A primary cleaning and air-drying integrated machine and a primary cleaning and air-drying method

Abstract

The application provides a primary cleaning and air drying all-in-one machine and a primary cleaning and air drying method, and relates to the technical field of agricultural product processing equipment. The primary cleaning and air drying all-in-one machine comprises a frame installed on the ground through a base; a cleaning mechanism and an air drying mechanism are installed on the frame in layers; a ring-shaped guide rail is installed on the upper part of the frame and horizontally arranged above the cleaning mechanism and the air drying mechanism; a plurality of clamping mechanisms are slidingly installed on the ring-shaped guide rail and used for clamping and conveying materials to be processed; a conveying belt is installed on the base and located below the output end of the air drying mechanism; wherein the clamping mechanism, the ring-shaped guide rail and the air drying mechanism form an upper layer processing unit, the conveying belt forms a lower layer conveying unit, and the cleaning mechanism forms a lower layer cleaning unit, thereby forming a two-layer structure layout. The application solves the problems of large occupied area, low automation degree and easy damage to leaves of the vegetable processing equipment. The application adopts a three-dimensional double-layer layout, breaks through the traditional mode of horizontal development of the assembly line and saves the occupied area of the equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of agricultural product processing equipment, specifically relating to an integrated machine for initial cleaning and drying, and a method for initial cleaning and drying. Background Technology

[0002] Leafy green vegetables, such as chives, are common fresh agricultural products with high market demand. However, their processing environment has long suffered from numerous pain points, hindering the development of large-scale, high-quality processing. Currently, leafy green vegetables are mostly processed using a combination of manual labor and simple equipment. Washing, drying, and packaging are all done independently, leading to high reliance on manual labor and low production efficiency. To address this, some equipment integrates washing, drying, and packaging into a single structure. While this structure solves the problem of independent operation of each step, several issues remain. For example, these machines typically have a streamlined layout, with numerous stations arranged sequentially. This results in a large machine size, a large footprint, and inconvenience for manual operation. Furthermore, the connection between multiple steps can easily cause secondary contamination of the vegetables. Taking chives as an example, existing equipment often uses a general spraying method for washing, failing to address the specific characteristics of chives, such as the presence of mud on the roots and the delicate, easily damaged leaves. Powerful spraying can easily damage leaves, causing them to lose water and weight, and the residual moisture on the leaves is difficult to control precisely, which significantly shortens the shelf life of chives and affects the quality of the product. Therefore, this application proposes an integrated pre-washing and drying machine and a pre-washing and drying method to solve the above problems. Summary of the Invention

[0003] To address the technical problems of existing vegetable processing equipment, such as large footprint, low automation, and easy damage to leaves, this invention provides an integrated primary cleaning and drying machine and method. It adopts a core design of three-dimensional double-layer layout, adaptive flexible clamping, and differentiated cleaning and drying of roots and leaves, realizing full automation of the primary processing of leafy vegetables, and has the technical advantages of saving land, saving water, and minimizing damage.

[0004] To achieve the objectives of this invention, the following technical solution is adopted:

[0005] In the first aspect, a pre-cleaning and drying integrated machine is proposed, including a frame, a base, a cleaning mechanism, a drying mechanism, a ring guide rail, a conveyor belt, and multiple clamping mechanisms.

[0006] The frame is mounted on the ground via a base; the washing mechanism and the drying mechanism are mounted on the frame in layers, one above the other; the annular guide rail is mounted on the upper part of the frame and is arranged horizontally around the washing mechanism and the drying mechanism; multiple clamping mechanisms are slidably mounted on the annular guide rail for clamping and conveying the green leafy vegetable material to be processed; the conveyor belt is mounted on the base and is located below the output end of the drying mechanism.

[0007] The clamping mechanism, the annular guide rail, and the drying mechanism constitute the upper processing unit, the conveyor belt constitutes the lower conveying unit, and the cleaning mechanism constitutes the lower cleaning unit, forming a two-layer structure.

[0008] In conjunction with the first aspect, the method achievable in the first aspect further includes a bundling device, a feeding device, and a labeling machine; the bundling device and the feeding device are mounted on a frame, and the bundling device is located at the output end of the feeding device.

[0009] The label printer is mounted on the frame and positioned above the conveyor belt.

[0010] In conjunction with the first aspect, in the manner that the first aspect can be implemented: the air drying mechanism includes an air drying guide trough, a material discharge trough communicating with the air drying guide trough, and a plurality of air knives installed in the air drying guide trough; the output end of the material discharge trough is located above the conveyor belt, and the air drying guide trough and the material discharge trough are integrally formed structures.

[0011] In conjunction with the first aspect, in the manner achievable by the first aspect: the cleaning mechanism includes a wastewater tank, a water pump, a spray assembly, a water storage tank, and a filter; the wastewater tank is mounted on a frame; the spray assembly includes multiple nozzles mounted above the wastewater tank; the water pump is connected to the nozzles via pipelines to provide cleaning water flow;

[0012] The water storage tank is installed on the base; the input end of the filter is connected to the sewage tank through a water pipe, and its output end is connected to the water storage tank through a water pipe, forming a water circulation system.

[0013] In conjunction with the first aspect, in the manner achievable by the first aspect: the spray assembly further includes a plurality of horizontally arranged cross braces; the plurality of spray nozzles are adjustablely mounted on the cross braces at different angles and heights for differentiated spray cleaning of the root and leaf parts of different materials.

[0014] In conjunction with the first aspect, in the manner that the first aspect can be implemented: the clamping mechanism includes a gripper drive unit that drives its opening and closing, and a pressure sensor for detecting the clamping force; the gripper drive unit presets different clamping force levels according to the material type, and the pressure sensor provides feedback to achieve adaptive adjustment.

[0015] In conjunction with the first aspect, in the manner that the first aspect can be implemented: the air-drying guide channel is provided with multiple guide plates corresponding to the air knife, which are used to adjust the airflow direction and distribution; the wind speed and start / stop of the air knife are controlled by an independent controller, which can be adjusted according to the type of vegetable and its moisture content; the air outlet of the air knife is set towards the root and stem part of the material.

[0016] In conjunction with the first aspect, in the manner that the first aspect can be implemented, it further includes a central controller, and a plurality of sensor groups and a plurality of actuators electrically connected to the central controller respectively;

[0017] The sensor group includes: position sensors installed at each station of the annular guide rail, used to detect the position of the clamping mechanism;

[0018] A pressure sensor mounted on the clamping mechanism is used to detect the clamping force;

[0019] A liquid level sensor installed in the water storage tank;

[0020] A turbidity sensor is installed inside the wastewater tank;

[0021] Weight sensors installed on the conveyor belt;

[0022] The actuator includes the feeding device, the bundling device, the drive unit of the clamping mechanism, the water pump, the air knife, and the labeling machine;

[0023] The central controller is configured to: control the start, stop and linkage of each actuator according to a preset program sequence based on the signal from the position sensor; adjust the clamping force according to the feedback from the pressure sensor; control the operation of the water circulation system and water quality according to the signals from the liquid level sensor and the turbidity sensor; and trigger the label printer to print and affix labels containing weight, product name and production date information according to the signal from the weight sensor and in conjunction with preset packaging specifications.

