A grapefruit sorting system

Abstract

The application provides a grapefruit sorting system, which cooperatively controls the action time sequence of each driving mechanism through a distributed controller, guides a fruit-carrying tray to reach a target second conveying unit, activates a corresponding electromagnetic adsorption array to form a strong magnetic field to fix the tray when the tray reaches the target position, triggers a turnover executing mechanism to perform an overturning and unloading operation, resets the executing mechanism to a horizontal working position and releases the electromagnetic adsorption after the unloading is completed. The application can realize full-automatic sorting of grapefruit without damage, has high sorting efficiency and high sorting precision, and has excellent fault tolerance.

Description

Technical Field

[0001] This invention relates to the field of agricultural mechanization technology, specifically to a pomelo sorting system. Background Technology

[0002] Currently, pomelo sorting mainly employs sorting technologies based on weight or appearance characteristics. Typical solutions include: Single-channel weighing sorting systems: Fruits are sequentially transported to weighing stations via conveyor belts, and then sorted according to preset thresholds using robotic arms or pushers. These systems suffer from efficiency bottlenecks, and multi-level sorting requires repeated weighing. Vision-weight composite sorting equipment: This uses machine vision to detect parameters such as fruit diameter and color spots, combined with a dynamic weighing module for grading. However, the complex surface texture of pomelos can easily lead to optical recognition errors, and the mechanical gripping mechanism can easily damage the peel. Magnetic sorting devices: These use electromagnets to attract carriers containing metal tags for compartmentalization. However, existing technologies mostly rely on a single magnetic field, and carrier shifting due to inertia during sorting requires additional positioning sensors, increasing system complexity. In other words, existing technologies all suffer from a contradiction between transmission efficiency and flexibility, and insufficient mechanical structural reliability, necessitating improvements. Summary of the Invention

[0003] To address the technical problems existing in the background art, the present invention proposes a pomelo sorting system, comprising:

[0004] Multiple standardized pallets, with permanent magnet arrays evenly embedded in the bottom of each pallet, and each pallet integrates a high-precision weighing sensor;

[0005] The parallel transmission component includes a first transmission column and a second transmission column arranged in parallel. The first transmission column consists of N first transmission units connected end-to-end, and the second transmission column consists of N second transmission units connected end-to-end. The two transmission columns are arranged in parallel with zero spacing on adjacent sides to form a dual-channel transmission system. Each first transmission unit is equipped with a bidirectional switching drive mechanism to realize the directional transfer of the tray to an adjacent first transmission unit or an opposite second transmission unit. Each second transmission unit is equipped with a cross-column drive mechanism to realize the directional transfer of the tray to an adjacent second transmission unit or an opposite first transmission unit.

[0006] The feeding conveyor belt assembly has its discharge end mechanically connected to the starting end of the first transmission column, and is equipped with an automatic feeding mechanism to accurately place the grapefruits into the tray;

[0007] M hierarchical storage bins are arranged linearly along the outside of the second transmission column, with M < N. Each storage bin has a hinged flipping actuator at its entrance. The M second transmission units at the end of the second transmission column are rigidly connected to the corresponding flipping actuators.

[0008] The working surfaces of the M second transmission units at the end are all embedded with electromagnetic adsorption arrays, and their magnetic pole arrangement forms a complementary structure with the tray permanent magnet array.

[0009] Intelligent control system, including:

[0010] The signal acquisition module receives mass data from each weighing sensor in real time.

[0011] The path planning module generates the optimal transmission path based on the quality-location mapping relationship;

[0012] The execution control module, through the distributed controller, coordinates the timing of the actions of each drive mechanism to guide the fruit-carrying tray to the target second transmission unit; when the tray reaches the target position, the corresponding electromagnetic adsorption array is activated to form a strong magnetic field to fix the tray, triggering the flipping execution mechanism to perform the tilting and unloading operation. After the unloading is completed, the execution mechanism is reset to the horizontal position and the electromagnetic adsorption is released.

