Device for removing old mustard tuber tendons

Abstract

The present disclosure provides a device for removing old ribs from pickled mustard tubers, which belongs to the field of pickled mustard tuber processing equipment. The device for removing old ribs from pickled mustard tubers includes: a slicer and an old rib removal mechanism, the old rib removal mechanism includes a conveying platform, a mounting frame, at least one water cutting assembly and a driving mechanism, each of the water cutting assemblies includes a moving platform, a water cutting knife and a water pipe, the moving platform is mounted on the mounting frame, the moving platform is located above the conveying platform, the water cutting knife is slidably mounted on the moving platform, the water outlet of the water cutting knife faces the table surface of the conveying platform, the water cutting knife is connected to one end of the water pipe, the water pipe includes the other end for connecting to a high-pressure water source, the driving mechanism is respectively connected to each of the water cutting assemblies, and the discharge port of the slicer cooperates with the feed port of the conveying platform.

Description

Technical Field

[0001] The present disclosure relates to the field of mustard tuber processing equipment, and in particular to a device for removing old mustard tuber tendons. Background Art

[0002] Zhacai (pickled mustard greens) is considered one of the world's three most famous pickled vegetables, along with German sweet and sour cabbage and French gherkins. The processing involves peeling the mustard greens, pickling them, removing the old tendons, and finally slicing them. The old tendons are the coarse, fibrous part of the mustard greens' skin that forms when they're overripe. These tendons are hard and difficult to digest, affecting the crispness and tenderness of the vegetable. Therefore, removing these tendons is a crucial step in processing. Summary of the Invention

[0003] The present disclosure provides a device for removing old mustard tuber tendons, which can save mustard tuber processing time. The technical solution is as follows:

[0004] The present disclosure provides a device for removing old mustard tuber ribs, the device comprising:

[0005] Slicer and tendon removal mechanism,

[0006] The old rib removal mechanism includes a conveying platform, a mounting frame, at least one water cutting assembly and a driving mechanism, each of the water cutting assemblies includes a moving platform, a water cutting blade and a water pipe.

[0007] The movable platform is mounted on the mounting frame, and the movable platform is located above the conveying platform. The water cutting knife is slidably mounted on the movable platform, and the water outlet of the water cutting knife faces the table surface of the conveying platform. The water cutting knife is connected to one end of the water pipe, and the water pipe includes the other end for connecting to a high-pressure water source. The driving mechanism is connected to each of the water cutting components respectively.

[0008] The discharge port of the slicer matches the feed port of the conveying platform.

[0009] Optionally, the slicer includes a body and a conveyor group, a discharge conveyor and a slicer assembly respectively mounted on the body.

[0010] The conveyor group includes a feed conveyor and a pressure conveyor.

[0011] The pressing conveyor is located above the feeding conveyor, and a first extrusion gap is provided between the conveyor belt of the pressing conveyor and the conveyor belt of the feeding conveyor. The conveying direction of the conveyor belt of the pressing conveyor is the same as that of the conveyor belt of the feeding conveyor, and the first extrusion gap cooperates with the input port of the conveyor belt of the discharging conveyor.

[0012] The slicing assembly includes a slicing knife, a rotating shaft and a motor. The slicing knife is mounted on the rotating shaft. The rotating shaft is connected to the output shaft of the motor. The motor is located inside the machine body. The slicing knife is located between the first extrusion gap and the input port of the discharge conveyor.

[0013] Optionally, the slicer includes two conveyor groups, the two conveyor groups are arranged side by side, and the discharge conveyor and the slicing knife are respectively matched with the two conveyor groups.

[0014] Optionally, the feed port of the conveyor platform cooperates with the output port of the conveyor belt of the discharge conveyor, the table surface of the conveyor platform and the belt surface of the conveyor belt of the discharge conveyor are parallel to each other and not coplanar, and the conveyor platform is located below the conveyor belt of the discharge conveyor.

[0015] Optionally, the device for removing old mustard tuber tendons comprises two slicers, which are arranged side by side.

[0016] The conveying platform includes a water pool and two belt conveyors, the two belt conveyors are arranged side by side, and the conveyor belts of the two belt conveyors are coplanar.

[0017] The water storage tank is installed below the two belt conveyors.

[0018] The slicers correspond to the belt conveyors on a one-to-one basis.

[0019] Optionally, the conveying platform further comprises an extrusion assembly,

[0020] The extrusion assembly includes a pressure roller and a winding shaft, the pressure roller is mounted on the winding shaft, the two ends of the winding shaft are rotatably mounted on the edges of the water pool, the pressure roller is arranged horizontally above the conveyor belts of the two belt conveyors, and a second extrusion gap is provided between the pressure roller and the conveyor belts of the two belt conveyors.

[0021] Optionally, the movable platform includes: a transverse linear slide, a first longitudinal linear slide, and a second longitudinal linear slide.

[0022] The first longitudinal linear slide and the second longitudinal linear slide are parallel to each other, the transverse linear slide is located between the first longitudinal linear slide and the second longitudinal linear slide, and both ends of the transverse linear slide are slidably mounted on the first longitudinal linear slide and the second longitudinal linear slide, respectively. The transverse linear slide is perpendicular to the first longitudinal linear slide and the second longitudinal linear slide, respectively.

[0023] The first longitudinal linear slide and the second longitudinal linear slide are respectively fixed on the mounting frame, and the length direction of the first longitudinal linear slide is the same as the length direction of the conveying platform.

[0024] The water jet cutting blade is slidably mounted on the transverse linear slide.

[0025] Optionally, the device for removing old mustard tuber tendons further comprises: a diversion mechanism,

[0026] The diversion mechanism includes a support frame, a diversion conveyor, a first enclosure, a second enclosure, a crossbar and at least one baffle.

[0027] The diversion conveyor, the first enclosure plate and the second enclosure plate are respectively installed on the support frame,

[0028] The first enclosure plate is parallel to the second enclosure plate, and the first enclosure plate and the second enclosure plate are respectively located on both sides of the conveyor belt of the diversion conveyor. The length direction of the first enclosure plate is the same as the moving direction of the conveyor belt of the diversion conveyor.

[0029] The two ends of the crossbar are respectively fixed on the first enclosure plate and the second enclosure plate.

