Red date waterless peeling system and method based on force feedback control

Abstract

The invention provides a red date waterless peeling system and method based on force feedback control. The red date waterless peeling system comprises a feeding mechanism, a feeding mechanism, a sorting mechanism, a clamping mechanism, a cutting mechanism and a collecting assembly. S2, sorting and discharging; S3, force-controlled peeling; and S4, scrap collecting and discharging. According to the invention, force-position double-closed-loop control is carried out on the cutter through the stress sensor and the linear servo driving unit, so that real-time detection of the cutting force of the cutter on the red dates in the peeling process and self-adaptive adjustment of the feeding speed and the cutting depth of the cutter are realized, and uniform peeling of the red date skin is realized under a completely water-free condition; the method not only effectively avoids loss of sweetness and nutritional ingredients, but also reduces energy consumption and equipment complexity in a drying link, and avoids the problems of loss of sugar, soluble solids and active ingredients, incapability of recovering scurf and high energy consumption in subsequent drying caused by continuous flushing to accelerate friction in a wet buffing process. Therefore, the original sweetness and nutritional characteristics of the red dates are kept.

Description

Technical Field

[0001] This invention relates to the field of jujube processing technology, specifically to a waterless jujube peeling system and method based on force feedback control. Background Technology

[0002] Red dates, as an important fruit and functional food ingredient in my country, are widely used in snack foods, beverages, and products that are both food and medicine. In the deep processing of red dates, peeling is one of the key primary processing steps. The quality of peeling directly affects subsequent sugaring, drying, and the appearance of the finished product. Furthermore, red date peels are rich in polyphenols, dietary fiber, and antioxidants, possessing high reuse value; the inability to collect the peels further reduces the added value of processing. However, the toughness of the red date peel, its irregular shape, high sugar content, and strong surface stickiness make it difficult to achieve stable mechanization and standardization in the peeling process.

[0003] Patent CN109619605A discloses a vacuum pulsed infrared peeling device and method for jujubes. The device mainly consists of a vacuum chamber, an infrared heating system, a condensation system, and a control unit. During operation, the jujubes are placed in a vacuum environment, and the skin is rapidly heated by infrared radiation, causing it to expand and separate from the pulp. Subsequently, the skin automatically peels off due to thermal expansion and contraction, utilizing vacuum pulses and condensation cooling. The device controls the heating and peeling process by adjusting the vacuum level, infrared power, and pulse frequency, completing the anhydrous thermal peeling process for the jujubes. The entire system can operate continuously, has temperature feedback and time control functions, and realizes the thermophysical separation process for peeling jujubes. A jujube peeling device (patent number CN222171195U) and a jujube peeling device (patent number CN211608165U) are described. These devices employ a rotary drum structure, with a wire brush and friction rollers inside the peeling drum. A motor drives the drum to rotate, causing the jujubes to be subjected to multi-point friction within the drum, thus peeling them. A spray system is also included to simultaneously rinse and clean the jujubes during processing. These devices primarily utilize mechanical friction, supplemented by rotational motion, to peel the skin from the jujube surface, making them suitable for continuous or batch processing. A jujube peeling processing device disclosed in patent number CN119606027A includes a processing table, a vacuum system, a sieve plate, a plastic film, a pressure roller mechanism, and a winding assembly. During processing, a vacuum pump creates negative pressure below the sieve plate, causing the jujube surface to be adsorbed and adhere tightly to the plastic film. Subsequently, the pressure rollers roll along the jujube surface, applying pressure to the peel and causing it to separate from the pulp. The peeled jujube peel is adsorbed onto the plastic film and automatically collected by the winding mechanism. The vacuum system of this device can adjust the adsorption intensity and the distance between the pressure rollers to adapt to the skin characteristics of jujubes of different sizes, achieving simultaneous physical extrusion peeling and collection of peel scraps. The fully automated jujube peeling machine (patent number CN117481355A) integrates jujube cleaning, peeling, and grading functions into one device. Its system includes a cleaning unit, a peeling roller unit, a conveying and positioning unit, and a mechanism. During processing, the jujubes are first pre-treated in a cleaning tank and then enter a screw conveyor. Multiple peeling rollers perform friction-based peeling on the surface of the jujubes. Subsequently, a conveying device orients the jujubes, and pressure plates and needles are used for operation. The device is equipped with a motor drive and control unit, enabling continuous feeding, automatic grading, and automatic discharge, completing the integrated automatic processing of peeling and other steps.

