Shanghai green and clean vegetable packaging all-in-one machine

Abstract

The invention discloses a Shanghai green and clean vegetable packaging all-in-one machine which comprises a cleaning unit, an aligning unit, a root cutting and yellow leaf removing unit and a packaging unit which are connected in sequence, and the root cutting and yellow leaf removing unit at least comprises a fixing mechanism, a first motor used for driving the fixing mechanism, a root cutting mechanism and a yellow leaf removing mechanism; wherein the fixing mechanism is vertically arranged, the top and the bottom of the fixing mechanism are open, after the aligning unit places the roots of target brassica chinensis into the fixing mechanism downwards, the leaf parts and the roots of the target brassica chinensis are exposed out of the upper end and the lower end of the fixing mechanism respectively, and a first motor drives the fixing mechanism to enter the working ranges of the root cutting mechanism and the yellow leaf removing mechanism at the same time; the root cutting mechanism cuts off the root of the target brassica chinensis, the yellow leaf removing mechanism positions and cuts off the yellow leaves of the target brassica chinensis through machine vision, and then the target brassica chinensis is conveyed to the packaging unit. The root cutting and yellow leaf removing device has the beneficial effects that the root cutting mechanism and the yellow leaf removing mechanism cooperate for treatment, the processing period is greatly shortened, and the labor cost and the secondary pollution risk are reduced.

Description

Technical Field

[0001] This invention relates to the field of pre-cleaned vegetable equipment technology, and in particular to an integrated packaging machine for Shanghai bok choy. Background Technology

[0002] Shanghai bok choy is a common leafy green vegetable that can be sown and cultivated year-round, and it has high nutritional and economic value. After harvesting, Shanghai bok choy is usually transported to processing bases via cold chain, where it undergoes standardized cleaning, impurity removal, root cutting, and packaging processes before being distributed to supermarkets via cold chain to meet their requirements for freshness, safety, and appearance.

[0003] Shanghai bok choy, a shallow-rooted leafy vegetable, has the physiological characteristics of strong transpiration and weak water retention. After harvesting, it needs to be pre-cooled as soon as possible and transported to processing bases to inhibit respiration and water loss, prevent wilting and yellowing of leaves, and ensure product marketability. However, in the existing supply chain, processing bases, in order to simplify their processing procedures, require farmers to perform root cutting and removal of obviously yellow leaves immediately after harvesting in the field. This field pre-treatment method has significant technical defects: Firstly, the field lacks professional preservation conditions, and the plants are exposed to ambient temperature during pre-treatment. Furthermore, the root cutting and yellow leaf removal operations easily damage leaves or petioles, leading to accelerated transpiration and water loss, decreased product freshness, and increased losses during subsequent transportation and processing. Secondly, farmers' field operations lack standardized procedures, resulting in uneven root cutting lengths and incomplete removal of yellow leaves, requiring secondary sorting at the processing base, further increasing processing costs and time.

[0004] To address the aforementioned issues, the optimal solution for root trimming and yellow leaf removal is large-scale, standardized processing at the processing base. However, in current technology, root trimming and yellow leaf removal for Shanghai bok choy at processing bases still primarily rely on manual labor, presenting the following technical problems: First, manual processing is inefficient and cannot meet the demands of large-scale commercial production; second, processing precision is poor, with high errors in root trimming length and a high rate of missed yellow leaf removal, resulting in high labor intensity and continuously rising labor costs, leading to increased processing costs and extended production cycles, failing to meet the standardization and efficiency requirements of the pre-processed vegetable industry. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes an integrated packaging machine for Shanghai bok choy, which mainly solves the problem of low production efficiency caused by the lack of root cutting and yellow leaf removal functions in existing Shanghai bok choy production lines.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0007] A Shanghai bok choy packaging machine includes a washing unit, a straightening unit, a root-cutting and yellow-leaf-removing unit, and a packaging unit connected in sequence. The root-cutting and yellow-leaf-removing unit includes at least a fixing mechanism, a first motor for driving the fixing mechanism, a root-cutting mechanism, and a yellow-leaf-removing mechanism.

