Automatic feeding and peeling device for Tongling white ginger

Abstract

The application belongs to the technical field of ginger processing, and discloses a Tongling white ginger automatic feeding and peeling device, which comprises a feeding mechanism and a peeling mechanism. The feeding mechanism comprises a belt conveyor, a quantitative feeding hopper, an identification assembly, a fresh ginger splitting assembly, a feeding mechanical arm and a clamping feeding assembly. The clamping feeding assembly comprises upper and lower interval conveying belt groups, one of which is provided with a flexible plate on the belt surface, and a plurality of arc-shaped grooves are arranged on the flexible plate at intervals. The peeling mechanism comprises two peeling assemblies. Each peeling assembly comprises a left and right arranged rolling brush assembly and a clamping conveying assembly. The clamping conveying assembly comprises a mounting seat, a plurality of clamping assemblies and a driving assembly are arranged on the mounting seat, and the spacing between the clamping assemblies is consistent with the spacing between the arc-shaped grooves. The application constructs a full-process automatic production line from quantitative feeding, shape identification and bifurcation splitting of fresh ginger to orderly feeding, segmented peeling and conveying, improves the processing efficiency, and can meet the demand of large-scale production.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ginger processing, in particular to an automatic feeding and peeling device for Tongling white ginger. BACKGROUND

[0002] Tongling white ginger is a famous geographical indication product in China, and is also a global important agricultural heritage recognized by the United Nations Food and Agriculture Organization. It has a high reputation in the domestic and foreign markets due to its unique quality of "white skin, tender flesh, no residue, juicy and rich ginger aroma". It is not only the core pillar industry of local agricultural economy, but also a characteristic agricultural product treasure with a history of thousands of years.

[0003] At present, the peeling operation of Tongling white ginger still generally relies on traditional processing methods, mainly divided into manual peeling and semi-mechanized peeling. Manual peeling is performed by an operator holding a knife or sanding tool to process the ginger. Although this method can adjust the operating force and angle according to the shape of the ginger to some extent, and reduce the loss of ginger flesh, it has a great labor intensity, and the operator is prone to fatigue due to long-term repetition of single action, resulting in low peeling efficiency and difficulty in meeting the production capacity demand of large-scale production. The peeling quality is also significantly affected by human factors. The technical level and operation proficiency of different operators differ greatly, and problems such as incomplete peeling and excessive scraping of ginger flesh are prone to occur, resulting in waste of raw materials.

[0004] To improve the drawbacks of manual peeling, some enterprises have begun to try to use semi-mechanized peeling equipment such as drum-type peeling machines and brush-type peeling machines. This type of equipment achieves peeling by driving the peeling parts to rub against the ginger through a motor, which improves the processing efficiency to some extent. However, Tongling white ginger has irregular shape and multiple branches, and the existing semi-mechanized equipment is prone to stacking and jamming during processing, which causes some ginger to not be in effective contact with the peeling parts, resulting in poor peeling effect and even missing peeling.

[0005] Therefore, it is an urgent need to develop an automatic device that can adapt to the shape characteristics of Tongling white ginger, achieve precise feeding, efficient splitting and targeted peeling, solve the bottleneck problem in the prior art, and promote the upgrading of Tongling white ginger industry. SUMMARY

[0006] To solve the above problems, the present application provides an automatic feeding and peeling device for Tongling white ginger.

[0007] The above technical purpose of the present application is achieved by the following technical scheme: an automatic feeding and peeling device for Tongling white ginger, comprising

[0008] The feeding mechanism comprises a belt conveyor and a clamping feeding assembly, the belt conveyor is sequentially provided with a quantitative feeding hopper, an identification assembly, a raw ginger splitting assembly and a feeding manipulator from front to back, the quantitative feeding hopper is used for storing raw ginger and intermittently feeding the raw ginger onto the belt conveyor, the identification assembly is used for identifying the shape of the raw ginger, the raw ginger splitting assembly is used for splitting the bifurcation of the raw ginger to form independent ginger pieces, and the feeding manipulator clamps and feeds the split ginger pieces into the clamping feeding assembly; the clamping feeding assembly comprises two groups of conveying belts arranged in an interval, and a flexible plate is annularly arranged on the conveying belt of one group of conveying belts, the flexible plate is vertically arranged, and a plurality of arc-shaped grooves are arranged on the flexible plate in an interval.

[0009] The peeling mechanism comprises two groups of peeling assemblies arranged in front and back, the peeling assembly comprises a rolling brush assembly and a clamping conveying assembly arranged in left and right, the rolling brush assembly comprises two groups of peeling rolling brushes arranged in up and down, the clamping conveying assembly comprises a mounting seat horizontally moving along the conveying direction of the belt conveyor, a plurality of clamping assemblies arranged in an interval along the conveying direction of the belt conveyor are arranged on the mounting seat, and a driving assembly for driving a plurality of clamping assemblies to synchronously clamp or release is arranged on the mounting seat, the interval between the clamping assemblies is consistent with the interval between the arc-shaped grooves, the rolling brush assembly of the first group of peeling assemblies is arranged on one side of the clamping feeding assembly, and the rolling brush assemblies and the clamping conveying assemblies of the front and back peeling assemblies are arranged in an intersecting mode.

[0010] The control mechanism is used for controlling the whole working process and the actions of the moving parts in each mechanism.

[0011] Further, the identification assembly comprises a first gantry arranged on the belt conveyor and an identification camera arranged on the first gantry, and the raw ginger splitting assembly comprises a second gantry arranged on the belt conveyor and a plurality of splitting manipulators arranged on the second gantry, the identification camera is used for shooting raw ginger images and transmitting the images to the control mechanism, the control mechanism generates working instructions to control the actions of the plurality of splitting manipulators to split the raw ginger after analysis.

