MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION GRADUATION PROJECT MACHATRONICS ENGINEERING TECHNOLOGY RESEARCH, DESIGN, AND MANUFACTURE OF A QUANTITATIVE WEIGHING SYSTEM FOR THE MANGO SORTING LINE LECTURER: ASSOC. NGUYEN TRUONG THINH STUDENT: NGUYEN PHI HUNG NGUYEN TRUNG THANH SKL 010350 Ho Chi Minh City, February 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING DEPARTMENT OF MECHATRONICS ENGINEERING TECHNOLOGY BACHELOR THESIS RESEARCH, DESIGN, AND MANUFACTURE OF A QUANTITATIVE WEIGHING SYSTEM FOR THE MANGO SORTING LINE INSTRUCTOR: ASSOC. NGUYEN TRUONG THINH STUDENT’S NAME: NGUYEN PHI HUNG STUDENT’S ID NUMBER: 18146312 STUDENT’S NAME: NGUYEN TRUNG THANH STUDENT’S ID NUMBER: 19146391 Ho Chi Minh City, February 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING DEPARTMENT OF MECHATRONICS ENGINEERING TECHNOLOGY BACHELOR THESIS RESEARCH, DESIGN, AND MANUFACTURE OF A QUANTITATIVE WEIGHING SYSTEM FOR THE MANGO SORTING LINE INSTRUCTOR: ASSOC. NGUYEN TRUONG THINH STUDENT’S NAME: NGUYEN PHI HUNG STUDENT’S ID NUMBER: 18146312 STUDENT’S NAME: NGUYEN TRUNG THANH STUDENT’S ID NUMBER: 19146391 Ho Chi Minh City, February 2023 ACKNOWLEDGEMENT We would like to thank the lecturers of Ho Chi Minh City University of Technology and Education in general and the Department of Mechanical Engineering Electronics in particular, for imparting extremely valuable knowledge and experience, as well as dedicated help and guidance throughout the subjects, allowing us to have a solid foundation to apply to our work in the future, putting theory into practice.
We would like to express our deep gratitude to Mr. Nguyen Truong Thinh, who enthusiastically guided and guided us during the project implementation. Thank you, Mr. Thinh, for always giving sincere comments and dedicated instructions so that we could complete our thesis in the best way.
Although we tried very hard in the process of implementing the project, because of limited experience and time, we could not avoid mistakes. I look forward to more guidance from you. I wish the lecturers good health so that they can continue to be enthusiastic and full of energy as they educate us on how to be competent and ethical engineers. Finally, we would like to thank our family and friends for their help and support while studying and completing this graduation project.
Thank you so much! i TÓM TẮT Theo Bộ Nông nghiệp và Phát triển Nông thôn, xoài là một trong những loại trái cây phổ biến và được trồng nhiều nơi trên khắp Việt Nam. Toàn vùng đồng bằng sông Cửu Long có hơn 47.000 ha xoài các loại, năng suất bình quân đạt từ 11-13 tấn/ha, sản lượng khoảng 567.789 ha xoài được trồng theo tiêu chuẩn VietGAP và GlobalGAP phục vụ xuất khẩu. Chúng ta có thể thấy, tiềm năng để Việt Nam mở rộng thị trường xuất khẩu xoài còn rất lớn, bởi kim ngạch xuất khẩu loại trái cây này của Việt Nam chỉ chiếm 1.51% tổng kim ngạch xuất khẩu xoài của thế giới. Tuy nhiên, trong công việc phân loại xoài theo các tiêu chuẩn xuất khẩu còn gặp nhiều khó khăn.
Một trong những khó khăn đó chính là công việc cân xoài. Do đó, nhóm nghiên cứu đã nghiên cứu, thiết kế và chế tạo một hệ thống cân định lượng trong dây chuyền phân loại xoài. Mục tiêu chính của hệ thống cân định lượng là hoàn toàn thay thế con người làm công việc cân xoài. Trong khi người nhân công phải làm việc nhàm chán, lặp đi lặp lại hằng ngày nhưng không đạt được những kết quả mong muốn thì hệ thống cân định lượng sẽ giúp chúng ta thực hiện công việc đó một cách hiệu quả nhất.