[0030] The at least one baffle is fixed on the crossbar, and the at least one baffle is spaced between the first enclosure and the second enclosure, each of the baffles is parallel to the first enclosure, and each of the baffles is respectively fitted with a conveyor belt of the diversion conveyor.

[0031] The at least one baffle divides the conveying space of the diversion conveyor into at least two channels, and the number of the channels is the same as the number of the conveyor groups of all the slicers.

[0032] Optionally, the device for removing old mustard tuber tendons further comprises: a material lifting mechanism,

[0033] The material lifting mechanism includes a stacking box and a lifting conveyor.

[0034] A notch is provided upward along the bottom on one side of the stacking box, and the lifting conveyor is arranged at the notch. The input port of the conveyor belt of the lifting conveyor is gap-matched with the bottom of the stacking box, and the conveyor belt of the lifting conveyor is not coplanar with the bottom surface of the stacking box. The output port of the conveyor belt of the lifting conveyor is gap-matched with the input port of the conveyor belt of the diversion conveyor, and the conveyor belt of the lifting conveyor is not coplanar with the conveyor belt of the diversion conveyor. The conveyor belt of the diversion conveyor is parallel to the bottom surface of the stacking box, and the input port of the conveyor belt of the lifting conveyor is lower than the output port of the conveyor belt of the lifting conveyor, and a plurality of partitions are arranged at intervals on the conveyor belt of the lifting conveyor.

[0035] Optionally, the transverse linear slide, the first longitudinal linear slide and the second longitudinal linear slide can all be ball screw slides.

[0036] The driving mechanism includes an industrial computer, a shooting component and a ball screw driving assembly.

[0037] The shooting component is installed at the feed inlet of the conveying platform, and is used to shoot the pickled mustard greens slices on the conveying platform.

[0038] The ball screw drive assembly is electrically connected to the transverse linear slide, the first longitudinal linear slide, and the second longitudinal linear slide respectively.

[0039] The industrial computer is used to:

[0040] Based on the image captured by the capturing component, determining whether there are old tendons in the mustard tuber slices in the image,

[0041] When the old tendon exists, determining the position of the old tendon on the image,

[0042] Based on the position of the old tendons on the image, the moving track of the water jet cutting knife is determined, and the pickled mustard greens slices with old tendons on the conveying platform are located on the moving track of the water jet cutting knife.

[0043] Based on the moving trajectory of the water cutting knife, the ball screw drive assembly controls the transverse linear slide, the first longitudinal linear slide and the second longitudinal linear slide to respectively operate, so as to drive the water cutting knife to move on the moving platform according to the moving trajectory of the water cutting knife.

[0044] When the water outlet of the water cutting knife moves to the top of the pickled mustard greens slices with old tendons, the water cutting knife is turned on to cut off the old tendons until all the old tendons of the pickled mustard greens slices with old tendons on the moving track of the water cutting knife are cut off.

[0045] The technical solutions provided by the embodiments of the present disclosure have the following beneficial effects:

[0046] The device for removing old mustard tuber tendons includes a slicer and an old tuber tendon removing mechanism. The slicer can slice the peeled mustard tuber after pickling, and output the mustard tuber slices from the outlet of the slicer to the conveyor platform in the old tuber tendon removing mechanism; the conveyor platform conveys the mustard tuber slices to the moving area of ​​the water cutting knife. The mustard tuber slices are relatively thin, and the old tuber tendons on them are easy to be identified when they are laid out on the conveyor platform, for example, by the human eye; after the old tuber tendons are identified, the water cutting knife is controlled to slide on the moving platform by a driving mechanism (for example, the driving mechanism can be an operating lever connected to the water cutting knife, and manually pushing the operating lever can drive the water cutting knife to slide on the moving platform) until the water outlet of the water cutting knife is aligned with the old tube tendons on the mustard tube slices, and the high-pressure water source and the water pipe are connected. At this time, the water outlet of the water cutting knife sprays high-pressure water to form a water jet, and the water jet cuts off the targeted old tendons from the pickled mustard tuber slices, and this cycle continues until the old tendons of the pickled mustard tuber slices on the conveyor are completely removed; the old tendon removal process is combined with the back-end slicing process, and the old tendons are removed after the pickled mustard tuber is sliced. The slicing and old tendon removal are completed by the same equipment, avoiding the time spent on transferring the pickled mustard tuber after the old tendons are removed to the slicing equipment for slicing, saving processing time and improving the processing technology of the pickled mustard tuber; identifying the old tendons from the pickled mustard tuber slices makes it more convenient; at the same time, using a water jet to remove the old tendons does not destroy the crisp and tender taste of the pickled mustard tuber, avoids manual peeling of the old tendons, and has a relatively high cutting accuracy, reducing the waste rate of raw materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 This is a structural schematic diagram of a device for removing old mustard tuber tendons provided by an embodiment of the present disclosure;

[0049] Figure 2 is a structural diagram of a slicer provided by an embodiment of the present disclosure;

[0050] Figure 3 is a schematic diagram of the positional relationship between the slicing knife and the first extrusion gap provided by an embodiment of the present disclosure;

[0051] Figure 4 is a schematic diagram of two slicers provided in an embodiment of the present disclosure;

[0052] Figure 5 is a schematic structural diagram of a conveyor platform provided in an embodiment of the present disclosure;

[0053] Figure 6 Schematic diagram of the structure of four water jet cutting components provided by an embodiment of the present disclosure;

[0054] Figure 7 2 is a schematic structural diagram of a device for removing old mustard tuber tendons provided by an embodiment of the present disclosure;

[0055] Figure 8 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present disclosure;

[0056] Figure 9 is a structural diagram of a diversion mechanism provided by an embodiment of the present disclosure;

[0057] Figure 10 and Figure 11 It is a structural schematic diagram of the material lifting mechanism provided in an embodiment of the present disclosure.

