Multifunctional integrated Chinese chive processor and processing method thereof

Abstract

The invention discloses a multifunctional integrated Chinese chive processor and a processing method thereof, and belongs to the technical field of agricultural product post-harvest processing equipment. The treatment machine comprises a rack, a control system, and a four-compartment rotary material distributing device, a pneumatic soil removing device, an intelligent yellow leaf removing device, a collecting tank, a stapler type bundling mechanism and a quantitative stacking device which are arranged according to the technological process. The control system takes an STM32 single-chip microcomputer as a core, and coordinates all the devices to realize full-process automatic operation of material distribution, soil removal, yellow leaf removal, bundling and stacking. The innovative method comprises the following steps: removing yellow leaves through cooperation of visual identification and pneumatic adsorption; a stapler type binding mechanism is adopted to realize automatic binding of the non-metal belt; quantitative stacking is completed based on mass sensing and position control. Through mechanical and electrical integration and intelligent control, the problems that the Chinese chive processing links are many, labor is relied on, and efficiency is low are solved, and automation, standardization and high efficiency of Chinese chive postpartum processing are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a multifunctional integrated leek processing machine and a processing method thereof. BACKGROUND

[0002] China is a big country in leek planting and consumption. In 2023, the leek planting area in China exceeded 80,000 hectares, with a total output of about 13.5 million tons, accounting for more than 60% of the global total. The three planting modes of open field, sunlight greenhouse and plastic greenhouse realize the four-season supply of leeks, which are widely used in family dining tables, catering industry, frozen food and pre-prepared food industry. With the improvement of urban consumption level and the development of fresh e-commerce, the market demand for leeks gradually changes to standardization, commercialization and scale, and higher requirements are put forward for the processing link from harvesting to shelving.

[0003] The existing technology and products in the current leek processing field have obvious limitations and cannot meet the modern production needs: 1. Low automation, relying on manual operation and low efficiency. The existing leek harvesting machine needs manual operation for bundling, cleaning and tray loading, and has not realized full-process automation. Compared with pure manual operation, the processing efficiency has not been significantly improved, and it cannot adapt to the batch processing needs of large-scale planting bases.

[0004] 2. Single function, insufficient integration. Existing patent technologies focus on single processing links, and lack of integrated equipment that integrates soil removal, yellow leaf removal, bundling and stacking. In the production process, multiple agricultural machines need to be matched for collaborative operation, which not only increases the equipment purchase and maintenance cost, but also reduces the overall processing continuity.

[0005] 3. Traditional processing methods are prone to cause loss and affect preservation. Traditional soil removal methods include manual beating, mechanical vibration or water washing. Manual beating and mechanical vibration result in high leek leaf breakage rate and large cleaning fluctuation, while water washing makes the leek leaves wet, shortening the shelf life. At the same time, yellow leaf removal relies on manual sorting, which is low in efficiency and easy to miss, affecting the commercial quality of leeks.

[0006] 4. High labor cost and difficult to control loss rate. The leek processing link generally faces the problem of labor shortage. Manual processing not only has high labor intensity and cost, but also has inconsistent sorting standards and difficult to control processing loss, which limits the overall income of the industry.

[0007] The core reason of the above problems is that the prior art does not fully combine the physical characteristics of leek fibers, such as being thin and long, soft in texture, and easy to break, for targeted design, lacks a modular architecture integrating multiple processes, and does not effectively integrate pneumatic technology, visual recognition technology and automatic control technology, making it difficult to achieve efficient, lossless and intelligent full-process processing and unable to meet the development needs of leek industry in terms of scale, standardization and high quality. SUMMARY

[0008] To achieve the above-mentioned purpose, the present application provides a multifunctional integrated leek processing machine and its processing method, and the specific scheme is as follows: A multifunctional integrated leek processing machine, comprising a rack, a control system and four sub-chamber rotary distributing devices, a pneumatic soil removing device, a quantitative stacking device, a stapler type bundling mechanism, a collection tank intelligent yellow leaf removing device, a brush arranged in sequence; The rack is a frame built with aluminum profiles, with a size of 1100mmx600mmx1000mm, for supporting each device; The four sub-chamber rotary distributing device is installed at the inlet of the rack through a linear guide rail, for receiving leeks and realizing uniform distribution; The pneumatic soil removing device comprises a louvered working platform, a clamping piece mechanism and a pneumatic air knife; the louvered working platform is fixed on the rack and located below the four sub-chamber rotary distributing device; the clamping piece mechanism is symmetrically installed on both sides of the louvered working platform and is hinged to the piston rod of the cylinder through a connecting rod; the cylinder is fixed on the lower rack; The intelligent yellow leaf removing device is installed on the rack through a linear guide rail group and is located downstream of the pneumatic soil removing device; the intelligent yellow leaf removing device is built-in with an OpenMV vision module and a vacuum pneumatic suction cup; The collection tank is fixed on the rack and is located downstream of the intelligent yellow leaf removing device; the stapler type bundling mechanism is arranged on the rack in front of the four sub-chamber rotary distributing device and is installed below the collection tank; the brush is fixed on the linear guide rail slider through a special support; the brush is aligned with the inlet of the collection tank; the leeks are swept into the collection tank through the linear guide rail drive; The quantitative stacking device comprises a material collecting basket and a lead screw; the material collecting basket is installed at the end of the rack through the lead screw and is located downstream of the collection tank-stapler type bundling device; The control system takes an STM32F103ZET6 single-chip microcomputer as the core, integrates a power module, a serial communication module and an IO expansion module, and is installed in an electric control box on the side of the rack, for controlling the cooperative work of each device; Each device realizes the full-process automatic processing of distributing, soil removing, yellow leaf removing, bundling and stacking through the control system.