Hệ thống này là một phần của dây chuyền phân loại xoài nên nó có các thông số kích thước phù hợp với băng tải cấp liệu và băng tải phân loại để chúng có thể ghép nối với nhau một cách dễ dàng. Hệ thống gồm bộ phận cố định và bộ phận chuyển động. Khi hoạt động, động cơ điện 3 pha sẽ truyền động cho bộ phận chuyển động xoay để di chuyển xoài đến vị trí cảm biết load cell, nơi mà xoài được cân định lượng, và chuyển xoài đến các vị trí tiếp theo. Chúng tôi đã lập trình thuật toán để đo lường khối lượng xoài chính xác.
Quá trình đo lường gồm các bước: Ghi nhận tín hiệu tương tự từ cảm biến load cell, chuyển đổi dữ liệu sang khối lượng thực (đơn vị: gram) và xuất khối lượng xoài cùng với mã kích thước theo tiêu chuẩn VietGap và GlobalGap. Những tín hiệu đầu ra này sẽ được dùng để phân loại xoài trong các công đoạn tiếp theo của dây chuyền phân loại xoài. Hệ thống đã được thực hiện cân định lượng trong ngoài thực tế và đạt được những kết quả khả quan. ii ABSTRACT According to the Ministry of Agriculture and Rural Development, mango is one of the most popular and widely grown fruits throughout Vietnam.
The whole Mekong Delta has more than 47,000 hectares of mangoes of all kinds. The average yield is 11–13 tons per hectare, and the productivity is about 567,732 tons per hectare. Of these, 1,789 hectares of mangoes are grown according to VietGAP and GlobalGAP standards for export. We can see that the potential for Vietnam to expand the mango export market is still very large because the export turnover of this fruit in Vietnam only accounts for 1.51% of the total mango export turnover in the world.
However, in the work of classifying mangoes according to export standards, there are still many difficulties. One of those difficulties is the work of weighing mangoes. Therefore, the research team has researched, designed, and manufactured a quantitative weighing system for the mango sorting line. The main goal of the weighing system is to completely replace the humans doing the work of weighing mangoes.
While workers have to do boring and repetitive work every day but do not achieve the desired results, the weighing system will help us do that job most effectively. The system is part of the mango sorting line, so it has the right dimensions for the feeder and the sorter so they can be coupled together easily. The system consists of fixed parts and moving parts. When operating, the 3-phase electric motor drives the rotary actuator to move the mango to the load cell sensing position, where the mango is weighed and then moves the mango to the next position.
We programmed the algorithm to measure the mango mass accurately. The measurement process consists of three steps: recording the analog signal from the load cell sensor, converting the data to the actual weight (unit: grams), and exporting the mango weight along with the size code according to VietGap and GlobalGap standards. These output signals will be used to classify mangoes in the next stages of the mango sorting chain. The system has been implemented quantitatively in real life and has achieved positive results.
iii CONTENTS ACKNOWLEDGEMENT .iv LIST OF TABLES.vii LIST OF FIGURES. viii LIST OF ABBREVIATIONS. Reasons for choosing the research. Aims of the research.
7 CHAPTER 2: FOUNDATIONAL THEORIES. Characteristics of Hoa Loc mango and Cat Chu mango. The Global GAP standard. Theory of mass and mass scales.
Theory of quantitative weighing. Applying the quantitative method to the topic. 14 CHAPTER 3: ANALYSIS AND DESIGN OF MECHANICAL SYSTEM. Requirements for a model of the system.
Mechanical design options. Compression weigh module. High precision load cell. Single point load cell.
Analysis of the configuration of the system. Main motion frame. Engine use plan. 36 CHAPTER 4: ELECTRICAL-CONTROL SYSTEM.
Structure of the electrical-control system. Electro-mechanical drive systems. Three phase induction motor. Variable frequency drive.
