Device, method and peeling system for adjusting the position of fruits and vegetables by vibration

Abstract

The present application relates to the field of agricultural machinery, and discloses a device and method for adjusting the posture of fruits and vegetables by vibration and a peeling processing system. The device comprises a control module and at least one vibration driving unit, wherein the vibration driving unit is connected to the control module. The vibration driving unit is used for supporting fruits and vegetables and is controlled by the control module to drive the fruits and vegetables to adjust the posture. The posture of the fruits and vegetables is adjusted by three rotational degrees of freedom through friction drive by vibration, so that the fruit navel is upward, and the subsequent peeling and meat taking processing of the fruits and vegetables is facilitated, and the production efficiency of the primary processing of the fruits and vegetables is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and in particular to a device, method, and peeling system for adjusting the posture of fruits and vegetables using vibration. Background Technology

[0002] In traditional Chinese medicine, Guangchenpi (dried tangerine peel) possesses high medicinal and health benefits, including regulating qi, strengthening the spleen, and resolving dampness and phlegm. In recent years, the Guangchenpi industry has experienced rapid growth, placing higher demands on the automation of Guangchenpi processing equipment. The main raw material for Guangchenpi is the Chazhigan tangerine. During the peeling process, the tangerine's navel is typically positioned upwards or downwards, and then the peel is opened using a two- or three-cut method to ensure the fruit's stem remains intact after peeling.

[0003] Existing technology includes a machine vision device for recognizing and automatically adjusting the posture of tea branch tangerines, which can adjust the posture of the tangerine through four positioning drive wheels. However, since the shape of the tea branch tangerine is not a perfect sphere, during operation, there may be gaps between the working surfaces of the positioning drive wheels and the tangerine, preventing the formation of friction and even causing the fruit to get stuck, thus affecting the speed and accuracy of the posture adjustment.

[0004] Furthermore, existing mechanical devices used for the initial processing of tangerine peel mainly rely on manual methods for locating the navel and adjusting the posture of the tangerine, directly affecting the efficiency and quality of the initial processing. Therefore, the location and posture adjustment of the navel during tangerine peel opening is a bottleneck problem limiting the full automation of the initial processing of Guangchenpi (dried tangerine peel). Summary of the Invention

[0005] In view of this, the present invention aims to improve the speed and accuracy of fruit and vegetable posture adjustment, and proposes a device, method, and peeling processing system for adjusting fruit and vegetable posture using vibration. The present invention utilizes vibration drive to effectively and quickly adjust the posture of fruits and vegetables, improving the speed and accuracy of posture adjustment, increasing the production efficiency and processing quality of initial fruit and vegetable processing, and reducing labor costs.

[0006] The technical solution adopted by the device of the present invention is as follows: a device for adjusting the posture of fruits and vegetables by vibration, comprising a control module and at least one vibration driving unit, wherein the vibration driving unit is connected to the control module; the vibration driving unit is used to support the fruits and vegetables and is controlled by the control module to drive the fruits and vegetables to adjust their posture.

[0007] Preferably, the device further includes a base; there are multiple vibration drive units, which are symmetrically mounted on the base at equal angular distances from the center.

[0008] Preferably, the vibration drive unit includes an elastic top member, a vibration motor, and an elastic base; the vibration motor is connected to both the elastic top member and the vibration drive unit, and the vibration motor is mounted on the elastic base.

[0009] Preferably, the vibration drive unit further includes a vibration motor cover, a vibration motor cover plate, and a vibration motor sleeve; the vibration motor cover plate is coaxially connected to the vibration motor, and the vibration motor cover, vibration motor cover plate, and vibration motor sleeve are coaxially connected from top to bottom by fasteners and installed on the elastic base.

[0010] Preferably, the elastic top is mounted at a 45° angle toward the center of the device on the cover of the vibrating motor to support the fruits and vegetables and to vibrate and push them.

[0011] Preferably, the elastic top element is a spring-loaded round-headed pin, and the fruits and vegetables are spherical.

