Grapefruit sorting system

Abstract

According to the grapefruit sorting system, the action time sequence of all driving mechanisms is cooperatively controlled through a distributed controller, and a fruit carrying tray is guided to reach a target second conveying unit; and when the tray reaches a target position, the corresponding electromagnetic adsorption array is activated to form a high-intensity magnetic field to fix the tray, the overturning executing mechanism is triggered to conduct overturning discharging operation, and after discharging is completed, the executing mechanism is reset to the horizontal station and electromagnetic adsorption is relieved. According to the grapefruit sorting device, damage-free full-automatic sorting of grapefruits can be achieved, the sorting efficiency is high, the sorting precision is high, and the good fault tolerance rate is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanization, and particularly to a pomelo sorting system. Background Art

[0002] Currently, pomelo sorting mainly adopts sorting technologies based on weight or appearance features. Typical solutions include: Single-channel weighing sorting system: Fruits are sequentially conveyed to the weighing station through a conveyor belt, and sorted by a robotic arm or a push rod according to a preset threshold. Such systems have an efficiency bottleneck, and multi-stage sorting requires repeated weighing. Vision-weight composite sorting equipment: Machine vision is used to detect parameters such as fruit diameter and color spots, and combined with a dynamic weighing module for grading. However, the surface texture of pomelos is complex, which easily leads to optical recognition errors, and the mechanical clamping mechanism is prone to cause peel damage. Magnetic adsorption sorting device: An electromagnet is used to adsorb a carrier with a metal tag to achieve bin separation. However, existing technologies mostly rely on the action of a single magnetic field, and the carrier is prone to shift due to inertia during the sorting process, and additional positioning sensors need to be added, resulting in a high system complexity. That is to say, existing technologies all have problems such as the contradiction between transmission efficiency and flexibility, and insufficient reliability of the mechanical structure, which urgently need to be improved. Summary of the Invention

[0003] To solve the technical problems in the background art, the present invention proposes a pomelo sorting system, including:

[0004] A plurality of standardized trays, with a permanent magnet array evenly embedded at the bottom of the tray, and a high-precision weighing sensor integrated inside each tray;

[0005] A parallel transmission component, including a first transmission column and a second transmission column arranged in parallel. The first transmission column is composed of N first transmission units connected end to end, and the second transmission column is composed of N second transmission units connected end to end. The adjacent sides of the two transmission columns are arranged in parallel with a zero spacing to form a dual-channel transmission system; wherein, each first transmission unit is configured with a bidirectional switching drive mechanism to achieve the directional transfer of the tray to an adjacent first transmission unit or an opposite second transmission unit; each second transmission unit is configured with a cross-column drive mechanism to achieve the directional transfer of the tray to an adjacent second transmission unit or an opposite first transmission unit;

[0006] An inlet conveyor belt component, whose outlet end is mechanically docked with the starting end of the first transmission column, and is equipped with an automatic feeding mechanism to accurately place pomelos into the trays;

[0007] M grading storage bins, linearly arranged along the outside of the second transmission column and M < N. A flipping actuator is hinged at the entrance of each storage bin, and the last M second transmission units in the second transmission column are rigidly connected to the corresponding flipping actuators;

[0008] Electromagnetic adsorption arrays are embedded on the working surfaces of the last M second transmission units, and their magnetic pole arrangements form a complementary structure with the permanent magnet array of the tray;

[0009] Intelligent control system, comprising:

[0010] A signal acquisition module, which receives the quality data of each weighing sensor in real time;

[0011] A path planning module, which generates an optimal transmission path based on the mapping relationship between quality and storage location;

[0012] An execution control module, which cooperatively controls the action timing of each driving mechanism through a distributed controller to guide the fruit-carrying tray to reach the target second transmission unit; when the tray reaches the target position, it activates the corresponding electromagnetic adsorption array to form a strong magnetic field to fix the tray, triggers the tipping execution mechanism to perform the tipping and unloading operation, and after the unloading is completed, the execution mechanism resets to the horizontal working position and releases the electromagnetic adsorption.

