Single-line multi-path Chinese cabbage leaf removing and boxing device and control method thereof

Abstract

The invention provides a single-line multi-path Chinese cabbage leaf removing and boxing device and a control method thereof. The single-line multi-path Chinese cabbage leaf removing and boxing device comprises a correcting mechanism, a conveying mechanism and a controller. The correcting mechanism is located behind the upper-stage harvesting part and used for correcting the postures of the Chinese cabbages; a conveying mechanism is arranged below the correcting mechanism in the length extending direction, the correcting mechanism adjusts the Chinese cabbages to enter the conveying mechanism in the axial direction, and the conveying mechanism is used for conveying the Chinese cabbages backwards; at least two stages of image acquisition systems and at least two stages of leaf removal mechanisms are arranged above the conveying mechanism in the length extension direction, and at least two stages of transfer mechanisms are arranged on the side edge of the conveying mechanism; the controller is respectively connected with the image acquisition system, the leaf removing mechanism and the transfer mechanism; the image acquisition system is used for acquiring images of Chinese cabbages and transmitting the images to the controller, and the controller controls the leaf removing mechanism to remove leaves of the Chinese cabbages for at least one time and controls the corresponding transfer mechanism to transfer the Chinese cabbages subjected to leaf removal to the turnover box. The Chinese cabbage leaf removing and orderly boxing device can efficiently achieve leaf removing and orderly boxing operation of Chinese cabbages.

Description

Technical Field

[0001] The invention relates to Chinese cabbage. The invention relates to Chinese cabbage processing and transportation equipment, and in particular to a single-line multi-channel Chinese cabbage leaf removal and packaging device and a control method thereof. Background Art

[0002] After the Chinese cabbage harvested from the field is initially rooted, its damaged outer leaves need to be removed, and the Chinese cabbage needs to be placed in a turnover basket in an orderly manner before it can be sent to the processing plant. At present, the leaf removal and basket loading operations after the Chinese cabbage is harvested are mainly carried out by cutting, peeling and stacking with manual handheld props, which is inefficient and puts a heavy burden on workers. CN118556502A discloses a fully automatic cabbage harvester, which has a certain outer leaf removal effect when used, but the Chinese cabbage is prone to pile up during the rolling process, and no drainage device is provided, which is inconvenient for subsequent orderly basket loading operations. At the same time, the invention does not design an orderly basket loading step, and the columnar cabbage is prone to cause a large amount of space waste when it is not loaded in a basket in an orderly manner. Summary of the invention

[0003] In view of the above technical problems, the present invention proposes a single-line multi-channel Chinese cabbage leaf removing and packing device, which can efficiently realize the leaf removing and orderly packing operations of Chinese cabbage.

[0004] The present invention also provides a control method for the single-line multi-channel Chinese cabbage leaf removal and packing.

[0005] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A single-line multi-channel Chinese cabbage leaf removal and boxing device, comprising a correction mechanism, a conveying mechanism and a controller;

[0008] The correction mechanism is located at the rear of the upper harvesting part, and is used for correcting the posture of the cabbage falling from the upper harvesting part; a conveying mechanism is provided in the length extension direction below the correction mechanism, and the correction mechanism adjusts the cabbage to enter the conveying mechanism axially, and the conveying mechanism is used for transporting the cabbage backward; at least two-level image acquisition systems and at least two-level leaf removal mechanisms are provided in the length extension direction above the conveying mechanism, and at least two-level transfer mechanisms are provided on the side of the conveying mechanism; the controller is respectively connected to the image acquisition system, the leaf removal mechanism and the transfer mechanism; the image acquisition system is used for acquiring the image of the cabbage and transmitting it to the controller, and the controller controls the leaf removal mechanism to remove the leaves of the cabbage at least once, and controls the corresponding transfer mechanism to transfer the removed cabbage to the turnover box.

[0009] In the above scheme, the two-stage image acquisition system includes a first image acquisition system and a second image acquisition system, the two-stage leaf removal mechanism includes a first leaf removal mechanism and a second leaf removal mechanism, and the two-stage transport mechanism includes a first transport mechanism and a second transport mechanism;

[0010] The first image acquisition system is located behind the correction mechanism, the first leaf removal mechanism is located behind the first image acquisition system, the second image acquisition system is located behind the first leaf removal mechanism, and the second leaf removal mechanism is located behind the second image acquisition system; the second transfer mechanism is located behind the first transfer mechanism; turnover boxes are respectively provided at the ends of the second transfer mechanism and the first transfer mechanism;

[0011] The first image acquisition system is used to acquire the image of the Chinese cabbage after the posture is corrected by the correction mechanism, identify the outer leaves of the Chinese cabbage, and transmit it to the controller. The controller generates a defoliation range and controls the first defoliation mechanism to perform the first defoliation operation. The second image acquisition system acquires the image of the Chinese cabbage after the first defoliation and transmits it to the controller. The controller determines whether it is necessary to defoliate again. If it is not necessary, the controller controls the first transfer mechanism to transfer the Chinese cabbage to the turnover box. If it is necessary to defoliate again, the Chinese cabbage moves along with the conveying mechanism to the second defoliation mechanism. The controller controls the second defoliation mechanism to perform another defoliation operation and controls the second transfer mechanism to transfer the cabbage after the defoliation is performed again to the turnover box.

[0012] In the above scheme, the correction mechanism includes a left conveyor flat belt and a right conveyor flat belt; the right conveyor flat belt has the same structure as the left conveyor flat belt and is arranged in a V-shaped mirror image;

[0013] The left conveyor flat belt includes a group of correction bases, one end of the correction base is fastened with a group of head seats, the other end of the correction base is fastened with a group of tail seats, a correction driven shaft is rotatably connected between the tail seats, a correction driving shaft is rotatably connected between the head seats, a correction driving shaft is provided at one end of the correction driving shaft, and the correction synchronous belt driven wheel is connected to the correction synchronous belt driving wheel of the correction reduction motor through the correction synchronous belt; a correction reduction motor mounting plate is fastened to a section of the correction base close to the head seat, the correction reduction motor is mounted on the correction reduction motor mounting plate, and the correction reduction motor is mounted on the non-bearing surface side of the left conveyor belt.