[0012] Preferably, the device further includes a vibration damper and a displacement sensor connected to the control module; there are multiple vibration dampers, which are symmetrically installed above the base at equal angular distances; the displacement sensor is used to measure the vertical displacement of the base before and after the fruits and vegetables are placed.

[0013] Preferably, the vibration drive unit includes a first vibration drive unit, a second vibration drive unit, and a third vibration drive unit; fruits and vegetables are placed on the elastic top piece, the displacement sensor measures the displacement of the base in the vertical direction, and the mass of the fruits and vegetables is calculated based on the elastic coefficient of the damper; based on the mass of the fruits and vegetables and the friction coefficient between the elastic top piece and the fruit and vegetable skin, the magnitude and direction of the friction force exerted by each elastic top piece on the fruits and vegetables are calculated.

[0014] Based on the magnitude and direction of friction, and combined with the kinematic equations, a fruit and vegetable posture adjustment model is established. The vibration drive unit applies friction to the surface of the fruit and vegetables, and the fruit and vegetables are subjected to three linearly independent torques, making them rotate in three degrees of freedom.

[0015] Based on the fruit and vegetable posture adjustment model, the rotation speed and direction of the vibration motor are controlled, as well as the magnitude and direction of the torque on the fruit and vegetables, thereby adjusting the posture of the fruit and vegetables.

[0016] The technical solution adopted by the system of the present invention is as follows: a peeling processing system, including a conveying device, a visual positioning device, a peeling station, a support, and the above-mentioned vibration adjustment device for adjusting the posture of fruits and vegetables provided by the present invention;

[0017] The conveying device includes a conveyor belt, a loading robot, and a unloading robot. The conveyor belt is located on one side of the support frame, which is positioned between the loading robot and the unloading robot. A vision positioning device and a vibration adjustment device for adjusting the posture of fruits and vegetables are installed on the support frame.

[0018] Before the fruits and vegetables are peeled and loaded, the peeling processing system repeatedly recognizes and automatically adjusts the posture of the fruit and vegetables so that the projection of the fruit navel is located at the origin of the two-dimensional coordinate system of visual positioning. Finally, the conveying device transports the fruits and vegetables with the adjusted posture to the peeling station.

[0019] The technical solution adopted by the present invention is as follows: a method for adjusting the posture of fruits and vegetables by vibration, the method being based on the above-mentioned device for adjusting the posture of fruits and vegetables by vibration, and including the following steps:

[0020] S1. Based on the displacement of the base along the vertical direction before and after the fruit and vegetables are placed, measured by the displacement sensor, the elastic coefficient of the shock absorber, and the friction coefficient between the elastic top and the fruit and vegetable skin, the mass of the fruit and vegetables and the magnitude of the static friction force exerted by the elastic top on the fruit and vegetables are calculated.

[0021] S2. The vibration drive unit periodically applies frictional force to the fruits and vegetables through vibration, causing them to rotate. Based on the magnitude and direction of the frictional force, combined with the kinematic equations, a fruit and vegetable posture adjustment model is established.

[0022] S3. Based on the fruit and vegetable posture adjustment model, the vibration speed and direction of the vibration drive unit are controlled by the control module to adjust the posture of the fruit and vegetables.

[0023] S4. Connected to a visual positioning device, through repeated posture recognition and automatic adjustment, the fruit navel projection of fruits and vegetables is located at the origin of the two-dimensional coordinate system of visual positioning.

[0024] Compared with the prior art, the present invention has the following advantages and effects:

[0025] 1. The present invention provides a device for adjusting the posture of fruits and vegetables (such as tangerines) through vibration. By using vibration to achieve friction drive, the device adjusts the posture of fruits and vegetables with three degrees of rotational freedom so that the navel faces upward. This can effectively and quickly adjust the posture of fruits and vegetables, and also effectively protect the outer skin of fruits and vegetables from damage, resulting in better integrity of the processed peel and stem. At the same time, it reduces the wear of peeling tools, improves the initial processing efficiency of fruits and vegetables, and reduces labor costs.