[0009] The preferred scheme of the multifunctional integrated leek processing machine is that the four-warehouse rotary material distributing device comprises a material tank, a rigid material blocking plate, a shaft coupling, and a direct-current speed reducer motor. The material tank is connected with the direct-current motor through the shaft coupling, and the direct-current speed reducer motor is fixed on the sliding block of the linear guide rail. The rigid material blocking plate is installed below the outlet of the material tank and is used for buffering the falling material and guiding the uniform falling of leeks. The linear guide rail is longitudinally laid along the rack to drive the four-warehouse rotary material distributing device to reciprocate along the workbench in the longitudinal direction, so that the closed-loop operation of material placing, material distributing, and returning is realized.

[0010] The preferred scheme of the multifunctional integrated leek processing machine is that the louver-type working platform of the pneumatic soil removing device comprises a platform upper plate, a platform side plate, and an SC small pneumatic cylinder. The platform upper plate is provided with a plurality of platform upper plates which are connected with the platform side plate through bearings, and the platform side plate is fixed on the rack. The SC small pneumatic cylinder is hinged to the platform upper plate through a connecting rod, and the cylinder extension drives the platform upper plate to rotate 90° synchronously to realize opening and closing. Each group of the clamping piece mechanism comprises an electromagnet and a clamping piece coated with food-grade frosted anti-slip material. The control system controls the electromagnet to be electrified and attracted, the clamping force of the clamping piece mechanism is 36.7875 N, and the safety factor is 649.2. The clamping piece mechanism is driven by the cylinder to rotate 90° around the hinge point. The electromagnet has an attraction force of 5 kg. The food-grade frosted anti-slip material has a friction coefficient μ of 0.6 and a contact length of 40 mm. The pneumatic air knife is installed on the upper support of the louver-type working platform, has a height of 100 mm, is connected with an air compressor through a gas guide pipe with a diameter of 8 mm and a length of 30 m, and has an air outlet vertically downwardly aligned with the root of leeks. The air compressor has an output pressure of 0.4-0.6 MPa.

[0011] The preferred scheme of the multifunctional integrated leek processing machine is that the intelligent yellow leaf removing device comprises a guide rail sliding block, an OpenMV vision module, a vacuum pneumatic suction cup, a gear b, and a rack b. The guide rail sliding block is laid transversely along the rack and moves in the X-Y plane, has an X-axis stroke of 800 mm, and has a Y-axis stroke of 500 mm. The OpenMV vision module is fixed on the guide rail sliding block, has a height of 300 mm, is aligned with the working platform directly above, and is used for collecting leek images. The vacuum pneumatic suction cup is installed below the guide rail sliding block through a support, has a suction cup diameter of 3 mm, is connected with a vacuum pump through a gas guide pipe, and is driven to move up and down by the motor with the gear b and the rack b. The vacuum pneumatic suction cup generates negative pressure to adsorb yellow leaves through the vacuum pump. The OpenMV vision module sends the recognized yellow leaf coordinates to the main control unit to control the vacuum pneumatic suction cup to accurately adsorb and move to the waste area for release.

[0012] The preferred scheme of the multifunctional integrated leek processing machine is that the stapler type bundling mechanism comprises an upper shell, a lower shell, a tape head, a rudder, and a nylon bundling tape nail feeder; the upper shell and the lower shell are connected by bolts to form a complete box; the rudder is vertically installed at the center of the top of the upper shell, and the tape head is fixed in the upper shell and extends out of the upper shell; the nylon bundling tape is embedded in the front installation slot of the lower shell, and the nail feeder is fixed on the lower shell and is fixed by glue; The tape head is connected with the rudder through a gear a and a rack a, and the nail feeder and the nylon bundling tape are driven by a lead screw to realize the winding and nailing of the bundling tape. The collecting groove is made of stainless steel and has a U-shaped cross section, a width of 80 mm, a depth of 50 mm, and an inclination of 30° and is fixed on the rack.