[0058] The reference numerals of the components in the accompanying drawings are as follows:

[0059] 1 slicer,

[0060] 11 bodies,

[0061] 12 conveyor group, 121 feeding conveyor, 122 pressing conveyor, 123 first extrusion gap, 124 split plate,

[0062] 13 discharge conveyor, 14 slicing assembly, 141 slicing knife, 142 rotating shaft, 143 knife box,

[0063] 2. Old tendon removal mechanism,

[0064] 21 conveying platform, 211 water pool, 212 belt conveyor, 213 extrusion assembly, 213a pressure roller, 213b winding shaft, 214 second extrusion gap,

[0065] 22 mounting frame, 22a balancing pole,

[0066] 23 water cutting assembly, 231 moving platform, 231a horizontal linear slide, 231b first longitudinal linear slide, 231c second longitudinal linear slide,

[0067] 232 water cutting knife, 233 water pipe,

[0068] 3 diversion mechanism, 31 support frame, 32 diversion conveyor, 33 first enclosure, 34 second enclosure, 35 crossbar, 36 baffle,

[0069] 4 material lifting mechanism, 41 stacking box, 42 lifting conveyor, 421 partition,

[0070] 5 driving mechanism, 51 shooting component, 52 shooting frame, 53 operating lever, 53a handle. DETAILED DESCRIPTION

[0071] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0072] Figure 1 This is a schematic diagram of the structure of a device for removing old mustard tuber tendons provided by an embodiment of the present disclosure. Figure 1 The device for removing old mustard tuber tendons comprises: a slicer 1 and an old tuber tendon removing mechanism 2.

[0073] The old rib removal mechanism 2 includes a conveying platform 21 , a mounting frame 22 , at least one water cutting assembly 23 and a driving mechanism 5 . Each water cutting assembly 23 includes a moving platform 231 , a water cutting blade 232 and a water pipe 233 .

[0074] The movable platform 231 is installed on the mounting frame 22. The movable platform 231 is located above the conveying platform 21. The water cutting knife 232 is slidably installed on the movable platform 231. The water outlet of the water cutting knife 232 faces the table surface of the conveying platform 21. The water cutting knife 232 is connected to one end of the water pipe 233. The water pipe 233 includes the other end for connecting to the high-pressure water source. The driving mechanism 5 is respectively connected to each water cutting component 23.

[0075] The discharge port of the slicer 1 matches the feed port of the conveying platform 21 .

[0076] In the embodiment of the present disclosure, the device for removing old mustard tuber tendons includes a slicer and an old tuber tendon removal mechanism. The slicer can slice the peeled mustard tuber after pickling, and output the mustard tuber slices from the discharge port of the slicer to the conveyor platform in the old tuber tendon removal mechanism; the conveyor platform conveys the mustard tuber slices to the moving area of ​​the water cutting knife. The mustard tuber slices are relatively thin, and the old tubers on them are easy to identify when they are laid out on the conveyor platform, for example, by the human eye; after the old tubers are identified, the water cutting knife is controlled to slide on the moving platform by a driving mechanism (for example, the driving mechanism can be an operating rod connected to the water cutting knife, and manually pushing the operating rod can drive the water cutting knife to slide on the moving platform) until the water outlet of the water cutting knife is aligned with the old tubers on the mustard tube slices, and the high-pressure water source is connected. and water pipes. At this time, the water outlet of the water cutting knife sprays high-pressure water to form a water jet. The water jet will cut off the targeted old tendons from the pickled mustard tuber slices, and this cycle will continue until the old tendons of the pickled mustard tuber slices on the conveyor are completely removed. The old tendon removal process is combined with the slicing process at the back end, and the old tendons are removed after the pickled mustard tuber is sliced. The slicing and old tendon removal are completed by the same equipment, avoiding the time spent on transferring the pickled mustard tuber after the old tendons are removed to the slicing equipment for slicing, saving processing time and improving the processing technology of the pickled mustard tuber. The old tendons can be identified from the pickled mustard tuber slices, and the identification of the old tendons is more convenient. At the same time, the old tendons are removed by a water jet without destroying the crisp and tender taste of the pickled mustard tuber, avoiding manual peeling of the old tendons, and the cutting accuracy is also relatively high, reducing the waste rate of raw materials.

[0077] Figure 2Schematic diagram of the structure of the slicer provided by the embodiment of the present disclosure. Figure 2 The slicer 1 includes a body 11 and a conveyor group 12, a discharge conveyor 13 and a slicer assembly 14 respectively installed on the body 11.

[0078] The conveyor assembly 12 includes an infeed conveyor 121 and a press conveyor 122 .

[0079] The pressing conveyor 122 is located above the feeding conveyor 121. A first extrusion gap 123 is provided between the conveyor belt of the pressing conveyor 122 and the conveyor belt of the feeding conveyor 121. The conveying direction of the conveyor belt of the pressing conveyor 122 is the same as that of the feeding conveyor 121. The first extrusion gap 123 cooperates with the input port of the conveyor belt of the discharging conveyor 13.

[0080] The slicing assembly 14 includes a slicing knife 141 , a rotating shaft 142 and a motor. Figure 3 Schematic diagram of the positional relationship between the slicing knife and the first extrusion gap provided by the embodiment of the present disclosure. Figure 3 The slicing knife 141 is mounted on a rotating shaft 142 , which is connected to an output shaft of a motor. The motor is located inside the machine body 11 , and the slicing knife 141 is located between the first extrusion gap 123 and the input port of the discharge conveyor 13 .

[0081] For example, the pressing conveyor 122 is located above the output port of the feed conveyor 121's conveyor belt. The conveyor belts of the pressing conveyor 122 move in the same direction as the feed conveyor 121 and the discharge conveyor 13. Thus, pickled mustard tubers (e.g., whole, peeled mustard tubers after pickling) can enter the first extrusion gap 123, driven by the conveyor belts of the pressing conveyor 122 and the feed conveyor 121.

[0082] For example, the conveyor belt of the pressing conveyor 122 has a symmetrical triangular cross-section along its length. The longer portion of the conveyor belt of the pressing conveyor 122 is parallel to the conveyor belt of the infeed conveyor 121, forming a first extrusion gap 123 that is a narrow, flat space. The mustard tuber conveyed through the first extrusion gap 123 is shaped into a flat square by the first extrusion gap 123, making it easier for the slicing knife 141 to slice it.

[0083] Illustratively, the conveyor belt of the pressing conveyor 122 is an elastic conveyor belt, and the pickled mustard tuber can have a certain amount of movement space in the first extrusion gap 123 , which facilitates the pickled mustard tuber to smoothly enter and pass through the first extrusion gap 123 and prevents the pickled mustard tuber from being blocked in the first extrusion gap 123 .

