Strawberry cleaning and pedicle removing all-in-one machine and method

Abstract

The invention provides a strawberry cleaning and pedicle-removing all-in-one machine and method, and the machine comprises a feeding mechanism, a cleaning mechanism, a vibration sorting mechanism, a pedicle-removing mechanism, a material steering and conveying mechanism, and an industrial personal computer. The vibration material arranging mechanism is used for receiving strawberries conveyed by the bubble cleaning machine and achieving arrangement, separation and conveying of the strawberries, the base removing mechanism is used for achieving automatic cutting of strawberry bases, the negative pressure material suction system is used for achieving cleaning of waste residues generated in the cutting process, and the material steering conveying mechanism is used for achieving steering conveying of materials. The industrial personal computer can achieve operation control over the feeding mechanism, the cleaning mechanism, the vibration material arranging mechanism, the pedicle removing mechanism and the material steering and conveying mechanism. By means of the strawberry processing device, automatic assembly line work of strawberry cleaning, positioning and sorting and strawberry pedicel removing can be achieved, the strawberry processing hygienic quality can be guaranteed, the labor cost can be reduced, and meanwhile the strawberry processing efficiency can be greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep processing of strawberries, in particular to a strawberry cleaning and de-stemming integrated machine and method. BACKGROUND

[0002] Strawberry is a popular fruit, and the demand for its processed products such as jam, juice, and frozen strawberries is increasing. In the primary processing and deep processing of strawberries, necessary steps such as cleaning and removing strawberry stems (i.e. the green calyx and fruit stalk of strawberries) are generally required. Currently, the cleaning and de-stemming process of strawberries mainly adopts manual and mechanized methods, but most enterprises still use manual methods for cleaning and de-stemming of strawberries.

[0003] The manual method for cleaning and de-stemming strawberries has the following defects: high flesh damage rate: strawberry fruit is soft and juicy, and when using tools or de-stemming tools manually, it is easy to cut the flesh due to improper force and angle control, resulting in a decrease in yield and waste of raw materials; poor hygiene conditions: manual operation cannot fully meet the hygiene standards of food processing, which may pose a risk of cross-contamination and affect product safety; low production efficiency: manual de-stemming is slow, and workers are prone to fatigue after long-term repetitive work, resulting in low overall processing efficiency and difficulty in meeting the needs of large-scale production; high labor costs: as labor costs continue to rise, the reliance on a large number of manual labor for strawberry de-stemming processing increases the cost pressure on enterprises and reduces their competitiveness.

[0004] When using a mechanized method for cleaning and de-stemming strawberries, manual assistance is still required to achieve vertical positioning and placement of the strawberries after cleaning. After the strawberries are placed vertically, the strawberry stems are located at the top, and subsequent rotary cutting is used to remove the strawberry stems. Due to the different sizes of strawberries, the strawberry stems on small strawberries cannot be effectively removed when batch cutting is performed using a rotary cutter, which reduces the quality of strawberry de-stemming. In addition, manual placement of strawberries also has the problems of poor hygiene conditions, low efficiency, and high labor intensity for long-term repetitive work. SUMMARY

[0005] The present application aims to provide a strawberry cleaning and de-stemming integrated machine and method that can achieve automatic flow line operation for cleaning, positioning, and de-stemming of strawberries. This method not only ensures the hygiene quality of strawberry processing and reduces labor costs, but also greatly improves the processing efficiency of strawberries.

[0006] The technical scheme adopted by the present application to solve its technical problems is: a strawberry cleaning and de-stemming all-in-one machine, comprising a feeding mechanism, a cleaning mechanism, a vibrating material arranging mechanism, a de-stemming mechanism, a material turning conveying mechanism and an industrial computer, the cleaning mechanism comprises a separation and filtration tank, a bubble cleaning machine and a circulating water supply system, the feeding mechanism is used to continuously convey materials into the separation and filtration tank, the circulating water supply system can continuously provide water flow into the separation and filtration tank, the separation and filtration tank is used to realize impurity filtration, the vibrating material arranging mechanism is used to receive strawberries conveyed out by the bubble cleaning machine and realize the arrangement, separation and conveying of the strawberries, the de-stemming mechanism comprises a round pipe cutting knife, a negative pressure material suction system, a first conveying belt, an industrial camera and a parallel robot, the negative pressure material suction system is sealingly connected to the upper part of the round pipe cutting knife through a hose, the round pipe cutting knife is vertically arranged at the center of the moving platform at the bottom of the parallel robot, the negative pressure material suction system can suck materials into the bottom of the round pipe cutting knife when discharging or not discharging, the industrial camera and the parallel robot are arranged above the first conveying belt, and the industrial camera is closer to the material inlet end of the first conveying belt than the parallel robot, the first conveying belt is used to convey strawberries flowing out from the vibrating material arranging mechanism, the material turning conveying mechanism is used to realize the turning conveying of the materials flowing out from the first conveying belt, and the industrial computer can realize the operation control of the feeding mechanism, the cleaning mechanism, the vibrating material arranging mechanism, the de-stemming mechanism and the material turning conveying mechanism.

[0007] Preferably, the feeding mechanism comprises a material hopper, a first electromagnetic vibration feeder and a second conveying belt, a first hopper of the first electromagnetic vibration feeder is located below the material hopper, a discharge port opposite to a discharge port of the first hopper is formed on the lower side wall of the material hopper, materials flowing out from the first hopper enter the second conveying belt, and the second conveying belt is used to convey materials to the separation and filtration tank.

[0008] Further, the separation and filtration tank comprises a buffer separation tank and a filter screen, the longitudinal section of the tank cavity of the buffer separation tank is in the shape of an inverted right-angle trapezoid, the discharge port of the buffer separation tank is located on one side of the inclined wall of the tank cavity, the filter screen is located at the rear of the discharge port of the buffer separation tank, and the filter screen is distributed in the shape of being higher in front and lower at the rear, the water outlet end of the water supply pipe of the circulating water supply system is located inside the front side of the buffer separation tank, and a first filter assembly is arranged below the filter screen.

[0009] Further, the vibration sorting mechanism comprises two second electromagnetic vibration feeders, the two second electromagnetic vibration feeders are arranged side by side, each of the second electromagnetic vibration feeders comprises a first sorting hopper and a second sorting hopper, the materials flowing out of the material conveying belt of the bubble cleaning machine fall into the two first sorting hoppers, the materials flowing out of the first sorting hoppers fall into the second sorting hoppers, and the materials flowing out of the second sorting hoppers fall onto the first conveying belt, a plurality of first material separation guide grooves are arranged in the first sorting hoppers, and second material separation guide grooves corresponding to the first material separation guide grooves are arranged in the second sorting hoppers, and the longitudinal cross sections of the first material separation guide grooves and the second material separation guide grooves are in the shape of inverted isosceles trapezoid.

[0010] Further, two air blowers are arranged above the rear side of the material discharging end of the material conveying belt in the bubble cleaning machine, the two air blowers are arranged side by side, a fairing is arranged at the air outlet end of each of the air blowers, a strip-shaped air outlet is arranged at the lower part of the fairing and arranged along the left-right direction, and the strip-shaped air outlet faces the material conveying belt.

[0011] Further, the negative pressure material suction system comprises a vortex fan, a first connecting pipeline and a cyclone separator, the air inlet of the vortex fan is connected with the outer air outlet pipeline of the cyclone separator through the first connecting pipeline, the air inlet of the cyclone separator is connected with a through pipeline, the air inlet of the through pipeline is connected with the upper part of the circular tube cutting knife through a hose, two plug valves arranged in the upper and lower positions are arranged on the material collecting pipeline of the cyclone separator, and the plugs of the two plug valves can respectively achieve the plugging or through connection of the material collecting pipeline.