[0026] 2. Compared with existing adjustment devices, the device of the present invention has fewer connecting and transmission components, higher integration, no exposed rotating shaft structure which makes it easy to achieve waterproof design, no fruit jamming during vibration posture adjustment, improves the speed and accuracy of fruit and vegetable posture adjustment, ensures the integrity of fruit peel and stem, and ultimately improves the production efficiency of fruit and vegetable primary processing.

[0027] 3. The device of the present invention adjusts the posture of spherical fruits and vegetables by using a spring-loaded round-headed pin. Compared with the existing technology that uses a positioning drive wheel, the contact area with the fruit and vegetable skin is smaller, which is more adaptable to the complex shape and skin roughness of fruits and vegetables (such as tea branch oranges), and the friction performance is more stable. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the device for adjusting the posture of tea branches and tangerines by vibration in an embodiment of the present invention.

[0029] Figure 2This is an exploded view of the vibration drive unit in an embodiment of the present invention.

[0030] Figure 3 This is a three-dimensional schematic diagram of the control module in an embodiment of the present invention.

[0031] Figure 4 This is a top view of some components of the device in an embodiment of the present invention.

[0032] Figure 5 The diagram shows the movement of the tea branch orange driven by the vibration of the round head in an embodiment of the present invention. (a) is a schematic diagram of the separation of the round head and the tea branch orange during the driving process, and (b) is a schematic diagram of the contact between the round head and the tea branch orange during the driving process.

[0033] Figure 6 This is a schematic diagram of the peeling processing system in an embodiment of the present invention.

[0034] The components include: 1. Base plate; 2. Vibration damper; 3. Base; 4. Laser displacement sensor; 5. Vibration drive unit; 501. Spring round-headed pin; 502. Vibration motor cover; 503. Vibration motor cover plate; 504. Vibration motor; 505. Vibration motor sleeve; 506. Elastic base; 5-1. First vibration drive unit; 5-2. Second vibration drive unit; 5-3. Third vibration drive unit; 6. Baffle frame; 7. Control module; 701. Power supply voltage regulator module; 702. Microcontroller module; 703. Motor drive module; 8. Bracket; 9. Horizontal conveyor belt; 10. Loading robot; 11. Camera bracket; 12. Camera; 13. Light source; 14. Control cabinet; 15. Unloading robot; 16. Leather opening station. Detailed Implementation

[0035] To facilitate a better understanding of the purpose, structure, features, and effects of this invention, the invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that the features shown in the figures are not necessarily drawn to scale. Furthermore, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the described embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0036] Example

[0037] The tea branch mandarin orange is a fruit and vegetable that is spherical in shape. Taking the tea branch mandarin orange as an example, the technical solution of the present invention will be described in further detail.

[0038] Please see Figure 1 and Figure 6The vibration-adjusting device for the posture of the tea branch tangerine in this embodiment is applied to the tea branch tangerine peeling processing system. The peeling processing system includes a conveying device, a visual positioning device, a vibration-adjusting device for the posture of the tea branch tangerine, a peeling station, and a support 8. Before the tea branch tangerines are peeled and loaded, the system repeatedly identifies and automatically adjusts their posture to ensure that the navel projection of the tea branch tangerine is located at the origin of the two-dimensional coordinate system of visual positioning. Finally, the conveying device transports the tea branch tangerines with adjusted posture to the peeling station. The visual positioning device and the entire vibration-adjusting device for the posture of the tea branch tangerine are mounted above the support 8.

[0039] like Figure 1 As shown, the vibration adjustment device for the posture of the tea branch orange in this embodiment includes a base plate 1, vibration dampers 2, a base 3, a laser displacement sensor 4, vibration drive units 5, baffle frames 6, and a control module 7. With the base 3 as the installation reference, six vibration dampers 2 are symmetrically installed at equal angles to the center below the base 3, with each damper 2 having a horizontal distance of 65mm from the center of the base 3, and are connected to the control module. Three vibration drive units 5 are symmetrically installed at equal angles to the center above the edge of the base 3, with each vibration drive unit 5 having a horizontal distance of 57.5mm from the center of the base 3, used to support the tea branch orange and drive it to adjust its posture. Three baffle frames 6 are installed outside the vibration drive units 5 to limit the vibration at the bottom of the vibration drive units 5. The control module 7 is independently installed to the side, located inside the control cabinet 14, and is used to control the operation of the entire device. In this embodiment, the vibration damper 2 has a load of 0.4kg and a static displacement of 4.5mm, used to reduce the vibration transmitted from the base 3 to the base plate 1 and enhance the vibration of the spring-headed pin 501.

