the detection system 3 is one or any combination of a weight detection device, a visual detection device, and a sugar content detection device.

[0088] Preferably, the process of obtaining the sorting export data is as follows:

[0089] S1. The host PC control system 200 obtains the quantity information of all built-in longitudinal conveying segments 11. Based on the preset fruit and vegetable grade data and the quantity information of all longitudinal conveying segments 11, a list of allocable outlets E is obtained. The list of allocable outlets E includes the number of fruit cups to be sorted in each longitudinal conveying segment 11. The specific structure of the list of allocable outlets E is as follows:

[0090] Where EXIT is a single exit storage list, and n is the total number of longitudinal conveying segments 11;

[0091] S2. Obtain the number of fruit cups to be sorted in each longitudinal conveying segment 11 from the list of allocable outlets E and subtract the number of packaged fruit cups to obtain the fruit cup inventory value. The specific formula is COUNT i =Cin i -Cout i , where COUNT is the fruit cup inventory value, Cin is the number of fruit cups to be sorted, Cout is the number of packaged fruit cups, and i is the index value of each longitudinal conveying segment 11, thereby obtaining the conveying segment fruit cup inventory list C. The specific structure of the conveying segment fruit cup inventory list C is as follows:

[0092]

[0093] S21. At this time, if the host computer PC control system 200 receives the accumulation status of each longitudinal conveying segment 11 sent by the PLC control system 100, the host computer PC control system 200 replaces the fruit cup inventory value of the longitudinal conveying segment 11 with the value of the accumulation status being true with the upper limit of the total storage amount of fruit cups at the sorting outlet, thereby updating the conveying segment fruit cup inventory list C. The specific formula is as follows:

[0094] COUNT=C max ,COUNT<C max , where Cmax is the upper limit of the total storage capacity of the fruit cups at the sorting outlet;

[0095] S3. Obtain the minimum value C in the corresponding conveying segment fruit cup inventory list C according to the grade data of the fruits and vegetables to be sorted. min , the minimum value C min The calculation formula is: C min =MIN(COUNT1, COUNT2,...COUNTn);

[0096] S4, will have the minimum value C min The longitudinal conveying segment 11 is used as the final sorting outlet data and sent to the PLC control system 100;

[0097] S5. Update the number of fruit cups to be sorted in the longitudinal conveying section 11. The calculation formula is as follows:

[0098] Where k is the minimum value C min The index value of the longitudinal conveying segment 11.

[0099] Preferably, in step G, if the PLC control system 100 detects that the number of sorted fruit cups has not been updated, it determines that the sorting component 5 has failed to extend when the fruit carrying cup 2 reaches the predetermined sorting position, and the PLC control system 100 sends a sorting failure flag and fruit cup label data to the host computer PC control system 200. Then, the host computer PC control system 200 obtains the current position of the fruit carrying cup 2 from the PLC control system 100 based on the fruit cup label data and re-obtains the sorting outlet data of the fruit carrying cup 2 in combination with the grade data of the fruits and vegetables to be sorted, and then sends the sorting outlet data to the PLC control system 100.

[0100] Example 2

[0101] When the sorting drive device 51 extends to the position detected by the position detection sensor 53, the PLC control system 100 controls the sorting drive device 51 to stay for 200ms, and then controls the sorting drive device 51 to retract and update the number of sorted fruit cups.

[0102] Other implementations are the same as in Example 1.

[0103] Example 3

[0104] When the sorting drive device 51 extends to the position detected by the position detection sensor 53, the PLC control system 100 controls the sorting drive device 51 to stay for 100ms, and then controls the sorting drive device 51 to retract and update the number of sorted fruit cups.

[0105] Other implementations are the same as in Example 1.

