Automatic cabbage cleaning and processing equipment

Abstract

The application discloses a cabbage automatic cleaning processing equipment, which comprises an iris cutting device, a leaf supporting device, a cleaning device, a packaging device, a weighing device and a labeling device.

Description

Technical Field

[0001] This invention relates to the field of automated vegetable processing technology, and in particular to an automated cabbage cleaning and processing device. Background Technology

[0002] As one of my country's major vegetable varieties, the demand for processed cabbage continues to grow. Existing cabbage processing equipment generally suffers from problems such as fragmented processes, low integration, high reliance on manual labor, high damage rate to cabbage, and high water content from washing affecting freshness. Single-function equipment requires multiple transfers, resulting in significant raw material loss and low efficiency; large-scale production lines occupy a large area and are costly, making them unsuitable for small-scale processing scenarios. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide an automated cabbage processing device that features a high degree of automation, centralized processes, low transfer losses, and a compact structure that occupies little space.

[0004] The automated cabbage processing equipment according to the present invention includes: an iris cutting device comprising a plurality of root-cutting blades, the plurality of root-cutting blades selectively retracting or expanding concentrically to selectively cut off the root of the cabbage; a leaf-supporting device, the leaf-supporting device being vertically and flexibly disposed below the iris cutting device and selectively close to the iris cutting device, the leaf-supporting device comprising a base and a plurality of leaf-supporting claws, the plurality of leaf-supporting claws being spaced apart circumferentially on the base and selectively opening and closing; and a washing device disposed on one side of the leaf-supporting device. The supporting leaf device can selectively flip towards the washing device to place the cabbage in the washing device; the packaging device is located on one side of the washing device to package the washed cabbage; the weighing device is located on one side of the packaging device, and the weighing device includes a robotic arm and a weighing component, the robotic arm selectively picks up the washed cabbage and places it on the packaging device for packaging and weighing; the labeling device is located on one side of the weighing device, and the weighing device can transport the packaged and weighed cabbage to the labeling device for labeling.

[0005] Therefore, by integrating root cutting, leaf removal, washing, weighing, packaging, and labeling into one unit, the losses during the transportation of cabbage can be reduced. The high degree of automation can reduce labor costs. On the other hand, the automated cabbage processing equipment has a compact structure and occupies less space.

[0006] In some examples of the present invention, the iris cutting device includes a placement seat adapted to hold cabbage, a plurality of circumferentially arranged root-cutting blades are provided on the lower side of the placement seat, and a plurality of circumferentially arranged top-cutting blades are provided on the upper side of the placement seat, the plurality of top-cutting blades selectively retracting or expanding concentrically.

[0007] In some examples of the present invention, the top cutting blade and the top cutting blade retract or expand synchronously, and the rotation directions of the plurality of top cutting blades and the plurality of root cutting blades are opposite.

[0008] In some examples of the present invention, the robotic arm includes a rotating base, a lifting arm, and a bucket. The lifting arm is disposed on the rotating base and is movable in the vertical direction, and the bucket is disposed on the lifting arm and is suitable for placing cabbage.

[0009] In some examples of the present invention, the bucket is a telescopic bucket, and the telescopic direction of the bucket is perpendicular to the vertical direction.

[0010] In some examples of the present invention, the weighing element is disposed at the bottom of the telescopic bucket.

[0011] In some examples of the invention, the cleaning device includes a conveyor belt and air cleaning nozzles, the length of the conveyor belt extending between the leaf support device and the packaging device, and the air cleaning nozzles disposed above the conveyor belt and between the two ends of the conveyor belt in the length direction.

[0012] In some examples of the present invention, the packaging device includes pneumatic grippers that selectively open or close, the pneumatic grippers being provided with heating wires and / or heat-sealing strips to heat-seal and cut the plastic wrap on the surface of the cabbage when closed.