[0013] Furthermore, the bidirectional switching drive mechanism specifically includes multiple bidirectional switching drive units, each including: a first type of transmission wheel, a second type of transmission wheel, and a stepper motor controlled by the execution control module, capable of driving the first type of transmission wheel or any second type of transmission wheel to rotate. When the tray is located on the first transmission unit or the second transmission unit, the bottom of the tray will contact the first type of transmission wheel and the second type of transmission wheel. When the stepper motor drives the first type of transmission wheel to rotate, the first type of transmission wheel will drive the tray to move closer to the adjacent first transmission unit; when the stepper motor drives the first type of transmission wheel to rotate, the first type of transmission wheel will drive the tray to move closer to the adjacent second transmission unit.

[0014] Furthermore, the path planning module employs a dynamic weighting algorithm to calculate the movement priority of the pallet in the dual-channel transmission system in real time. Its parameters include: the current load status of the transmission unit, the target storage bin capacity threshold, and the spacing constraints between adjacent pallets. The transmission path weighting coefficient is dynamically adjusted through a fuzzy logic controller.

[0015] Furthermore, 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 weakly coupled magnetic field with the permanent magnet of the tray for tray alignment calibration; in the strong adsorption mode, the polarity of the electromagnetic poles is reversed, forming a magnetic attraction locking structure with the permanent magnet array.

[0016] Furthermore, the tilting actuator comprises a three-stage linkage assembly: the first stage is a rotating shaft driven by an electromagnetic clutch, the second stage is a tilting adjustment mechanism composed of a pneumatic telescopic rod, and the third stage is a flap covered with a polyurethane buffer pad.

[0017] Furthermore, the surface of the transmission wheel is covered with a high-friction coefficient silicone layer, on which honeycomb-like microstructure pits are distributed.

[0018] Furthermore, the bottom of the standardized pallet is equipped with an anti-deviation guide structure, which includes two rows of symmetrically distributed V-shaped grooves. The grooves form a clearance fit with the raised guide rail of the transmission wheel of the transmission unit.

[0019] Furthermore, the tiered storage silos are equipped with a silo status feedback device, including an infrared photoelectric counter and a pressure sensor array, which feeds back silo fill rate data to the intelligent control system in real time. When the capacity of a silo is detected to have reached a preset threshold, the path planning module automatically blocks the silo and activates a backup storage silo.

[0020] The beneficial effects of this invention are as follows: This invention can realize fully automatic sorting of pomelos without damage, with high sorting efficiency, high sorting accuracy, and excellent fault tolerance. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a pomelo sorting system according to the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a pomelo sorting system according to the present invention;

[0023] Figure 3 This is a partial structural diagram of a pomelo sorting system according to the present invention. Detailed Implementation

[0024] Reference Figure 1-3 This invention proposes a grapefruit sorting system, comprising:

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

[0026] The parallel transmission component includes a first transmission column and a second transmission column arranged in parallel to each other. The first transmission column consists of N first transmission units 3 connected end to end, and the second transmission column consists of N second transmission units 4 connected end to end. The two transmission columns are arranged in parallel with zero spacing on adjacent sides to form a dual-channel transmission system.

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

[0028] Furthermore, the bidirectional switching drive mechanism specifically includes multiple bidirectional switching drive units, each including: a first type of transmission wheel 5, a second type of transmission wheel 6, and a stepper 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 contact the first type of transmission wheel 5 and the second type of transmission wheel 6. When the stepper 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 closer to the adjacent first transmission unit 3. When the stepper 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 closer to the adjacent second transmission unit 4.

[0029] The feeding conveyor belt assembly 9 has its discharge end mechanically connected to the starting end of the first transmission column, and is equipped with an automatic feeding mechanism to accurately place the grapefruits 10 into the tray 1.

[0030] M hierarchical storage bins 7 are arranged linearly along the outside of the second transmission column, with M < N. Each storage bin 7 has a hinged flipping actuator 11 at its entrance. The M second transmission units 4 at the end of the second transmission column are rigidly connected to the corresponding flipping actuator 11.