[0004] The aforementioned patent documents disclose thermophysical peeling technology, mechanical friction peeling technology, air pressure differential circulation soaking equipment, and automated linkage peeling technology. However, the aforementioned patents may have the following problems. Thermophysical peeling technology: Thermophysical methods utilize vacuum, infrared radiation, or heating to separate the skin from the pulp of jujubes. This type of device relies on temperature gradients and thermal expansion effects for peeling. While peeling can be achieved under anhydrous conditions, it requires precise control over heating time and power. Significant differences in moisture content and skin thickness among different jujube varieties lead to frequent localized overheating, pulp carbonization, or cracking. Furthermore, the process of peeling and cooling requires repeated switching under vacuum conditions, resulting in complex equipment structures, high energy consumption, and unsuitability for large-scale continuous production. Mechanical friction peeling technology: This method physically peels the skin of jujubes using structures such as grinding discs, wire brushes, or friction rollers. Due to the high hardness of the jujube skin and its irregular shape, frictional resistance easily increases during the friction process, leading to increased surface temperature and fruit adhesion. To maintain friction efficiency and prevent clogging, existing equipment typically requires continuous spraying or water cooling. This results in the loss of sugars and soluble solids, significantly reducing the sweetness of the peeled jujubes. Skin flakes are discharged with wastewater, and byproducts cannot be effectively recovered, leading to a waste of nutrients and resources. Wet materials require additional drying to restore storability, significantly increasing energy consumption and production costs. Furthermore, this method cannot adjust the friction intensity in real time according to changes in jujube hardness and skin thickness, often resulting in fruit pulp abrasion and uneven peeling. Air pressure differential circulation soaking equipment: In practical applications, this type of device requires first cutting the whole jujube in half lengthwise, then placing the half-jujube with the flesh side down and the skin side up on a plastic film. After being fixed by vacuum negative pressure adsorption, the skin is separated from the flesh by rolling and squeezing along the surface using pressure rollers. Since the processing object is halved jujubes, it is not suitable for the non-destructive peeling of whole jujubes. The pressure applied by the pressure rollers is a fixed value and cannot be adjusted in real time according to changes in the thickness and hardness of the skin, which can easily lead to insufficient squeezing or localized damage. Automated peeling technology: These devices achieve integrated automated processing of washing, peeling, and conveying; however, their core peeling mechanisms still largely rely on brush rollers or friction methods, failing to achieve precise control over cutting force and feed depth. Incomplete peeling or damage to the pulp remains a problem for dates with varying ripeness and moisture content. Furthermore, these systems are large, energy-intensive, and complex, making it difficult to meet the demands for energy-efficient and miniaturized production.

[0005] Currently, the most widely used peeling method in the industry is wet sand milling, which involves placing jujubes with quartz sand or other abrasives in a centrifugal mill, removing the jujube skin through high-speed friction and continuous water rinsing. While this process can quickly achieve large-scale peeling, it has significant drawbacks: continuous water rinsing causes the loss of sugar and soluble nutrients, and some jujube pulp is excessively rubbed during grinding, resulting in fruit volume loss; simultaneously, a large amount of sugary wastewater requires complex treatment, and jujube skin particles are discharged with the water, making recycling impossible, resulting in a double waste of nutrition and resources. Meanwhile, existing biological or chemical peeling processes easily damage the jujube's tissue structure, leave chemical residues, and have long processing cycles, making them difficult to meet the needs of continuous production. Therefore, there is an urgent need to develop a new waterless jujube peeling system that can sense the cutting status in real time, automatically adjust the peeling force and feed rate, and simultaneously achieve dry collection of peel scraps and protection of the fruit pulp, in order to achieve energy-saving, high-efficiency, and resource-recyclable automated processing. Current jujube peeling techniques generally have the following problems: 1. The peeling process lacks force control feedback and feed self-adjustment mechanism, making it impossible to accurately control the cutting depth and pressure; 2. Mechanical friction devices rely heavily on flushing, which leads to a decrease in sweetness and loss of nutrients; 3. During the process of peeling dates using mechanical friction devices, the date skins will break under the impact of the water flow. The date skins and water mix to form wastewater containing a large number of fine date skin fragments. These date skin fragments are difficult to completely separate from the water and reuse. If there are a small amount of mud and sand impurities on the surface of the dates, they will also be mixed into this wastewater, further increasing the difficulty of recycling. 4. Wet processing leads to increased energy consumption in subsequent drying, resulting in low overall energy efficiency; 5. The thermophysical and vacuum extrusion devices have complex structures, high costs, and limited automation and versatility.

