Automatic equipment for peeling and removing sinew of preserved vegetable

Abstract

The present application relates to a kind of pickled vegetable peeling and removing sinew automation equipment, including conveyor belt, the pickled vegetable positioning seat of the conveyor belt is equipped with with the conveyor belt movement;Front imaging equipment and front sinew removing mechanism are sequentially provided along the conveying direction of the conveyor belt;It further includes controller, the front imaging equipment, controller and front sinew removing mechanism are sequentially electrically connected, the front imaging equipment is used to detect the outline, height size and old sinew position of pickled vegetable, the controller can control the front sinew removing mechanism to remove the old sinew based on the detection result of the front imaging equipment, compared with prior art, the present application realizes the automatic peeling and removing sinew of pickled vegetable, higher efficiency, and save manpower, thereby reduce labor cost;In addition to setting front imaging equipment and front sinew removing mechanism to remove sinew of pickled vegetable, also set rear imaging equipment and rear sinew removing mechanism, remove residual old sinew on pickled vegetable, ensure sinew removing quality.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, specifically to an automated device for peeling and removing the strings from pickled mustard tubers. Background Technology

[0002] Pickled mustard tuber is mainly made from mustard greens, harvested from February to May each year. During its growth, the mustard greens develop coarse fibers, also known as tough tendons. After harvesting, the fresh mustard greens need to be pickled to remove salt and water, and then peeled and deveined manually. Peeling and deveining is a major challenge for pickled mustard tuber factories. Currently, this technology remains in a bottleneck in China, and the process cannot be automated. Pickled mustard tuber factories rely heavily on manual labor. Because the mustard greens vary in size and shape, and the skin becomes very soft after pickling, the tough tendons are located in different places. Without automated machinery, relying solely on manual peeling and deveining is inefficient, labor-intensive, and difficult to completely remove the tough tendons, which also affects the taste and quality of the pickled mustard tuber product. Summary of the Invention

[0003] The purpose of this invention is to provide an automated device for peeling and removing the tendons from pickled mustard tubers, addressing the problems of low efficiency and high labor costs associated with manually peeling and removing the tendons in existing technologies.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] An automated device for peeling and removing the tough fibers from pickled mustard tubers includes a conveyor belt with a pickled mustard tuber positioning seat that moves with the conveyor belt; a front imaging device and a front fiber removal mechanism are sequentially arranged along the conveying direction of the conveyor belt; and a controller is also included. The front imaging device, the controller, and the front fiber removal mechanism are electrically connected in sequence. The front imaging device is used to detect the outer contour, height, and location of the tough fibers of the pickled mustard tuber. The controller can control the front fiber removal mechanism to remove the tough fibers based on the detection results of the front imaging device.

[0006] The present invention, employing the aforementioned technical solution, places the pickled mustard tuber on a pickled mustard tuber positioning seat and sequentially passes through a front imaging device and a front stripping mechanism via a conveyor belt. The front imaging device measures the outer contour, height, and location of the tough fibers of the pickled mustard tuber and transmits this information to a controller. Based on this information, the controller controls the front stripping mechanism to accurately remove the tough fibers from the pickled mustard tuber. Compared to the existing technology that manually peels and removes the tough fibers from pickled mustard tuber, which is inefficient and labor-intensive, the present invention can achieve automated peeling and stripping of pickled mustard tuber, which is more efficient and saves manpower, thereby reducing labor costs.

[0007] Furthermore, a rear imaging device and a rear stripping mechanism are provided behind the front stripping mechanism. The rear imaging device, the controller, and the rear stripping mechanism are electrically connected in sequence. The rear imaging device is used to detect the outline, height, and location of the old fibers in the remaining part of the pickled mustard tuber. The controller can control the rear stripping mechanism to remove the old fibers based on the detection results of the rear imaging device. In order to prevent old fibers from remaining on the pickled mustard tuber after the front stripping mechanism has removed them, the rear imaging device and the rear stripping mechanism are set up to remove the remaining old fibers on the pickled mustard tuber, ensuring the quality of stripping.