[0012] Further, the clamping feeding assembly comprises a cabinet arranged at the end of the belt conveyor, the cabinet is provided with a top plate, two lifting cylinders are arranged on the top plate in an interval, the piston rods of the lifting cylinders are downward and pass through the top plate, the conveying belt group comprises a conveying support, conveying rollers arranged at both ends of the conveying support, a conveying belt connected between the conveying rollers and a driving motor for driving one of the conveying rollers to rotate, the conveying support of the lower conveying belt group is fixedly arranged on the cabinet, and the conveying support of the upper conveying belt group is connected with the end portions of the piston rods of the two lifting cylinders.

[0013] Further, the rolling brush assembly comprises a fixed support, two rotating rollers are rotatably arranged on the fixed support, the length direction of the rotating rollers is consistent with the conveying direction of the belt conveyor, a rotating motor for driving the rotating rollers to rotate is arranged on the fixed support and located at the end of the rotating rollers, and two groups of peeling rolling brushes are arranged on the two rotating rollers respectively, and the length of the bristles of the peeling rolling brushes gradually increases from front to back.

[0014] Further, a mounting rack is arranged on the fixed support, a flushing water pipe with one end connected to the water pump and the water tank and the other end sealed is arranged on the mounting rack, a plurality of high-pressure nozzles in communication with the pipe cavity are arranged on the pipe wall of the flushing water pipe, and the high-pressure nozzles are located on the side of the peeling rolling brush close to the clamping conveying assembly and the spray port faces downward.

[0015] Further, the mounting box is arranged on the side close to the rolling brush assembly, a plurality of support rods are arranged on the side close to the rolling brush assembly along the conveying direction of the belt conveyor, the cross section of the support rod is Y-shaped as a whole, the number of the clamping assemblies is consistent with the number of the support rods and one-to-one correspondence, the clamping assembly comprises three clamping arms corresponding to the three convex edges of the support rod respectively, two connecting rods are arranged between the clamping arms and the corresponding convex edges of the support rod, the two ends of the two connecting rods are rotatably connected to the clamping arms and the support rod respectively to form a parallelogram linkage mechanism, a driving plate is slidably sleeved on the support rod, three driving rods are arranged on the driving plate corresponding to the three convex edges of the support rod, one end of the driving rod is rotatably connected to the driving plate, and the other end is rotatably connected to the middle part of one of the connecting rods in the parallelogram linkage mechanism corresponding to the convex edge.

[0016] Further, the driving assembly comprises a fixed seat arranged on the top of the mounting box and a clamping cylinder, the fixed seats are arranged along the conveying direction of the belt conveyor and correspond to the driving plates one by one, the cylinder part of the clamping cylinder is fixed on the fixed seat, and the piston rod end is connected to the corresponding driving plate, a manifold is arranged on the mounting seat, and a gas supply assembly is arranged on the bottom of the mounting seat, the gas supply assembly and the manifold are connected through an air pipe, a plurality of air flow ports are arranged on the manifold and connected to the air flow ports of the clamping cylinder through the air pipe, and the gas supply assembly supplies gas to each clamping cylinder through the manifold to drive the driving plate to slide on the support rod.

[0017] Further, a plurality of rotating shafts are arranged in the mounting box and are perpendicular to the conveying direction of the belt conveyor, the number of the rotating shafts is consistent with the number of the supporting rods, and the rotating shafts are fixedly connected with the supporting rods at the end close to the rolling brush assembly and penetrating through the mounting box, the outer periphery of the driving plate is circular and is sleeved with the annular plate, the driving plate is rotationally connected with the annular plate, the end of the piston rod of the clamping cylinder is fixedly connected with the annular plate, the rotating shafts are provided with rotating gears on the shafts arranged in the mounting box, a rack is slidingly arranged in the mounting box and is engaged with the rotating gears on all the rotating shafts, a through hole is formed in the rotating shaft on one side and is coaxial with the rotating shaft, a sliding rod is axially slidingly arranged in the through hole, a helical groove is formed in the outer wall of the sliding rod, and a helical protrusion is arranged on the inner wall of the through hole and is matched with the helical groove, the clamping and conveying assembly further comprises a guide plate arranged along the conveying direction of the belt conveyor, a guide groove is formed in the guide plate along the length direction of the guide plate, the guide groove comprises a wavy groove and straight grooves at both ends of the wavy groove, and the end of the sliding rod away from the rotating shaft is provided with a guide rod which is slidingly matched with the guide groove.

[0018] Further, a guide rod is arranged on the side of the mounting box corresponding to the sliding rod, a guide plate is slidingly arranged on the guide rod, the end of the guide plate away from the guide rod is fixedly connected with the sliding rod, and a limiting disc is fixedly arranged on the rods on both sides of the guide plate.

[0019] Further, the clamping and conveying assembly comprises a supporting seat, a supporting plate is arranged on the supporting seat, a connecting plate is arranged between the supporting plate and the mounting seat, two first connecting rods are arranged between the supporting plate and the connecting plate, two second connecting rods are arranged between the connecting plate and the mounting seat, the ends of the first connecting rods and the second connecting rods are downwardly protrudingly provided with convex shafts, connecting holes are formed in the supporting plate, the connecting plate and the mounting seat, the convex shafts at the ends of the two first connecting rods are rotationally connected with the corresponding connecting holes in the supporting plate and the connecting plate to form a parallelogram linkage mechanism, the convex shafts at the ends of the two second connecting rods are rotationally connected with the corresponding connecting holes in the connecting plate and the mounting seat to form a parallelogram linkage mechanism, the convex shafts at the connecting ends of the first connecting rod and the second connecting rod on the inner side penetrate through the connecting plate and are fixedly provided with driving gears, the two driving gears are engaged, a driving cylinder is further arranged on the supporting seat, the cylinder end of the driving cylinder is hingedly connected with the supporting seat, and the piston rod end is hingedly connected with the middle part of the first connecting rod on the outer side.