[0013] Further, the bidirectional switching driving mechanism specifically includes a plurality of bidirectional switching driving units, and the bidirectional switching driving unit specifically includes: a first type of transmission wheel, a second type of transmission wheel, and a stepping motor that can drive the first type of transmission or any second type of transmission wheel to rotate and is controlled by the execution control module. When the tray is on the first transmission unit or the second transmission unit, the bottom of the tray will come into contact with the first type of transmission wheel and the second type of transmission wheel. When the stepping motor drives the first type of transmission wheel to rotate, the first type of transmission wheel will drive the tray to move in the direction close to the adjacent first transmission unit; when the stepping motor drives the first type of transmission wheel to rotate, the first type of transmission wheel will drive the tray to move in the direction close to the adjacent second transmission unit.

[0014] Further, the path planning module adopts a dynamic weight algorithm to calculate the movement priority of the tray in the dual-channel transmission system in real time. Its parameters include: the load status of the current transmission unit, the capacity threshold of the target storage bin, and the adjacent tray spacing constraint condition, and dynamically adjusts the transmission path weight coefficient through a fuzzy logic controller.

[0015] Further, the control logic of the electromagnetic adsorption array includes a pre-adsorption mode and a strong-adsorption mode: in the pre-adsorption mode, the electromagnetic poles form a weak coupling magnetic field with the tray permanent magnet for tray alignment and calibration; in the strong-adsorption mode, the polarity of the electromagnetic poles is reversed to form a magnetic attraction locking structure with the permanent magnet array.

[0016] Further, the tipping execution mechanism includes a three-stage linkage component: the first stage is a rotating shaft driven by an electromagnetic clutch, the second stage is an inclination adjustment mechanism composed of a pneumatic telescopic rod, and the third stage is a flap wrapped with a polyurethane buffer pad.

[0017] Further, the surface of the transmission wheel is covered with a silica gel layer with a high friction coefficient, and honeycomb micro-structured pits are distributed on the silica gel layer.

[0018] Furthermore, an anti-offset guiding structure is provided at the bottom of the standardized tray, which includes two columns of symmetrically distributed V-shaped grooves, and the grooves form a clearance fit with the raised guiding rails of the driving wheels of the transmission unit.

[0019] Furthermore, the grading storage bin is configured with a bin state feedback device, including an infrared photoelectric counter and a pressure sensor array, which feeds back the bin filling rate data to the intelligent control system in real time. When it is detected that the capacity of a certain bin reaches the preset threshold, the path planning module automatically shields this bin and enables the standby storage bin.

[0020] The beneficial effects of the present invention are as follows: The present invention can achieve non-destructive and fully automatic sorting of pomelos, with high sorting efficiency, high sorting accuracy, and excellent fault tolerance. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of a pomelo sorting system of the present invention;

[0022] Figure 2 is a schematic structural diagram of a pomelo sorting system of the present invention;

[0023] Figure 3 is a schematic partial structural diagram of a pomelo sorting system of the present invention. Detailed Embodiments

[0024] Referring to Figures 1 - 3 , the present invention provides a pomelo sorting system, including:

[0025] Multiple standardized trays 1, with a permanent magnet array evenly embedded at the bottom of the tray 1, and each tray 1 is integrated with a high-precision weighing sensor 2. Among them, the tray 1 adopts an aluminum alloy frame, the bottom permanent magnet array is arranged in a 5×5 matrix, and the weighing sensor 2 adopts a piezoresistive structure with an accuracy of ±0.5 g.

[0026] A parallel transmission component, including a first transmission column and a second transmission column arranged in parallel. The first transmission column is composed of N first transmission units 3 connected end to end, and the second transmission column is composed of N second transmission units 4 connected end to end. The adjacent side edges of the two transmission columns are arranged in parallel with a zero spacing to form a dual-channel transmission system.