[0024] Secondly, a pre-cleaning and drying method is proposed, which is based on and combined with the first aspect, and implemented by a pre-cleaning and drying integrated machine as described in the manner feasible by the first aspect, including the following steps:

[0025] Step 1: Feed the leafy green vegetables to be processed into the bundling device through the feeding device and bundle them according to the preset specifications of 200-500 grams / bundle. Then, the leaf side is clamped by the clamping mechanism and conveyed to the top of the washing mechanism via the ring guide rail.

[0026] Step 2: Start the water pump to direct the water flow through the nozzles to rinse the roots and stems of the material. The wastewater after rinsing flows into the wastewater tank, is filtered by the filter, and then flows back to the water storage tank to achieve the recycling of the cleaning water. The cleaning time for each cycle is 10-30 seconds.

[0027] Step 3: After cleaning, the clamping mechanism transports the vegetables along the circular guide rail to the drying guide trough of the drying mechanism. The air knife is activated to adjust the wind speed according to the moisture content of the vegetables and to dry the root and stem parts of the vegetables.

[0028] Step 4: After air drying, the clamping mechanism moves above the material drop chute and releases, allowing the material to fall into the chute and be guided onto the conveyor belt. During the conveyor belt transport process, the material is labeled by the label machine and finally sent out by the conveyor belt.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] This invention innovatively adopts a three-dimensional, double-layer layout by integrating the main processing units, such as clamping, conveying, cleaning, and drying, into an upper space composed of a ring-shaped guide rail, and arranging the conveying and output units in the lower layer. This structure breaks through the traditional horizontal deployment mode of assembly lines, greatly saving the equipment's floor space and solving the pain point of large space requirements caused by the flat layout of processes in existing equipment.

[0031] This invention, through the cooperation of a ring guide rail and an adaptive clamping mechanism, achieves fully automated and continuous material transfer from bundling, washing, air drying to unloading. The entire process is automated, significantly reducing human intervention. This not only improves production efficiency but also fundamentally avoids secondary contamination that may result from manual handling, ensuring the hygiene and safety of food processing.

[0032] The cleaning mechanism of this invention achieves differentiated cleaning by combining high-pressure rinsing of roots and stems with low-pressure rinsing of leaves through adjustable-angle nozzles; the air-drying mechanism of this invention uses air blades to directionally dry the roots and stems; and the clamping mechanism of this invention achieves adaptive flexible clamping through force feedback. These three components work synergistically to effectively avoid the physical damage, water loss, and weight loss caused to vegetable leaves by traditional high-pressure spraying and rough handling.

[0033] The integrated circulating water filtration system of this invention enables the reuse of cleaning water, embodying an energy-saving and environmentally friendly design concept. Simultaneously, the equipment integrates multiple sensors and a central controller, enabling automated and intelligent control of key parameters such as clamping force, cleaning spray, drying intensity, weighing, and labeling. This ensures stable processing, uniform product specifications, and strong quality control. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure of a pre-cleaning and drying integrated machine;

[0036] Figure 2 This is a top view of a pre-cleaning and drying integrated machine;

[0037] Figure 3 This is a schematic diagram of the cleaning mechanism;

[0038] Figure 4 This is a schematic diagram of the workstations and structure of the material discharge chute and the feeding device.

[0039] In the diagram: 1-Frame, 2-Base, 3-Bundling device, 4-Washing mechanism, 5-Drying mechanism, 6-Labeling machine, 7-Circular guide rail, 8-Conveyor belt, 9-Feeding device, 10-Clamping mechanism, 41-Sewage tank, 42-Water storage tank, 43-Filter, 44-Water pump, 45-Horizontal support, 46-Nozzle, 51-Drying guide chute, 52-Discharge chute, 53-Air knife. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0041] In this document, terms such as "upper," "lower," "inner," and "outer" are established based on the positional relationships shown in the accompanying drawings. Depending on the drawings, the corresponding positional relationships may also change. Therefore, they should not be interpreted as an absolute limitation on the scope of protection. Moreover, relational terms such as "first" and "second" are only used to distinguish one component from another that has the same name, and do not necessarily require or imply any such actual relationship or order between these components.

[0042] Example 1

[0043] like Figures 1-4 As shown, a pre-washing and drying integrated machine is proposed, which can be applied to the washing, drying, weighing and packaging of some leafy green vegetables. Taking chives as an example, it specifically includes: frame 1, base 2, bundling device 3, washing mechanism 4, drying mechanism 5, labeling machine 6, circular guide rail 7, conveyor belt 8, feeding device 9 and multiple clamping mechanisms 10.

[0044] The frame 1 is mounted on the ground via the base 2; the cleaning mechanism 4 and the drying mechanism 5 are mounted on the frame 1 in a layered manner; the annular guide rail 7 is mounted on the upper part of the frame 1 and is arranged horizontally around the cleaning mechanism 4 and the drying mechanism 5; multiple clamping mechanisms 10 are slidably mounted on the annular guide rail 7 for clamping and conveying the materials to be processed; the conveyor belt 8 is mounted on the base 2 and is located below the output end of the drying mechanism 5.

[0045] The clamping mechanism 10, the annular guide rail 7, and the drying mechanism 5 constitute the upper processing unit, the conveyor belt 8 constitutes the lower conveying unit, and the cleaning mechanism 4 constitutes the lower cleaning unit, forming a two-layer structure.

[0046] This equipment adopts a three-dimensional, double-layer layout to save floor space, with a clearly defined structure:

[0047] Upper processing unit: Composed of a ring guide rail 7, a clamping mechanism 10 and a drying mechanism 5, it is responsible for material gripping, spatial conveying and drying operations.

[0048] The lower processing unit consists of a cleaning mechanism 4 and a conveyor belt 8, which are responsible for cleaning and finished product output, respectively.

[0049] In this embodiment, the upper and lower units can be considered as functional modules, facilitating modular design, manufacturing, transportation, and on-site installation and commissioning, thus improving the manufacturability and maintainability of the equipment. The main processing steps (conveyance, drying) and functional units (washing tank, output line) are arranged vertically in a three-dimensional layout, rather than horizontally. This essentially folds the traditional linear production line along the Z-axis, reducing the horizontal footprint by approximately 30%-50% while maintaining or even improving functional integration. This is particularly suitable for space-constrained processing workshops or applications requiring a compact production line layout. This layout naturally creates an efficient processing-transfer process: after the core processes of grasping, transferring, and drying are completed on the upper layer, the material falls naturally and quickly from the upper layer to the lower layer by gravity. This vertical material flow shortens the transfer path between processes, avoids the structural complexity and time delays caused by long-distance horizontal conveying, and makes the entire processing flow more compact and coherent, helping to shorten the single-operation cycle time and improve overall production efficiency.