[0020] In conclusion, the present application has the following advantages:

[0021] 1. In this application, a feeding mechanism, a peeling mechanism, and a control mechanism are set up to construct a fully automated production line from quantitative feeding of ginger, shape recognition, branching and splitting, to orderly feeding, segmented peeling and conveying. This completely eliminates the dependence on manual operation, greatly improves processing efficiency, and can meet the needs of large-scale production.

[0022] 2. In this application, an identification component and a ginger splitting component are set up. After the identification camera takes a picture of the ginger, it is transmitted to the control mechanism. The control mechanism accurately locates the fork position through image analysis and drives the splitting robot to break the fork into independent ginger pieces, so as to avoid incomplete peeling or damage to the ginger pieces due to the fork during the subsequent peeling process. Two sets of peeling components are set up, and the roller brush component and the clamping and conveying component in the two sets are arranged crosswise, so as to peel both ends of the ginger pieces separately, ensuring the peeling effect.

[0023] 3. In this application, a mounting base, mounting box, Y-shaped support rod, clamping arm, connecting rod, drive plate, drive rod, and clamping cylinder are provided. Two connecting rods are rotatably connected to the clamping arm and support rod to form a parallelogram linkage mechanism. The drive plate slides on the Y-shaped support rod to drive the drive rod to move, which in turn drives the parallelogram linkage mechanism to deform, thereby causing the three clamping arms to separate or close synchronously, realizing the clamping and releasing of the ginger piece. Furthermore, the manifold and air supply assembly supply air to several clamping cylinders in a unified manner, so that each clamping component maintains the same clamping force. This not only controls the simultaneous action of each clamping component, but also allows each clamping component to adaptively clamp the ginger piece, ensuring stable clamping.

[0024] 4. In this application, a rotating shaft, rotating gear, rack, sliding rod, guide plate, guide groove, and annular plate are provided. During the horizontal movement of each clamping component driven by the mounting base, the sliding rod is driven to slide by the wavy groove in the guide groove. Then, the spiral groove on the sliding rod is driven to rotate by the spiral protrusion in the through hole of the rotating shaft. This causes the clamping components to rotate the ginger piece, so that the ginger piece rotates during the horizontal movement of the clamping components. This allows for better cooperation with the peeling roller brush, enabling all-round peeling and ensuring the peeling effect. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the belt conveyor and its components according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the clamping and feeding assembly according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the peeling mechanism according to an embodiment of the present invention;

[0029] Figure 5 is a structural schematic diagram of the peeling assembly of the embodiment of the present application;

[0030] Figure 6 is a structural schematic diagram of the clamping and conveying assembly of the embodiment of the present application;

[0031] Figure 7 is a structural schematic diagram of the embodiment of the present application for highlighting the first connecting rod and the second connecting rod part;

[0032] Figure 8 is a structural schematic diagram of the mounting box, clamping assembly and driving assembly of the embodiment of the present application;

[0033] Figure 9 is a structural schematic diagram of the embodiment of the present application for highlighting the internal structure of the mounting box and the sliding rod part;

[0034] Figure 10 is a structural schematic diagram of the clamping assembly of the embodiment of the present application.

[0035] In the figure: 10, belt conveyor; 11, quantitative feeding hopper; 12, identification assembly; 121, first gantry; 122, identification camera; 13, raw ginger splitting assembly; 131, second gantry; 132, splitting manipulator; 14, feeding manipulator; 20, clamping and feeding assembly; 21, conveying belt group; 211, conveying support; 212, conveying roller; 213, conveying belt; 22, flexible plate; 23, arc-shaped groove; 24, cabinet; 25, top plate; 26, lifting cylinder; 30, rolling brush assembly; 31, peeling rolling brush; 32, fixed support; 33, rotating roller; 34, rotating motor; 35, mounting frame; 36, flushing water pipe; 37, high-pressure spray head; 40, clamping and conveying assembly; 41, mounting seat; 42, clamping assembly; 421, clamping arm; 422, connecting rod; 423, driving plate; 424, driving rod; 425, annular plate; 43, driving assembly; 431, fixed seat; 432, clamping cylinder; 433, manifold; 434, gas supply assembly; 44, mounting box; 441, rotating shaft; 442, rotating gear; 443, rack; 444, through hole; 445, sliding rod; 446, guide rod; 447, guide rod; 448, guide plate; 449, limiting round plate; 45, supporting rod; 46, guide plate; 461, wavy groove; 462, straight groove; 47, supporting seat; 471, supporting plate; 48, connecting plate; 481, first connecting rod; 482, second connecting rod; 483, protruding shaft; 484, driving gear; 49, driving cylinder. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative effort on the basis of the embodiments in the present application shall fall within the scope of the present application.

[0037] As shown in Figures 1-10 The embodiment of the present application discloses a Tongling white ginger automatic feeding peeling device, which comprises a feeding mechanism, a peeling mechanism and a control mechanism. The feeding mechanism is used for storing and feeding materials and processing raw ginger in a bifurcated manner to facilitate subsequent peeling operations. The peeling mechanism is used for peeling the split ginger pieces. The control mechanism is used for regulating the entire working process and controlling the actions of the moving parts in each mechanism.