[0006] In summary, there is a need for a specialized device for peeling jujubes that can achieve waterless and automated peeling. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a waterless jujube peeling system and method based on force feedback control, which solves the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A waterless peeling system and method for jujubes based on force feedback control includes a feeding mechanism, a loading mechanism, a sorting mechanism, a clamping mechanism, a collecting component, and a cutting mechanism. The process of peeling red dates without water includes the following steps; S1. Feeding and loading: The jujube raw materials are fed into the feeding mechanism, which works in conjunction with the loading mechanism to precisely push the jujube raw materials into the sorting mechanism, where they await subsequent positioning and sorting. S2. Sorting and discharging: When the jujube raw materials enter the sorting mechanism, the sorting mechanism positions and sorts the jujube raw materials so that the jujube raw materials are in a state that is suitable for the clamping mechanism to hold and fix them. S3, Force-controlled peeling: The clamping mechanism holds the jujube raw material and carries it to rotate and spin, so that the jujube raw material is in a position where it can be cut and peeled by the cutting mechanism. The force sensor and linear servo drive unit in the cutting mechanism realize the force-position control of the tool, detect and adaptively adjust the feed speed and cutting depth of the tool in real time, and work with the clamping mechanism to drive the jujube to rotate, so as to achieve uniform peeling of the jujube skin under completely waterless conditions. S4. Waste collection and discharge: After the jujube raw materials are peeled, the peels fall into the collection component for storage. The clamping mechanism automatically releases the peeled jujubes and places them into the storage box or the discharge conveyor belt to complete the discharge of the jujubes.

[0009] Furthermore, the feeding mechanism includes a mounting frame, a feeding hopper, a collection box, a mounting plate, and feeding rollers. The top of the mounting frame is provided with a feeding hopper, the bottom of the feeding hopper is provided with a collection box, the mounting plate is mirror-image below the collection box, and multiple sets of feeding rollers are provided on the inner side of the mounting plate.

[0010] Furthermore, the feeding mechanism also includes a feeding frame, a feeding conveyor belt, a pusher plate, and a guide plate. The feeding frame is provided with a feeding conveyor belt on its inner side, and a pusher plate is provided on its outer side. Multiple pushers are spaced apart, and a guide plate is provided on the top side of the feeding frame. The guide plate is inclined.

[0011] Furthermore, the sorting mechanism includes a support frame and a receiving cover. The top of the support frame is provided with a sorting tray, and the receiving cover is provided above the sorting tray. The receiving cover is fixedly connected to the support frame, and the sorting tray is rotatably connected to the support frame. A clamping cylinder is provided on the side of the sorting tray.

[0012] Furthermore, the sorting mechanism also includes a baffle and a brush. The baffle is located on the side of the receiving hood, and the end of the baffle is provided with a brush. The brush is rotatably connected to the baffle and the receiving hood.

[0013] Furthermore, the clamping mechanism includes a mounting rod, a clamping disc, a telescopic rotation unit, a mounting base, and a clamp. The mounting rod is located on the side of the support frame and is rotatably connected to the support frame. The top of the mounting rod is provided with a clamping disc, the side of the clamping disc is provided with a telescopic rotation unit, the bottom of the telescopic rotation unit is provided with a mounting base, and the bottom of the mounting base is provided with a clamp. The telescopic rotation unit, the mounting base, and the clamp are all arranged in a ring.

[0014] Furthermore, the support frame is provided with a guide hopper on its side, which is inclined and located below the edge of the clamping plate.

[0015] Furthermore, the collection assembly includes a collection box, a partition plate, and a protective cover. The collection box is located on the side of the support frame and is L-shaped. A partition plate is provided in the middle of the collection box, and a protective cover is provided at the end of the collection box. A cutting area is formed on the top of the protective cover.