[0040] like Figure 2 As shown, the vibration drive unit 5 mainly includes a spring-loaded round-headed pin 501, a vibration motor cover 502, a vibration motor cover plate 503, a vibration motor 504, a vibration motor sleeve 505, and an elastic base 506. The elastic base 506 can be made of thermoplastic polyurethane elastomer rubber material (TPU) to reduce the vibration transmitted from the vibration drive unit 5 to the base 3 and to enhance the vibration of the spring-loaded round-headed pin 501. The vibration motor cover plate 503 is coaxially connected to the vibration motor 504. The vibration motor cover 502, vibration motor cover plate 503, and vibration motor sleeve 505 are coaxially connected from top to bottom using fasteners (such as four sets of screws and nuts) and installed on the elastic base 506. The selected vibration motor 504 is a 370 vibration motor with a rated voltage of 12V and a speed of up to 6000rpm. The spring-loaded round-headed pin 501 is mounted at a 45° angle towards the center of the device on the cover 502 of the vibrating motor. It is made of brass, 45mm long, and has a round head diameter of 10mm. It is used to support the tea branch orange and to vibrate and push the tea branch orange.

[0041] like Figure 3As shown, the control module 7 includes a power supply regulator module 701, a microcontroller module 702, and a motor drive module 703. The power supply regulator module 701 is used to stabilize the voltage of the entire control module 7. Several wires connect the microcontroller module 702 to the motor drive module 703, and the motor drive module 703 to the vibration motor 504. The microcontroller module 702 sends control signals to the motor drive module 703, thereby controlling the vibration motor 504. In this embodiment, the microcontroller module 702 is an UNO R3 module, which has thirteen digital I / O ports and five analog I / O ports. The two motor drive modules 703 selected are model TB6612FNG, which have a high-current MOSFET-H bridge structure, dual-channel circuit output, can drive two motors simultaneously, each channel outputs a maximum continuous drive current of 1A, the PWM supports a frequency of up to 100kHz, and can be connected to a power supply of up to 15V.

[0042] The laser displacement sensor 4 is connected to the control module and installed above the center of the base 3. The selected model is Panasonic Hg-C1400, with a range of 400mm, an accuracy of 0.8mm, and a voltage of -5 to 5V. The laser emitted by the sensor forms a spot on the base plate. The laser emission point and the spot are located on the same vertical line. The sensor is used to measure the vertical height of the base 3. The displacement of the base in the vertical direction is obtained by measuring the change in the vertical height of the base before and after placing the tea stick on the device.

[0043] The conveying device includes a horizontal conveyor belt 9, a loading robot 10, and a unloading robot 15. The horizontal conveyor belt 9 is located on one side of the support 8 and is used to transport tea branch oranges. The loading robot 10 and the unloading robot 15 are respectively installed on both sides of the support 8. The loading robot 10 is used to pick up the tea branch oranges whose posture needs to be adjusted on the horizontal conveyor belt 9 and place them on the three spring round-headed pins 501. The unloading robot 15 is used to pick up the tea branch oranges whose posture has been adjusted on the three spring round-headed pins 501 and place them on the peeling station 16.

[0044] The visual positioning device includes a camera 12, a light source 13, and a control cabinet 14. The camera 12 is fixedly mounted on the camera bracket 11 and located directly above the three spring-loaded pins 501, for obtaining the position of the navel of the tangerine. The light source 13 is mounted on the camera bracket 11 to reduce the impact of reflections and shadows caused by natural light on obtaining the position of the navel of the tangerine. The control cabinet 14 is mounted next to the camera bracket 11 for installing and protecting the control module 7 and the processor of the camera 12.