[0008] The fixing mechanism is vertically arranged with open top and bottom. After the straightening unit places the target Shanghai bok choy root-down into the fixing mechanism, the leaves and roots of the target Shanghai bok choy are exposed from the upper and lower ends of the fixing mechanism, respectively. The first motor drives the fixing mechanism to enter the working range of the root cutting mechanism and the yellow leaf removal mechanism at the same time. The root cutting mechanism cuts off the root of the target Shanghai bok choy, and the yellow leaf removal mechanism locates and removes the yellow leaves of the target Shanghai bok choy using machine vision. After completion, it is sent to the packaging unit.

[0009] In some embodiments, the cleaning unit includes a water tank, an air bubble nozzle disposed at the bottom of the water tank, a water spray head installed at the opening end of the water tank, and a first conveyor belt assembly installed inside the water tank, wherein the output end of the water spray head points vertically downward.

[0010] In some embodiments, the first conveyor belt assembly includes a horizontal section conveyor belt and an inclined section conveyor belt connected to the horizontal section conveyor belt. The horizontal section conveyor belt is located in the middle of the water tank, and the discharge end of the inclined section conveyor belt is connected obliquely upward to the input end of the straightening unit. Furthermore, baffles are evenly spaced on the surfaces of both the horizontal section conveyor belt and the inclined section conveyor belt, and the working water level of the water tank is at least 5 cm higher than the highest point of the upper surface of the horizontal section conveyor belt.

[0011] In some embodiments, the alignment unit includes a first support, a second conveyor belt assembly and a material preparation hopper respectively disposed on both sides of the middle of the first support, a first flexible gripper suspended on the top of the first support, and a first vision module fixed on the top of the first support. The first vision module is used to acquire the position and angle of the target bok choy within the area of ​​the second conveyor belt assembly, generate corresponding gripping instructions and angle correction instructions, and the first flexible gripper transfers the target bok choy to directly above the material preparation hopper according to the gripping instructions, and rotates by a corresponding angle according to the angle correction instructions. After releasing the target bok choy, the first flexible gripper returns to its initial position or continues to perform actions according to new instructions.

[0012] In some embodiments, the fixing mechanism includes a second bracket and a first motor fixed on the second bracket, wherein the output end of the first motor is provided with a star-shaped support arm, each end of the star-shaped support arm is provided with a pair of open cones, and each end of the star-shaped support arm is provided with a servo motor, each servo motor being used to drive the corresponding cone to open and close.

[0013] In some embodiments, there are at least three cones. For any one of the cones, the first motor drives the cone to sequentially reach the feed inlet station, the cutter station composed of the root cutting mechanism and the yellow leaf removal mechanism, and the discharge outlet station, and the cones cycle after completing the work at the three stations.

[0014] In some embodiments, the second support is further provided with a slide rail, the starting section of which is located directly below the cone barrel running to the discharge port position, and the ending section of which is located directly above the inlet of the packaging unit.

[0015] In some embodiments, the root cutting mechanism includes a third bracket movably mounted vertically on the surface of the second bracket, a second motor mounted on the third bracket, and a rotating blade mounted on the output end of the second motor.

[0016] In some embodiments, the yellowing leaf removal mechanism includes a fourth bracket mounted on the second bracket, a second flexible gripper suspended from the top of the fourth bracket, the gripper end of the second flexible gripper being provided with a leaf-cutting blade, and a second vision module being provided on the top of the fourth bracket.