[0013] In some examples of the present invention, the automated cabbage processing equipment further includes a visual scanning device, which is adapted to scan and identify rotten leaves of cabbage that has had its roots and tops cut off in the iris cutting device, and the visual scanning device is electrically connected to the leaf support device.

[0014] In some examples of the present invention, the automated cabbage processing equipment further includes a control device, which is electrically connected to the iris cutting device, the leaf supporting device, the washing device, the packaging device, the weighing device, and the labeling device, respectively.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of an automated cabbage processing equipment according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an iris-based vegetable cutting device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a leaf support device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a conveyor belt according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a weighing device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a labeling device according to an embodiment of the present invention; Figure 7 This is a partial schematic diagram of a labeling device according to an embodiment of the present invention; Figure 8 This is a partial schematic diagram of a packaging device according to an embodiment of the present invention.

[0017] Figure label: 100. Automated cabbage processing equipment; 10. Iris-based vegetable cutting device; 11. Placement base; 12. Root cutting blade; 13. Top cutting blade; 14. Servo motor; 15. Bevel gear; 16. Cabbage feeding bucket; 20. Blade support device; 21. Base; 22. Blade support claw; 23. Lifting mechanism; 24. Tilting mechanism; 30. Cleaning device; 31. Conveyor belt; 32. Air cleaning nozzle; 33. Pressure gauge; 34. Support column; 40. Packaging equipment; 41. Pneumatic grippers; 50. Weighing device; 51. Robotic arm; 511. Rotating base; 512. Lifting arm; 513. Bucket; 52. Weighing component; 60. Labeling device; 61. Small pulley; 62. Crankwheel; 63. Labeling connecting rod; 64. Labeling slider; 65. Labeling platform; 70. Controller. Detailed Implementation

[0018] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0019] The following is for reference. Figures 1-8 An automated cabbage processing device 100 according to an embodiment of the present invention is described.

[0020] Combination Figures 1-8 As shown, the automated cabbage processing equipment 100 according to the present invention mainly includes: an iris cutting device 10, a leaf supporting device 20, a washing device 30, a packaging device 40, a weighing device 50, and a labeling device 60. The iris cutting device 10 includes multiple root-cutting blades 12, which selectively retract or expand concentrically to selectively cut off the roots of the cabbage. The leaf supporting device 20 is vertically and flexibly positioned below the iris cutting device 10 and selectively close to it. The leaf supporting device 20 includes a base 21 and multiple leaf supporting claws 22, which are spaced apart circumferentially on the base 21 and selectively... The washing device 30 is located on one side of the leaf-supporting device 20. The leaf-supporting device 20 can selectively flip towards the washing device 30 to place the cabbage on the washing device 30. The packaging device 40 is located on one side of the washing device 30 to package the washed cabbage. The weighing device 50 is located on one side of the packaging device 40. The weighing device 50 includes a robotic arm 51 and a weighing component 52. The robotic arm 51 selectively picks up the washed cabbage and places it on the packaging device 40 for packaging and weighing. The labeling device 60 is located on one side of the weighing device 50. The weighing device 50 can transport the packaged and weighed cabbage to the labeling device 60 for labeling.

[0021] Specifically, after the cabbage enters the automated cabbage processing equipment 100, the root of the cabbage is first cut off by the iris cutting device 10. Since the cabbage head is shaped like a cannonball with short, stubby stems and tightly packed leaves, the pre-cutting of the root area can create a gap between the leaves and the root on the cabbage surface. This allows the leaf-supporting claws 22 of the subsequent leaf-supporting device 20 to extend into the gap between the leaves and the root on the cabbage surface. When the iris cutting device 10 cuts the root of the cabbage, the outer gear drives the rotation of the connecting rod, which in turn drives multiple root-cutting blades 12 to rotate inward to cut the root of the cabbage at a fixed position. This not only makes the structure simple and the space utilization high, but also effectively completes the root-cutting task.

[0022] In some embodiments of the present invention, the root cutting blade 12 may be five, four, or six blades.