[0012] Further, the de-tining mechanism further comprises a belt self-cleaning drying assembly, the belt self-cleaning drying assembly comprises a slag scraping plate, a first flushing assembly, a rolling brush assembly, a second flushing assembly and a drying assembly, the slag scraping plate, the first flushing assembly, the rolling brush assembly, the second flushing assembly and the drying assembly are arranged in sequence from back to front below the return section of the first conveying belt, the upper part of the slag scraping plate is tightly attached to the belt below the first conveying belt driving roller, the first flushing assembly and the second flushing assembly are used to realize the flushing of the lower side of the return section of the first conveying belt, the rolling brush assembly is used to realize the rolling brushing of the lower side of the return section of the first conveying belt, and the drying assembly is used to realize the removal of moisture from the lower side of the return section of the first conveying belt.

[0013] This invention also provides a method for cleaning and removing the stems of strawberries, including any of the strawberry cleaning and stem-removing integrated machines described above. The stem-removing method further includes the following steps: the vibrating material handling mechanism vibrates and sorts the strawberries and orderly conveys them onto a first conveyor belt; an industrial camera takes real-time pictures of the strawberries within the conveying area of ​​the first conveyor belt and transmits the image data to an industrial control computer; the industrial control computer performs noise reduction processing on the image; further processing the image data identifies the strawberry body and the strawberry stem area; the center of the strawberry stem area is used as the cutting positioning reference; the image coordinates of the cutting positioning reference are converted into spatial coordinates under the motion coordinate system of the parallel robot actuator; and the parallel robot drives the round tube cutting blade to move and track the target strawberry for cutting. When using the round tube cutting blade to cut the strawberry stem, the center point of the round tube cutting blade corresponds to the cutting positioning reference, and the round tube cutting blade performs a vertical downward cutting relative to the strawberry along the Z-axis direction. After completing the vertical downward cutting action, the precise cutting of the strawberry stem and the synchronous negative pressure suction of waste material are achieved.

[0014] The beneficial effects of this invention are as follows: This invention enables a fully automated production line for strawberry washing and stem removal, ensuring not only the hygienic quality of the processed strawberries but also significantly improving processing efficiency. The progressive conveying of strawberries via a feeding mechanism, bubble washing machine, and vibrating sorting mechanism allows for gradual separation, ensuring that the strawberries are essentially independently distributed on the first conveyor belt, thus guaranteeing accurate image recognition of the strawberries later. The bubble washing machine maximizes non-destructive cleaning of the strawberries, preserving their appearance. The combination of image recognition and parallel robots allows for the removal of strawberry stems from strawberries of different sizes, improving the quality of stem removal. Furthermore, the use of a circular cutting blade for stem cutting... The device can simultaneously remove the removed waste material, thus avoiding waste accumulation that could interfere with subsequent operations. During image processing, it simultaneously identifies the main body area of ​​the strawberry and the strawberry stem area, thereby effectively improving the recognition accuracy and positioning robustness of the strawberry stem area. The strawberry stem area is where all the sepals at the back of the strawberry are located, so it can effectively identify the strawberry stem area of ​​strawberries with various sepal distribution patterns (such as outward or inward), thus ensuring the identification ability of the strawberry stem and improving the cutting ability of the invention for strawberry stems. The bottom of the round tube cutting blade has a circular structure, which has a large cutting range, thus giving it a certain tolerance for cutting errors when cutting strawberry stems. At the same time, combined with the auxiliary positioning method that uses the center of the strawberry stem area as the positioning reference of the center point of the round tube cutting blade, the cutting and removal of the strawberry stem can be effectively guaranteed. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a top view of the overall structure of the present invention; Figure 4 This is a rear view of the overall structure of the present invention; Figure 5 A schematic diagram showing the distribution of the belt self-cleaning and drying assembly at the bottom of the first conveyor belt; Figure 6 A longitudinal sectional view showing the distribution of the belt self-cleaning and drying assembly at the first conveyor belt; Figure 7 A first-view structural diagram of the combination of the first flushing component, the second flushing component, the roller brush component and the drying component; Figure 8 A schematic diagram showing the combined distribution of an industrial camera, a first conveyor belt, and parallel robots. Figure 9 This is a partial schematic diagram of a negative pressure suction system; Figure 10 A schematic diagram showing the distribution of the two gates within the material collection pipe; Figure 11 This is a longitudinal sectional view of a round tube cutting tool; Figure 12 This is a partial schematic diagram of a round tube cutting tool; Figure 13 A schematic diagram illustrating the identification of the main body area and the stem area of ​​a strawberry; Figure 14 for Figure 1 Enlarged view of point A in the middle; Figure 15 for Figure 2 Enlarged view at point B in the middle; Figure 16 for Figure 2 Enlarged view at point C; Figure 17 for Figure 2 Enlarged view at point D; Figure 18 for Figure 5 Enlarged view at point E in the middle; Figure 19 for Figure 6 Enlarged view at point F; Figure 20 for Figure 7 Enlarged view at point G; In the diagram: 1. Feeding mechanism; 11. Material hopper; 111. Control gate; 12. First electromagnetic vibrating feeder; 13. Second conveyor belt; 2. Cleaning mechanism; 21. Separation and filtration tank; 211. Buffer separation tank; 212. Filter grate; 213. First filter assembly; 22. Bubble cleaner; 221. Material conveyor belt; 222. Blower; 223. Rectifier; 224. Filter box; 231. Water supply pipe; 2311. Branch pipe; 232. Water outlet pipe; 233. Water inlet pipe; 3. Vibrating material handling mechanism; 31. First material separation guide channel; 32. Second material separation guide channel; 33. First limit... Position plate, 34 diverter plate, 35 first baffle, 4 twig removal mechanism, 41 round tube cutter, 411 upper round tube, 412 middle round tube, 4121 U-shaped groove, 4122 open end, 4123 closed end, 413 lower round tube, 414 first spring, 421 vortex blower, 422 first connecting pipe, 423 cyclone separator, 4231 air inlet, 4232 external air outlet pipe, 4233 second filter assembly, 4234 third filter assembly, 4235 material collection pipe, 4236 gate, 4237 pipe terminal sealing ring, 424 hose, 42 5. Separator support frame; 426. First cylinder; 427. Material collection box; 43. First conveyor belt; 431. First conveyor belt support frame; 432. First and second connecting seats; 433. Lower idler roller; 434. Upper pressure roller; 44. Industrial camera; 45. Parallel robot; 451. Mobile platform; 4511. Cutter mounting seat; 4512. Snap ring; 461. Slag scraper; 4611. Second connecting seat; 4612. Slag receiving chute; 462. First flushing assembly; 463. Roller brush assembly; 464. Second flushing assembly; 465. Drying assembly; 4651. Water scraper; 4652. Support shaft. 4653 Rocker arm, 4654 Second tension spring, 4655 First limit block, 466 Combustion channel, 4661 Heavy-duty pull-out rail, 4662 Water supply pipe, 467 Nozzle, 468 First pipe, 469 Water collection tank, 4691 Fourth filter screen, 4692 Fifth filter screen, 4693 Drain pipe, 5 Material turning and conveying mechanism, 51 Third conveyor belt, 52 Divider plate, 53 Recycling guide channel, 54 Discharge guide channel, 6 Material return mechanism, 71 Strawberry body, 72 Outward-facing sepals, 73 Inward-facing sepals, 74 Strawberry body area, 75 Strawberry stem area. Detailed Implementation