[0027] Among them, each first transmission unit 3 is configured with a bidirectional switching drive mechanism to realize the directional transfer of the tray 1 to the adjacent first transmission unit 3 or the opposite second transmission unit 4; each second transmission unit 4 is configured with a cross-column drive mechanism to realize the directional transfer of the tray 1 to the adjacent second transmission unit 4 or the opposite first transmission unit 3.

[0028] Further, the bidirectional switching drive mechanism specifically includes a plurality of bidirectional switching drive units, and each bidirectional switching drive unit specifically includes: a first type of transmission wheel 5, a second type of transmission wheel 6, and a stepping motor 13 that can drive the first type of transmission wheel or any second type of transmission wheel 6 to rotate and is controlled by the execution control module 83. When the tray 1 is located on the first transmission unit 3 or the second transmission unit 4, the bottom of the tray 1 will come into contact with the first type of transmission wheel 5 and the second type of transmission wheel 6. When the stepping motor 13 drives the first type of transmission wheel 5 to rotate, the first type of transmission wheel 5 will drive the tray 1 to move in the direction close to the adjacent first transmission unit 3; when the stepping motor 13 drives the first type of transmission wheel 5 to rotate, the first type of transmission wheel 5 will drive the tray 1 to move in the direction close to the adjacent second transmission unit 4.

[0029] The feeding conveyor belt assembly 9, whose discharging end is mechanically docked with the starting end of the first transmission row, is equipped with an automatic feeding mechanism to accurately place the pomelo 10 into the tray 1.

[0030] M grading storage bins 7 are linearly arranged along the outer side of the second transmission row and M < N. A flipping execution mechanism 11 is hinged at the entrance of each storage bin 7, and the M second transmission units 4 at the end in the second transmission row are rigidly connected to the corresponding flipping execution mechanisms 11 respectively.

[0031] Electromagnetic adsorption arrays 12 are embedded in the working surfaces of the M second transmission units 4 at the end, and the magnetic pole arrangement thereof forms a complementary structure with the permanent magnet array of the tray 1.

[0032] The intelligent control system 8 includes:

[0033] A signal acquisition module 81 that receives the mass data of each weighing sensor 2 in real time;

[0034] A path planning module 82 that generates an optimal transmission path based on the mass-bin mapping relationship;

[0035] An execution control module 83 that cooperatively controls the action timing of each drive mechanism through a distributed controller to guide the fruit-carrying tray 1 to reach the target second transmission unit 4; when the tray 1 reaches the target position, the corresponding electromagnetic adsorption array 12 is activated to form a strong magnetic field to fix the tray 1, trigger the flipping execution mechanism 11 to perform an overturning unloading operation, and after the unloading is completed, the execution mechanism resets to the horizontal working position and releases the electromagnetic adsorption.

[0036] The implementation process of the present invention is as follows: The feeding conveyor belt assembly 9 is used to convey grapefruits 10 of different weights one by one. When the tray 1 is on the first transfer unit 3 at the starting end position of the first transfer column, the top of the tray 1 will be flush with the top of the conveyor belt. The conveyor belt will send the grapefruit 10 onto the tray 1, and this transportation method will not affect the appearance of the grapefruit 10. After the grapefruit 10 is on the tray 1, the built-in weighing sensor 2 in the tray 1 will weigh the grapefruit 10. When the signal acquisition module 81 obtains the mass data of the grapefruit 10 through the weighing sensor 2, the path planning module 82 will generate an optimal transfer path based on the preset mapping relationship between mass and storage position. The execution control module 83 cooperatively controls the action timing of each drive mechanism through the distributed controller, guiding the tray 1 carrying the grapefruit 10 to reach the target second transfer unit 4. When the tray 1 arrives on the target second transfer unit 4, the corresponding electromagnetic adsorption array 12 of the second transfer unit 4 is activated to form a strong magnetic field to fix the tray 1, and the tipping execution mechanism 11 is triggered to perform the tipping and discharging operation. After the discharging is completed, the execution mechanism resets to the horizontal working position and releases the electromagnetic adsorption, and the tray 1 will return to the initial position. Repeating the above operations, multiple trays 1 working simultaneously can improve efficiency, but it is necessary to pay attention to avoiding path conflicts between them.