[0013] The preferred scheme of the multifunctional integrated leek processing machine is that the quantitative stacking device comprises a material collecting basket, a lead screw, a pressure sensor, and a voice broadcast module; the pressure sensor is pasted on the bottom of the material collecting basket and is rigidly connected with the material collecting frame; the material collecting frame is fixed on the lead screw slide block, the lead screw is laid along the horizontal direction and is aligned with the outlet of the stapler type bundling mechanism; the lead screw drives the material collecting basket to move horizontally; the voice broadcast module is connected with the GPIO port of the main control unit through a DuPont line and is used to prompt the quality threshold and the stacking state. When the pressure sensor detects that the quality of leeks reaches the set threshold, the main control unit controls the lead screw to move a distance of the thickness of a bundle of leeks to realize automatic stacking. The material collecting frame is made of plastic and has a capacity of 6.4×10 6 mm³, the lead screw has a lead of 5 mm and a stroke of 500 mm, the pressure sensor is a resistance strain gauge type pressure sensor with an accuracy of ±1g and a range of 0-5kg; the voice broadcast module is ASKPRO DC24V.

[0014] A processing method of a multifunctional integrated leek processing machine, comprising the following steps: Step one: distributing material; The leeks are received by the four-warehouse rotating distributing device, the DC speed reducer drives the material groove to rotate intermittently, and the rigid material blocking plate realizes uniform material falling of the leeks to the louver type working platform, and the distributing time is 3s; Step two: removing soil; After the distributing is completed, the control system controls the clamping piece mechanism to clamp the leek bundle, the cylinder drives the clamping piece mechanism to rotate 90° to make the leeks vertically hover; then the cylinder drives the louver type working platform blades to rotate downward by 90° to open the channel; the pneumatic air knife blows off the root soil at a gas pressure of 0.4MPa, and the soil residue falls into the waste collecting groove, and the soil removing time is 5s; Step three: removing yellow leaves; After the soil is removed, the leeks are moved to the yellow leaf removal station with the shutter-type work platform, the OpenMV vision module collects images and identifies the coordinates of the yellow leaves, the control system drives the linear guide to move the vacuum pneumatic suction cup to the top of the yellow leaves, and after the vacuum pneumatic suction cup adsorbs the yellow leaves, it is moved to the waste collection groove, and the time for removing the yellow leaves is 3s; Step four: bundling; After the yellow leaves are removed, the brush sweeps the leeks into the collection groove in bundles, and the cleaning speed is 30mm / s; the diameter of each bundle of leeks is 20-30mm; the main control unit controls the rotation of the rudder, and drives the gear a rack a to drive the belt head to lift the height to 20mm, After the belt head mechanism is reset, the nylon bundling belt is wrapped around the leek roots for one turn, with a wrapping radius of 40mm, and pre-wrapping is completed; the nail feeder is started, the nails are used to bundle the nylon bundling belt, the excess part of the bundling belt is cut off, the single bundle of leeks is completed, and the mass of each bundle is 200g±5g, and the bundling time is 4s; The nail material of the nail feeder is galvanized iron wire with a diameter of 1mm; Step five: stacking; The bundled leek bundles fall into the collection basket from the collection groove, and the pressure sensor collects the leek mass signal in real time; when the mass of the leeks in the collection frame reaches the threshold value of 200g, the main control unit triggers the voice broadcast module to prompt, and broadcasts the current mass of 200g, and starts stacking; at the same time, the main control unit drives the lead screw to rotate, and drives the collection basket to move forward by a distance of 20-30mm of a leek bundle, so that the next leek bundle is arranged closely to the previous leek bundle, and quantitative and neat stacking is realized. The above process is repeated until the leeks stacked in the collection frame reach the preset 10-15 bundles, the voice broadcast module prompts that the stacking is completed, and the collection frame is replaced manually; The control system coordinates the beats of each step through the timer interrupt, forms a closed-loop control of sensing-decision-execution, and can ensure seamless connection of the process; by adjusting the motor speed and air pressure parameters online, different varieties of leeks can be adapted. Advantages

[0015] 1. The processing efficiency is significantly improved Quantitative effect: The invention realizes the automatic processing of leeks from harvesting to shelving through the integrated design of "four-part warehouse rotary material distribution device + pneumatic soil removal device + intelligent yellow leaf removal device + collection groove - bookbinding type bundling device + quantitative stacking device", and cooperates with the control system with STM32 as the core, which greatly improves the processing capacity per unit time without manual intervention, meets the needs of large-scale production, and reduces the dependence on manpower. Breakthrough the limitations of single function of traditional equipment, integrate soil removal, yellow leaf removal, bundling, stacking and other processes in one device, realize the coordinated work of each mechanism through modular design, avoid the increase in cost and the cumbersome operation caused by the use of multiple agricultural machines, and improve the space utilization rate and production continuity.

[0016] Compared with the traditional manual processing, which requires multiple people to collaborate, and the existing semi-automatic equipment, which still requires manual assistance, the machine realizes continuous automatic operation, greatly shortening the processing cycle.

[0017] 2. The quality of the operation and the commercialization rate are significantly improved Soil removal rate: The pneumatic soil removal device achieves a soil removal efficiency of 91.33%, without the need for water washing, keeping the leeks dry and extending the shelf life by 1-2 days.