[0017] In some embodiments, the packaging unit includes a third conveyor belt assembly. A first fixing frame and a second fixing frame are sequentially arranged above the third conveyor belt assembly along its own transmission direction. A flip-top cylinder that reciprocates along the width direction of the third conveyor belt assembly is arranged on the side of the first fixing frame. A triangular plate is provided at the end of the piston rod of the flip-top cylinder, with the hypotenuse of the triangular plate facing the material feeding direction. A closing rod is provided on the side of the second fixing frame near the flip-top cylinder, and the height of the closing rod is greater than the height of the flip-top cylinder. A pressing plate that reciprocates in the vertical direction is provided at the top of the second fixing frame.

[0018] The beneficial effects of this invention are as follows: By setting up a root-cutting and yellowing-leaf-removing unit that integrates a fixing mechanism, a root-cutting mechanism, and a yellowing-leaf-removing mechanism, the root-cutting and yellowing-leaf-removing processes are precisely integrated. The fixing mechanism adopts a vertical open design, which, together with the alignment unit, allows the Shanghai bok choy to be inserted with the root facing downwards, exposing the root and leaves respectively, providing structural support for the synchronous operation of the two processes. The first motor drives the fixing mechanism to simultaneously enter the working range of the root-cutting and yellowing-leaf-removing mechanisms, realizing collaborative processing at the same workstation and significantly shortening the processing cycle. Furthermore, the yellowing-leaf-removing mechanism uses machine vision to accurately locate and selectively remove yellow leaves, while the root-cutting mechanism achieves standardized cutting based on precise positioning. This significantly improves the efficiency and accuracy of root-cutting and yellowing-leaf-removing while reducing labor costs and the risk of secondary contamination. Combined with the subsequent packaging unit, integrated production is achieved, meeting the needs of large-scale commercial clean vegetable processing. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the integrated packaging machine for Shanghai bok choy disclosed in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the cleaning unit disclosed in an embodiment of the present invention;

[0021] Figure 3 for Figure 1 A magnified view of the area along line A;

[0022] Figure 4 This is a schematic diagram of the packaging unit disclosed in an embodiment of the present invention;

[0023] The components are: 1-washing unit, 2-aligning unit, 3-root cutting and yellow leaf removal unit, 4-packaging unit, 101-water tank, 102-bubble nozzle, 103-spray head, 104-horizontal section conveyor belt, 105-inclined section conveyor belt, 201-first support, 202-second conveyor belt assembly, 203-material preparation funnel, 204-first flexible gripper, 205-first vision module, 31-fixing mechanism, 32-first motor, 33-root cutting mechanism, 34-yellow leaf removal mechanism, 311-second support Frame, 312-Star-shaped support arm, 313-Conical barrel, 314-Servo motor, 315-Slide rail, 331-Third bracket, 332-Second motor, 333-Rotating blade, 341-Fourth bracket, 342-Second flexible gripper, 343-Leaf cutting blade, 344-Second vision module, 401-Third conveyor belt assembly, 402-First fixed frame, 403-Second fixed frame, 404-Flip-top cylinder, 405-Triangle plate, 406-Covering rod, 407-Covering plate, 100-Packaging box. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the content of this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to this invention are shown in the accompanying drawings, not all of them.

[0025] This embodiment proposes an integrated packaging machine for Shanghai bok choy, such as... Figure 1 As shown, it includes a cleaning unit 1, a straightening unit 2, a root-cutting and yellow leaf-removing unit 3, and a packaging unit 4 connected in sequence. The root-cutting and yellow leaf-removing unit 3 includes at least a fixing mechanism 31, a first motor 32 for driving the fixing mechanism 31, a root-cutting mechanism 33, and a yellow leaf-removing mechanism 34.

[0026] The fixing mechanism 31 is vertically set with open top and bottom. After the straightening unit 2 places the target Shanghai bok choy with the root facing down into the fixing mechanism 31, the leaves and roots of the target Shanghai bok choy are exposed from the upper and lower ends of the fixing mechanism 31, respectively. The first motor 32 drives the fixing mechanism 31 to enter the working range of the root cutting mechanism 33 and the yellow leaf removal mechanism 34 at the same time. The root cutting mechanism 33 cuts off the root of the target Shanghai bok choy, and the yellow leaf removal mechanism 34 locates and removes the yellow leaves of the target Shanghai bok choy through machine vision. After completion, it is sent to the packaging unit 4.