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

[0032] Intelligent control system 8, including:

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

[0034] The path planning module 82 generates the optimal transmission path based on the quality-warehouse mapping relationship;

[0035] The execution control module 83 coordinates the action sequence of each drive mechanism through the distributed controller to guide the fruit-carrying tray 1 to 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, triggering the flipping execution mechanism 11 to perform the tilting and unloading operation. After the unloading is completed, the execution mechanism is reset to the horizontal position and the electromagnetic adsorption is released.

[0036] The implementation process of this invention is as follows: The feeding conveyor belt assembly 9 is used to transport pomelos 10 of different weights one by one. When the tray 1 is located on the first transmission unit 3 at the beginning of the first transmission column, the top of the tray 1 will be level with the top of the conveyor belt. The conveyor belt will deliver the pomelos 10 onto the tray 1. This transportation method will not affect the appearance of the pomelos 10. After the pomelos 10 are on the tray 1, the built-in weighing sensor 2 of the tray 1 will weigh the pomelos 10. After the signal acquisition module 81 obtains the mass data of the pomelos 10 through the weighing sensor 2, the path planning module 82 will generate the optimal path based on the preset mass-position mapping relationship. The transmission path is controlled by the distributed controller through the coordinated control of the timing of the actions of each drive mechanism. The tray 1 carrying the grapefruit 10 is guided to the target second transmission unit 4. When the tray 1 reaches the target second transmission unit 4, the electromagnetic adsorption array 12 corresponding to the second transmission unit 4 is activated to form a strong magnetic field to fix the tray 1 and trigger the flipping actuator 11 to tilt and unload the material. After unloading is completed, the actuator is reset to the horizontal position and the electromagnetic adsorption is released. The tray 1 will return to the initial position and repeat the above operation. The simultaneous operation of multiple trays 1 can improve efficiency, but it is necessary to avoid path conflicts between them.

[0037] Furthermore, the path planning module 82 employs a dynamic weighting algorithm to calculate the movement priority of tray 1 in the dual-channel transmission system in real time. Its parameters include: the current transmission unit load status, the target storage bin 7 capacity threshold, and the spacing constraints between adjacent trays 1. The transmission path weighting coefficients are dynamically adjusted through a fuzzy logic controller. This can avoid congestion, thus resolving the aforementioned path conflict problem.

[0038] Furthermore, 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 weakly coupled magnetic field with the permanent magnet of the tray 1 for alignment calibration of the tray 1; in the strong adsorption mode, the polarity of the electromagnetic poles is reversed, forming a magnetic attraction locking structure with the permanent magnet array. Under the alignment error between the tray 1 and the transmission unit, unloading deviation is avoided, and the overall energy consumption is reduced.

[0039] Furthermore, the tilting actuator 11 comprises a three-stage linkage assembly: the first stage is a rotating shaft driven by an electromagnetic clutch, the second stage is a tilting adjustment mechanism composed of a pneumatic telescopic rod, and the third stage is a tilting plate wrapped with a polyurethane buffer pad. This ensures smooth unloading and a longer service life.

[0040] Furthermore, the surface of the drive wheel is coated with a high-friction coefficient silicone layer, on which honeycomb-like microstructure pits are distributed. This increases anti-slip performance and reduces vibration and noise.

[0041] Furthermore, the standardized tray 1 has an anti-offset guide structure at its bottom, comprising two rows of symmetrically distributed V-shaped grooves. These grooves form a clearance fit with the raised guide rails of the transmission unit's drive wheel. This provides strong anti-offset capability and allows for rapid assembly.

[0042] Furthermore, the tiered storage compartment 7 is equipped with a compartment status feedback device, including an infrared photoelectric counter and a pressure sensor array, which feeds back the compartment fill rate data to the intelligent control system 8 in real time. When the capacity of a compartment is detected to have reached a preset threshold, the path planning module 82 automatically disables the compartment and activates the backup storage compartment 7. This enables real-time monitoring and improves fault tolerance.