[0038] Specifically, the feeding mechanism comprises a belt conveyor 10 and a clamping feeding assembly 20. A quantitative feeding hopper 11, an identification assembly 12, a raw ginger splitting assembly 13 and a feeding manipulator 14 are sequentially arranged on the belt conveyor 10 from front to back. The belt conveyor 10 is a conventional industrial belt conveyor 10 arranged in a horizontal direction and used for conveying raw ginger. The belt width can be designed according to the maximum diameter of Tongling white ginger, and the conveying speed can be adjusted by the control mechanism.

[0039] The quantitative feeding hopper 11 is used for storing raw ginger and intermittently feeding the raw ginger onto the belt conveyor 10. The bottom of the quantitative feeding hopper 11 is provided with an electromagnetic vibrating feeder and a quantitative gate. The vibration frequency of the electromagnetic vibrating feeder and the opening degree of the quantitative gate are controlled by the control mechanism to realize intermittent quantitative feeding, avoid the accumulation of raw ginger on the belt, and ensure the accuracy of subsequent identification and splitting.

[0040] The identification assembly 12 is used for identifying the shape of raw ginger and comprises a first gantry 121 arranged on the belt conveyor 10 and an identification camera 122 arranged on the first gantry 121. The first gantry 121 is arranged across the two sides of the belt conveyor 10, and the identification camera 122 is an industrial CCD camera fixed below the crossbeam of the first gantry 121 with the lens facing the belt surface of the belt conveyor 10. The camera covers the entire belt width in the shooting range. The identification camera 122 is connected with the image acquisition card of the control mechanism, which can shoot the image of raw ginger on the belt in real time and transmit it to the control mechanism. The control mechanism is provided with an image recognition algorithm, which can accurately identify the contour, size and bifurcation position of raw ginger through operations such as gray scale processing and edge detection.

[0041] The ginger splitting assembly 13 is used to split the bifurcated ginger to form independent ginger pieces, including a second gantry 131 arranged on the belt conveyor 10 and a plurality of splitting manipulators 132 arranged on the second gantry 131, the second gantry 131 is arranged across the belt conveyor 10, and the splitting manipulators 132 are arranged on the cross beam of the second gantry 131 in the width direction of the belt, each gripping jaw is independently adjustable. When the control mechanism identifies the bifurcated position of the ginger, it generates a splitting work instruction to control the plurality of splitting manipulators 132 to act on the ginger, one of the splitting manipulators 132 precisely holds the ginger stem, and the remaining splitting manipulators 132 respectively hold the ginger bifurcation and move in the opposite direction to split the bifurcation to form independent ginger pieces; for ginger without obvious bifurcation, the control mechanism does not issue a splitting instruction, and the splitting manipulators 132 do not act, and the ginger pieces directly enter the next link.

[0042] The loading manipulator 14 clamps and feeds the split ginger pieces into the clamping feeding assembly 20, which is a multi-degree-of-freedom pneumatic manipulator installed on the side support at the end of the belt conveyor 10, and the working range covers from the end of the belt conveyor 10 to the feeding end of the clamping feeding assembly 20. The gripping jaw of the manipulator is made of flexible rubber material to avoid injuring the ginger pieces, and it accurately clamps the split independent ginger pieces according to the ginger piece position information transmitted by the control mechanism and transfers them to the clamping feeding assembly 20.

[0043] The clamping feeding assembly 20 is located at the end of the belt conveyor 10 and is connected with the peeling mechanism. The clamping feeding assembly 20 comprises a cabinet 24, a top plate 25, lifting cylinders 26 and two sets of conveying belts 213 groups 21. The cabinet 24 is arranged at the end of the belt conveyor 10 and has a frame structure to provide mounting support. The two sets of conveying belts 213 groups 21 are arranged in an upper and lower spaced manner. Each conveying belt 213 group 21 comprises a conveying support 211, conveying rollers 212 arranged at both ends of the conveying support 211, a conveying belt 213 connected between the conveying rollers 212, and a driving motor for driving one of the conveying rollers 212 to rotate. The driving motor drives one of the conveying rollers 212 to rotate to drive the conveying belt 213 to move, thereby achieving horizontal conveying. The top plate 25 is arranged at the top of the cabinet 24. Two lifting cylinders 26 are arranged on the top plate 25 in a spaced manner. The piston rods of the lifting cylinders 26 are downwardly arranged and pass through the top plate 25. The conveying supports 211 of the upper conveying belt 213 group 21 are connected with the ends of the piston rods of the two lifting cylinders 26. The conveying supports 211 of the lower conveying belt 213 group 21 are fixedly arranged on the cabinet 24. The height of the upper conveying belt 213 group 21 is adjusted by the extension and retraction of the lifting cylinders 26, so as to adjust the spacing between the upper and lower conveying belts 213 and adapt to ginger blocks of different sizes. A flexible plate 22 is annularly arranged on the surface of one of the conveying belts 213 groups 21. The flexible plate 22 is made of food-grade silicone material. The surface of the flexible plate 22 is arranged vertically and a plurality of arc-shaped grooves 23 are arranged on the surface of the flexible plate 22 in a spaced manner along the conveying direction. The arc-shaped grooves 23 and the conveying belt 213 on the other side cooperate to form a clamping space matching the shape of the ginger block. On the one hand, the ginger block is prevented from sliding during conveying. On the other hand, the ginger block can be clamped to be conveyed forward on the conveying belt 213 in a spaced manner, so as to be clamped by the subsequent peeling assembly.

