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

Abstract

The application provides a single-line multi-path Chinese cabbage leaf-removing and boxing device and a control method thereof. The device comprises a correction mechanism, a conveying mechanism and a controller. The correction mechanism is located behind the upper collecting part and is used for posture correction of the Chinese cabbage. A conveying mechanism is arranged below the correction mechanism in the length extension direction. The Chinese cabbage is adjusted to the axial direction by the correction mechanism and enters the conveying mechanism. The conveying mechanism is used for transporting the Chinese cabbage rearward. At least two levels of image acquisition systems and at least two levels of leaf-removing mechanisms are arranged above the conveying mechanism in the length extension direction. At least two levels of transfer mechanisms are arranged at the sides of the conveying mechanism. The controller is connected with the image acquisition systems, the leaf-removing mechanisms and the transfer mechanisms respectively. The image acquisition systems are used for acquiring the images of the Chinese cabbage and transmitting the images to the controller. The controller controls the leaf-removing mechanisms to remove the leaves of the Chinese cabbage at least once and controls the corresponding transfer mechanisms to transfer the Chinese cabbage after leaf removal to the turnover boxes. The application can efficiently realize the leaf removal and orderly boxing operation of the Chinese cabbage.

Description

TECHNICAL FIELD

[0001] The present application relates to Chinese cabbage processing and transportation equipment, in particular to a single-line multi-path Chinese cabbage leaf-removing and boxing device and a control method thereof. BACKGROUND

[0002] After being harvested from the field, the Chinese cabbage needs to remove the damaged outer leaves and be orderly placed in the turnover basket before being sent to the processing plant. At present, the leaf-removing and basket-filling operation after the Chinese cabbage is harvested is mainly performed by manual cutting, stripping and stacking with tools, which is low in efficiency and heavy on workers. CN118556502A discloses a full-automatic Chinese cabbage harvester, which has a certain effect of removing outer leaves when in use, but the Chinese cabbage is prone to accumulation during rolling, and no dredging device is provided, which is not convenient for subsequent orderly basket-filling operation. Meanwhile, the invention does not design an orderly basket-filling step, and the cylindrical Chinese cabbage is prone to cause a large amount of space waste in the disordered basket-filling state. SUMMARY

[0003] In view of the above technical problems, the present application provides a single-line multi-path Chinese cabbage leaf-removing and boxing device, which can efficiently realize the leaf-removing and orderly boxing operation of Chinese cabbage.

[0004] The present application also provides a control method for the single-line multi-path Chinese cabbage leaf-removing and boxing device.

[0005] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0006] The present application achieves the above technical objects through the following technical means.

[0007] A single-line multi-path Chinese cabbage leaf-removing and boxing device, comprising a correcting mechanism, a conveying mechanism and a controller.

[0008] The correcting mechanism is located behind the upper harvesting part and is used for posture correction of the Chinese cabbage falling from the upper harvesting part. A conveying mechanism is provided below the correcting mechanism in the length extension direction. The correcting mechanism adjusts the Chinese cabbage to the axial direction to enter the conveying mechanism. The conveying mechanism is used for transporting the Chinese cabbage backward. At least two levels of image acquisition systems and at least two levels of leaf-removing mechanisms are provided above the conveying mechanism in the length extension direction. At least two levels of transfer mechanisms are provided at the side of the conveying mechanism. The controller is connected with the image acquisition system, the leaf-removing mechanism and the transfer mechanism. The image acquisition system is used for acquiring the image of the Chinese cabbage and transmitting it to the controller. The controller controls the leaf-removing mechanism to remove the leaves of the Chinese cabbage at least once and controls the corresponding transfer mechanism to transfer the Chinese cabbage after leaf-removing to the turnover box.

[0009] In the scheme, the two-stage image acquisition system comprises a first image acquisition system and a second image acquisition system, the two-stage leaf-removing mechanism comprises a first leaf-removing mechanism and a second leaf-removing mechanism, and the two-stage transfer mechanism comprises a first transfer mechanism and a second transfer mechanism.

[0010] The first image acquisition system is located at the rear of the posture correcting mechanism, the first leaf-removing mechanism is located at the rear of the first image acquisition system, the second image acquisition system is located at the rear of the first leaf-removing mechanism, and the second leaf-removing mechanism is located at the rear of the second image acquisition system; the second transfer mechanism is located at the rear of the first transfer mechanism; and the ends of the second transfer mechanism and the first transfer mechanism are respectively provided with a turnover box.

[0011] The first image acquisition system is used for acquiring images of the Chinese cabbage after posture correction by the posture correcting mechanism, identifying outer leaves of the Chinese cabbage, and transmitting the images to the controller; the controller generates a leaf-removing range and controls the first leaf-removing mechanism to perform a first leaf-removing operation; the second image acquisition system acquires images of the Chinese cabbage after the first leaf-removing operation and transmits the images to the controller; the controller judges whether a second leaf-removing operation is needed; if not, the controller controls the first transfer mechanism to transfer the Chinese cabbage to the turnover box; if the second leaf-removing operation is needed, the Chinese cabbage is forwarded to the second leaf-removing mechanism by the conveying mechanism; the controller controls the second leaf-removing mechanism to perform the second leaf-removing operation and controls the second transfer mechanism to transfer the Chinese cabbage after the second leaf-removing operation to the turnover box.

[0012] In the scheme, the posture correcting mechanism comprises a left conveying flat belt and a right conveying flat belt; the right conveying flat belt is identical in structure to the left conveying flat belt and is arranged in a v-shaped mirror image.

[0013] The left conveying flat belt comprises a group of correcting base bodies, one end of each correcting base body is fixedly connected with a group of head seats, the other end of each correcting base body is fixedly connected with a group of tail seats, a correcting driven shaft is rotatably connected between the tail seats, a correcting driving shaft is rotatably connected between the head seats, one end of the correcting driving shaft is provided with a correcting synchronous belt driven wheel, and the correcting synchronous belt driven wheel is connected with a correcting synchronous belt main driven wheel of a correcting speed reducer through a correcting synchronous belt; a correcting speed reducer mounting plate is fixedly connected to a section of the correcting base body close to the head seat, the correcting speed reducer is mounted on the correcting speed reducer mounting plate, and the correcting speed reducer is mounted on the non-load bearing side of the left conveying belt.