[0050] This equipment places the cleaning mechanism, which generates a large amount of water vapor and wastewater, in the lower layer, physically separating it from the upper layer's electrical and precision components (such as guide rails, clamping drives, and air knives). This partitioned design effectively prevents water mist and splashes generated during cleaning from corroding the upper precision mechanical and electrical components, reducing equipment failure rates and extending service life. Simultaneously, the lower area facilitates centralized wastewater collection and floor cleaning.

[0051] The frame 1 is mounted on the ground via the base 2, forming the main support structure of the entire machine. The annular guide rail 7 is mounted on the upper part of the frame 1 in a closed loop shape such as a ring or rectangle, spanning above the washing mechanism 4 and the drying mechanism 5. Multiple clamping mechanisms 10 are slidably mounted on the annular guide rail 7, and can move cyclically along the guide rail to clamp and transport materials. The conveyor belt 8 is mounted on the base 2, with its input end located directly below the output end of the drying mechanism 5, and is used to receive the processed materials and transport them to the packaging station. The conveyor belt 8 is made of food-grade PU material, and its width and linear speed are adjustable according to requirements.

[0052] Frame 1, serving as the core skeleton of the all-in-one machine, is constructed using 6061 aluminum alloy profiles with a wall thickness of 3mm. To enhance the structural strength and stability of the frame, internal reinforcing ribs or external reinforcing connectors are installed at key stress points, such as the mounting points of the circular guide rail 7 and the suspension points of the cleaning and drying mechanisms.

[0053] The overall dimensions of frame 1 are 4.5m long, 1.2m wide, and 1.8m high, featuring a compact structure and reasonable layout. The surface of frame 1 is anodized, providing excellent corrosion resistance and easy cleaning, while also achieving a lightweight design.

[0054] The base 2 is welded from heavy-duty steel, with adjustable anchor bolts installed at all four corners to facilitate leveling during equipment installation, ensuring smooth operation and reducing vibration. To further enhance the equipment's flexibility, the four corners of the base 2 also integrate casters with braking functions. For fixed operation, the anchor bolts are lowered and locked; for moving equipment, the anchor bolts are raised, the brakes are released, and the casters allow for flexible relocation.

[0055] The feeding device 9 is a fixed platform or tray installed at the beginning of the frame 1, which also serves as a manual feeding station. At this station, workers manually sort and arrange the chives to be processed, and then place them directly into or into the flexible grippers of the clamping mechanism 10.

[0056] The gripper of the clamping mechanism 10 gently holds the loose bunch of chives. Then, the clamping mechanism 10 slides along the annular guide rail 7, transferring the chive bunch from the manual feeding station to the bundling station. The inner side of the gripper of the clamping mechanism 10 is fitted with a 3mm thick food-grade silicone protective pad, the gripper opening range is 50mm~150mm, and the gripper drive unit is one of a cylinder, a servo motor, or an electric push rod.

[0057] like Figure 4As shown, the bundling device 3 is fixedly installed on the frame 1 and located at the bundling station in the circular guide rail path. When the clamping mechanism 10 carrying the loose bunches of chives moves into the working range of the bundling device 3, the bundling device 3 starts and automatically bundles the chive bunches still held in the air by the clamping mechanism 10 according to the preset specifications of 200-500 grams / bundle. After bundling, the clamping mechanism 10 carries the neatly bundled vegetables and continues to move along the circular guide rail to the subsequent washing, drying, and other stations. Bundling facilitates the stable gripping of the subsequent clamping mechanism 10 and also provides convenience for final packaging.

[0058] Meanwhile, the location of the feeding device 9 is designed as a multi-functional integrated manual workstation. This workstation is situated at the beginning / end point of the circular guide rail, where workers can perform the following operations sequentially from a fixed position:

[0059] Loose chives are taken from the preparation area, sorted, and then placed into the grippers of the clamping mechanism 10 located at this workstation.

[0060] After the chives have gone through fully automated processes such as bundling, washing, and air drying, the staff will put the packaging bags into the outlet of the feeding chute, and the chives can be automatically transferred into the packaging bags for subsequent weighing and labeling.

[0061] Remove the packaged finished products and place them in the shipping area.

[0062] This layout achieves a high degree of human-machine collaboration and process integration. Its core advantage lies in the fact that one worker can be responsible for the material loading, unloading, and packaging of the process, as well as supervise the fully automated process in between, significantly reducing the total number of personnel required on the production line. Workers do not need to walk back and forth between different workstations or carry materials. All operations are completed in a certain area, which greatly reduces non-value-adding walking labor, reduces fatigue, and allows them to focus more on the loading, unloading, and final quality inspection stages that require manual judgment.

[0063] The entry and exit points for the chives are combined spatially, making the production line layout more compact, with the shortest and clearest internal logistics path, avoiding cross-transportation.

[0064] The clamping mechanism 10 clamps the chives and transfers them between the washing and drying stations. Several clamping mechanisms 10 are slidably mounted on an annular guide rail 7 via ball-bearing sliders. This guide rail is made of 45# steel and chrome-plated, providing excellent rust and wear resistance, ensuring smooth operation and low energy consumption. Each clamping mechanism 10 includes a pair of adjustable flexible grippers, with a 3mm thick food-grade silicone protective pad attached to the inside of the grippers, a cylinder or servo motor gripper drive unit to drive the opening and closing of the grippers, and a pressure sensor integrated on the grippers.

[0065] To reduce manual labor and achieve automated bundling, an automated bundling mechanism can be adopted. The feeding device 9 is a rotating disc mounted on the frame 1. Workers at a fixed station neatly place the chives to be processed onto the feeding device 9. The disc then rotates, delivering the chives to the bundling device 3 for automatic bundling. After bundling, the disc can rotate again, or the bundle can be moved to a position easily grasped by the clamping mechanism 10, which will then automatically grasp and process it. The workflow is as follows: when the bundled chives reach the designated position, the clamping mechanism 10 slides above the annular guide rail 7, and the flexible grippers descend and adaptively adjust the clamping force to hold the leaf ends of the chive bundle. Pressure sensors provide real-time feedback on the clamping force, allowing the control system to dynamically adjust accordingly, preventing excessive clamping that could damage the leaves or excessive looseness that could cause material to fall off. After clamping, the mechanism carries the chive bundle along the annular guide rail 7, passing through the washing and drying stations in sequence.

[0066] Specifically, the circular guide rail is fixedly installed. When the bundled chives reach the designated position, the clamping mechanism slides along the circular guide rail to directly above it. After the position sensor (such as a photoelectric sensor or proximity switch) confirms that the position is in place, the controller immediately issues a command. First, the controller controls the flexible gripper to fully open, and then activates the linear drive module (such as a cylinder or electric slide) on the clamping mechanism to drive the flexible gripper to descend vertically and approach the bundle of chives.

[0067] After the gripper reaches its designated position (this is achieved by a second set of position sensors, such as a limit switch at the end of the descent path, or a near-field photoelectric / ultrasonic sensor mounted on the gripper, detecting the upper surface of the bundle of vegetables and providing a trigger signal to the controller to begin closing), the controller issues a gripping command. The adaptive mechanism of the gripper then activates, adjusting the gripping force in real time during the closing process to ensure a stable grip. Once gripping is complete, the gripping mechanism sends a successful gripping signal back to the controller via a force sensor or displacement sensor. Upon receiving this feedback signal, the controller immediately controls the linear drive module to reverse its movement, driving the gripper that has gripped the bundle of vegetables to rise and reset, completing one work cycle.

