An adaptive multi-station integrated cleaning machine for leafy vegetables

Abstract

This invention belongs to the technical field of leafy vegetable processing machines and discloses an adaptive multi-station integrated cleaning machine for leafy vegetables, including a frame, an adaptive gripper module, a dual-blade root removal module, a cleaning module, and a planetary-like multi-station module. This adaptive multi-station integrated cleaning machine for leafy vegetables can significantly improve processing efficiency while reducing equipment size, adapting to small processing scenarios, reducing floor space, eliminating the need for numerous high-power motors, reducing energy consumption, and is applicable to a variety of vegetables, demonstrating wide adaptability.

Description

Technical Field

[0001] This invention belongs to the technical field of leafy vegetable processing machines, specifically relating to an adaptive multi-station integrated cleaning machine for leafy vegetables. Background Technology

[0002] The agricultural and sideline food processing industry is the upstream industry of the food industry, mainly targeting the primary processing of agricultural products, including grain milling, feed processing, vegetable oil, sugar production, slaughtering and processing of meat, aquatic products, as well as vegetables, fruits and nuts. Among these, leafy vegetables are an important category on people's tables, and the demand for processing efficiency for leafy vegetables is increasing.

[0003] Currently, leafy vegetables typically undergo multiple processes before entering the catering and cooking stage, including root removal, yellow leaf removal, and washing and purification. However, existing processing methods mostly rely on manual operation or use single-function, separate equipment. Manual processing suffers from high labor intensity, low efficiency, and difficulty in uniformly controlling hygiene, especially in the root removal and yellow leaf removal stages, where inconsistent human judgment standards easily lead to waste of edible portions or residue of inferior leaves. Using existing commercially available washing machines and disinfection tanks, with their single-function, modular design, results in dispersed equipment for each process. These processes require manual transfer or simple conveyor belt connections, occupying large areas of space and necessitating multiple manual or mechanical transfers between different devices. This discontinuous processing flow is inefficient and fails to meet the demands of large-scale, continuous clean vegetable production. Furthermore, the transfer process easily introduces secondary contamination, such as contamination from the ground or cross-contamination between containers. More importantly, existing equipment lacks flexible processing design for the fragile and vulnerable characteristics of leafy vegetables. During the processes of root removal, transportation, and yellowing leaf removal, mechanical damage to the leaves is often caused, affecting the appearance of the product. Furthermore, some processes have limited adaptability to different types of vegetables. For example, the brush roller type has a high damage rate to leafy vegetables, while the bubble or spray type is not ideal for removing soil adhering to the surface of root vegetables.

[0004] Therefore, there is an urgent need for an adaptive multi-station integrated cleaning machine for leafy vegetables, which can realize efficient, low-loss, and clean production of leafy vegetables from raw materials to clean vegetables, and meet the high requirements of modern food industry for automation, standardization, and food safety. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an adaptive multi-station leafy vegetable cleaning machine to solve the problems of high energy consumption and large water demand, and it is applicable to a variety of vegetables with wide adaptability.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] An adaptive multi-station leafy vegetable cleaning machine, including

[0008] The frame is sequentially configured with a material feeding position, a cutting position, and a cleaning position.

[0009] The adaptive gripper module is located on the upper layer of the frame and includes a slide assembly and a gripper assembly. The gripper assembly grabs vegetables, and the slide assembly drives the vegetables on the gripper assembly to reciprocate between the feeding position, the cutting position, and the washing position in sequence.

[0010] The dual-blade root removal module is located at the cutting position on the upper layer of the frame and includes an active blade and a passive blade for cutting off vegetable roots and stems;

[0011] The cleaning module is located on the lower layer of the rack and includes a cleaning chamber for each cleaning position, with a spray head inside the cleaning chamber.

[0012] A planetary multi-station module, located on the lower layer of the frame, includes a multi-station revolution system and a single-station rotation system. The multi-station revolution system includes a revolution motor and a revolution spindle driven by the revolution motor. The single-station rotation system includes a rotation motor, a multi-station linkage component, and at least one single-station rotating component. The single-station rotating component includes a single-station cantilever and a vegetable tray. One end of the single-station cantilever is connected to the revolution spindle, and the other end is connected to the vegetable tray. The revolution spindle driven by the revolution motor rotates, and the single-station cantilever drives the vegetable tray to move in and out of the cleaning chamber. The rotation motor drives the multi-station linkage component to rotate the vegetable tray and complete the rinsing in the cleaning chamber.

[0013] Furthermore, the multi-station linkage component includes multiple self-rotating drive shafts, double synchronous pulleys, and station self-rotating synchronous belts. The self-rotating motor is mounted on a self-rotating motor fixing plate. The self-rotating drive shaft is rotatably connected to the self-rotating motor fixing plate through bearings. Double synchronous pulleys are fixedly installed on the self-rotating drive shaft. Each double synchronous pulley is connected to the other two through the station self-rotating synchronous belts. The self-rotating motor drives one of the self-rotating drive shafts to rotate, and drives the other self-rotating drive shafts to rotate synchronously through the station self-rotating synchronous belts.