[0014] Further, the left conveying flat belt is 135-150 degrees with respect to the polar axis, and the right conveying flat belt is 30-45 degrees with respect to the polar axis.

[0015] In the scheme, the conveying mechanism comprises a conveying base body, a conveying bearing seat mounting plate, a conveying bearing seat, a conveying driving shaft, a conveying driven shaft, a chain wheel, a conveying motor mounting plate, a conveying speed reducer, a conveying driven synchronous wheel, a conveying main synchronous wheel, a conveying synchronous belt, and two chains.

[0016] The conveying driving shaft is arranged at one end of the conveying base body, the conveying driven shaft is arranged at the other end of the conveying base body, two chain wheels 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 body through a conveying bearing seat mounting plate; a conveying from synchronous wheel is arranged at one end of the conveying driving shaft, the conveying from synchronous wheel is connected with a conveying main synchronous wheel of a conveying speed reducer motor through a conveying synchronous belt, one end of the conveying base body is connected with a conveying motor mounting plate, the conveying speed reducer motor is mounted on the conveying motor mounting plate, and two chains are arranged in parallel and one-to-one correspondence and wrapped around the chain wheels at two ends of the conveying base body.

[0017] Further, a plurality of chain supporting mechanisms are arranged between the chain and the conveying base body.

[0018] The chain supporting mechanism comprises a chain supporting pad, a chain supporting shaft, a chain supporting bearing seat and a chain supporting sprocket; the chain supporting sprocket is arranged at one end of the chain supporting shaft, the other end of the chain supporting shaft passes through the chain supporting bearing seat, the chain supporting bearing seat is connected with the chain supporting pad, and the chain supporting pad is mounted on the surface of the conveying base body.

[0019] In the above scheme, the defoliating mechanism comprises a left defoliating part and a right defoliating part; the right defoliating part is identical in structure to the left defoliating part, and the left defoliating part and the right defoliating part are arranged in mirror image.

[0020] The left defoliating part comprises a range adjusting module and a force adjusting module; the range adjusting module comprises a range adjusting module base, module bearing bottom plates are respectively connected to two ends of the range adjusting module base, module motor mounting plates are respectively connected to the two ends of the range adjusting module base, a module stepping motor is connected to the module motor mounting plates, a screw bearing seat is connected to the range adjusting module base, screws are rotatably installed on the module bearing bottom plates and the screw bearing seat, screw guide rails are arranged on the range adjusting module base, threads are arranged in the middle of the sliding blocks and are matched with the threads of the screws, the sliding blocks are driven to move linearly along the screw guide rails by the module stepping motor, the driving coupler and the screw.

[0021] The force adjusting module comprises a force adjusting base, a module interconnecting plate is arranged at the lower end of the force adjusting base, the module interconnecting plate is connected to the sliding blocks of the range adjusting module, and the module interconnecting plate is driven to move linearly by the sliding blocks; an L-shaped motor mounting plate is arranged at the upper end of one side of the force adjusting base, the L-shaped motor mounting plate is connected to a speed reducer motor, two L-shaped bearing seats in mirror image are respectively arranged on the two sides of the other side of the force adjusting base, bearing seats are arranged in the notches of the two L-shaped bearing seats, a rotating brush sleeve is arranged on a rotating brush shaft, locking pieces are arranged on the two sides of the rotating brush, the rotating brush shaft is rotatably connected to the bearing seats at the two ends thereof, and a driven synchronous wheel is arranged at one end of the rotating brush shaft and connected to a driving synchronous wheel of the speed reducer motor through a synchronous belt.

[0022] Further, the rotating brushes of the left defoliating part and the right defoliating part are arranged at an angle of 30 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 base plate connected with the conveying base, ejection support plates are arranged on both sides of the ejection base plate, an ejection plate is installed on an ejection fixed shaft, both ends of the ejection fixed shaft are rotatably connected with the ejection support plates, a bottom of an ejection electric cylinder is rotatably connected with the ejection base plate, and a top of the ejection electric cylinder is rotatably connected with 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 a top of the transition guide base, each of the two transition mounting plates is provided with a transition bearing seat, both ends of a transition shaft are rotatably connected with the transition bearing seats, a plurality of turnover plates are sleeved on the transition shaft between the two transition bearing seats, and the turnover plates are located on the other side of the ejection plate; one end of the transition shaft is connected with an output shaft of a speed reducer motor through a shaft coupling, a transition motor mounting plate is arranged on a side surface of the transition guide base, and the speed reducer motor is connected with the transition motor mounting plate;

[0026] The guide part includes a guide base plate arranged on the transition guide base, guide mounting base plates are arranged on both sides of the guide base plate, each of the guide mounting base plates is provided with a guide support plate, a guide plate is installed on a guide fixed shaft, both ends of the guide fixed shaft are rotatably connected with the guide support plates, a bottom of a guide electric cylinder is rotatably connected with the guide base plate, and a top of the guide electric cylinder is hingedly connected with one side of the guide plate through a guide movable shaft; a blocking plate is arranged above an 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 for ejecting and feeding the Chinese cabbage to the turnover plate, the turnover plate is used for conveying the Chinese cabbage to the guide plate, and the guide plate is used for conveying the Chinese cabbage to the turnover box.