[0068] In this embodiment, successful gripping requires one of two conditions to be met: A) The gripping force stabilizes within a preset range and is maintained for a very short time (e.g., 0.3 seconds); B) During the gripper closing process, the displacement sensor reading stops changing, indicating that the object has been gripped, while the force sensor reading reaches a preset threshold. Specifically, the gripper begins to close, and the controller continuously reads the force sensor value F_current. When F_current first rises from 0 and exceeds a very low contact detection threshold (e.g., F_contact = 0.5 N), the controller marks it as having contacted an object and records the current gripper position (via the displacement sensor or motor encoder). The controller continues to instruct the gripper to close, while monitoring F_current and gripper displacement. When either of the following conditions is met, the controller initially determines that the gripping is effective and enters the steady-state holding phase:

[0069] Condition A: F_current reaches or exceeds the "fetch success threshold" F_success.

[0070] Condition B: The gripper displacement changes very little within a short period of time (e.g., 20 milliseconds) (indicating that the object has been clamped and cannot be closed further), and at the same time, F_current exceeds F_success.

[0071] After initial assessment, the controller switches to force control mode and attempts to stabilize the clamping force within a preset safe working range, such as 5N ± 1N.

[0072] When the clamping force stabilizes within the safe operating range and remains stable for a preset time (e.g., 0.3 seconds), the controller finally generates a successful gripping signal and executes the lifting action.

[0073] Furthermore, in Example 1 of the flexible gripper's descent, a linear drive module is used. The gripping mechanism is mounted on a sliding seat that can slide along a circular guide rail, and the sliding seat integrates a linear drive module (such as an electric slide, cylinder, or electric cylinder). When the designated position is reached, the linear drive module is activated, driving the entire flexible gripper actuator to descend precisely in the vertical direction, completing the descent action.

[0074] Example 2 of the flexible gripper's descent can be achieved using a telescopic structure. The gripping mechanism includes a telescopic arm or rod, driven by a linear actuator (such as a cylinder or electric actuator). Once in position, the actuator activates, pushing the telescopic component downwards, thereby causing the flexible gripper at the end to fall.

[0075] In Example 3, the descent of the flexible gripper is achieved using a lifting platform. The entire gripping mechanism is mounted on a separate lifting platform, which is then fixed to a sliding base. The lifting platform is driven by a lower actuator (such as a servo motor-driven lead screw or a hydraulic / pneumatic cylinder). Once in position, the lifting platform lowers the entire gripping mechanism.

[0076] Specifically, the adaptive adjustment of the clamping force is accomplished collaboratively by the pressure sensor, the central controller or the sub-controller of the clamping mechanism, and the gripper drive unit.

[0077] A pressure sensor is embedded or installed inside the gripper of the clamping mechanism 10, for example, under a silicone protective pad, to measure the actual clamping force applied by the gripper to the bundle of chives in real time, and to transmit the force signal, typically an analog voltage or current signal, to the controller in real time.

[0078] The controller receives signals from the pressure sensor and compares them with a preset target clamping force range. The controller can be a central PLC for the entire machine, or an independent servo drive or pneumatic proportional valve controller for each clamping mechanism 10.

[0079] The gripper drive unit is the force actuation unit. There are generally two designs:

[0080] Servo-electric solution: A servo motor drives a ball screw or rack and pinion to open and close the grippers. The controller precisely controls the output force by adjusting the current and torque of the drive motor.

[0081] Pneumatic servo solution: A cylinder with a proportional pressure valve or servo valve is used to drive the gripper. The controller controls the output force by adjusting the air pressure supplied to the cylinder.

[0082] Its implementation process:

[0083] During the system debugging phase, a safe clamping force range is preset in the controller through manual teaching or parameter input, for different vegetables such as chives, scallions, and spinach, and different bundling specifications. For example, for chives, the target clamping force is set to F_target (e.g., 5N), and an allowable fluctuation range of ±ΔF (e.g., ±1N) is set. This force value is sufficient to clamp firmly, yet far below the threshold that would cause leaf cells to rupture.

[0084] When the gripping mechanism 10 moves to the gripping position, the controller issues a closing command, and the gripper begins to close.

[0085] The grippers move inward, and when the pressure sensor reading rises from zero, the controller determines that the grippers have come into contact with the material.

[0086] From the point of contact, the controller switches to force control mode. Instead of instructing the gripper to move to a fixed position, it instructs the drive unit to continuously increase the clamping force while simultaneously reading feedback from the pressure sensor in real time.

[0087] When the feedback clamping force value enters the preset safety range, such as 5N ± 1N, the controller immediately stops the command to increase the clamping force and maintains the current output, so that the clamping force is stable within the range.

[0088] During subsequent conveying, cleaning, and drying processes, the clamping force may fluctuate slightly due to vibration, water flow impact, or material deformation. The controller will continuously monitor the pressure sensor, and if the force value deviates from the safe range, it will fine-tune the output of the drive unit, such as fine-tuning the servo motor current or the proportional valve opening, to bring the force value back to the set range and achieve dynamic constancy of the clamping force.

[0089] When the material needs to be released, if it reaches above the discharge chute 52, the controller instructs the drive unit to quickly open the grippers, the pressure sensor reading returns to zero, and one work cycle is completed.

[0090] like Figure 3 As shown, the cleaning mechanism 4 mainly includes a sewage tank 41, a water pump 44, a spray assembly, a water storage tank 42, and a filter 43.

[0091] The wastewater tank 41 is installed on the frame 1, located below the annular guide rail 7 and on the moving path of the clamping mechanism 10, and is used to collect cleaning wastewater. The spray assembly includes multiple horizontal supports 45 arranged parallel to each other on the top of the wastewater tank 41. Each horizontal support 45 is evenly equipped with multiple spray nozzles 46 along its length. These nozzles 46 can adjust the spray angle and intensity according to the soil adhesion on the chive roots and the position of the leaves, so as to achieve high-pressure key rinsing of the roots and low-pressure rinsing of the leaves, thereby achieving differentiated cleaning and protecting the leaves. The cleaning time for a single cleaning session is 10-30 seconds.

[0092] The water storage tank 42 and filter 43 are installed on the base 2. The inlet of the water pump 44 is connected to the water storage tank 42, and the outlet is connected to all the nozzles 46 through a pipeline. The outlet of the wastewater tank 41 is connected to the filter 43, such as a sand filter or a bag filter, through a pipeline. The outlet of the filter 43 is then connected back to the water storage tank 42, thus forming a closed-loop water circulation system, realizing the filtration and recycling of cleaning water and saving water resources.

[0093] Specifically, in Example 1, the clamping mechanism conveys the bundle of chives to a fixed coordinate point at the washing station in a fixed posture and height, achieved via a positioning sensor. The spatial positions of the root and leaf regions of the chives relative to the nozzle array are fixed and known.