[0037] Further, the path planning module 82 adopts a dynamic weight algorithm to calculate the movement priority of the tray 1 in the dual-channel transfer system in real time. Its parameters include: the load status of the current transfer unit, the capacity threshold of the target storage bin 7, and the adjacent tray 1 spacing constraint conditions, and dynamically adjusts the transfer path weight coefficient through a fuzzy logic controller. It can avoid congestion, that is, solve the above-mentioned path conflict problem.

[0038] Further, the control logic of the electromagnetic adsorption array 12 includes a pre-adsorption mode and a strong adsorption mode: In the pre-adsorption mode, the electromagnetic poles form a weak coupling magnetic field with the permanent magnets of the tray 1 for the alignment and calibration of the tray 1; in the strong adsorption mode, the polarity of the electromagnetic poles is reversed to form a magnetic attraction locking structure with the permanent magnet array. Under the alignment error between the tray 1 and the transfer unit, it can avoid discharging deviation and reduce the comprehensive energy consumption.

[0039] Further, the tipping execution mechanism 11 includes a three-stage linkage component: the first stage is a rotating shaft driven by an electromagnetic clutch, the second stage is an inclination adjustment mechanism composed of a pneumatic telescopic rod, and the third stage is a flap wrapped with a polyurethane buffer pad. The discharging is stable and the service life is longer.

[0040] Further, the surface of the transmission wheel is covered with a silicone layer with a high friction coefficient, and honeycomb-like micro-structured pits are distributed on the silicone layer. It can increase the anti-slip performance, reduce vibration and noise.

[0041] Further, the standardized tray 1 is provided with an anti-offset guiding structure at the bottom, including two columns of symmetrically distributed V-shaped grooves, and the grooves form a clearance fit with the convex guiding rails of the transmission wheels of the transfer unit. It has strong anti-offset ability and can be quickly assembled.

[0042] Furthermore, the hierarchical storage bin 7 is configured with a bin status feedback device, including an infrared photoelectric counter and a pressure sensor array, which feeds back the bin filling rate data to the intelligent control system 8 in real time. When it is detected that the capacity of a certain bin reaches the preset threshold, the path planning module 82 automatically shields the bin and activates the standby storage bin 7. Real-time monitoring can be achieved and fault tolerance can be improved.

[0043] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A pomelo sorting system, characterized in that, Including: A plurality of standardized pallets (1), with a permanent magnet array evenly embedded at the bottom of the pallet (1), and a high-precision weighing sensor (2) integrated inside each pallet (1); A parallel transmission component, including a first transmission column and a second transmission column arranged in parallel. The first transmission column is composed of N first transmission units (3) connected end to end, and the second transmission column is composed of N second transmission units (4) connected end to end. The adjacent sides of the two transmission columns are arranged in parallel with a zero spacing to form a dual-channel transmission system. Among them, each first transmission unit (3) is configured with a bidirectional switching drive mechanism to achieve the directional transfer of the pallet (1) to an adjacent first transmission unit (3) or an opposite second transmission unit (4); each second transmission unit (4) is configured with a cross-column drive mechanism to achieve the directional transfer of the pallet (1) to an adjacent second transmission unit (4) or an opposite first transmission unit (3); A feeding conveyor component (9), whose discharge end is mechanically docked with the starting end of the first transmission column, and is equipped with an automatic feeding mechanism to precisely place the pomelos (10) into the pallet (1); M grading storage bins (7), linearly arranged along the outside of the second transmission column and M < N. A flipping actuator (11) is hinged at the entrance of each storage bin (7), and the M second transmission units (4) at the middle and end of the second transmission column are respectively rigidly connected to the corresponding flipping actuators (11); Electromagnetic adsorption arrays (12) are embedded in the working surfaces of the M second transmission units (4) at the end, and the magnetic pole arrangement thereof forms a complementary structure with the permanent magnet array of the pallet (1); An intelligent control system (8), including: A signal acquisition module (81) that receives the mass data of each weighing sensor (2) in real time; A path planning module (82) that generates an optimal transmission path based on the mapping relationship between mass and storage location; An execution control module (83) that coordinates and controls the action timing of each drive mechanism through a distributed controller to guide the fruit-carrying pallet (1) to reach the target second transmission unit (4); when the pallet (1) reaches the target position, the corresponding electromagnetic adsorption array (12) is activated to form a strong magnetic field to fix the pallet (1), triggering the flipping actuator (11) to perform an overturning unloading operation. After the unloading is completed, the actuator resets to the horizontal position and releases the electromagnetic adsorption.