[0023] In some embodiments of the present invention, the root of the cabbage can also be cut off by a rotating blade root-cutting mechanism or a reciprocating root-cutting mechanism, which can also achieve circumferential cutting of the cabbage root at a specific distance.

[0024] Combination Figure 1 and Figure 2As shown, the iris cutting device 10 includes a placement seat 11, which is suitable for placing cabbage. Multiple root cutting blades 12 arranged circumferentially are provided on the lower side of the placement seat 11, and multiple top cutting blades 13 arranged circumferentially are provided on the upper side of the placement seat 11. The multiple top cutting blades 13 selectively retract or expand concentrically.

[0025] Specifically, by placing the cabbage in the placement seat 11, and having multiple root-cutting blades 12 on the lower side of the placement seat 11 cut off the roots of the cabbage, and multiple circumferentially arranged top-cutting blades 13 are also provided on the upper side of the placement seat 11, the top-cutting blades 13 can cut off the top of the cabbage. On the one hand, this can normalize the cabbage, that is, the length of the processed cabbage is consistent. On the other hand, it can prevent the top of the cabbage from gathering and affecting the subsequent leaf-supporting claws 22 to open and remove the rotten leaves on the outside.

[0026] In addition, the iris cutting device 10 also includes a cabbage feeding bucket 16, which is disposed above the placement seat 11 and connected to the placement seat 11.

[0027] In some embodiments of the present invention, the top cutting blade 13 and the bottom cutting blade 12 retract or expand synchronously, and the rotation directions of the multiple top cutting blades 13 and the multiple root cutting blades 12 are opposite.

[0028] Specifically, the top cutting blade 13 and the top cutting blade 13 need to rotate in opposite directions and open and close synchronously. The movement is controlled by using a geared motor to drive the bevel gear 15 to mesh with the incomplete gear on the iris, which can achieve the effect of synchronous opening and closing. A specific 3D printed angle block is designed on the outside to improve the structural strength of the module itself while adjusting the verticality of the module center and the lower mechanism.

[0029] Furthermore, the automated cabbage processing equipment 100 also includes a visual scanning device. The visual scanning device is adapted to scan and identify rotten leaves of cabbage that has had its roots and tops cut off in the iris cutting device 10. The visual scanning device is electrically connected to the leaf support device 20.

[0030] Specifically, after the cabbage root is removed, the visual scanning device scans the outer perimeter of the cabbage to identify and locate yellowed and rotten leaves. Based on the number of target leaves identified, the device drives the leaf-supporting device 20. The drive motor first drives the base 21 to rise, and through precise control of the lead screw mechanism, guides the leaf-supporting claws 22 to insert into the gap between the outer leaves and the root of the cabbage. Then, the claws open, effectively peeling off and removing the identified defective outer leaves.

[0031] Furthermore, by incorporating a Fischer screw and slider component inside the support claw 22, the opening and closing of the support claw 22 within a fixed range is achieved through a screw of a specific length. The geared motor drives the lifting mechanism 23 to achieve the lifting and lowering of the base 21. Specifically, the geared motor drives the gear to transmit power to the screw, ensuring fast and efficient power transmission. The lifting and lowering of the base 21 is controlled by the gears of the geared motor meshing with the racks on both sides, and is also supported by two optical shafts to control the movement and lift range.

[0032] In addition, after the processing is completed, the two servo motors 14 drive the connecting rod to rotate and drive the flipping mechanism 24 to flip. Specifically, the two servo motors 14 drive the parallel four-bar linkage structure to flip the entire mechanism together with the cabbage and transport the cabbage to the conveyor belt 31.

[0033] It should be noted that the three mechanisms each control a movement, coordinating to complete the functions of inserting the cabbage, opening the leaves, and flipping it to be fed into the conveyor belt 31.

[0034] Furthermore, the present invention is configured in such a way that root cutting and leaf removal can be completed at the same workstation, simplifying the process, reducing the rate of damage to vegetables, and the whole machine has a compact structure and high space utilization. It can also accurately remove the outer aged and damaged leaves, avoiding excessive leaf removal and waste, while reducing damage to the edible parts.