[0094] The nozzles mounted on the cross brace are pre-adjusted manually or via a servo motor into two sets: one set of root nozzles is aligned with the intended root area at a relatively vertical angle; the other set of blade nozzles is aligned with the intended blade area at a more inclined angle for gentle rinsing.

[0095] By installing two independent water pumps or one water pump with two independent solenoid valves and pressure regulating valves, the water paths to the root nozzles and blade nozzles can be controlled separately.

[0096] When the clamping mechanism carries the chives into the cleaning station, the arrival sensor triggers the central PLC to start the cleaning program. During the preset time period T1, the high-pressure water circuit for root rinsing and the low-pressure water circuit for blade wetting are simultaneously activated. During the time period T2, the high-pressure water circuit is shut off, leaving only the low-pressure water circuit to rinse the blades. The entire cleaning time is preset.

[0097] In another example, Example 2, a machine vision system is used to identify in real time the specific boundary between the roots and leaves of each bundle of chives, as well as the area and thickness of soil adhesion. An industrial camera is installed at the entrance of the washing station, and it captures images as the bundles of chives enter. The image processing system can be integrated into a PLC or industrial computer and uses image recognition algorithms to analyze the roots in the high-contamination area and the leaves in the low-contamination / vulnerable area.

[0098] The control system dynamically adjusts based on the identification results: Sprinkler action: Drives the swingable sprinkler head to precisely aim the high-pressure water flow at the identified high-pollution area.

[0099] Cleaning parameters: Fine-tune the pressure of the high-pressure water flow and the rinsing time of the area according to the degree of soil adhesion. For the blade area, always maintain a low, safe pressure value.

[0100] In another example, 3, turbidity sensors are installed in the drainage paths of the root rinsing and leaf washing areas in the wastewater tank 41. Initially, both the root and leaf areas are cleaned using a standard procedure. The system monitors the turbidity of the drainage from both areas in real time. If the turbidity does not drop below the threshold after a preset time, it is determined that the root soil is too thick, and the high-pressure rinsing time for that area is automatically extended or the pressure is slightly increased until the turbidity meets the standard. If the turbidity remains very low, low-pressure rinsing is maintained. If abnormally high turbidity is detected, which may indicate that soil has splashed onto the leaves, the nozzle angle can be fine-tuned in subsequent cycles to prevent high-pressure water from directly impacting the leaves and causing soil splashing.

[0101] The air drying mechanism 5 includes an air drying guide 51, a material discharge trough 52 connected to the bottom of the air drying guide 51, and multiple air knives 53 embedded in the side wall of the air drying guide 51. The air drying guide 51 and the material discharge trough 52 are integrally formed structures, and the air outlet end of the air knife 53 is set towards the root part of the material.

[0102] The clamping mechanism 10 carries the cleaned bundles of chives into the drying guide trough 51. The high-speed, uniform strip-shaped airflow generated by the air knife 53 is directed at the root and stem areas of the chives. The drying guide trough 51 is equipped with a baffle plate to optimize airflow distribution and ensure uniform drying. The wind speed of the air knife 53 can be adjusted via a frequency converter, allowing for adjustments based on the moisture content of the vegetables to meet the dehydration needs of different vegetables. After drying, the clamping mechanism 10 moves above the discharge trough 52, releases its grippers, and the bundles of chives fall into the discharge trough 52 and slide onto the conveyor belt 8 below.

[0103] A high-precision weight sensor is installed below the middle section of conveyor belt 8. As the bundles of chives pass by, the system automatically acquires their weight data. A labeler 6 is installed above conveyor belt 8. After receiving the weight data, the central controller drives labeler 6 to print labels containing information such as product name, weight, and production date, and automatically affixes them to the binding straps of the chive bundles. The labeled bundles of chives are output from the end of conveyor belt 8 and can be directly loaded into crates or used for subsequent packaging operations.

[0104] Specifically, a high-precision weighing module, such as a cantilever beam type or S-type load cell, is installed below a specific section of the conveyor belt 8. This section of the conveyor belt 8 is driven by an independent weighing drive roller, or by a pneumatic / electric lifting mechanism, allowing it to be briefly separated from the main conveyor belt or kept stationary during weighing to eliminate the influence of belt vibration and tension on measurement accuracy. When the bundles of chives slide from the drying mechanism's discharge chute 52 onto the conveyor belt 8 and are conveyed to the weighing area, the system controls the conveyor belt 8 to pause or briefly position it using a stop mechanism. The weighing module instantly acquires stable weight data and transmits it to the central controller in real time. In this embodiment, the discharge chute 52 is designed as an inclined structure. After the chives have completed their pre-processing, they fall into this chute and automatically slide down under gravity. In one example, a manual packaging station is set up above the conveyor belt 8 at the outlet of the discharge chute 52. Workers can manually place packaging bags onto the outlet of the discharge chute 52 at this station. After the chives slide down the feeding chute, they fall directly into the bag and, under the influence of gravity, land on conveyor belt 8 along with the packaging bag. Conveyor belt 8 then continues to move to the subsequent labeling station. To further improve efficiency and reduce manual intervention, the manual packaging station can be upgraded to an automated packaging mechanism. This mechanism can integrate functions such as automatic bag picking, bag opening, bag fitting, and bag pre-treatment (such as clamping or pre-sealing), achieving full automation of the chive process from feeding and bagging to conveying.

[0105] Its core workflow is as follows: bag taking, bag opening, bag placement / positioning, material discharge, bag opening transfer / sealing.

[0106] Specifically, it includes a bag storage and bag retrieval module, a bag opening and bagging module, and a material discharge and bag opening transfer module.

[0107] Bag storage and bag retrieval module:

[0108] A bag storage unit is a container that holds a stack of pre-made packaging bags. The bags are typically flat-top, back-seal bags, stacked in a specific orientation (e.g., opening upwards, back seal facing outwards).

[0109] The bag retrieval unit consists of a set of vacuum suction cups and a linear drive module (such as a cylinder or electric slide). The drive module moves the suction cup set to the bag magazine, where the vacuum suction cups pick up the two sides of the topmost single bag, separating it from the magazine and lifting it up.

[0110] Bag opening and bagging module:

[0111] The bag opening device includes an expander that can be inserted into the bag opening (such as a pair of openable mechanical fingers or an inflatable wedge-shaped airbag).

[0112] The bag is moved to the bag opening station, and the expander is then inserted into the bag opening and activated (mechanically, it means opening or the airbag inflates) to open the bag opening.

[0113] Bag fitting: With the bag opening open, a clamping and transfer mechanism (such as another set of grippers or a movable clamp) holds the bottom or side of the bag, moves it and fits it outside the outlet of the discharge chute 52, or moves it to a liftable receiving tray directly below the discharge chute. Then the expander resets and retracts, and the bag is temporarily fixed in the receiving position by the clamp.

[0114] Material feeding and bag opening transfer module:

[0115] Material feeding: Once the bag is in place (achieved through a positioning sensor, such as a photoelectric sensor), the control system sends a signal, and the chives that have completed the previous processing fall into the bag from the feeding chute 52.

