Self-adaptive clamping and peeling device and method for three-flower dried tangerine or orange peel based on machine vision

Abstract

The application discloses a kind of based on machine vision's three flowered pericarpium citri reticulatae adaptive clamping peeling device and method, belong to food processing machinery field, including rack, it is equipped with conveying module, citrus posture adjustment module, adaptive citrus clamping module, citrus skin cutting module, peel separation module and discharge port in sequence thereon, linear drive module is equipped with machine vision module above rack, configuration electrical control system.Method by machine vision acquisition citrus space position, contour and fruit stalk feature, control universal wheel component realizes fruit stalk orientation;Adaptive clamping module combines negative pressure adsorption and elastic compensation to complete stable clamping;Cutting module realizes three flowered open skin by elastic tool holder;Separation module completes peel flesh separation by arc guide structure and dog claw, fruit juice is collected by flow guide structure.The application adapts different size citrus, positioning is accurate, peeling is complete, realizes full-process automation, greatly improves production efficiency and product quality, applicable to large-scale three flowered pericarpium citri reticulatae production.

Description

Technical Field

[0001] This invention relates to the field of food processing machinery technology, and in particular to a machine vision-based adaptive clamping and peeling device and method for dried tangerine peel. Background Technology

[0002] Sanhua Chenpi (Three-Flower Tangerine Peel) is a traditional Chinese medicinal herb and seasoning ingredient. One of the core steps in its preparation is peeling the citrus peel in a "three-flower" pattern (cutting it into three connected segments along the natural grain of the fruit), ensuring the peel remains intact and minimizing damage to the fruit pulp. Currently, the peeling of Sanhua Chenpi mainly relies on manual labor: workers manually locate the fruit stem and use a knife to cut along the grain of the segments before peeling the peel. This method has the following drawbacks: The high labor intensity and low production efficiency make it difficult to meet the needs of large-scale production; the poor precision of manual positioning and cutting makes it difficult to guarantee the integrity of the peel and the consistency of the three-flower shape, affecting product quality; manual operation is easily affected by factors such as fatigue and skill differences, resulting in an unstable product qualification rate.

[0003] To address the drawbacks of manual operation, some companies have attempted to use mechanical peeling equipment, but existing equipment still has significant technical shortcomings: poor adaptability of the clamping mechanism: citrus fruits vary naturally in size and shape, and traditional rigid clamping mechanisms are prone to causing fruit damage or loosening; poor coordination between cutting and separation: the cutting depth is difficult to adjust adaptively, and the peel and pulp are not completely separated, requiring secondary manual processing.

[0004] Therefore, the development of an automated peeling device for dried tangerine peel with adaptive clamping capability, precise machine vision positioning, and coordinated cutting and separation has become an urgent need in the industry. Summary of the Invention

[0005] The purpose of this invention is to provide a machine vision-based adaptive clamping and peeling device and method for tangerine peel, which realizes fully automated operation, greatly improves production efficiency, reduces labor intensity, and ensures the stability of product quality.

[0006] To achieve the above objectives, the present invention provides a machine vision-based adaptive clamping and peeling device for tangerine peel, comprising a frame, wherein a conveying module, a tangerine posture adjustment module, an adaptive tangerine clamping module, a tangerine peel cutting module, a peel separation module, and a discharge port are sequentially arranged along the tangerine processing path on the frame; a linear drive module is mounted above the frame, and a machine vision module is provided at the detection station of the conveying module on the frame; and the device is equipped with an electrical control system. The conveying module is used to directionally convey the citrus fruits to be processed to the inspection station; the machine vision module is used to collect information on the spatial position, outline, and stem orientation of the citrus fruits; the citrus posture adjustment module includes multiple caster wheel assemblies arranged in a concave trapezoidal array, each caster wheel assembly is equipped with an independent drive unit; the linear drive module includes a horizontal linear module and a vertical linear module, the horizontal linear module is set along the length of the frame, and the vertical linear module is connected to the horizontal linear module for driving the adaptive citrus clamping module to move in the horizontal and vertical directions; the citrus peel cutting module is used to cooperate with the pressed citrus fruits to complete the three-flower-shaped peel cutting; the peel separation module is used to guide the separation of the peel and pulp after cutting; the discharge port is used to output the processed peel; the electrical control system is electrically connected to the drive units of the machine vision module, the conveying module, the linear drive module, the adaptive citrus clamping module, and the caster wheel assemblies.