[0014] Furthermore, the left conveyor flat belt is 135 degrees to 150 degrees based on the polar axis, and the right conveyor flat belt is 30 degrees to 45 degrees based on the polar axis.

[0015] In the above scheme, the conveying mechanism includes a conveying base, a conveying bearing seat mounting plate, a conveying bearing seat, a conveying driving shaft, a conveying driven shaft, a sprocket, a conveying motor mounting plate, a conveying reduction motor, a conveying slave synchronous wheel, a conveying master synchronous wheel, a conveying synchronous belt and two chains;

[0016] The conveying driving shaft is arranged at one end of the conveying base, and the conveying driven shaft is arranged at the other end of the conveying base. Two sprockets are respectively arranged on the conveying driving shaft and the conveying driven shaft, and the conveying driving shaft and the conveying driven shaft are respectively installed on the upper surface of the conveying base through the conveying bearing seat mounting plate; a conveying slave synchronous wheel is arranged at one end of the conveying driving shaft, and the conveying slave synchronous wheel is connected with the conveying main synchronous wheel of the conveying reduction motor through the conveying synchronous belt, and one end of the conveying base is connected with a conveying reduction motor mounting plate, and the conveying reduction motor is installed on the conveying reduction motor mounting plate, and the two chains are arranged parallel to each other and wrapped around the sprockets at both ends of the conveying base in a one-to-one correspondence.

[0017] Furthermore, a plurality of chain supporting mechanisms are arranged between the chain and the conveying base;

[0018] The chain support mechanism includes a chain support pad, a chain support shaft, a chain support bearing seat and a chain support sprocket; a chain support sprocket is provided at one end of the chain support shaft, and the other end of the chain support shaft passes through the chain support bearing seat, the chain support bearing seat is connected to the chain support pad, and the chain support pad is installed on the surface of the conveying base.

[0019] In the above scheme, the defoliation mechanism includes a left defoliation part and a right defoliation part; the right defoliation part has the same structure as the left defoliation part, and the left defoliation part and the right defoliation part are arranged in a mirror image;

[0020] The left leaf removal part includes a range adjustment module and a force adjustment module; the range adjustment module includes a range adjustment module base, the two ends of the range adjustment module base are respectively connected to the module bearing bottom plate and the module motor mounting plate, the module stepper motor is connected to the module motor mounting plate, the lead screw bearing seat is connected to the range adjustment module base, the two ends of the lead screw are respectively rotatably mounted on the module bearing bottom plate and the lead screw bearing seat, the range adjustment module base is provided with a lead screw guide rail, the middle of the slider is provided with a thread that cooperates with the lead screw thread, and the module stepper motor drives the coupling and the lead screw to make the slider move linearly along the lead screw guide rail;

[0021] The force adjustment module includes a force adjustment base, a module-inter-mounting plate is provided at the lower end of the force adjustment base, the lower part of the module-inter-mounting plate is connected to the slider of the range adjustment module, and the slider drives the module-inter-mounting plate to perform linear motion; an L-shaped motor mounting plate is provided at the upper end of one side of the force adjustment base, and the L-shaped motor mounting plate is connected to the reduction motor, and two mirror-image L-shaped bearing seats are provided on both sides of the other side of the force adjustment base, and bearing seats are provided at the notches of the two L-shaped bearing seats, and a rotating brush sleeve is arranged on the rotating brush shaft, and locking plates are abutted on both sides of the rotating brush, and both ends of the rotating brush shaft are respectively rotatably connected to the bearing seats, and one end of the rotating brush shaft is provided with a driven synchronous wheel, which is connected to the active synchronous wheel of the reduction motor through a synchronous belt.

[0022] Furthermore, the angle between the rotating brush of the left leaf removal part and the rotating brush of the right leaf removal part is 30 degrees to 50 degrees.

[0023] In the above scheme, the transfer mechanism includes an ejection part, a transition part and a guide part;

[0024] The ejection part includes an ejection bottom plate connected to the conveying base, ejection support plates are arranged on both sides of the ejection bottom plate, the ejection plate is installed on the ejection fixed shaft, the two ends of the ejection fixed shaft are respectively rotatably connected to the ejection support plates, the bottom of the ejection electric cylinder is rotatably connected to the ejection bottom plate, and the top of the ejection electric cylinder is rotatably connected to one side of the ejection plate;

[0025] The transition part includes a transition guide base, two transition mounting plates are arranged on both sides of the top of the transition guide base, and each of the two transition mounting plates is provided with a transition bearing seat. The two ends of the transition shaft are respectively rotatably connected with the transition bearing seats. The transition shaft is sleeved with a plurality of flip plates between the two transition bearing seats, and the flip plates are located on the other side of the ejection plate; one end of the transition shaft is connected to the output shaft of the reduction motor through a coupling, the transition motor mounting plate is arranged on the side of the transition guide base, and the reduction motor is connected to the transition motor mounting plate;

[0026] The guide part comprises a guide bottom plate, which is arranged on a transition guide base, a guide support plate is respectively arranged on both sides of the guide installation bottom plate, the guide plate is installed on a guide fixed shaft, both ends of the guide fixed shaft are rotatably connected with the guide support plate respectively, the bottom of the guide electric cylinder is rotatably connected with the guide bottom plate, and the top of the guide electric cylinder is hingedly connected with one side of the guide plate through a guide movable shaft; a baffle is arranged above the end of the other side of the guide plate, and a turnover box is arranged below the other side of the guide plate;

[0027] The ejection plate is used to eject the Chinese cabbage and send it to the turning plate, the turning plate is used to transport the Chinese cabbage to the guide plate, and the guide plate is used to transport the Chinese cabbage to the turnover box.