[0014] Furthermore, the single-station rotating assembly also includes a single-station fixed chassis, a single-station synchronous wheel, and a rotating conveyor belt. One end of the single-station cantilever is fixedly connected to the main rotating shaft, and the other end is fixedly connected to the single-station fixed chassis. The single-station rotating shaft is mounted on the single-station fixed chassis via a bearing seat. A vegetable tray is fixed to its top, and a single-station synchronous wheel is fitted onto its bottom. The single-station synchronous wheel is connected to one of the double synchronous wheels via the rotating conveyor belt.

[0015] Furthermore, the number of the self-rotating drive shafts is the same as the number of single-station rotating components.

[0016] Furthermore, the slide assembly is symmetrically arranged and includes a stepper motor, a conveyor belt support plate, a gripper conveyor belt, a slider guide rail, and a gripper support plate. The conveyor belt support plate is horizontally fixed on the frame. The gripper conveyor belt includes a conveyor belt body and support rollers at both ends. The support rollers are disposed on the conveyor belt support plate. The stepper motor is connected to one of the support rollers. The slider guide rail is disposed along the conveyor belt body. The two ends of the gripper support plate are fixedly connected to the conveyor belt bodies on both sides and slidably connected to the slider guide rails on both sides.

[0017] Furthermore, the gripper assembly includes a servo motor, a servo motor gripper disc, a left servo motor gripper, a right servo motor gripper, a drive gear connecting rod, a driven gear connecting rod, an auxiliary connecting rod, and a fixed pressure plate. The servo motor gripper disc is fixed on the gripper support plate. The left and right servo motor grippers are symmetrically arranged on the servo motor gripper disc. The drive gear connecting rod and the driven gear connecting rod are rotatably and meshingly arranged on the upper side of the servo motor gripper disc. Both include a gear part and a connecting rod part. The gear parts of both are meshed with each other. The ends of the connecting rod parts of both are respectively connected to the tails of the right and left servo motor grippers. The auxiliary connecting rods are a pair, symmetrically arranged. One end of each is rotatably arranged on the servo motor gripper disc, and the other end is rotatably connected to the middle of the right and left servo motor grippers respectively. The fixed pressure plate is arranged on the upper side of the drive gear connecting rod and the driven gear connecting rod. The servo motor is arranged on the lower surface of the servo motor gripper disc and is connected to the gear center of the drive gear connecting rod.

[0018] Furthermore, the gear center of the driving gear connecting rod to its connecting rod portion, the tail of the right servo pawl to the connection point between the right servo pawl and the auxiliary connecting rod, the auxiliary connecting rod, and the connection point of the auxiliary connecting rod on the servo pawl disc to the gear center of the driving gear connecting rod constitute a deformable four-bar linkage; the gear center of the driven gear connecting rod to its connecting rod portion, the tail of the left servo pawl to the connection point between the left servo pawl and the auxiliary connecting rod, the auxiliary connecting rod, and the connection point of the auxiliary connecting rod on the servo pawl disc to the gear center of the driven gear connecting rod constitute another deformable four-bar linkage. The two symmetrical four-bar linkages ensure that the movements of the left and right servo pawls are synchronized.

[0019] Furthermore, the dual-blade rooting module also includes a rotary motor, an active blade connection assembly, and a driven blade connection assembly. The active blade connection assembly includes an active gear, and the driven blade connection assembly includes a driven gear. The rotary motor drives the active blade connection assembly to rotate the active blade, and at the same time, the active gear and the driven gear mesh with each other to drive the driven blade connection assembly, thereby driving the driven blade to rotate synchronously.

[0020] Furthermore, the active blade connection assembly also includes an active blade drive shaft, an active shaft synchronous pulley, an active side synchronous belt, and an active blade connection shaft. A rotary motor drives the active blade drive shaft to rotate. Both the active blade drive shaft and the active blade connection shaft are equipped with active shaft synchronous pulleys and are connected by an active side synchronous belt. The active blade connection shaft is connected to the active blade.

[0021] Furthermore, the driven blade connection assembly also includes a driven blade drive shaft, a driven shaft timing pulley, a driven side timing belt, and a driven blade connection shaft. Both the driven blade drive shaft and the driven blade connection shaft are equipped with driven shaft timing pulleys and are connected by the driven side timing belt. The driven blade connection shaft is connected to the driven blade.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The adaptive gripper module of the present invention calculates the applied torque by detecting the current of the drive servo motor, thereby realizing adjustable gripper torque, gentle gripping and stable clamping; the structure is optimized by the coupling mechanism, making the movement smoother and the force more balanced, avoiding local stress concentration on the food body.