[0008] Furthermore, both the front imaging device and the rear imaging device include a high-definition camera and a light source screen positioned opposite each other on both sides of the conveyor belt, a first rotation mechanism positioned between them that can drive the pickled mustard tuber positioning seat to rotate vertically, and an image recognition module electrically connected to the high-definition camera; the front stripping mechanism includes two sets of stripping blades spaced apart along the conveyor belt direction, and a second rotation mechanism positioned between them that can drive the pickled mustard tuber positioning seat to rotate vertically; each set of stripping blades includes two first stripping blades positioned opposite each other on both sides of the conveyor belt; the rear stripping mechanism includes a second stripping blade on one side of the conveyor belt; both the first and second stripping blades are used to strip the pickled mustard tuber of a material close to it. The old tendons on the sides; both the front and rear imaging devices determine the shape, height, and location of the old tendons of the pickled mustard tuber by taking pictures and then performing image recognition. The light source screen is used as a background to avoid the surrounding environment affecting the imaging effect. The pickled mustard tuber can be rotated by the first rotation mechanism. The shape, height, and location of the old tendons are measured by taking multiple pictures of the pickled mustard tuber (the location of the old tendons is determined by analyzing the texture, smoothness, and color of the pickled mustard tuber); the two first tendon-removing blades at the front are used to remove the old tendons on opposite sides of the pickled mustard tuber. After being rotated 90° by the second rotation mechanism, the two first tendon-removing blades at the rear are used to remove the old tendons on the other two sides of the pickled mustard tuber. In this way, the old tendons on all four sides of the pickled mustard tuber are removed; the second tendon-removing blade can remove the old tendons remaining on the pickled mustard tuber.

[0009] Furthermore, both the first and second peeling blade holders include a transverse slide, a longitudinal slide slidably mounted on the transverse slide in the horizontal direction, and a blade holder slidably mounted on the longitudinal slide in the vertical direction. A blade is provided on the blade holder at one end near the conveyor belt, the blade's normal direction being parallel to the sliding direction of the longitudinal slide, and its cutting edge facing downwards. The longitudinal slide of the first peeling blade holder slides perpendicular to the conveyor belt. The blades of the first and second peeling blade holders configured in this way have two degrees of freedom. The controller controls the combined movement of the longitudinal slide, the transverse slide, and the blade holder to control the movement trajectory of the blade, ensuring it matches the outline of the imaged pickled mustard tuber. When cutting the tough fibers on the side near the blade, the tough fibers are subjected to uniform force, making them less prone to breakage.

[0010] Furthermore, a first motor is provided on the transverse slide, which drives the longitudinal slide to slide via a lead screw structure; a second motor is provided on the longitudinal slide, which drives the tool holder to slide via a lead screw structure; this drive structure is simple, the longitudinal slide and the tool holder slide stably, the sliding distance is accurate and controllable, and thus the movement trajectory of the blade is accurately controlled.

[0011] Furthermore, the blade holder is also equipped with a first cylinder. The extension and retraction direction of the first cylinder is parallel to the normal of the blade. The movable end of the first cylinder is equipped with a first clamping plate, which faces the side of the blade away from the conveyor belt. The first clamping plate is used to clamp the tough fibers together with the blade. By setting the first cylinder, the action of tearing off the tough fibers can be realized. Specifically, after the blade cuts into the pickled mustard tuber, the first cylinder extends, the first clamping plate clamps the tough fibers together with the blade, and then the blade movement trajectory is controlled to be consistent with the outline of the pickled mustard tuber in the image to tear off the tough fibers. Compared with simply using the blade to cut off the tough fibers, the action of tearing off the tough fibers makes it less likely for the tough fibers to break, and the effect of removing the tough fibers is better.