[0028] A control method according to the single-line multi-channel Chinese cabbage leaf removal and packaging device comprises the following steps:

[0029] The Chinese cabbage falls from the upper harvesting part into the correction mechanism for posture correction; the first image acquisition system acquires the image of the Chinese cabbage after the posture correction by the correction mechanism, identifies the outer leaves of the Chinese cabbage, and transmits it to the controller, and the controller generates a defoliation range; the Chinese cabbage falls from the correction mechanism into the conveying mechanism; the controller controls the first defoliation mechanism to perform the first defoliation operation according to the defoliation range; the second image acquisition system acquires the image of the Chinese cabbage after the first defoliation, and transmits it to the controller, and the controller determines whether a second defoliation is required; if a second defoliation is not required, the controller controls the first transfer mechanism to transfer the Chinese cabbage to the turnover box; if a second defoliation is required, the Chinese cabbage moves along with the conveying mechanism to the second defoliation mechanism, the controller controls the second defoliation mechanism to perform the second defoliation operation, and controls the second transfer mechanism to transfer the Chinese cabbage after the second defoliation to the turnover box.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] In one embodiment of the present invention, the present invention adjusts the input Chinese cabbage to axially enter the double-row conveying mechanism through a correction mechanism, and the image acquisition system acquires the image of the Chinese cabbage and transmits it to the controller. The controller controls the defoliation mechanism to defoliate the Chinese cabbage at least once, and controls the corresponding transfer mechanism to transfer the defoliated Chinese cabbage to the turnover box, thereby being able to efficiently realize the defoliation and orderly packing operations of the Chinese cabbage.

[0032] In one embodiment of the present invention, the present invention adjusts the input Chinese cabbage to axially enter the double-row conveying mechanism through the correction mechanism, the first image acquisition system acquires the image of the Chinese cabbage after the posture is corrected by the correction mechanism, identifies the outer leaves of the Chinese cabbage, and transmits it to the controller, the controller generates a defoliation range, and controls the first defoliation mechanism to perform the first defoliation operation, the second image acquisition system acquires the image of the Chinese cabbage after the first defoliation, and transmits it to the controller, the controller determines whether a second defoliation is required, if a second defoliation is not required, the controller controls the first transfer mechanism to transfer the Chinese cabbage to the turnover box, if a second defoliation is required, the Chinese cabbage moves along with the conveying mechanism to the second defoliation mechanism, the controller controls the second defoliation mechanism to perform the second defoliation operation, and controls the second transfer mechanism to transfer the cabbage after the second defoliation to the turnover box, which can efficiently realize the defoliation and orderly packing operations of the Chinese cabbage.

[0033] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0035] Figure 2 It is a schematic structural diagram of a correction mechanism according to one embodiment of the present invention;

[0036] Figure 3 It is a schematic diagram of the structure of a conveying mechanism according to one embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of a leaf removal mechanism according to one embodiment of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of a transfer mechanism according to one embodiment of the present invention.

[0039] In the figure, 1, the upper harvesting part, 2, the correction mechanism, 3, the first image acquisition system, 4, the first leaf removal mechanism, 5, the conveying mechanism, 6, the first transfer mechanism, 7, the turnover box, 8, the second image acquisition system, 9, the second leaf removal mechanism, 10, the second transfer mechanism, 21, the left conveyor flat belt, 22, the right conveyor flat belt, 201, the head seat, 202, the tail seat, 203, the correction base, 204, the correction reduction motor mounting plate, 205, the correction reduction motor, 206, the flat belt, 207, the tray, 208, the correction synchronous belt driven wheel, 209, the correction synchronous belt driving wheel, 210, the correction synchronous belt, 211, correct the active shaft, 212, correct the driven shaft; 41, the left defoliated part, 42, the right defoliated part, 401, the force adjustment base, 402, the module inter-mounting plate, 403, the L-shaped bearing seat, 404, the rotating brush shaft, 405, the locking plate, 406, the rotating brush, 407, the reduction motor, 408, the L-shaped motor mounting plate, 409, the active synchronous wheel, 410, the synchronous belt, 411, the driven synchronous wheel, 412, the bearing seat, 413, the slider, 414, the lead screw, 415, the module bearing bottom plate, 416, the lead screw bearing seat, 417, the range adjustment module base, 418, the module motor Mounting plate, 419, lead screw guide rail, 420, drive coupling, 421, module stepper motor; 51, chain support mechanism, 501, conveying base, 502, conveying bearing seat mounting plate, 503, conveying bearing seat, 504, conveying driving shaft, 505, conveying driving shaft, 506, sprocket, 507, conveying motor mounting plate, 508, conveying reduction motor, 509, conveying main synchronous wheel, 510, conveying slave synchronous wheel, 511, conveying synchronous belt, 512, chain with rubber block cover, 513, chain support pad, 514, chain support shaft, 515, chain support bearing seat, 516, chain support sprocket; 61 , ejection part, 62, transition part, 63, guide part, 601, ejection base plate, 602, ejection support plate, 603, ejection electric cylinder, 604, ejection plate, 605, ejection fixed shaft, 606, transition guide base, 607, transition mounting plate, 608, transition motor mounting plate, 609, reduction motor, 610, transition shaft, 611, flip plate, 612, transition bearing seat, 613, coupling, 614, guide mounting base plate, 615, guide support plate, 616, guide electric cylinder, 617, guide movable shaft, 618, guide fixed shaft, 619, guide plate, 620, baffle. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Figure 1-5 The figure shows a preferred embodiment of the single-line multi-channel Chinese cabbage leaf removing and packing device, which includes a correction mechanism 2, an image acquisition system, a leaf removing mechanism, a conveying mechanism 5, a transfer mechanism and a controller.

[0044] The correction mechanism 2 is located at the rear of the upper harvesting part 1, and is used for correcting the posture of the cabbage falling from the upper harvesting part 1; a conveying mechanism 5 is provided in the length extension direction below the correction mechanism 2, and the correction mechanism 2 adjusts the cabbage to enter the conveying mechanism 5 axially, and the conveying mechanism 5 is used to transport the cabbage backward; at least two levels of image acquisition systems and at least two levels of leaf removal mechanisms are provided in the length extension direction above the conveying mechanism 5, and at least two levels of transfer mechanisms are provided on the side of the conveying mechanism 5; the controller is respectively connected to the image acquisition system, the leaf removal mechanism and the transfer mechanism; the image acquisition system is used to acquire the image of the cabbage and transmit it to the controller, the controller controls the leaf removal mechanism to remove the leaves of the cabbage at least once, and controls the corresponding transfer mechanism to transfer the removed cabbage to the turnover box 7.