Speed control of three phase induction motor using variable frequency drive control system. 59 CHAPTER 5: EXPERIMENTAL AND RESULTS ASSESSMENT. Setup of the experimental system. Evaluation of results.
66 CHAPTER 6: CONCLUSION AND FUTURE WORK. 68 APPENDIX A: Measured weight result (Hoa Loc mango). 70 APPENDIX B: Measured weight result (Cat Chu mango). 73 vi LIST OF TABLES Table 2.1: The weight standards of mango .1: Specifications of three phase motor (60 Hz) .2: Specifications of three phase motor (50 Hz) .2: Input / output address of systems.1: Hardware parameters of the system.
61 vii LIST OF FIGURES Figure 1.1: The chart of Vietnam's mango export market in 2020 [1] .2: The quantitative packing machine [2] .3: The quantitative combination small fruit weight machine [3] .4: The Fruit Sorting and Packing Line [4] .5: The Quantitative Weighing System [5] .6: The labours are categorising mangoes manually .1: The general model of the system - stage 1.2: The general model of the system - stage 2.3: The general model of the system - stage 3.4: The general model of the system - stage 4.5: The general model of the system - stage 5.6: The general model of the system - stage 6.7: The general model of the system - stage 7.8: The general model of the system - stage 8.9: The general model of the system - stage 9.10: The general model of the system - stage 10 .11: The general model of the system - stage 11 .12: Main motion frame .13: The parallel movement .14: Design image of mango slide, mango weighing, and mango catch .15: Mechanical design of image processing conveyor .17: Force acting on the chain .18: Transmitter of two parallel structures .19: The sprocket of the image processing conveyor .20: Parameters of sprockets .21: Three phase motor .22: Model of the quantitative weighing system.1: The general system architecture .2: CPU 1214C wiring diagrams [11].3: Wiring terminals of an amplifier [13] .4: Connection of weighing load cell sensor with PLC .5: An example of NORM instruction .6: An example of SCALE instruction.7: Schematic diagram of inverter standard wiring [16] .8: Schematic diagram of main circuit wiring [16] .9: Schematic diagram of control board layout [16] .10: Three-Phase AC to DC Rectifiers [17] .11: Working Principle of Opto-coupler .13: Equivalent Circuit Diagram with VFD system [17] .14: Electrical-control system.15: Flowchart of processing analog input .16: Flowchart of calculating actual weight of mango - 1 .17: Flowchart of calculating actual weight of mango - 2 .18: Graphical user interface .1: Overview of the quantitative weighing system .2: Experiment in the workshop .3: Chart of the measured weight result – Hoa Loc mango .4: Chart of the measured weight result – Cat Chu mango .5: Chart of the measured weight result – one mango. 65 ix LIST OF ABBREVIATIONS Abbreviations Meaning PLC Programmable Logic Controller VFD Variable Frequency Drive RPM Revolutions Per Minute DC Direct Current AC Alternating Current x CHAPTER 1: OVERVIEW 1. Introduction Mango is a popular tropical fruit tree grown in Vietnam. According to data from the Ministry of Agriculture and Rural Development [1], Vietnam is the 13th largest mango producer in the world, exporting of about 893,200 tons (in 2020).
Mango is the most popular fruits which are grown in the Mekong Delta, accounting for about 48% of the total mango area of the country. In 2020, the productivity is 567,732 tons. In 2020, Vietnam has exported mangoes to 40 countries, including the main countries: China, Korea, Australia, Japan, Europe and New Zealand. Of all these countries, the largest export market is China with 151.8 million USD, accounting for 83.95% of Vietnam's total export turnover.
The second market is the Russian, which reached 8.4 million USD, accounting for 4.1: The chart of Vietnam's mango export market in 2020 [1] 1 Thanks to the efforts of farmers, these countries can achieve good results. They not only work diligently but also apply cultivation techniques - handling off-season flowering mangoes. Thanks to that, farmers can harvest mangoes all year round.