[0007] Preferably, the conveying module includes a drive motor, fruit trays, and a chain drive structure. The chain drive structure includes a first sprocket, a second sprocket, and a chain arranged around the fruit tray. The drive motor includes a first drive motor and a second drive motor, which are respectively connected to the first sprocket and the second sprocket. Multiple fruit trays are fixed at intervals on the chain, and the citrus fruits are conveyed to the input end of the feeding guide slide along a preset conveying path. The output end of the feeding guide slide corresponds to the feeding area of ​​the citrus posture adjustment module.

[0008] Preferably, the citrus posture adjustment module is located below the end of the feeding guide slide, the surface of the universal wheel assembly is provided with an anti-slip rubber layer, and the rotation axis of each universal wheel is arranged obliquely along the generatrix direction of the concave trapezoidal structure.

[0009] Preferably, the adaptive citrus clamping module includes a negative pressure adsorption clamp, a suction cup bracket, an elastic compensation component, and a linear drive cylinder; the suction cup bracket is fixedly connected to the output end of the longitudinal linear module; the negative pressure adsorption clamp includes three sets of pneumatic suction cup assemblies evenly distributed at 120°, the pneumatic suction cup assemblies are connected to an external negative pressure generating device, and the negative pressure generating device is signal-connected to an electrical control system; the upper end of the pneumatic suction cup assembly is fixed to the suction cup bracket, and the lower end is hinged to the piston rod of the linear drive cylinder through the elastic compensation component; the linear drive cylinder is fixed on the suction cup bracket, and its piston rod extends and retracts in the vertical direction, driving the three sets of pneumatic suction cup assemblies to expand or contract synchronously.

[0010] Preferably, the citrus peel cutting module includes three blade assemblies evenly distributed at 120°, the blade assemblies being mounted on the frame via blade holders; the blade holder includes a fixed base and a movable frame, the fixed base being fixedly connected to the frame, and the movable frame being hinged to the fixed base via an elastic element, the elastic element being a compression spring.

[0011] Preferably, the peel separation module includes an arc-shaped guide seat that matches the curvature of the citrus fruit. The outer surface of the arc-shaped guide seat is provided with three separation blades. The separation blades extend along the generatrix of the arc-shaped guide seat and correspond one-to-one with the cutting trajectory of the tool assembly. The lower end of the outer surface of the arc-shaped guide seat is provided with three elastic claws. The elastic claws are evenly distributed around the circumference of the arc-shaped guide seat, and their engaging ends face the central axis of the arc-shaped guide seat.

[0012] Preferably, the elastic compensation component includes a buffer spring, one end of which is fixedly connected to the suction cup bracket, and the other end is connected to the pneumatic suction cup assembly.

[0013] Preferably, the workbench of the frame is provided with a flow guiding groove structure, which is located below the peel separation module and is used to guide and collect the juice generated during the cutting and separation process to avoid juice accumulation.

[0014] This invention also discloses an automatic peeling method for dried tangerine peel based on machine vision and adaptive clamping, comprising the following steps: S1. The conveying module transports the citrus fruits to be processed to the inspection station; S2. The machine vision module collects citrus feature information, and the electrical control system controls the rotation direction and speed of the universal wheel assembly according to the recognition results of the machine vision module, so that the citrus rolls in a directional manner with the stem facing upwards; S3. The linear drive module moves the adaptive citrus clamping module directly above the citrus fruit. The vertical linear drive module lowers the clamping module, and the piston rod of the linear drive cylinder extends, driving the pneumatic suction cup assembly to open. After the pneumatic suction cup assembly approaches the surface of the citrus fruit, the piston rod of the linear drive cylinder retracts, driving the pneumatic suction cup assembly to close, and the negative pressure adsorption achieves a stable gripping of the citrus fruit. Then, the horizontal linear drive module transfers the citrus fruit directly above the citrus peel cutting module. S4. The longitudinal linear module drives the adaptive citrus clamping module to apply downward pressure, and the tool assembly of the citrus peel cutting module adapts to the citrus surface under the action of spring elastic force to complete the three-flower-shaped peel cutting. S5. The linear drive module drives the adaptive citrus clamping module to transfer the cut citrus to the top of the peel separation module. The adaptive citrus clamping module continuously presses down, so that the citrus cooperates with the separation blade of the arc-shaped guide structure to gradually unfold the peel. During the continuous pressing, the claws engage and fix with the pulp. Then the clamping module is lifted upward to achieve complete separation of the peel and pulp. S6. The adaptive citrus clamping module, in conjunction with the linear drive module, outputs the peeled fruit peel through the outlet. The peel is collected and recycled through a preset collection path, while the juice is collected through a guide channel structure.