[0116] Bag transfer: After the filling is completed, the clamp that fixes the bag carries the bagged chives and moves them to the conveyor belt 8 below.

[0117] If sealing is required, a sealing module is also included: Conveyor belt 8 carries the bagged chives through a heat-sealing mechanism (or tying mechanism). This mechanism can heat-seal or automatically tie the bag opening to complete the final seal.

[0118] In this example, the entire automated packaging mechanism is uniformly coordinated and controlled by a central controller (PLC). The PLC receives signals from upstream processes (such as after drying), the material drop chute sensor (detecting that vegetables are falling), and the position sensors of each module, and precisely controls the timing and rhythm of actions such as bag picking, bag opening, transfer, material dropping, and sealing to ensure synchronization with the main rhythm of the production line.

[0119] The label printer 6 is an industrial-grade thermal transfer or thermal printer, fixedly mounted on the frame 1 and located downstream of the weighing station on the conveyor belt 8. The central controller has pre-stored fixed or variable information templates, such as product names (e.g., "leeks") and production dates that can be retrieved from the system's real-time date and time. Upon receiving a weight signal from the weight sensor, the central controller immediately performs the following operations:

[0120] Information synthesis: Combines information such as product name, measured weight, production date, and batch number (optional) according to a preset format.

[0121] Printing Drive: The composite information is sent to label printer 6. Label printer 6 drives the print head to print a label containing the complete information onto a pre-made label roll, typically a self-adhesive label. The labels are usually in continuous rolls, and after printing, a peeler separates the front end of the label from the backing paper.

[0122] In one implementation of automatic labeling, a multi-degree-of-freedom labeling robot, such as a two- or three-axis linear module, or a SCARA robot, is installed near the label peeling end of the label machine 6. The robot's end effector is equipped with a vacuum suction cup or a micro-adhesive labeling head. The implementation process is as follows:

[0123] Label picking: The robotic arm moves to the label peeling plate, and the vacuum suction cup is activated to pick up the label that has been separated from the backing paper.

[0124] Positioning: The central controller knows the real-time position of the chives bundled on the conveyor belt based on the encoder signal of conveyor belt 8 or another photoelectric sensor.

[0125] Adhesion: The robotic arm carries the label and moves above the bundle of chives that is passing by at a constant speed. It moves in sync with the bundle of chives, which is called "flying and sticking", and presses the label precisely into the center of the binding strap of the bundle of chives.

[0126] Compacting: The label applicator may have a soft pad or small rollers that apply a slight pressure after application to ensure the label is firmly attached.

[0127] Reset: After labeling is completed, the robotic arm returns to the label-picking position to prepare for the next action.

[0128] Another method for automatic label application involves installing a high-pressure airflow nozzle for precise timing application, or a retractable flexible push rod for application, directly below the label peeler outlet. The process is as follows:

[0129] Positioning: The front end of the printed label is peeled off and hovered in front of the airflow nozzle or push rod.

[0130] Trigger: When the bundle of chives passes the photoelectric sensor below the labeling machine, the sensor detects a specific position on the binding strap of the bundle of chives, usually the most protruding top.

[0131] Launch: After a millisecond delay, the central controller triggers the high-pressure solenoid valve to eject a brief burst of air, or rapidly extends the push rod. The airflow or push rod "blows" or "presses" the tag onto the cable ties of the leek bundle that it just happens to pass by.

[0132] Assisted compaction: A pair of soft sponge rollers or belts can be set up behind the labeling station to gently roll over the passing bundles of chives and their labels to ensure that the labels are fully adhered.

[0133] The entire weighing and labeling process is coordinated by a central PLC controller.

[0134] Weighing trigger: Material is detected to have reached the weighing position → Stabilize weighing → Obtain weight value.

[0135] Printing trigger: Weight value valid → Synthesize label information → Send print command. Printing and conveyor belt movement are parallel and do not occupy main line time.

[0136] Labeling trigger: The material strapping is detected to have reached the labeling position sensor → triggering the robot arm or blowing mechanism → completing the labeling.

[0137] Anomaly Handling: The system is equipped with a label missing sensor to detect the presence of labels on the peeling plate, a printhead overheating alarm, and labeling failure detection via simple visual verification to ensure process reliability. Specifically, a photoelectric sensor (through-beam or reflective type) is installed at the front end of the label peeling plate. When the label is normally peeled off from the backing paper and fed forward, it will pass through or block the sensor's light path. A timer is included in the controller, linked to the labeling trigger signal.

[0138] Alarm Trigger: When the labeling action is triggered, but the sensor does not detect the label passing through within a preset time (e.g., 200ms) (no change in signal status), it is determined that the label is missing (this may include faults such as running out of paper roll, label jam, or failure to feed the printer). The central controller immediately displays a red alarm message on the human-machine interface (HMI), such as "Label Missing - Labeling Station," and triggers the audible and visual alarm.

[0139] Printhead overheat alarm: Industrial label printers typically integrate a temperature sensor to monitor the core temperature of the printhead. This temperature data is fed back to the central controller in real time via the printer's communication interface (such as RS-232 or Ethernet).

[0140] Alarm Trigger: The central controller continuously reads the printhead temperature. When the temperature exceeds a preset safety threshold (e.g., 60°C as specified by the manufacturer), the system determines that the printhead is overheating. A yellow or orange warning pops up on the HMI, indicating that the printhead temperature is too high. If the temperature continues to rise to a dangerous threshold (e.g., 70°C), it escalates to a red alarm, indicating that the printhead is overheating and printing will stop immediately to prevent permanent damage to the printhead.

[0141] Labeling failure detection (visual verification):

[0142] Implementation: Install a simple industrial vision sensor (or smart camera) above the conveyor belt downstream of the labeling station. Its field of view is aligned with the expected labeling position on the bundling strap.

[0143] Detection logic:

[0144] Presence / Absence Detection: Determine whether a label exists within a specified area using pre-trained pattern matching or contrast detection.

[0145] Position detection: Detects whether the four corners or center point of the label are within the allowed coordinate range.

[0146] Quality inspection (optional): Inspect the label for severe wrinkles, tears, or large areas of missing printed content.

[0147] Alarm Trigger: When the vision sensor detects a preset number of labeling failures (e.g., 3 consecutive times) due to missing labels, excessive positional deviation, or substandard quality, the central controller determines it as a systemic labeling fault. The HMI displays a red alarm, such as "Labeling Failure - Vision Detection Alarm".

[0148] The entire machine is controlled by a central controller such as a PLC. The system integrates multiple sensors: each station on the circular guide rail 7 is equipped with a photoelectric sensor as a position sensor; the clamping mechanism 10 is equipped with a pressure sensor; the water storage tank 42 is equipped with a liquid level sensor; the sewage tank 41 is equipped with a turbidity sensor; and the conveyor belt 8 is equipped with a weight sensor.