[0028] A control method of the single-wire multi-path Chinese cabbage leaf-removing and boxing device, comprising the following steps:

[0029] The Chinese cabbage falls from the upper collecting part into the correcting mechanism for posture correction; the first image acquisition system acquires the image of the Chinese cabbage after the posture correction of the correcting mechanism, identifies the outer leaves of the Chinese cabbage, and transmits the image to the controller, so that the controller generates a leaf-removing range; the Chinese cabbage falls from the correcting mechanism into the conveying mechanism; the controller controls the first leaf-removing mechanism to perform the first leaf-removing operation according to the leaf-removing range; the second image acquisition system acquires the image of the Chinese cabbage after the first leaf-removing operation and transmits the image to the controller, so that the controller judges whether the second leaf-removing operation is needed; if the second leaf-removing operation is not needed, the controller controls the first transfer mechanism to transfer the Chinese cabbage to the turnover box; if the second leaf-removing operation is needed, the Chinese cabbage advances with the conveying mechanism to the second leaf-removing mechanism, the controller controls the second leaf-removing mechanism to perform the second leaf-removing operation, and controls the second transfer mechanism to transfer the Chinese cabbage after the second leaf-removing operation to the turnover box.

[0030] The present application has the following advantages compared with the prior art:

[0031] In one embodiment of the present application, the inputted Chinese cabbage is adjusted to the axial direction by the correction mechanism to enter the double-row conveying mechanism

[0032] The image acquisition system acquires the image of the Chinese cabbage and transmits it to the controller, the controller controls the leaf-removing mechanism to remove the leaves of the Chinese cabbage at least once, and controls the corresponding transfer mechanism to transfer the Chinese cabbage after leaf removal to the turnover box, so that the leaf removal and orderly boxing operation of the Chinese cabbage can be efficiently realized.

[0033] In one embodiment of the present application, the inputted Chinese cabbage is adjusted to the axial direction by the correction mechanism to enter the double-row conveying mechanism

[0034] The first image acquisition system acquires the image of the Chinese cabbage after the posture correction of the correction mechanism, identifies the outer leaves of the Chinese cabbage, and transmits it to the controller, the controller generates a leaf-removing range, and controls the first leaf-removing mechanism to perform the first leaf-removing operation, the second image acquisition system acquires the image of the Chinese cabbage after the first leaf-removing operation, and transmits it to the controller, the controller judges whether the second leaf-removing is needed, if the second leaf-removing is not needed, the controller controls the first transfer mechanism to transfer the Chinese cabbage to the turnover box, if the second leaf-removing is needed, the Chinese cabbage is forwarded to the second leaf-removing mechanism with the conveying mechanism, the controller controls the second leaf-removing mechanism to perform the second leaf-removing operation, and controls the second transfer mechanism to transfer the Chinese cabbage after the second leaf-removing to the turnover box, so that the leaf removal and orderly boxing operation of the Chinese cabbage can be efficiently realized.

[0035] Note that the description of these effects does not preclude the presence of other effects. One embodiment of the present application does not necessarily have all of the above-mentioned effects. Effects in addition to those described above can be apparent from the description, drawings, claims, and the like.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a structural schematic diagram of one embodiment of the present application;

[0038] Figure 2 is a structural schematic diagram of the correction mechanism of one embodiment of the present application;

[0039] Figure 3 is a structural schematic diagram of the conveying mechanism of one embodiment of the present application;

[0040] Figure 4 is a structural schematic diagram of the leaf-removing mechanism of one embodiment of the present application;

[0041] Figure 5 is a structural schematic diagram of the transfer mechanism of one embodiment of the present application. ​

[0042] In the figure, 1, upper harvesting part, 2, correction mechanism, 3, first image acquisition system, 4, first leaf removing mechanism, 5, conveying mechanism, 6, first transfer mechanism, 7, turnover box, 8, second image acquisition system, 9, second leaf removing mechanism, 10, second transfer mechanism, 21, left conveying flat belt, 22, right conveying flat belt, 201, head seat, 202, tail seat, 203, correction base body, 204, correction reduction motor mounting plate, 205, correction reduction motor, 206, flat belt, 207, tray, 208, correction synchronous belt driven wheel, 209, correction synchronous belt driving wheel, 210, correction synchronous belt, 211, correction driving shaft, 212, correction driven shaft; 41, left leaf removing part, 42, right leaf removing part, 401, force adjusting base, 402, module-to-module mounting plate, 403, L-shaped bearing seat, 404, rotating brush shaft, 405, locking piece, 406, rotating brush, 407, reduction motor, 408, L-shaped motor mounting plate, 409, driving synchronous wheel, 410, synchronous belt, 411, driven synchronous wheel, 412, bearing seat, 413, sliding block, 414, lead screw, 415, module bearing bottom plate, 416, lead screw bearing seat, 417, range adjusting module base, 418, module motor mounting plate, 419, lead screw guide rail, 420, driving coupling, 421, module stepping motor; 51, chain supporting mechanism, 501, conveying base body, 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 driven synchronous wheel, 511, conveying synchronous belt, 512, belt rubber block cover plate chain, 513, chain supporting block, 514, chain supporting shaft, 515, chain supporting bearing seat, 516, chain supporting sprocket; 61, ejection part, 62, transition part, 63, guide part, 601, ejection bottom plate, 602, ejection supporting plate, 603, ejection electric cylinder, 604, ejection plate, 605, ejection fixed shaft, 606, transition guide base body, 607, transition mounting plate, 608, transition motor mounting plate, 609, reduction motor, 610, transition shaft, 611, turnover plate, 612, transition bearing seat, 613, coupling, 614, guide mounting bottom plate, 615, guide supporting plate, 616, guide electric cylinder, 617, guide movable shaft, 618, guide fixed shaft, 619, guide plate, 620, blocking plate. DETAILED DESCRIPTION

[0043] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are examples and are intended to explain the present application, and are not to be understood as limiting the present application.

[0044] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0045] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] Figures 1-5 The single-line multi-path Chinese cabbage leaf-removing and boxing device is shown in a preferred embodiment, which comprises a correcting mechanism 2, an image acquisition system, a leaf-removing mechanism, a conveying mechanism 5, a transfer mechanism and a controller.