[0015] Therefore, the above-mentioned machine vision-based adaptive clamping and peeling device and method for dried tangerine peel has the following technical effects: (1) The present invention uses an adaptive clamping module and an elastic compensation component that are evenly distributed at 120° to adapt to citrus fruits of different sizes and shapes. During the clamping process, the negative pressure adsorption and mechanical clamping work together to prevent the fruit from being damaged or loosened.

[0016] (2) The present invention uses a machine vision module to accurately identify the spatial position, shape outline and fruit stem position of citrus, and combines the fruit stem orientation adjustment to ensure that the cutting trajectory is consistent with the natural texture of the fruit segments, the cutting depth is uniform, and the pulp is not damaged.

[0017] (3) The present invention achieves complete separation of peel and pulp by using the collaborative design of the cutting module and the separation module. The separation blade is inserted along the cutting seam and the elastic claws are used to fix the pulp.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the machine vision-based adaptive clamping and peeling device for dried tangerine peel of the present invention. Figure 2 This is a side view of the machine vision-based adaptive clamping and peeling device for dried tangerine peel of the present invention. Figure 3 This is a schematic diagram of the conveying module structure in the machine vision-based adaptive clamping and peeling device for dried tangerine peel of the present invention. Figure 4 This is a schematic diagram of the citrus posture adjustment module in the machine vision-based adaptive clamping and peeling device for tangerine peel of the present invention. Figure 5 This is a schematic diagram of the adaptive citrus clamping module structure in the machine vision-based adaptive clamping and peeling device for tangerine peel of the present invention. Figure 6 This is a schematic diagram of the citrus peel cutting module in the machine vision-based adaptive clamping and peeling device for tangerine peel of the present invention. Figure 7 This is a schematic diagram of the peel separation module in the machine vision-based adaptive clamping and peeling device for dried tangerine peel of the present invention.

[0020] Figure Labels 1. Frame; 2. Conveying module; 21. Drive motor; 211. First drive motor; 212. Second drive motor; 22. Fruit tray; 23. Chain drive structure; 231. Material guide slide; 3. Citrus posture adjustment module; 31. Universal wheel assembly; 4. Machine vision module; 41. Industrial camera; 5. Linear drive module; 51. Lateral linear module; 52. Longitudinal linear module; 6. Adaptive citrus clamping module; 61. Negative pressure adsorption clamping. 611. Pneumatic suction cup assembly; 612. Vacuum suction cup; 62. Suction cup bracket; 63. Elastic compensation assembly; 631. Buffer spring; 64. Linear drive cylinder; 7. Citrus peel cutting module; 71. Cutting tool assembly; 72. Cutting tool holder; 721. Fixed base; 722. Movable frame; 73. Compression spring; 8. Peel separation module; 81. Arc-shaped guide seat; 82. Separating blade; 83. Claw; 9. Flow guiding groove structure; 10. Discharge port. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figures 1 to 2 As shown, a machine vision-based adaptive clamping and peeling device for tangerine peel includes a frame 1. Along the tangerine processing path, the frame 1 is sequentially equipped with a conveying module 2, a tangerine posture adjustment module 3, an adaptive tangerine clamping module 6, a tangerine peel cutting module 7, a peel separation module 8, and a discharge port 10. A linear drive module 5 is mounted above the frame 1. A machine vision module 4 is provided at the detection station of the conveying module 2 on the frame 1, and the device is equipped with an electrical control system. A flow guiding groove structure 9 is provided on the worktable of the frame 1.