[0044] The peeling mechanism comprises two groups of peeling assemblies arranged in front and back. Each peeling assembly comprises a brush rolling assembly 30 and a clamping conveying assembly 40 arranged in left and right. The brush rolling assembly 30 of the first group of peeling assemblies is arranged on one side of the clamping feeding assembly 20. The brush rolling assemblies 30 and the clamping conveying assemblies 40 of the front and back peeling assemblies are arranged in a cross manner to form a cross processing structure. The two sides of the ginger block are processed respectively to ensure clean peeling.

[0045] The roll brush assembly 30 comprises a fixed support 32 and a peeling roll brush 31. The fixed support 32 is provided with two rotating rollers 33 arranged in an up-down manner. The length direction of the rotating rollers 33 is consistent with the conveying direction of the belt conveyor 10. The peeling roll brush 31 is provided with two groups of peeling roll brushes 31 arranged on the two rotating rollers 33 in an up-down manner. The fixed support 32 is provided with a rotating motor 34 at the end of the rotating roller 33. The rotating motor 34 drives the rotating roller 33 to rotate, and drives the peeling roll brush 31 to rub the ginger to remove the ginger skin. Considering the characteristics of the Tongling white ginger, such as thin skin and tender flesh, the length of the bristles of the peeling roll brush 31 gradually increases from front to back. Therefore, the ginger gradually contacts the bristles of the peeling roll brush 31 during the advancing process. The ginger is first quickly removed from the surface of the ginger, and most of the loose skin is removed. The preliminary cleaning and peeling are completed. The residual skin is finely polished in the texture and fine recesses of the ginger block, so as to ensure uniform and complete peeling.

[0046] The fixed support 32 is further provided with a mounting frame 35. The mounting frame 35 is provided with a flushing water pipe 36 connected to the water pump and the water tank at one end and sealed at the other end. A plurality of high-pressure nozzles 37 are arranged on the pipe wall of the flushing water pipe 36 and communicate with the pipe cavity. The high-pressure nozzles 37 are located on the side of the peeling roll brush 31 close to the clamping conveying assembly 40 and the spray port faces downward. During the peeling process, the high-pressure nozzles 37 continuously spray water. On the one hand, the ginger skin and mud on the surface of the ginger block are washed away to prevent them from adhering to the surface of the ginger block and affecting the peeling effect. On the other hand, the peeling roll brush 31 is cleaned to prevent the ginger skin from winding around the bristles and prolong the service life of the roll brush.

[0047] The clamping conveying assembly 40 comprises a mounting seat 41 moving horizontally along the conveying direction of the belt conveyor 10. A plurality of clamping assemblies 42 are arranged on the mounting seat 41 and spaced apart along the conveying direction of the belt conveyor 10. The driving assembly 43 drives the clamping assemblies 42 to clamp or release synchronously. The spacing between the clamping assemblies 42 is consistent with the spacing between the arc-shaped grooves 23. The clamping assemblies 42 clamp the ginger blocks on the upper and lower conveying belts 213 of the clamping feeding assembly 20 to realize stable clamping and horizontal conveying of the ginger blocks. The clamping conveying assembly 40 cooperates with the roll brush assembly 30 to complete the peeling work.

[0048] The clamping conveying assembly 40 further comprises a support base 47, the support base 47 is provided with a support plate 471, the support plate 471 and the mounting base 41 are provided with a connecting plate 48, the support plate 471 and the connecting plate 48 are provided with two first connecting rods 481, the connecting plate 48 and the mounting base 41 are provided with two second connecting rods 482, the two ends of the first connecting rod 481 and the second connecting rod 482 are provided with a convex shaft 483 protruding downward, the support plate 471, the connecting plate 48 and the mounting base 41 are all provided with corresponding connecting holes, the convex shafts 483 at the two ends of the two first connecting rods 481 are rotatably connected with the corresponding connecting holes on the support plate 471 and the connecting plate 48 to form a parallelogram linkage 422 mechanism, the convex shafts 483 at the two ends of the two second connecting rods 482 are rotatably connected with the corresponding connecting holes on the connecting plate 48 and the mounting base 41 to form a parallelogram linkage 422 mechanism, and together they constitute a two-stage parallelogram linkage 422 mechanism. The convex shafts 483 at the connecting ends of the first connecting rod 481 and the second connecting rod 482 located on the inner side pass through the connecting plate 48 downward and are fixedly provided with drive gears 484, the two drive gears 484 are meshed to ensure the synchronous movement of the two-stage parallelogram linkage 422 mechanism. A drive cylinder 49 is further arranged on the support base 47, the cylinder body end of the drive cylinder 49 is hingedly connected with the support base 47, and the piston rod end is hingedly connected with the middle part of the first connecting rod 481 located on the outer side. The first connecting rod 481 is driven to move by the drive cylinder 49, and the mounting base 41 is driven to move stably along the horizontal direction under the synchronous movement of the two-stage parallelogram linkage 422 mechanism.

[0049] The mounting base 41 is provided with a mounting box 44 on the side close to the rolling brush assembly 30, a plurality of support rods 45 are arranged on the side of the mounting box 44 close to the rolling brush assembly 30 and are spaced apart along the conveying direction of the belt conveyor 10, the cross section of the support rod 45 is Y-shaped as a whole, and the number of the clamping assemblies 42 is consistent with and one-to-one corresponds to the number of the support rods 45. The clamping assembly 42 comprises three clamping arms 421 corresponding to the three convex edges of the support rod 45 respectively, the three clamping arms 421 are designed to adapt to ginger pieces of different shapes and ensure the clamping stability and positioning accuracy in the peeling process. The clamping end of the clamping arm 421 is in a strip shape, so as to adapt to ginger pieces of different lengths. The inner side of the clamping arm 421 is provided with a flexible rubber pad, which plays a buffering role during clamping and avoids clamping injury to the ginger pieces.