[0084] For example, the slicing blade 141 is mounted in a vertical plane (perpendicular to the horizontal plane) and, driven by a motor, performs a rotary cutting motion in the vertical plane. This vertical plane is located in the gap between the infeed conveyor 121 and the outfeed conveyor 13. Slicing blade 141 can perform two cutting modes: rotary cutting and reciprocating cutting. From the perspective of motor operation and structural stability, the reciprocating motion of slicing blade 141 is slow and has a short service life, making it commonly used for small-scale, low-speed cutting. Rotary cutting of slicing blade 141 is fast and structurally stable, but requires high machining and installation precision, resulting in high cost, making it suitable for high-speed, large-scale cutting.

[0085] For example, see Figure 2 The slicer 1 may include two conveyor groups 12 , which are arranged side by side. The discharging conveyor 13 cooperates with the two conveyor groups 12 respectively, and the slicing knife 141 cooperates with the two conveyor groups 12 respectively.

[0086] Exemplarily, two conveyor groups 12 can share one feed conveyor 121, and a dividing plate 124 is provided between the two pressing conveyors 122. The dividing plate 124 is arranged along the length direction of the conveyor belt of the feed conveyor 121. The dividing plate 124 divides the conveying area of ​​the conveyor belt of the feed conveyor 121 into two side-by-side conveying areas, and the two side-by-side conveying areas correspond to the two pressing conveyors 122 respectively.

[0087] By providing two conveyor groups 12, the efficiency of slicing pickled mustard tubers can be improved.

[0088] For example, see Figure 2 The slicing assembly 14 further includes a knife box 143 , which cooperates with the slicing knife 141 .

[0089] For example, see Figure 1 The feed port of the conveyor platform 21 cooperates with the output port of the conveyor belt of the discharge conveyor 13. The table surface of the conveyor platform 21 and the belt surface of the conveyor belt of the discharge conveyor 13 are parallel to each other and not coplanar. The conveyor platform 21 is located below the conveyor belt of the discharge conveyor 13.

[0090] In this way, after the pickled mustard tuber slices are moved out of the output port of the conveyor belt of the discharging conveyor 13 , they will fall onto the surface of the conveying platform 21 due to the action of gravity.

[0091] For example, the device for removing old mustard tuber tendons may include two slicers 1, Figure 4 is a schematic diagram of two slicers provided in an embodiment of the present disclosure, see Figure 4 , two slicers 1 are arranged side by side.

[0092] Accordingly, the conveying platform 21 includes a water pool 211 and two belt conveyors 212. Figure 5This is a schematic diagram of the structure of the conveyor provided in the embodiment of the present disclosure, see Figure 5 The two belt conveyors 212 are arranged side by side, and the conveyor belts of the two belt conveyors 212 are coplanar. The water pool 211 is installed below the two belt conveyors 212, and the slicer 1 corresponds to the belt conveyor 212 one by one.

[0093] Exemplarily, the conveyor belt of the belt conveyor 212 is a mesh belt with dense mesh holes arranged thereon, which is used to filter the water when the water cutting knife 232 cuts off the old tendons of the mustard tuber slices into the water pool 211 below.

[0094] The slicer 1 and the corresponding belt conveyor 212 constitute an old tendon removal channel, and the two slicers 1 and the two belt conveyors 212 constitute two old tendon removal channels. When a water jet (water cutting knife 232) is used to cut off the old tendons, the conveyor belt of the belt conveyor 212 first moves to drive the pickled mustard greens slices to the coverage area of ​​the water jet, and then the conveyor belt stops moving. The water jet is used to cut off the old tendons and then the pickled mustard greens slices are moved out. By designing two parallel old tendon removal channels, when one old tendon removal channel stops removing the old tendons, the other old tendon removal channel can slice the pickled mustard greens and move the pickled mustard greens slices to the coverage area of ​​the water jet. In this way, the two old tendon removal channels can work alternately, speeding up the rhythm of cutting the old tendons, improving the utilization rate of the water jet, and further improving the efficiency of the equipment.

[0095] For example, see Figure 5 The conveyor platform 21 further includes an extrusion assembly 213. The extrusion assembly 213 includes a pressure roller 213a and a winding shaft 213b. The pressure roller 213a is sleeved on the winding shaft 213b. Both ends of the winding shaft 213b are rotatably mounted on the edges of the water pool 211. The pressure roller 213a is horizontally arranged above the conveyor belts of the two belt conveyors 212. A second extrusion gap 214 is defined between the pressure roller 213a and the conveyor belts of the two belt conveyors 212.

[0096] A second extrusion gap 214 is provided between the pressing roller 213 a and the conveyor belts of the two belt conveyors 212 , and is used to extrude the mustard tuber slices so that the mustard tuber slices can be evenly spread on the conveyor platform 21 .

[0097] For example, the number of water cutting assemblies 23 may be equal to or greater than one. Figure 6 This is a schematic diagram of the structure of four water jet cutting components provided by the embodiment of the present disclosure, see Figure 6The four mobile platforms 231 are divided into two groups, each group including two mobile platforms 231. The two mobile platforms 231 in each group are arranged side by side, with the first group of mobile platforms 231 stacked on top of the second group of mobile platforms 231. In addition, the first group of mobile platforms 231 and the second group of mobile platforms 231 can be staggered to save installation space. Each water jet cutting blade 232 emerges from the mobile platform 231 and is aligned with the table surface of the conveyor table.

[0098] See also Figure 6 Exemplarily, each movable platform 231 may include: a transverse linear slide 231a, a first longitudinal linear slide 231b and a second longitudinal linear slide 231c.

[0099] The first longitudinal linear slide 231b and the second longitudinal linear slide 231c are parallel to each other, the transverse linear slide 231a is located between the first longitudinal linear slide 231b and the second longitudinal linear slide 231c, and the two ends of the transverse linear slide 231a are slidably installed on the first longitudinal linear slide 231b and the second longitudinal linear slide 231c respectively, and the transverse linear slide 231a is perpendicular to the first longitudinal linear slide 231b and the second longitudinal linear slide 231c respectively.

[0100] The first longitudinal linear slide 231 b and the second longitudinal linear slide 231 c are respectively fixed on the mounting frame 22 . The length direction of the first longitudinal linear slide 231 b is the same as the length direction of the conveying platform 21 .

[0101] The water jet cutting blade 232 is slidably mounted on the transverse linear slide 231a.

