CN114472217A - Dynamic balance grading device and grading method for fruit and vegetable sorting machine - Google Patents

Dynamic balance grading device and grading method for fruit and vegetable sorting machine Download PDF

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Publication number
CN114472217A
CN114472217A CN202210160433.8A CN202210160433A CN114472217A CN 114472217 A CN114472217 A CN 114472217A CN 202210160433 A CN202210160433 A CN 202210160433A CN 114472217 A CN114472217 A CN 114472217A
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Prior art keywords
fruit
control system
sorting
cups
cup
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Chinese (zh)
Inventor
沈炜杰
张剑一
陈刚
金国强
景寒松
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Zhejiang Defeiluo Intelligent Machinery Manufacturing Co ltd
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Zhejiang Defeiluo Intelligent Machinery Manufacturing Co ltd
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Priority to CN202210160433.8A priority Critical patent/CN114472217A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
    • A23N2015/008—Sorting of fruit and vegetables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009—Sorting of fruit

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  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention discloses a dynamic balance grading device of a fruit and vegetable sorting machine, which comprises a conveyor, fruit carrying cups, a detection system, a sorting assembly, a packaging blocking assembly, a PLC control system and an upper computer PC control system, wherein the conveyor is provided with a longitudinal conveying subsection, the dynamic balance grading device further comprises an identification positioning assembly, an accumulation detection sensor and a fruit cup circulating system, the detection system is provided with a first identifier, and the fruit carrying cups are provided with fruit cup labels for identification. Through the mutual cooperation of the structures, the sorting of the fruit carrying cups can be dynamically regulated, the fruit carrying cups which are longitudinally conveyed and segmented can not be frequently accumulated, and the contradiction between the sorting efficiency of the sorting equipment and the packing efficiency of workers is balanced.

Description

Dynamic balance grading device and grading method for fruit and vegetable sorting machine
Technical Field
The invention belongs to the field of agricultural products, relates to the technical field of fruit and vegetable sorting, and particularly relates to a dynamic balanced grading device and a grading method for a fruit and vegetable sorting machine.
Background
With the development of the modern fruit and vegetable sorting industry, more and more fruits adopt a sorting scheme of a sorting machine, and the speed and the efficiency of fruit sorting are greatly improved. The sorting machine is increasingly refined, generalized and fast in the continuous iteration process, sorting indexes are more and more, sorting outlets are more and more, and the matched automatic fruit discharging and packaging system has the characteristics of high technical development difficulty, high application scene requirement, low universality, high cost and the like, and cannot be adapted to more and more sorting outlets of sorting equipment one by one.
Therefore, most sorting equipment in the market is matched with a manual fruit discharging mode, and the contradiction between the high efficiency of the sorting equipment and the low speed and low efficiency of manual fruit discharging is more prominent.
Disclosure of Invention
The invention provides a novel dynamic balance grading device and a novel grading method for a fruit and vegetable sorting machine, aiming at the defects of contradiction between high efficiency of sorting equipment and low speed and low efficiency of manual fruit feeding and packaging in the prior art.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a dynamic balance grading device of a fruit and vegetable sorting machine comprises a conveyor, fruit carrying cups, a detection system, a sorting assembly, a packaging blocking assembly, a PLC control system, an upper computer PC control system, wherein longitudinal conveying subsections are arranged on the conveyor, the number of the longitudinal conveying subsections is at least 2, the fruit and vegetable sorting machine further comprises an identification positioning assembly, an accumulation detection sensor and a fruit cup circulating system, a first recognizer is arranged on the detection system, the conveyor is arranged at the lower part of the fruit cup circulating system and communicated with the fruit cup circulating system, the fruit carrying cups are arranged on the conveyor and the fruit cup circulating system, the conveyor and the fruit cup circulating system provide driving force for the fruit carrying cups, fruit cup labels for identification are arranged on the fruit carrying cups, the detection system and the identification positioning assembly are arranged on the conveyor, the sorting assembly is arranged at the side edge of the conveyor and is placed corresponding to the longitudinal conveying subsections of the conveyor, pile up detection sensor and packing and block the subassembly and set up respectively at the vertical transportation segmentation side of conveyer, just it is located the packing and blocks the upper reaches of subassembly to pile up detection sensor, conveyer, discernment locating component, sorting module, pile up detection sensor, packing and block subassembly, fruit cup circulation system respectively with PLC control system connects, detecting system and PLC control system are connected with host computer PC control system respectively.
Wherein the conveyer is used for carrying the fruit cup of carrying the fruit, detecting system is used for detecting the quality of the fruit vegetables of waiting to sort on carrying the fruit cup, it is used for sorting to carry the fruit cup to select separately the subassembly, the packing blocks the subassembly and is used for treating the packing fruit vegetables and blocks, thereby be convenient for the staff to treat the packing fruit vegetables and pack, PLC control system is used for controlling the operation of each part, and acquire the information of each part, host computer PC control system is as global control pivot, can allocate each part of operation in-process through PLC control system, vertically carry the segmentation to be used for supplying the fruit vegetables after selecting separately and get into and be convenient for the staff to carry out the packing operation to the fruit vegetables. First recognizer is used for acquireing the information of carrying the fruit cup, discernment locating component can acquire the position of carrying the fruit cup, it can detect the condition of piling up to pile up the carrying fruit cup of each vertical transport segmentation to pile up the detection sensor, thereby with select separately the subassembly cooperation, the host computer PC control system of being convenient for allots the sorting position of carrying the fruit cup, the condition is piled up to the fruit cup that reduces each vertical transport segmentation greatly, fruit cup circulation system can carry out the fruit cup with carrying on the conveyor once more after the circular transport, thereby promote the availability factor of carrying the fruit cup. Through the mutual cooperation of the above structures, the sorting of the fruit carrying cups can be dynamically regulated, the frequent accumulation of the fruit carrying cups which are longitudinally conveyed and segmented can not be caused, and the contradiction between the sorting efficiency of the sorting equipment and the packing efficiency of workers is balanced.