[0149] The control logic is as follows: Based on the position sensor signal, the system sequentially initiates actions such as bundling, clamping, cleaning, drying, unloading, weighing, and labeling. Pressure sensors ensure appropriate clamping force. Liquid level and turbidity sensors interlock to control the start and stop of the water supply valve and filter, ensuring water quality. A weight sensor triggers label printing. This integrated control system achieves full automation from material feeding to labeling output, significantly improving processing efficiency and quality control consistency.

[0150] The circular guide rail 7 is mounted on the frame 1. The working section of the circular guide rail 7 is located directly above the washing mechanism 4 and the drying mechanism 5. The circular guide rail 7 is made of No. 45 steel with a chrome-plated surface for rust prevention and wear resistance. Multiple clamping mechanisms 10 are slidably mounted on the circular guide rail 7. The clamping mechanisms 10 are connected to the circular guide rail 7 via ball-type sliders. The sliding resistance of the ball-type sliders is ≤5N, ensuring smooth operation. The clamping mechanisms 10 can slide cyclically along the circular guide rail 7. They are used to clamp the leafy side of bundled leafy green vegetables, enabling the vegetables to be transported between the washing mechanism 4 and the drying mechanism 5, and preventing damage to the leaves during processing. The clamping claws of the clamping mechanisms 10 have an opening range of 50mm~150mm, and the inner side is lined with a 3mm thick food-grade silicone protective pad. The clamping force can be adaptively adjusted to avoid damaging the vegetable leaves.

[0151] The air-drying mechanism 5 is installed on the frame 1 and located at the output end of the washing mechanism 4. The air-drying guide 51 and the material drop chute 52 of the air-drying mechanism 5 are integrally formed to ensure the stability and sealing of the structure. The inlet of the air-drying guide 51 corresponds to the conveying trajectory of the annular guide rail 7. The output end of the material drop chute 52 is arranged above the conveyor belt 8. Multiple air knives 53 are evenly installed on the inner wall of the air-drying guide 51. The air outlet of the air knife 53 faces the vegetable roots and stems to achieve rapid and uniform air drying of the roots and stems after washing.

[0152] The conveyor belt 8 is installed on the base 2 and positioned below the material drop chute 52, providing a channel for the subsequent transport of vegetables. The conveyor belt 8 is made of food-grade PU material, with a width of 300mm and a linear speed that can be precisely adjusted from 0.1m / s to 0.3m / s. The labeling machine 6 is installed on the frame 1 and positioned above the conveyor belt 8. When the vegetables pass under the labeling machine 6 along with the conveyor belt 8, the automatic labeling operation is completed.

[0153] Example 2

[0154] A preliminary cleaning and drying method is proposed. This method is based on the integrated equipment described in Example 1 and aims to efficiently, cleanly, and with low damage complete the preliminary processing of leafy green vegetables. It is particularly suitable for materials such as chives and scallions that have different cleaning and drying requirements. The method specifically includes the following steps:

[0155] Step 1: The material to be processed is fed into the bundling device via the feeding device 9 and then bundled. The bundles are then held by the clamping mechanism 10 and conveyed to the top of the washing mechanism 4 via the annular guide rail 7. Specifically, the bulk material to be processed, such as chives, is neatly laid flat on the conveyor belt of the feeding device. The feeding device starts, feeding the chives into the bundling area at a uniform speed. The bundling device automatically bundles the chives according to a preset standardized specification, such as 250 grams per bundle, using flexible binding straps to form neat and moderately tight bundles.

[0156] Step Two: The water pump 44 is activated, allowing water to flow through the nozzles 46 to directionally rinse the root and stem parts of the material. The rinsed wastewater flows into the wastewater tank 41, is filtered by the filter 43, and then returns to the storage tank 42, achieving water recycling. Specifically, the bundled vegetable bundles are transported to the clamping station. A clamping mechanism 10, mounted on the annular guide rail 7, slides directly above the vegetable bundle. The drive unit of the clamping mechanism 10 controls its jaws to descend, gently clamping the leaf-side ends of the vegetable bundle, avoiding the tender leaf body. A pressure sensor integrated inside the jaws monitors the clamping force in real time. The central controller dynamically adjusts the output of the jaw drive unit based on a preset force range, such as 4-6N, and sensor feedback, achieving adaptive closed-loop control of the clamping force to ensure a firm clamping without damaging the material. Subsequently, the clamping mechanism 10 carries the vegetable bundle, smoothly sliding along the annular guide rail 7, accurately transporting it directly above the cleaning mechanism 4. When the clamping mechanism 10, carrying the bundle of vegetables, is stably suspended above the washing mechanism 4, the spray assembly above the wastewater tank 41 begins operation. The central controller activates the water pump 44, pressurizing the filtered clean water in the water storage tank 42 and spraying it out through multiple adjustable nozzles 46. The spraying strategy employs differentiated operation: for the root area with more mud, a specific angle nozzle provides high-pressure, close-range focused rinsing; for the vulnerable leaf area, nozzles at other angles provide lower-pressure, covering, gentle rinsing. The rinsing process lasts for a preset time, and the wastewater falls into the wastewater tank 41 below. The wastewater flows through a pipe into the filter 43, where physical filtration removes mud, sand, and impurities. The clean water then flows back to the water storage tank 42, achieving water recycling and water conservation.

[0157] Step 3: After cleaning, the clamping mechanism 10 conveys the vegetables along the annular guide rail 7 to the drying guide trough 51 of the drying mechanism 5, and the air knife 53 is activated to dry the roots and stems of the vegetables. Specifically, the cleaned vegetable bundles are conveyed by the clamping mechanism 10 along the annular guide rail 7 into the drying guide trough 51 of the drying mechanism 5. Multiple air knives 53 evenly arranged on the inner wall of the drying guide trough 51 are activated, generating a uniform, high-speed strip-shaped airflow that precisely targets the roots and stems of the vegetable bundles. The drying time and air speed can be preset and adjusted according to the type of material and the surface humidity after cleaning. After drying, the clamping mechanism 10 moves above the discharge trough 52, and the grippers open smoothly under control. The vegetable bundles fall into the smooth discharge trough 52 under gravity, and after being guided, they fall in an orderly manner onto the conveyor belt 8 below.

[0158] Step 4: After air drying, the clamping mechanism 10 moves above the discharge chute 52 and releases, allowing the material to fall into the discharge chute 52 and be guided onto the conveyor belt 8. During the conveyor belt 8 transport, the material is labeled by the label machine 6 and finally discharged via the conveyor belt 8. Specifically, the conveyor belt 8 carrying the bundles of vegetables begins operation. When the bundles pass the precision weight sensor integrated below the conveyor belt 8, the conveyor belt 8 pauses briefly or the sensor performs dynamic weighing to accurately obtain the net weight of the bundle. The weight data is uploaded to the central controller in real time. The controller integrates the preset product name information, system time as the production date, and measured weight, generates label content, and sends it to the label machine 6. When the bundles of vegetables move along the conveyor belt 8 to the label machine 6, the label machine 6 automatically affixes the printed information label to the designated position on the bundling strap. The finished bundles of vegetables, after labeling, are output from the end of the conveyor belt 8 and can be directly boxed or transferred to the next packaging process.