[0047] The correcting mechanism 2 is located behind the upper harvesting part 1, and is used for correcting the posture of the Chinese cabbage falling from the upper harvesting part 1; the conveying mechanism 5 is arranged below the correcting mechanism 2 in the length extension direction, the Chinese cabbage is adjusted to the axial direction by the correcting mechanism 2 and enters the conveying mechanism 5, and the conveying mechanism 5 is used for conveying the Chinese cabbage backward; at least two levels of image acquisition systems and at least two levels of leaf-removing mechanisms are arranged above the conveying mechanism 5 in the length extension direction, and at least two levels of transfer mechanisms are arranged at the side of the conveying mechanism 5; the controller is connected with the image acquisition system, the leaf-removing mechanism and the transfer mechanism respectively; the image acquisition system is used for acquiring the image of the Chinese cabbage and transmitting it to the controller, the controller controls the leaf-removing mechanism to remove the leaves of the Chinese cabbage at least once, and controls the corresponding transfer mechanism to transfer the Chinese cabbage after removing the leaves to the turnover box 7.

[0048] The single line of the single-line multi-path Chinese cabbage leaf-removing and boxing device refers to the route in which the correcting mechanism 2 adjusts the Chinese cabbage to the axial direction to enter the conveying mechanism 5, and the multi-path refers to the number of image acquisition systems, leaf-removing mechanisms, transfer mechanisms and turnover boxes 7 that can be increased as needed.

[0049] The two-stage image acquisition system includes a first image acquisition system 3 and a second image acquisition system 8, the two-stage leaf-removing mechanism includes a first leaf-removing mechanism 4 and a second leaf-removing mechanism 9, and the two-stage transfer mechanism includes a first transfer mechanism 6 and a second transfer mechanism 10.

[0050] The first image acquisition system 3 is located behind the correcting mechanism 2, the first leaf-removing mechanism 4 is located behind the first image acquisition system 3, the second image acquisition system 8 is located behind the first leaf-removing mechanism 4, and the second leaf-removing mechanism 9 is located behind the second image acquisition system 8; the second transfer mechanism 10 is located behind the first transfer mechanism 6; the turnover boxes 7 are respectively arranged at the ends of the second transfer mechanism 10 and the first transfer mechanism 6.

[0051] The first image acquisition system 3 is used to acquire the image of the Chinese cabbage after the posture correction of the correcting mechanism 2, identify the outer leaves of the Chinese cabbage, and transmit to the controller, the controller generates a leaf-removing range, and controls the first leaf-removing mechanism 4 to perform the first leaf-removing operation; the second image acquisition system 8 acquires the image of the Chinese cabbage after the first leaf-removing operation, and transmits to the controller; the controller judges whether it is necessary to perform the second leaf-removing operation; if the second leaf-removing operation is not needed, the controller controls the first transfer mechanism 6 to transfer the Chinese cabbage to the turnover box 7; if the second leaf-removing operation is needed, the Chinese cabbage advances with the conveying mechanism 5 to the second leaf-removing mechanism 9, the controller controls the second leaf-removing mechanism 9 to perform the second leaf-removing operation, and controls the second transfer mechanism 10 to transfer the Chinese cabbage after the second leaf-removing operation to the turnover box 7.

[0052] As shown in the accompanying drawings, Figure 2 The correcting mechanism 2 includes a left conveying flat belt 21 and a right conveying flat belt 22; the right conveying flat belt 22 is the same structure as the left conveying flat belt 21 and is arranged in a v-shaped mirror image.

[0053] The left conveyor belt 21 includes a set of aluminum profile straightening bases 203. One end of the straightening base 203 is fastened to a set of head seats 201, and the other end of the straightening base 203 is fastened to a set of tail seats 202. A straightening driven shaft 212 is rotatably connected between the tail seats 202, and a straightening drive shaft 211 is rotatably connected between the head seats 201. One end of the straightening drive shaft 211 is provided with a straightening synchronous belt driven pulley 208. The straightening synchronous belt driven pulley 208 is connected to the straightening synchronous belt drive pulley 209 of the straightening reduction motor 205 through the straightening synchronous belt 210. The straightening synchronous belt drive pulley 209 drives the straightening synchronous belt driven pulley 208 to rotate. A straightening reduction motor mounting plate 204 is fastened to a section of the straightening base 203 near the head seat 201. The straightening reduction motor 205 is mounted on the straightening reduction motor mounting plate 204 and is mounted on the non-load-bearing side of the left conveyor belt 21.

[0054] The cylindrical Chinese cabbage falls smoothly from the upper harvesting section 1 under the action of gravity onto the surfaces of the left conveyor belt 21 and the right conveyor belt 22. The axial direction of the Chinese cabbage is parallel to the movement direction of the left conveyor belt 21 and the right conveyor belt 22. Preferably, the left conveyor belt 21 is at an angle of 135 degrees to 150 degrees with respect to the polar axis, and the right conveyor belt 22 is at an angle of 30 degrees to 45 degrees with respect to the polar axis. This allows the Chinese cabbage to be quickly and smoothly adjusted to a suitable posture, while being less likely to be squeezed by the left conveyor belt 21 and the right conveyor belt 22.

[0055] 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 drive shaft 504, a conveying driven shaft 505, four sprockets 506, a conveying motor mounting plate 507, a conveying reduction motor 508, a conveying driven synchronous pulley 509, a conveying main synchronous pulley 510, a conveying synchronous belt 511, and two chains 512 with rubber block cover plates;

[0056] The conveying drive shaft 504 is located at one end of the conveying base 501, and the conveying driven shaft 505 is located at the other end of the conveying base 501. Two sprockets 506 are respectively provided on the conveying drive shaft 504 and the conveying driven shaft 505. The conveying drive shaft 504 and the conveying driven shaft 505 are respectively mounted on the upper surface of the conveying base 501 through the conveying bearing seat mounting plate 502. One end of the conveying drive shaft 504 is provided with a conveying driven synchronous pulley 509. The conveying driven synchronous pulley 509 is connected to the conveying main synchronous pulley 510 of the conveying reduction motor 508 through the conveying synchronous belt 511. The conveying main synchronous pulley 510 is driven to rotate. One end of the conveying base 501 is fastened to a conveying motor mounting plate 507. The conveying reduction motor 508 is mounted on the conveying motor mounting plate 507. Two chains 512 with rubber block covers are wrapped around the two sets of four sprockets 506 at both ends of the conveying base 501 in a one-to-one correspondence.

