A Chinese cabbage root removing, splitting, cleaning and packaging integrated machine and a processing method thereof

Abstract

This invention discloses an integrated machine for removing the roots, splitting, washing, and packaging cabbage, as well as its processing method. The machine includes a frame and the following working areas: a root-removing area uses a pneumatic three-axis platform, pneumatic flexible grippers, and a three-axis linkage root-removing mechanism to perform low-loss ring cutting of the cabbage roots; a cabbage splitting and washing area uses cross-cutting, V-shaped conveying, and brush rubbing to separate and remove impurities from the cabbage; a cabbage drying area uses a mesh belt conveyor and hot air drying to remove surface moisture from the cabbage; and a cabbage packaging area completes box feeding, lifting, film pulling, film cutting, and full-circumference film sealing. The method utilizes an integrated machine to achieve continuous and standardized processing of cabbage from root removal, splitting, washing, drying to packaging. This invention overcomes the problems of existing cabbage processing equipment, such as fragmented functions, reliance on manual process switching, high root-removal losses, insufficient continuity in washing and packaging, and low standardization, achieving continuous and automated processing of cabbage.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an integrated machine for removing roots, splitting, cleaning, and packaging cabbage, and its processing method. Background Technology

[0002] Existing automated cabbage processing equipment typically only has single functions such as root removal, cutting, or washing. The conveying, splitting, drying, and packaging of cabbage still rely on manual operation, resulting in fragmented processes that are time-consuming and labor-intensive, thus limiting overall processing efficiency and standardization. Furthermore, the root removal step involves significant waste. Therefore, developing an automated cabbage processing device that integrates low-loss root removal, washing, splitting, drying, and packaging is of great significance for reducing labor costs, improving operational efficiency, and achieving standardization in cabbage processing. Summary of the Invention

[0003] In order to overcome the problems of the existing cabbage processing equipment having scattered functions, relying on manual labor for process switching, large losses from root removal, insufficient continuity of cleaning and packaging, and low degree of processing standardization, this invention provides an integrated machine for cabbage root removal, splitting, cleaning, and packaging, as well as its processing method.

[0004] The integrated machine of the present invention integrates the work areas of root removal, splitting and cleaning, drying and packaging along the processing flow into the same machine frame, and utilizes the linkage of pneumatic actuators, conveying mechanisms and film packaging mechanisms to realize continuous automatic processing of cabbage from feeding, root removal, splitting, cleaning, drying to boxing and packaging.

[0005] The present invention adopts the following technical solution: I. A machine that integrates root removal, splitting, washing, and packaging of cabbage: The machine includes a frame and, along the cabbage processing flow, a cabbage root removal area, a cabbage splitting and washing area, a cabbage drying area, and a cabbage packaging area, which are arranged sequentially on the frame and used for cabbage root removal, splitting and washing, drying, and packaging, respectively.

[0006] The cabbage splitting and cleaning work area includes a quartering positioning box, a cross-cutting mechanism, a V-shaped conveying mechanism, and a brush rolling and cleaning mechanism. The quartering positioning box is installed in the middle of the machine frame, the cross-cutting mechanism is arranged directly below the quartering positioning box, and the brush rolling and cleaning mechanism and the V-shaped conveying mechanism are arranged directly below the quartering positioning box. The cross-cutting mechanism cuts the cabbage into four equal parts, and the V-shaped conveying mechanism works in conjunction with the brush rolling and cleaning mechanism to transport and clean the cabbage pieces.

[0007] The cabbage packaging work area includes a horizontal moving mechanism, a packaging tray conveying and lifting mechanism, a plastic wrap circulating and pulling mechanism, and a full-circumference film covering and sealing mechanism. The packaging tray conveying and lifting mechanism and the horizontal moving mechanism are both installed on the lower side of the machine frame and arranged horizontally adjacent to each other. The plastic wrap circulating and pulling mechanism is located above the packaging tray conveying and lifting mechanism, and the full-circumference film covering and sealing mechanism is located above the plastic wrap circulating and pulling mechanism. The horizontal moving mechanism pushes the cabbage onto the packaging tray conveying and lifting mechanism, and the plastic wrap circulating and pulling mechanism pulls the plastic wrap to cover the area above the packaging tray conveying and lifting mechanism. Then, in conjunction with the packaging tray conveying and lifting mechanism, the plastic wrap is lifted above the full-circumference film covering and sealing mechanism, which wraps the plastic wrap around the cabbage to complete the packaging.