[0024] 2. The planetary multi-station module of the present invention can significantly improve processing efficiency, reduce equipment size, adapt to small processing scenarios, reduce floor space, and reduce production and manufacturing costs. It does not require a large number of high-power motors, thus reducing energy consumption. Furthermore, it uses spray head flushing for cleaning, avoiding the need for large amounts of water.

[0025] 3. The double-blade root removal module of the present invention adopts a blade misalignment design and gear meshing transmission to complete the synchronous removal of roots and yellow leaves in the same process. Compared with the traditional multi-process operation, the efficiency is greatly improved, and the anti-interference design of the mechanism ensures stable operation.

[0026] 4. The cleaning module of the present invention adopts a self-closing page and a closed chamber without the need for a motor to achieve dry and wet separation, prevents water stains from overflowing, keeps the air-drying area dry, reduces the cost of dry and wet separation, solves the problems of insufficient water removal and low efficiency in traditional leafy vegetable cleaning, and improves the cleaning cleanliness and water removal efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 This is a schematic diagram of the structure of the dual-blade root removal module of the present invention.

[0029] Figure 3 This is a schematic diagram of the gripper assembly of the present invention. Figure 1 (overall).

[0030] Figure 4This is a schematic diagram of the gripper assembly of the present invention. Figure 2 (Fixed pressure plate omitted).

[0031] Figure 5 This is a bottom view of the gripper assembly of the present invention.

[0032] Figure 6 This is a schematic diagram of the structure of the dual-blade root removal module of the present invention.

[0033] Figure 7 This is a side view of the dual-blade root removal module of the present invention.

[0034] Figure 8 This is a schematic diagram of the structure of the planetary multi-station module of the present invention. Figure 1 (overall).

[0035] Figure 9 This is a schematic diagram of the structure of the planetary multi-station module of the present invention. Figure 2 (Single group).

[0036] Figure 10 for Figure 9 Side view.

[0037] in:

[0038] 100. Rack;

[0039] 200. Adaptive gripper module:

[0040] 210. Upper pallet; 211. Blade slot; 212. Cleaning chamber slot; 213. Discharge slot

[0041] 220. Slide assembly; 221. Stepper motor; 222. Conveyor belt support plate; 223. Gripper conveyor belt; 224. Slider guide rail; 225. Gripper support plate;

[0042] 230. Gripper assembly; 231. Servo motor; 232. Servo motor gripper disc; 233. Left servo motor gripper; 234. Right servo motor gripper; 235. Drive gear connecting rod; 236. Driven gear connecting rod; 237. Auxiliary connecting rod; 238. Fixed pressure plate;

[0043] 300. Dual-blade root removal module:

[0044] 310. Blade module support plate; 311. Upper blade support plate; 312. Lower blade support plate;

[0045] 320. Rotary electric motor;

[0046] 330. Active blade;

[0047] 340. Active blade connection assembly; 341. Active blade drive shaft; 342. Active gear; 343. Active side timing belt; 344. Active blade connection shaft;

[0048] 350. Driven blade;

[0049] 360. Driven blade connection assembly; 361. Driven blade drive shaft; 362. Driven gear; 363. Driven side synchronous belt; 364. Driven blade connection shaft;

[0050] 400. Cleaning module;

[0051] 500. Planetary Multi-Station Module:

[0052] 510. Multi-station revolution system; 511. Revolution motor; 512. Gear reduction assembly; 512-1. Revolution drive wheel; 512-2. Revolution driven wheel; 512-3. Gear fixed shaft; 513. Revolution spindle; 514. Spindle fixing base plate; 515. Revolution motor fixing plate;

[0053] 520. Single-station self-rotation system; 521. Self-rotation motor; 522. Self-rotation motor mounting plate; 523. Multi-station linkage assembly; 523-1. Self-rotation drive shaft; 523-2. Double synchronous pulley; 523-3. Station self-rotation synchronous belt; 524. Single-station rotating assembly; 524-1. Single-station cantilever; 524-2. Single-station fixed chassis; 524-3. Single-station self-rotation shaft; 524-4. Self-rotation conveyor belt; 524-5. Vegetable tray. Detailed Implementation

[0054] The specific embodiments of the present invention will be further explained below with reference to the accompanying drawings.

[0055] like Figures 1-10 As shown, an adaptive multi-station leafy vegetable cleaning machine includes a frame 100, an adaptive gripper module 200, a double-blade root removal module 300, a cleaning module 400, and a planetary-like multi-station module 500.

[0056] The frame 100 is a double-layer aluminum profile frame structure. The adaptive gripper module 200 and the dual-blade root removal module 300 are located on the upper layer, and the cleaning module 400 and the planetary multi-station module 500 are located on the lower layer.

[0057] The adaptive gripper module 200 includes an upper pallet 210, a slide assembly 220, and a gripper assembly 230. The gripper assembly 230 is mounted on the slide assembly 220, and the slide assembly 220 drives the gripper assembly 230 to reciprocate between the material feeding position and the cleaning position of the upper pallet 210.