[0018] Yellow leaf recognition rate: The visual system has an accuracy rate of >95% in identifying yellow leaves, and works with a vacuum pneumatic suction cup to accurately remove them, increasing the commercialization rate by more than 30%.

[0019] Low damage rate: The clamping mechanism uses food-grade frosted anti-slip material, with a contact stress of only 4.79% of the leek compression strength, and a mechanical damage rate of <2%, which is much lower than manual beating or vibration soil removal (damage rate often >10%).

[0020] 3. Energy saving, environmental protection, and resource conservation Pneumatic system: Compared with a pure electric system, the pneumatic actuator can reduce energy consumption by more than 30% and has no oil pollution.

[0021] Waterless process: Avoids the consumption of large amounts of water resources in traditional water washing (0.5-1 tons of water can be saved per ton of leeks), while eliminating sewage discharge.

[0022] Lightweight design: The overall weight is only 35 kg, mainly using aluminum profiles, which is convenient for transportation and installation, reducing manufacturing and operation and maintenance costs.

[0023] 4. Significant reduction in labor costs Fully automated process: A single machine can replace 3-4 workers, and according to an 8-hour workday, it can save labor costs of about 100-150 thousand yuan per year.

[0024] Easy to operate: Supports voice broadcasting and parameter adjustment, and can be operated without professional training, reducing the threshold for hiring workers.

[0025] 5. Compact structure and multifunctional integration High space utilization rate: The overall size is only 1100x600x1000mm, integrating five functions of sorting, soil removal, yellow leaf removal, bundling, and stacking, replacing the traditional layout of a production line with multiple devices in series, reducing the occupied area by more than 50%.

[0026] Modular design: Supports flexible addition and subtraction of functional modules, suitable for different scale scenarios (such as fields, processing workshops, and distribution centers).

[0027] 6. Strong standardization and scalability Quantitative palletizing accuracy: The pressure sensor accuracy reaches ±1g, and each bundle of chives is quantified at 200g, resulting in high palletizing neatness and facilitating warehousing and logistics.

[0028] Open control system: Reserves voice control and data interfaces, supports access to IoT platforms, and enables remote monitoring and data analysis. Attached Figure Description

[0029] Figure 1 This is an assembly drawing of a multi-functional integrated leek processing machine; Figure 2 This is a schematic diagram of the four-compartment rotary material distribution device; Figure 3 This is a schematic diagram showing the closed position of the louvered work platform. Figure 4 A schematic diagram showing the opening position of the louvered work platform; Figure 5 This is a schematic diagram of the intelligent yellow leaf removal device. Figure 6 This is a schematic diagram of a stapler-type binding device.

[0030] The components are as follows: 1-Frame; 2-Linear guide rail; 3-Four-compartment rotary material distribution device; 4-Waste collection trough; 5-Receiving basket; 6-Screw screw; 7-Stapler-type binding device; 8-Collection trough; 9-Air compressor; 10-Louvre-type work platform; 11-Intelligent yellow leaf removal device; 12-Clamping mechanism; 13-Pneumatic air knife; 14-Coupling; 15-DC motor; 16-Four-compartment rotary material trough; 17-Platform upper plate; 18-Platform side plate; 19-SC small pneumatic cylinder; 20-Connecting rod; 21-Guide rail slider; 22-OpenMV vision module; 23-Vacuum pneumatic suction cup; 24-Upper shell; 25-Lower shell; 26-Cassette head; 27-Servo motor; 28-Nylon strapping tape; 29-Nail feeder; 30-Gear a; 31-Rack a; 32-Brush; 33-Rigid baffle; 34-Gear b; 35-Rack b. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] like Figures 1-6 As shown, a multi-functional integrated leek processing machine includes a frame 1, a control system, and a four-compartment rotating material dispensing device 3, a pneumatic soil removal device, a quantitative stacking device, a stapler-type binding mechanism 7, a collection trough 8, an intelligent yellow leaf removal device 11, and a brush 32 arranged in sequence. The rack 1 is a frame built with aluminum profiles, with a size of 1100mm x 600mm x 1000mm, for supporting various devices; The four-warehouse rotary distributing device 3 is installed at the entrance of the rack 1 through a linear guide rail 2, for receiving leeks and achieving uniform distribution; The pneumatic soil removing device includes a louvered working platform 10, a clamping mechanism 12, and a pneumatic air knife 13; the louvered working platform 10 is fixed on the rack 1 and located below the four-warehouse rotary distributing device 3, the clamping mechanism 12 is symmetrically installed on both sides of the louvered working platform 10, and is hinged to the piston rod of a pneumatic cylinder through a connecting rod, and the pneumatic cylinder is fixed on the lower rack 1; The intelligent yellow leaf removing device 11 is installed on the rack 1 through a linear guide rail group and is located downstream of the pneumatic soil removing device; the intelligent yellow leaf removing device 11 is internally provided with an OpenMV vision module 22 and a vacuum pneumatic suction cup 23; The collecting groove 8 is obliquely fixed on the rack 1 and is located downstream of the intelligent yellow leaf removing device 11; the stapler type bundling mechanism 7 is arranged on the rack 1 in front of the four-warehouse rotary distributing device 3 and is installed below the collecting groove 8; the brush 32 is fixed on the sliding block of the linear guide rail 2 through a special support and is aligned with the entrance of the collecting groove 8; the leeks are swept into the collecting groove 8 through the linear guide rail 2; The quantitative stacking device includes a material collecting basket 5 and a lead screw 6; the material collecting basket 5 is installed at the end of the rack 1 through the lead screw 6 and is located downstream of the collecting groove-stapler type bundling device 7; The control system takes an STM32F103ZET6 single-chip microcomputer as the core, integrates a power module, a serial communication module, and an IO expansion module, and is installed in an electric control box beside the rack 1, for controlling the cooperative work of various devices; Various devices realize the whole-process automatic processing of distributing, soil removing, yellow leaf removing, bundling, and stacking through the control system.