[0008] The cabbage root removal working area includes a pneumatic three-axis platform, a pneumatic flexible gripper, a cabbage radial positioning tray, and a three-axis linkage symmetrical conical trajectory root removal mechanism. The cabbage radial positioning tray is fixed to the lower side of the machine frame. The pneumatic flexible gripper is arranged above the cabbage radial positioning tray via the pneumatic three-axis platform. The three-axis linkage symmetrical conical trajectory root removal mechanism is located to the side of the cabbage radial positioning tray. The pneumatic flexible gripper, driven by the pneumatic three-axis platform, clamps and transports the cabbage to the cabbage radial positioning tray for positioning. Then, the three-axis linkage symmetrical conical trajectory root removal mechanism performs circumferential cutting to remove the roots of the cabbage.

[0009] The pneumatic triaxial platform in the cabbage root removal work area is mainly composed of three sets of pneumatic linear slide components. The three sets of pneumatic linear slide components are arranged vertically in pairs to realize linear movement in the three directions of X-axis, Y-axis and Z-axis respectively. The pneumatic flexible gripper is rigidly installed on the output end of the pneumatic triaxial platform through a gripper connector.

[0010] The three-axis linkage symmetrical conical trajectory root removal mechanism includes a root removal tool annular positioning bracket, three sets of inclined pneumatic push rods, and three conical combined root removal tools. The root removal tool annular positioning bracket is a centrally symmetrical annular frustum-shaped structure and is fixedly installed. The annular plane of the root removal tool annular positioning bracket is located in a vertical plane. The three sets of inclined pneumatic push rods are evenly distributed and installed on the root removal tool annular positioning bracket along the circumference. Each set of inclined pneumatic push rods has a root removal tool fixedly installed at its output end. The three tools together form a conical cutting contour that matches the shape of the cabbage root.

[0011] The four-part cutting positioning box is equipped with a cross-cutting mechanism, which includes two sets of pneumatic sliding table cutter assemblies, one horizontal and one vertical. The cutters of the two sets of pneumatic sliding table cutter assemblies are arranged perpendicularly and have preset linear movement trajectories that are perpendicular to each other. The cutters of the two sets of pneumatic sliding table cutter assemblies feed synchronously along the preset linear movement trajectories to make cross-cuts on the cabbage. The four-part cutting positioning box is provided with a hollowed-out strip groove for the cutters of the two sets of pneumatic sliding table cutter assemblies to pass through the preset linear movement trajectories.

[0012] The cabbage splitting and cleaning work area also includes an electrically operated opening and closing support mechanism. This mechanism is located on the lower side of the bottom of the quartering positioning box. The mechanism mainly consists of an electrically operated door push rod, a door push rod connector, and a reversible opening and closing base plate. The bottom of the quartering positioning box is open and equipped with a reversible opening and closing base plate for temporarily supporting the cabbage. The fixed end of the electrically operated door push rod is fixedly installed via the door push rod connector, and the end of the movable telescopic rod of the electrically operated door push rod is fixedly connected to the reversible opening and closing base plate. The reversible opening and closing base plate is used to cover and support the four-part cabbage pieces falling from the bottom of the quartering positioning box. The electrically operated door push rod can be driven to rotate by its own push rod, thereby causing the reversible opening and closing base plate to swing from the bottom of the quartering positioning box to the V-shaped conveyor mechanism. This allows the four-part cabbage pieces falling from the bottom of the quartering positioning box to be transferred and placed on the V-shaped conveyor mechanism below.

[0013] The cabbage splitting and cleaning work area also includes a cleaning water tank containing clean water, and a V-shaped conveying mechanism is placed in the cleaning water tank.