[0027] In this embodiment, a root-cutting and yellow-leaf-removing unit 3, which integrates a fixing mechanism 31, a root-cutting mechanism 33, and a yellow-leaf-removing mechanism 34, is set up to achieve precise integrated processing of root-cutting and yellow-leaf-removing processes. The fixing mechanism 31 adopts a vertical open design, which, together with the straightening unit 2, allows the Shanghai bok choy to be placed with the root facing downwards, exposing the root and leaves respectively, providing structural support for the synchronous operation of the two processes. The first motor 32 drives the fixing mechanism 31 to enter the working range of the root-cutting mechanism 33 and the yellow-leaf-removing mechanism 34 simultaneously, realizing collaborative processing at the same workstation and significantly shortening the processing cycle. Furthermore, the yellow-leaf-removing mechanism 34 uses machine vision to accurately locate and selectively remove yellow leaves, while the root-cutting mechanism 33 achieves standardized cutting based on precise positioning. This significantly improves the efficiency and accuracy of root-cutting and yellow-leaf-removing while reducing labor costs and the risk of secondary contamination. Combined with the subsequent packaging unit 4, integrated production is achieved to meet the needs of large-scale commercial clean vegetable processing.

[0028] The cleaning unit 1 described in this solution can be any physical cleaning structure. In one example, such as... Figure 2As shown, the cleaning unit 1 includes a water tank 101, an air bubble nozzle 102 disposed at the bottom of the water tank 101, a water spray head 103 installed at the opening end of the water tank 101, and a first conveyor belt assembly installed inside the water tank 101, wherein the output end of the water spray head 103 points vertically downward. In the above example, before the equipment starts operating, a certain amount of clean water needs to be added to the water tank 101. After the equipment starts operating, the Shanghai bok choy to be treated is fed into the water tank 101 through the discharge port. The cleaning unit 1 adopts a dual cleaning design of bottom air bubble rinsing and top high-pressure spraying. The air bubble nozzle 102 pumps in a large number of dense air bubbles, which, combined with the high-pressure water flow sprayed by the water spray head 103, directionally rinses and removes the mud and sand attached to the surface of the leaves, and removes residual pesticide residues from the crevices. Subsequently, the first conveyor belt assembly smoothly scoops out the cleaned Shanghai bok choy and carries it into the straightening unit 2.

[0029] For even better options, please refer to [link / reference]. Figure 2 The aforementioned first conveyor belt assembly includes a horizontal conveyor belt 104 and an inclined conveyor belt 105 connected to the horizontal conveyor belt 104. The horizontal conveyor belt 104 is located in the middle of the water tank 101, and the discharge end of the inclined conveyor belt 105 is connected obliquely upward to the input end of the straightening unit 2. Both the horizontal conveyor belt 104 and the inclined conveyor belt 105 have evenly spaced baffles (not shown in the figure) on their surfaces. Technicians can set the baffle spacing according to the current size grade of the Shanghai bok choy to ensure that the space between two adjacent baffles can only accommodate one Shanghai bok choy plant, reducing interference in subsequent straightening steps. Furthermore, the working water level of the water tank 101 is at least 5 cm higher than the highest point of the upper surface of the horizontal conveyor belt 104. In the above preferred embodiment, the first conveyor belt assembly is designed as a two-section type. The horizontal section conveyor belt 104 is located below the water surface. Due to its baffle structure, it can scoop up Shanghai bok choy from the water during operation and send it to the inclined section conveyor belt 105, from which it is transferred to the straightening unit 2.