[0102] For example, see Figure 6 At least one balance bar 22a is provided on the mounting frame 22, and the balance bar 22a corresponds to the moving platform 231 one by one. The balance bar 22a is U-shaped, and one end of the balance bar 22a is located on the first longitudinal linear slide 231b side of the corresponding moving platform 231, and the other end of the balance bar 22a is located on the second longitudinal linear slide 231c side of the corresponding moving platform 231.

[0103] Since the water jet cutting knife 232 has a certain impact on the movable platform 231 when spraying water and moving, the two ends of the balance bar 22a apply the same gravity to the first longitudinal linear slide 231b and the second longitudinal linear slide 231c respectively, which can reduce the vibration of the movable platform 231 caused by the impact and protect the movable platform 231.

[0104] Regarding the structure of the driving mechanism 5, the present disclosure provides two optional implementations. The first optional implementation is as follows: Figure 1 As shown, the second optional implementation is as follows Figure 7 and Figure 8 As shown, they are introduced below.

[0105] The first optional implementation method:

[0106] Optionally, the movable platform 231 may be a ball screw slide, that is, the transverse linear slide 231a, the first longitudinal linear slide 231b and the second longitudinal linear slide 231c may all be ball screw slides.

[0107] Accordingly, see Figure 1 The driving mechanism 5 includes an industrial computer (not shown), a shooting component 51 and a ball screw driving assembly (not shown).

[0108] The shooting component 51 is installed at the feeding port of the conveying platform 21 , and the shooting component 51 is used to shoot the pickled mustard greens slices on the conveying platform 21 .

[0109] The ball screw drive assembly is electrically connected to the transverse linear slide 231a, the first longitudinal linear slide 231b and the second longitudinal linear slide 231c respectively.

[0110] The industrial computer is used to determine whether there are old ribs in the pickled mustard greens slices in the image based on the image taken by the shooting component 51; when old ribs exist, the position of the old ribs on the image is determined, and based on the position of the old ribs on the image, the moving trajectory of the water cutting knife 232 is determined. The pickled mustard greens slices with old ribs on the conveying table 21 are located on the moving trajectory of the water cutting knife 232 (the water cutting knife 232 will cover part of the table surface of the conveying table 21 when it moves. When the pickled mustard greens slices with old ribs on the conveying table 21 are conveyed to the cutting area of ​​the corresponding water cutting knife 232 (that is, the covered part of the table surface), the pickled mustard greens slices with old ribs on the conveying table 21 are Located on the moving trajectory of the water cutting knife 232); based on the moving trajectory of the water cutting knife 232, the ball screw drive assembly controls the operation of the horizontal linear slide 231a, the first longitudinal linear slide 231b and the second longitudinal linear slide 231c respectively to drive the water cutting knife 232 to move on the moving platform 231 according to the moving trajectory of the water cutting knife 232; when the water outlet of the water cutting knife 232 moves to the top of the pickled mustard greens slices with old tendons, the water cutting knife 232 is turned on to cut off the old tendons until the old tendons of all the pickled mustard greens slices with old tendons on the moving trajectory of the water cutting knife 232 are cut off.

[0111] Wherein, based on the image captured by the shooting component 51, it is determined whether there are old tendons in the pickled mustard tuber slices in the image; when old tendons exist, the position of the old tendons on the image is determined, including the following steps A to C.

[0112] Step A: grayscale the image.

[0113] Step A may further include: performing noise reduction processing on the grayscale image using Gaussian filtering to eliminate interference from certain noise points.

[0114] Step B: Identify the outline of the old tendon from the grayscale image.

[0115] Old tendons are darker in color than fleshy areas, and the grayscale changes more rapidly at the boundary between the old tendons and the fleshy areas. Based on this, the outline of the old tendons can be identified based on the grayscale gradient. For example, a target grayscale gradient can be set, and the image area that meets the target grayscale gradient is used as the outline of the old tendons. For example, the outline of the old tendons can be identified using the SIFT algorithm.

[0116] If the outline of the old rib is not identified in the grayscale image, it is determined that the mustard tuber slices in the image do not have old ribs, and the next frame of image recognition can be performed. Conversely, if the outline of the old rib is identified in the grayscale image, it is determined that the mustard tuber slices in the image do have old ribs, and step C is executed.

[0117] Step C: The image area surrounded by the outline of the continuous old tendons is used as the old tendon image, and the position of the old tendons on the image is determined based on all the old tendon images.

[0118] Step C may include: taking the image area surrounded by the outline of the continuous old tendons as the old tendon image, screening out the actual old tendon image from all the old tendon images, determining the position of the actual old tendon image on the grayscale image, and obtaining the position of the old tendons on the image.

[0119] Old tendons often appear in the form of long strips or ribbons in pickled mustard tuber slices. The ratio of the area to the perimeter of the old tendon image and / or the distance between the outline of the old tendon image and the center point of the old tendon image can be used as the basis for identification. The old tendon images that do not conform to the growth law of the old tendon are eliminated, and the remaining ones are the actual old tendon images.

[0120] Determining the moving trajectory of the water jet cutting knife 232 based on the position of the old ribs on the image may include the following steps:

[0121] The first step is to determine the position of the pickled mustard tuber slices with old tendons after they are transported to the cutting area of ​​the corresponding water jet cutting knife 232 based on the position of the old tendons on the image.

[0122] The cutting area of ​​the water cutting knife 232 refers to the area of ​​the table top of the conveying platform 21 that can be covered by the water outlet of the water cutting knife 232. The water cutting knife 232 can move in the area of ​​the table top of the conveying platform 21 covered by the movable platform 231. Based on the structure of the aforementioned movable platform 231, the area of ​​the table top of the conveying platform 21 covered by the movable platform 231 is a square area. The image of the pickled mustard slices taken by the shooting component 51 corresponds to a certain area of ​​the table top of the conveying platform 21, which is generally also a square area. Therefore, the position of the old tendons on the image can be corresponded to the position on the table top of the conveying platform 21 according to a certain scaling ratio, so as to obtain the position of the pickled mustard slices after being conveyed to the cutting area of ​​the corresponding water cutting knife 232.

[0123] It should be noted that the area of ​​the conveyor table 21 captured by the camera 51 can be larger than the removal area of ​​a single water jet cutting blade 232. In this case, several (e.g., three) water jet cutting assemblies can be arranged side by side to correspond to the area of ​​the conveyor table 21 captured by the camera 51. In addition, to increase the removal efficiency, multiple groups of water jet cutting assemblies can be arranged, with each group of water jet cutting assemblies corresponding to the area of ​​the conveyor table 21 captured by the camera 51.