A grading method of a dynamic balance grading device of a fruit and vegetable sorting machine comprises the following steps:
A. the fruit carrying cups circularly enter the conveyor through the fruit cup circulating system, and workers place fruits and vegetables to be sorted on the fruit carrying cups;
B. when the fruit carrying cup carrying the fruits and vegetables to be sorted passes through the detection system, the detection system obtains detection data of the fruits and vegetables to be sorted, the first recognizer obtains label data of the fruits and vegetables to be sorted through a fruit cup label on the fruit carrying cup, the detection data of the fruits and vegetables to be sorted and the label data of the fruits and vegetables to be sorted are sent to the PC control system of the upper computer through communication, and the PC control system of the upper computer compares the detection data of the fruits and vegetables to be sorted with built-in preset fruit and vegetable grade data to obtain the grade data of the fruits and vegetables to be sorted;
C. the PC control system of the upper computer acquires the number of the packaged fruit cups of each longitudinal conveying section through the PLC control system, and then acquires and records the sorting outlet data of the fruit-carrying fruit cup by combining the grade data of the fruits and vegetables to be sorted;
D. the PC control system of the upper computer sends the fruit cup label data and the sorting outlet data of the fruit carrying cups to the PLC control system through communication, and then the PC control system of the upper computer updates the number of the fruit cups to be sorted;
E. when the fruit carrying cups carrying the fruits and vegetables to be sorted pass through the identification and positioning assembly, the PLC control system acquires the fruit cup label data and the fruit cup position information of the fruit carrying cups at the position of the identification and positioning assembly;
F. the PLC control system obtains the sorting position of the fruit carrying cup according to the obtained fruit cup label data, the sorting outlet data and the fruit cup position information;
G. the PLC control system controls the sorting component to stretch out when the fruit carrying cups reach a preset sorting position, changes the moving direction of the fruit carrying cups, enables the fruit carrying cups to enter a longitudinal conveying section corresponding to the sorting position, and updates the number of the sorted fruit cups, and at the moment, fruits and vegetables on the fruit carrying cups are fruits and vegetables to be packaged;
H. when the sorted fruit carrying cups reach the position of the packaging blocking component in a segmented manner through longitudinal conveying, the PLC control system controls the packaging blocking component to block the fruit carrying cups carrying fruits and vegetables to be packaged from passing through, and packaging personnel wait for taking the fruits and vegetables to be packaged away for packaging;
I. after the packing personnel take the fruits and vegetables to be packed, the PLC control system controls the packing blocking component to release the blocking, updates the number of the packed fruit cups, and subtracts the number of the packed fruit cups from the number of the sorted fruit cups to obtain the number of the fruit cups to be packed;
J. the PLC control system obtains the stacking state of each longitudinal conveying section through the stacking detection sensor, and sends the stacking state of each longitudinal conveying section, the number of the fruit cups to be packaged and the number of the packaged fruit cups to the PC control system of the upper computer through communication, so that the fruit and vegetable sorting is completed.
Through the steps, the quantity of the fruit cups to be packaged of each longitudinal conveying section can be dynamically allocated, the stacking state of each longitudinal conveying section is detected, frequent stacking of the fruit carrying cups of the longitudinal conveying sections is avoided, and the contradiction between the sorting efficiency of the sorting equipment and the packaging efficiency of workers is balanced.
Preferably, the classification method of the dynamic balance classification device of the fruit and vegetable separator comprises the steps that the identification and positioning assembly comprises a second identifier, an identifier triggering device and a positioning device, the second identifier is located at the front section of the conveyor, the second identifier is located at the upstream of the separation assembly and the downstream of the detection system, the identifier triggering device is located between the separation assembly and the second identifier, the conveyor is provided with a driving motor, the positioning device is connected with the driving motor and acquires information of the driving motor, and the second identifier, the identifier triggering device and the positioning device are respectively connected with the PLC control system;
in the step E, when the fruit carrying cup carrying the fruits and vegetables to be sorted passes through the identifier triggering device, the second identifier scans the fruit cup label on the fruit carrying cup to obtain the fruit cup label data, and the PLC control system calculates the information sent by the positioning device to obtain the position information of the fruit cup.
Through the structure and the steps, the fruit cup position information of each fruit carrying cup can be accurately obtained in real time, so that the fruit carrying cups can be conveniently and accurately sorted and the outlet positions can be conveniently allocated.
Preferably, in the classification method of the dynamic balance classification device for the fruit and vegetable separator, the separation assembly comprises a separation driving device, a separation head, a position detection sensor and a base, the separation driving device is arranged on the base, the separation head is connected with the separation driving device and matched with the fruit carrying cup, the position detection sensor is arranged on the separation driving device, and the separation driving device and the position detection sensor are respectively connected with the PLC control system;
and G, when the fruit carrying cups reach the preset sorting position, the PLC control system controls the sorting driving device to stretch out and drive the sorting head to stretch out, the moving direction of the fruit carrying cups is changed after the sorting head is contacted with the fruit carrying cups, the fruit carrying cups enter the longitudinal conveying section corresponding to the sorting position, and when the sorting driving device stretches out to the position detection sensor detection position, the PLC control system controls the sorting driving device to retract and update the number of the sorted fruit cups.