[0030] The main function of the aforementioned alignment unit 2 is to work with the fixing mechanism 31 to achieve the downward orientation of the Shanghai bok choy, laying the foundation for the precise implementation of the subsequent root-cutting and yellow leaf-removal process. In one example, such as... Figure 3As shown, the alignment unit 2 includes a first support 201, a second conveyor belt assembly 202 and a material preparation hopper 203 respectively disposed on both sides of the middle part of the first support 201, a first flexible gripper 204 suspended on the top of the first support 201, and a first vision module 205 fixed on the top of the first support 201. The first vision module 205 is used to obtain the position and angle of the target bok choy in the area of ​​the second conveyor belt assembly 202, and generate corresponding gripping instructions and angle correction instructions. The first flexible gripper 204 transfers the target bok choy to the top of the material preparation hopper 203 according to the gripping instructions, and rotates the corresponding angle according to the angle correction instructions. After releasing the target bok choy, the first flexible gripper 204 returns to the initial position or continues to perform the action according to the new instructions. Specifically, the first support 201 is a frame structure used to support components such as the second conveyor belt assembly 202, the material preparation funnel 203, and the first flexible gripper 204. The second conveyor belt assembly 202 adopts an anti-slip belt design with flexible protrusions on its surface, which can stably receive the Shanghai bok choy conveyed by the cleaning unit 1 and avoid blade wear. Its transmission speed is synchronized with the first conveyor belt assembly. For example, one Shanghai bok choy is fed at a time according to the rhythm, ensuring stable shooting by the first vision module 205 and a stable time window for the first flexible gripper 204 to grab the Shanghai bok choy. The material preparation funnel 203 adopts a strip structure. The outlet of the funnel is opened at one end along its length. The outlet of the material preparation funnel 203 is aligned with the inlet of the fixing mechanism 31, and the outlet diameter is slightly smaller than the inlet diameter of the fixing mechanism 31, which facilitates the precise falling of the Shanghai bok choy into the fixing mechanism 31.

[0031] In addition, the first flexible gripper 204 can be a five-axis manipulator. An XYZ three-axis motor is installed on the top of the gripper body to control the movement of the first flexible gripper 204 within the range of the first support 201. The gripper body is equipped with a drive unit and a rotation unit to control the gripping of the fingers and the rotation of the gripper body, respectively. It should be noted that Shanghai bok choy is a vegetable whose leaf portion is much larger than its petiole. Therefore, after the roots of the Shanghai bok choy are released towards the outlet of the preparation funnel 203, the roots, due to their own gravity, will first slide out of the outlet of the preparation funnel 203 and enter the fixing mechanism 31.

[0032] As another important embodiment of the present invention, such as Figure 3As shown, the aforementioned fixing mechanism 31 includes a second bracket 311 and a first motor 32 fixed on the second bracket 311. The output end of the first motor 32 is provided with a star-shaped support arm 312. Each end of the star-shaped support arm 312 is provided with a pair of open cones 313, and each end of the star-shaped support arm 312 is provided with a servo motor 314. Each servo motor 314 is used to drive the corresponding cone 313 to open and close. Specifically, there are at least three cones 313. For any given cone 313, the first motor 32 drives the cone 313 sequentially to the feed inlet station, the cutting station composed of the root cutting mechanism 33 and the yellow leaf removal mechanism 34, and the discharge station, and then cycles through the three stations after completing their operations.