[0058] Specifically, the frame 100 is provided with an upper tray 210, which is horizontally fixed to the lower surface of the upper aluminum profile of the frame 100. The upper tray 210 is provided with a blade slot 211, a cleaning chamber slot 212, and a feeding slot 213 in sequence. The blade slot 211 serves as the cutting position, corresponding to the position of the active blade 330 and the driven blade 350 of the double blade root removal module 300. The cleaning chamber slot 212 serves as the cleaning position, corresponding to the position of the cleaning chamber 410 of the cleaning module 400. The feeding slot 213 serves as the feeding position, corresponding to the position where leafy vegetables are placed.

[0059] The slide assembly 220 has a symmetrical structure and is symmetrically arranged on both sides of the upper support plate 210. It includes a stepper motor 221, a conveyor belt support plate 222, a gripper conveyor belt 223, a slider guide rail 224, and a gripper support plate 225.

[0060] The conveyor belt support plate 222 is horizontally fixed on the frame 100. The gripper conveyor belt 223 includes a conveyor belt body and support rollers at both ends. The support rollers are mounted on the conveyor belt support plate 222. The stepper motor 221 is connected to one of the support rollers and is used to drive the conveyor belt body to reciprocate. The slider guide rail 224 is fixed on the frame 100 along the direction of the conveyor belt body. The gripper support plate 225 is used to mount the gripper assembly 230. Its two ends are fixedly connected to the conveyor belt bodies on both sides and slidably connected to the slider guide rails 224 on both sides. The slider guide rails 224 provide guidance for the movement of the gripper assembly 230.

[0061] The gripper assembly 230 includes a servo motor 231, a servo motor gripper disc 232, a servo motor left gripper 233, a servo motor right gripper 234, a drive gear connecting rod 235, a driven gear connecting rod 236, an auxiliary connecting rod 237, and a fixed pressure plate 238.

[0062] The servo gripper disk 232 serves as the base of the gripper assembly 230 and is fixed on the gripper support plate 225. The left servo gripper 233 and the right servo gripper 234 are symmetrically arranged on the servo gripper disk 232. The driving gear connecting rod 235 and the driven gear connecting rod 236 are rotatably and meshingly arranged on the upper side of the servo gripper disk 232. Figure 4As shown, both include gear parts and connecting rod parts. The gear parts mesh with each other, and the ends of the connecting rod parts are respectively connected to the tails of the right servo gripper 234 and the left servo gripper 233. The auxiliary connecting rods 237 are a pair, symmetrically arranged, with one end rotatably mounted on the servo gripper disk 232, and the other end rotatably connected to the middle of the right servo gripper 234 and the left servo gripper 233. The fixed pressure plate 238 serves as the upper cover plate of the gripper assembly 230 and is located on the upper side of the driving gear connecting rod 235 and the driven gear connecting rod 236. The servo 231 is located on the lower surface of the servo gripper disk 232 and is connected to the gear center of the driving gear connecting rod 235. Figure 5 As shown.

[0063] The servo motor 231 drives the gear portion of the drive gear linkage 235 to rotate, and the connecting rod portion on the drive gear linkage 235 drives the right gripper 234 of the servo motor to rotate. At the same time, through the meshing of the gears, it drives the gear portion of the driven gear linkage 236 to rotate synchronously and symmetrically. The connecting rod portion of the driven gear linkage 236 synchronously drives the left gripper 233 of the servo motor to rotate. That is, by driving the drive gear linkage 235 in the forward and reverse directions through the servo motor 231, the drive gear linkage 235 drives the left gripper 233 and the right gripper 234 of the servo motor to move symmetrically, thereby realizing the gripping and releasing function of the gripper assembly 230.

[0064] like Figure 4 As shown, the gear center of the drive gear linkage 235 to its linkage portion, the tail of the right servo gripper 234 to the connection point between the right servo gripper 234 and the auxiliary linkage 237, the auxiliary linkage 237, the connection point of the auxiliary linkage 237 on the servo gripper disk 232 to the gear center of the drive gear linkage 235, actually constitute a deformable four-bar linkage. Correspondingly, the gear center of the driven gear linkage 236 to its linkage portion, the tail of the left servo gripper 233 to the connection point between the left servo gripper 233 and the auxiliary linkage 237, the auxiliary linkage 237, the connection point of the auxiliary linkage 237 on the servo gripper disk 232 to the gear center of the driven gear linkage 236, actually constitute another deformable four-bar linkage. The two four-bar linkages are symmetrically arranged to ensure that the movements of the left servo gripper 233 and the right servo gripper 234 are synchronized, thus better realizing the gripping and releasing function of the gripper assembly 230.

[0065] The dual-blade root removal module 300 includes a blade module support plate 310, a rotary motor 320, an active blade 330, an active blade connecting assembly 340, a driven blade 350, a driven blade connecting assembly 360, and a sealed box.