[0017] The following will describe specific embodiments and appendices. Figures 1-20 The technical solutions in the embodiments of the present invention are clearly and completely described below. Obviously, the described embodiments are only some preferred embodiments of the present invention, and not all embodiments. Those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0018] This invention provides a strawberry washing and stem-removing integrated machine (such as...) Figures 1-4As shown, the system includes a feeding mechanism 1, a washing mechanism 2, a vibrating material handling mechanism 3, a stem removal mechanism 4, a material turning and conveying mechanism 5, and an industrial control computer. The washing mechanism 2 includes a separation filter tank 21, a bubble washing machine 22, and a circulating water supply system 23. The bubble washing machine 22 is a mature device in the field of existing non-destructive cleaning technology. It generates uniform microbubbles through a bottom aeration device, which drives the fruit to slowly roll in the washing tank, achieving efficient removal of surface dirt and wax. Therefore, in this specific embodiment, the detailed structure of the bubble washing machine 22 will not be described in detail. The feeding mechanism 1 is used to continuously convey materials into the separation filter tank 21. In actual application, to facilitate the primary processing of a large number of strawberries by the feeding mechanism 1, The feeding mechanism 1 can be configured as a multi-stage conveyor belt, allowing for effective control of the strawberry flow at the final conveying end of the feeding mechanism 1 by adjusting the conveying speed of the multi-stage conveyor belt. Alternatively, the feeding mechanism 1 can be an existing vibrating feeder, allowing for flow control at the final end of the strawberry flow by adjusting the power of the vibrating feeder. After flow control is achieved, it is convenient to use the separation filter tank 21 to remove light impurities from the strawberries, and simultaneously, it is convenient to use the bubble washing machine 22 to effectively and non-destructively clean the strawberries. The circulating water supply system 23 can continuously supply water to the separation filter tank 21, which is used for impurity filtration. The vibrating feeding mechanism 3 is used to receive water from the bubble washing machine 22. 2. The strawberries are conveyed and sorted, separated, and transported. In this specific embodiment, the vibrating material handling mechanism 3 maximizes the independent separation of the strawberries, ensuring that they are basically scattered in the subsequent processing, thus providing effective assurance for accurate image recognition and stem removal. The stem removal mechanism 4 includes a round tube cutter 41, a negative pressure suction system, a first conveyor belt 43, an industrial camera 44, and a parallel robot 45. The industrial camera 44 and the parallel robot 45 are existing mature equipment, so their specific structures and working principles will not be described in detail here. The negative pressure suction system is connected to the round tube cutter 41 through a hose. The upper part is sealed and connected. The circular tube cutting blade 41 is vertically set at the center of the moving platform 451 at the bottom of the parallel robot 45. Under the drive of the parallel robot 45, the circular cutting blade 41 can move flexibly within a certain range, which makes it easy to accurately control the circular tube cutting blade 41 to remove the stems from the strawberries through the parallel robot 45. Whether the negative pressure suction system is discharging or not, the negative pressure suction system can make the bottom of the circular tube cutting blade 41 suck in the material. Utilizing the above-mentioned functional characteristics of the negative pressure suction system, it is beneficial to carry out the strawberry destemming operation for a long time, while avoiding the accumulation of cutting waste and contaminating subsequent strawberries, ensuring the continuity and cleanliness of the operation.Both the industrial camera 44 and the parallel robot 45 are positioned above the first conveyor belt 43, with the industrial camera 44 closer to the feed end of the first conveyor belt 43 than the parallel robot 45. The first conveyor belt 43 is used to transport strawberries flowing out from the vibrating material handling mechanism 3. In practical applications, a photoelectric sensor can be used to detect the position of the strawberries on the first conveyor belt 43. When the photoelectric sensor detects that a strawberry has reached a designated position, the industrial camera 44 immediately triggers high-definition image acquisition and transmits the acquired image data to the industrial control computer. The material turning and conveying mechanism 5 is used to turn and convey the material flowing out from the first conveyor belt 43. Therefore, using the material turning and conveying mechanism 5 reduces the requirements for the installation site of the entire mechanism and facilitates the centralized collection of processed materials. The industrial control computer can realize the feeding mechanism 1, the washing mechanism 2, the vibrating material handling mechanism 3, the stem removal mechanism 4, and the material handling mechanism 5. The operation control of the steering conveyor mechanism 5; In practical applications, to improve the processing efficiency and effective processing quality of strawberries, this invention uses eight parallel robots 45, divided into pairs. Each pair of parallel robots 45 shares an industrial camera 44, and the two robots in each pair are arranged sequentially. An industrial computer enables the collaborative operation of the two parallel robots 45 within each pair, allowing them to synchronously complete the stem removal action after a single image acquisition, significantly increasing the processing capacity per unit time. A first conveyor belt 43 provides a strawberry conveying path for the two pairs of parallel robots 45, and the two pairs of parallel robots 45 are staggered along the conveying direction of the first conveyor belt 43, ensuring that the two pairs of parallel robots 45 do not interfere with each other and work collaboratively, significantly increasing the number of strawberries destemmed per unit time.

[0019] Based on the above embodiments, to reduce the complexity and footprint of the feeding mechanism 1, this invention adopts a vibration feeding method to achieve primary flow control of strawberries. Specifically, the feeding mechanism 1 includes a material hopper 11, a first electromagnetic vibrating feeder 12, and a second conveyor belt 13. The electromagnetic vibrating feeder is a known mature technology product in the existing technical field. It mainly achieves the sorting and conveying of the material above through high-frequency micro-amplitude vibration. Therefore, the structural details of the electromagnetic vibrating feeder will not be described in detail here. The first hopper of the first electromagnetic vibrating feeder 12 is located below the material hopper 11. In actual application, to facilitate the precise control of the strawberry conveying flow using the first electromagnetic vibrating feeder 12, the first hopper is horizontally positioned below the discharge port of the material hopper 11, ensuring that the conveying of strawberries stops when the first electromagnetic vibrating feeder 12 is not working. A discharge port opposite to the discharge port of the first hopper is opened on the lower side wall of the material hopper 11. When the first electromagnetic vibrating feeder 12 is continuously working... The high-frequency directional vibration of the first hopper allows strawberries to flow slowly from the discharge port. To improve the effective control of strawberry flow, a regulating gate 111 can be installed at the discharge port. The size of the discharge port can be adjusted by moving the regulating gate 111 up and down. Furthermore, to effectively prevent a large number of strawberries from being suspended inside the material hopper 11, one side wall of the material storage space inside the material hopper 11 is placed vertically, while the other four are placed at an angle. The three angled side walls guide the flow of material to the discharge port, which is located at the bottom of the vertical side wall. The material flowing out of the first hopper enters the second conveyor belt 13. The second conveyor belt 13 is used to transport material to the separation filter tank 21. The conveyor belt is a common structure in the field of material conveying technology. In this embodiment, the second conveyor belt 13 is made of flexible material and is equipped with a variable frequency speed control motor to ensure that the strawberries are transported at a stable rate. Its surface is equipped with baffles to prevent the strawberries from shifting, rolling, and falling back when being lifted and transported. The first electromagnetic vibrating feeder 12 and the variable frequency speed control motor are uniformly scheduled by a program set in the industrial control computer in order to meet the flow matching requirements of materials under different processing modes.