[0050] The clamping arm 421 is provided with two connecting rods 422 between the corresponding convex edges of the support rod 45, and the two ends of the two connecting rods 422 are respectively rotatably connected with the clamping arm 421 and the support rod 45 to form a parallelogram connecting rod 422 mechanism. In this way, the movement of one of the connecting rods 422 can drive the movement of the clamping arm 421, and the opening and closing of the three clamping arms 421 can be realized. The driving plate 423 is slidably sleeved on the support rod 45, and three driving rods 424 are arranged on the driving plate 423 corresponding to the three convex edges of the support rod 45. One end of the driving rod 424 is rotatably connected with the driving plate 423, and the other end is rotatably connected with the middle part of one of the connecting rods 422 in the parallelogram connecting rod 422 mechanism at the corresponding convex edge. In this way, the sliding of the driving plate 423 on the support rod 45 can drive the movement of the three driving rods 424, so as to drive the movement of the three clamping arms 421 to realize the opening and closing.

[0051] The driving assembly 43 includes a fixed seat 431 arranged at the top of the mounting box 44 and a clamping cylinder 432. The fixed seat 431 is arranged in intervals along the conveying direction of the belt conveyor 10 and corresponds to the driving plate 423 one by one. The cylinder body part of the clamping cylinder 432 is fixed on the fixed seat 431, and the piston rod end is connected with the corresponding driving plate 423, so as to drive the driving plate 423 to slide on the support rod 45 through the clamping cylinder 432. The mounting seat 41 is provided with a manifold 433, and the bottom of the mounting seat 41 is provided with a gas supply assembly 434. The gas supply assembly 434 includes an air compressor and a solenoid valve. The gas supply assembly 434 is connected with the manifold 433 through an air pipe. The manifold 433 is provided with a plurality of air flow ports and is connected with the air flow ports of each clamping cylinder 432 through an air pipe. The on-off of the solenoid valve is controlled by a control mechanism, so as to realize the centralized gas supply of the gas supply assembly 434 to each clamping cylinder 432 through the manifold 433 to drive the driving plate 423 to slide on the support rod 45. The centralized gas supply of each clamping cylinder 432 by the gas supply assembly 434 and the manifold 433 can ensure that the gas pressures of the multiple groups of clamping cylinders 432 are consistent, and then the parallelogram connecting rod 422 mechanism between the support rod 45 and the clamping arm 421 is matched to realize the self-adaptive clamping force adjustment of the Tongling white ginger pieces of different shapes and sizes, which can ensure the clamping stability and avoid the ginger pieces being clamped and damaged.

[0052] A plurality of rotating shafts 441 are arranged in the installation box 44, and the rotating shafts 441 are perpendicular to the conveying direction of the belt conveyor 10. The number of the rotating shafts 441 is consistent with the number of the supporting rods 45, and the rotating shafts 441 are arranged near one end of the supporting rods 45, pass through the installation box 44, and are fixedly connected with the supporting rods 45, so that the supporting rods 45 can be synchronously rotated by the rotating shafts 441, the rotating of the clamping assembly 42 is realized, the ginger pieces can be synchronously turned when contacting with the peeling roller brush 31, and the all-around peeling is ensured. The outer periphery of the driving plate 423 is circular and is sleeved with an annular plate 425. The driving plate 423 is rotationally connected with the annular plate 425, and the annular plate 425 is fixedly connected with the end of the piston rod of the clamping cylinder 432. In this way, the clamping cylinder 432 can drive the driving plate 423 to slide on the supporting rod 45 by driving the annular plate 425 to move horizontally, the opening and closing of the clamping arm 421 is realized, and the driving plate 423 can synchronously rotate with the supporting rod 45 while the annular plate 425 remains fixed when the supporting rod 45 is rotated by the rotating shaft 441. In this way, the driving plate 423 can realize the horizontal sliding and the rotation, and the two actions do not interfere with each other.

[0053] The rotating gear 442 is arranged on the shaft of the rotating shaft 441 located in the installation box 44. The rack 443 is arranged in the installation box 44 in a sliding manner and is engaged with the rotating gears 442 on all the rotating shafts 441. The rotation of all the rotating gears 442 can be realized by sliding the rack 443 in the installation box 44, so that the rotation of all the rotating shafts 441 is realized, and the rotation of all the clamping assemblies 42 is realized. The through hole 444 is arranged in the rotating shaft 441 in a coaxial manner. The sliding rod 445 is arranged in the through hole 444 in an axial sliding manner. The helical groove is arranged on the outer wall of the sliding rod 445. The helical protrusions are arranged on the inner wall of the through hole 444. The rotating shaft 441 can be rotated by the cooperation of the helical groove and the helical protrusions when the sliding rod 445 slides in the through hole 444.

[0054] The clamping conveying assembly 40 further comprises a guide plate 46 arranged along the conveying direction of the belt conveyor 10, the guide plate 46 is provided with a guide groove along the length direction thereof, the guide groove comprises a wavy groove 461 and a straight groove 462 located at both ends of the wavy groove 461, and the sliding rod 445 is provided with a guide rod 446 at the end away from the rotating shaft 441, the guide rod 446 is in sliding fit with the guide groove. When the guide rod 446 on the sliding rod 445 moves in the straight groove 462, the sliding rod 445 does not move in the axial direction of the through hole 444, so that the rotating shaft 441 does not rotate. When the guide rod 446 on the sliding rod 445 moves in the wavy groove 461, the guide rod 446 moves with the sliding rod 445 along the wavy groove 461, so that the sliding rod 445 reciprocates in the axial direction of the through hole 444, under the cooperation of the helical groove and the helical protrusion, the corresponding rotating shaft 441 is driven to reciprocate, further driving the support rod 45 and the clamping assembly 42 thereon fixed with the rotating shaft 441 to rotate, and driving the rack 443 in the mounting box 44 to reciprocate, driving the other rotating gears 442 and rotating shafts 441 to reciprocate, so that all the clamping assemblies 42 clamp the ginger pieces to reciprocate and turn over, and the surface of the ginger pieces is peeled all around.