[0045] During operation, the equipment is started, and the tea-strip oranges fall onto the holder of the horizontal conveyor belt 9. When the tea-strip oranges are about to reach the end of the horizontal conveyor belt 9, the horizontal conveyor belt 9 slowly decelerates to a stop. The loading robot 10 picks up the tea-strip oranges and places them on three spring-loaded round-headed pins 501. The laser displacement sensor 4 measures the vertical displacement of the base 3, and then calculates the mass of the tea-strip oranges based on the elastic coefficient of the vibration damper 2. Based on the mass of the tea-strip oranges and the coefficient of friction between the round head of the spring-loaded round-headed pins 501 and the surface of the tea-strip oranges, the magnitude and direction of the frictional force exerted by each spring-loaded round-headed pin 501 on the tea-strip oranges are further calculated.

[0046] When the tangerine is positioned on a spring-loaded round-headed pin 501, the camera 11 is triggered to capture a still image, completing the surface image acquisition of the tangerine. The light source 13 provides light, reducing the impact of reflections and shadows caused by natural light on the acquisition of the tangerine's navel position. A two-dimensional coordinate system for visual positioning is established with the exact center of the three spring-loaded round-headed pins 501 as the origin. The still image is processed through grayscale, binarization, and median filtering to extract the static image features of the tangerine. Then, the processor processes the data to obtain the two-dimensional coordinate information of the tangerine's navel, and transmits this two-dimensional coordinate information to the control module 7.

[0047] like Figure 4 As shown, the posture adjustment of the tea branch orange relies on three vibration drive units: the first vibration drive unit 5-1, the second vibration drive unit 5-2, and the third vibration drive unit 5-3. Based on the magnitude and direction of friction and combined with the kinematic equations, a posture adjustment model for the tea branch orange is established: the three vibration drive units apply friction to the surface of the tea branch orange, and the tea branch orange is subjected to three linearly independent torques, allowing it to perform three-degree-of-freedom rotational motion. For example, when the microcontroller module 702 controls the three vibration motors 504 to rotate forward or backward at the same speed and direction, the tea branch orange can be approximated as being subjected to torque only in the vertical direction (i.e., the direction of the vertical axis), performing horizontal circular rotation; when the microcontroller module 702 controls two vibration motors 504 to rotate at the same speed but in opposite directions, and the third vibration motor 504 stops rotating, the tea branch orange can be approximated as being subjected to torque only in a certain horizontal direction, performing tumbling motion. Based on the tea branch tangerine posture adjustment model, by controlling the rotation speed and direction of the three vibration motors, the magnitude and direction of the torque on the tea branch tangerine can be controlled, thereby adjusting the posture of the tea branch tangerine.

[0048] After receiving information from the processor of camera 12, control module 7 performs calculations on the information and, in conjunction with the tea branch citrus posture adjustment model, sends high and low level signals and PWM signals to motor drive module 703. Motor drive module 703 receives the high and low level signals to control the direction of vibration motor 504 and receives the PWM signals to control the speed of vibration motor 504. Vibration motor 504 transmits vibration to spring-loaded pin 501, pushing the tea branch citrus to adjust its posture, such as... Figure 5 As shown, under the drive of the vibrating motor, the round head of the spring-headed pin periodically separates from and contacts the tea branch orange. Figure (a) illustrates the separation of the round head from the tea branch orange during the driving process, and Figure (b) illustrates the contact between the round head and the tea branch orange during the driving process.

[0049] After the initial adjustment, camera 12 triggers and captures a still image. The processor then sends the processed two-dimensional coordinates of the tangerine's navel to control module 7. Control module 7 verifies whether the tangerine's navel is located at the origin of the visual positioning two-dimensional coordinate system. If the navel is not at the origin, control module 7 continues to control the vibration motor 504 to change the position of the tangerine's navel on the spring-loaded pin 501, thus creating visual feedback. This process is repeated until the tangerine's navel is finally positioned at the origin of the visual positioning two-dimensional coordinate system. Once the tangerine's navel is facing upwards, the posture adjustment is complete. The unloading robot 15 then picks up the adjusted tangerine and places it on the peeling station 16.