[0045] The single-line in the single-line multi-channel Chinese cabbage leaf removal and packaging device refers to the route in which the correction mechanism 2 adjusts the Chinese cabbage to axially enter the conveying mechanism 5, and the multi-channel means that the number of image acquisition systems, leaf removal mechanisms, transfer mechanisms and turnover boxes 7 can be increased as needed.

[0046] The two-stage image acquisition system includes a first image acquisition system 3 and a second image acquisition system 8, the two-stage leaf removal mechanism includes a first leaf removal mechanism 4 and a second leaf removal mechanism 9, and the two-stage transport mechanism includes a first transport mechanism 6 and a second transport mechanism 10;

[0047] The first image acquisition system 3 is located behind the correction mechanism 2, the first defoliation mechanism 4 is located behind the first image acquisition system 3, the second image acquisition system 8 is located behind the first defoliation mechanism 4, and the second defoliation mechanism 9 is located behind the second image acquisition system 8; the second transfer mechanism 10 is located behind the first transfer mechanism 6; and turnover boxes 7 are respectively provided at the ends of the second transfer mechanism 10 and the first transfer mechanism 6;

[0048] The first image acquisition system 3 is used to acquire the image of the Chinese cabbage after the posture is corrected by the correction mechanism 2, identify the outer leaves of the Chinese cabbage, and transmit it to the controller. The controller generates a defoliation range and controls the first defoliation mechanism 4 to perform the first defoliation operation. The second image acquisition system 8 acquires the image of the Chinese cabbage after the first defoliation and transmits it to the controller. The controller determines whether it is necessary to defoliate again. If it is not necessary to defoliate again, the controller controls the first transfer mechanism 6 to transfer the Chinese cabbage to the turnover box 7. If it is necessary to defoliate again, the Chinese cabbage moves along the conveying mechanism 5 to the second defoliation mechanism 9. The controller controls the second defoliation mechanism 9 to perform another defoliation operation and controls the second transfer mechanism 10 to transfer the Chinese cabbage after the defoliation is performed again to the turnover box 7.

[0049] like Figure 2 As shown, the correction mechanism 2 includes a left conveying flat belt 21 and a right conveying flat belt 22; the right conveying flat belt 22 has the same structure as the left conveying flat belt 21 and is arranged in a V-shaped mirror image;

[0050] The left conveyor flat belt 21 includes a group of aluminum profile correction bases 203, one end of the correction base 203 is fastened with a group of head seats 201, the other end of the correction base 203 is fastened with a group of tail seats 202, a correction driven shaft 212 is rotatably connected between the tail seats 202, and a correction driving shaft 211 is rotatably connected between the head seats 201. A correction driving shaft 211 is provided with a correction synchronous belt driven wheel 208 at one end, and the correction synchronous belt driven wheel 208 is connected to the correction synchronous belt driving wheel 209 of the correction reduction motor 205 through the correction synchronous belt 210, and the correction synchronous belt driving wheel 209 drives the correction synchronous belt driven wheel 208 to rotate; a section of the correction base 203 close to the head seat 201 is fastened with a correction reduction motor mounting plate 204, and the correction reduction motor 205 is installed on the correction reduction motor mounting plate 204, and the correction reduction motor 205 is installed on the non-bearing surface side of the left conveyor belt 21.

[0051] The cylindrical Chinese cabbage falls steadily from the upper harvesting part 1 to the surface of the left conveyor flat belt 21 and the right conveyor flat belt 22 due to gravity. The axis of the Chinese cabbage is parallel to the movement direction of the left conveyor flat belt 21 and the right conveyor flat belt 22. Preferably, the left conveyor flat belt 21 is 135 degrees to 150 degrees based on the polar axis, and the right conveyor flat belt 22 is 30 degrees to 45 degrees based on the polar axis. The Chinese cabbage can be quickly and smoothly adjusted to a suitable posture and is not easily squeezed by the left conveyor flat belt 21 and the right conveyor flat belt 22.

[0052] like Figure 3 As shown, the conveying mechanism 5 includes a conveying base 501, two conveying bearing seat mounting plates 502, four conveying bearing seats 503, a conveying driving shaft 504, a conveying driven shaft 505, four sprockets 506, a conveying motor mounting plate 507, a conveying reduction motor 508, a conveying slave synchronous wheel 509, a conveying master synchronous wheel 510, a conveying synchronous belt 511 and two chains 512 with rubber block covers;

[0053] The conveying driving shaft 504 is arranged at one end of the conveying base 501, and the conveying driven shaft 505 is arranged at the other end of the conveying base 501. Two sprockets 506 are respectively arranged on the conveying driving shaft 504 and the conveying driven shaft 505, and the conveying driving shaft 504 and the conveying driven shaft 505 are respectively installed on the upper surface of the conveying base 501 through the conveying bearing seat mounting plate 502; a conveying slave synchronous wheel 509 is arranged at one end of the conveying driving shaft 504, and the conveying slave synchronous wheel 509 is connected with the conveying main synchronous wheel 510 of the conveying reduction motor 508 through the conveying synchronous belt 511, and the conveying main synchronous wheel 510 drives the rotation, and one end of the conveying base 501 is fastened with a conveying reduction motor mounting plate 507, and the conveying reduction motor 508 is installed on the conveying reduction motor mounting plate 507. Two chains 512 with rubber block covers are wrapped around two groups of four sprockets 506 at both ends of the conveying base 501 in a one-to-one correspondence.