Through the structure and the steps, the fruit carrying cups can be sorted accurately, and the state information of the sorting operation can be fed back in time.
Preferably, in the grading method of the dynamic balance grading device for the fruit and vegetable sorting machine, when the sorting driving device extends to the detection position of the position detection sensor, the PLC control system controls the sorting driving device to stay for 10ms to 200ms, and then controls the sorting driving device to retract and update the number of the sorted fruit cups.
Through the setting, can let select separately drive arrangement and select separately the fruit cup of carrying the fruit better, reduce to select separately the action and wait to select separately the impact of fruit vegetables on carrying the fruit cup to can further promote the success rate of selecting separately.
Preferably, in the classification method of the dynamic balance classification device of the fruit and vegetable separator, the package blocking assembly comprises a blocking driving device, a blocking head, a triggering device, a detection device and a bearing table, the blocking driving device, the triggering device and the detection device are respectively arranged on the bearing table, the triggering device is positioned at the downstream of the blocking driving device, the detection device is positioned at the downstream of the triggering device, the blocking head is connected with the blocking driving device, and the blocking driving device, the triggering device and the detection device are respectively connected with the PLC control system;
in the step H, when the sorted fruit carrying cups reach the positions of the trigger devices in a longitudinal conveying and sectional manner, if the trigger devices detect that fruits and vegetables to be packaged exist on the fruit carrying cups, the PLC control system controls the blocking driving devices to extend out and block the fruit carrying cups carrying the fruits and vegetables to be packaged from passing through;
in the step I, after the packing personnel take away the fruits and vegetables to be packed, the triggering device detects that the fruits and vegetables to be packed do not exist on the fruit carrying cups, the PLC control system controls the blocking driving device to retract, then the detection device records the number of the fruit carrying cups passing through the position of the detection device and sends the number of the fruit carrying cups to the PLC control system, and the PLC control system updates the number of the fruit cups to be packed and the number of the packed fruit cups.
Through the setting, can block packing fruit vegetables better to be convenient for the staff treats packing fruit vegetables and packs, can real-time detection packing fruit cup quantity simultaneously, thereby be convenient for host computer PC control system carries out dynamic allotment to each vertical transportation segmentation better.
Preferably, in the grading method of the dynamic balance grading device for the fruit and vegetable sorting machine, the tail end of the longitudinal conveying section is communicated with the fruit cup circulating system;
in the step I, after the PLC control system controls the packaging blocking component to release the blocking, the unloaded fruit carrying cups enter the fruit cup circulating system through the longitudinal conveying section to wait for circulation and then enter the conveyor again.
Through the arrangement of the structure, the unloaded fruit carrying cup can directly enter the fruit cup circulating system, so that the circulating efficiency of the fruit carrying cup is further improved, and the processing cost and the processing time of the unloaded fruit carrying cup are reduced.
Preferably, in the grading method of the dynamic equilibrium grading device for the fruit and vegetable sorting machine, the accumulation detection sensor is located at the front 1/3-1/4 position of the longitudinal conveying section, and the accumulation detection sensor is a photoelectric sensor or a capacitive proximity sensor.
Through the setting of above structure, under the prerequisite of guaranteeing the normal packing of staff, can form great piling up the interval, avoid making dynamic allotment efficiency reduce because the buffer of piling up of vertical transport segmentation is too short, pile up in addition and detect the sensor and choose for use above sensor, can realize contactless detection, avoid carrying the striking of fruit cup to lead to the fact the influence to piling up the detection sensor.
Preferably, in the grading method of the dynamic balance grading device for the fruit and vegetable sorting machine, the detection system is one or any combination of a weight detection device, a visual detection device and a sugar degree detection device.
Different devices and combination modes can be selected according to the requirements of different customers, so that the application range of the invention is wider, and the popularization is more convenient.
Preferably, in the above method for classifying a fruit and vegetable separator by using a dynamic equilibrium classification device, the process of acquiring the data at the separation outlet is as follows:
s1, the upper computer PC control system obtains the number information of all built-in longitudinal conveying segments, and obtains a distributable outlet list E according to the preset fruit and vegetable grade data and by combining the number information of all the longitudinal conveying segments, wherein the distributable outlet list E comprises the number of fruit cups to be sorted of each longitudinal conveying segment, and the specific structure of the distributable outlet list E is as follows:
Figure BDA0003514371860000061
wherein EXIT is a single export storage list, and n is the total number of longitudinal transport segments;
s2, obtaining the quantity of the fruit cups to be sorted of each longitudinal conveying section from the distributable outlet list E and subtracting the quantity of the packaged fruit cups to obtain the storage quantity value of the fruit cups, wherein the specific formula is COUNTi＝Cini-CoutiWherein COUNT is the storage quantity of the fruit cups, Cin is the quantity of the fruit cups to be sorted, and Cout is the packaged quantityThe fruit cup quantity i is an index value of each longitudinal conveying section, so that a conveying section fruit cup stock list C is obtained, and the conveying section fruit cup stock list C has the following specific structure:
Figure BDA0003514371860000062
s21, if the upper computer PC control system receives the stacking state of each longitudinal conveying section sent by the PLC control system, the upper computer PC control system replaces the fruit cup stock value of the longitudinal conveying section with the stacking state value as true to be the upper limit value of the sorting outlet fruit cup storage total amount, so that the fruit cup stock list C of the conveying section is updated, and the specific formula is as follows:
COUNT＝Cmax，COUNT＜Cmaxwherein Cmax is the upper limit value of the sorted fruit cup storage total amount;
s3, obtaining the minimum value C in the corresponding storage list C of the conveying segmented fruit cups according to the grade data of the fruits and vegetables to be sortedminThe minimum value CminThe calculation formula of (2) is as follows: cmin＝MIN(COUNT1，COUNT2，COUNTn)；
S4, will have a minimum value of CminThe longitudinal conveying subsection is used as final sorting outlet data and is sent to a PLC control system;
s5, updating the number of the fruit cups to be sorted of the longitudinal conveying section, wherein the calculation formula is as follows:
Figure BDA0003514371860000063
wherein k is a number having a minimum value CminThe index value of the longitudinal transport segment.