[0024] like Figure 3As shown, the conveying module 2 includes a drive motor 21, a fruit tray 22, a chain drive structure 23, and a feeding guide slide 231. The chain drive structure 23 consists of a first sprocket, a second sprocket, and a stainless steel chain. The first sprocket is connected to the first drive motor 211 via a coupling, and the second sprocket is connected to the second drive motor 212 via a coupling. The fruit tray 22 is made of food-grade silicone and has an arc-shaped groove structure (the curvature of the groove matches the average shape of the citrus). Multiple fruit trays 22 are fixed at intervals along the length of the chain to support the citrus and prevent rolling during conveying. The feeding guide slide 231 is inclined, with its input end connected to the output end of the chain drive structure 23. The output end extends to the feeding area of ​​the citrus posture adjustment module 3. The inner side of the slide is provided with a flexible guide edge to avoid collision damage to the citrus during conveying.

[0025] like Figure 4 As shown, the citrus posture adjustment module 3 is located below the end of the feeding guide slide 231, and includes four universal wheel assemblies 31 arranged in a concave trapezoidal array. Each universal wheel assembly 31 is equipped with a corresponding drive unit (a stepper motor of model 28BYG45). The surface of the universal wheel is covered with a 3mm thick anti-slip rubber layer. The rotation axis of each universal wheel is arranged at an inclination of 30° along the generatrix of the concave trapezoidal structure to form a centripetal guiding force. The electrical control system drives the citrus to roll directionally around its own axis by adjusting the rotation direction and speed of each universal wheel until the fruit stem is positioned vertically upward.

[0026] The machine vision module 4 includes an industrial camera 41, a ring light source, and an image processing unit, which is installed above the inspection station of the corresponding conveyor module 2 on the frame 1. The ring light source is a white LED light source, which provides uniform illumination and avoids shadows from affecting the recognition accuracy. The image processing unit has a built-in feature extraction algorithm, which is used to collect the spatial position, shape outline, and fruit stem orientation features of the citrus fruit, and sends the processing results to the electrical control system.

[0027] The linear drive module 5 includes a transverse linear module 51 and a longitudinal linear module 52, both of which use ball screw transmission. The transverse linear module 51 is fixed to the top of the frame 1 along the length of the frame 1 and is equipped with a 42BYG250 stepper motor. The longitudinal linear module 52 is slidably connected to the guide rail of the transverse linear module 51 via a slider and is also equipped with a 42BYG250 stepper motor to drive the adaptive citrus clamping module 6 to move vertically. Both modules are electrically connected to the electrical control system to achieve precise positioning and transfer of the clamping module.

[0028] like Figure 5As shown, the adaptive citrus clamping module 6 includes a negative pressure adsorption clamp 61, a suction cup bracket 62, an elastic compensation component 63, and a linear drive cylinder 64 (using a cylinder of model SMCCDJ2B16-50). The suction cup bracket 62 is a triangular structure made of aluminum alloy, and its top is fixed to the output end of the longitudinal linear module 52 by bolts. The negative pressure adsorption clamp 61 includes three sets of pneumatic suction cup assemblies 611 evenly distributed at 120°. Each set of assemblies contains two vacuum suction cups 612 of model SMCZP32BN. The adsorption surfaces of the three sets of suction cup assemblies form an adjustable clamping range with a diameter of 50-80mm to accommodate citrus fruits of different sizes. The pneumatic suction cup assembly 611 is connected to an external negative pressure generating device through an air pipe. The negative pressure generating device is connected to the electrical control system to realize automatic control of adsorption and release. The elastic compensation assembly 63 includes a buffer spring 631. One end of the buffer spring 631 is welded and fixed to the suction cup bracket 62, and the other end is connected to the lower end of the pneumatic suction cup assembly 611 to compensate for dimensional errors and buffer impacts during the citrus fruit clamping process. The linear drive cylinder 64 is fixed at the center of the suction cup bracket 62. Its piston rod extends and retracts in the vertical direction and is connected to three sets of pneumatic suction cup assemblies 611 through a hinge. When the piston rod extends, it drives the suction cup assembly to open and when it retracts, it drives the suction cup assembly to close, thereby realizing the gripping and releasing of citrus fruits.