[0035] In some embodiments of the present invention, the visual scanning device adopts the SSD-MobileNetV2 lightweight model architecture, which achieves rapid coarse localization of yellow leaves through pruning optimization, and is combined with the Sobel edge detection algorithm to extract fine contours through denoising and gradient calculation. Combined with AI localization bounding boxes to reduce invalid calculations, the efficiency is improved by about 50%, thereby constructing a millisecond-level closed loop of "recognition-solution-execution" and achieving a dual upgrade in efficiency and accuracy.

[0036] It should be noted that SSD-MobileNetV2 is a lightweight object detection algorithm that uses MobileNetV2 as the base network. It efficiently extracts image features through a depthwise separable convolutional structure, significantly reducing the computational load while maintaining feature extraction capabilities. SSD (Single Shot MultiBox Detector) performs object classification and bounding box regression simultaneously on each feature layer through a pre-defined anchor box mechanism.

[0037] The Sobel edge detection algorithm is a gradient-based edge detection method. It constructs horizontal and vertical convolution kernels to perform gradient operations on the image, detects edge information in the horizontal and vertical directions respectively, and then obtains the complete edge contour by synthesizing the gradient magnitude and direction.

[0038] In some embodiments of the present invention, the leaf support claw 22 can be driven by an offset crank slider, which not only allows the leaf support claw 22 to open or close, but also makes the structure simpler and simplifies the production and manufacturing of the automated cabbage processing equipment 100.

[0039] In other embodiments of the present invention, the blade claw 22 may also be driven by a cam mechanism or a multi-link mechanism; In some embodiments of the present invention, the opening angle of the leaf-supporting claw 22 is set to α, where α satisfies the relationship: 30°≤α≤60°. The opening angle can be selectively adjusted according to different cabbage varieties. In some specific embodiments of the present invention, the opening angle of the leaf-supporting claw 22 is 45°.

[0040] Combination Figure 1 and Figure 4 As shown, the cleaning device 30 includes a conveyor belt 31 and an air cleaning nozzle 32. The length of the conveyor belt extends between the leaf support device 20 and the packaging device 40. The air cleaning nozzle 32 is disposed above the conveyor belt and between the two ends of the conveyor belt 31 in the length direction.

[0041] Specifically, given the high cleanliness of the cabbage after mechanical leaf removal and the significant shortening of its storage period by washing, the system uses gas as the cleaning medium. The defoliated cabbage can be clamped by the leaf-supporting claws 22, and the leaf-supporting device 20 can selectively rotate towards the cleaning device 30, thereby conveying the cabbage onto the conveyor belt 31. During transport, air cleaning nozzles 32, positioned above the conveyor belt 31 and between its two ends, perform non-contact spray cleaning on the cabbage surface. Operators can precisely control the cleaning air pressure intensity emitted by the air cleaning nozzles 32 by adjusting the air pipe valves; the actual value is monitored and fed back in real time by the pressure gauge 33.

[0042] In some embodiments of the present invention, a pressure gauge 33 can be added to monitor the cleaning air pressure, and an air storage tank can be added to continuously provide an air source, so that the airflow impact force can strip away light impurities such as mud and dust attached to the outer blades.

[0043] With this design, since there is no liquid residue in the air medium, the surface of the cabbage retains only its natural moisture content after washing, eliminating the need for a long draining process, thus significantly shortening the total time spent on the washing process and increasing the storage time of the cabbage.

[0044] In some embodiments of the present invention, microbubble cleaning or ultrasonic cleaning can also be used to clean the surface of cabbage, achieving efficient cleaning while ensuring low moisture content.

[0045] In some embodiments of the present invention, the air cleaning nozzle 32 can be a cylindrical nozzle, a fan-shaped nozzle, or a flat nozzle, and the jet shape can be adjusted according to the cleaning requirements.