[0012] Furthermore, a pickled mustard tuber fixing mechanism is provided between any two opposing first peeling blade holders. The pickled mustard tuber fixing mechanism includes a fixed bracket and a sliding bracket. The sliding bracket is slidably mounted on the fixed bracket in a vertical direction. A third motor is provided on the fixed bracket. The third motor drives the sliding bracket to slide through a lead screw structure. Two opposing second cylinders are provided at the bottom of the sliding bracket, located directly above the conveyor belt. The extension and retraction directions of both cylinders are parallel to the conveyor belt, and the movable ends of both cylinders are provided with second clamping plates for clamping the pickled mustard tuber. By setting up the pickled mustard tuber fixing mechanism, the pickled mustard tuber is fixed in place to prevent it from moving due to force when the first peeling blade holder is peeling the tuber, thus affecting the peeling effect. Specifically, the sliding bracket slides vertically to the height of the pickled mustard tuber, and then the two second cylinders extend, and the second clamping plates clamp the pickled mustard tuber.

[0013] Furthermore, the pickled mustard tuber positioning seat includes a base plate and at least two pins arranged circumferentially and vertically on the base plate; a pressure head bracket is provided in front of the front imaging device, and a pressure head is provided on the pressure head bracket directly above the conveyor belt. The pressure head is used to press down the pickled mustard tuber until the pins pass through the pickled mustard tuber; with this arrangement, the pickled mustard tuber positioning seat can firmly fix the pickled mustard tuber, which is convenient for subsequent peeling operations.

[0014] Furthermore, both the first and second indexing mechanisms include a support frame and a drive mechanism and an indexing claw mounted on the support frame. The indexing claw is located directly above the conveyor belt. The drive mechanism can drive the indexing claw to extend, retract, and rotate vertically. The end of the indexing claw is provided with circumferentially spaced slots, and the top of the pin can be engaged in the slots. When the pickled mustard tuber positioning seat moves into position, the indexing claw extends downward until the top of the pin is engaged in the slots. Then, rotating the indexing claw can rotate the pickled mustard tuber positioning seat.

[0015] Furthermore, a feeding mechanism is provided in front of the press head support. The feeding mechanism includes a feeding bracket fixed directly above the conveyor belt and a feeding plate slidably installed above the feeding bracket along the conveyor belt direction. The rear end of the feeding plate is provided with two third cylinders located on both sides of the conveyor belt and arranged opposite each other. The telescopic ends of both cylinders are provided with third clamping plates for clamping the pickled mustard tubers. The feeding mechanism makes feeding more convenient. Specifically, the pickled mustard tubers are placed on the feeding bracket, the third cylinders extend, their third clamping plates clamp the pickled mustard tubers, and then the feeding plate slides to send the pickled mustard tubers between the press head and the pickled mustard tuber positioning seat.

[0016] Compared with the prior art, the beneficial effects of the present invention are: to realize the automated peeling and deveining of pickled mustard tubers, which is highly efficient and saves manpower, thereby reducing labor costs; in addition to setting a front imaging device and a front deveining mechanism to peel the tendons of pickled mustard tubers, a rear imaging device and a rear deveining mechanism are also set to remove the residual old tendons on the pickled mustard tubers, ensuring the quality of deveining. Attached image description:

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the first tendon stripping tool holder structure;

[0019] Figure 3 A schematic diagram of the mechanism for fixing pickled mustard tubers;

[0020] Figure 4 This is a schematic diagram of the rear imaging device and the second tendon stripping tool holder.

[0021] Figure 5 This is a schematic diagram of the feeding mechanism.

[0022] The markings in the diagram are: 1-Conveyor belt, 2-Pickled mustard tuber positioning seat, 3-High-definition camera, 4-Light source screen, 5-First peeling knife holder, 6-Second peeling knife holder, 7-Transverse slide table, 8-Vertical slide table, 9-Knife holder, 10-First motor, 11-Second motor, 12-Blade, 13-First cylinder, 14-First clamping plate, 15-Blade edge, 16-Pickled mustard tuber fixing mechanism, 17-Fixing bracket, 18-Sliding bracket, 19-Third motor, 20-Second cylinder, 21-Second clamping plate, 22-Base plate, 23-Pin, 24-Pressure head bracket, 25-Pressure head, 26-Support frame, 27-Inverter claw, 28-Slot, 29-Feeding bracket, 30-Feeding plate, 31-Third cylinder, 32-Third clamping plate, 33-Support rod, 34-Pressure head cylinder, 35-Parallel cylinder, 36-Conveyor motor, 37-Frame. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings.