[0159] Unless otherwise specified, all embodiments and optional embodiments of this application can be combined to form new technical solutions.

[0160] Unless otherwise specified, all technical features and optional technical features of this application may be combined to form new technical solutions.

[0161] Without contradicting the spirit and technical means of this invention, at least some of the technical implementation methods in the embodiments may be combined or substituted. Although the invention has been described with respect to a limited number of embodiments, those skilled in the art will understand from the above description that other embodiments can be conceived within the scope of the invention described herein. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and instructional purposes, and not for interpreting or limiting the subject matter of the invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of this invention is illustrative and not restrictive, and the scope of the invention is defined by the appended claims.

Claims

1. A pre-cleaning and drying integrated machine, characterized in that: It includes a frame (1), a base (2), a cleaning mechanism (4), a drying mechanism (5), a ring rail (7), a conveyor belt (8), and multiple clamping mechanisms (10). The frame (1) is mounted on the ground via the base (2); the washing mechanism (4) and the drying mechanism (5) are mounted on the frame (1) in layers above and below; the annular guide rail (7) is mounted on the upper part of the frame (1) and is arranged horizontally around the washing mechanism (4) and the drying mechanism (5); a plurality of clamping mechanisms (10) are slidably mounted on the annular guide rail (7) for clamping and conveying the green leafy vegetable material to be processed; the conveyor belt (8) is mounted on the base (2) and is located below the output end of the drying mechanism (5); The clamping mechanism (10), the ring guide rail (7) and the drying mechanism (5) constitute the upper processing unit, the conveyor belt (8) constitutes the lower conveying unit, and the cleaning mechanism (4) constitutes the lower cleaning unit, forming a layout with two layers.

2. The pre-cleaning and drying integrated machine according to claim 1, characterized in that: It also includes a bundling device (3), a feeding device (9) and a labeling machine (6); the bundling device (3) and the feeding device (9) are mounted on the frame (1), and the bundling device (3) is located at the output end of the feeding device (9); The label machine (6) is mounted on the frame (1) and located above the conveyor belt (8).

3. The pre-cleaning and drying integrated machine according to claim 2, characterized in that: The air drying mechanism (5) includes an air drying guide trough (51), a material drop trough (52) connected to the air drying guide trough (51), and multiple air knives (53) installed in the air drying guide trough (51); the output end of the material drop trough (52) is located above the conveyor belt (8), and the air drying guide trough (51) and the material drop trough (52) are integrally formed structures.

4. The pre-cleaning and drying integrated machine according to claim 3, characterized in that: The cleaning mechanism (4) includes a sewage tank (41), a water pump (44), a spray assembly, a water storage tank (42), and a filter (43); the sewage tank (41) is mounted on a frame (1); the spray assembly includes multiple nozzles (46) mounted above the sewage tank (41); the water pump (44) is connected to the nozzles (46) via a pipeline to provide cleaning water flow; The water storage tank (42) is installed on the base (2); the input end of the filter (43) is connected to the sewage tank (41) through a water pipe, and its output end is connected to the water storage tank (42) through a water pipe, thus forming a water circulation system.

5. The pre-cleaning and drying integrated machine according to claim 4, characterized in that: The spray assembly also includes multiple horizontally arranged cross braces (45); multiple nozzles (46) are installed on the cross braces (45) at different angles and heights for differentiated spray cleaning of the root and leaf parts of different materials.

6. The pre-cleaning and drying integrated machine according to claim 1, characterized in that: The clamping mechanism (10) includes a gripper drive unit for driving its opening and closing, a gripper, and a pressure sensor for detecting the clamping force; the inner side of the gripper is covered with a 3mm thick food-grade silicone protective pad, and the gripper opening range is 50mm~150mm; the gripper drive unit is one of a cylinder, a servo motor, or an electric push rod, and can preset different clamping force levels according to the material type, with a clamping force adjustment range of 4-6N, and the clamping force is adaptively closed-loop adjusted by feedback from the pressure sensor.

7. The pre-cleaning and drying integrated machine according to claim 3, characterized in that: The air-drying guide trough (51) is provided with multiple guide plates corresponding to the air knife (53) for adjusting the airflow direction and distribution; the wind speed and start / stop of the air knife (53) are controlled by an independent controller, and the wind speed can be adjusted according to the type of vegetable and its moisture content; the air outlet of the air knife (53) is set towards the root and stem part of the material.

8. The pre-cleaning and drying integrated machine according to claim 4, characterized in that: It also includes a central controller, as well as multiple sensor groups and multiple actuators electrically connected to the central controller; The sensor group includes: position sensors installed at each workstation of the annular guide rail (7) for detecting the position of the clamping mechanism (10); A pressure sensor mounted on the clamping mechanism (10) is used to detect the clamping force; A liquid level sensor installed in the water storage tank (42); A turbidity sensor is installed inside the wastewater tank (41); Weight sensors installed on the conveyor belt (8); The actuator includes the feeding device (9), the bundling device (3), the drive unit of the clamping mechanism (10), the water pump (44), the air knife (53), and the label machine (6); The central controller is configured to: control the start, stop and linkage of each actuator according to the signal of the position sensor in a preset program sequence; adjust the clamping force according to the feedback of the pressure sensor; control the operation of the water circulation system and water quality according to the signals of the liquid level sensor and the turbidity sensor; and trigger the label printer (6) to print and paste a label containing weight information according to the signal of the weight sensor and in combination with the preset packaging specifications.

9. The pre-cleaning and drying integrated machine according to claim 1, characterized in that: The annular guide rail (7) is made of No. 45 steel and is chrome-plated. The clamping mechanism (10) is slidably mounted on the annular guide rail (7) by a ball-type slider. The frame (1) is constructed of 6061 aluminum alloy profile. The conveyor belt (8) is made of food-grade PU material, and its width and linear speed can be adjusted according to requirements.

10. A method for initial cleaning and drying, the method being implemented based on an integrated initial cleaning and drying machine according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: The material to be processed is fed into the bundling device (3) through the feeding device (9) for bundling, and then its blade side is clamped by the clamping mechanism (10) and transported to the top of the cleaning mechanism (4) via the ring guide rail (7). Step 2: Start the water pump (44) so ​​that the water flows through the nozzle (46) to rinse the root and stem parts of the material in a directional manner. The rinsing wastewater flows into the wastewater tank (41) and is filtered by the filter (43) and then flows back to the water storage tank (42) to realize the recycling of the cleaning water. Step 3: After cleaning, the clamping mechanism (10) transports the vegetables along the circular guide rail (7) to the drying guide groove (51) of the drying mechanism (5), and starts the air knife (53) to dry the root and stem parts of the vegetables. Step 4: After air drying, the clamping mechanism (10) moves above the material drop chute (52) and releases, allowing the material to fall into the material drop chute (52) and be guided to the conveyor belt (8) through the material drop chute (52); during the material conveying process on the conveyor belt (8), the label machine (6) applies the label and finally sends it out through the conveyor belt (8).

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