Through the steps, the storage value of the fruit cups of each longitudinal conveying section can be monitored in real time, so that the sorting outlets can be dynamically allocated according to the equipment state. In addition, when the stacking condition occurs in the longitudinal conveying section, the stacking error automatic correction function is also provided, and the stacking error is prevented from influencing the normal operation of the equipment.
Preferably, in the step G, if the PLC control system detects that the number of sorted fruit cups is not updated, it is determined that the sorting assembly fails to extend when the fruit-bearing cup reaches the predetermined sorting position, the PLC control system sends a sorting failure flag and fruit cup label data to the upper PC control system, and then the upper PC control system obtains the current position of the fruit-bearing cup from the PLC control system according to the fruit cup label data, and obtains sorting outlet data of the fruit-bearing cup again in combination with the fruit and vegetable grade data to be sorted, and then sends the sorting outlet data to the PLC control system.
Through the steps, a new sorting outlet can be fed back in time and dynamically allocated when the sorting fails, so that the direct backflow of the fruit carrying cups is avoided, and the sorting efficiency is improved.
The invention has the beneficial effects that:
1. the invention solves the problem of frequent accumulation at the outlet of the sorting machine due to the inconsistent sorting efficiency of sorting equipment and the packing efficiency of manual packing personnel, and solves the defects of more returned fruits, damaged fruits and incapability of exerting the efficiency of the sorting machine caused by the existing sorting equipment.
2. The invention can monitor the sorting state and the stacking state of each grading outlet in real time, thereby dynamically allocating the sorting grade, setting the maximum stacking range through the stacking detection sensor, realizing automatic calibration of stacking error and avoiding the condition that the equipment cannot normally operate due to stacking of fruit carrying cups.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a partial enlarged view of portion B of FIG. 1;
FIG. 4 is an enlarged view of a portion C of FIG. 1;
FIG. 5 is a flow chart of the present invention;
fig. 6 is a flow chart of the sorting outlet data acquisition in the present invention.
Detailed Description
The invention will be described in further detail below with reference to the accompanying figures 1-6 and the detailed description, but they are not intended to limit the invention:
example 1
As shown in fig. 1 to 6, a dynamic equilibrium grading device of a fruit and vegetable sorting machine comprises a conveyor 1, fruit carrying cups 2, a detection system 3, a sorting assembly 5, a packaging blocking assembly 7, a PLC control system 100, and an upper computer PC control system 200, wherein the conveyor 1 is provided with longitudinal conveying segments 11, the number of the longitudinal conveying segments 11 is at least 2, the device further comprises an identification positioning assembly 4, an accumulation detection sensor 6, and a fruit cup circulating system 8, the detection system 3 is provided with a first identifier 31, the conveyor 1 is arranged at the downstream of the fruit cup circulating system 8 and is communicated with the fruit cup circulating system 8, the fruit carrying cups 2 are arranged on the conveyor 1 and the fruit cup circulating system 8, the conveyor 1 and the fruit cup circulating system 8 provide driving force for the fruit carrying cups 2, the fruit carrying cups 2 are provided with fruit cup labels for identification, the detection system 3 and the identification positioning assembly 4 are arranged on the conveyor 1, the sorting component 5 is arranged on the side of the conveyor 1 and is correspondingly placed with the longitudinal conveying section 11 of the conveyor 1, the stacking detection sensor 6 and the package blocking component 7 are respectively arranged on the side of the longitudinal conveying section 11 of the conveyor 1, the stacking detection sensor 6 is positioned at the upstream of the package blocking component 7, the conveyor 1, the identification and positioning component 4, the sorting component 5, the stacking detection sensor 6, the package blocking component 7 and the fruit cup circulating system 8 are respectively connected with the PLC control system 100, and the detection system 3 and the PLC control system 100 are respectively connected with the upper computer PC control system 200.