[0016] Furthermore, the cutting mechanism includes a base, a movable rail, a movable seat, a cutting seat, a tool holder, and a force sensor. The movable rail is located on the top of the base, the movable seat is located above the movable rail, a linear servo drive unit is located on the side of the movable seat, the movable seat is slidably connected to the movable rail, the cutting seat is located in the middle of the movable seat, the tool holder is located on the top of the cutting seat, the force sensor is located on one side of the tool holder, and the tool is located on the side of the tool holder away from the force sensor.

[0017] A waterless jujube peeling system based on force feedback control is characterized in that it includes, in sequence along the jujube peeling processing direction, a feeding mechanism, a loading mechanism, a sorting mechanism, a clamping mechanism, a cutting mechanism, and a collecting component.

[0018] This invention provides a waterless peeling system and method for jujubes based on force feedback control, which has the following advantages compared with the prior art: By using a constant force cutting and force feedback control mechanism, the skin of jujubes can be evenly peeled off under completely waterless conditions. This not only effectively avoids the loss of sweetness and nutrients, but also reduces the energy consumption and equipment complexity of the drying process. It avoids the problems of existing wet peeling processes that require continuous rinsing to accelerate friction, resulting in the loss of sugar, soluble solids and active ingredients, the inability to recycle peel scraps, and high energy consumption in subsequent drying. This maintains the original sweetness and nutritional characteristics of jujubes. By detecting the contact force between the blade and the fruit in real time, the feed depth is automatically adjusted, allowing the blade to adaptively cut along the fruit surface, which significantly improves the uniformity of peeling and the integrity of the pulp. At the same time, the dry peel collection device in the collection component collects peels, avoiding the loss of peel and sugar in the wet process, and providing conditions for the reuse of high-value-added by-products such as polyphenols and dietary fiber, truly achieving the unity of energy saving, emission reduction and resource recycling. By using a force sensor and a linear servo drive unit to perform force-position dual closed-loop control on the cutting tool, the cutting force of the cutting tool on the jujube during the peeling process is detected in real time and the feed speed and cutting depth of the cutting tool are adaptively adjusted. This allows the cutting tool to automatically follow the curvature of the fruit surface and maintain a constant force, so that the peeling depth is kept stable within the peel thickness range, effectively avoiding over-cutting, ensuring the integrity of the fruit flesh and the smoothness of the surface, thereby improving the appearance quality of the finished product. By using the force-position dual closed-loop control of the cutting mechanism and the dry skin collection device inside the collection component to collect skin flakes, continuous processing, real-time monitoring and automatic adjustment of jujubes can be achieved, reducing manual intervention and energy consumption, and meeting the needs of energy saving, high efficiency and automation in modern food processing. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of a waterless jujube peeling system and method based on force feedback control according to the present invention is shown. Figure 2 A schematic diagram of the overall side view of the present invention is shown; Figure 3 A schematic diagram of the sorting mechanism of the present invention is shown; Figure 4 A schematic diagram of the clamping mechanism of the present invention is shown; Figure 5 A schematic diagram of the feeding mechanism of the present invention is shown; Figure 6 A schematic diagram of the feeding mechanism of the present invention is shown; Figure 7 A schematic diagram of the cutting mechanism of the present invention is shown; Figure 8 A schematic diagram of the process of the waterless peeling system for jujubes based on force feedback control of the present invention is shown; The diagram shows: 1. Feeding mechanism; 11. Mounting frame; 12. Feed hopper; 13. Collection box; 14. Mounting plate; 15. Feeding roller; 2. Loading mechanism; 21. Loading rack; 22. Loading conveyor belt; 23. Push plate; 24. Guide plate; 3. Sorting mechanism; 31. Support frame; 32. Receiving cover; 33. Baffle; 34. Brush; 35. Sorting tray; 36. Clamping cylinder; 4. Clamping mechanism; 41. Mounting rod; 42. Clamping tray; 43. Telescopic rotary unit; 44. Mounting seat; 45. Fixture; 5. Collection assembly; 51. Collection box; 52. Divider plate; 53. Protective cover; 6. Guide hopper; 7. Cutting mechanism; 71. Base; 72. Movable rail; 73. Movable seat; 74. Cutting seat; 75. Tool holder; 76. Force sensor; 77. Tool; 78. Linear servo drive unit. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] To address the technical problems in the background section, a waterless jujube peeling system and method based on force feedback control are presented below: Combination Figures 1-8 As shown, the present invention provides a waterless peeling method for jujubes based on force feedback control, including a feeding mechanism 1, a loading mechanism 2, a sorting mechanism 3, a clamping mechanism 4, a collecting component 5, and a cutting mechanism 7. The feeding mechanism 1 and the loading mechanism 2 work together to transport the jujube raw materials and send them to the sorting area of ​​the sorting mechanism 3. The sorting mechanism 3 discharges and positions the jujube raw materials and then pushes them into the clamping area. After being clamped and fixed by the clamp 45 of the clamping mechanism 4, the raw materials move and rotate. Under the control command, the cutting tool 77 of the cutting mechanism 7 gradually approaches the surface of the jujube raw materials in the radial direction and maintains a constant cutting force under the force sensing feedback, thereby achieving uniform peeling of the fruit skin. The steps to peel red dates without water are as follows: S1. Feeding and loading: Red dates are fed into the feeding mechanism 1. The feeding mechanism 1 works with the loading mechanism 2 to accurately push the red date raw materials into the sorting mechanism 3, waiting for the subsequent positioning and sorting of the red date raw materials. During this process, the feeding mechanism 1 and the loading mechanism 2 automatically adjust the feeding speed in combination with the algorithm to keep the red date feeding and loading at a suitable rate. S2. Sorting and discharging: When the jujube raw material enters the sorting mechanism 3, the sorting plate 35 in the sorting mechanism 3 cooperates with the brush 34, the baffle 33 and the clamping cylinder 36 to position and sort the jujube raw material, so that the jujube raw material is in the clamping area in the clamping cylinder 36, ensuring that the jujube raw material is easy to be clamped and fixed by the clamp 45 of the clamping mechanism 4. S3, Force-controlled peeling: The clamping mechanism 4 clamps the jujube raw material and carries it to rotate and spin, so that the jujube raw material is in a position where it can be cut and peeled by the cutting mechanism 7. The force sensor 76 and the linear servo drive unit 78 in the cutting mechanism 7 realize the force-position control of the tool 77, and detect and adaptively adjust the feed speed and cutting depth of the tool 77 in real time. Together with the clamping mechanism 4, the jujube is driven to rotate, and the skin of the jujube is uniformly peeled off under completely dry conditions. The specific steps of S3 are as follows: after the clamping device 45 in the clamping mechanism 4 clamps the jujube raw material, the clamping disk 42 rotates and, in conjunction with the telescopic rotary unit 43, moves the jujube raw material to the cutting area at the top of the protective cover 53 in the collecting component 5. At the same time, the jujube rotates. The cutting tool 77 in the cutting mechanism 7, driven by the linear servo drive unit 78, gradually approaches the surface of the jujube raw material in the radial direction. The cutting force is detected in real time by the force sensor 76 to ensure that the cutting tool 77 always acts on the jujube peel layer. S4. Waste collection and discharge: After the jujube raw materials are peeled, the peel scraps fall into the collection component 5 for storage. The clamping mechanism 4 automatically loosens and clamps the peeled jujubes onto the storage box or the discharge conveyor belt to complete the discharge of the jujubes.