[0014] The V-shaped conveyor mechanism uses a V-shaped washing conveyor belt, positioned directly below the quartering positioning box and between the cabbage drying work area, for conveying cabbages and providing centered and limiting support. The brush roller washing mechanism is located on the upper middle side of the V-shaped conveyor mechanism. This mechanism includes an electric brush roller, which is positioned across the V-shaped washing conveyor belt and spaced apart, ensuring that the cabbages on the V-shaped conveyor belt come into contact with the electric brush roller as they pass through the gaps and are thoroughly brushed.

[0015] The cabbage drying work area includes a drying conveyor mechanism and a hot air dryer. The hot air dryer is arranged above the conveyor belt of the drying conveyor mechanism and faces the conveyor belt. The hot air dryer removes surface water from the cabbage transported by the drying conveyor mechanism.

[0016] The drying and conveying mechanism adopts a mesh belt drying conveyor, and the hot air dryer is arranged directly above the center of the mesh belt drying conveyor.

[0017] The cabbage packaging work area further includes: The horizontal moving mechanism includes a packaging tray guide chute, a pneumatic slide rail pusher rod, and a pneumatic pusher slide. The packaging tray guide chute is fixedly installed, and a packaging tray for carrying cabbage petals is placed on the packaging tray guide chute. A pneumatic slide rail pusher rod and a pneumatic pusher slide are installed on the packaging tray guide chute on the side of the packaging tray. The movable slide end of the pneumatic pusher slide is fixedly connected to the pneumatic slide rail pusher rod. The pneumatic pusher slide drives the pneumatic slide rail pusher rod to push the packaging tray on the packaging tray guide chute toward the conveying and lifting mechanism that is close to the packaging tray.

[0018] The packaging tray conveying and lifting mechanism includes a lifting pneumatic push rod and a lifting platform. The lifting platform is located on the side of the packaging tray guide chute, and the lifting pneumatic push rod is installed on the bottom surface of the lifting platform. The lifting pneumatic push rod is used to move the lifting platform up and down.

[0019] The plastic wrap circulating film pulling mechanism includes a plastic wrap frame, a servo motor swing arm type hot melt film cutting assembly, and a film clamping and traction assembly. The plastic wrap frame is located on the lower side of the packaging tray conveying and lifting mechanism. The plastic wrap frame is wrapped with plastic wrap. The servo motor swing arm type hot melt film cutting assembly and the film clamping and traction assembly are located above the packaging tray conveying and lifting mechanism and are respectively located on both sides at the same level, and are located below the full-circumference film covering and sealing mechanism.

[0020] The film clamping and traction assembly includes a film clamping pneumatic slide, a film clamping claw connecting frame, and a flexible film clamping traction claw. The film clamping pneumatic slide is symmetrically installed on both sides. The film clamping claw connecting frame is slidably spanned between the film clamping pneumatic slides on both sides. The flexible film clamping traction claw is fixedly installed on the film clamping claw connecting frame. Driven by the film clamping pneumatic slide, the flexible film clamping traction claw moves towards the servo-driven swing arm type hot melt film cutting assembly, clamps the plastic wrap at the outlet end of the horizontal strip through-slot of the film traction slot seat, and then pulls it over the lifting platform to the side away from the plastic wrap frame.

[0021] The servo-driven swing arm type hot melt film cutting assembly is arranged on one side near the plastic wrap rack. It includes a hot melt wire, a servo motor, and a film traction slot. The film traction slot is fixedly installed and has a horizontal strip-shaped through-slot for pre-accommodating one end of the plastic wrap to pass through. The servo motor is located on the side of the outlet end of the horizontal strip-shaped through-slot. The output end of the servo motor is connected to the hot melt wire. The servo motor drives the hot melt wire to swing up and down to perform hot melt cutting on the plastic wrap that comes out of the outlet end of the horizontal strip-shaped through-slot.

[0022] The full-circumference film-sealing mechanism includes a drive gear, a geared rotary disk, and a film-sealing mechanism mounting support. The film-sealing mechanism mounting support is fixedly installed and has a ring-shaped structure. The geared rotary disk has a ring-shaped structure and is rotatably mounted on the film-sealing mechanism mounting support. Multiple film flap assemblies are hinged together at circumferential intervals in the middle of the geared rotary disk. A drive gear is set on the outer side of the geared rotary disk. The drive gear and the geared rotary disk are meshed and connected. The drive gear drives the geared rotary disk to rotate around its own central axis, thereby driving the multiple film flap assemblies to close or separate towards the center, thereby wrapping the plastic wrap covering the packaging tray under the packaging tray to achieve packaging.