[0066] The blade module support plate 310, serving as the support structure for the entire dual-blade rooting module (300), includes an upper blade support plate 311 and a lower blade support plate 312; the active blade connection assembly 340 includes an active blade drive shaft 341, an active gear 342, an active shaft synchronous pulley, an active side synchronous belt 343, and an active blade connection shaft 344; the driven blade connection assembly 360 includes a driven blade drive shaft 361, a driven gear 362, a driven shaft synchronous pulley, a driven side synchronous belt 363, and a driven blade connection shaft 364.

[0067] Specifically, the lower blade support plate 312 is fixed on the frame 100, and the rotary motor 320 is located on the lower side of the lower blade support plate 312. Its output shaft passes through the lower blade support plate 312 and is connected to the upper active blade drive shaft 341. The top of the active blade drive shaft 341 is connected to the upper blade support plate 311 through a bearing. The driven blade drive shaft 361 is connected to the lower blade support plate 312 and the upper blade support plate 311 through bearings. The bottom of the active blade connecting shaft 344 and the driven blade connecting shaft 364 are both connected to the lower blade support plate 312 through bearings, and the top of both are connected to the upper blade support plate 311 through bearings and are connected to the active blade 330 and the driven blade 350 through the upper blade support plate 311.

[0068] The active blade drive shaft 341 and the driven blade drive shaft 361 are respectively provided with a drive gear 342 and a driven gear 362 that mesh with each other. The active blade drive shaft 341 and the active blade connecting shaft 344 are both provided with a drive shaft synchronous pulley and a drive-side synchronous belt 343 connecting the two drive shaft synchronous pulleys. The driven blade drive shaft 361 and the driven blade connecting shaft 364 are both provided with a driven shaft synchronous pulley and a driven-side synchronous belt 363 connecting the two driven shaft synchronous pulleys.

[0069] The rotary motor 320 drives the active blade drive shaft 341 to rotate. The active blade drive shaft 341 drives the active blade connecting shaft 344 to rotate via the active side synchronous belt 343, which in turn drives the active blade 330 to rotate. At the same time, the rotation of the active blade drive shaft 341 drives the active gear 342 to rotate. The active gear 342 drives the driven gear 362 meshing with it to rotate, which in turn drives the driven blade drive shaft 361 to rotate. The driven blade drive shaft 361 drives the driven blade connecting shaft 364 to rotate via the driven side synchronous belt 363, which in turn drives the driven blade 350 to rotate.

[0070] The sealed box is located below the active blade 330 and the passive blade 350, and encloses the rotary motor 320, the active blade connecting assembly 340, and the driven blade connecting assembly 360 inside the sealed box to prevent foreign objects from entering.

[0071] Driven by the rotary motor 320, the active blade 330 and the passive blade 350 rotate independently. When the adaptive gripper module 200 clamps the vegetable to the cutting position of the upper tray 210, the root of the vegetable is cut off by the two blades, completing the cutting.

[0072] The cleaning module 400 includes a cleaning chamber, a water pump, and spray heads. The cleaning chamber is located below the cleaning chamber slot 212 on the upper tray, with an open top to facilitate leafy vegetables falling into it. The spray heads are located on the upper inner wall of the cleaning chamber, and their number can be set as needed. The spray heads are supplied with water by the water pump to rinse the leafy vegetables falling into the cleaning chamber. The cleaning chamber also has an openable door as an outlet for transferring vegetables out of the cleaning chamber. It is connected by a self-closing hinge and is normally closed. The cleaning chamber has a groove on the wall opposite the door to facilitate the passage of fixing pins on the vegetable tray 524-5. The vegetable tray 524-5 rotates into the cleaning chamber from the bottom, and the vegetables fall into the cleaning chamber slot 212 and are fixed to the fixing pins on the vegetable tray 524-5. After the spray heads have finished rinsing, the vegetable tray 524-5 rotates the vegetables, pushes open the door, and after rotating out, the door automatically springs back and closes under the action of the self-closing hinge.

[0073] The planetary multi-station module 500 includes a multi-station revolution system 510 and a single-station rotation system 520.

[0074] The multi-station revolution system 510 includes: a revolution motor 511, a gear reduction assembly 512, a revolution spindle 513, a spindle fixing base plate 514, and a revolution motor fixing plate 515.

[0075] The spindle fixing base plate 514 on the lower side and the orbital motor fixing plate 515 on the upper side are both fixed on the frame 100. The orbital motor 511 is fixed on the orbital motor fixing plate 515. The output shaft of the orbital motor 511 is connected to the top of the orbital spindle 513 via the gear reduction assembly 512. The bottom end of the orbital spindle 513 is rotatably mounted on the spindle fixing base plate 514 via a bearing seat.