[0054] The two sprockets 506 are installed between the two conveying bearing seats 503 at a certain distance from the conveying driving shaft 504, and the two conveying bearing seats 503 are fastened to the upper surface of the conveying bearing seat mounting plate 502 at the rear end of the conveying base 501. The two sprockets 506 are installed between the two conveying bearing seats 503 at a certain distance from the conveying driven shaft 505, and the two conveying bearing seats 503 are fastened to the upper surface of the conveying bearing seat mounting plate 502 at the head end of the conveying base 501. A conveying slave synchronous wheel 509 is provided at one end of the shaft 504, and the conveying slave synchronous wheel 509 drives the conveying master synchronous wheel 510 of the conveying reduction motor 508 through a conveying synchronous belt 511. A conveying reduction motor mounting plate 507 is fastened to the head end of the conveying base 501, and the conveying reduction motor 508 is mounted on the conveying reduction motor mounting plate 507. Two chains 512 with rubber block cover plates are arranged in parallel with each other and are wrapped one by one around two groups of four sprockets 506 at the head and tail ends of the conveying base 501;

[0055] A plurality of chain support mechanisms 51 are arranged between the chain 512 and the conveying base 501;

[0056] The chain support mechanism 51 includes a chain support pad 513, a chain support shaft 514, a chain support bearing seat 515 and a chain support sprocket 516; one end of the chain support shaft 514 is provided with a chain support sprocket 516, and the other end of the chain support shaft 514 passes through the chain support bearing seat 515, the chain support bearing seat 515 is tightly connected to the chain support pad 513, and the chain support pad 513 is installed on the surface of the conveying base 501;

[0057] A plurality of chain support mechanisms 51 are arranged on both sides of two chains 512 with rubber block covers, and the vertices of the upper half of the pitch circle of each chain support sprocket 516 are in the same horizontal plane as the vertices of the upper half of the pitch circle of the four sprockets 506 at the head and tail ends of the conveying base 501.

[0058] like Figure 4 As shown, the defoliation mechanism 4 includes a left defoliation part 41 and a right defoliation part 42; the right defoliation part 41 has the same structure as the left defoliation part 42, and the left defoliation part 41 and the right defoliation part 42 are arranged in a mirror image;

[0059] The left leaf removal part 41 includes a range adjustment module 43 and a force adjustment module 44;

[0060] The range adjustment module 43 includes a range adjustment module base 417, two ends of the range adjustment module base 417 are respectively fastened to the module bearing bottom plate 415 and the module motor mounting plate 418, the module stepping motor 421 is fastened to the module motor mounting plate 418, the lead screw bearing seat 416 is fastened to the range adjustment module base 417, two ends of the lead screw 414 are respectively rotatably mounted on the module bearing bottom plate 415 and the lead screw bearing seat 416, a lead screw guide rail 419 is provided on the range adjustment module base 417, a thread is provided in the middle of the slider 413 to cooperate with the thread of the lead screw 414, and the module stepping motor 421 drives the coupling 420 and the lead screw 414 to make the slider 413 move linearly along the lead screw guide rail 419;

[0061] The force adjustment module 44 includes a force adjustment base 401, a lower end of the force adjustment base 401 is provided with an inter-module mounting plate 402, the lower part of the inter-module mounting plate 402 is tightly connected to the slider 413 of the range adjustment module 43, and the slider 413 drives the inter-module mounting plate 402 to perform linear motion; an upper end of one side of the force adjustment base 401 is provided with an L-shaped motor mounting plate 408, and the L-shaped motor mounting plate 408 is tightly connected to the reduction motor 407, and two mirror-image L-shaped bearing seats 403 are respectively provided on both sides of the other side of the force adjustment base 401, and bearing seats 412 are provided at the notches of the two L-shaped bearing seats 403, and the rotating brush 406 is sleeved on the rotating brush shaft 404, and locking plates 405 are abutted on both sides of the rotating brush 406, and both ends of the rotating brush shaft 404 are respectively rotatably connected to the bearing seats 412, and one end of the rotating brush shaft 404 is provided with a driven synchronous wheel 411, which is connected to the active synchronous wheel 409 of the reduction motor 407 through a synchronous belt 410.

[0062] The included angle between the rotating brush 406 of the left leaf removing part 41 and the rotating brush of the right leaf removing part 42 is 30 to 50 degrees, which is beneficial for removing the top leaves.

[0063] like Figure 5 As shown, the transfer mechanism 6 includes an ejection portion 61, a transition portion 62 and a guide portion 63;

[0064] The ejection part 61 includes an ejection bottom plate 601 which is fastened to the conveying base 501, and ejection support plates 602 are arranged on both sides of the ejection bottom plate 601. The ejection plate 604 is installed on the ejection fixed shaft 605, and the two ends of the ejection fixed shaft 605 are respectively rotatably connected to the ejection support plate 602, the bottom of the ejection electric cylinder 603 is rotatably connected to the ejection bottom plate 601, and the top of the ejection electric cylinder 603 is rotatably connected to one side of the ejection plate 604;

[0065] The transition part 62 includes a transition guide base 606, two transition mounting plates 607 are provided on both sides of the top of the transition guide base 606, and each of the two transition mounting plates 607 is provided with a transition bearing seat 612, and both ends of the transition shaft 610 are rotatably connected with the transition bearing seats 612 respectively, and the transition shaft 610 is sleeved with a plurality of flip plates 611 between the two transition bearing seats 612, and the flip plate 611 is located on the other side of the ejection plate 604; one end of the transition shaft 610 is connected to the output shaft of the reduction motor 609 through a coupling 613, and the transition motor mounting plate 608 is provided on the side of the transition guide base 606, and the reduction motor 609 is fastened to the transition motor mounting plate 608;

[0066] The guide part 63 includes a guide bottom plate 614, which is arranged on the transition guide base 606. A guide support plate 615 is provided on each side of the guide installation bottom plate 614. The guide plate 619 is installed on the guide fixed shaft 618. The two ends of the guide fixed shaft 618 are respectively rotatably connected to the guide support plate 615. The bottom of the guide electric cylinder 616 is rotatably connected to the guide bottom plate 614. The top of the guide electric cylinder 616 is hinged to one side of the guide plate 619 through a guide movable shaft 617. A baffle 620 is provided above the other end of the guide plate 619, and a turnover box 7 is provided below the other side of the guide plate 619.

[0067] The ejection plate 604 is used to eject the Chinese cabbage and send it to the flip plate 611 , the flip plate 611 is used to transport the Chinese cabbage to the guide plate 619 , and the guide plate 619 is used to transport the Chinese cabbage to the turnover box 7 .