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] An automated device for peeling and removing the strings from pickled mustard tubers, such as Figures 1-5 As shown, the device includes a conveyor belt 1, on which a pickled mustard tuber positioning seat 2 moves with the conveyor belt 1; a front imaging device and a front stripping mechanism are sequentially arranged along the conveying direction of the conveyor belt 1; it also includes a controller, the front imaging device, the controller and the front stripping mechanism are electrically connected in sequence, the front imaging device is used to detect the outline, height and position of the tough fibers of the pickled mustard tuber, and the controller can control the front stripping mechanism to remove the tough fibers based on the detection results of the front imaging device; the controller is selected as a PLC.

[0026] A rear imaging device and a rear stripping mechanism are also provided behind the front stripping mechanism. The rear imaging device, controller and rear stripping mechanism are electrically connected in sequence. The rear imaging device is used to detect the outline, height and position of the old fibers of the remaining part of the pickled mustard tuber. The controller can control the rear stripping mechanism to remove the old fibers based on the detection results of the rear imaging device.

[0027] Both the front imaging device and the rear imaging device include a high-definition camera 3 and a light source screen 4 positioned opposite each other on both sides of the conveyor belt 1, a first rotation mechanism that can drive the pickled mustard tuber positioning seat 2 to rotate vertically between the two, and an image recognition module electrically connected to the high-definition camera 3; the front stripping mechanism includes two sets of stripping blades arranged at intervals along the direction of the conveyor belt 1, and a second rotation mechanism that can drive the pickled mustard tuber positioning seat 2 to rotate vertically between the two; any set of stripping blades includes two first stripping blades 5 positioned opposite each other on both sides of the conveyor belt 1; the rear stripping mechanism includes a second stripping blade 6 positioned on one side of the conveyor belt 1; both the first stripping blades 5 and the second stripping blades 6 are used to remove the old fibers on the side of the pickled mustard tuber that are close to it;

[0028] When the pickled mustard tuber is positioned between the high-definition camera 3 and the light source screen 4, the high-definition camera 3 takes a picture. The picture result is analyzed by the image recognition module. Based on the picture of the pickled mustard tuber, its height, the outline of the left and right sides, and the position of the tough veins on the left and right sides can be obtained (determined by analyzing the texture, smoothness, and color of the pickled mustard tuber). The first rotation mechanism is used to drive the pickled mustard tuber to rotate and take pictures multiple times. The image recognition technology of the image recognition module is existing technology.

[0029] Both the first stripping blade holder 5 and the second stripping blade holder 6 include a transverse slide 7, a longitudinal slide 8 slidably mounted on the transverse slide 7 in the horizontal direction, and a blade holder 9 slidably mounted on the longitudinal slide 8 in the vertical direction. The blade holder 9 is provided with a blade 12 at one end near the conveyor belt 1. The blade 12 is parallel to the sliding direction of the longitudinal slide 8 and its cutting edge 15 faces downward. The longitudinal slide 8 of the first stripping blade holder 5 slides in a direction perpendicular to the conveyor belt 1.

[0030] A first motor 10 is provided on the transverse slide 7, and the first motor 10 drives the longitudinal slide 8 to slide through a lead screw structure; a second motor 11 is provided on the longitudinal slide 8, and the second motor 11 drives the tool holder 9 to slide through a lead screw structure; in addition to the motor + lead screw driving method, an electric push rod can also be used to drive the longitudinal slide 8 to slide on the transverse slide 7 and the tool holder 9 to slide on the longitudinal slide 8.