[0020] Based on the above embodiments, the specific implementation of the separation filter tank 21 is as follows: The separation filter tank 21 includes a buffer separation tank 211 and a filter grate 212. The longitudinal cross-section of the cavity of the buffer separation tank 211 is an inverted right-angled trapezoid. Utilizing the above-mentioned structural features of the buffer separation tank 211, it can possess a certain water storage capacity. When the strawberries and impurities flowing out from the second conveyor belt 13 fall into the buffer separation tank 211, the retained water flow effectively separates the strawberries from the impurities, providing a suitable environment for subsequent impurity removal. Effective filtration provides a guarantee; the discharge port of the buffer separation tank 211 is located on one side of the inclined wall of the tank cavity, and the filter grate 212 is located behind the discharge port of the buffer separation tank 211, and the filter grate 212 is distributed in a front-high-back-low shape. When the water flow carrying impurities and fruit flows into the area above the filter grate 212, the filtration capacity of the filter grate 212 allows the water and impurities to flow directly into the area below the filter grate 212. The strawberries, under the interception of the filter grate 212 and the action of gravity, flow directly out from the discharge end of the filter grate 212, thus... This achieves thorough separation of lighter fruits and impurities, improving the washing quality of strawberries. In practical applications, to facilitate the effective filtering of leaves or stems by the filter grate 212, the filter holes on the filter grate 212 are elongated holes running from front to back. The filter grate 212 is manufactured by distributing several round rods at equal intervals along the left and right directions. The gap between two round rods serves as the filter hole. The outlet end of the water supply pipe 231 of the circulating water supply system 23 is located inside the front side of the buffer separation tank 211. The continuous water supply of 31 ensures a constant water level in the buffer separation tank 211. The water flows evenly from front to back along the surface of the filter grate, maintaining the suspended state of impurities and preventing the strawberries from being washed away and damaged. In order to maintain the stability of the water flow in the buffer separation tank 211 as much as possible, the end of the water supply pipe 231 is closed. Several branch pipes 2311 distributed along its axial direction are provided on the side wall of the end of the water supply pipe 231, and the branch pipes 2311 face the inclined surface of the tank cavity. The water flow in the water supply pipe 231 is synchronously and evenly delivered through multiple branch pipes 2311.To facilitate the rational use of water resources, the circulating water supply system 23 also includes a circulating water pump. The outlet of the circulating water pump is connected to the water supply pipe 231 through a corresponding delivery pipeline, and the inlet of the circulating water pump is connected to the bottom inner side of the cleaning tank of the bubble cleaning machine 22 through a corresponding delivery pipeline. Specifically, a filter box 224 is installed on the outside of the cleaning tank, and the filter box 224 is connected to the bottom of the cleaning tank through a pipe. An outlet pipe 232 is installed between the outlet of the filter box 224 and the inlet of the circulating water pump, and an inlet pipe 233 is installed between the outlet of the circulating water pump and the water supply pipe 231. When the circulating water pump is started, the water in the cleaning tank flows into the filter box 224 through the bottom pipe, and after preliminary filtration, it enters the circulating water pump through the outlet pipe 232, and then is reinjected into the water supply pipe 231 through the inlet pipe 233, thereby realizing the reuse of water resources and significantly reducing water consumption and wastewater discharge. A first filter assembly 213 is disposed below the filter grate. In this specific embodiment, the first filter assembly 213 includes two layers of filter screens distributed vertically (to maintain clarity, the filter screens themselves are not shown in the drawings; only the filter screen support structure is illustrated). The two layers of filter screens are horizontally disposed below the filter grate 212. The mesh size of the two layers of filter screens is customized according to the actual size of the impurities to ensure effective interception of light impurities, while also considering water flowability and ease of cleaning. The water flowing out of the filter screens directly enters the cleaning tank of the bubble cleaner 22 below, achieving water conservation. Strawberries flowing into the washing tank of the bubble washing machine 22 are gently tumbled by the evenly rising microbubbles, continuously stripping away mud, pesticide residues, and microorganisms adhering to their surfaces. As the material conveyor belt 221 within the bubble washing machine 22 continues to operate, the strawberries are smoothly carried forward by the material conveyor belt 221 and enter the feed end of the subsequent vibrating material handling mechanism 3. To reduce the moisture content adhering to the surface of the strawberries entering the vibrating material handling mechanism 3, two blowers 222 are installed above the rear side of the discharge end of the material conveyor belt 221. The two blowers 222 are distributed left and right, and a rectifier 223 is installed at the air outlet of each blower 222. A strip-shaped air outlet distributed in the left and right direction is installed at the lower part of the rectifier 223. The strip-shaped air outlet is directly facing the material conveyor belt 221, and the two strip-shaped air outlets cover the entire transverse direction of the material conveyor belt 221, ensuring that the airflow evenly covers the surface of each fruit, thereby efficiently blowing away the moisture adhering to the surface of the fruit. ;

[0021] Based on the above embodiments, the specific implementation of the vibrating material handling mechanism 3 is as follows: The vibrating material handling mechanism 3 includes two second electromagnetic vibrating feeders, which are arranged side by side. In actual application, to ensure that the material flowing out of the material conveyor belt can completely enter the two second electromagnetic vibrating feeders, a diversion plate 34 is provided at the upper part of the opposite position of the two second electromagnetic vibrating feeders. The diversion plate 34 is triangular, and the strawberries falling onto the side wall of the diversion plate 34 are guided by its flow-guiding effect to fall into the corresponding second feeder. Each of the second electromagnetic vibrating feeders includes a primary sorting hopper and a secondary sorting hopper. Material flowing from the material conveyor belt 221 of the bubble washing machine 22 falls into the two primary sorting hoppers, while material flowing from the primary sorting hoppers falls into the secondary sorting hoppers. Material flowing from the secondary sorting hoppers falls onto the first conveyor belt 43. Several spaced-apart first material separation guide channels 31 are provided in the primary sorting hoppers. Specifically, several equally spaced triangular... Triangular guide columns are formed between adjacent triangular guide columns and between the triangular guide columns and the side wall of the primary material hopper, constituting the first material separation guide channel 31. The primary sorting and diversion of materials is achieved by utilizing the guiding and separating effect of several first material separation guide channels 31. A second material separation guide channel 32 corresponding to the first material separation guide channel 31 is provided in the secondary material hopper. Specifically, several equally spaced trapezoidal guide platforms are provided in the secondary material hopper, with corresponding first material separation guide channels 32 formed between adjacent trapezoidal guide platforms and between the trapezoidal guide platforms and the side wall of the secondary material hopper. The walls form corresponding second material separation guide channels 32. These channels can be used to further separate the material separated by the first material separation guide channel 31, facilitating the independent distribution of strawberries on the first conveyor belt 43. Both the first and second material separation guide channels 31 and 32 have inverted isosceles trapezoidal cross-sections. This structural form allows for the orderly arrangement of several strawberries in a single row on the first conveyor belt 43. To effectively prevent strawberries from accumulating in the second material separation guide channel 32, a first baffle 35 is fixedly installed at the discharge end of the primary material hopper. The first baffle 35's blocking and limiting effect ensures that the discharge end of the primary material hopper always maintains a single-layer discharge state.Because the second electromagnetic vibrating feeder continuously vibrates at high frequency and the strawberries are cylindrical in shape, when the strawberries slide down from the discharge end of the second material separation guide trough 32, they are subject to the combined effects of inertia and gravity, causing them to still exhibit some rolling when they fall onto the first conveyor belt 43. To prevent the strawberries from undergoing significant displacement after entering the first conveyor belt 43, a first limiting plate 33 is respectively installed on the left and right sides of the discharge port of each of the second material separation guide troughs 32, and a square limiting zone is formed between two opposing first limiting plates 33. The first limiting plates 33 are used to control the flow of the strawberries. The obstruction of the rolling fruit ensures that the fruit is arranged in a limited and orderly manner. The first limiting plate 33 can move left and right and be positioned. Specifically, a square horizontal support rod is set on the first conveyor belt support frame 431, and a square frame is slidably fitted on the square horizontal support rod. A top-pressing bolt is set on the upper part of the square frame, and a first limiting plate 33 is fixed at the bottom of each square frame by bolt connection. The position of the first limiting plate 33 on the square horizontal support can be precisely adjusted by the top-pressing bolt to adapt to the limiting requirements of the strawberries.