[0033] In the above scheme, the first motor 32 is a stepper motor with precise indexing function. Its output end is fixedly connected to the center of the star-shaped support arm 312 through a coupling, which can drive the star-shaped support arm 312 to rotate intermittently around the axis of the output end. The rotation angle is adapted to the number of workstations (e.g., three cones correspond to 120° rotation per step). During operation, the first motor 32 drives the star-shaped support arm 312 to rotate intermittently, causing each cone 313 to sequentially reach the feeding port workstation (receiving Shanghai bok choy from the preparation funnel 203), the cutting station (processed by the root cutting mechanism 33 and the yellow leaf removal mechanism 34), and the discharge port workstation (releasing the processed Shanghai bok choy). When the cone barrel 313 reaches the feed inlet station, the servo motor 314 drives the cone barrel 313 to close and receive the Shanghai green tea. When rotating to the cutter station, the cone barrel 313 remains closed to ensure that the material does not shift during processing. When it reaches the discharge outlet station, the servo motor 314 drives the cone barrel 313 to open, and the Shanghai green tea falls into the packaging box at the feed inlet of the packaging unit 4 below under the action of gravity. After completing the operation of the three stations, the star-shaped support arm 312 continues to rotate, and the cone barrel 313 circulates to each station to achieve continuous processing.

[0034] Optionally, the cone 313 can also be configured with four stations: in addition to the inlet station, the cutter station, and the outlet station, a transition station is also reserved, such as... Figure 3 As shown, the transition station is set between the feed inlet station and the cutter station to adapt to the component position distribution of the equipment. At this time, each cone rotates 90° for each step.

[0035] Furthermore, the second support 311 is also equipped with a slide rail 315. The starting section of the slide rail 315 is located directly below the cone 313 that has reached the discharge port position, and the ending section of the slide rail 315 is located directly above the inlet of the packaging unit 4. Specifically, when the cone 313 reaches the discharge port position, the servo motor 314 drives the cone 313 to open, and the Shanghai bok choy falls into the slide rail 315 below under the action of gravity. After passing through the slide rail 315, the Shanghai bok choy falls into the packaging box at the inlet of the packaging unit 4.

[0036] In one example, the root-cutting mechanism 33 includes a third support 331 vertically movably mounted on the surface of the second support 311, a second motor 332 mounted on the third support 331, and a rotating blade 333 mounted on the output end of the second motor 332. In the above example, the root-cutting mechanism 33 achieves standardized cutting of Shanghai bok choy rhizomes through its adjustable height and high-speed rotating cutting design. The vertical sliding fit structure between the third support 331 and the surface of the second support 311 allows for fine-tuning of height via a drive component (such as a cylinder or lead screw) to adapt to the root-cutting requirements of Shanghai bok choy plants of different heights, ensuring consistent root-cutting length. The second motor 332 provides stable power output to the rotating blade 333.

[0037] In one example, such as Figure 3 As shown, the yellow leaf removal mechanism 34 includes a fourth support 341 mounted on a second support 311. A second flexible gripper 342 is suspended from the top of the fourth support 341, and a leaf-cutting blade 343 is provided at the end of the gripper of the second flexible gripper 342. A second vision module 344 is also provided on the top of the fourth support 341. In the above example, the frame structure of the fourth support 341 spans above the cutting station, providing a stable mounting foundation for the second flexible gripper 342 and the second vision module 344. The second vision module 344 accurately distinguishes the characteristic differences between yellow leaves and normal leaves through color recognition and morphological analysis algorithms, ensuring accurate identification of yellow leaf parts. The second flexible gripper 342 cuts off the yellow leaves according to the identification and positioning results. The structure of the second flexible gripper 342 can refer to the first flexible gripper 204. In addition, the end of the second flexible gripper 342 is provided with a leaf-cutting blade 343, which can quickly cut off the yellow leaf stems. The blade is relatively thin, reducing interference with surrounding leaves.