[0106] In short, the above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A grading method for a dynamic balanced grading device of a fruit and vegetable sorting machine, characterized by: The following steps are involved: A. The fruit cup (2) is circulated into the conveyor (1) by the fruit cup circulation system (8), and the staff puts the fruits and vegetables to be sorted into the fruit cup (2); B. When the fruit cup (2) carrying the fruits and vegetables to be sorted passes through the detection system (3), the detection system (3) obtains detection data of the fruits and vegetables to be sorted, and the first identifier (31) obtains fruit cup label data through the fruit cup label on the fruit cup (2), and sends the detection data of the fruits and vegetables to be sorted and the fruit cup label data to the upper computer PC control system (200) via a communication connection. The upper computer PC control system (200) compares the detection data of the fruits and vegetables to be sorted with the built-in preset fruit and vegetable grade data to obtain the grade data of the fruits and vegetables to be sorted; C. The upper computer PC control system (200) obtains the number of packed fruit cups in each longitudinal conveying section (11) through the PLC control system (100), and then obtains the sorting outlet data of the fruit cup (2) in combination with the grade data of the fruits and vegetables to be sorted and records the data; D. The upper computer PC control system (200) sends the fruit cup label data and sorting outlet data of the fruit cup (2) to the PLC control system (100) via communication, and then the upper computer PC control system (200) updates the number of fruit cups to be sorted; E. When the fruit cup (2) carrying the fruits and vegetables to be sorted passes through the identification and positioning component (4), the PLC control system (100) obtains the fruit cup label data and the fruit cup position information of the fruit cup (2) at the position of the identification and positioning component (4); F. The PLC control system (100) obtains the sorting position of the fruit cup (2) based on the acquired fruit cup label data, sorting outlet data, and fruit cup position information; G. The PLC control system (100) controls the sorting component (5) to extend when the fruit carrying cup (2) reaches a predetermined sorting position, changes the moving direction of the fruit carrying cup (2), causes the fruit carrying cup (2) to enter the longitudinal conveying section (11) corresponding to the sorting position, and updates the number of sorted fruit cups. At this time, the fruits and vegetables on the fruit carrying cup (2) are fruits and vegetables to be packaged; H. When the sorted fruit cups (2) arrive at the location of the packaging blocking component (7) via the longitudinal conveying segment (11), the PLC control system (100) controls the packaging blocking component (7) to block the fruit cups (2) carrying the fruits and vegetables to be packaged from passing through, waiting for the packaging personnel to take away the fruits and vegetables to be packaged for packaging; I. After the packing personnel take away the fruits and vegetables to be packed, the PLC control system (100) controls the packing blocking component (7) to release the blocking, and updates the number of packed fruit cups. The number of packed fruit cups is obtained by subtracting the number of sorted fruit cups from the number of packed fruit cups to obtain the number of fruit cups to be packed; J. The PLC control system (100) obtains the stacking state of each longitudinal conveying segment (11) through the stacking detection sensor (6), and transmits the stacking state of each longitudinal conveying segment (11), the number of fruit cups to be packaged, and the number of packaged fruit cups to the upper computer PC control system (200) via communication, thereby completing the sorting of fruits and vegetables; The process of obtaining the sorting export data is as follows: S1. The host computer PC control system (200) obtains the quantity information of all built-in longitudinal conveying segments (11), and obtains the allocable outlet list E based on the preset fruit and vegetable grade data and the quantity information of all longitudinal conveying segments (11). The allocable outlet list E includes the number of fruit cups to be sorted in each longitudinal conveying segment (11). The specific structure of the allocable outlet list E is as follows: ,in is a single outlet storage list, n is the total number of longitudinal conveying segments (11); S2. Obtain the number of fruit cups to be sorted in each longitudinal conveying segment (11) from the list of allocable outlets E and subtract the number of packaged fruit cups to obtain the fruit cup inventory value. The specific formula is: ,in is the stock value of the fruit cup, is the number of fruit cups to be sorted, is the number of packed fruit cups, is the index value of each longitudinal conveying segment (11), thereby obtaining the conveying segment fruit cup inventory list C, the specific structure of the conveying segment fruit cup inventory list C is as follows: ； S21. At this time, if the host computer PC control system (200) receives the accumulation status of each longitudinal conveying segment (11) sent by the PLC control system (100), the host computer PC control system (200) replaces the fruit cup inventory value of the longitudinal conveying segment (11) with the value of the accumulation status being true with the upper limit value of the total storage amount of fruit cups at the sorting outlet, thereby updating the conveying segment fruit cup inventory list C. The specific formula is as follows: ,in An upper limit value for the total amount of storage for the sorting outlet fruit cups; S3. Obtain the minimum value in the corresponding conveying segment fruit cup inventory list C based on the grade data of the fruits and vegetables to be sorted. , the minimum value The calculation formula is: ; S4, will have the minimum value The longitudinal conveying segment (11) is used as the final sorting outlet data and sent to the PLC control system (100); S5. Update the number of fruit cups to be sorted in the longitudinal conveying section (11). The calculation formula is as follows: ,in To have the minimum value The index value of the longitudinal transport segment (11).

2. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: The identification and positioning component (4) includes a second identifier (41), an identifier trigger device (42), and a positioning device (43). The second identifier (41) is located at the front section of the conveyor (1), and the second identifier (41) is located upstream of the sorting component (5) and downstream of the detection system (3). The identifier trigger device (42) is located between the sorting component (5) and the second identifier (41). A drive motor (12) is provided on the conveyor (1). The positioning device (43) is connected to the drive motor (12) and obtains information of the drive motor (12). The second identifier (41), the identifier trigger device (42), and the positioning device (43) are respectively connected to the PLC control system (100). In step E, when the fruit cup (2) containing the fruits and vegetables to be sorted passes through the identifier trigger device (42), the second identifier (41) obtains the fruit cup label data by scanning the fruit cup label on the fruit cup (2), and the PLC control system (100) obtains the fruit cup position information by calculating the information sent by the positioning device (43).

3. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: The sorting assembly (5) comprises a sorting drive device (51), a sorting head (52), a position detection sensor (53), and a base (54); the sorting drive device (51) is arranged on the base (54); the sorting head (52) is connected to the sorting drive device (51) and cooperates with the fruit carrying cup (2); the position detection sensor (53) is arranged on the sorting drive device (51); and the sorting drive device (51) and the position detection sensor (53) are respectively connected to the PLC control system (100); In step G, when the fruit-carrying cup (2) reaches a predetermined sorting position, the PLC control system (100) controls the sorting drive device (51) to extend and drives the sorting head (52) to extend. After the sorting head (52) contacts the fruit-carrying cup (2), the moving direction of the fruit-carrying cup (2) is changed, so that the fruit-carrying cup (2) enters the longitudinal conveying section (11) corresponding to the sorting position. When the sorting drive device (51) extends to the position detected by the position detection sensor (53), the PLC control system (100) controls the sorting drive device (51) to retract and updates the number of sorted fruit cups.

4. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 3, characterized in that: When the sorting drive device (51) extends to the position detected by the position detection sensor (53), the PLC control system (100) controls the sorting drive device (51) to stay for 10ms to 200ms, and then the PLC control system (100) controls the sorting drive device (51) to retract and update the number of sorted fruit cups.

5. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: The packaging blocking assembly (7) comprises a blocking drive device (71), a blocking head (72), a trigger device (73), a detection device (74), and a carrying platform (75); the blocking drive device (71), the trigger device (73), and the detection device (74) are respectively arranged on the carrying platform (75); the trigger device (73) is located downstream of the blocking drive device (71); the detection device (74) is located downstream of the trigger device (73); the blocking head (72) is connected to the blocking drive device (71); and the blocking drive device (71), the trigger device (73), and the detection device (74) are respectively connected to the PLC control system (100); In the step H, when the sorted fruit-carrying cup (2) reaches the position of the trigger device (73) via the longitudinal conveying section (11), if the trigger device (73) detects that there are fruits and vegetables to be packaged on the fruit-carrying cup (2), the PLC control system (100) controls the blocking drive device (71) to extend and block the fruit-carrying cup (2) carrying the fruits and vegetables to be packaged from passing through; In step I, after the packaging personnel take away the fruits and vegetables to be packaged, the trigger device (73) detects that there are no more fruits and vegetables to be packaged on the fruit-carrying cups (2), and the PLC control system (100) controls the blocking drive device (71) to retract. Then, the detection device (74) records the number of fruit-carrying cups (2) that have passed the position of the detection device (74) and sends it to the PLC control system (100). The PLC control system (100) updates the number of fruit cups to be packaged and the number of packaged fruit cups.

6. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: The end of the longitudinal conveying segment (11) is connected to the fruit cup circulation system (8); In step I, when the PLC control system (100) controls the packaging blocking component (7) to release the blocking, the empty fruit cup (2) enters the fruit cup circulation system (8) through the longitudinal conveying segment (11) and waits for circulation before entering the conveyor (1) again.

7. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: The accumulation detection sensor (6) is located at the front 1 / 3 to 1 / 4 position of the longitudinal conveying section (11), and the accumulation detection sensor (6) is a photoelectric sensor or a capacitive proximity sensor.

8. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: The detection system (3) is one or any combination of a weight detection device, a visual detection device, and a sugar content detection device.

9. The grading method of the dynamic balanced grading device of a fruit and vegetable sorting machine according to claim 1, characterized in that: In step G, if the PLC control system (100) detects that the number of sorted fruit cups has not been updated, it is determined that the sorting component (5) fails to extend when the fruit-carrying cup (2) reaches the predetermined sorting position, and the PLC control system (100) sends a sorting failure flag and fruit cup label data to the upper computer PC control system (200). The upper computer PC control system (200) then obtains the current position of the fruit-carrying cup (2) from the PLC control system (100) based on the fruit cup label data and re-obtains the sorting outlet data of the fruit-carrying cup (2) in combination with the grade data of the fruits and vegetables to be sorted, and then sends the sorting outlet data to the PLC control system (100).

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