[0033] The four-warehouse rotary distributing device 3 includes a material groove 16, a rigid material blocking plate 33, a shaft coupling 14, and a DC speed reducer 15; The material groove 16 is connected with the DC motor 15 through the shaft coupling 14, and the DC speed reducer 15 is fixed on the sliding block of the linear guide rail 2; The rigid material blocking plate 33 is installed below the outlet of the material groove 16, for buffering the material falling and guiding the leeks to uniformly fall; The linear guide rail 2 is longitudinally laid along the rack 1, drives the four-warehouse rotary distributing device 3 to reciprocally move along the workbench in the longitudinal direction, and realizes the closed-loop operation of material placing-distributing-returning.

[0034] The louvered working platform 10 of the pneumatic soil removing device includes a platform upper plate 17, a platform side plate 18, and an SC small pneumatic cylinder 19; The platform upper plate 17 is provided with a plurality of bearings and is connected with the platform side plate 18, and the platform side plate 18 is fixed on the rack 1; The SC small-sized pneumatic cylinder 19 is hinged with the platform upper plate 17 through the connecting rod 20, and the cylinder is driven to stretch and contract to drive the platform upper plate 17 to rotate 90° synchronously to realize opening and closing; Each group of the clamping piece mechanism 12 includes an electromagnet and a clamping piece with food-grade sanding anti-skid material, the control system controls the electromagnet to be electrified and attracted, the clamping force of the clamping piece mechanism 12 is 36.7875N, and the safety factor is 649.2; the clamping piece mechanism 12 is driven by the cylinder to rotate 90° around the hinge point; wherein the electromagnet attraction force is 5 kg; the food-grade sanding anti-skid material has a friction coefficient μ=0.6 and a contact length of 40 mm; The pneumatic air knife 13 is installed on the upper support of the louvered work platform 10, has a height of 100 mm, is connected with the air compressor 9 through a gas guide pipe with a diameter of 8 mm and a length of 30 m, and has an air outlet vertically downwardly aligned with the leek root, and the air compressor 9 has an output pressure of 0.4-0.6 MPa.

[0035] The intelligent yellow leaf removing device 11 includes a guide rail sliding block 21, an OpenMV vision module 22 and a vacuum pneumatic suction cup 23, the guide rail sliding block 21 is laid transversely along the rack 1 and moves in the X-Y plane, the X-axis stroke is 800 mm, and the Y-axis stroke is 500 mm; the OpenMV vision module 22 is fixed on the guide rail sliding block 21 and has a height of 300 mm, is aligned with the upper side of the work platform 10 and is used for collecting leek images; the vacuum pneumatic suction cup 23 is installed below the guide rail sliding block 21 through a support, has a suction cup diameter of 3 mm and is connected with a vacuum pump through a gas guide pipe; the vacuum pneumatic suction cup 23 generates negative pressure through the vacuum pump to adsorb the yellow leaves; The OpenMV vision module 22 sends the recognized yellow leaf coordinates to the main control unit to control the vacuum pneumatic suction cup 23 to accurately adsorb and move to the waste area to release.

[0036] The stapler type bundling mechanism includes an upper shell 24, a lower shell 25, a clamping head 26, a rudder 27, a nylon bundling belt 28 and a nail feeder 29; the upper shell 24 and the lower shell 25 are connected by bolts to form a complete box; the rudder 27 is vertically installed at the center position of the top of the upper shell 24, the clamping head 26 is fixed in the upper shell 24 and extends out of the upper shell 24; the nylon bundling belt 28 is embedded in the front installation groove of the lower shell 25, and the nail feeder 29 is fixed on the lower shell 25, and they are all fixed by glue; The clamping head is connected with the rudder 27 through a gear a 30 and a rack a 31, the nail feeder 29 and the nylon bundling belt 28 are driven by a lead screw to realize the winding and nailing of the bundling belt; The collecting groove 8 is made of stainless steel, has a U-shaped cross section, a width of 80 mm, a depth of 50 mm and an inclination of 30° and is fixed on the rack 1.