[0022] Based on the above embodiments, the specific implementation of the negative pressure suction system is as follows: The negative pressure suction system includes a vortex blower 421, a first connecting pipe 422, and a cyclone separator 423. The air inlet 4231 of the vortex blower 421 is connected to the external air outlet 4232 of the cyclone separator 423 through the first connecting pipe 422. The air inlet of the cyclone separator 423 is connected to a through pipe. The air inlet of the through pipe is sealed to the upper part of the round tube cutter 41 through a flexible hose 424. In actual application, to ensure the flexibility of the flexible hose 424... While ensuring its resistance to negative pressure deformation, the hose 424 is made of corrugated steel wire. Two vertically spaced gate valves are provided on the material collection pipe 4235 of the cyclone separator 423. The gate valves 4236 can respectively block or open the material collection pipe 4235. In this specific embodiment, the hose 424 on the upper part of the two circular cutting blades 41 in a set of parallel robots 45 is connected to a collecting pipe, which is then sealed to the air inlet of a cyclone separator 423. Each cyclone separator 423 corresponds to one vortex blower 421.To facilitate the proper installation of the four cyclone separators 423, they are arranged in pairs, with two cyclone separators 423 in each pair mounted side-by-side on the separator support frame 425. The cyclone separators 423 are vertically mounted on the separator support frame 425. Specifically, a sealing base plate is provided on the upper part of the separator support frame 425, with a through hole in the center of the sealing base plate that matches the exhaust port of the cyclone separator 423. The exhaust port of the cyclone separator 423 passes through this through hole and fits tightly with the sealing base plate. Several mounting seats are provided on the lower part of the sealing base plate for the cyclone separators. The upper outer side of 423 is provided with several connecting plates corresponding to the mounting base. The connecting plates are fixedly connected to the corresponding mounting base by bolt connection, thereby realizing the rigid fixation of the cyclone separator 423 on the separator support frame 425; the specific implementation of the two insert plates 4236 being distributed vertically and horizontally on the material collection pipe 4235 is as follows: the material collection pipe 4235 includes an upper collection pipe and a lower collection pipe, which are distributed vertically opposite to each other. One insert plate 4236 is located between the upper and lower collection pipes, and the other insert plate 4236 is located at the bottom of the lower collection pipe. Each of the insert plates 4236 is slidably mounted in a corresponding guide seat. The guide seat includes an upper cover plate and a lower base plate. A rectangular groove is provided in the lower base plate to accommodate the sliding of the corresponding insert plate 4236. The upper cover plate is snapped onto the upper part of the corresponding lower base plate. Both the upper cover plate and the lower base plate have through holes corresponding to the openings of the corresponding collection pipes. The lower part of the upper collection pipe is fitted into the through hole of the corresponding upper cover plate, the upper part of the lower collection pipe is fitted into the through hole of the corresponding lower base plate, and the lower part of the lower collection pipe is fitted into the through hole of the corresponding upper cover plate. Simultaneously, several through holes are provided on the sides of the upper cover plate and the lower base plate. The upper guide seat is tightened by bolts through the corresponding through holes and then into the threaded holes of the corresponding support partition, thus achieving a stable connection between the guide seat and the support partition. In this specific embodiment, the upper guide seat is located at the bottom of the corresponding support partition, and the lower guide seat is located at the top of the corresponding support partition. In order to ensure that the insert plate 4236 can slide smoothly when opening and closing the bottom port of the corresponding collection pipe, the insert plate 4236 is always located at the bottom of the corresponding collection pipe during the reciprocating movement. Therefore, the discharge port opened on the insert plate 4236 is used to open the corresponding collection pipe.To improve the sealing performance between the upper insert plate 4236 and the bottom of the corresponding upper collecting pipe and the upper part of the lower collecting pipe, as well as between the lower insert plate 4236 and the bottom of the lower collecting pipe, a pipe end sealing ring 4237 is fitted onto the lower part of the upper collecting pipe, the upper part of the lower upper collecting pipe, and the lower part of the lower collecting pipe. The insert plate 4236 fits tightly with the corresponding pipe end sealing ring 4237. The elastic deformation capability of the pipe end sealing ring 4237 ensures that the insert plate 4236 maintains reliable contact and dynamic sealing during the reciprocating sliding process. Each sealing ring can be made of wear-resistant fluororubber. Based on the above embodiments, the first cylinder 426 can be used to drive the corresponding insert plate 4236. Specifically, two first cylinders 426 are arranged on both sides of the corresponding insert plate 4236. The extension and retraction movement of the two first cylinders 426 drives the corresponding insert plate 4236 to reciprocate. A connecting lug is symmetrically arranged on both sides of the insert plate 4236. Through slots matching the connecting lugs are arranged on both sides of the bottom plate. After the connecting lug passes through the through slot, it is fixedly connected to the second connecting seat at the piston rod end of the first cylinder 426. The connecting lug slides freely in the through slot along the sliding direction of the insert plate 4236. The rear part of the cylinder body of the first cylinder 426 is hinged to the corresponding support partition. The hinge structure adapts to the small angular displacement during the movement of the insert plate 4236. The two first cylinders 426 are synchronously controlled by the industrial control computer, thereby realizing the stable sliding of the insert plate 4236. The two material collection pipes 4235 of the two cyclone separators 423 in a set can share a set of insert plates 4236. That is, by sharing the same set of guide seats, insert plates 4236 and double cylinder drive mechanism, the synchronous control of the closing and opening of the corresponding positions of the two material collection pipes 4235 can be achieved. When implementing the above scheme, the length of the upper cover plate, the lower bottom plate and the insert plate 4236 needs to be increased. At the same time, two through holes adapted to the corresponding collection pipes are opened on the upper cover plate and the lower bottom plate, and two corresponding discharge ports are opened on the insert plate 4236. By controlling the first cylinder 426, the impurities of the two cyclone separators 423 can be discharged synchronously. In order to facilitate the centralized collection of the waste residue discharged synchronously from the two material collection pipes 4235, a material collection box 427 is set below the separator support frame 425, with its top open and facing the discharge ports of the two material collection pipes 4235.

[0023] Based on the above embodiments, to facilitate the filtration and secondary purification of the airflow discharged from the cyclone separator 423, thereby improving the air intake cleanliness and service life of the vortex blower 421, a filtration mechanism is added to the exhaust end of the cyclone separator 423. This filtration mechanism includes a second filter assembly 4233 and a third filter assembly 4234. A sealing base plate is provided through the upper part of the separator support frame 425 at the exhaust port of the cyclone separator 423. A sealing cover is sealed on the sealing base plate. Both the second filter assembly 4233 and the third filter assembly 4234 are located inside the sealing cover. The second filter assembly 4233 is connected to the exhaust port of the cyclone separator 423, and the outlet of the third filter assembly 4234 is connected to the inlet of the external exhaust pipe 4232. The second filter assembly 4233 performs primary filtration of the gas discharged from the cyclone separator 423, followed by deep purification via the third filter assembly 4234. The heavy filtration structure significantly improves the gas purification effect. In practical applications, the material, pore size, and layer configuration of the second filter component 4233 and the third filter component 4234 can be specifically adapted to the specific characteristics of the impurities separated by the cyclone separator 423. In this specific embodiment, the second filter component 4233 is a cylindrical steel wire mesh used to intercept larger impurities; the third filter component 4234 is a cylindrical air filter used to intercept smaller impurities. The exhaust port of the external exhaust pipe 4232 is located outside the sealing cover. The external exhaust pipe 4232 seals through the sealing base plate. The first connecting pipe 422 connects the exhaust port of the external exhaust pipe 4232 to the air inlet of the vortex fan 421. Using the negative pressure suction effect of the vortex fan 421, impurities enter the inner cavity of the cyclone separator 423 through the suction port 4231 and complete gas-solid separation under the action of centrifugal force.