[0031] The tool holder 9 is also equipped with a first cylinder 13. The extension and retraction direction of the first cylinder 13 is parallel to the normal line of the blade 12. The movable end of the first cylinder 13 is equipped with a first clamping plate 14. The first clamping plate 14 faces the side of the blade 12 away from the conveyor belt 1. The first clamping plate 14 is used to clamp the old tendon together with the blade 12.

[0032] A pickled mustard tuber fixing mechanism 16 is provided between any two opposing first peeling blade holders 5. The pickled mustard tuber fixing mechanism 16 includes a fixed bracket 17 and a sliding bracket 18. The sliding bracket 18 is slidably mounted on the fixed bracket 17 in the vertical direction. A third motor 19 is provided on the fixed bracket 17 (the third motor 19 is fixedly mounted on the fixed bracket 17 by a support rod 33). The third motor 19 drives the sliding bracket 18 to slide through a screw structure. Two opposing second cylinders 20 are provided at the bottom of the sliding bracket 1, located directly above the conveyor belt 1. The extension and retraction directions of both cylinders are parallel to the conveyor belt 1, and the movable ends of both cylinders are provided with second clamping plates 21 for clamping the pickled mustard tuber.

[0033] The pickled mustard tuber positioning seat 2 includes a base plate 22 and at least two pins 23 arranged circumferentially and vertically on the base plate 22; a pressure head bracket 24 is provided in front of the front imaging device, and a pressure head 25 is provided on the pressure head bracket 24 directly above the conveyor belt 1. The pressure head 25 is used to press down the pickled mustard tuber until the pins 23 pass through the pickled mustard tuber; the pressure head 25 is driven by a pressure head cylinder 34 provided on the pressure head bracket 24.

[0034] Both the first and second indexing mechanisms include a support frame 26 and a drive mechanism and indexing claw 27 mounted on the support frame 26. The indexing claw 27 is located directly above the conveyor belt 1. The drive mechanism can drive the indexing claw 27 to extend and rotate vertically. The end of the indexing claw 27 is provided with circumferentially spaced slots 28, and the top of the pin 23 can be inserted into the slots 28. The structure of the drive mechanism is not limited, as long as it can drive the indexing claw 27 to extend and rotate vertically. For example, it can include a telescopic cylinder and a rotary cylinder. The telescopic cylinder is vertically mounted on the support frame 26 with its movable end facing down. The rotary cylinder is mounted on the movable end, and the indexing claw is located at the bottom of the rotary cylinder. Alternatively, it can include two motors. One motor is mounted on the support frame 26 and drives a slider to slide vertically on the support frame 26 through a screw structure. The slider is equipped with another motor with its rotating end facing down and connected to the indexing claw 27 through a reducer.

[0035] A feeding mechanism is also provided in front of the pressure head bracket 24. The feeding mechanism includes a feeding bracket 29 fixed directly above the conveyor belt 1 and a feeding plate 30 slidably installed above the feeding bracket 29 along the direction of the conveyor belt 1. The rear end of the feeding plate 30 is provided with two third cylinders 31 located on both sides of the conveyor belt 1 and arranged opposite each other. The telescopic ends of both cylinders are provided with third clamping plates 32 for clamping the pickled mustard tuber. The feeding bracket 29 is provided with a parallel cylinder 35 for driving the feeding plate 30 to slide.

[0036] It also includes a conveyor motor 36 for driving the conveyor belt 1, which is electrically connected to the controller;

[0037] The first motor 10, the second motor 11, the third motor 19, and the conveyor motor 36 mentioned above are all servo motors or stepper motors;

[0038] It also includes a frame 37 for supporting the aforementioned conveyor belt 1, feeding mechanism, front imaging device, rear imaging device, front stripping mechanism and rear stripping mechanism.