[0124] The second step is to determine the moving trajectory of the water cutting knife 232 based on the position of the pickled mustard greens slices with old tendons after being transported to the cutting area of ​​the corresponding water cutting knife 232 and the current position of the water outlet of the corresponding water cutting knife 232.

[0125] For example, the positions of the pickled mustard greens slices with old tendons in the cutting area and the current positions of the water outlets of the corresponding water cutting blades 232 can be connected into a line according to the distance of the positions, forming the moving trajectory of the water cutting blade 232.

[0126] Among them, based on the moving trajectory of the water cutting knife 232, the horizontal linear slide 231a, the first longitudinal linear slide 231b and the second longitudinal linear slide 231c are respectively controlled by the ball screw drive component to drive the water cutting knife 232 to move on the moving platform 231 according to the moving trajectory of the water cutting knife 232; when the water outlet of the water cutting knife 232 moves to the top of the pickled mustard tuber slice with old tendons, the water cutting knife 232 is turned on to cut off the old tendons until the old tendons of all the pickled mustard tuber slices with old tendons on the moving trajectory of the water cutting knife 232 are cut off, including:

[0127] Based on the moving trajectory of the water cutting knife 232, first determine the straight line trajectory from the current position of the water outlet of the water cutting knife 232 to the nearest piece of pickled mustard greens with old tendons on the moving trajectory, and according to the straight line trajectory, determine the moving direction and moving distance of the transverse linear slide 231a on the two longitudinal linear slides (the first longitudinal linear slide 231b and the second longitudinal linear slide 231c), as well as the moving direction and moving distance of the water outlet of the water cutting knife 232 on the transverse linear slide 231a; according to the transverse linear slide 23 1a on the two longitudinal linear slides and the moving direction and distance of the water outlet of the water cutting knife 232 on the transverse linear slide 231a, determine the power-on direction and power-on time of the ball screws in the three linear slides (transverse linear slide 231a, the first longitudinal linear slide 231b and the second longitudinal linear slide 231c), and based on this, control the ball screw drive assembly to supply power to the three linear slides, thereby driving the water outlet of the water cutting knife 232 to move to the end point of the straight line trajectory.

[0128] Since the moving speed of the conveyor belt of the belt conveyor in the conveyor platform is fixed, and the length of the conveyor belt of the belt conveyor in the conveyor platform is fixed, the time taken for the pickled mustard greens slices photographed by the shooting component 51 to move to any position on the conveyor belt can be obtained. Based on this, when the cutting area of ​​the water cutting knife 232 is fixed, the time when the pickled mustard greens slices reach the cutting area of ​​the water cutting knife 232 can be clearly seen. When the pickled mustard greens slices with old tendons reach the cutting area, the water cutting knife 232 is turned on, and its water outlet sprays high-pressure water to cut off the old tendons of the corresponding pickled mustard greens slices. Then move the water outlet of the water cutting knife 232 to the position of the next pickled mustard greens slice with old tendons on the moving trajectory to cut off the old tendons until all the old tendons are cut off.

[0129] Exemplarily, when the moving platform 231 is a ball screw slide, the moving platform 231 may be a gantry two-axis ball screw slide, and the model may be DGTH4.

[0130] Exemplarily, the ball screw drive assembly may include three motors, each corresponding to three linear slides.

[0131] Exemplarily, the photographing component 51 may be installed at the feed port of the conveying platform 21 via a photographing frame 52 .

[0132] For example, an industrial computer possesses important computer attributes and characteristics, including a CPU (Central Processing Unit), a hard drive, memory, peripherals (including a display screen and input / output devices), interfaces (such as the interface for the camera 51), and a system bus connecting the CPU, hard drive, memory, peripherals, and interfaces. The hard drive stores an operating system and application programs, and the CPU achieves computing power by loading and running the operating system and application programs from the hard drive. The method for driving the water jet cutting blade 232 implemented by the industrial computer is stored as program instructions on the hard drive and is invoked by the CPU.

[0133] The second optional implementation method:

[0134] Figure 7 This is a schematic structural diagram of a device for removing old mustard tuber tendons provided by an embodiment of the present disclosure. Figure 8 Schematic diagram of the structure of the driving mechanism provided by the embodiment of the present disclosure. Figure 7 and Figure 8 The driving mechanism 5 includes at least one operating rod 53, which corresponds to the water cutting assembly 23 one by one. One end of the operating rod 53 is fixed to the outer shell of the water outlet of the corresponding water cutting knife 232, and the other end of the operating rod 53 is provided with a handle 53a.

[0135] For example, the operating rod 53 may be Z-shaped.

[0136] By manually pushing the operating lever 53 via the handle 53a, the corresponding water jet cutter 232 can be driven to slide on the movable platform 231. For example, when manually applying force via the operating lever 53, if a longitudinal force (parallel to the two longitudinal linear slides) is applied, the water jet cutter 232 will move on the two longitudinal linear slides because the operating lever 53 and the water jet cutter 232 are fixed and the water jet cutter 232 is connected to the transverse linear slide 231a. If a transverse force (parallel to the transverse linear slide 231a) is applied, the water jet cutter 232 will move on the transverse linear slide 231a.

[0137] A gate can be provided between the high-pressure water source and the water pipe to open the water jet cutter 232. In a first alternative embodiment, the gate can be an electronically controlled gate that can be opened and closed by an industrial computer; in a second alternative embodiment, the gate can be opened and closed manually.

[0138] In the first optional embodiment, the movement of the water cutting knife 232 is controlled by an industrial computer and does not require human intervention, which can realize mechanized production in the factory and save manpower; in the second optional embodiment, although the movement of the water cutting knife 232 requires human control, it avoids manual peeling of the old tendons, and water cutting does not affect the taste of the pickled mustard tuber. Moreover, it is very easy to identify the old tendons from the thinner pickled tuber slices, which brings convenience to the removal of the old tendons.

[0139] For example, see Figure 1 and Figure 7 The device for removing old mustard tuber tendons may further include: a diversion mechanism 3. Figure 9 Schematic diagram of the structure of the diversion mechanism provided by the embodiment of the present disclosure. Figure 9 The diversion mechanism 3 includes a support frame 31, a diversion conveyor 32, a first enclosure 33, a second enclosure 34, a cross bar 35 and at least one baffle 36.