[0023] Each flap assembly includes an iris flap, a guide pin, and a hinged link. The outer end of the hinged link is hinged to the guide pin and the gear ring rotary disk. The middle part of the hinged link is hinged to the mounting support of the film covering mechanism. The inner end of the hinged link is hinged to the outer edge of the iris flap via a pin. The iris flap is petal-shaped, and rollers for connecting with adjacent flap assemblies are provided on the side of the iris flap.

[0024] II. A method for processing cabbage using an integrated machine, the method comprising the following steps: S1. First, in the cabbage derooting work area, the pneumatic three-axis platform drives the pneumatic flexible gripper to clamp and position the cabbage and transport it to the cabbage radial positioning tray. Then, the inclined pneumatic push rod drives the conical derooting knife to feed synchronously along the conical generatrix direction to perform ring cutting and derooting of the cabbage root. S2. Continue to drive the pneumatic flexible gripper to transfer the rootless cabbage to the quarter-cutting positioning box. The longitudinal cutting blade and the transverse cutting blade feed synchronously to cut the cabbage into cabbage petals. Then, the cabbage petals are transferred to the washing conveyor belt in the cabbage splitting and washing work area by the flipping motion of the flipping base plate and the electric opening and closing support mechanism. S3. When the cabbage leaves are transported by the washing conveyor belt, they will be washed by the electric brush rollers and the washing conveyor belt being rolled and rubbed by the electric brush rollers and water. Then, they are transferred to the drying conveyor belt in the cabbage drying work area via the washing transition plate. S4. During the drying conveyor belt transportation process, hot air is conveyed downwards by the hot air dryer. The hot air removes the surface moisture of the cabbage petals to complete the drying process. Then, the cabbage petals are transferred to the packaging trays on the packaging tray guide chute in the cabbage packaging work area via the drying transition plate. S5. Driven by the pneumatic sliding table, the pneumatic sliding rail pusher pushes the packaging tray onto the lifting platform. The lifting platform lifts the packaging tray and positions it below the plastic wrap circulation pulling mechanism. Then, the flexible film clamping traction claw pulls the plastic wrap and covers the packaging tray. The servo motor drives the hot melt wire to press down and melt and cut the plastic wrap on the inlet side. The lifting platform lifts the packaging tray a second time and positions it above the full-circumference film sealing mechanism. The drive gear of the full-circumference film sealing mechanism drives all the iris petals of the film petal assembly to gather towards the center, pressing down the plastic wrap and covering the packaging tray around and under it, completing the full-circumference film sealing.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention achieves integrated and automated processing of the entire process of cabbage processing, including root removal, splitting, washing, drying, and packaging, solving the problems of fragmented processes, reliance on manual operation in multiple stages, and low production efficiency in existing cabbage processing equipment. The processing stations are arranged sequentially along the material conveying direction, achieving continuous cabbage flow through the conveying mechanism. The entire machine is modularly assembled based on a frame, resulting in a compact structure, high space utilization, and significantly improved efficiency in integrated cabbage processing.

[0026] 2. The root removal working area of ​​this invention adopts a three-axis linkage symmetrical conical trajectory cutting mechanism, which is different from the traditional flat cutting method. Three conical cutters feed synchronously along the conical contour of the cabbage root to make a circumferential cut. The cutting contour fits the shape of the cabbage root, which reduces the cutting loss of the edible cabbage part while thoroughly removing the root, effectively improving the yield of clean cabbage and the uniformity of root removal.

[0027] 3. The cutting and cleaning work area of ​​this invention adopts a cross-shaped double-sliding cutter combined with an openable positioning guide box structure, which can cut the cabbage into four equal parts in one go. Combined with a V-shaped limiting conveyor belt and an electric brush roller, the relative rolling and rubbing of the brush and conveyor belt, along with water washing, automatically separates and deeply removes adhering cabbage parts, replacing manual leaf-breaking operations. This results in good splitting consistency and high cleaning cleanliness. The V-shaped conveyor belt discharge end is equipped with a cleaning transition plate, ensuring smooth feeding between the cleaning and drying stations and preventing cabbage from falling or jamming during transport.