[0023] In this embodiment, the feeding mechanism 1 includes a mounting frame 11, a feeding hopper 12, a collection box 13, a mounting plate 14, and feeding rollers 15. The top of the mounting frame 11 is provided with a feeding hopper 12 for storing jujube raw materials. The bottom of the feeding hopper 12 is provided with a collection box 13. The end of the collection box 13 is provided with a feeding port. The mounting plate 14 is mirrored below the collection box 13. Multiple sets of feeding rollers 15 are provided on the inner side of the mounting plate 14. The feeding rollers 15 are rotatably connected to the mounting plate 14. When the multiple sets of feeding rollers 15 rotate, they can send the jujube raw materials in the collection box 13 to the feeding end of the feeding mechanism 2. In this embodiment, the feeding mechanism 2 also includes a feeding frame 21, a feeding conveyor belt 22, a pusher plate 23, and a guide plate 24. The feeding frame 21 is provided with a feeding conveyor belt 22 on its inner side and a pusher plate 23 on its outer side. Multiple pusher plates 23 are spaced apart. The feeding conveyor belt 22 can convey the jujube raw material upward during operation through multiple spaced pusher plates 23. The top side of the feeding frame 21 is provided with a guide plate 24. The guide plate 24 is inclined. The inclined guide plate 24 can ensure that the jujube raw material falls above the sorting mechanism 3. Specifically, the feeding roller 15 inside the mounting plate 14 and the feeding conveyor belt 22 inside the feeding rack 21 can both be electrically driven conveyor belt assemblies. When the feeding roller 15 and the feeding conveyor belt 22 send the jujube raw material to the sorting mechanism 3, the feeding speed can be automatically adjusted according to the peeling efficiency of the jujube raw material by the subsequent sorting mechanism 3 and the cutting mechanism 7, combined with the control algorithm, to ensure that the feeding can match the requirements of waterless peeling of jujube. In this embodiment, the sorting mechanism 3 includes a support frame 31 and a receiving cover 32. A sorting tray 35 is provided on the top of the support frame 31, and the receiving cover 32 is provided above the sorting tray 35. The receiving cover 32 is fixedly connected to the support frame 31, and the sorting tray 35 is rotatably connected to the support frame 31. A clamping cylinder 36 is provided on the side of the sorting tray 35. The clamping area in the middle of the clamping cylinder 36 facilitates the positioning of the jujube raw materials, making it easier for the subsequent clamping mechanism 4 to clamp the jujube raw materials. The rotation of the sorting tray 35 allows for... The clamping cylinder 36 works together to move the positioned jujube raw material to the area that the clamping mechanism 4 can clamp. The sorting mechanism 3 also includes a baffle 33 and a brush 34. The baffle 33 is located on the side of the receiving cover 32, and the end of the baffle 33 is provided with a brush 34. The brush 34 is rotatably connected to the baffle 33 and the receiving cover 32. During the rotation, the brush 34 can sort out the messy jujube raw material, adjust the posture of the jujube, and guide the jujube into the clamping cylinder 36, thereby improving the orderliness of the jujube clamping. In this embodiment, the clamping mechanism 4 includes a mounting rod 41, a clamping plate 42, a telescopic rotary unit 43, a mounting base 44, and a clamp 45. The mounting rod 41 is located on the side of the support frame 31 and is rotatably connected to the support frame 31. The top of the mounting rod 41 is provided with a clamping plate 42, and the side of the clamping plate 42 is provided with a telescopic rotary unit 43. The telescopic rotary unit 43 can cooperate with the clamp 45 to control the lifting and rotating of the jujube after clamping it. The bottom of the telescopic rotary unit 43 is provided with a mounting base 44, and the bottom of the mounting base 44 is provided with a clamp 45. The telescopic rotary unit 43, the mounting base 44, and the clamp 45 are arranged in a ring. Specifically, the clamp 45 can use flexible grippers, vacuum suction cups or other methods to clamp and fix the jujubes, and the rotation drive between the components can be driven by a servo motor, synchronous belt drive or pneumatic motor. In this embodiment, a