[0046] In some embodiments of the present invention, cabbage can also be transported by chain drive or gear drive.

[0047] Combination Figure 1 and Figure 5 As shown, the robotic arm 51 includes a rotating base 511, a lifting arm 512, and a bucket 513. The lifting arm 512 is mounted on the rotating base 511 and can be raised and lowered in the vertical direction. The bucket 513 is mounted on the lifting arm 512 and is suitable for placing cabbages. The bucket 513 is a telescopic bucket 513, and the telescopic direction of the telescopic bucket 513 is perpendicular to the vertical direction. A weighing element 52 is located at the bottom of the telescopic bucket 513.

[0048] Specifically, the cleaned cabbage is conveyed to the end by conveyor belt 31, and a guide lever accurately pushes the cabbage into the bucket 513 of the robotic arm 51. Furthermore, the bucket 513 has a built-in weighing device 52. In some embodiments of the invention, the weighing device 52 can be a high-precision weighing sensor. After the cabbage has been left to stand for approximately one second, the system automatically collects the weight data. This weight information and its converted price are displayed on the screen in real time, providing a basis for the subsequent labeling process.

[0049] Furthermore, after obtaining the weight of the cabbage, the lifting arm 512 of the robotic arm 51 raises the bucket 513, so that the plastic wrap covering it completely wraps the cabbage and keeps it taut. Then, the pneumatic gripper 41 seals and cuts the plastic wrap, completing the individual packaging.

[0050] Subsequently, the rotating base 511 of the robotic arm 51 rotates 90 degrees, so that the bucket 513 and the packaged cabbage are directly facing the labeling device 60. The bucket 513 of the robotic arm 51 can extend forward to position the cabbage precisely below the labeling slider 64.

[0051] When the infrared sensor of the labeling device 60 detects that the cabbage has entered the labeling platform 65, the motor drives the crank slider mechanism to control the slider carrying the label to press down and accurately stick the label on the surface of the cabbage packaging. After labeling is completed, the bucket 513 of the robotic arm 51 retracts backward, and the rotating base 511 is rotated to the collection area. Finally, the servo motor 14 drives the bucket 513 to tilt downward, unloading the finished cabbage into the collection basket, completing the entire automated processing flow.

[0052] In some embodiments of the present invention, the rotating base 511 is driven by a worm gear, and the worm gear and the rotating base 511 rotate together, which can obtain an appropriate rotational speed with a low input speed.

[0053] Furthermore, the lifting arm 512 utilizes a synchronous belt and gear transmission, with a lead screw and optical shaft for lifting. The central gear has 20 teeth (z2=20), and the two side pinions have 10 teeth (z3=10), with a transmission ratio of i23=z2 / z3=0.5. The lead screw is fixed to the pinions. The synchronous belt drives the central wheel to rotate, which in turn drives the two side pinions and the lead screw, ensuring smooth lifting of the lifting arm 512.

[0054] In addition, the horizontal lead screw of the telescopic bucket 513 is driven by a motor, enabling the bucket 513 to move back and forth. The rotation of the bucket 513 is controlled by a servo motor 14, which facilitates the adjustment of the cabbage placement angle.

[0055] In some embodiments of the present invention, the weighing element 52 can be a thin-film pressure sensor. The thin-film pressure sensor is a sensor based on a novel nano-pressure-sensitive material supplemented with an ultra-thin thin-film substrate with a comfortable Young's modulus, and has both waterproof and pressure-sensitive functions. When subjected to pressure, the resistance of the pressure-sensitive layer changes, converting the pressure signal into an analog electrical signal output, which can achieve accurate weighing.

[0056] In some embodiments of the present invention, the weighing element 52 may also be a strain gauge load cell or a capacitive load cell, thereby achieving accurate weighing.

[0057] Combination Figure 8 As shown, the packaging device 40 includes a pneumatic gripper 41 that can be selectively opened or closed. The pneumatic gripper 41 is provided with a heating wire and / or a heat-sealing strip to heat-seal and cut the plastic wrap on the surface of the cabbage when closed.