2. The pomelo sorting system according to claim 1, characterized in that The bidirectional switching drive mechanism specifically includes a plurality of bidirectional switching drive units. The bidirectional switching drive unit specifically includes: a first type of transmission wheel (5), a second type of transmission wheel (6), and a stepping motor (13) that can drive the first type of transmission or any second type of transmission wheel (6) to rotate and is controlled by the execution control module (83). When the pallet (1) is on the first transmission unit (3) or the second transmission unit (4), the bottom of the pallet (1) will come into contact with the first type of transmission wheel (5) and the second type of transmission wheel (6). When the stepping motor (13) drives the first type of transmission wheel (5) to rotate, the first type of transmission wheel (5) will drive the pallet (1) to move in the direction close to the adjacent first transmission unit (3); when the stepping motor (13) drives the first type of transmission wheel (5) to rotate, the first type of transmission wheel (5) will drive the pallet (1) to move in the direction close to the adjacent second transmission unit (4).

3. The pomelo sorting system according to claim 1, characterized in that, The path planning module (82) adopts a dynamic weight algorithm to calculate the movement priority of the pallet (1) in the dual-channel transmission system in real time. Its parameters include: the current load status of the transmission unit, the capacity threshold of the target storage bin (7), and the spacing constraint condition of adjacent pallets (1). The transmission path weight coefficient is dynamically adjusted through a fuzzy logic controller.

4. The pomelo sorting system according to claim 1, characterized in that, The control logic of the electromagnetic adsorption array (12) includes a pre-adsorption mode and a strong adsorption mode: in the pre-adsorption mode, the electromagnetic poles form a weak coupling magnetic field with the permanent magnets of the pallet (1) for pallet (1) alignment calibration; in the strong adsorption mode, the polarity of the electromagnetic poles is reversed to form a magnetic attraction locking structure with the permanent magnet array.

5. The pomelo sorting system according to claim 1, wherein The flipping actuator (11) includes a three-stage linkage component: the first stage is a rotating shaft driven by an electromagnetic clutch, the second stage is an inclination adjustment mechanism composed of a pneumatic telescopic rod, and the third stage is a flap wrapped with a polyurethane buffer pad.

6. The pomelo sorting system according to claim 2 or 3, characterized in that, The surface of the transmission wheel is covered with a silica gel layer with a high coefficient of friction, and honeycomb-shaped microstructural pits are distributed on the silica gel layer.

7. The pomelo sorting system according to claim 1, characterized in that The bottom of the standardized pallet (1) is provided with an anti-offset guiding structure, which includes two columns of symmetrically distributed V-shaped grooves, and the grooves form a clearance fit with the protruding guiding rails of the transmission wheels of the transmission unit.

8. The pomelo sorting system according to claim 1, characterized in that, The hierarchical storage bin (7) is configured with a bin status feedback device, including an infrared photoelectric counter and a pressure sensor array, which real-time feedbacks the bin filling rate data to the intelligent control system (8). When it is detected that the capacity of a certain bin reaches the preset threshold, the path planning module (82) automatically shields the bin and enables the standby storage bin (7).

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