[0029] like Figure 6 As shown, the citrus peel cutting module 7 includes three blade assemblies 71 evenly distributed at 120°, a blade holder 72, and an elastic element (compression spring 73). The blade assembly 71 is made of food-grade 304 stainless steel, with an arc-shaped cutting edge and a 0.5mm rounded corner to prevent tearing of the peel during cutting. The blade assembly 71 is detachably mounted to the movable frame 722 via bolts for easy replacement and maintenance. The blade holder 72 includes a fixed base 721 and a movable frame 722. The fixed base 721 is fixed to the frame 1 via expansion bolts, and the movable frame 722 is hinged to the fixed base 721 via a pin. The movable frame 722 can rotate ±10° around the pin to achieve adaptive contact between the blade and the citrus surface. The compression spring 73 is positioned between the fixed base 721 and the movable frame 722, providing elastic preload to ensure that the blade assembly 71 always contacts the citrus surface, guaranteeing uniform cutting depth.

[0030] like Figure 7As shown, the peel separation module 8 includes an arc-shaped guide seat 81, separation blades 82, and elastic claws 83. The arc-shaped guide seat 81 is made of food-grade PP material, and its inner wall curvature matches the curvature of the citrus fruit, guiding the peel to unfold. There are three separation blades 82, made of hard alloy, fixed to the outer surface of the guide seat along the generatrix of the arc-shaped guide seat 81, with the blades facing the direction of the citrus fruit feed and corresponding one-to-one with the cutting trajectory of the blade assembly 71, used to insert between the peel and the pulp along the cutting seam. There are three elastic claws 83, evenly distributed around the arc-shaped guide seat 81, made of food-grade silicone, with arc-shaped protrusions at the engaging ends. In its natural state, the minimum distance between the claws 83 is 30mm, and they can expand to 50mm under pressure, used to engage and fix the pulp, ensuring that the pulp does not move with the peel during separation.

[0031] The flow guiding groove structure 9 is located below the peel separation module 8, and the groove opening completely covers the working area of ​​the cutting and separation process; it is used to guide and collect the juice generated during the cutting and separation process to avoid juice accumulation and waste.

[0032] An automated peeling method for dried tangerine peel based on machine vision and adaptive clamping includes the following steps: S1. After the device is started, the drive motor 21 of the conveying module 2 drives the chain transmission structure 23 to run. The worker puts the citrus fruits to be processed into the fruit tray 22 one by one. The fruit tray 22 moves along the preset path with the chain, conveying the citrus fruits to the inspection station. At this time, the chain transmission structure 23 stops running and waits for inspection and positioning.

[0033] S2. The industrial camera 41 of the machine vision module 4 acquires image information of citrus fruits at the inspection station. The image processing unit extracts the spatial position, outline and stem orientation features of the citrus fruits and sends the processing results to the electrical control system. The electrical control system sends control commands to the stepper motor of the citrus posture adjustment module 3 according to the recognition results, adjusts the rotation direction and speed of each universal wheel, drives the citrus fruits to roll around their own axis until the stem is vertically upward and positioned. After positioning is completed, the universal wheels stop rotating.

[0034] S3. The horizontal linear module 51 of the linear drive module 5 drives the adaptive citrus clamping module 6 to move directly above the positioned citrus. The vertical linear module 52 drives the clamping module to descend vertically until the pneumatic suction cup assembly 611 stops 10mm from the citrus surface. At the same time, the piston rod of the linear drive cylinder 64 extends, driving the three sets of pneumatic suction cup assemblies 611 to open synchronously to their maximum angle. Then, the vertical linear module 52 continues to drive the clamping module to descend until the vacuum suction cup 612 of the pneumatic suction cup assembly 611 is in contact with the citrus surface. When the surface contacts the citrus fruit, the piston rod of the linear drive cylinder 64 retracts, driving the three sets of pneumatic suction cup assemblies 611 to close synchronously, so that the vacuum suction cup 612 adheres to the surface of the citrus fruit; the electrical control system controls the negative pressure generating device to start, and the vacuum suction cup 612 generates negative pressure adsorption force, which, together with the mechanical clamping, achieves a stable gripping of the citrus fruit (the gripping force can be adaptively adjusted according to the size of the citrus fruit); after the gripping is completed, the longitudinal linear module 52 drives the clamping module to rise, and the transverse linear module 51 drives the clamping module to transfer the citrus fruit to directly above the citrus peel cutting module 7.