[0140] The diverting conveyor 32 , the first enclosure 33 and the second enclosure 34 are respectively mounted on the support frame 31 .

[0141] The first enclosure 33 is parallel to the second enclosure 34 . The first enclosure 33 and the second enclosure 34 are respectively located on both sides of the conveyor belt of the diversion conveyor 32 . The length direction of the first enclosure 33 is the same as the moving direction of the conveyor belt of the diversion conveyor 32 .

[0142] Both ends of the crossbar 35 are fixed to the first enclosure plate 33 and the second enclosure plate 34 respectively.

[0143] At least one baffle 36 is fixed on the cross bar 35 , and at least one baffle 36 is spaced between the first enclosure 33 and the second enclosure 34 . Each baffle 36 is parallel to the first enclosure 33 , and each baffle 36 is respectively fitted with the conveyor belt gap of the diversion conveyor 32 .

[0144] At least one baffle 36 divides the conveying space of the diversion conveyor 32 into at least two channels, and the number of the channels is the same as the number of the conveyor groups 12 of all the slicers 1 .

[0145] The diversion mechanism 3 is used to distribute the material before slicing the mustard tuber, facilitating the slicing process. When there are two slicers 1 and four conveyor groups 12, the diversion mechanism 3 includes three baffles 36, which divide the conveying space of the diversion conveyor 32 into four channels. Each channel conveys a certain amount of mustard tuber to the corresponding conveyor group 12 for slicing.

[0146] It should be noted that the moving speed of the conveyor belt of the diverter conveyor 32 can be lower than the moving speed of the conveyor belt of the feed conveyor 121. This can avoid the excessive pickled mustard greens moved from the diverter conveyor 32 from accumulating on the conveyor belt of the corresponding feed conveyor 121 when the feed conveyor 121 stops working intermittently.

[0147] For example, see Figure 1 and Figure 7 The device for removing old mustard tuber tendons also includes: a material lifting mechanism 4. Figure 10 and Figure 11 Schematic diagram of the structure of the material lifting mechanism provided by the embodiment of the present disclosure. Figure 10 and Figure 11 The material lifting mechanism 4 includes a stacking box 41 and a lifting conveyor 42.

[0148] One side of the stacking box 41 is provided with a notch upward along the bottom, and the lifting conveyor 42 is arranged at the notch. The input port of the conveyor belt of the lifting conveyor 42 is clearance-matched with the bottom of the stacking box 41, and the conveyor belt of the lifting conveyor 42 is not coplanar with the bottom surface of the stacking box 41. The output port of the conveyor belt of the lifting conveyor 42 is clearance-matched with the input port of the conveyor belt of the diversion conveyor 32, and the conveyor belt of the lifting conveyor 42 is not coplanar with the conveyor belt of the diversion conveyor 32. The conveyor belt of the diversion conveyor 32 is parallel to the bottom surface of the stacking box 41, and the input port of the conveyor belt of the lifting conveyor 42 is lower than the output port of the conveyor belt of the lifting conveyor 42. A plurality of partitions 421 are arranged at intervals on the conveyor belt of the lifting conveyor 42.

[0149] The conveyor belt of the lifting conveyor 42 moves obliquely upward. Partitions 421 are installed on the conveyor belt of the lifting conveyor 42. The pickled mustard tuber is located in adjacent partitions 421, so that the pickled mustard tuber is moved upward stably.

[0150] The above are merely optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A device for removing old mustard tuber tendons, characterized in that: The device for removing old mustard tuber tendons comprises: Slicer (1) and old tendon removal mechanism (2), The slicer (1) comprises a body (11) and a conveyor group (12), a discharge conveyor (13) and a slice assembly (14) respectively mounted on the body (11). The conveyor group (12) cooperates with the discharge conveyor (13) and the slice assembly (14) respectively. The conveyor group (12) comprises an infeed conveyor (121) and a pressing conveyor (122). The pressing conveyor (122) is located above the output port of the conveyor belt of the infeed conveyor (121). The conveyor belt of the pressing conveyor (122) is an elastic conveyor. The conveyor belt is symmetrically triangular in cross-section in the longitudinal direction, the longer portion of the conveyor belt of the pressing conveyor (122) is parallel to the conveyor belt of the feeding conveyor (121), and a narrow first extrusion gap (123) is formed between the conveyor belt of the pressing conveyor (122) and the conveyor belt of the feeding conveyor (121), and the pickled mustard tuber transported from the first extrusion gap (123) will be shaped into a flat block by the first extrusion gap (123), and the first extrusion gap (123) cooperates with the input port of the conveyor belt of the discharging conveyor (13); The old rib removal mechanism (2) comprises a conveying platform (21), a mounting frame (22), at least one water cutting assembly (23) and a driving mechanism (5); the conveying platform (21) further comprises a water pool (211), a belt conveyor (212) and an extrusion assembly (213); the water pool (211) is mounted below the belt conveyor (212); the extrusion assembly (213) comprises a pressure roller (213a) and a winding shaft (213b); the pressure roller (213a) is sleeved on the winding shaft (213b); both ends of the winding shaft (213b) are rotatably mounted on the edge of the water pool (211); the pressure roller (213a) is transversely arranged above the conveyor belt of the belt conveyor (212); a second extrusion gap (214) is provided between the pressure roller (213a) and the conveyor belt of the belt conveyor (212); Each of the water cutting components (23) includes a moving platform (231), a water cutting knife (232) and a water pipe (233). The moving platform (231) is mounted on the mounting frame (22). The moving platform (231) is located above the conveying platform (21). The water cutting knife (232) is slidably mounted on the moving platform (231). The water outlet of the water cutting knife (232) faces the table surface of the conveying platform (21). The water cutting knife (232) is connected to one end of the water pipe (233). The water pipe (233) includes the other end for connecting to a high-pressure water source. The driving mechanism (5) is connected to each of the water cutting components (23) respectively. The discharge port of the slicer (1) cooperates with the feed port of the conveying platform (21).

2. The device for removing old mustard tuber tendons according to claim 1, characterized in that: The slicing assembly (14) comprises a slicing knife (141), a rotating shaft (142) and a motor, wherein the slicing knife (141) is mounted on the rotating shaft (142), the rotating shaft (142) is connected to the output shaft of the motor, the motor is located inside the machine body (11), and the slicing knife (141) is located between the first extrusion gap (123) and the input port of the discharge conveyor (13).