A grading method of a dynamic balance grading device of a fruit and vegetable sorting machine comprises the following steps:
A. the fruit carrying cups 2 circularly enter the conveyor 1 through the fruit cup circulating system 8, and workers place fruits and vegetables to be sorted on the fruit carrying cups 2;
B. when the fruit carrying cup 2 carrying the fruits and vegetables to be sorted passes through the detection system 3, the detection system 3 obtains detection data of the fruits and vegetables to be sorted, the first recognizer 31 obtains label data of the fruits and vegetables to be sorted through a fruit cup label on the fruit carrying cup 2, the detection data of the fruits and vegetables to be sorted and the label data of the fruits and vegetables to be sorted are sent to the upper computer PC control system 200 through communication, and the upper computer PC control system 200 compares the detection data of the fruits and vegetables to be sorted with built-in preset fruit and vegetable grade data to obtain the grade data of the fruits and vegetables to be sorted;
C. the upper computer PC control system 200 acquires the number of the packaged fruit cups of each longitudinal conveying section 11 through the PLC control system 100, and then acquires and records the sorting outlet data of the fruit carrying cup 2 by combining the grade data of the fruits and vegetables to be sorted;
D. the upper computer PC control system 200 sends the fruit cup label data and the sorting outlet data of the fruit carrying cup 2 to the PLC control system 100 through communication, and then the upper computer PC control system 200 updates the number of the fruit cups to be sorted;
E. when the fruit carrying cup 2 carrying the fruits and vegetables to be sorted passes through the identification positioning component 4, the PLC control system 100 acquires the fruit cup label data and the fruit cup position information of the fruit carrying cup 2 at the position of the identification positioning component 4;
F. the PLC control system 100 obtains the sorting position of the fruit carrying cup 2 according to the obtained fruit cup label data, sorting outlet data and fruit cup position information;
G. the PLC control system 100 controls the sorting component 5 to extend out when the fruit carrying cups 2 reach a preset sorting position, changes the moving direction of the fruit carrying cups 2, enables the fruit carrying cups 2 to enter the longitudinal conveying sections 11 corresponding to the sorting position, and updates the number of the sorted fruit cups, and at the moment, the fruits and vegetables on the fruit carrying cups 2 are the fruits and vegetables to be packaged;
H. when the sorted fruit carrying cups 2 reach the position of the packaging blocking component 7 through the longitudinal conveying section 11, the PLC control system 100 controls the packaging blocking component 7 to block the fruit carrying cups 2 carrying fruits and vegetables to be packaged from passing through, and wait for a packaging worker to take the fruits and vegetables to be packaged away for packaging;
I. after the packing personnel take the fruits and vegetables to be packed, the PLC control system 100 controls the packing blocking component 7 to release the blocking, updates the number of the packed fruit cups, and subtracts the number of the packed fruit cups from the number of the sorted fruit cups to obtain the number of the fruit cups to be packed;
J. the PLC control system 100 obtains the stacking state of each longitudinal conveying subsection 11 through the stacking detection sensor 6, and sends the stacking state of each longitudinal conveying subsection 11, the quantity of the fruit cups to be packaged and the quantity of the packaged fruit cups to the PC control system 200 of the upper computer through communication, so that the fruit and vegetable sorting is completed.
Preferably, the identification and positioning assembly 4 includes a second identifier 41, an identifier triggering device 42, and a positioning device 43, the second identifier 41 is located at the front section of the conveyor 1, the second identifier 41 is located at the upstream of the sorting assembly 5 and at the downstream of the detection system 3, the identifier triggering device 42 is located between the sorting assembly 5 and the second identifier 41, the conveyor 1 is provided with a driving motor 12, the positioning device 43 is connected with the driving motor 12 and acquires information of the driving motor 12, and the second identifier 41, the identifier triggering device 42, and the positioning device 43 are respectively connected with the PLC control system 100;
in the step E, when the fruit carrying cup 2 carrying the fruits and vegetables to be sorted passes through the identifier triggering device 42, the second identifier 41 scans the fruit cup label on the fruit carrying cup 2 to obtain the fruit cup label data, and the PLC control system 100 obtains the fruit cup position information by calculating the information sent by the positioning device 43.
Preferably, the sorting assembly 5 comprises a sorting driving device 51, a sorting head 52, a position detection sensor 53 and a base 54, wherein the sorting driving device 51 is arranged on the base 54, the sorting head 52 is connected with the sorting driving device 51 and matched with the fruit carrying cup 2, the position detection sensor 53 is arranged on the sorting driving device 51, and the sorting driving device 51 and the position detection sensor 53 are respectively connected with the PLC control system 100;
in the step G, when the fruit carrying cups 2 reach the predetermined sorting position, the PLC control system 100 controls the sorting driving device 51 to extend and drive the sorting head 52 to extend, the moving direction of the fruit carrying cups 2 is changed after the sorting head 52 contacts the fruit carrying cups 2, so that the fruit carrying cups 2 enter the longitudinal conveying section 11 corresponding to the sorting position, and when the sorting driving device 51 extends to the detection position of the position detection sensor 53, the PLC control system 100 controls the sorting driving device 51 to retract and update the number of the sorted fruit cups.
Preferably, when the sorting driving means 51 is extended to the position detected by the position detecting sensor 53, the PLC control system 100 controls the sorting driving means 51 to stay for 10ms, and then the PLC control system 100 controls the sorting driving means 51 to retract and update the number of sorted fruit cups.
Preferably, the package blocking assembly 7 includes a blocking driving device 71, a blocking head 72, a triggering device 73, a detecting device 74, and a carrying platform 75, wherein the blocking driving device 71, the triggering device 73, and the detecting device 74 are respectively disposed on the carrying platform 75, the triggering device 73 is located downstream of the blocking driving device 71, the detecting device 74 is located downstream of the triggering device 73, the blocking head 72 is connected to the blocking driving device 71, and the blocking driving device 71, the triggering device 73, and the detecting device 74 are respectively connected to the PLC control system 100;
in the step H, when the sorted fruit carrying cups 2 reach the position of the trigger device 73 through the longitudinal conveying section 11, if the trigger device 73 detects that the fruits and vegetables to be packaged exist on the fruit carrying cups 2, the PLC control system 100 controls the blocking driving device 71 to extend out and block the fruit carrying cups 2 carrying the fruits and vegetables to be packaged from passing through;
in the step I, after the packing person takes away the fruits and vegetables to be packed, if the triggering device 73 detects that there are no fruits and vegetables to be packed on the fruit carrying cups 2, the PLC control system 100 controls the blocking driving device 71 to retract, then the detecting device 74 records the number of the fruit carrying cups 2 passing through the position of the detecting device 74 and sends the number to the PLC control system 100, and the PLC control system 100 updates the number of the fruit cups to be packed and the number of the fruit cups to be packed.