[0057] Two sprockets 506 are installed between the two conveying bearing seats 503 at a certain interval from the conveying driving shaft 504, and the two sprockets 506 are installed between the two conveying bearing seats 503 at a certain interval from the conveying driven shaft 505, the two sprockets 506 are fastened and connected to the upper surface of the conveying bearing seat mounting plate 502 at the tail end of the conveying base body 501, and the conveying driving shaft 504 is provided with a conveying driven sprocket 509, the conveying driven sprocket 509 is driven by the conveying main sprocket 510 of the conveying reduction motor 508 through the conveying synchronous belt 511, the conveying base body 501 is fastened and connected with the conveying motor mounting plate 507 at the head end, the conveying reduction motor 508 is installed on the conveying motor mounting plate 507, and two rubber block cover plate chains 512 are arranged in parallel and one-to-one corresponding to the two groups of four sprockets 506 at the head end and tail end of the conveying base body 501;

[0058] A plurality of chain supporting mechanisms 51 are arranged between the chain 512 and the conveying base body 501;

[0059] The chain supporting mechanism 51 comprises a chain supporting pad 513, a chain supporting shaft 514, a chain supporting bearing seat 515 and a chain supporting sprocket 516; the chain supporting shaft 514 is provided with a chain supporting sprocket 516 at one end, and the other end of the chain supporting shaft 514 passes through the chain supporting bearing seat 515, the chain supporting bearing seat 515 is fastened and connected with the chain supporting pad 513, and the chain supporting pad 513 is installed on the surface of the conveying base body 501;

[0060] A plurality of chain supporting mechanisms 51 are arranged on both sides of the two rubber block cover plate chains 512, and the vertexes of the upper half of the pitch circle of each chain supporting sprocket 516 and the vertexes of the upper half of the pitch circle of the four sprockets 506 at the head end and tail end of the conveying base body 501 are in the same horizontal plane.

[0061] As shown in Figure 4 The defoliation mechanism 4 comprises a left defoliation part 41 and a right defoliation part 42; the left defoliation part 41 and the right defoliation part 42 are consistent in structure, and the left defoliation part 41 and the right defoliation part 42 are mirror image arranged;

[0062] The left defoliation part 41 comprises a range adjusting module 43 and a force adjusting module 44;

[0063] The range adjustment module 43 comprises a range adjustment module base 417, the ends of which are respectively fastened to a module bearing bottom plate 415 and a module motor mounting plate 418, a module stepping motor 421 is fastened to the module motor mounting plate 418, a screw rod bearing seat 416 is fastened to the range adjustment module base 417, the ends of a screw rod 414 are respectively rotatably mounted on the module bearing bottom plate 415 and the screw rod bearing seat 416, a screw rod guide rail 419 is arranged on the range adjustment module base 417, a threaded hole is arranged in the middle of a sliding block 413 and is threadedly connected with the screw rod 414, and the sliding block 413 is driven to move linearly along the screw rod guide rail 419 by the module stepping motor 421, the driving shaft 420 and the screw rod 414;

[0064] The force adjustment module 44 comprises a force adjustment base 401, the lower end of which is provided with a module interconnection plate 402, the lower part of the module interconnection plate 402 is fastened to the sliding block 413 of the range adjustment module 43, and the module interconnection plate 402 is driven to move linearly by the sliding block 413; the 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 fastened to a speed reducer motor 407, the other side of the force adjustment base 401 is respectively provided with two mirror image L-shaped bearing seats 403, bearing seats 412 are arranged in the notches of the two L-shaped bearing seats 403, a rotating brush 406 is sleeved on a rotating brush shaft 404, locking pieces 405 are arranged on the two sides of the rotating brush 406, the ends of the rotating brush shaft 404 are respectively rotatably connected to the bearing seats 412, and a driven synchronous wheel 411 is arranged at one end of the rotating brush shaft 404 and connected to a driving synchronous wheel 409 of the speed reducer motor 407 through a synchronous belt 410.

[0065] The rotating brush 406 of the left leaf-removing part 41 and the rotating brush of the right leaf-removing part 42 are at an angle of 30 to 50 degrees, which is beneficial to the removal of the top leaves.

[0066] As shown in Figure 5 The transfer mechanism 6 comprises an ejection part 61, a transition part 62 and a guide part 63;

[0067] The ejection part 61 comprises an ejection bottom plate 601 fastened to the conveying base 501, ejection support plates 602 are arranged on the two sides of the ejection bottom plate 601, an ejection plate 604 is mounted on an ejection fixed shaft 605, the ends of the ejection fixed shaft 605 are respectively rotatably connected to the ejection support plates 602, an ejection electric cylinder 603 is rotatably connected to the bottom of the ejection bottom plate 601 and one side of the ejection plate 604;

[0068] The transition part 62 comprises a transition guide base 606, two transition mounting plates 607 are arranged on the top of the transition guide base 606, each of the two transition mounting plates 607 is provided with a transition bearing seat 612, and the two ends of a transition shaft 610 are rotatably connected with the transition bearing seats 612, a plurality of turnover plates 611 are sleeved on the transition shaft 610 between the two transition bearing seats 612, and the turnover plates 611 are located on the other side of the ejection plate 604; one end of the transition shaft 610 is connected with the output shaft of a speed reducer motor 609 through a shaft coupling 613, a transition motor mounting plate 608 is arranged on the side surface of the transition guide base 606, and the speed reducer motor 609 is tightly connected with the transition motor mounting plate 608;

[0069] The guide part 63 comprises a guide bottom plate 614, the guide bottom plate 614 is arranged on the transition guide base 606, a guide mounting bottom plate 614 is arranged on each of the two sides of the guide bottom plate 614, a guide plate 619 is mounted on a guide fixed shaft 618, the two ends of the guide fixed shaft 618 are rotatably connected with the guide support plates 615, a guide electric cylinder 616 is rotatably connected with the guide bottom plate 614 at the bottom, and the top of the guide electric cylinder 616 is hingedly connected with one side of the guide plate 619 through a guide movable shaft 617; a blocking plate 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;

[0070] The ejection plate 604 is used for ejecting the Chinese cabbage and sending the Chinese cabbage to the turnover plate 611, the turnover plate 611 is used for conveying the Chinese cabbage to the guide plate 619, and the guide plate 619 is used for conveying the Chinese cabbage to the turnover box 7.