[0058] Specifically, the packaging device 40 based on pneumatic gripper 41 and heat sealing process is applied to the packaging operation of a single cabbage. Relying on the working principle of a wooden gripper, the pneumatic gripper 41, in conjunction with the movement of the robotic arm 51, realizes the heat sealing and heat cutting operation of the plastic wrap covering the cabbage. The cabbage is conveyed and pushed onto the plastic wrap. Due to the influence of the cabbage's own weight, it will fall into the bucket 513 of the robotic arm 51 along with the plastic wrap. The pneumatic gripper 41 is driven by air intake to clamp. After the gripper closes, the heating wire and heat sealing strip are heated to heat seal and cut the plastic wrap.

[0059] Furthermore, since the gripper width is smaller than the width of the cling film, the cling film will be damaged after a single cut. The cling film is rotated by the servo motor 14 to move the damaged part away from the working position, in preparation for the next packaging.

[0060] With this setup, the pneumatic gripper 41 and the robotic arm 51 work together to stably cut the cling film, ensuring the film adheres tightly to the cabbage after packaging, without wrinkles or air leakage. The weighing component 52 is integrated into the bucket 513, directly contacting the cabbage for accurate weighing and automatically recording the weight data of each cabbage.

[0061] In some embodiments of the present invention, the pneumatic gripper 41 can also be vacuum packaged or modified atmosphere packaged to extend the shelf life of cabbage.

[0062] Combination Figure 6 As shown, the labeling device 60 employs a crank-slider mechanism, completing one labeling cycle in a single motion, thus automating the labeling process. Specifically, a motor drives a small pulley 61 to rotate, which in turn drives a crank wheel 62 via a rubber band, causing the crank wheel 62 to rotate in a circular motion. Based on the motion characteristics of the crank-slider mechanism, the rotation of the crank wheel 62 converts the circular motion into the linear reciprocating motion of the slider via the labeling linkage 63. When the crank wheel 62 passes its highest point, the slider descends until it contacts the cabbage on the bucket 513 and completes the labeling. Subsequently, the crank wheel 62 continues to rotate, and the slider returns to its original position, awaiting the next labeling cycle.

[0063] Combination Figure 1 As shown, the automated cabbage processing equipment 100 also includes a control device, which is electrically connected to the iris cutting device 10, the leaf support device 20, the washing device 30, the packaging device 40, the weighing device 50, and the labeling device 60.

[0064] Specifically, by controlling the iris cutting device 10, leaf support device 20, washing device 30, packaging device 40, weighing device 50 and labeling device 60 through the control panel, the automated cabbage processing equipment 100 can operate stably and smoothly.

[0065] In some embodiments of the present invention, the controller 70 includes a Fischertechnik controller 70. It should be noted that Fischertechnik is an engineering-type, fun assembly model invented in 1964 by German inventor Artur Fischer based on his "six-sided assembly" patent. It utilizes nylon plastic components and a patented industrial dovetail groove design, supporting six-sided assembly and angle expansion. It incorporates components from mechanical, electronic, pneumatic, and robotic technologies, covering three major series: modular kits, training models, and industrial models. Using standard industrial components, supplemented by sensors, controllers 70, actuators, and software, and through design concepts and experimental analysis, it can reproduce any technical process and simulate industrial production and the operation of large-scale machinery, thus providing possibilities for experimental teaching, scientific research innovation, and feasibility studies of production lines.

[0066] In some embodiments of the present invention, the iris cutting device 10, leaf support device 20, cleaning device 30, packaging device 40, weighing device 50, and labeling device 60 can be applied to Fischertechnik, which can further facilitate the assembly and manufacturing of the automated cabbage processing equipment 100.

[0067] Furthermore, when the automated cabbage processing equipment operates continuously, the overall processing capacity meets the actual production needs, all processes operate in coordination, there are no obvious bottleneck processes, and the processing time for a single cabbage is controlled within one minute.