[0035] S4. The longitudinal linear module 52 drives the adaptive citrus clamping module 6 to apply downward pressure in the vertical direction, and the citrus gradually approaches the cutter assembly 71 of the citrus peel cutting module 7; under the elastic preload of the compression spring 73, the three cutter assemblies 71 adaptively conform to the spherical surface of the citrus. As the clamping module continues to press down, the cutter completes a three-flower radial peeling cut along the natural texture of the fruit segments, with the cutting depth controlled at 2-3mm, cutting only the peel without damaging the pulp; after the cutting is completed, the longitudinal linear module 52 drives the clamping module to rise.

[0036] S5. The transverse linear module 51 of the linear drive module 5 drives the adaptive citrus clamping module 6 to transfer the cut citrus to the top of the peel separation module 8. The longitudinal linear module 52 drives the clamping module to continuously apply downward pressure, so that the three cutting seams on the surface of the citrus are aligned with the three separating blades 82 of the arc-shaped guide seat 81. As the clamping module continues to press down, the separating blades 82 are inserted between the peel and the pulp along the cutting seams. With the downward pressing action, the three segments of peel are gradually unfolded radially along the inner wall of the arc-shaped guide seat 81. When the clamping module is pressed down to the limit position, the elastic claws 83 engage and fix with the surface of the pulp. At this time, the electrical control system controls the longitudinal linear module 52 to drive the adaptive citrus clamping module 6 to lift upward in the vertical direction. Since the pulp is fixed by the elastic claws 83, the peel is completely separated from the pulp under the lifting force of the clamping module and the guiding action of the separating blades 82.

[0037] S6. The longitudinal linear module 52 drives the adaptive citrus clamping module 6 to rise to the preset height, and the transverse linear module 51 drives the clamping module to move above the discharge port 10; the electrical control system controls the negative pressure generating device to stop working, the vacuum suction cup 612 releases the fruit peel, and the fruit peel falls into the fruit peel collection container along the discharge port 10 under the action of gravity.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A machine vision-based adaptive clamping and peeling device for dried tangerine peel, characterized in that: The device includes a frame, on which a conveying module, a citrus posture adjustment module, an adaptive citrus clamping module, a citrus peel cutting module, a peel separation module, and a discharge port are sequentially arranged along the citrus processing path; a linear drive module is mounted above the frame, and a machine vision module is provided at the detection station corresponding to the conveying module on the frame; the device is also equipped with an electrical control system. The conveying module is used to directionally convey the citrus fruits to be processed to the inspection station; the machine vision module is used to collect information on the spatial position, shape outline, and fruit stem orientation of the citrus fruits. The citrus posture adjustment module includes multiple caster wheel assemblies arranged in a concave trapezoidal array, each caster wheel assembly equipped with an independent drive unit; the linear drive module includes a transverse linear module and a longitudinal linear module, the transverse linear module being arranged along the length of the frame, and the longitudinal linear module being drively connected to the transverse linear module, used to drive the adaptive citrus clamping module to move in the horizontal and vertical directions; the citrus peel cutting module is used to cooperate with the pressed citrus to complete the three-flower-shaped peel cutting; the peel separation module is used to guide and separate the peel from the pulp after cutting; the discharge port is used to output the processed peel; the electrical control system is electrically connected to the drive units of the machine vision module, the conveying module, the linear drive module, the adaptive citrus clamping module, and the caster wheel assemblies.

2. The machine vision-based adaptive clamping and peeling device for dried tangerine peel as described in claim 1, characterized in that: The conveying module includes a drive motor, fruit trays, and a chain drive structure. The chain drive structure includes a first sprocket, a second sprocket, and a chain arranged around them. The drive motor includes a first drive motor and a second drive motor, which are respectively connected to the first sprocket and the second sprocket. Multiple fruit trays are fixed at intervals on the chain and convey the citrus fruits to the input end of the feeding guide slide along a preset conveying path. The output end of the feeding guide slide corresponds to the feeding area of ​​the citrus posture adjustment module.

3. The machine vision-based adaptive clamping and peeling device for dried tangerine peel according to claim 2, characterized in that: The citrus posture adjustment module is located below the end of the feeding guide slide. The surface of the wheel body of the universal wheel assembly is provided with an anti-slip rubber layer. The rotation axis of each universal wheel is arranged inclined along the generatrix direction of the concave trapezoidal structure.