[0039] In use, first place the pickled mustard tuber with the head facing upwards on the feeding bracket 29. The third cylinder 31 extends to the third clamping plate 32 to clamp the pickled mustard tuber. The feeding plate 30 slides to send the pickled mustard tuber between the pressing head 25 and the pickled mustard tuber positioning seat 2. The pressing head 25 presses down on the pickled mustard tuber until the pin 23 passes through it. Then, the conveyor belt 1 transports the pickled mustard tuber positioning seat 2 to the front imaging device for taking pictures. After taking pictures, the first rotation mechanism rotates it 90° and takes pictures again. The image recognition module analyzes the height of the pickled mustard tuber, the outline of the four sides, and the position of the tough ribs on the four sides. Then, the conveyor belt 1 sends it between the two opposing first stripping blade holders 5. The sliding bracket 18 of the pickled mustard tuber fixing mechanism 16 slides up and down to bring the second clamping plate 21 to a height that matches the pickled mustard tuber, and then clamps the pickled mustard tuber. The blade holder 9 of the first stripping blade holder 5 cuts into the pickled mustard tuber from the appropriate position above according to the controller command. Then, the first clamping plate 14 of the first cylinder 13 extends and clamps the tough ribs together with the blade 12. The tough outer fibers are then peeled off along their outline, ensuring consistent stress during the peeling process to prevent breakage. Next, the second clamping plate 21 releases the pickled mustard tuber, and the conveyor belt 1 transports the pickled mustard tuber positioning seat 2 to the second indexing mechanism, where it is rotated 90°. The conveyor belt 1 then transports the pickled mustard tuber positioning seat 2 between the two opposing first peeling blade holders 5, where the same action is performed to remove the outer fibers, thus removing the outer fibers from all four sides. The conveyor belt 1 then transports the pickled mustard tuber positioning seat 2 to the rear imaging device, where the indexing claw 27 of the first indexing mechanism drives the pickled mustard tuber positioning seat 2 to rotate one revolution. Simultaneously, the high-definition camera 3 continuously captures images, and the image recognition module analyzes the height, outline, and location of the remaining outer fibers of the pickled mustard tuber. The indexing claw 27 then rotates the pickled mustard tuber positioning seat 2 until the remaining outer fibers align with the second peeling blade holder 6. At this point, the indexing claw 27 presses the pickled mustard tuber positioning seat 2 firmly to prevent movement, and the second peeling blade holder 6 removes the remaining outer fibers.

[0040] The present invention, employing the aforementioned technical solution, can achieve automated peeling and deveining of pickled mustard tubers, which is highly efficient and saves manpower, thereby reducing labor costs. In addition to setting a front imaging device and a front deveining mechanism for peeling the mustard tubers, a rear imaging device and a rear deveining mechanism are also set to remove the remaining old fibers on the mustard tubers, ensuring the quality of deveining.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated device for peeling and removing the strings from pickled mustard tubers, characterized in that: The device includes a conveyor belt (1), on which a pickled mustard tuber positioning seat (2) is provided that moves with the conveyor belt (1); a front imaging device and a front stripping mechanism are sequentially provided along the conveying direction of the conveyor belt (1); the device also includes a controller, wherein the front imaging device, the controller and the front stripping mechanism are electrically connected in sequence, the front imaging device is used to detect the outer contour, height and position of the tough fibers of the pickled mustard tuber, and the controller can control the front stripping mechanism to remove the tough fibers based on the detection results of the front imaging device; A rear imaging device and a rear stripping mechanism are also provided behind the front stripping mechanism. The rear imaging device, the controller, and the rear stripping mechanism are electrically connected in sequence. The rear imaging device is used to detect the outline, height, and position of the old fibers of the remaining part of the pickled mustard tuber. The controller can control the rear stripping mechanism to remove the old fibers based on the detection results of the rear imaging device. Both the front imaging device and the rear imaging device include a high-definition camera (3) and a light source screen (4) positioned opposite each other on both sides of the conveyor belt (1), a first rotation mechanism positioned between them that can drive the pickled mustard tuber positioning seat (2) to rotate vertically, and an image recognition module electrically connected to the high-definition camera (3); the front stripping mechanism includes two sets of stripping blades arranged at intervals along the direction of the conveyor belt (1), and a second rotation mechanism positioned between them that can drive the pickled mustard tuber positioning seat (2) to rotate vertically; any set of stripping blades includes two first stripping blades (5) positioned opposite each other on both sides of the conveyor belt (1); the rear stripping mechanism includes a second stripping blade (6) positioned on one side of the conveyor belt (1); the first stripping blades (5) and the second stripping blades (6) are both used to remove the old fibers on the side of the pickled mustard tuber that are close to it; The pickled mustard tuber positioning seat (2) includes a base plate (22) and at least two pins (23) arranged circumferentially and vertically on the base plate (22); a pressure head bracket (24) is provided in front of the front imaging device, and a pressure head (25) is provided on the pressure head bracket (24) and located directly above the conveyor belt (1). The pressure head (25) is used to press the pickled mustard tuber down until the pins (23) pass through the pickled mustard tuber; The first and second indexing mechanisms both include a support frame (26) and a drive mechanism and an indexing claw (27) mounted on the support frame (26). The indexing claw (27) is located directly above the conveyor belt (1). The drive mechanism can drive the indexing claw (27) to extend, retract, and rotate vertically. The end of the indexing claw (27) is provided with circumferentially spaced slots (28). The top of the pin (23) can be inserted into the slots (28).