[0068] The guide part 63 is provided with a turnover box 7 at the lower level. The guide part 63 has several action positions, which respectively correspond to the front end, several middle positions and the tail end of the turnover box 7. The surface of the guide plate 619 is flat for passing the Chinese cabbage. A baffle 620 is provided above the end of the guide plate 619 to provide the last guidance before the Chinese cabbage falls into the box.

[0069] The image acquisition system includes a camera and a visual processing module. The camera acquires Chinese cabbage image data, and the visual processing module identifies the position where the outer leaves need to be removed in the image and transmits it to the controller.

[0070] A control method according to the single-line multi-channel Chinese cabbage leaf removal and packaging device comprises the following steps:

[0071] The Chinese cabbage falls from the upper harvesting part 1 into the correction mechanism 2 for posture correction; the first image acquisition system 3 acquires the image of the Chinese cabbage after the posture correction by the correction mechanism 2, identifies the outer leaves of the Chinese cabbage, and transmits it to the controller, and the controller generates a defoliation range; the Chinese cabbage falls from the correction mechanism 2 into the conveying mechanism 5; the controller controls the first defoliation mechanism 4 to perform the first defoliation operation according to the defoliation range; the second image acquisition system 8 acquires the image of the Chinese cabbage after the first defoliation, and transmits it to the controller, and the controller determines whether it is necessary to defoliate again; if it is not necessary to defoliate again, the controller controls the first transfer mechanism 6 to transfer the Chinese cabbage to the turnover box 7; if it is necessary to defoliate again, the Chinese cabbage moves along the conveying mechanism 5 to the second defoliation mechanism 9, the controller controls the second defoliation mechanism 9 to perform another defoliation operation, and controls the second transfer mechanism 10 to transfer the Chinese cabbage after the defoliation is once again to the turnover box 7.

[0072] In a specific embodiment of the present invention, the control method for single-line multi-channel Chinese cabbage leaf removal and packaging comprises the following steps:

[0073] (1) Chinese cabbage falls from the upper harvesting part 1 into the correction mechanism 2 for posture correction;

[0074] (2) The first image acquisition system 3 acquires the image of the Chinese cabbage after the posture correction by the correction mechanism 2, and the visual processing module identifies the outer leaves of the Chinese cabbage and transmits them to the controller, and the controller generates a leaf removal range;

[0075] (3) The Chinese cabbage falls from the correction mechanism 2 into the conveying mechanism 5;

[0076] (4) The first defoliation mechanism 4 performs a defoliation operation: the controller controls the range adjustment module 43 and the force adjustment module 44 of the left defoliation part 41 according to the defoliation range, and adjusts the right defoliation part 42 at the same time, to perform the first defoliation operation;

[0077] (5) The second image acquisition system 8 acquires an image of the Chinese cabbage after the leaves have been removed once, and transmits the image to the controller, which determines whether the leaves need to be removed again;

[0078] (6) If it is not necessary to remove the leaves again, proceed to step (8);

[0079] (7) If it is necessary to remove the leaves again, the cabbage moves along the conveying mechanism 5 to the second defoliating mechanism 9 for defoliation. After the controller controls the second defoliating mechanism 9 to perform the defoliation operation again, the process proceeds to step (6);

[0080] (8) The Chinese cabbage passes through the ejection portion 61 and the transition portion 62 to the guide portion 63, and the guide plate 619 is adjusted to different action positions to guide the Chinese cabbage to fall into the corresponding position inside the turnover box 7.

[0081] Preferably, in a specific embodiment of the present invention, three Chinese cabbages in the order of A, B, and C enter the conveying mechanism 5 in sequence. When the Chinese cabbage B is in the first transfer mechanism 6, if the next Chinese cabbage C that does not need to be defoliated again needs to enter the first transfer mechanism 6, congestion is likely to occur. At this time, since the Chinese cabbage A has been basketed in the second transfer mechanism 10, the second transfer mechanism 10 is in an initial position and is relatively idle. The controller can control the conveying mechanism 5 to bring the Chinese cabbage C into the second transfer mechanism 10 for basketing. When the basket of the second transfer mechanism 10 is temporarily strengthened during the loading and unloading process, the degree of the first defoliation mechanism 4 is temporarily strengthened and the speed of the first transfer mechanism 6 is accelerated to ensure that the Chinese cabbage is smoothly basketed in the first transfer mechanism 6. Similarly, when the basket of the first transfer mechanism 6 is temporarily accelerated during the loading and unloading process, the speed of the second transfer mechanism 10 is temporarily accelerated to ensure that the Chinese cabbage is smoothly basketed in the second transfer mechanism 10, thereby improving efficiency. The correction mechanism 2 of the present invention is used to adjust the posture of the cabbage. The correction mechanism 2 has a left conveyor flat belt 21 and a right conveyor flat belt 22 arranged in a V shape at a certain angle; a conveying mechanism 5 is arranged below the correction mechanism 2 and in the length extension direction; an image acquisition system, a leaf removal mechanism and a transfer mechanism are arranged above the conveying mechanism 5; a controller controls the leaf removal mechanism to adjust the leaf removal amount according to the information obtained by the image acquisition system; the transfer mechanism transfers the Chinese cabbage from the conveying mechanism 5 to the turnover box 7 in an orderly manner; the image acquisition system, the leaf removal mechanism and the transfer mechanism are arranged in several groups on the double-row conveyor belt. In the present invention, the Chinese cabbage is adjusted to enter the single line of the conveying mechanism 5 axially by the correction mechanism 2, and the number of the image acquisition system, the leaf removal mechanism, the transfer mechanism and the turnover box 7 can be increased as needed to form a multi-way leaf removal box. After the leaf removal by the leaf removal mechanism, it is transferred to the turnover box 7 by the transfer mechanism, which can efficiently realize the leaf removal and orderly boxing of the Chinese cabbage. It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0082] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A single-line multi-channel cabbage leaf removal and packing device, characterized in that: It includes a correction mechanism (2), an image acquisition system, a leaf removal mechanism, a conveying mechanism (5), a transfer mechanism and a controller; The correction mechanism (2) is located at the rear of the upper harvesting part (1) and is used to correct the posture of the Chinese cabbage that falls from the upper harvesting part (1); a conveying mechanism (5) is provided below the correction mechanism (2) in the direction of its length extension, the correction mechanism (2) adjusts the Chinese cabbage to enter the conveying mechanism (5) in the axial direction, and the conveying mechanism (5) is used to transport the Chinese cabbage backward; at least two levels of image acquisition systems and at least two levels of leaf removal mechanisms are provided above the conveying mechanism (5) in the direction of its length extension, and at least two levels of transfer mechanisms are provided on the side of the conveying mechanism (5); the controller is respectively connected to the image acquisition system, the leaf removal mechanism and the transfer mechanism; the image acquisition system is used to acquire images of the Chinese cabbage and transmit them to the controller, the controller controls the leaf removal mechanism to remove the leaves of the Chinese cabbage at least once, and controls the corresponding transfer mechanism to transfer the removed cabbage to the turnover box (7).