[0024] Based on the above embodiments, the destemming mechanism 4 further includes a belt self-cleaning and drying assembly. The belt self-cleaning and drying assembly includes a scraper 461, a first flushing assembly 462, a roller brush assembly 463, a second flushing assembly 464, and a drying assembly 465. The scraper 461, the first flushing assembly 462, the roller brush assembly 463, the second flushing assembly 464, and the drying assembly 465 are distributed from back to front below the return section of the first conveyor belt 43, and the first flushing assembly 462, the roller brush assembly 463, the second flushing assembly 464, and the drying assembly 465 are all disposed on the upper side inside a confluence trough 466. The upper part of the scraper plate 461 is closely attached to the belt below the drive roller of the first conveyor belt 43. The scraper plate 461 removes large particles of impurities from the belt surface. Specifically, a second connecting seat 4611 is fixedly installed on both the left and right sides of the scraper plate 461. The second connecting seat 4611 is hinged to the first conveyor belt support frame 431, meaning the second connecting seat 4611 can swing freely up and down in the vertical plane. The rigid connection between the two second connecting seats 4611 and the scraper plate 461 allows for this free up-and-down swing. A first tension spring is installed between the first conveyor belt support frame 431 and the corresponding second connecting seat 4611. The first tension spring always applies a backward-upward pulling force to the corresponding second connecting seat 4611. Specifically, a fixed seat is installed on the first conveyor belt support frame 431, hinged to the second connecting seat 4611. Several connecting seats 4611 are located on the fixed seat between the fixed seat and the second connecting seat 4611. A second adjustment hole is provided above the hinge of 611. Simultaneously, an arc-shaped groove is provided on the fixed base in front of the hinge between the fixed base and the second connecting base 4611. Several first adjustment holes corresponding to the arc-shaped groove are provided on the second connecting base 4611. A hook rod passes through the arc-shaped groove and engages with a corresponding first adjustment hole for locking. Another hook rod passes through the second adjustment hole. The two ends of the first tension spring are respectively hooked onto the two hook rods. By selecting different combinations of the second and first adjustment holes, the initial tilt angle and pre-tension of the scraper plate 461 can be precisely adjusted to ensure it always adheres tightly to the conveyor belt surface and adapts to minor undulations in the belt surface; thus ensuring the cleaning effect of the scraper plate 461. Furthermore, to facilitate the collection of larger impurities at the scraper plate 461's cleaning location, a slag-receiving chute 4612 is provided on the first conveyor belt support frame 431 below the scraper plate 461. The slag-receiving chute 4612 is arranged in the left-right direction.The first flushing assembly 462 and the second flushing assembly 464 are used to flush the lower side of the return section of the first conveyor belt 43. Both the first flushing assembly 462 and the second flushing assembly 464 include a first pipe 468, and the two first pipes 468 are connected through a second pipe. A plurality of nozzles 467 are arranged along the axial direction of the first pipe 468. The two ends of the first pipe 468 are fixed to the sidewall of the manifold 466, and the first pipes 467 are distributed along the width direction of the conveyor belt. In pipe 468, one end of one of the first pipes 468 is connected to a water supply pipe 4662, while the other ends are closed. The nozzle 467 faces the bottom of the return section of the conveyor belt. High-pressure clean water is introduced into the water inlet pipe, forming a fan-shaped water curtain through the nozzle 467 to simultaneously flush the bottom surface of the return section of the belt at multiple points. By adjusting the water pressure in the water inlet pipe, the flushing intensity can be adjusted, thereby effectively removing stubborn residue adhering to the bottom surface of the belt. The roller brush assembly 463 is used to perform roller brushing on the lower side of the return section of the first conveyor belt 43, specifically... The roller brush assembly 463 includes a drive motor and a brush roller. The brush roller is rotatably mounted on two side walls of the confluence trough 466 along the left-right direction of the first conveyor belt 43. The drive motor is mounted on the outer side wall of the confluence trough 466 and is used to drive the confluence trough 466 to rotate. Specifically, the drive motor is connected to one end of the brush roller via a coupling. To improve the waterproof capability of the drive motor, a protective cover is installed outside the drive motor. The protective cover is detachably installed on the side wall of the confluence trough 466 and is filled with a waterproof seal. The adhesive enhances sealing; the brush roller surface is planted with high-density nylon bristles, the ends of which are rounded to ensure flexible contact with the bottom of the belt while avoiding scratches on the conveyor belt surface; when the drive motor starts, the brush roller rotates at a certain speed, and the bristles generate relative sliding friction with the bottom of the belt. This, combined with the water curtain flushing from the 467 nozzle, forms a synergistic mechanism of "mechanical scraping + water flushing," significantly improving the cleaning effect; at the same time, the cleaning sequence of rinsing first, then roller brushing, and then rinsing again effectively prevents impurities from adhering again during the roller brushing process, ensuring a closed-loop and controllable cleaning process.The drying assembly 465 is used to remove moisture from the lower side of the return section of the first conveyor belt 43. The drying assembly 465 includes a scraper 4651, a support shaft 4652, a rocker arm 4653, and an operating handle. The support shaft 4652 is rotatably mounted on two side walls of the confluence trough 466 along the width direction of the first conveyor belt 43. The scraper 4651 is fixedly mounted on the support shaft 4652 and is located within the confluence trough 466 in the width direction. A rocker arm 4653 is fixedly installed at both ends. A hook rod is fixedly installed on the upper side of both ends of the support shaft 4652. The hook rod is located above the corresponding rocker arm 4653. A second tension spring 4654 is installed between the lower part of the rocker arm 4653 and the hook rod. A first limiting block 4655 is installed on both the front and rear sides below the end of the support shaft 4652. The two first limiting blocks 4655 are used to realize the forward swing limit and the backward swing limit of the lower part of the rocker arm 4653, respectively. In practical applications, when the lower part of the rocker arm 4653 is swung backward using the operating handle, the wiper blade 4651 is simultaneously lifted around the support shaft 4652, so that its upper part contacts the bottom surface of the conveyor belt. The elastic restoring force of the second tension spring 4654 and the cooperative constraint of the first limit block 4655 ensure that the upper part of the wiper blade 4651 is always in close contact with the bottom surface of the conveyor belt, achieving continuous and uniform wiping operation. When the lower part of the rocker arm 4653 is swung forward using the operating handle, the wiper blade 4651 is simultaneously lowered around the support shaft 4652, so that its upper part separates from the bottom surface of the conveyor belt. The elastic restoring force of the second tension spring 4654 and the cooperative constraint of the first limit block 4655 ensure that the wiper blade 4651 is completely detached from the bottom surface of the belt, facilitating equipment maintenance or temporary shutdown. To further improve the stable contact between the brush roller and the scraper 4651 and the bottom surface of the first conveyor belt 43 during operation, a belt limiting component is added to the support frame 431 of the first conveyor belt 43. The belt limiting component includes an upper pressure roller 434 and a lower support roller 433. Specifically, two upper pressure rollers 434 are spaced apart above the confluence trough 466 along the front-back direction and are both located on the upper side of the return section of the conveyor belt, used to press down the return section of the belt; two lower support rollers 433 are spaced apart on the front and rear sides of the confluence trough 466 and are both located on the lower side of the return section of the conveyor belt, used to support the return section of the belt; the upper pressure rollers 434 and the lower support rollers 433 together form a four-point limiting structure, which effectively suppresses the vertical vibration of the belt during operation, thereby significantly improving the contact stability and operational consistency of the brush roller and the scraper 4651 with the bottom surface of the belt.

[0025] To facilitate regular and thorough cleaning and maintenance of the first flushing assembly 462, the roller brush assembly 463, the second flushing assembly 464, and the drying assembly 465, the confluence channel 466 is movably mounted on the first conveyor belt support frame 431, and the confluence channel 466 can move left and right and be positioned relative to the first conveyor belt support frame 431. Specifically, two slide rail support plates are provided on the first conveyor belt support frame 431, with each slide rail support plate fixedly mounted on the first conveyor belt support frame 431 along the left-right direction. A heavy-duty pull-out rail 4661 corresponding to the slide rail support plate is provided on both the front and rear sides of the manifold 466. The heavy-duty pull-out rail 4661 is a known and mature slide rail structure in the existing technical field, so its specific structure will not be described in detail here. The fixed rail of the heavy-duty pull-out rail 4661 is fixedly installed on the corresponding slide rail support plate, while the movable rail is fixedly connected to the side wall of the manifold 466, thereby realizing the smooth pull-out of the manifold 466 in the left and right directions. When cleaning and maintenance are required, the manifold 466 is pulled outward, and all components are exposed to the outside, which is convenient, safe and reliable. To facilitate the collection of water flow within the manifold 466 and the filtration of impurities, a drain outlet is provided at the bottom of the manifold 466, and a water collection tank 469 is provided below the drain outlet. Between the drain outlet and the water collection tank 469, a fourth filter screen 4691 and a fifth filter screen 4692 are arranged vertically. The fourth filter screen 4691 has a larger pore size to intercept larger diameter impurities, while the fifth filter screen 4692 has a smaller pore size to further intercept fine suspended matter and flocculent impurities. Both the fourth filter screen 4691 and the fifth filter screen 4692 have a detachable installation structure for easy periodic cleaning and replacement. To facilitate the drainage of water from the water collection tank 469, a drain pipe 4693 is provided on one side of the bottom of the water collection tank 469.