[0038] In one example, such as Figure 4As shown, the packaging unit 4 includes a third conveyor belt assembly 401. A first fixed frame 402 and a second fixed frame 403 are sequentially arranged above the third conveyor belt assembly 401 along its own transmission direction. A flip-top cylinder 404 that reciprocates along the width direction of the third conveyor belt assembly 401 is arranged on the side of the first fixed frame 402. A triangular plate 405 is arranged at the end of the piston rod of the flip-top cylinder 404, with the hypotenuse of the triangular plate 405 facing the material feeding direction. A closing rod 406 is arranged on the side of the second fixed frame 403 near the flip-top cylinder 404, and the height of the closing rod 406 is greater than the height of the flip-top cylinder 404. A pressing plate 407 that reciprocates in the vertical direction is arranged on the top of the second fixed frame 403. The longitudinal movement of the pressing plate 407 is controlled by a cylinder. In the initial state, the flip-top cylinder 404 drives the triangular plate 405 to a retracted state (i.e., when the packaging box 100 moves with the third conveyor belt 401, the triangular plate 405 does not contact any position of the packaging box 100). In the working state, the flip-top cylinder 404 drives the triangular plate 405 to an extended state (i.e., when the packaging box 100 moves with the third conveyor belt 401, the triangular plate 405 contacts the lid of the packaging box 100 and gives it an initial flipping angle). In addition, when the lid of the packaging box 100 contacts the closing rod 406, the flip-top cylinder 404 drives the triangular plate 405 to immediately return to the initial position (during this period, the working time and working state of the flip-top cylinder 404 can be set according to the preset beat or preset weight of the third conveyor belt 401).

[0039] In the above example, packaging unit 4 achieves automated continuous packaging of Shanghai bok choy through the coordinated action of multiple components. Specifically, the third conveyor belt assembly 401 is triggered according to a preset rhythm or preset weight. When the lid of the packaging box 100 contacts the triangular plate 405, the inclined guide structure of the triangular plate 405 can initially fold the lid of the packaging box 100 at a certain angle. Then, driven by the third conveyor belt assembly 401, the packaging box 100 contacts the cover rod 406, and the flip-top cylinder 404 retracts back to its initial position to avoid collision with the body of the packaging box 100. The lid of the packaging box 100 is completely folded during its forward movement until it completely covers the opening of the body of the packaging box 100. Finally, the pressing plate 407 presses down vertically, pressing the lid of the packaging box 100 tightly against the body of the packaging box 100, completing the fastening task of the packaging box 100.

[0040] The above embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made based on the essence of the content of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A Shanghai bok choy pre-packaged vegetable packaging machine, characterized in that, The unit includes a cleaning unit (1), a straightening unit (2), a root cutting and yellow leaf removal unit (3), and a packaging unit (4) connected in sequence. The root cutting and yellow leaf removal unit (3) includes at least a fixing mechanism (31), a first motor (32) for driving the fixing mechanism (31), a root cutting mechanism (33), and a yellow leaf removal mechanism (34). The fixing mechanism (31) is vertically set and has an open top and bottom. After the straightening unit (2) places the root of the target bok choy into the fixing mechanism (31) with the root facing down, the leaf part and root part of the target bok choy are exposed from the upper and lower ends of the fixing mechanism (31) respectively. The first motor (32) drives the fixing mechanism (31) to enter the working range of the root cutting mechanism (33) and the yellow leaf removal mechanism (34) at the same time. The root cutting mechanism (33) cuts off the root of the target bok choy, and the yellow leaf removal mechanism (34) locates the yellow leaves of the target bok choy through machine vision and cuts them off. After completion, it is sent to the packaging unit (34) for packaging.

2. The integrated packaging machine for Shanghai bok choy as described in claim 1, characterized in that, The cleaning unit (1) includes a water tank (101), an air bubble nozzle (102) disposed at the bottom of the water tank (101), a water spray head (103) installed at the opening end of the water tank (101), and a first conveyor belt assembly installed inside the water tank (101), wherein the output end of the water spray head (103) is vertically downward.

3. The integrated packaging machine for Shanghai bok choy as described in claim 2, characterized in that, The first conveyor belt assembly includes a horizontal section conveyor belt (104) and an inclined section conveyor belt (105) connected to the horizontal section conveyor belt (104). The horizontal section conveyor belt (104) is located in the middle of the water tank (101). The discharge end of the inclined section conveyor belt (105) is connected obliquely upward to the input end of the straightening unit (2). Both the horizontal section conveyor belt (104) and the inclined section conveyor belt (105) are provided with baffles that are evenly spaced on their surfaces. The working water level of the water tank (101) is at least 5 cm higher than the highest point of the upper surface of the horizontal section conveyor belt (104).