guide hopper 6 is provided on the side of the support frame 31. The guide hopper 6 is inclined and located below the edge of the clamping plate 42. After the jujubes are peeled, the clamp 45 in the clamping mechanism 4, in conjunction with the rotation of the clamping plate 42, can automatically release the clamp and drop the peeled jujubes onto the guide hopper 6. This system can collect and transport the peeled jujubes by installing a collection box 51 or a feeding conveyor belt below the guide hopper 6, which is convenient for the jujubes to be cut, mixed and other processes after peeling. In this embodiment, the collection component 5 includes a collection box 51, a partition plate 52, and a protective cover 53. The collection box 51 is located on the side of the support frame 31 and is L-shaped. The partition plate 52 is provided in the middle of the collection box 51, and the protective cover 53 is provided at the end of the collection box 51. A cutting area is formed on the top of the protective cover 53. The protective cover 53 can provide semi-enclosed protection for the cutting tool 77 of the cutting mechanism 7. The protective cover 53 is made of transparent polymer material, which is convenient for workers to observe. A dry skin and dander collection device composed of a negative pressure fan, a filter chamber, a storage chamber, etc. can be installed inside the protective cover 53 to collect and filter the skin and dander generated by cutting jujubes, which is convenient for recycling the jujube skin and dander. The collected jujube skin and dander can be directly used for functional food additives or extraction, thereby increasing the added value of processing and realizing a green production mode with zero waste discharge. In this embodiment, the cutting mechanism 7 includes a base 71, a movable rail 72, a movable seat 73, a cutting seat 74, a tool holder 75, and a force sensor 76. The movable rail 72 is provided on the top of the base 71, and the movable seat 73 is provided above the movable rail 72. A linear servo drive unit 78 is provided on the side of the movable seat 73. The linear servo drive unit 78 is used to drive the tool 77 to move in the radial direction. The movable seat 73 is slidably connected to the movable rail 72. The cutting seat 74 is provided in the middle of the movable seat 73, and the tool holder 75 is provided on the top of the cutting seat 74. A force sensor 76 is provided on one side of the tool holder 75, and the tool 77 is provided on the side of the tool holder 75 away from the force sensor 76. The force sensor 76 can detect the cutting force of the tool 77 on the jujube. Specifically, the clamping mechanism 4 drives a spin, forming a rotational trajectory along the outer contour of the fruit. The cutting tool 77, under the control of the linear servo drive unit 78, performs a micro-feed in the radial direction. The depth and speed of the cutting tool 77 are controlled by the signal from the force sensor 76. When the cutting tool 77 contacts the jujube skin, the force sensor 76 detects the cutting force in real time. The control system automatically corrects the feed amount by comparing with a preset constant force range to ensure that the cutting tool 77 always acts on the peel layer without damaging the pulp. In addition to the arc-shaped single-edged structure, the cutting tool 77 can also be a roller type, a micro-milling cutter, or an ultrasonic vibrating cutter head. In addition to servo electric cylinders, the linear servo drive unit 78 can also use stepper screws, piezoelectric pushers, or hydraulic micro-cylinders. In addition to strain gauge sensors, force feedback detection can also be replaced by piezoelectric, fiber optic, or current feedback detection devices. The control unit can use a PLC, industrial PC, or embedded controller. In addition to PID, the algorithm can also use fuzzy control, adaptive control, or feedforward control based on a torque model. The force sensor 76 adopts the strain measurement principle. Its signal is amplified and converted from analog to digital before being input into the central controller. The control algorithm calculates the feed amount of the tool 77 in real time to realize "force-position dual closed-loop control". This enables the system to adapt to different varieties and hardness of jujubes, achieving a balance between flexible processing and fruit pulp protection.