2. The single-line multi-channel cabbage leaf removal and packaging device according to claim 1 is characterized in that: The two-stage image acquisition system comprises a first image acquisition system (3) and a second image acquisition system (8), the two-stage leaf removal mechanism comprises a first leaf removal mechanism (4) and a second leaf removal mechanism (9), and the two-stage transport mechanism comprises a first transport mechanism (6) and a second transport mechanism (10); The first image acquisition system (3) is located behind the correction mechanism (2), the first defoliation mechanism (4) is located behind the first image acquisition system (3), the second image acquisition system (8) is located behind the first defoliation mechanism (4), and the second defoliation mechanism (9) is located behind the second image acquisition system (8); the second transfer mechanism (10) is located behind the first transfer mechanism (6); and turnover boxes (7) are respectively provided at the ends of the second transfer mechanism (10) and the first transfer mechanism (6); The first image acquisition system (3) is used to acquire an image of the Chinese cabbage after posture correction by the correction mechanism (2), identify the outer leaves of the Chinese cabbage, and transmit the image to the controller. The controller generates a leaf removal range and controls the first leaf removal mechanism (4) to perform a first leaf removal operation. The second image acquisition system (8) acquires an image of the Chinese cabbage after the first leaf removal and transmits the image to the controller. The controller determines whether it is necessary to perform leaf removal again. If it is not necessary to perform leaf removal again, the controller controls the first transfer mechanism (6) to transfer the Chinese cabbage to the turnover box (7). If it is necessary to perform leaf removal again, the Chinese cabbage moves along with the conveying mechanism (5) to the second leaf removal mechanism (9). The controller controls the second leaf removal mechanism (9) to perform a leaf removal operation again, and controls the second transfer mechanism (10) to transfer the Chinese cabbage after the leaf removal again to the turnover box (7).

3. The single-line multi-channel Chinese cabbage leaf removal and packaging device according to claim 1 is characterized in that: The correction mechanism (2) comprises a left conveying flat belt (21) and a right conveying flat belt (22); the right conveying flat belt (22) has the same structure as the left conveying flat belt (21) and is arranged in a V-shaped mirror image; The left conveyor flat belt (21) comprises a group of correction bases (203), one end of the correction base (203) is fastened to a group of head seats (201), the other end of the correction base (203) is fastened to a group of tail seats (202), a correction driven shaft (212) is rotatably connected between the tail seats (202), a correction driving shaft (211) is rotatably connected between the head seats (201), and one end of the correction driving shaft (211) is provided with a correction synchronous belt driven wheel (208) ), the correction synchronous belt driven wheel (208) is connected to the correction synchronous belt driving wheel (209) of the correction reduction motor (205) through the correction synchronous belt (210); a correction base (203) is fastened with a correction reduction motor mounting plate (204) near the head seat (201), the correction reduction motor (205) is mounted on the correction reduction motor mounting plate (204), and the correction reduction motor (205) is mounted on the non-bearing surface side of the left conveyor belt (21).

4. The single-line multi-channel cabbage leaf removal and packaging device according to claim 3 is characterized in that: The left conveying flat belt (21) is 135 to 150 degrees with the polar axis as a reference, and the right conveying flat belt (22) is 30 to 45 degrees with the polar axis as a reference.

5. The single-line multi-channel Chinese cabbage leaf removal and packaging device according to claim 1 is characterized in that: The conveying mechanism (5) comprises a conveying base (501), a conveying bearing seat mounting plate (502), a conveying bearing seat (503), a conveying driving shaft (504), a conveying driven shaft (505), a sprocket (506), a conveying motor mounting plate (507), a conveying reduction motor (508), a conveying slave synchronous wheel (509), a conveying master synchronous wheel (510), a conveying synchronous belt (511) and two chains (512); The conveying driving shaft (504) is arranged at one end of the conveying base (501), and the conveying driven shaft (505) is arranged at the other end of the conveying base (501). Two sprockets (506) are respectively arranged on the conveying driving shaft (504) and the conveying driven shaft (505). The conveying driving shaft (504) and the conveying driven shaft (505) are respectively installed on the upper surface of the conveying base (501) through the conveying bearing seat mounting plate (502). One end of the conveying driving shaft (504) is provided with a conveying driven shaft (505). A synchronous wheel (509), the conveying slave synchronous wheel (509) is connected to the conveying master synchronous wheel (510) of the conveying reduction motor (508) through a conveying synchronous belt (511), one end of the conveying base (501) is connected to a conveying reduction motor mounting plate (507), the conveying reduction motor (508) is mounted on the conveying reduction motor mounting plate (507), and two chains (512) are arranged in parallel with each other and are wrapped around the sprockets (506) at both ends of the conveying base (501) in a one-to-one correspondence.

6. The single-line multi-channel Chinese cabbage leaf removal and packaging device according to claim 5 is characterized in that: A plurality of chain supporting mechanisms (51) are arranged between the chain (512) and the conveying base (501); The chain support mechanism (51) comprises a chain support pad (513), a chain support shaft (514), a chain support bearing seat (515) and a chain support sprocket (516); one end of the chain support shaft (514) is provided with a chain support sprocket (516), the other end of the chain support shaft (514) passes through the chain support bearing seat (515), the chain support bearing seat (515) is connected to the chain support pad (513), and the chain support pad (513) is installed on the surface of the conveying base (501).