4. The integrated packaging machine for Shanghai bok choy as described in claim 1, characterized in that, The alignment unit (2) includes a first support (201), a second conveyor belt assembly (202) and a material preparation hopper (203) respectively disposed on both sides of the middle part of the first support (201), a first flexible gripper (204) suspended on the top of the first support (201), and a first vision module (205) fixed on the top of the first support (201); wherein, the first vision module (205) is used to obtain the position and angle of the target bok choy in the area of ​​the second conveyor belt assembly (202), generate corresponding gripping instructions and angle correction instructions, the first flexible gripper (204) transfers the target bok choy to the top of the material preparation hopper (203) according to the gripping instructions, and rotates the corresponding angle according to the angle correction instructions, and the first flexible gripper (204) returns to the initial position after releasing the target bok choy or continues to perform actions according to new instructions.

5. The integrated packaging machine for Shanghai bok choy as described in claim 1, characterized in that, The fixing mechanism (31) includes a second bracket (311) and a first motor (32) fixed on the second bracket (311). The output end of the first motor (32) is provided with a star-shaped support arm (312). Each end of the star-shaped support arm (312) is provided with a pair of open cones (313), and each end of the star-shaped support arm (312) is provided with a servo motor (314). Each servo motor (314) is used to drive the corresponding cone (313) to open and close.

6. The integrated packaging machine for Shanghai bok choy according to claim 5, characterized in that, There are at least three cones (313). For any one of the cones (313), the first motor (32) drives the cone (313) to sequentially reach the feed inlet station, the cutter station composed of the root cutting mechanism (33) and the yellow leaf removal mechanism (34), and the discharge station, and then cycles after completing the work of the three stations.

7. The integrated packaging machine for Shanghai bok choy according to claim 6, characterized in that, The second support (311) is also provided with a slide rail (315). The starting section of the slide rail (315) is located directly below the cone (313) running to the discharge port position, and the ending section of the slide rail (315) is located directly above the feed port of the packaging unit (4).

8. The integrated packaging machine for Shanghai bok choy as described in claim 5, characterized in that, The root cutting mechanism (33) includes a third bracket (331) movably mounted on the surface of the second bracket (311) in the vertical direction, a second motor (332) mounted on the third bracket (331), and a rotating blade (333) mounted on the output end of the second motor (332).

9. The integrated packaging machine for Shanghai bok choy as described in claim 5, characterized in that, The yellow leaf removal mechanism (34) includes a fourth bracket (341) mounted on the second bracket (311). A second flexible gripper (342) is suspended on the top of the fourth bracket (341). A leaf-cutting blade (343) is provided at the end of the gripper of the second flexible gripper (342). A second vision module (344) is also provided on the top of the fourth bracket (341).

10. The integrated packaging machine for Shanghai bok choy according to claim 1, characterized in that, The packaging unit (4) includes a third conveyor belt assembly (401). A first fixed frame (402) and a second fixed frame (403) are sequentially arranged above the third conveyor belt assembly (401) along its own transmission direction. A flip-top cylinder (404) that reciprocates along the width direction of the third conveyor belt assembly (401) is arranged on the side of the first fixed frame (402). A triangular plate (405) is arranged at the end of the piston rod of the flip-top cylinder (404). The hypotenuse of the triangular plate (405) faces the material feeding direction. A closing rod (406) is arranged on the side of the second fixed frame (403) near the flip-top cylinder (404). The height of the closing rod (406) is greater than the height of the flip-top cylinder (404). A pressing plate (407) that reciprocates along the vertical direction is arranged on the top of the second fixed frame (403).

Images