[0037] The quantitative palletizing device includes a receiving basket 5, a lead screw 6, a pressure sensor, and a voice broadcast module. The pressure sensor is attached to the bottom of the receiving basket 5 and is rigidly connected to it. The receiving basket 5 is fixed to the slider of the lead screw 6, which is laid horizontally and aligned with the outlet of the stapler-type binding mechanism. The lead screw 6 drives the receiving basket to move horizontally. The voice broadcast module is connected to the GPIO port of the main control unit via DuPont wires to indicate the quality threshold and palletizing status. When the pressure sensor detects that the weight of the chives has reached the set threshold, the main control unit controls the lead screw to move a distance equal to the thickness of a bunch of chives, thus achieving automatic stacking. The receiving box is made of plastic and has a capacity of 6.4 × 10⁻⁶. 6 mm³, lead screw with a lead of 5mm and a stroke of 500mm, pressure sensor using resistance strain gauge type pressure sensor with an accuracy of ±1g and a range of 0-5kg; and ASKPRO voice broadcast module DC24V.

[0038] A processing method for a multi-functional integrated leek processing machine includes the following steps: Step 1: Sorting materials; The chives are received by the four-compartment rotary dispensing device 3. The DC geared motor 15 drives the material trough 16 to rotate intermittently. With the help of the rigid baffle plate 13, the chives are evenly dropped onto the louvered working platform 10. The dispensing time is 3 seconds. Step 2: Remove the soil; After the material is divided, the control system controls the clamping mechanism 12 to clamp the chive bundles, and the cylinder drives the clamping mechanism to rotate 90° to make the chives hang vertically; then the cylinder drives the louvered working platform 10 to rotate the blades downward 90° to open the channel; the pneumatic air knife 13 blows away the soil from the roots with an air pressure of 0.4MPa, and the soil falls into the waste trough, with a soil removal time of 5s. Step 3: Remove yellow leaves; After removing the soil, the chives are moved to the yellow leaf removal station by the louvered work platform 10. The OpenMV vision module 22 collects images and identifies the coordinates of the yellow leaves. The control system drives the linear guide rail 2 to move the vacuum pneumatic suction cup 23 directly above the yellow leaves. After the vacuum pneumatic suction cup 23 adsorbs the yellow leaves, it moves into the waste collection tank 4. The yellow leaf removal time is 3 seconds. Step 4: Bundling; After removing the yellow leaves, the brush sweeps the chives into the collection trough in bundles of 80%, at a sweeping speed of 30mm / s; each bundle of chives is 20-30mm in diameter; the main control unit controls the servo motor 27 to rotate, which drives the tape head 26 to rise to a height of 20mm via gears a30 and racks a31. After the tape head mechanism is reset, the nylon binding tape 28 is wrapped around the leek root for one round with a radius of 40 mm, and pre-wrapping is completed; the nail feeder 29 is started, the nylon binding tape 28 is nailed to realize binding, the excess part of the binding tape is cut off, the single bundle binding of leeks is completed, and the quality of each bundle is 200g±5g, and the binding time is 4s; The nail material of the nail feeder is galvanized iron wire with a diameter of 1mm; Step five: stacking; The leek bundle after binding falls into the material collecting basket 5 from the collecting groove 8, and the pressure sensor collects the leek quality signal in real time; when the leek quality in the material collecting basket reaches the threshold value of 200g, the main control unit triggers the voice broadcast module to prompt, and broadcasts the current quality of 200g, and starts stacking; at the same time, the main control unit drives the lead screw 6 to rotate, and drives the material collecting basket 5 to move forward by a distance of 20-30mm of a leek bundle, so that the next leek bundle is arranged closely to the previous one, and quantitative and neat stacking is realized. The above process is repeated until the leek in the material collecting basket reaches the preset 10-15 bundles, the voice broadcast module prompts that the stacking is completed, and the material collecting basket is manually replaced. Among them, the control system coordinates the rhythm of each step through the timer interrupt, forms a closed-loop control of perception-decision-execution, and can ensure seamless connection of the process; by adjusting the motor speed and air pressure parameters online, different varieties of leeks can be adapted.