[0028] 4. The drying work area of ​​this invention adopts a low-speed mesh belt drying conveyor belt combined with a top-mounted hot air dryer. The mesh belt structure facilitates the penetration of hot air into the material, and the cabbage is heated from all directions during its slow movement, so that the residual moisture on the surface is dried evenly and the drying efficiency is high. At the end of the drying process, the material is directionally dropped through the drying transition plate, and the cabbage is smoothly sent into the packaging tray at the packaging station, ensuring that the material conveying is continuous and orderly.

[0029] 5. The packaging work area of ​​this invention is equipped with a lifting box feeding mechanism, a servo motor-driven hot melt film-cutting and stretching mechanism, and a motor-gear driven iris-type full-circumference film-sealing mechanism. The film-stretching mechanism can automatically complete the fixed-point clamping, flat stretching, and stretching of the cling film, while the servo motors on both sides drive the hot melt wires to precisely melt and cut the film. The iris-type full-circumference film-sealing mechanism relies on motor, gear, gear ring, and linkage transmission to achieve synchronous opening and closing of multi-lobed pressing sheets. After the packaging tray is lifted and passes through the center of the iris, the pressing sheets close up to completely wrap the cling film around the box body in one go. The packaging process automatically completes box feeding, film stretching, film cutting, and sealing. The packaging is neatly formed, highly automated, and can significantly save packaging labor costs. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall integrated machine structure of the present invention; Figure 2 This is a perspective view of the cabbage root removal working area in an embodiment of the present invention; Figure 3 This is a perspective view of the cabbage splitting and cleaning work area in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the bottom surface of the cutting box in the cabbage splitting and washing work area of ​​this invention. Figure 5 This is a schematic diagram of the closed bottom surface of the cutting box in the cabbage splitting and washing work area of ​​this invention embodiment; Figure 6 This is a schematic diagram of the cabbage drying working area in an embodiment of the present invention; Figure 7 This is a schematic diagram of the iris closure state in the cabbage packaging work area according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the iris opening state in the cabbage packaging work area of ​​this embodiment of the invention.

[0031] In the picture: 1- Cabbage root removal work area; 1.9-Cabbage radial positioning tray; 1.10-Pneumatic flexible gripper; 1.11-Gripper connector; 1.12-Rooting cutter annular positioning bracket; 1.13-Angled pneumatic push rod; 1.14-Rooting cutter; 2- Cabbage splitting and washing work area; 2.11- Electric door opening push rod; 2.12- Door opening push rod connector; 2.13- Electric brush roller; 2.14- Washing water tank; 2.23 Clean the conveyor belt; 2.24 Clean the transition plate; 3-Cabbage drying work area; 3.2-Drying conveyor belt; 3.3-Hot air dryer; 3.8-Drying transition plate; 4- Cabbage packaging work area; 4.1- Packaging tray guide chute; 4.2- Pneumatic slide rail pusher rod; 4.3- Pusher pneumatic slide table; 4.4- Lifting pneumatic push rod; 4.5- Lifting platform; 4.6- Plastic wrap rack; 4.7-Hot fuse; 4.8-Servo motor; 4.9-Diaphragm traction slot seat; 4.10 - Pneumatic slide for membrane clamping; 4.11 - Membrane clamping claw connecting frame; 4.12 - Flexible membrane clamping traction claw; 4.13-Drive gear; 4.14-Iris flap; 4.15-Gear ring rotary table; 4.16-Film covering mechanism mounting bracket; 4.17-Guide pin; 4.18-Hinged connecting rod; 5-Air compressor; 6-Complete frame. Detailed Implementation

[0032] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0033] like Figure 1 As shown, the machine includes a frame 6 and a cabbage root removal work area 1, a cabbage splitting and washing work area 2, a cabbage drying work area 3, and a cabbage packaging work area 4, which are arranged sequentially on the frame 6 along the cabbage processing flow. The cabbage root removal work area 1, the cabbage splitting and washing work area 2, the cabbage drying work area 3, and the cabbage packaging work area 4 are used for removing the roots, splitting and washing, drying, and packaging the cabbage, respectively.