[0026] After a long period of strawberry stem cutting, in order to achieve automatic cleaning of the relevant pipes and cyclone separator 423 in the negative pressure suction system, the system also includes a water trough. The water trough is set within the activity range of the corresponding mobile platform 451, and a water pump can be used to deliver flowing water into the water trough. After a certain period of continuous strawberry stem cutting and negative pressure separation, according to the set program, when automatic cleaning is required, the industrial control computer first starts the water pump to inject water into the water tank. When the water level in the water tank reaches a stable level, the industrial control computer controls the parallel robot 45 to make the moving platform 451 drive the round tube cutting blade 41 down to below the water surface in the water tank. At the same time, the negative pressure suction system is kept working normally. At this time, the negative pressure airflow draws water into the pipe. The water flows in the pipe to flush the side wall of the pipe. The water enters the cyclone separator 423 to form a turbulent flushing effect, which efficiently removes the strawberry residue and sticky materials attached to the inner wall. After separation, the water enters the material collection pipe 4235. The wastewater is released by controlling the insert plate 4236 on the material collection pipe 4235.

[0027] Based on the above embodiments, the specific implementation of the combination of the round tube cutting blade 41 and the moving platform 451 is as follows: The round tube cutting blade 41 includes an upper round tube 411, a middle round tube 412, and a lower round tube 413. A cutting blade mounting seat 4511 is provided in the middle of the moving platform 451. The cutting blade mounting seat 4511 is fixedly connected to the moving platform 451 by a threaded connection. A stepped hole is provided inside the cutting blade mounting seat 4511. The upper round tube 411 and the middle round tube 412 are sequentially fitted into the stepped hole, and the middle round tube 412 is connected to the bottom of the cutting blade mounting seat 4511 by a quick-release connection. The central tube 412 can move up and down and be positioned within the stepped hole. Specifically, three U-shaped grooves 4121 are equally spaced on the outer circumferential sidewall of the central tube 412. One upper end of each U-shaped groove 4121 penetrates the upper sidewall of the central tube 412. A retaining ring 4512 is provided at the bottom of the cutter mounting base 4511. A retaining plate corresponding to the open end 4122 of the corresponding U-shaped groove 4121 is provided on the inner circumferential sidewall of the retaining ring 4512. The retaining plate can enter the closed end 4123 of the corresponding U-shaped groove 4121 through the open end 4122 of the U-shaped groove 4121, that is, during installation... When the round tube 412 is inserted, the three open ends 4122 are aligned with the corresponding clamping plates. Then, the round tube 412 is pressed in axially. After the clamping plate enters the rear end of the open end 4122, the round tube 412 is rotated clockwise to slide the clamping plate into the closed end 4123 of the U-shaped groove 4121, thus completing the quick installation of the round tube 412. The round tube 412 can be quickly disassembled by reversing the operation. The clamping plate can move up and down and be positioned within the closed end 4123 of the corresponding U-shaped groove 4121. That is, the thickness of the clamping plate is smaller than the height of the closed end 4123. The height difference between the two is used to move the clamping plate up and down. When the clamping plate moves to the upper or lower side wall of the closed end 4123, it is ready to be installed. The upper tube 411 is limited, thus restricting the axial displacement range of the middle tube 412. A first spring 414 is sleeved on the lower outer side of the upper tube 411, and the first spring 414 is locked between the shoulder of the stepped hole and the external protrusion provided on the lower part of the upper tube 411. The upper part of the lower tube 413 is connected to the lower part of the lower tube 413 by a threaded connection. When the tube cutting blade 41 is used to vertically press down to cut the strawberry stem, the first spring 414 is compressed at the moment its bottom contacts the conveyor belt. The elastic deformation of the first spring 414 realizes the synchronous upward movement of the upper tube 411 and the middle tube 412, thereby reducing the instantaneous impact force of the tube cutting blade 41 on the conveyor belt. After the strawberry stem is cut, the upper tube 411 returns to its original position under the action of the rebound force of the first spring 414, driving the middle tube 412 and the tube cutting blade 41 to fall back to the initial position synchronously, thereby realizing the precise cycle of the next round of cutting operations. This structural design combines quick assembly and disassembly with dynamic buffering, significantly improving the stability of equipment operation.

[0028] Based on the above implementation, the specific implementation of the material turning and conveying mechanism 5 is as follows: it includes a third conveyor belt 51 arranged in the left-right direction. The material flowing out from the two first conveyor belts 43 eventually enters the third conveyor belt 51, and the third conveyor belt 51 is used to realize the directional conveying of materials. In actual application, there may be strawberries that have not been destemmed. In order to facilitate the destemming of strawberries that have not been destemmed, a partition plate 52 is set above the third conveyor belt 51. At the discharge end of the third conveyor belt 51, a recycling guide trough 53 and a discharge guide trough 54 are set on both sides of the partition plate 52. The recycling guide trough 53... For the centralized collection and diversion of strawberries that have not been destemmed, strawberries that have been destemmed are manually placed on the corresponding side of the separator 52, while the destemmed strawberries are collected and diverted using the discharge diversion trough 54. Furthermore, to facilitate the return of the unstemmed strawberries in the recycling diversion trough 53 to the material hopper 11, a material return mechanism 6 is set between the material hopper 11 and the recycling diversion trough 53. The material return mechanism 6 includes a hoist and a fourth conveyor belt. The hoist transports the unstemmed strawberries in the recycling diversion trough 53 to the feed end of the fourth conveyor belt, and then the fourth conveyor belt smoothly transports them back to the material hopper 11, forming a closed-loop operation process.

[0029] This invention also provides a method for cleaning and removing the stems of strawberries, including the integrated strawberry cleaning and stem-removing machine described above. The method further includes the following steps: the vibrating material handling mechanism 3 vibrates and arranges the strawberries, then orderly conveys them onto a first conveyor belt 43. When a strawberry is detected by a photoelectric detection switch on one side of the first conveyor belt 43, the industrial control computer activates the corresponding industrial camera 44. The industrial camera 44 captures images of the strawberries conveyed on the conveyor belt. When a strawberry enters a preset image area, the camera captures an image and transmits the high-definition image data to the industrial control computer in real time. The industrial control computer first preprocesses the image, including noise filtering and image enhancement, to improve image quality and recognition accuracy. Subsequently, the system further analyzes the image data and uses an advanced image segmentation algorithm to identify the main strawberry area 74 and the strawberry stem area 75. In this embodiment, the strawberry stem area 75 is explicitly defined as the entire area covered by the inner sepals 73 and the outer sepals 72. This definition is compatible with strawberries of different shapes and sepal distributions, thereby improving the system's adaptability and recognition generalization performance for different types of strawberries. Based on the identification of the strawberry main body region 74 and the strawberry stem region 75, the system comprehensively analyzes their spatial relative positional relationship and further improves the positioning accuracy of the strawberry stem region 75 through coordinate fitting and region matching strategies. Furthermore, the system uses the center point of the identified strawberry stem region 75 as the reference position for cutting positioning. In actual operation, a pre-trained image recognition model (such as a deep learning model based on convolutional neural networks, trained and optimized using massive strawberry image samples, possessing excellent recognition capabilities for the strawberry main body region 74 and the strawberry stem region 75) can be embedded in the industrial control computer to achieve real-time processing of strawberry images and extraction of key region coordinates. This model can efficiently and accurately output the center coordinates of the strawberry stem region 75, i.e., the cutting positioning reference. Subsequently, the system converts the cutting positioning reference coordinates in the image coordinate system into spatial coordinates in the motion coordinate system of the parallel robot 45 actuator through a coordinate transformation algorithm. Based on this coordinate information, the industrial control computer controls the parallel robot 45 to drive the round tube cutting blade 41 to perform dynamic tracking and cutting operations on the target strawberry. During path planning, as the strawberries move continuously at a constant speed with the conveyor belt, the system needs to calculate the position and attitude changes of the strawberry stem region 75 in space in real time. Simultaneously, combining the conveyor belt speed feedback signal and the inverse kinematic model of the parallel robot 45, it generates a highly dynamic tracking trajectory updated in milliseconds to ensure the real-time performance and accuracy of the cutting execution. During the cutting process, the center point of the circular tube cutting blade 41 is always aligned with the cutting positioning reference of the strawberry stem region 75. The cutting blade cuts the strawberry stem in a vertical downward pressing manner along the Z-axis. The bottom of the circular tube cutting blade 41 has a circular structure, providing a large cutting range and thus a certain tolerance for positioning errors, which helps improve cutting robustness.Meanwhile, the system uses the center of the strawberry stem area 75 as the alignment reference for the round tube cutting blade 41, further ensuring the accuracy of cutting positioning and thus effectively achieving the complete removal of the strawberry stem. After completing the vertical downward cutting action, the strawberry stem is precisely cut off, and the waste is simultaneously cleaned up through the negative pressure suction system, ultimately completing the strawberry stem removal operation.