7. The single-line multi-channel cabbage leaf removal and packaging device according to claim 1 is characterized in that: The defoliation mechanism (4) comprises a left defoliation part (41) and a right defoliation part (42); the right defoliation part (41) and the left defoliation part (42) have the same structure, and the left defoliation part (41) and the right defoliation part (42) are arranged in a mirror image; The left leaf removal part (41) includes a range adjustment module (43) and a force adjustment module (44); the range adjustment module (43) includes a range adjustment module base (417), two ends of the range adjustment module base (417) are respectively connected to a module bearing bottom plate (415) and a module motor mounting plate (418), a module stepping motor (421) is connected to the module motor mounting plate (418), a lead screw bearing seat (416) is connected to the range adjustment module base (417), the two ends of the lead screw (414) are rotatably mounted on the module bearing bottom plate (415) and the lead screw bearing seat (416), the range adjustment module base (417) is provided with a lead screw guide rail (419), the middle of the slider (413) is provided with a thread that matches the thread of the lead screw (414), and the module stepping motor (421) drives the coupling (420) and the lead screw (414) to make the slider (413) move linearly along the lead screw guide rail (419); The force adjustment module (44) comprises a force adjustment base (401), a lower end of the force adjustment base (401) is provided with an inter-module mounting plate (402), the lower part of the inter-module mounting plate (402) is connected to a slider (413) of the range adjustment module (43), and the slider (413) drives the inter-module mounting plate (402) to perform linear motion; an upper end of one side of the force adjustment base (401) is provided with an L-shaped motor mounting plate (408), the L-shaped motor mounting plate (408) is connected to a reduction motor (407), and the force adjustment base (40 1) Two mirror-image L-shaped bearing seats (403) are respectively arranged on both sides of the other side, and bearing seats (412) are arranged at the notches of the two L-shaped bearing seats (403). The rotating brush (406) is sleeved on the rotating brush shaft (404), and locking plates (405) are abutted on both sides of the rotating brush (406). The two ends of the rotating brush shaft (404) are respectively rotatably connected to the bearing seats (412), and one end of the rotating brush shaft (404) is provided with a driven synchronous wheel (411), which is connected to the driving synchronous wheel (409) of the reduction motor (407) through a synchronous belt (410).

8. The single-line multi-channel Chinese cabbage leaf removal and packaging device according to claim 7 is characterized in that: The included angle between the rotating brush (406) of the left leaf removing part (41) and the rotating brush of the right leaf removing part (42) is 30 to 50 degrees.

9. The single-line multi-channel Chinese cabbage leaf removal and packaging device according to claim 1, characterized in that: The transfer mechanism (6) comprises an ejection portion (61), a transition portion (62) and a guide portion (63); The ejection part (61) comprises an ejection bottom plate (601) connected to the conveying base (501), ejection support plates (602) are arranged on both sides of the ejection bottom plate (601), the ejection plate (604) is installed on the ejection fixed shaft (605), the two ends of the ejection fixed shaft (605) are respectively rotatably connected to the ejection support plate (602), the bottom of the ejection electric cylinder (603) is rotatably connected to the ejection bottom plate (601), and the top of the ejection electric cylinder (603) is rotatably connected to one side of the ejection plate (604); The transition part (62) includes a transition guide base (606), two transition mounting plates (607) are provided on both sides of the top of the transition guide base (606), and each of the two transition mounting plates (607) is provided with a transition bearing seat (612). The two ends of the transition shaft (610) are respectively rotatably connected to the transition bearing seats (612), and the transition shaft (610) is sleeved with a plurality of flip plates (611) between the two transition bearing seats (612), and the flip plates (611) are located on the other side of the ejection plate (604); one end of the transition shaft (610) is connected to the output shaft of the reduction motor (609) through a coupling (613), and the transition motor mounting plate (608) is provided on the side of the transition guide base (606), and the reduction motor (609) is connected to the transition motor mounting plate (608); The guide part (63) comprises a guide base plate (614), the guide base plate (614) is arranged on the transition guide base (606), a guide support plate (615) is arranged on each side of the guide installation base plate (614), the guide plate (619) is installed on the guide fixed shaft (618), the two ends of the guide fixed shaft (618) are respectively rotatably connected to the guide support plate (615), the bottom of the guide electric cylinder (616) is rotatably connected to the guide base plate (614), and the top of the guide electric cylinder (616) is hingedly connected to one side of the guide plate (619) via a guide movable shaft (617); a baffle (620) is arranged above the end of the other side of the guide plate (619), and a turnover box (7) is arranged below the other side of the guide plate (619); The ejection plate (604) is used to eject the Chinese cabbage and convey it to the turning plate (611); the turning plate (611) is used to convey the Chinese cabbage to the guide plate (619); and the guide plate (619) is used to convey the Chinese cabbage to the turnover box (7).

10. A control method for the single-line multi-channel Chinese cabbage leaf removal and packing device according to any one of claims 1 to 9, characterized in that: The steps include: The Chinese cabbage falls from the upper harvesting part (1) into the correction mechanism (2) for posture correction; the first image acquisition system (3) acquires the image of the Chinese cabbage after posture correction by the correction mechanism (2), identifies the outer leaves of the Chinese cabbage, and transmits the image to the controller, which generates a defoliation range; the Chinese cabbage falls from the correction mechanism (2) into the conveying mechanism (5); the controller controls the first defoliation mechanism (4) to perform a first defoliation operation according to the defoliation range; the second image acquisition system (8) acquires the image of the Chinese cabbage after the first defoliation, and transmits the image to the controller, which determines whether it is necessary to perform defoliation again; if it is not necessary to perform defoliation again, the controller controls the first transfer mechanism (6) to transfer the Chinese cabbage to the turnover box (7); if it is necessary to perform defoliation again, the Chinese cabbage moves along with the conveying mechanism (5) to the second defoliation mechanism (9), the controller controls the second defoliation mechanism (9) to perform a second defoliation operation, and controls the second transfer mechanism (10) to transfer the Chinese cabbage after the defoliation is performed again to the turnover box (7).

Images