[0034] The cabbage derooting work area 1 serves as the first work area, where a pneumatic flexible gripper 1.10, controlled by a pneumatic three-axis platform, clamps the cabbage and utilizes a three-axis linkage symmetrical conical trajectory derooting mechanism to achieve low-loss ring cutting and derooting. After derooting, the cabbage is transferred to the cabbage splitting and cleaning work area 2 under the drive of the pneumatic three-axis platform. The cabbage splitting and cleaning work area 2 serves as the second work area, where the cabbage is quartered in a cross shape and cleaned by brush rolling to complete the splitting and impurity removal. The cabbage drying work area 3 serves as the third work area, where the cleaned cabbage is conveyed by a mesh belt and dried with hot air. The cabbage packaging work area 4 serves as the fourth work area, where the dried cabbage is automatically fed into boxes, plastic wrap is pulled out, hot melt cutting is performed, and iris-type full-circumference film sealing is applied.

[0035] In addition, there is an air compressor 5 that provides a power source for pneumatic components. The entire frame is composed of the frame 6, which effectively controls manufacturing costs while ensuring overall rigidity and reliability.

[0036] The cabbage root removal work area 1 uses a pneumatic three-axis platform to drive a pneumatic flexible gripper 1.10 to clamp and transport the cabbage. It works in conjunction with a cabbage radial positioning tray 1.9 and a three-axis linkage symmetrical conical trajectory root removal mechanism to remove the cabbage roots with low loss. After root removal, the cabbage is transferred to the cabbage splitting and washing work area 2 for cutting and washing. Then, it enters the cabbage drying work area 3 and the cabbage packaging work area 4 in sequence to complete drying and packaging. The machine frame 6 is preferably composed of a machine frame 6, which is used to provide the installation foundation and position reference for each work area.

[0037] like Figure 3 As shown, the cabbage splitting and cleaning work area 2 includes a four-part cutting positioning box 2.1, a cross-cutting mechanism, a V-shaped conveying mechanism, and a brush rolling cleaning mechanism, all mounted on the machine frame 6. The four-part cutting positioning box 2.1 is installed in the middle of the overall height of the machine frame 6. The cross-cutting mechanism is located directly below the four-part cutting positioning box 2.1, and the brush rolling cleaning mechanism and V-shaped conveying mechanism are also located directly below the four-part cutting positioning box 2.1. The cross-cutting mechanism cuts the cabbage into four equal parts, and the V-shaped conveying mechanism works in conjunction with the brush rolling cleaning mechanism to convey and clean the cabbage pieces. All structures are assembled and fixed on the machine frame 6, realizing the integrated operation of automatic four-part cutting, material conveying, and rolling cleaning of cabbage.

[0038] like Figure 7 and Figure 8 As shown, the cabbage packaging work area 4 includes a horizontal moving mechanism, a packaging tray conveying and lifting mechanism, a plastic wrap circulating and pulling mechanism, and a full-circumference film covering and sealing mechanism installed on the machine frame 6. The packaging tray conveying and lifting mechanism and the horizontal moving mechanism are both installed on the lower side of the overall height of the machine frame 6 and arranged horizontally adjacent to each other. The plastic wrap circulating and pulling mechanism is located above the packaging tray conveying and lifting mechanism, and the full-circumference film covering and sealing mechanism is located above the plastic wrap circulating and pulling mechanism. The horizontal moving mechanism pushes the packaging tray containing cabbage onto the packaging tray conveying and lifting mechanism. The plastic wrap circulating and pulling mechanism pulls the plastic wrap to cover the area above the packaging tray conveying and lifting mechanism. Then, in conjunction with the packaging tray conveying and lifting mechanism, the plastic wrap is lifted above the full-circumference film covering and sealing mechanism. The full-circumference film covering and sealing mechanism wraps the plastic wrap around the packaging tray containing cabbage to complete the packaging. This is used to complete the box delivery, lifting and positioning, film pulling, film cutting, and full-circumference film covering and sealing of cabbage after it is boxed.