[0050] Based on the above-described device, this embodiment also provides a method for adjusting the posture of tea branches and tangerines through vibration, comprising the following steps:

[0051] S1. Friction Identification: The vertical height of the base can be obtained through the laser displacement sensor 4. Due to the vertical deformation of the damper 2 under the pressure of the base 3, the pressure of the base 3 on the damper 2 is different when there is no tea branch orange on the device, resulting in different deformation of the damper 2 and different vertical height of the base. The laser sensor 4 can measure the vertical displacement of the base, and thus the mass of the tea branch orange can be calculated based on the elastic coefficient of the damper 2. Based on the mass of the tea branch orange and the coefficient of friction between the round head of the spring-loaded pin 501 and the surface of the tea branch orange, the magnitude of the static friction force exerted by each spring-loaded pin 501 on the tea branch orange can be further calculated.

[0052] S2. Establishment of the tea branch citrus posture adjustment model: When the vibration motor 504 is working, the vibration is first transmitted from the vibration motor 504 to the vibration motor cover plate 503 and the vibration motor sleeve 505, then to the vibration motor cover 502, and finally to the spring round-headed pin 501. The mechanical vibration of the spring round-headed pin 501 is actually the periodic movement of the spring round-headed pin 501 along an elliptical trajectory, and the surface of the spring round-headed pin 501 periodically contacts and separates from the surface of the tea branch citrus (e.g., Figure 4Each time they come into contact, the spring-loaded pin 501 applies frictional force to the tea branch orange. Since the trajectory of the spring-loaded pin 501 is fixed and its motion is periodic, the direction of the frictional force acting on the tea branch orange is approximately the same each time. Therefore, the vibrating spring-loaded pin 501 can propel the tea branch orange to move using frictional force. Based on the magnitude and direction of the frictional force, and combined with the kinematic equations, a posture adjustment model for the tea branch orange is established: three vibration drive units 5 apply frictional force to the surface of the tea branch orange, subjecting the tea branch orange to three linearly independent torques, resulting in a three-degree-of-freedom rotational motion. For example, when the three vibration drive units 5 vibrate in the same direction and at the same speed, the tea branch orange can be approximated as being subjected to a torque only in the vertical direction, performing a horizontal circular rotation; when two vibration drive units 5 vibrate in the same direction but at opposite speeds, and the third vibration drive unit 5 stops vibrating, the tea branch orange can be approximated as being subjected to a torque only in a certain horizontal direction, performing a rolling motion.

[0053] S3. Posture Adjustment Control: Based on the posture adjustment model of the tea branch tangerine established in S2, the control module controls the speed and direction of the three vibrating motors, thereby controlling the magnitude and direction of the torque on the tea branch tangerine, and thus effectively and quickly adjusting the posture of the tea branch tangerine. The microcontroller module 702 sends high and low level signals and PWM signals to the motor drive module 703. The motor drive module 703 receives the high and low level signals to control the direction of the vibrating motor 504, and receives the PWM signals to control the speed of the vibrating motor 504. The vibrating motor 504 transmits vibration to the spring-headed pin 501, pushing the tea branch tangerine to move.

[0054] S4. Production line connection: When connected to the conveying device and the vision positioning device, it can form a machine vision tea branch tangerine posture recognition and automatic adjustment device. Before the tea branch tangerine is peeled and loaded, the device uses posture recognition and automatic adjustment to make the fruit navel projection of the tea branch tangerine located at the geometric center, that is, at the origin of the two-dimensional coordinate system of vision positioning.