3. The device for removing old mustard tuber tendons according to claim 2, characterized in that: The slicer (1) comprises two conveyor groups (12), the two conveyor groups (12) are arranged side by side, and the discharge conveyor (13) and the slicing knife (141) are respectively matched with the two conveyor groups (12).

4. The device for removing old mustard tuber tendons according to claim 1, characterized in that: The feed port of the conveyor platform (21) cooperates with the output port of the conveyor belt of the discharge conveyor (13); the table surface of the conveyor platform (21) and the belt surface of the conveyor belt of the discharge conveyor (13) are parallel to each other and not coplanar; the conveyor platform (21) is located below the conveyor belt of the discharge conveyor (13).

5. The device for removing old mustard tuber tendons according to claim 1, characterized in that: There are two slicers (1), and the two slicers (1) are arranged side by side. There are two belt conveyors (212), and the two belt conveyors (212) are arranged side by side, and the conveyor belts of the two belt conveyors (212) are coplanar. The water storage tank (211) is installed below the two belt conveyors (212). The slicer (1) corresponds one to one to the belt conveyor (212).

6. The device for removing old mustard tuber tendons according to any one of claims 1 to 5, characterized in that: The movable platform (231) comprises: a transverse linear slide (231a), a first longitudinal linear slide (231b) and a second longitudinal linear slide (231c). The first longitudinal linear slide (231b) and the second longitudinal linear slide (231c) are parallel to each other, the transverse linear slide (231a) is located between the first longitudinal linear slide (231b) and the second longitudinal linear slide (231c), and both ends of the transverse linear slide (231a) are slidably mounted on the first longitudinal linear slide (231b) and the second longitudinal linear slide (231c), respectively. The transverse linear slide (231a) is perpendicular to the first longitudinal linear slide (231b) and the second longitudinal linear slide (231c), respectively. The first longitudinal linear slide (231b) and the second longitudinal linear slide (231c) are respectively fixed on the mounting frame (22); the length direction of the first longitudinal linear slide (231b) is the same as the length direction of the conveying platform (21). The water jet cutting blade (232) is slidably mounted on the transverse linear slide (231a).

7. The device for removing old mustard tuber tendons according to claim 1, characterized in that: The device for removing old mustard tuber tendons further comprises: a diversion mechanism (3), The diversion mechanism (3) comprises a support frame (31), a diversion conveyor (32), a first enclosure (33), a second enclosure (34), a crossbar (35) and at least one baffle (36). The diversion conveyor (32), the first enclosure (33) and the second enclosure (34) are respectively mounted on the support frame (31). The first enclosure (33) is parallel to the second enclosure (34), and the first enclosure (33) and the second enclosure (34) are respectively located on both sides of the conveyor belt of the diversion conveyor (32), and the length direction of the first enclosure (33) is the same as the moving direction of the conveyor belt of the diversion conveyor (32). The two ends of the crossbar (35) are respectively fixed on the first enclosure plate (33) and the second enclosure plate (34). The at least one baffle (36) is fixed on the crossbar (35), and the at least one baffle (36) is spaced and distributed between the first enclosure (33) and the second enclosure (34). Each baffle (36) is parallel to the first enclosure (33), and each baffle (36) is respectively fitted with a conveyor belt gap of the diversion conveyor (32). The at least one baffle (36) divides the conveying space of the diversion conveyor (32) into at least two channels, and the number of the channels is the same as the number of the conveyor groups (12) of all the slicers (1).

8. The device for removing old mustard tuber tendons according to claim 7, characterized in that: The device for removing old mustard tuber tendons further comprises: a material lifting mechanism (4), The material lifting mechanism (4) includes a stacking box (41) and a lifting conveyor (42). A notch is provided on one side of the stacking box (41) upwardly along the bottom, and the lifting conveyor (42) is arranged at the notch. The input port of the conveyor belt of the lifting conveyor (42) is clearance-matched with the bottom of the stacking box (41), and the conveyor belt of the lifting conveyor (42) is not coplanar with the bottom surface of the stacking box (41). The output port of the conveyor belt of the lifting conveyor (42) is clearance-matched with the input port of the conveyor belt of the diversion conveyor (32). The conveyor belt of the lifting conveyor (42) is not coplanar with the conveyor belt of the diversion conveyor (32). The conveyor belt of the diversion conveyor (32) is parallel to the bottom surface of the stacking box (41). The input port of the conveyor belt of the lifting conveyor (42) is lower than the output port of the conveyor belt of the lifting conveyor (42), and a plurality of partitions (421) are arranged at intervals on the conveyor belt of the lifting conveyor (42).

9. The device for removing old mustard tuber tendons according to claim 6, characterized in that: The transverse linear slide (231a), the first longitudinal linear slide (231b) and the second longitudinal linear slide (231c) are all ball screw slides. The driving mechanism (5) includes an industrial computer, a shooting component (51) and a ball screw driving assembly. The shooting component (51) is installed at the feed inlet of the conveying platform (21), and the shooting component (51) is used to shoot the pickled mustard greens slices on the conveying platform (21). The ball screw drive assembly is electrically connected to the transverse linear slide (231a), the first longitudinal linear slide (231b), and the second longitudinal linear slide (231c), respectively. The industrial computer is used to: Based on the image captured by the capturing component (51), determining whether the pickled mustard tuber slices in the image have old tendons, When the old tendon exists, determining the position of the old tendon on the image, Based on the position of the old tendons on the image, the moving trajectory of the water cutting knife (232) is determined, and the pickled mustard greens slices with old tendons on the conveying platform (21) are located on the moving trajectory of the water cutting knife (232). Based on the moving trajectory of the water cutting knife (232), the ball screw drive assembly controls the operation of the transverse linear slide (231a), the first longitudinal linear slide (231b), and the second longitudinal linear slide (231c) respectively, so as to drive the water cutting knife (232) to move on the moving platform (231) according to the moving trajectory of the water cutting knife (232). When the water outlet of the water cutting knife (232) moves to the position directly above the pickled mustard greens slices with old tendons, the water cutting knife (232) is turned on to cut off the old tendons until all the old tendons of the pickled mustard greens slices with old tendons on the moving track of the water cutting knife (232) are cut off.

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