[0076] The gear reduction assembly 512 includes a revolving driving wheel 512-1, a revolving driven wheel 512-2, and a gear fixed shaft 512-3. The output shaft of the revolving motor 511 is connected to the revolving driving wheel 512-1. The revolving driving wheel 512-1 and the revolving driven wheel 512-2 mesh with each other. The revolving driven wheel 512-2 is connected to the top of the revolving main shaft 513 and is rotatably mounted on the revolving motor fixing plate 515 via the gear fixed shaft 512-3 and a bearing seat. Thus, the revolving motor 511 drives the revolving driving wheel 512-1 to rotate, the revolving driving wheel 512-1 drives the revolving driven wheel 512-2 to rotate, and the revolving driven wheel 512-2 drives the revolving main shaft 513 to rotate.

[0077] The single-station rotation system 520 includes a rotation motor 521, a rotation motor fixing plate 522, a multi-station linkage component 523, and a single-station rotation component 524. The multi-station linkage component 523 includes a rotation drive shaft 523-1, a double synchronous pulley 523-2, and a station rotation synchronous belt 523-3. Multiple single-station rotation components 524 can be set as needed, each with the same structure, including a single-station cantilever 524-1, a single-station fixed chassis 524-2, a single-station rotation shaft 524-3, a single-station synchronous pulley, a rotation transmission belt 524-4, and a vegetable tray 524-5. The vegetable tray 524-5 is equipped with fixing pins for fixing vegetables.

[0078] Specifically, the self-rotating motor 521 is mounted on the self-rotating motor fixing plate 522. Multiple self-rotating drive shafts 523-1 are included, their number being the same as the number of single-station rotating components 524. The output shaft of the self-rotating motor 521 passes through the self-rotating motor fixing plate 522 and connects to one of the self-rotating drive shafts 523-1. This self-rotating drive shaft 523-1 serves as the active rotating shaft of the multi-station linkage component 523, while the remaining self-rotating drive shafts 523-1 serve as the passive rotating shafts of the multi-station linkage component 523. The self-rotating drive shafts 523-1 are connected via... The bearing is rotatably connected to the self-rotating motor mounting plate 522. Each self-rotating drive shaft 523-1 is fixedly mounted with a double synchronous pulley 523-2. The double synchronous pulleys 523-2 are connected to each other by a station self-rotating synchronous belt 523-3. When the double synchronous pulleys 523-2 on the self-rotating drive shaft 523-1 connected to the self-rotating motor 521 rotate, they drive the other double synchronous pulleys 523-2 to rotate synchronously through the station self-rotating synchronous belt 523-3. The other double synchronous pulleys 523-2 then drive the corresponding self-rotating drive shaft 523-1 to rotate synchronously.

[0079] One end of the single-station cantilever 524-1 is fixedly connected to the main rotating shaft 513, and the other end is fixedly connected to the single-station fixed chassis 524-2. The single-station rotation shaft 524-3 is mounted on the single-station fixed chassis 524-2 through a bearing seat. The top of the shaft is fixed with a vegetable tray 524-5, and the bottom of the shaft is fitted with a single-station synchronous pulley. The single-station synchronous pulley is connected to one of the double synchronous pulleys 523-2 through a rotational transmission belt 524-4.

[0080] The self-rotating motor 521 drives the self-rotating drive shaft 523-1 connected to it to rotate, and the double synchronous pulley 523-2 fixed on the self-rotating drive shaft 523-1 rotates synchronously. The station self-rotating synchronous belt 523-3 drives the double synchronous pulley 523-2 on the other self-rotating drive shafts 523-1 to rotate synchronously, thereby driving each single station rotating component 524 to rotate around the revolution main shaft 513.

[0081] At the same time, each rotating double synchronous wheel 523-2 drives the single-station synchronous wheel on the corresponding single-station rotation shaft 524-3 to rotate through the rotation transmission belt 524-4 of its respective single-station rotation component 524, thereby driving the single-station rotation shaft 524-3 to rotate, and finally driving the vegetable tray 524-5 set on the top of the single-station rotation shaft 524-3 to rotate synchronously.

[0082] In other words, the planetary multi-station module 500 adopts a planetary motion method. The multi-station revolution system 510 drives the single-station rotation system 520 to revolve around the revolution axis 513. The purpose is to enable the vegetable trays 524-5 of each single-station rotation system 520 to enter and exit the washing chamber in sequence. At the same time, the vegetable trays 524-5 in each single-station rotation system 520 can rotate 360º themselves, which is to facilitate the vegetables to be washed 360º without dead angles in the washing chamber.

[0083] The working process of this adaptive multi-station leafy vegetable cleaning machine in this embodiment is as follows:

[0084] Driven by servo motor 231, the left gripper 233 and right gripper 234 clamp the vegetables at the feeding position of the upper tray 210. Stepper motor 221 drives the gripper conveyor belt 223 to move the vegetables to the cutting position. Rotary motor 320 drives the active blade 330 and driven blade 350 to rotate and cut off the root of the vegetables. Driven by stepper motor 221, the gripper conveyor belt 223 moves the vegetables to the washing position. Servo motor 231 reverses, and the left gripper 233 and right gripper 234 release the vegetables, which fall onto the vegetable tray 524-5 at the bottom of the washing chamber 410 and are fixed by the fixing pin.