[0055] In order to improve the stability of the movement of the sliding rod 445, a guide rod 447 is arranged on the side of the mounting box 44 corresponding to the sliding rod 445, a guide plate 448 is slidably arranged on the guide rod 447, and the end of the guide plate 448 away from the guide rod 447 is fixedly connected with the sliding rod 445. The guide rod 447 and the guide plate 448 limit and guide the sliding rod 445, so as to ensure the stable sliding of the sliding rod 445. Limiting round plates 449 are fixedly arranged on the rods on both sides of the guide plate 46 where the guide rod 446 is located, so as to prevent the guide rod 446 from falling out of the guide groove.

[0056] The peeling mechanism further comprises a broken peel collecting groove and a finished product collecting groove arranged below the two groups of peeling assemblies. The broken peel collecting groove has a U-shaped structure as a whole and extends along the arrangement direction of the two groups of peeling assemblies, the length of which covers the whole working area of the roller brush assembly 30, the side wall of the groove body is arranged in an inclined manner and is paved with a smooth stainless steel plate, a water tank is arranged at the bottom of the groove and is paved with a stainless steel grid plate, so that the broken peel and the washing wastewater can pass through the stainless steel grid plate into the water tank, and the ginger pieces accidentally falling off will be blocked by the stainless steel grid plate. A filter box is further arranged at the outlet of the water tank, which is used to collect the broken peel and filter out the washing wastewater, so as to realize efficient collection of broken slag and centralized treatment of wastewater. The finished product collecting groove is arranged at the rear side of the roller brush assembly 30 of the second group of peeling assemblies. When the clamping and conveying assembly 40 of the second group of peeling assemblies clamps the ginger pieces and passes through the roller brush assembly 30, the clamping assembly 42 releases the ginger pieces so that the ginger pieces fall into the finished product collecting groove, thereby realizing collection of the peeled finished products. The finished product collecting groove can have a movable structure, and when the finished product collecting groove is full, the finished product collecting groove can be removed and replaced with an empty finished product collecting groove. An outlet can also be arranged on the finished product collecting groove, and the finished product collecting groove is connected with the next process through the belt conveyor 10 or other conveying components.

[0057] The core working process of the Tongling white ginger automatic feeding and peeling device in the embodiment is: quantitative feeding → shape recognition → bifurcation and splitting → mechanical hand feeding → clamping and conveying → segmented peeling → finished product output, and each link is precisely connected through a control mechanism to ensure the continuity of production.

[0058] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the scope of the present application is within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application are also considered to be within the protection scope of the present application.

Claims

1. An automated feeding and peeling device for Tongling white ginger, characterized in that: include The feeding mechanism includes a belt conveyor and a clamping feeding assembly. The belt conveyor is arranged sequentially from front to back as follows: a quantitative feeding hopper, an identification component, a ginger splitting component, and a feeding robot. The quantitative feeding hopper stores ginger and intermittently feeds it onto the belt conveyor in quantitative amounts. The identification component identifies the shape of the ginger. The ginger splitting component breaks the ginger into individual ginger pieces. The feeding robot clamps the split ginger pieces and feeds them into the clamping feeding assembly. The clamping feeding assembly includes two sets of conveyor belts arranged at intervals. One set of conveyor belts has a flexible plate annularly fitted on its surface. The flexible plate is vertically arranged and has several arc-shaped grooves spaced apart on it. The peeling mechanism includes two sets of peeling components arranged front and rear. Each peeling component includes a roller brush assembly arranged left and right and a clamping and conveying assembly. The roller brush assembly includes two sets of peeling roller brushes arranged vertically. The clamping and conveying assembly includes a mounting base that moves horizontally along the conveying direction of the belt conveyor. The mounting base is provided with a plurality of clamping components arranged at intervals along the conveying direction of the belt conveyor and a driving assembly that drives the plurality of clamping components to clamp or release synchronously. The spacing between the clamping components is consistent with the spacing between the arc grooves. The roller brush assembly of the first set of peeling components is arranged on one side of the clamping and feeding assembly. The roller brush assemblies and clamping and conveying assemblies of the front and rear peeling components are arranged crosswise. The control mechanism is used to regulate the entire working process and control the movement of each moving part within each mechanism.

2. The automated feeding and peeling device for Tongling white ginger according to claim 1, characterized in that: The identification component includes a first gantry frame mounted on the belt conveyor and an identification camera mounted on the first gantry frame. The ginger splitting component includes a second gantry frame mounted on the belt conveyor and several splitting manipulators mounted on the second gantry frame. The identification camera is used to capture images of ginger and transmit them to the control mechanism. After analysis, the control mechanism generates work instructions to control the actions of the several splitting manipulators to split the ginger.

3. The automated feeding and peeling device for Tongling white ginger according to claim 1, characterized in that: The clamping and feeding assembly includes a cabinet located at the end of the belt conveyor. The cabinet has a top plate with two lifting cylinders spaced apart on it. The piston rods of the lifting cylinders point downward and pass through the top plate. The conveyor belt assembly includes a conveyor support, conveyor rollers located at both ends of the conveyor support, a conveyor belt connecting the two conveyor rollers, and a drive motor for driving one of the conveyor rollers to rotate. The conveyor support of the lower conveyor belt assembly is fixedly mounted on the cabinet, and the conveyor support of the upper conveyor belt assembly is connected to the ends of the piston rods of the two lifting cylinders.