2. The automated equipment for peeling and removing the strings from pickled mustard tubers according to claim 1, characterized in that: The first stripping knife holder (5) and the second stripping knife holder (6) both include a transverse slide (7), a longitudinal slide (8) slidably mounted on the transverse slide (7) in the horizontal direction, and a knife holder (9) slidably mounted on the longitudinal slide (8) in the vertical direction. The knife holder (9) is provided with a blade (12) at one end near the conveyor belt (1). The blade (12) is parallel to the sliding direction of the longitudinal slide (8) and its cutting edge (15) faces downward. The longitudinal slide (8) of the first stripping knife holder (5) slides in a direction perpendicular to the conveyor belt (1).

3. The automated equipment for peeling and removing the strings from pickled mustard tubers according to claim 2, characterized in that: The transverse slide (7) is provided with a first motor (10), which drives the longitudinal slide (8) to slide through a screw structure; the longitudinal slide (8) is provided with a second motor (11), which drives the tool holder (9) to slide through a screw structure.

4. The automated equipment for peeling and removing the strings from pickled mustard tubers according to claim 2, characterized in that: The blade holder (9) is also provided with a first cylinder (13). The extension and retraction direction of the first cylinder (13) is parallel to the normal of the blade (12). The movable end of the first cylinder (13) is provided with a first clamping plate (14). The first clamping plate (14) is facing the side of the blade (12) away from the conveyor belt (1). The first clamping plate (14) is used to clamp the tendon together with the blade (12).

5. The automated equipment for peeling and removing the strings from pickled mustard tubers according to claim 1, characterized in that: A pickled mustard tuber fixing mechanism (16) is provided between any two opposing first peeling blade holders (5). The pickled mustard tuber fixing mechanism (16) includes a fixed bracket (17) and a sliding bracket (18). The sliding bracket (18) is slidably installed on the fixed bracket (17) in the vertical direction. A third motor (19) is provided on the fixed bracket (17). The third motor (19) drives the sliding bracket (18) to slide through a screw structure. The bottom of the sliding bracket (18) is provided with two opposing second cylinders (20) located directly above the conveyor belt (1). The extension and retraction directions of both are parallel to the conveyor belt (1), and the movable ends of both are provided with second clamping plates (21) for clamping the pickled mustard tuber.

6. The automated equipment for peeling and removing the strings from pickled mustard tubers according to claim 5, characterized in that: A feeding mechanism is provided in front of the pressure head bracket (24). The feeding mechanism includes a feeding bracket (29) fixed above the conveyor belt (1) and a feeding plate (30) slidably installed above the feeding bracket (29) along the direction of the conveyor belt (1). The rear end of the feeding plate (30) is provided with two third cylinders (31) located on both sides of the conveyor belt (1) and arranged opposite to each other. The telescopic ends of both cylinders are provided with third clamping plates (32) for clamping the pickled mustard tuber.

Images