[0085] The revolution motor 511 drives the revolution spindle 513, which in turn drives the vegetable tray 524-5 to revolve synchronously with the revolution spindle 513 via the single-station cantilever 524-1. Simultaneously, the rotation motor 521 drives the rotation drive shaft 523-1 connected to it to rotate, which in turn drives the corresponding double synchronous pulley 523-2 to rotate. The rotation of the double synchronous pulley 523-2 drives the station rotation synchronous belt 523-3 and the rotation transmission belt 524-4 connected to it to rotate simultaneously. The rotation transmission belt 524-4 drives the corresponding vegetable tray 524-5 to rotate via the corresponding single-station rotation shaft 524-3. At the same time, the station rotation synchronous belt 523-3 drives the double synchronous pulley 523-2 on the other single-station rotation shafts 524-3 to rotate synchronously. The other double synchronous pulleys 523-2 drive their respective connected rotation transmission belts 524-4 to rotate, thereby driving their respective vegetable trays 524-5 to rotate.

[0086] The water pump starts and supplies water to the spray head. The vegetable tray 524-5 rotates to rinse the vegetables 360º. After rinsing, the vegetable tray 524-5 loaded with vegetables is rotated out of the cleaning chamber by the multi-station revolving system 510 and transferred to the handling station to await packaging and transfer. At the same time, the next empty vegetable tray 524-5 is rotated into the cleaning chamber to wait for the next vegetable to be cleaned, and the cycle continues.

[0087] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive multi-station leafy vegetable cleaning machine, characterized in that, include The frame (100) is sequentially equipped with a feeding position, a cutting position, and a cleaning position; An adaptive gripper module (200) is set on the upper layer of the frame (100) and includes a slide assembly (220) and a gripper assembly (230). The gripper assembly (230) grips vegetables, and the slide assembly (220) drives the vegetables on the gripper assembly (230) to move back and forth between the feeding position, the cutting position and the washing position in sequence. The dual-blade root removal module (300) is located at the cutting position on the upper layer of the frame (100), and includes an active blade (330) and a passive blade (350) for cutting off vegetable roots and stems. A cleaning module (400) is located on the lower layer of the frame (100), including a cleaning chamber corresponding to the cleaning position, and a spray head is provided in the cleaning chamber; A planetary multi-station module (500), located on the lower layer of the frame (100), includes a multi-station revolution system (510) and a single-station rotation system (520). The multi-station revolution system (510) includes a revolution motor (511) and a revolution spindle (513) driven by the revolution motor (511). The single-station rotation system (520) includes a rotation motor (521), a multi-station linkage assembly (523), and at least one single-station rotation assembly (524). The single-station rotation assembly (524) includes... The single-station cantilever (524-1) and vegetable tray (524-5) are connected at one end to the main shaft (513) and at the other end to the vegetable tray (524-5). The main shaft (513) driven by the rotating motor (511) rotates and drives the vegetable tray (524-5) to move in and out of the cleaning chamber through the single-station cantilever (524-1). The self-rotating motor (521) drives the multi-station linkage component (523) to drive the vegetable tray (524-5) to rotate and complete the rinsing in the cleaning chamber.

2. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 1, characterized in that, The multi-station linkage component (523) includes multiple self-rotating drive shafts (523-1), double synchronous pulleys (523-2), and station self-rotating synchronous belts (523-3). The self-rotating motor (521) is mounted on the self-rotating motor fixing plate (522). The self-rotating drive shaft (523-1) is rotatably connected to the self-rotating motor fixing plate (522) through bearings. The double synchronous pulleys (523-2) are fixedly installed on the self-rotating drive shaft (523-1). The double synchronous pulleys (523-2) are connected to each other through the station self-rotating synchronous belts (523-3). The self-rotating motor (521) drives one of the self-rotating drive shafts (523-1) to rotate, and drives the other self-rotating drive shafts (523-1) to rotate synchronously through the station self-rotating synchronous belts (523-3).

3. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 2, characterized in that, The single-station rotating assembly (524) also includes a single-station fixed chassis (524-2), a single-station synchronous wheel, and a self-rotating transmission belt (524-4). One end of the single-station cantilever (524-1) is fixedly connected to the main rotating shaft (513), and the other end is fixedly connected to the single-station fixed chassis (524-2). The single-station self-rotating shaft (524-3) is mounted on the single-station fixed chassis (524-2) through a bearing seat. A vegetable tray (524-5) is fixed to its top, and a single-station synchronous wheel is fitted to its bottom. The single-station synchronous wheel is connected to one of the double synchronous wheels (523-2) through the self-rotating transmission belt (524-4).

4. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 2, characterized in that, The number of the self-rotating drive shafts (523-1) is the same as the number of the single-station rotary components (524).

5. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 1, characterized in that, The slide assembly (220) is symmetrically arranged and includes a stepper motor (221), a conveyor belt support plate (222), a gripper conveyor belt (223), a slider guide rail (224), and a gripper support plate (225). The conveyor belt support plate (222) is horizontally fixed on the frame (100). The gripper conveyor belt (223) includes a conveyor belt body and support rollers at both ends. The support rollers are arranged on the conveyor belt support plate (222). The stepper motor (221) is connected to one of the support rollers. The slider guide rail (224) is arranged along the conveyor belt body. The two ends of the gripper support plate (225) are fixedly connected to the conveyor belt bodies on both sides and slidably connected to the slider guide rails (224) on both sides.

6. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 1, characterized in that, The gripper assembly (230) includes a servo motor (231), a servo motor gripper disc (232), a left servo motor gripper (233), a right servo motor gripper (234), a drive gear connecting rod (235), a driven gear connecting rod (236), an auxiliary connecting rod (237), and a fixed pressure plate (238). The servo motor gripper disc (232) is fixed on the gripper support plate (225). The left servo motor gripper (233) and the right servo motor gripper (234) are symmetrically arranged on the servo motor gripper disc (232). The drive gear connecting rod (235) and the driven gear connecting rod (236) are rotatably and meshingly arranged on the upper side of the servo motor gripper disc (232), both of which include gear parts and In the connecting rod section, the gear sections of the two parts mesh with each other, and the ends of the connecting rod sections of the two parts are respectively connected to the tail of the right servo gripper (234) and the left servo gripper (233). The auxiliary connecting rods (237) are a pair, symmetrically arranged, with one end rotatably mounted on the servo gripper disk (232), and the other end rotatably connected to the middle of the right servo gripper (234) and the left servo gripper (233). The fixed pressure plate (238) is located on the upper side of the driving gear connecting rod (235) and the driven gear connecting rod (236). The servo (231) is located on the lower surface of the servo gripper disk (232) and is connected to the gear center of the driving gear connecting rod (235).

7. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 6, characterized in that, The gear center of the driving gear connecting rod (235) to its connecting rod portion, the tail of the servo right chuck (234) to the connection point between the servo right chuck (234) and the auxiliary connecting rod (237), the auxiliary connecting rod (237), the connection point of the auxiliary connecting rod (237) on the servo chuck disk (232) to the gear center of the driving gear connecting rod (235) constitute a deformable four-bar linkage; the gear center of the driven gear connecting rod (236) to its connecting rod portion, the tail of the servo right chuck (234) to the connection point between the servo right chuck (234) and the auxiliary connecting rod (237), the connection point of the auxiliary connecting rod (237) on the servo chuck disk (232) to the gear center of the driving gear connecting rod (235) constitute a deformable four-bar linkage; the gear center of the driven gear connecting rod (236) to its The connecting rod section, the tail of the left servo gripper (233) to the connection point between the left servo gripper (233) and the auxiliary connecting rod (237), the auxiliary connecting rod (237), the connection point of the auxiliary connecting rod (237) on the servo gripper disc (232) to the gear center of the driven gear connecting rod (236), constitute another deformable four-bar linkage. The two symmetrical four-bar linkages ensure that the movements of the left servo gripper (233) and the right servo gripper (234) are synchronized.

8. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 1, characterized in that, The dual-blade root removal module (300) also includes a rotary motor (320), an active blade connection assembly (340), and a driven blade connection assembly (360). The active blade connection assembly (340) includes an active gear (342), and the driven blade connection assembly (360) includes a driven gear (362). The rotary motor (320) drives the active blade connection assembly (340) to rotate the active blade (330), and at the same time, the active gear (342) and the driven gear (362) mesh with each other to drive the driven blade connection assembly (360), thereby driving the driven blade (350) to rotate synchronously.

9. The adaptive multi-station leafy vegetable cleaning integrated machine according to claim 8, characterized in that, The active blade connection assembly (340) also includes an active blade drive shaft (341), an active shaft synchronous pulley, an active side synchronous belt (343), and an active blade connection shaft (344). A rotary motor (320) drives the active blade drive shaft (341) to rotate. Both the active blade drive shaft (341) and the active blade connection shaft (344) are equipped with active shaft synchronous pulleys and are connected by the active side synchronous belt (343). The active blade connection shaft (344) is connected to the active blade (330).

10. An adaptive multi-station leafy vegetable cleaning machine according to claim 8, characterized in that, The driven blade connection assembly (360) further includes a driven blade drive shaft (361), a driven shaft timing pulley, a driven side timing belt (363), and a driven blade connection shaft (364). The driven blade drive shaft (361) and the driven blade connection shaft (364) are both provided with driven shaft timing pulleys and are connected by the driven side timing belt (363). The driven blade connection shaft (364) is connected to the driven blade (350).

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