[0024] A waterless jujube peeling system based on force feedback control includes, in sequence along the jujube peeling processing direction, a feeding mechanism 1, a loading mechanism 2, a sorting mechanism 3, a clamping mechanism 4, a cutting mechanism 7, and a collecting component 5; This waterless jujube peeling system uses force feedback control to achieve constant-force peeling and dry collection of peel fragments. The system can detect the contact force between the blade and the fruit in real time and automatically adjust the feed depth, allowing the blade to adaptively cut along the fruit surface, significantly improving peeling uniformity and fruit pulp integrity. The system's collection component 5, which can be equipped with a dry peel fragment collection device, enables immediate recovery of peel fragments, providing conditions for the reuse of high-value-added byproducts such as polyphenols and dietary fiber. This truly achieves a unity of energy saving, emission reduction, and resource recycling. Furthermore, the system can be modified into a multi-station parallel layout for continuous constant-force peeling on a conveyor line. Besides jujubes, this system is also suitable for small fruits such as hawthorn and goji berries. The materials for the blades and structural components can be replaced with cemented carbide, stainless steel, or ceramic composite materials according to process requirements.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0026] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A waterless peeling method for jujubes based on force feedback control, characterized in that: It includes a feeding mechanism, a loading mechanism, a sorting mechanism, a clamping mechanism, a collecting component, and a cutting mechanism; The process of peeling red dates without water includes the following steps; S1. Feeding and loading: The jujube raw materials are fed into the feeding mechanism, which works in conjunction with the loading mechanism to precisely push the jujube raw materials into the sorting mechanism, where they await subsequent positioning and sorting. S2. Sorting and discharging: When the jujube raw materials enter the sorting mechanism, the sorting mechanism positions and sorts the jujube raw materials so that the jujube raw materials are in a state that is suitable for the clamping mechanism to hold and fix them. S3, Force-controlled peeling: The clamping mechanism holds the jujube raw material and carries it to rotate and spin, so that the jujube raw material is in a position where it can be cut and peeled by the cutting mechanism. The force sensor and linear servo drive unit in the cutting mechanism realize the force-position control of the tool, detect and adaptively adjust the feed speed and cutting depth of the tool in real time, and work with the clamping mechanism to drive the jujube to rotate, so as to achieve uniform peeling of the jujube skin under completely waterless conditions. S4. Waste collection and discharge: After the jujube raw materials are peeled, the peels fall into the collection component for storage. The clamping mechanism automatically releases the peeled jujubes and places them into the storage box or the discharge conveyor belt to complete the discharge of the jujubes.