[0071] The turnover box 7 is arranged below the guide part 63, the guide part 63 has a plurality of action positions corresponding to the front end, the middle positions and the tail end part of the turnover box 7, the surface of the guide plate 619 is a plane for passing the Chinese cabbage, and the blocking plate 620 is arranged above the end of the other side of the guide plate 619 to make the last guidance before the Chinese cabbage falls into the box.

[0072] The image acquisition system comprises a camera and a visual processing module, the camera acquires Chinese cabbage image data, and the visual processing module identifies the position of the outer leaves to be removed in the image and transmits the position to the controller.

[0073] A control method of the single-wire multi-path Chinese cabbage leaf-removing and boxing device comprises the following steps:

[0074] The Chinese cabbage falls from the upper collecting part 1 into the posture correction mechanism 2 to be posture corrected; the first image collecting system 3 collects the image of the Chinese cabbage after posture correction of the posture correction mechanism 2, identifies the outer leaves of the Chinese cabbage, and transmits to the controller, the controller generates a leaf removal range; the Chinese cabbage falls from the posture correction mechanism 2 into the conveying mechanism 5; the controller controls the first leaf removal mechanism 4 to perform the first leaf removal operation according to the leaf removal range; the second image collecting system 8 collects the image of the Chinese cabbage after the first leaf removal, and transmits to the controller, the controller judges whether to perform the second leaf removal; if the second leaf removal is not needed, the controller controls the first transfer mechanism 6 to transfer the Chinese cabbage to the turnover box 7; if the second leaf removal is needed, the Chinese cabbage advances with the conveying mechanism 5 to the second leaf removal mechanism 9, the controller controls the second leaf removal mechanism 9 to perform the second leaf removal operation, and controls the second transfer mechanism 10 to transfer the Chinese cabbage after the second leaf removal to the turnover box 7.

[0075] In one specific embodiment of the present application, the control method of the single-line multi-path Chinese cabbage leaf removal and boxing includes the following steps:

[0076] (1) The Chinese cabbage falls from the upper collecting part 1 into the posture correction mechanism 2 to be posture corrected;

[0077] (2) The first image collecting system 3 collects the image of the Chinese cabbage after posture correction of the posture correction mechanism 2, the visual processing module identifies the outer leaves of the Chinese cabbage and transmits to the controller, and the controller generates a leaf removal range;

[0078] (3) The Chinese cabbage falls from the posture correction mechanism 2 into the conveying mechanism 5;

[0079] (4) The first leaf removal mechanism 4 performs the leaf removal operation: the controller controls the range adjustment module 43 and the force adjustment module 44 of the left leaf removal part 41 according to the leaf removal range, and adjusts the right leaf removal part 42 at the same time, to perform the first leaf removal operation;

[0080] (5) The second image collecting system 8 collects the image of the Chinese cabbage after the first leaf removal, and transmits to the controller, the controller judges whether to perform the second leaf removal;

[0081] (6) If the second leaf removal is not needed, step (8) is entered;

[0082] (7) If the second leaf removal is needed, the Chinese cabbage advances with the conveying mechanism 5 to the second leaf removal mechanism 9 to perform the leaf removal operation, the controller controls the second leaf removal mechanism 9 to perform the second leaf removal operation, and step (6) is entered;

[0083] (8) The Chinese cabbage passes through the ejection part 61, the transition part 62 to the guide part 63, the guide plate 619 is adjusted to different action positions, and the Chinese cabbage is guided to fall into the corresponding position inside the turnover box 7.

[0084] Preferably, in one specific embodiment of the present application, the three cabbages in the order of A, B, C enter the conveying mechanism 5 in turn. When the cabbage B is in the first transfer mechanism 6, if the next cabbage C that does not need to be de-leafed needs to enter the first transfer mechanism 6, congestion is easily caused. At this time, since the cabbage A has completed basket loading in the second transfer mechanism 10, the second transfer mechanism 10 is relatively idle at the initial position, and the controller can control the conveying mechanism 5 to enter the cabbage C into the second transfer mechanism 10 for basket loading. The basket of the second transfer mechanism 10 temporarily increases the degree of the first de-leafing mechanism 4 and speeds up the first transfer mechanism 6 in the process of loading and unloading, so as to ensure that the cabbage is smoothly loaded in the first transfer mechanism 6. Similarly, the basket of the first transfer mechanism 6 temporarily speeds up the second transfer mechanism 10 in the process of loading and unloading, so as to ensure that the cabbage is smoothly loaded in the second transfer mechanism 10, thereby improving the efficiency. The correction mechanism 2 of the present application is used to adjust the posture of the cabbage. The correction mechanism 2 has a left conveying flat belt 21 and a right conveying flat belt 22 arranged in a certain angle v shape. The conveying mechanism 5 is arranged below the correction mechanism 2 and extends in the length direction. The image acquisition system, the de-leafing mechanism and the transfer mechanism are arranged above the conveying mechanism 5. The controller controls the de-leafing mechanism to adjust the de-leafing amount according to the information obtained by the image acquisition system. The transfer mechanism orderly transfers the cabbage from the conveying mechanism 5 into the turnover box 7. The image acquisition system, the de-leafing mechanism and the transfer mechanism are arranged in several groups in the double-row conveying belt. In the present application, the input cabbage is adjusted to the single line of the conveying mechanism 5 in the axial direction by the correction mechanism 2. The number of the image acquisition system, the de-leafing mechanism, the transfer mechanism and the turnover box 7 can be increased as needed to form multiple de-leafing and loading operations. After the de-leafing by the de-leafing mechanism, the cabbage is transferred into the turnover box 7 by the transfer mechanism, so that the de-leafing and orderly loading operations of the cabbage can be efficiently realized. It should be understood that although the present specification is described in terms of various embodiments, each embodiment does not contain only one independent technical solution. The description manner of the specification is only for the sake of clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can be combined to form other embodiments that can be understood by those skilled in the art.