[0043] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A pomelo sorting system, characterized in that, include: Multiple standardized trays (1), with permanent magnet arrays evenly embedded at the bottom of the trays (1), and each tray (1) has a high-precision weighing sensor (2) integrated inside. The parallel transmission component includes a first transmission column and a second transmission column arranged in parallel to each other. The first transmission column consists of N first transmission units (3) connected end to end, and the second transmission column consists of N second transmission units (4) connected end to end. The two transmission columns are arranged in parallel with zero spacing on their adjacent sides to form a dual-channel transmission system. Each first transmission unit (3) is equipped with a bidirectional switching drive mechanism to realize the directional transfer of the tray (1) to the adjacent first transmission unit (3) or to the opposite second transmission unit (4). Each second transmission unit (4) is equipped with a cross-column drive mechanism to realize the directional transfer of the tray (1) to the adjacent second transmission unit (4) or to the opposite first transmission unit (3). The feeding conveyor belt assembly (9) has its discharge end mechanically connected to the starting end of the first transmission column and is equipped with an automatic feeding mechanism to accurately place the grapefruit (10) into the tray (1). M hierarchical storage bins (7) are arranged linearly along the outside of the second transmission column and M < N. Each storage bin (7) has a hinged flipping actuator (11) at its entrance. The M second transmission units (4) at the end of the second transmission column are rigidly connected to the corresponding flipping actuator (11). The working surfaces of the M second transmission units (4) at the end are all embedded with electromagnetic adsorption arrays (12), and their magnetic pole arrangement forms a complementary structure with the permanent magnet array of the tray (1); The intelligent control system (8) includes: The signal acquisition module (81) receives the mass data of each weighing sensor (2) in real time; The path planning module (82) generates the optimal transmission path based on the quality-warehouse mapping relationship; The execution control module (83) coordinates the action sequence of each drive mechanism through the distributed controller to guide the fruit-carrying tray (1) to 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), triggering the flipping execution mechanism (11) to perform the tilting and unloading operation. After the unloading is completed, the execution mechanism is reset to the horizontal position and the electromagnetic adsorption is released. 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 weakly coupled magnetic field with the permanent magnet 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, forming a magnetic attraction lock structure with the permanent magnet array. The flipping actuator (11) includes a three-stage linkage assembly: the first stage is a rotating shaft driven by an electromagnetic clutch, the second stage is an angle adjustment mechanism composed of a pneumatic telescopic rod, and the third stage is a flip plate wrapped with a polyurethane buffer pad. The standardized pallet (1) has an anti-offset guide structure at the bottom, which includes two rows of symmetrically distributed V-shaped grooves. The grooves and the raised guide rails of the transmission unit drive wheel form a clearance fit.

2. The pomelo sorting system according to claim 1, characterized in that, The bidirectional switching drive mechanism specifically includes multiple bidirectional switching drive units, each including: a first type of transmission wheel (5), a second type of transmission wheel (6), and a stepper 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 contact the first type of transmission wheel (5) and the second type of transmission wheel (6). When the stepper 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 closer to the adjacent first transmission unit (3). When the stepper 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 closer 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 weighting algorithm to calculate the moving 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 constraints of adjacent pallets (1). The transmission path weighting coefficient is dynamically adjusted by the fuzzy logic controller.

4. The pomelo sorting system according to claim 2 or 3, characterized in that, The surface of the drive wheel is covered with a high-friction coefficient silicone layer, on which honeycomb-like microstructure pits are distributed.

5. The pomelo sorting system according to claim 1, characterized in that, The hierarchical storage compartment (7) is equipped with a compartment status feedback device, including an infrared photoelectric counter and a pressure sensor array, which feeds back the compartment filling rate data to the intelligent control system (8) in real time. When the capacity of a compartment reaches a preset threshold, the path planning module (82) automatically blocks the compartment and activates the backup storage compartment (7).

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