Preferably, the end of the longitudinal conveying section 11 is communicated with the fruit cup circulating system 8;
in the step I, after the PLC control system 100 controls the packaging blocking component 7 to release the blocking, the unloaded fruit carrying cups 2 enter the fruit cup circulating system 8 through the longitudinal conveying section 11 to wait for circulation and then enter the conveyor 1 again.
Preferably, the accumulation detection sensor 6 is located at a position 1/3 to 1/4 in front of the longitudinal conveyance section 11, and the accumulation detection sensor 6 is a photoelectric sensor or a capacitive proximity sensor.
Preferably, the detection system 3 is one or any combination of a weight detection device, a visual detection device and a sugar degree detection device.
Preferably, the sorting outlet data is obtained through the following process:
s1, the upper computer PC control system 200 obtains the number information of all built-in longitudinal conveying segments 11, and obtains an allocable exit list E according to the preset fruit and vegetable grade data and by combining the number information of all longitudinal conveying segments 11, where the allocable exit list E includes the number of fruit cups to be sorted of each longitudinal conveying segment 11, and the specific structure of the allocable exit list E is as follows:
Figure BDA0003514371860000111
where EXIT is a single EXIT storage list and n is the total number of longitudinal transport segments 11;
s2, obtaining the quantity of the fruit cups to be sorted of each longitudinal conveying section 11 from the distributable outlet list E and subtracting the quantity of the packaged fruit cups to obtain the storage quantity value of the fruit cups, wherein the specific formula is COUNTi＝Cini-CoutiWherein COUNT is a fruit cup stock value, Cin is the number of fruit cups to be sorted, COUNT is the number of packaged fruit cups, and i is an index value of each longitudinal conveying segment 11, so as to obtain a conveying segment fruit cup stock list C, and the conveying segment fruit cup stock list C has a specific structure as follows:
Figure BDA0003514371860000112
s21, if the upper PC control system 200 receives the stacking status of each vertical conveying segment 11 sent by the PLC control system 100, the upper PC control system 200 replaces the fruit cup stock value of the vertical conveying segment 11 with the true stacking status value with the upper limit value of the total fruit cup storage amount at the sorting outlet, so as to update the fruit cup stock list C of the conveying segment, wherein the specific formula is as follows:
COUNT＝Cmax，COUNT＜Cmaxwherein Cmax is the upper limit value of the sorted fruit cup storage total amount;
s3, obtaining the minimum value C in the corresponding storage list C of the conveying segmented fruit cups according to the grade data of the fruits and vegetables to be sortedminThe minimum value CminThe calculation formula of (2) is as follows: cmin＝MIN(COUNT1，COUNT2，...COUNTn)；
S4, will have a minimum value of CminThe longitudinal conveying section 11 as final sorting outlet data and sent to the PLC control system 100;
s5, updating the number of the fruit cups to be sorted of the longitudinal conveying section 11, wherein the calculation formula is as follows:
Figure BDA0003514371860000121
wherein k is a number having a minimum value CminThe index value of the longitudinal transport section 11.
Preferably, in the step G, if the PLC control system 100 detects that the number of the sorted fruit cups is not updated, and it is determined that the sorting assembly 5 fails to extend when the fruit cup 2 reaches the predetermined sorting position, the PLC control system 100 sends a sorting failure flag and fruit cup label data to the upper PC control system 200, and then the upper PC control system 200 obtains the current position of the fruit cup 2 from the PLC control system 100 according to the fruit cup label data, and obtains sorting outlet data of the fruit cup 2 again by combining with the grade data of the fruit and vegetable to be sorted, and then sends the sorting outlet data to the PLC control system 100.
Example 2
When the sorting driving means 51 is extended to the position detected by the position detecting sensor 53, the PLC control system 100 controls the sorting driving means 51 to stay for 200ms, and then the PLC control system 100 controls the sorting driving means 51 to retract and update the number of sorted fruit cups.
The other embodiments are the same as example 1.
Example 3
When the sorting drive means 51 is extended to the position detected by the position detecting sensor 53, the PLC control system 100 controls the sorting drive means 51 to stay for 100ms, and then the PLC control system 100 controls the sorting drive means 51 to retract and update the number of sorted fruit cups.
The other embodiments are the same as example 1.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims (11)

1. The utility model provides a fruit vegetables sorter dynamic equilibrium grading plant, includes conveyer (1), carries fruit cup (2), detecting system (3), selects separately subassembly (5), packing and blocks subassembly (7), PLC control system (100), host computer PC control system (200), be provided with vertical conveying section (11) on conveyer (1), the quantity of vertical conveying section (11) is 2 at least, its characterized in that: still include discernment locating component (4), pile up detection sensor (6), fruit cup circulation system (8), set up first recognizer (31) on detecting system (3), conveyer (1) sets up the low reaches at fruit cup circulation system (8) and is linked together with fruit cup circulation system (8), carry fruit cup (2) to arrange on conveyer (1), fruit cup circulation system (8), conveyer (1) and fruit cup circulation system (8) provide drive power for carrying fruit cup (2), be provided with the fruit cup label that supplies discernment on carrying fruit cup (2), detecting system (3) and discernment locating component (4) set up on conveyer (1), select separately subassembly (5) set up the side of conveyer (1) and correspond with the longitudinal transport segmentation (11) of conveyer (1) and place, pile up detection sensor (6) and pack and block subassembly (7) and set up respectively in the longitudinal transport segmentation (11) of conveyer (1) Segmentation (11) side, just it blocks the upper reaches of subassembly (7) to pile up detection sensor (6) and be located the packing, conveyer (1), discernment locating component (4), select separately subassembly (5), pile up detection sensor (6), packing and block subassembly (7), fruit cup circulation system (8) respectively with PLC control system (100) are connected, detecting system (3) and PLC control system (100) are connected with host computer PC control system (200) respectively.
2. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 1, wherein the grading method comprises the following steps: the method comprises the following steps:
A. the fruit carrying cups (2) circularly enter the conveyor (1) through the fruit cup circulating system (8), and workers place fruits and vegetables to be sorted on the fruit carrying cups (2);
B. when the fruit carrying cup (2) carrying the fruits and vegetables to be sorted passes through the detection system (3), the detection system (3) obtains detection data of the fruits and vegetables to be sorted, the first recognizer (31) obtains label data of the fruits and vegetables to be sorted through a fruit cup label on the fruit carrying cup (2), the detection data of the fruits and vegetables to be sorted and the label data of the fruits and vegetables to be sorted are sent to the PC control system (200) of the upper computer through communication, and the PC control system (200) of the upper computer compares the detection data of the fruits and vegetables to be sorted with built-in preset fruit and vegetable grade data to obtain the grade data of the fruits and vegetables to be sorted;
C. the PC control system (200) of the upper computer obtains the number of the packaged fruit cups of each longitudinal conveying section (11) through the PLC control system (100), and then obtains and records the sorting outlet data of the fruit carrying cup (2) by combining the grade data of the fruits and vegetables to be sorted;
D. the upper computer PC control system (200) sends the fruit cup label data and the sorting outlet data of the fruit carrying cup (2) to the PLC control system (100) through communication, and then the upper computer PC control system (200) updates the number of the fruit cups to be sorted;
E. when the fruit carrying cup (2) carrying the fruits and vegetables to be sorted passes through the identification positioning component (4), the PLC control system (100) acquires the fruit cup label data and the fruit cup position information of the fruit carrying cup (2) at the position of the identification positioning component (4);
F. the PLC control system (100) obtains the sorting position of the fruit carrying cup (2) according to the obtained fruit cup label data, sorting outlet data and fruit cup position information;
G. the PLC control system (100) controls the sorting component (5) to stretch out when the fruit carrying cups (2) reach a preset sorting position, changes the moving direction of the fruit carrying cups (2), enables the fruit carrying cups (2) to enter the longitudinal conveying sections (11) corresponding to the sorting position, and updates the number of the sorted fruit cups, and at the moment, the fruits and vegetables on the fruit carrying cups (2) are the fruits and vegetables to be packaged;
H. when the sorted fruit carrying cups (2) reach the position of the packaging blocking component (7) through the longitudinal conveying section (11), the PLC control system (100) controls the packaging blocking component (7) to block the fruit carrying cups (2) carrying fruits and vegetables to be packaged from passing through, and the packing personnel wait for taking the fruits and vegetables to be packaged away for packaging;
I. after the packing personnel take the fruits and vegetables to be packed, the PLC control system (100) controls the packing blocking component (7) to release the blocking, updates the number of the packed fruit cups, and subtracts the number of the packed fruit cups from the number of the sorted fruit cups to obtain the number of the fruit cups to be packed;
J. the PLC control system (100) obtains the stacking state of each longitudinal conveying section (11) through the stacking detection sensor (6), and sends the stacking state of each longitudinal conveying section (11), the number of the fruit cups to be packaged and the number of the packaged fruit cups to the PC control system (200) of the upper computer through communication, so that the fruit and vegetable sorting is completed.
3. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: the identification and positioning assembly (4) comprises a second identifier (41), an identifier triggering device (42) and a positioning device (43), the second identifier (41) is located at the front section of the conveyor (1), the second identifier (41) is located at the upstream of the sorting assembly (5) and the downstream of the detection system (3), the identifier triggering device (42) is located between the sorting assembly (5) and the second identifier (41), the conveyor (1) is provided with a driving motor (12), the positioning device (43) is connected with the driving motor (12) and acquires information of the driving motor (12), and the second identifier (41), the identifier triggering device (42) and the positioning device (43) are respectively connected with the PLC control system (100);
in the step E, when the fruit carrying cup (2) carrying the fruits and vegetables to be sorted passes through the identifier triggering device (42), the second identifier (41) scans the fruit cup label on the fruit carrying cup (2) to obtain the fruit cup label data, and the PLC control system (100) obtains the position information of the fruit cup through the information sent by the calculating and positioning device (43).
4. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: the sorting assembly (5) comprises a sorting driving device (51), a sorting head (52), a position detection sensor (53) and a base (54), the sorting driving device (51) is arranged on the base (54), the sorting head (52) is connected with the sorting driving device (51) and matched with the fruit carrying cup (2), the position detection sensor (53) is arranged on the sorting driving device (51), and the sorting driving device (51) and the position detection sensor (53) are respectively connected with the PLC control system (100);
in the step G, when the fruit carrying cups (2) reach the preset sorting position, the PLC control system (100) controls the sorting driving device (51) to stretch out and drives the sorting head (52) to stretch out, the moving direction of the fruit carrying cups (2) is changed after the sorting head (52) is contacted with the fruit carrying cups (2), the fruit carrying cups (2) enter the longitudinal conveying sections (11) corresponding to the sorting position, and when the sorting driving device (51) stretches out to the detection position of the position detection sensor (53), the PLC control system (100) controls the sorting driving device (51) to retract and update the number of the sorted fruit cups.
5. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 4, wherein the grading method comprises the following steps: when the sorting driving device (51) extends to the detection position of the position detection sensor (53), the PLC control system (100) controls the sorting driving device (51) to stay for 10-200 ms, and then the PLC control system (100) controls the sorting driving device (51) to retract and updates the number of the sorted fruit cups.
6. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: the packaging blocking assembly (7) comprises a blocking driving device (71), a blocking head (72), a triggering device (73), a detecting device (74) and a bearing table (75), wherein the blocking driving device (71), the triggering device (73) and the detecting device (74) are respectively arranged on the bearing table (75), the triggering device (73) is positioned at the downstream of the blocking driving device (71), the detecting device (74) is positioned at the downstream of the triggering device (73), the blocking head (72) is connected with the blocking driving device (71), and the blocking driving device (71), the triggering device (73) and the detecting device (74) are respectively connected with the PLC control system (100);
in the step H, when the sorted fruit carrying cups (2) reach the position of the trigger device (73) through the longitudinal conveying section (11), if the trigger device (73) detects that fruits and vegetables to be packaged exist on the fruit carrying cups (2), the PLC control system (100) controls the blocking driving device (71) to extend out and blocks the fruit carrying cups (2) carrying the fruits and vegetables to be packaged from passing through;
in the step I, after the packing personnel take away the fruits and vegetables to be packed, the triggering device (73) detects that the fruits and vegetables to be packed do not exist on the fruit carrying cups (2), the PLC control system (100) controls the blocking driving device (71) to retract, then the detecting device (74) records the number of the fruit carrying cups (2) passing through the positions of the detecting device (74) and sends the number to the PLC control system (100), and the PLC control system (100) updates the number of the fruit cups to be packed and the number of the packed fruit cups.
7. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: the tail end of the longitudinal conveying subsection (11) is communicated with the fruit cup circulating system (8);
in the step I, after the PLC control system (100) controls the packaging blocking component (7) to release the blocking, the unloaded fruit carrying cups (2) enter the fruit cup circulating system (8) through the longitudinal conveying section (11) to wait for circulation and then enter the conveyor (1) again.
8. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: the accumulation detection sensor (6) is located at the front 1/3-1/4 of the longitudinal conveying section (11), and the accumulation detection sensor (6) is a photoelectric sensor or a capacitance type proximity sensor.
9. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, characterized in that: the detection system (3) is one or any combination of a weight detection device, a visual detection device and a sugar degree detection device.
10. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: the process of obtaining the sorting outlet data comprises the following steps:
s1, the upper computer PC control system (200) acquires the number information of all built-in longitudinal conveying segments (11), and obtains a distributable outlet list E according to preset fruit and vegetable grade data and by combining the number information of all the longitudinal conveying segments (11), wherein the distributable outlet list E comprises the number of fruit cups to be sorted of each longitudinal conveying segment (11), and the distributable outlet list E has the following specific structure:
Figure FDA0003514371850000041
wherein EXIT is a single EXIT storage list and n is the total number of longitudinal transport sections (11);
s2, obtaining the quantity of the fruit cups to be sorted of each longitudinal conveying section (11) from the distributable outlet list E and subtracting the quantity of the packaged fruit cups to obtain the storage quantity value of the fruit cups, wherein the specific formula is COUNTi＝Cini-CoutiWherein, COUNT is the fruit cup stock value, Cin is the fruit cup number to be sorted, Cout is the packaged fruit cup number, and i is the index value of each longitudinal conveying segment (11), so as to obtain a conveying segment fruit cup stock list C, and the concrete structure of the conveying segment fruit cup stock list C is as follows:
Figure FDA0003514371850000051
s21, if the upper computer PC control system (200) receives the stacking state of each longitudinal conveying section (11) sent by the PLC control system (100), the upper computer PC control system (200) replaces the fruit cup stock value of the longitudinal conveying section (11) with the true stacking state value to the upper limit value of the sorting outlet fruit cup storage total amount, so that the conveying section fruit cup stock list C is updated, and the specific formula is as follows:
cmax, wherein Cmax is the upper limit of the sorted fruit cup total amount stored;
s3, obtaining the minimum value C in the corresponding storage list C of the conveying segmented fruit cups according to the grade data of the fruits and vegetables to be sortedminThe minimum value CminThe calculation formula of (2) is as follows: cmin＝MIN(COUNT1，COUNT2，…COUNTn)；
S4, will have a minimum value of CminThe longitudinal conveying section (11) is used as final sorting outlet data and sent to a PLC control system (100);
s5, updating the number of the fruit cups to be sorted of the longitudinal conveying section (11), wherein the calculation formula is as follows:
Figure FDA0003514371850000052
wherein k is a number having a minimum value CminThe index value of the longitudinal transport section (11).
11. The grading method of the dynamic balance grading device of the fruit and vegetable sorting machine according to claim 2, wherein the grading method comprises the following steps: in the step G, if the PLC control system (100) detects that the number of the sorted fruit cups is not updated, the PLC control system (100) judges that the sorting component (5) fails to stretch out when the fruit carrying cups (2) reach the preset sorting position, the PLC control system (100) sends a sorting failure mark and fruit cup label data to the upper computer PC control system (200), then the upper computer PC control system (200) obtains the current positions of the fruit carrying cups (2) according to the fruit cup label data from the PLC control system (100), obtains sorting outlet data of the fruit carrying cups (2) again by combining with the fruit and vegetable grade data to be sorted, and then sends the sorting outlet data to the PLC control system (100).
CN202210160433.8A 2022-02-22 2022-02-22 Dynamic balance grading device and grading method for fruit and vegetable sorting machine Pending CN114472217A (en)

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