[0039] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multifunctional integrated leek processing machine, characterized by, The machine frame, the control system and the four-warehouse rotary material distributing device (3), the pneumatic soil removing device, the quantitative stacking device (5), the stapler type bundling mechanism (7), the collecting groove (8) intelligent yellow leaf removing device (11) and the brush (32) arranged in sequence; The machine frame (1) is a frame built by aluminum profiles, with the size of 1100mm*600mm*1000mm, for supporting each device; The four-warehouse rotary material distributing device (3) is installed at the inlet of the machine frame (1) through the linear guide rail (2), for receiving the leeks and realizing uniform material distribution; The pneumatic soil removing device comprises a louver type working platform (10), a clamping piece mechanism (12) and a pneumatic air knife (13); the louver type working platform (10) is fixed on the machine frame (1) and located below the four-warehouse rotary material distributing device (3); the clamping piece mechanism (12) is symmetrically installed on both sides of the louver type working platform (10) and hinged with the piston rod of the air cylinder through a connecting rod; the air cylinder is fixed on the machine frame (1) below; The intelligent yellow leaf removing device (11) is installed on the machine frame (1) through a linear guide rail group and located downstream of the pneumatic soil removing device; the intelligent yellow leaf removing device (11) is internally provided with an OpenMV vision module (22) and a vacuum pneumatic suction cup (23); The collecting groove (8) is fixed on the machine frame (1) and located downstream of the intelligent yellow leaf removing device (11); the stapler type bundling mechanism (7) is arranged on the machine frame (1) in front of the four-warehouse rotary material distributing device (3) and installed below the collecting groove (8); the brush (32) is fixed on the sliding block of the linear guide rail (2) through a special support and aligned with the inlet of the collecting groove (8); the leeks are swept into the collecting groove (8) through the linear guide rail (2) driving; The quantitative stacking device comprises a material collecting basket (5) and a lead screw (6); the material collecting basket (5) is installed at the end of the machine frame (1) through the lead screw (6) and located downstream of the collecting groove-stapler type bundling device (7); The control system takes an STM32F103ZET6 single-chip microcomputer as the core, integrates a power module, a serial communication module and an IO expansion module, and is installed in an electric control box beside the machine frame (1), for controlling the cooperative work of each device; Each device realizes the whole-process automatic processing of material distribution, soil removal, yellow leaf removal, bundling and stacking through the control system.

2. The multifunctional integrated leek processing machine according to claim 1, characterized in that, The four-warehouse rotary material distributing device (3) comprises a material groove (16), a rigid material blocking plate (33), a coupling (14) and a DC speed reducing motor (15); The material groove (16) is connected with the DC motor (15) through the coupling (14); the DC speed reducing motor (15) is fixed on the sliding block of the linear guide rail (2); The rigid material blocking plate (33) is installed below the outlet of the material groove (16), for buffering the material falling and guiding the leeks to uniformly fall; The linear guide rail (2) is longitudinally laid along the machine frame (1), drives the four-warehouse rotary material distributing device (3) to reciprocally move along the working table in the longitudinal direction, and realizes the closed-loop operation of material placing, material distributing and returning.

3. The multifunctional integrated leek processing machine as claimed in claim 1, wherein The louver type working platform (10) of the pneumatic soil removing device comprises a platform upper plate (17), a platform side plate (18) and a SC small pneumatic cylinder (19); The platform upper plate (17) is provided with a plurality of bearings and is connected with the platform side plate (18), and the platform side plate (18) is fixed on the rack (1); The SC small-sized pneumatic cylinder (19) is hinged with the platform upper plate (17) through a connecting rod (20), and the cylinder is driven to stretch and retract to drive the platform upper plate (17) to rotate 90° synchronously to realize opening and closing; Each group of the clamping piece mechanism (12) comprises an electromagnet and a clamping piece with food-grade sanding anti-skid material, the control system controls the electromagnet to be electrified and attracted, the clamping force of the clamping piece mechanism (12) is 36.7875N, and the safety factor is 649.2; the clamping piece mechanism (12) is driven by the cylinder to rotate 90° around the hinge point; wherein the electromagnet suction force is 5 kg; the food-grade sanding anti-skid material has a friction coefficient μ=0.6 and a contact length of 40 mm; The pneumatic air knife (13) is installed on the upper support of the louvered work platform (10), has a height of 100 mm, is connected with the air compressor (9) through a gas guide pipe with a diameter of 8 mm and a length of 30 m, and the air outlet is vertically downward and aligned with the leek root, and the air compressor (9) has an output pressure of 0.4-0.6 MPa.

4. The multifunctional integrated leek processing machine as claimed in claim 1, wherein The intelligent yellow leaf removing device (11) comprises a guide rail sliding block (21), an OpenMV vision module (22) and a vacuum pneumatic suction cup (23), the guide rail sliding block (21) is laid transversely along the rack (1) and moves in the X-Y plane, the X-axis stroke is 800 mm, and the Y-axis stroke is 500 mm; the OpenMV vision module (22) is fixed on the guide rail sliding block (21) and has a height of 300 mm, is aligned with the work platform (10) directly above, and is used for collecting leek images; the vacuum pneumatic suction cup (23) is installed below the guide rail sliding block (21) through a support, has a suction cup diameter of 3 mm, is connected with a vacuum pump through a gas guide pipe, and is driven to move up and down by a motor, a gear b (34) and a rack b (35); the vacuum pneumatic suction cup (23) is adsorbed by negative pressure generated by the vacuum pump; The OpenMV vision module (22) sends the recognized yellow leaf coordinates to the main control unit, controls the vacuum pneumatic suction cup (23) to accurately adsorb and move to the waste area to release.