2. The method for waterless peeling of jujubes based on force feedback control according to claim 1, characterized in that: The feeding mechanism includes a mounting frame, a feeding hopper, a collection box, a mounting plate, and feeding rollers. The feeding hopper is located at the top of the mounting frame, the collection box is located at the bottom of the feeding hopper, the mounting plate is located below the collection box, and multiple sets of feeding rollers are located on the inner side of the mounting plate.

3. The method for waterless peeling of jujubes based on force feedback control according to claim 1, characterized in that: The feeding mechanism also includes a feeding frame, a feeding conveyor belt, a pusher plate, and a guide plate. The feeding frame has a feeding conveyor belt inside, a pusher plate outside the feeding conveyor belt, and multiple pushers spaced apart. A guide plate is provided on the top side of the feeding frame, and the guide plate is inclined.

4. The method for waterless peeling of jujubes based on force feedback control according to claim 1, characterized in that: The sorting mechanism includes a support frame and a receiving cover. The top of the support frame is equipped with a sorting tray, and the receiving cover is located above the sorting tray. The receiving cover is fixedly connected to the support frame, and the sorting tray is rotatably connected to the support frame. A clamping cylinder is provided on the side of the sorting tray.

5. A method for waterless peeling of jujubes based on force feedback control according to claim 4, characterized in that: The sorting mechanism also includes a baffle and a brush. The baffle is located on the side of the receiving hood, and the end of the baffle is provided with a brush. The brush is rotatably connected to the baffle and the receiving hood.

6. The method for waterless peeling of jujubes based on force feedback control according to claim 1, characterized in that: The clamping mechanism includes a mounting rod, a clamping plate, a telescopic rotary unit, a mounting base, and a clamp. The mounting rod is located on the side of the support frame and is rotatably connected to the support frame. The top of the mounting rod is provided with a clamping plate, the side of the clamping plate is provided with a telescopic rotary unit, the bottom of the telescopic rotary unit is provided with a mounting base, and the bottom of the mounting base is provided with a clamp. The telescopic rotary unit, the mounting base, and the clamp are arranged in a ring.

7. A method for waterless peeling of jujubes based on force feedback control according to claim 4, characterized in that: The support frame is provided with a guide hopper on its side. The guide hopper is inclined and located below the edge of the clamping plate.

8. The method for waterless peeling of jujubes based on force feedback control according to claim 1, characterized in that: The collection assembly includes a collection box, a partition plate, and a protective cover. The collection box is located on the side of the support frame and is L-shaped. A partition plate is provided in the middle of the collection box, and a protective cover is provided at the end of the collection box. A cutting area is formed on the top of the protective cover.

9. A method for waterless peeling of jujubes based on force feedback control according to claim 1, characterized in that: The cutting mechanism includes a base, a movable rail, a movable seat, a cutting seat, a tool holder, and a force sensor. The movable rail is located on the top of the base, and the movable seat is located above the movable rail. A linear servo drive unit is located on the side of the movable seat. The movable seat is slidably connected to the movable rail. The cutting seat is located in the middle of the movable seat, and the tool holder is located on the top of the cutting seat. A force sensor is located on one side of the tool holder, and a tool is located on the side of the tool holder away from the force sensor.

10. A waterless jujube peeling system based on force feedback control, characterized in that, The method for implementing the waterless peeling method for jujubes according to any one of claims 1-9 includes, in sequence along the jujube peeling processing direction, a feeding mechanism, a loading mechanism, a sorting mechanism, a clamping mechanism, a cutting mechanism, and a collecting component.

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