4. The machine vision-based adaptive clamping and peeling device for dried tangerine peel according to claim 3, characterized in that: The adaptive citrus clamping module includes a negative pressure adsorption clamp, a suction cup bracket, an elastic compensation component, and a linear drive cylinder. The suction cup bracket is fixedly connected to the output end of the longitudinal linear module. The negative pressure adsorption clamp includes three sets of pneumatic suction cup assemblies evenly distributed at 120°. The pneumatic suction cup assemblies are connected to an external negative pressure generating device, which is signal-connected to an electrical control system. The upper end of each pneumatic suction cup assembly is fixed to the suction cup bracket, and the lower end is hinged to the piston rod of the linear drive cylinder through the elastic compensation component. The linear drive cylinder is fixed to the suction cup bracket, and its piston rod extends and retracts vertically, driving the three sets of pneumatic suction cup assemblies to expand or contract synchronously.

5. The machine vision-based adaptive clamping and peeling device for dried tangerine peel according to claim 4, characterized in that: The citrus peel cutting module includes three blade assemblies evenly distributed at 120°. The blade assemblies are mounted on the frame via blade holders. The blade holder includes a fixed base and a movable frame. The fixed base is fixedly connected to the frame, and the movable frame is hinged to the fixed base via an elastic element, which is a compression spring.

6. The machine vision-based adaptive clamping and peeling device for dried tangerine peel according to claim 5, characterized in that: The peel separation module includes an arc-shaped guide seat that matches the curvature of the citrus fruit. The outer surface of the arc-shaped guide seat is provided with three separation blades. The separation blades extend along the generatrix of the arc-shaped guide seat and correspond to the cutting trajectory of the cutter assembly. The lower end of the outer surface of the arc-shaped guide seat is provided with three elastic claws. The elastic claws are evenly distributed around the circumference of the arc-shaped guide seat, and their engaging ends face the central axis of the arc-shaped guide seat.

7. The machine vision-based adaptive clamping and peeling device for dried tangerine peel according to claim 6, characterized in that: The elastic compensation component includes a buffer spring, one end of which is fixedly connected to the suction cup bracket, and the other end is connected to the pneumatic suction cup assembly.

8. The machine vision-based adaptive clamping and peeling device for dried tangerine peel according to claim 7, characterized in that: The worktable of the frame is provided with a flow guiding groove structure, which is located below the peel separation module. It is used to guide and collect the juice generated during the cutting and separation process to avoid juice accumulation.

9. An automatic peeling method for dried tangerine peel based on machine vision and adaptive clamping, characterized in that, Based on the apparatus of claim 8, the steps include: S1. The conveying module transports the citrus fruits to be processed to the inspection station; S2. The machine vision module collects citrus feature information, and the electrical control system controls the rotation direction and speed of the universal wheel assembly according to the recognition results of the machine vision module, so that the citrus rolls in a directional manner with the stem facing upwards; S3. The linear drive module moves the adaptive citrus clamping module directly above the citrus fruit. The vertical linear drive module lowers the clamping module, and the piston rod of the linear drive cylinder extends, driving the pneumatic suction cup assembly to open. After the pneumatic suction cup assembly approaches the surface of the citrus fruit, the piston rod of the linear drive cylinder retracts, driving the pneumatic suction cup assembly to close, and the negative pressure adsorption achieves a stable gripping of the citrus fruit. Then, the horizontal linear drive module transfers the citrus fruit directly above the citrus peel cutting module. S4. The longitudinal linear module drives the adaptive citrus clamping module to apply downward pressure, and the tool assembly of the citrus peel cutting module adapts to the citrus surface under the action of spring elastic force to complete the three-flower-shaped peel cutting. S5. The linear drive module drives the adaptive citrus clamping module to transfer the cut citrus to the top of the peel separation module. The adaptive citrus clamping module continuously presses down, so that the citrus cooperates with the separation blade of the arc-shaped guide structure to gradually unfold the peel. During the continuous pressing, the claws engage and fix with the pulp. Then the clamping module is lifted upward to achieve complete separation of the peel and pulp. S6. The adaptive citrus clamping module, in conjunction with the linear drive module, outputs the peeled fruit peel through the outlet. The peel is collected and recycled through a preset collection path, while the juice is collected through a guide channel structure.

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