5. The multifunctional integrated leek processing machine as claimed in claim 1, characterized in that: The stapler type bundling mechanism comprises an upper shell (24), a lower shell (25), a belt clamping head (26), a rudder (27), a nylon bundling belt (28) and a nail feeder (29); the upper shell (24) and the lower shell (25) are connected by bolts to form a complete box body; the rudder (27) is vertically installed at the center position of the top of the upper shell (24), the belt clamping head (26) is fixed in the upper shell (24) and extends out of the upper shell (24); the nylon bundling belt (28) is embedded in the front installation groove of the lower shell (25), and the nail feeder (29) is fixed on the lower shell (25), and they are all fixed by glue; The belt clamping head is connected with the rudder (27) through a gear a (30) and a rack a (31), the nail feeder (29) and the nylon bundling belt (28) are driven by a lead screw to realize the winding and nailing of the bundling belt. The collecting groove (8) is made of stainless steel, has a U-shaped cross section, a width of 80 mm, a depth of 50 mm, and is fixed on the rack (1) at an inclination of 30°.

6. The multifunctional integrated leek processing machine as claimed in claim 1, characterized in that: The quantitative stacking device further comprises a pressure sensor and a voice broadcast module; the pressure sensor is attached to the bottom of the material collecting basket (5) and is rigidly connected with the material collecting basket (5); the material collecting basket (5) is fixed on the sliding block of the lead screw (6), the lead screw (6) is laid along the horizontal direction and is aligned with the outlet of the stapler type bundling mechanism; the lead screw (6) drives the material collecting basket to move horizontally; the voice broadcast module is connected with the master control unit GPIO port through the DuPont line and is used for prompting the quality threshold and the stacking state; When the pressure sensor detects that the leek quality reaches the set threshold, the master control unit controls the lead screw to move a distance of the thickness of a leek bundle, thereby realizing automatic stacking; The material of the receiving frame is plastic, and the capacity is 6.4*10 6 mm³, the lead of the screw rod is 5mm, the stroke is 500mm, the pressure sensor adopts a resistance strain gauge type pressure sensor, the accuracy is ±1g, the range is 0-5kg; the voice broadcast module DC24V of ASKPRO is adopted.

7. The method of claim 1-6, wherein the method is characterized by, The method comprises the following steps: Step one: distributing materials; The leeks are received by the four-warehouse rotating distributing device (3), the DC speed reducer motor (15) drives the material groove (16) to rotate intermittently, and the rigid material blocking plate (13) is used to realize uniform material distribution of the leeks to the louver type working platform (10), and the material distribution time is 3s; Step two: removing soil; After the material distribution is completed, the control system controls the clamping piece mechanism (12) to clamp the leek bundle, the cylinder drives the clamping piece mechanism to rotate by 90° to make the leek vertically hover; then the cylinder drives the louver type working platform (10) to rotate by 90° downward to open the channel; the pneumatic air knife (13) blows away the root soil at a gas pressure of 0.4MPa, and the soil residue falls into the waste collecting groove (4), and the soil removing time is 5s; Step three: removing yellow leaves; After the soil is removed, the leek moves to the yellow leaf removing station along with the louver type working platform (10), the OpenMV vision module (22) collects images and identifies the yellow leaf coordinates, the control system drives the linear guide rail (2) to move the vacuum pneumatic suction cup (23) to the position directly above the yellow leaf, and after the vacuum pneumatic suction cup (23) adsorbs the yellow leaf, it is moved to the waste collecting groove (4), and the yellow leaf removing time is 3s; Step four: bundling; After the yellow leaves are removed, the leeks are bundled into the collecting groove (8) by the brush at a cleaning speed of 30mm / s; the diameter of each leek bundle is 20-30mm; the master control unit controls the rudder (27) to rotate, drives the buckle head (26) to lift to a height of 20mm through the gear a (30) rack a (31), After the buckle head mechanism is reset, the nylon bundling belt (28) is wrapped around the leek root for one round, the wrapping radius is 40mm, and the pre-wrapping is completed; The nailer (29) is started, the nylon bundling belt (28) is nailed to realize bundling, the excess part of the bundling belt is cut off, the single-bundle bundling of the leek is completed, and the quality of each bundle is 200g±5g, and the bundling time is 4s; The nail material of the nailer is galvanized iron wire with a diameter of 1mm; Step five: stacking; The tied leek bundle falls into the receiving basket (5) from the collecting groove (8), the pressure sensor collects the leek mass signal in real time, when the leek mass in the receiving frame reaches the 200g threshold, the main control unit triggers the voice broadcast module to prompt, broadcasts the current mass 200g, and starts the stacking; at the same time, the main control unit drives the lead screw (6) to rotate, drives the receiving basket (5) to move forward a distance of 20-30mm of a leek bundle, so that the next leek bundle is arranged closely to the previous one, and quantitative and neat stacking is realized; Repeat the above process until the leek in the receiving frame reaches the preset 10-15 bundles, the voice broadcast module prompts that the stacking is completed, and the receiving frame is manually replaced; Among them, the control system coordinates the rhythm of each step through the timer interrupt, forms a closed-loop control of sensing-decision-execution, and can ensure seamless connection of the process; by adjusting the motor speed and air pressure parameters online, different varieties of leeks can be adapted.

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