[0068] In some embodiments of the present invention, the control board may also be controlled by a PLC controller 70 or a microcontroller, thereby realizing more complex control logic.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0071] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automated cabbage processing equipment, characterized in that, include: Iris cutting device (10), the iris cutting device (10) includes a plurality of root cutting blades (12), the plurality of root cutting blades (12) selectively contract or expand concentrically to selectively cut off the root of the cabbage; Leaf support device (20), the leaf support device (20) is vertically and vertically disposed below the iris cutting device (10) and selectively close to the iris cutting device (10), the leaf support device (20) includes a base (21) and a plurality of leaf support claws (22), the plurality of leaf support claws (22) are spaced apart in the circumferential direction of the base (21) and selectively open and close; A cleaning device (30) is disposed on one side of the leaf support device (20). The leaf support device (20) can be selectively flipped toward the cleaning device (30) to place the cabbage in the cleaning device (30). Packaging device (40), which is disposed on one side of the washing device (30) to package the washed cabbage; Weighing device (50), the weighing device (50) is disposed on one side of the packaging device (40), the weighing device (50) includes a robotic arm (51) and a weighing component (52), the robotic arm (51) selectively picks up the washed cabbage and puts it onto the packaging device (40) for packaging and weighing; Labeling device (60) is located on one side of the weighing device (50). The weighing device (50) can transport the packaged and weighed cabbage to the labeling device (60) for labeling.

2. The automated cabbage processing equipment according to claim 1, characterized in that, The iris cutting device (10) includes a placement seat (11) suitable for placing cabbage. Multiple root cutting blades (12) arranged circumferentially are provided on the lower side of the placement seat (11), and multiple top cutting blades (13) arranged circumferentially are provided on the upper side of the placement seat (11). The multiple top cutting blades (13) selectively retract or expand concentrically.

3. The automated cabbage processing equipment according to claim 2, characterized in that, The top cutting blade (13) and the top cutting blade (12) retract or expand synchronously, and the rotation directions of the multiple top cutting blades (13) and the multiple root cutting blades (12) are opposite.

4. The automated cabbage processing equipment according to claim 1, characterized in that, The robotic arm (51) includes a rotating base (511), a lifting arm (512), and a bucket (513). The lifting arm (512) is located on the rotating base (511) and can be raised and lowered in the vertical direction. The bucket (513) is located on the lifting arm (512) and is suitable for placing cabbage.

5. The automated cabbage processing equipment according to claim 4, characterized in that, The bucket (513) is a telescopic bucket (513), and the telescopic bucket (513) extends and retracts in a direction perpendicular to the vertical direction.

6. The automated cabbage processing equipment according to claim 5, characterized in that, The weighing component (52) is located at the bottom of the telescopic bucket (513).

7. The automated cabbage processing equipment according to claim 1, characterized in that, The cleaning device (30) includes a conveyor belt (31) and an air cleaning nozzle (32). The length of the conveyor belt extends between the leaf support device (20) and the packaging device (40). The air cleaning nozzle (32) is disposed above the conveyor belt and between the two ends of the conveyor belt (31) in the length direction.

8. The automated cabbage processing equipment according to claim 7, characterized in that, The packaging device (40) includes a pneumatic gripper (41) that selectively opens or closes. The pneumatic gripper (41) is provided with a heating wire and / or a heat-sealing strip to heat-seal and cut the plastic wrap on the surface of the cabbage when it is closed.

9. The automated cabbage processing equipment according to claim 1, characterized in that, It also includes a visual scanning device, which is adapted to scan and identify rotten leaves of cabbage with the root and top cut off in the iris cutting device (10), and the visual scanning device is electrically connected to the leaf support device (20).

10. The automated cabbage processing equipment according to claim 1, characterized in that, It also includes a control device, which is electrically connected to the iris cutting device (10), the leaf support device (20), the cleaning device (30), the packaging device (40), the weighing device (50) and the labeling device (60), respectively.

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