[0055] The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A device for adjusting the posture of fruits and vegetables through vibration, characterized in that, The device includes a base, a control module, and multiple vibration drive units, which are connected to the control module. The vibration drive units are used to support fruits and vegetables and are controlled by the control module to drive the fruits and vegetables to adjust their posture. Multiple vibration drive units are symmetrically mounted on the base at equal angular distances from the center. The vibration drive unit includes an elastic top component, a vibration motor, and an elastic base; the vibration motor is connected to both the elastic top component and the vibration drive unit, and is mounted on the elastic base. The device also includes a vibration damper and a displacement sensor connected to the control module; there are multiple vibration dampers, which are symmetrically installed above the base at equal angular distances from the center; the displacement sensor is used to measure the vertical displacement of the base before and after the fruits and vegetables are placed. The vibration drive unit includes a first vibration drive unit, a second vibration drive unit, and a third vibration drive unit; fruits and vegetables are placed on the elastic top piece, the displacement sensor measures the displacement of the base in the vertical direction, and the mass of the fruits and vegetables is calculated based on the elastic coefficient of the damper; based on the mass of the fruits and vegetables and the friction coefficient between the elastic top piece and the fruit and vegetable skin, the magnitude and direction of the friction force exerted by each elastic top piece on the fruits and vegetables are calculated. Based on the magnitude and direction of friction, and combined with the kinematic equations, a fruit and vegetable posture adjustment model is established. The vibration drive unit applies friction to the surface of the fruit and vegetables, and the fruit and vegetables are subjected to three linearly independent torques, making them rotate in three degrees of freedom. Based on the fruit and vegetable posture adjustment model, the rotation speed and direction of the vibration motor are controlled, as well as the magnitude and direction of the torque on the fruit and vegetables, thereby adjusting the posture of the fruit and vegetables.

2. The device for adjusting the posture of fruits and vegetables by vibration according to claim 1, characterized in that, The vibration drive unit also includes a vibration motor cover, a vibration motor cover plate, and a vibration motor sleeve; the vibration motor cover plate is coaxially connected to the vibration motor, and the vibration motor cover, vibration motor cover plate, and vibration motor sleeve are coaxially connected from top to bottom by fasteners and installed on the elastic base.

3. The device for adjusting the posture of fruits and vegetables by vibration according to claim 1, characterized in that, The elastic top is mounted at a 45° angle toward the center of the device on the cover of the vibrating motor to support the fruits and vegetables and to vibrate and push them.

4. The device for adjusting the posture of fruits and vegetables by vibration according to claim 1, characterized in that, The elastic top component is a spring-loaded round-headed pin, and the fruits and vegetables are spherical.

5. A peeling processing system, characterized in that, Includes a conveying device, a visual positioning device, a peeling station, a support, and a device for adjusting the posture of fruits and vegetables by vibration as described in any one of claims 1-4; The conveying device includes a conveyor belt, a loading robot, and a unloading robot. The conveyor belt is located on one side of the support frame, which is positioned between the loading robot and the unloading robot. A vision positioning device and a vibration adjustment device for adjusting the posture of fruits and vegetables are installed on the support frame. Before the fruits and vegetables are peeled and loaded, the peeling processing system repeatedly recognizes and automatically adjusts the posture of the fruit and vegetables so that the projection of the fruit navel is located at the origin of the two-dimensional coordinate system of visual positioning. Finally, the conveying device transports the fruits and vegetables with the adjusted posture to the peeling station.

6. A method for adjusting the posture of fruits and vegetables through vibration, characterized in that, The method is based on the vibration-adjusting fruit and vegetable posture device according to claim 1, and includes the following steps: S1. Based on the displacement of the base along the vertical direction before and after the fruit and vegetables are placed, measured by the displacement sensor, the elastic coefficient of the shock absorber, and the friction coefficient between the elastic top and the fruit and vegetable skin, the mass of the fruit and vegetables and the magnitude of the static friction force exerted by the elastic top on the fruit and vegetables are calculated. S2. The vibration drive unit periodically applies frictional force to the fruits and vegetables through vibration, causing them to rotate. Based on the magnitude and direction of the frictional force, combined with the kinematic equations, a fruit and vegetable posture adjustment model is established. S3. Based on the fruit and vegetable posture adjustment model, the vibration speed and direction of the vibration drive unit are controlled by the control module to adjust the posture of the fruit and vegetables. S4. Connected to a visual positioning device, through repeated posture recognition and automatic adjustment, the fruit navel projection of fruits and vegetables is located at the origin of the two-dimensional coordinate system of visual positioning.

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