4. The automated feeding and peeling device for Tongling white ginger according to claim 1, characterized in that: The roller brush assembly includes a fixed bracket, on which two rotating rollers are rotatably mounted. The length direction of the rotating rollers is consistent with the conveying direction of the belt conveyor. A rotating motor for driving the rotating rollers is mounted on the fixed bracket at the end of the rotating rollers. Two sets of peeling roller brushes are respectively mounted on the upper and lower rotating rollers, and the bristle length of the peeling roller brushes gradually increases from front to back.

5. The automated feeding and peeling device for Tongling white ginger according to claim 4, characterized in that: The fixed bracket is equipped with a mounting frame, and the mounting frame is equipped with a flushing water pipe with one end connected to the water pump and water tank and the other end sealed. Several high-pressure nozzles communicating with the pipe cavity are provided on the pipe wall of the flushing water pipe. The high-pressure nozzles are located on the side of the peeling roller brush near the clamping and conveying assembly and the nozzles face downwards.

6. The automated feeding and peeling device for Tongling white ginger according to claim 1, characterized in that: A mounting box is provided on the side of the mounting base near the roller brush assembly. Several support rods are arranged at intervals along the conveyor direction of the belt conveyor on the side of the mounting box near the roller brush assembly. The cross-section of the support rod is Y-shaped. The number of clamping components is the same as the number of support rods and corresponds one-to-one. Each clamping component includes three clamping arms corresponding to the three protruding edges of the support rods. Two connecting rods are provided between the clamping arms and the corresponding protruding edges of the support rods. The two ends of the two connecting rods are rotatably connected to the clamping arms and the support rods, respectively, to form a parallelogram linkage mechanism. A drive plate is slidably sleeved on the support rods. Three drive rods are provided on the drive plate corresponding to the three protruding edges of the support rods. One end of each drive rod is rotatably connected to the drive plate, and the other end is rotatably connected to the middle of one of the connecting rods in the parallelogram linkage mechanism at the corresponding protruding edge.

7. The automated feeding and peeling device for Tongling white ginger according to claim 6, characterized in that: The drive assembly includes a fixed base and a clamping cylinder mounted on the top of the mounting box. The fixed bases are arranged at intervals along the conveying direction of the belt conveyor and correspond one-to-one with the drive plates. The cylinder body of the clamping cylinder is fixed on the fixed base, and the piston rod end is connected to the corresponding drive plate. A manifold is provided on the mounting base, and an air supply assembly is provided at the bottom of the mounting base. The air supply assembly is connected to the manifold through an air pipe. The manifold has several air outlets and is connected to the air outlets of the clamping cylinders through air pipes. The air supply assembly supplies air to each clamping cylinder through the manifold to drive the drive plate to slide on the support rod.

8. The automated feeding and peeling device for Tongling white ginger according to claim 7, characterized in that: The mounting box contains several rotating shafts with their core direction perpendicular to the conveying direction of the belt conveyor. The number of rotating shafts is the same as the number of support rods, and one end of each shaft passes through the mounting box and is fixedly connected to the support rod near the roller brush assembly. The drive plate is circular on its outer periphery and fitted with an annular plate. The drive plate is rotatably connected to the annular plate, and the annular plate is fixedly connected to the piston rod end of the clamping cylinder. A rotating gear is mounted on the shaft of each rotating shaft located inside the mounting box. A rack is slidably mounted inside the mounting box, and the rack meshes with the rotating gears on all rotating shafts. One of the rotating shafts has a through hole coaxially formed. A sliding rod is axially slidably mounted inside the through hole. A spiral groove is formed on the outer wall of the sliding rod, and a spiral protrusion that mates with the spiral groove is formed on the inner wall of the through hole. The clamping and conveying assembly also includes a guide plate arranged along the conveying direction of the belt conveyor. A guide groove is formed along the length of the guide plate. The guide groove includes a wavy groove and straight grooves at both ends of the wavy groove. A guide rod is mounted on the end of the sliding rod away from the rotating shaft, and the guide rod slidably engages with the guide groove.

9. The automated feeding and peeling device for Tongling white ginger according to claim 8, characterized in that: The mounting box is provided with a guide rod on one side of the sliding rod, and a guide plate is slidably mounted on the guide rod. The end of the guide plate away from the guide rod is fixedly connected to the sliding rod, and a limit plate is fixedly mounted on the rod body located on the upper and lower sides of the guide plate.

10. The automated feeding and peeling device for Tongling white ginger according to claim 1, characterized in that: The clamping and conveying assembly includes a support base, on which a support plate is mounted. A connecting plate is provided between the support plate and a mounting base. Two first connecting rods are provided between the support plate and the connecting plate, and two second connecting rods are provided between the connecting plate and the mounting base. Both ends of the first and second connecting rods have downwardly protruding convex shafts. The support plate, connecting plate, and mounting base all have corresponding connecting holes. The convex shafts at both ends of the two first connecting rods are rotatably connected to the corresponding connecting holes on the support plate and the connecting plate, respectively, forming a parallelogram linkage mechanism. The convex shafts at both ends of the two second connecting rods are rotatably connected to the corresponding connecting holes on the connecting plate and the mounting base, respectively, forming a parallelogram linkage mechanism. The convex shafts at the connecting plate ends of the inner first and second connecting rods pass downward through the connecting plate and are fixedly mounted with drive gears. The two drive gears mesh. The support base also has a drive cylinder. The cylinder body end of the drive cylinder is hinged to the support base, and the piston rod end is hinged to the middle of the outer first connecting rod.

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