[0085] The above series of detailed descriptions are only specific descriptions of the feasible embodiments of the present application, and are not used to limit the protection scope of the present application. Any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A single-line, multi-path cabbage leaf removal and packing device, characterized in that, The device comprises a correcting mechanism (2), an image acquisition system, a leaf removing mechanism, a conveying mechanism (5), a transferring mechanism and a controller. The correcting mechanism (2) is located behind the upper harvesting part (1) and is used for correcting the posture of the Chinese cabbages falling from the upper harvesting part (1); a conveying mechanism (5) is arranged below the correcting mechanism (2) in the length extension direction, the Chinese cabbages are adjusted to the axial direction by the correcting mechanism (2) and then enter the conveying mechanism (5), the conveying mechanism (5) is used for conveying the Chinese cabbages backward; at least two levels of image acquisition systems and at least two levels of leaf removing mechanisms are arranged above the conveying mechanism (5) in the length extension direction, and at least two levels of transferring mechanisms are arranged at the sides of the conveying mechanism (5); the controller is connected with the image acquisition systems, the leaf removing mechanisms and the transferring mechanisms respectively; the image acquisition systems are used for acquiring the images of the Chinese cabbages and transmitting the images to the controller, the controller controls the leaf removing mechanisms to remove the leaves of the Chinese cabbages at least once and controls the corresponding transferring mechanisms to transfer the Chinese cabbages after the leaves are removed to the turnover boxes (7); The two levels of image acquisition systems comprise a first image acquisition system (3) and a second image acquisition system (8), the two levels of leaf removing mechanisms comprise a first leaf removing mechanism (4) and a second leaf removing mechanism (9), and the two levels of transferring mechanisms comprise a first transferring mechanism (6) and a second transferring mechanism (10). The first image acquisition system (3) is located behind the correcting mechanism (2), the first leaf removing mechanism (4) is located behind the first image acquisition system (3), the second image acquisition system (8) is located behind the first leaf removing mechanism (4), the second leaf removing mechanism (9) is located behind the second image acquisition system (8), and the second transferring mechanism (10) is located behind the first transferring mechanism (6); turnover boxes (7) are arranged at the ends of the second transferring mechanism (10) and the first transferring mechanism (6) respectively. The first image acquisition system (3) is used for acquiring the images of the Chinese cabbages after the posture correction by the correcting mechanism (2), identifying the outer leaves of the Chinese cabbages and transmitting the images to the controller, the controller generates a leaf removing range and controls the first leaf removing mechanism (4) to perform the first leaf removing operation, the second image acquisition system (8) acquires the images of the Chinese cabbages after the first leaf removing operation and transmits the images to the controller, the controller judges whether the Chinese cabbages need to be removed again, if the Chinese cabbages do not need to be removed again, the controller controls the first transferring mechanism (6) to transfer the Chinese cabbages to the turnover boxes (7), if the Chinese cabbages need to be removed again, the Chinese cabbages are forwarded to the second leaf removing mechanism (9) by the conveying mechanism (5), the controller controls the second leaf removing mechanism (9) to perform the second leaf removing operation and controls the second transferring mechanism (10) to transfer the Chinese cabbages after the second leaf removing operation to the turnover boxes (7).

2. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 1, wherein The correcting mechanism (2) comprises a left conveying flat belt (21) and a right conveying flat belt (22); the right conveying flat belt (22) is identical in structure with the left conveying flat belt (21) and is arranged in a v-shaped mirror image. The left conveying flat belt (21) comprises a group of correction base bodies (203), one end of the correction base body (203) is fixedly connected with a group of head seats (201), the other end of the correction base body (203) is fixedly connected with a group of tail seats (202), the tail seats (202) are rotatably connected with a correction driven shaft (212), the head seats (201) are rotatably connected with a correction driving shaft (211), 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 with a correction synchronous belt driving wheel (209) of a correction speed reducer motor (205) through a correction synchronous belt (210); one end of the correction base body (203) close to the head seat (201) is fixedly connected with a correction speed reducer motor mounting plate (204), the correction speed reducer motor (205) is mounted on the correction speed reducer motor mounting plate (204), and the correction speed reducer motor (205) is mounted on the non-load bearing surface side of the left conveying flat belt (21).

3. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 2, wherein The left conveying flat belt (21) is 135-150 degrees based on the pole shaft, and the right conveying flat belt (22) is 30-45 degrees based on the pole shaft.

4. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 1, wherein The conveying mechanism (5) comprises a conveying base body (501), a conveying bearing seat mounting plate (502), a conveying bearing seat (503), a conveying driving shaft (504), a conveying driven shaft (505), a chain wheel (506), a conveying motor mounting plate (507), a conveying speed reducer motor (508), a conveying driven synchronous wheel (509), a conveying main 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 body (501), the conveying driven shaft (505) is arranged at the other end of the conveying base body (501), two chain wheels (506) are arranged on the conveying driving shaft (504) and the conveying driven shaft (505) respectively, and the conveying driving shaft (504) and the conveying driven shaft (505) are mounted on the upper surface of the conveying base body (501) through the conveying bearing seat mounting plate (502) respectively; the conveying driving shaft (504) is provided with the conveying driven synchronous wheel (509) at one end, the conveying driven synchronous wheel (509) is connected with the conveying main synchronous wheel (510) of the conveying speed reducer motor (508) through the conveying synchronous belt (511), one end of the conveying base body (501) is connected with the conveying motor mounting plate (507), the conveying speed reducer motor (508) is mounted on the conveying motor mounting plate (507), and the two chains (512) are arranged in parallel and correspondingly wrapped around the chain wheels (506) at both ends of the conveying base body (501).

5. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 4, wherein A plurality of chain supporting mechanisms (51) are arranged between the chain (512) and the conveying base body (501). The supporting chain mechanism (51) comprises a supporting chain pad (513), a supporting chain shaft (514), a supporting chain bearing seat (515) and a supporting chain sprocket (516); the supporting chain shaft (514) is provided with the supporting chain sprocket (516) at one end, penetrates through the supporting chain bearing seat (515) at the other end, and is connected with the supporting chain pad (513); and the supporting chain pad (513) is installed on the surface of the conveying base body (501).

6. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 1, wherein The leaf removing mechanism (4) comprises a left leaf removing part (41) and a right leaf removing part (42); the left leaf removing part (41) and the right leaf removing part (42) are identical in structure, and the left leaf removing part (41) and the right leaf removing part (42) are arranged in mirror image. The left leaf removing part (41) comprises a range adjusting module (43) and a force adjusting module (44); the range adjusting module (43) comprises a range adjusting module base (417), the two ends of the range adjusting module base (417) are respectively connected with a module bearing bottom plate (415) and a module motor installation plate (418), a module stepping motor (421) is connected with the module motor installation plate (418), a screw bearing seat (416) is connected with the range adjusting module base (417), a screw (414) is rotatably installed at the two ends of the module bearing bottom plate (415) and the screw bearing seat (416), a screw guide rail (419) is arranged on the range adjusting module base (417), a sliding block (413) is provided with a thread in the middle and is threadedly connected with the screw (414), and the sliding block (413) is driven by the module stepping motor (421) to move linearly along the screw guide rail (419) through the driving of a coupling (420) and the screw (414); The force adjusting module (44) comprises a force adjusting base (401), the lower end of the force adjusting base (401) is provided with a module interconnecting plate (402), the lower part of the module interconnecting plate (402) is connected with the sliding block (413) of the range adjusting module (43), and the module interconnecting plate (402) is driven by the sliding block (413) to move linearly; the upper end of one side of the force adjusting base (401) is provided with an L-shaped motor installation plate (408), the L-shaped motor installation plate (408) is connected with a speed reducer motor (407), the other side of the force adjusting base (401) is provided with two mirror image L-shaped bearing seats (403), bearing seats (412) are arranged in the slots of the two L-shaped bearing seats (403), a rotating brush (406) is sleeved on a rotating brush shaft (404), the rotating brush (406) is provided with locking pieces (405) on the two sides, the rotating brush shaft (404) is rotatably connected with the bearing seats (412) at the two ends, and the rotating brush shaft (404) is provided with a driven synchronous wheel (411) at one end and is connected with a driving synchronous wheel (409) of the speed reducer motor (407) through a synchronous belt (410).

7. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 6, wherein 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 30-50 degrees.

8. The single-line multi-path Chinese cabbage unleafing and boxing apparatus according to claim 1, wherein The transfer mechanism (6) comprises an ejection part (61), a transition part (62) and a guide part (63). The ejection part (61) comprises an ejection base plate (601) connected with the conveying base (501), the ejection base plate (601) is provided with ejection support plates (602) on both sides, an ejection plate (604) is installed on an ejection fixed shaft (605), both ends of the ejection fixed shaft (605) are rotatably connected with the ejection support plates (602), a bottom of an ejection electric cylinder (603) is rotatably connected with the ejection base plate (601), and a top of the ejection electric cylinder (603) is rotatably connected with one side of the ejection plate (604); The transition part (62) comprises a transition guide base (606), both sides of a top of the transition guide base (606) are provided with two transition installation plates (607), each of the two transition installation plates (607) is provided with a transition bearing seat (612), both ends of a transition shaft (610) are rotatably connected with the transition bearing seats (612), the transition shaft (610) is sleeved with a plurality of turnover plates (611) between the two transition bearing seats (612), and the turnover plates (611) are located on the other side of the ejection plate (604); one end of the transition shaft (610) is connected with an output shaft of a speed reducer motor (609) through a shaft coupling (613), a transition motor installation plate (608) is arranged on a side surface of the transition guide base (606), and the speed reducer motor (609) is connected with the transition motor installation 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), guide support plates (615) are arranged on both sides of the guide base plate (614), a guide plate (619) is installed on a guide fixed shaft (618), both ends of the guide fixed shaft (618) are rotatably connected with the guide support plates (615), a bottom of a guide electric cylinder (616) is rotatably connected with the guide base plate (614), and a top of the guide electric cylinder (616) is hingedly connected with one side of the guide plate (619) through a guide movable shaft (617); a blocking plate (620) is arranged above an 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 for ejecting and feeding the Chinese cabbage to the turnover plate (611), the turnover plate (611) is used for conveying the Chinese cabbage to the guide plate (619), and the guide plate (619) is used for conveying the Chinese cabbage to the turnover box (7).

9. A control method of the single-line multi-path Chinese cabbage unleafing and boxing apparatus according to any one of claims 1 to 8, characterized by, The method comprises the following steps: The Chinese cabbage falls from the upper collecting part (1) into the posture correcting mechanism (2) to be posture corrected; the first image collecting system (3) collects the image of the Chinese cabbage after posture correction of the posture correcting mechanism (2), identifies the outer leaves of the Chinese cabbage, and transmits to the controller to generate a leaf removal range; the Chinese cabbage falls from the posture correcting mechanism (2) into the conveying mechanism (5); the controller controls the first leaf removing mechanism (4) to perform the first leaf removing operation according to the leaf removal range; the second image collecting system (8) collects the image of the Chinese cabbage after the first leaf removing operation and transmits to the controller to determine whether to perform the second leaf removing operation; if the second leaf removing operation is not needed, the controller controls the first transfer mechanism (6) to transfer the Chinese cabbage to the turnover box (7); if the second leaf removing operation is needed, the Chinese cabbage advances with the conveying mechanism (5) to the second leaf removing mechanism (9), the controller controls the second leaf removing mechanism (9) to perform the second leaf removing operation, and controls the second transfer mechanism (10) to transfer the Chinese cabbage after the second leaf removing operation to the turnover box (7).

Images