[0030] In this invention, "upper," "lower," "front," "back," "left," and "right" are all relative positions used for the convenience of describing positional relationships, and therefore cannot be understood as absolute positions as limitations on the scope of protection.

[0031] Except for the technical features described in the specification, all other technologies are known to those skilled in the art.

[0032] The preferred embodiments and examples of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments and examples. For those skilled in the art, several improvements and modifications can be made without departing from the concept of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A strawberry washing and stem-removing integrated machine, characterized in that, The system includes a feeding mechanism, a cleaning mechanism, a vibrating material handling mechanism, a stem removal mechanism, a material steering and conveying mechanism, and an industrial control computer. The cleaning mechanism includes a separation and filtration tank, a bubble washing machine, and a circulating water supply system. The feeding mechanism continuously feeds material into the separation and filtration tank, and the circulating water supply system continuously supplies water to the tank. The separation and filtration tank filters impurities. The vibrating material handling mechanism receives strawberries from the bubble washing machine and separates and conveys them. The stem removal mechanism includes a round tube cutter, a negative pressure suction system, a first conveyor belt, an industrial camera, and a parallel robot. The negative pressure suction system is sealed to the upper part of the round tube cutter via a hose. The tube cutting blade is vertically positioned at the center of the moving platform at the bottom of the parallel robot. Whether the negative pressure suction system is discharging or not, it can still draw material into the bottom of the tube cutting blade. The industrial camera and the parallel robot are both positioned above the first conveyor belt, with the industrial camera closer to the inlet end of the first conveyor belt than the parallel robot. The first conveyor belt is used to transport strawberries flowing out from the vibrating material handling mechanism. The material turning and conveying mechanism is used to turn and convey the material flowing out from the first conveyor belt. The industrial control computer can control the operation of the feeding mechanism, cleaning mechanism, vibrating material handling mechanism, stem removal mechanism, and material turning and conveying mechanism.

2. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The feeding mechanism includes a material hopper, a first electromagnetic vibrating feeder, and a second conveyor belt. The first hopper of the first electromagnetic vibrating feeder is located below the material hopper. A discharge port is opened on the lower side wall of the material hopper, which is opposite to the discharge port of the first hopper. The material flowing out of the first hopper enters the second conveyor belt, which is used to transport the material to the separation and filtration tank.

3. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The separation and filtration tank includes a buffer separation tank and a filter grate. The longitudinal section of the buffer separation tank cavity is an inverted right-angled trapezoid. The discharge port of the buffer separation tank is located on one side of the inclined wall of the cavity. The filter grate is located behind the discharge port of the buffer separation tank and is distributed in a front-high-back-low shape. The outlet end of the water supply pipe of the circulating water supply system is located inside the front side of the buffer separation tank. A first filter assembly is set below the filter grate.

4. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The vibrating material handling mechanism includes two second electromagnetic vibrating feeders arranged side by side. Each second electromagnetic vibrating feeder includes a primary material handling hopper and a secondary material handling hopper. Material flowing out of the material conveyor belt of the bubble washing machine falls into the two primary material handling hoppers, and material flowing out of the primary material handling hoppers falls into the secondary material handling hoppers. Material flowing out of the secondary material handling hoppers falls onto the first conveyor belt. Several first material separation guide channels are provided in the primary material handling hoppers at intervals. Second material separation guide channels corresponding to the first material separation guide channels are provided in the secondary material handling hoppers. The longitudinal cross-section of both the first and second material separation guide channels is an inverted isosceles trapezoidal shape.

5. The strawberry washing and stem-removing integrated machine according to claim 4, characterized in that, in Two blowers are installed above the rear side of the discharge end of the material conveyor belt in the bubble cleaning machine. The two blowers are distributed left and right. A shroud is installed at the air outlet of each blower. A strip-shaped air outlet is provided at the lower part of the shroud, which is distributed in the left and right direction. The strip-shaped air outlet is directly facing the material conveyor belt.

6. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The negative pressure suction system includes a vortex blower, a first connecting pipe, and a cyclone separator. The air inlet of the vortex blower is connected to the external air outlet pipe of the cyclone separator through the first connecting pipe. The air inlet of the cyclone separator is connected to a through pipe. The air inlet of the through pipe is sealed to the upper part of the round tube cutter through a flexible hose. Two vertically spaced gate valves are installed on the material collection pipe of the cyclone separator. The gates in the two gate valves can respectively block or open the material collection pipe.

7. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The destemming mechanism further includes a belt self-cleaning and drying assembly, which includes a scraper, a first flushing assembly, a roller brush assembly, a second flushing assembly, and a drying assembly. The scraper, first flushing assembly, roller brush assembly, second flushing assembly, and drying assembly are distributed sequentially from back to front below the return section of the first conveyor belt. The upper part of the scraper is in close contact with the belt on the underside of the drive roller of the first conveyor belt. The first and second flushing assemblies are used to rinse the underside of the return section of the first conveyor belt. The roller brush assembly is used to brush the underside of the return section of the first conveyor belt. The drying assembly is used to remove moisture from the underside of the return section of the first conveyor belt.

8. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The destemming mechanism also includes a clean water supply component, which includes a water pump and a water tank. The water pump is capable of continuously supplying water to the water tank, which is distributed within the activity range of the mobile platform of the parallel robot.

9. The strawberry washing and stem-removing integrated machine according to claim 1, characterized in that, The round tube cutting blade includes an upper round tube, a middle round tube, and a lower round tube. A cutting blade mounting base is provided in the middle of the moving platform. A stepped hole is provided inside the cutting blade mounting base. The upper round tube and the middle round tube are sequentially fitted into the stepped hole, and the middle round tube is connected to the bottom of the cutting blade mounting base by a quick-release connection. The upper round tube and the middle round tube can move up and down and be positioned within the stepped hole. A spring is fitted on the lower outer side of the upper round tube and is locked between the shoulder of the stepped hole and the external protrusion provided on the lower part of the upper round tube. The upper part of the lower round tube is connected to the lower part of the middle round tube by a threaded connection.

10. A method for washing and removing the stems from strawberries, characterized in that, The strawberry washing and stem-removing integrated machine according to any one of claims 1-9, the stem-removing method further includes the following steps: the vibrating material handling mechanism vibrates and sorts the strawberries and orderly conveys them to the first conveyor belt; the industrial camera takes real-time pictures of the strawberries in the conveying and photographing area of ​​the first conveyor belt and transmits the image data to the industrial control computer; the industrial control computer performs noise reduction processing on the image; further processes the image data, identifies the strawberry body and the strawberry stem area, takes the center of the strawberry stem area as the cutting positioning reference, converts the image coordinates of the cutting positioning reference into spatial coordinates under the motion coordinate system of the parallel robot actuator, and drives the parallel robot to drive the round tube cutting blade to move and track the target strawberry for cutting; when using the round tube cutting blade to cut the strawberry stem, the center point of the round tube cutting blade corresponds to the cutting positioning reference and the round tube cutting blade performs vertical downward cutting relative to the strawberry along the Z-axis direction; after completing the vertical downward cutting action, the precise cutting of the strawberry stem and the synchronous negative pressure suction of waste material are achieved.

Images