[0039] All of the above structures are assembled and fixed on the machine frame 6 to realize automatic conveying, lifting and positioning of packaging trays, continuous pulling of cling film, hot melt cutting and full-circumference sealing operations.

[0040] like Figure 2As shown, the cabbage root removal work area 1 includes a pneumatic three-axis platform, a pneumatic flexible gripper 1.10, a cabbage radial positioning tray 1.9, and a three-axis linkage symmetrical conical trajectory root removal mechanism mounted on the machine frame 6. The cabbage radial positioning tray 1.9 is fixed to the lower side of the overall height of the machine frame 6. The pneumatic flexible gripper 1.10 is arranged above the cabbage radial positioning tray 1.9 via the pneumatic three-axis platform. The three-axis linkage symmetrical conical trajectory root removal mechanism is located on the upper side of the cabbage radial positioning tray 1.9. Driven by the pneumatic three-axis platform, the pneumatic flexible gripper 1.10 clamps and transports the cabbage to the cabbage radial positioning tray 1.9 for positioning. Then, the three-axis linkage symmetrical conical trajectory root removal mechanism performs circumferential cutting to remove the roots of the cabbage.

[0041] The pneumatic three-axis platform in the cabbage root removal work area 1 is mainly composed of three sets of pneumatic linear slide components. The three sets of pneumatic linear slide components are arranged vertically in pairs to realize linear movement in the three directions of X-axis, Y-axis and Z-axis respectively. The pneumatic flexible gripper 1.10 is rigidly installed on the output end of the pneumatic three-axis platform through the gripper connector 1.11. Each set of pneumatic linear slide components is rigidly connected to the frame assembly 6 of the whole machine through fasteners to form a three-axis linkage actuator with stable structure and accurate positioning.

[0042] In practice, the pneumatic three-axis platform consists of three vertically arranged pneumatic slides: Z-axis 1.1, Y-axis 1.4, and X-axis 1.6. Each set of slides is rigidly connected to the overall frame assembly via fasteners. A pneumatic flexible gripper 1.10 is rigidly fixed to the output end of the three-axis moving platform via a gripper connector 1.11, and moves synchronously with the three-axis moving platform. A radial positioning tray 1.9 is embedded in the mounting slot of the overall frame assembly.

[0043] The pneumatic flexible gripper 1.10 is rigidly fixed to the output end of the three-axis moving platform through the connecting parts, and moves synchronously with the three-axis moving platform to achieve precise clamping and positioning of materials; the cabbage radial positioning tray 1.9 is embedded in the mounting slot of the frame 6 of the whole machine, and relies on the slot structure to achieve limit positioning and fixation, which is easy to assemble and has good positional stability.

[0044] The three-axis linkage symmetrical conical trajectory root removal mechanism includes a root removal tool annular positioning bracket 1.12, three sets of inclined pneumatic push rods 1.13, and three conical combined root removal blades 1.14. The root removal tool annular positioning bracket 1.12 is a centrally symmetrical annular frustum-shaped structure and is fixedly installed on the overall frame 6. The annular plane of the root removal tool annular positioning bracket 1.12 is located in a vertical plane. The three sets of inclined pneumatic push rods 1.13 are evenly distributed around the root removal tool annular positioning bracket 1.12. Each set of inclined pneumatic push rods 1.13 has a custom conical root removal blade 1.14 fixedly installed at its output end. The three blades together form a conical cutting contour that matches the shape of the cabbage root. The inclined pneumatic push rods 1.13 drive the custom conical root removal blades 1.14 to feed synchronously along the conical generatrix direction, realizing precise ring cutting and removal of the cabbage root.

[0045] Driven by a pneumatic three-axis platform, a pneumatic flexible gripper 1.10 clamps the cabbage and places it horizontally on the cabbage radial positioning tray 1.9, so that the axial direction of the cabbage is parallel to the axial direction of the annular positioning bracket 1.12 of the root-removing cutter. The root of the cabbage is aligned with the three-axis linkage symmetrical conical trajectory root-removing mechanism, and then pushed out by the three sets of inclined pneumatic push rods 1.13 of the three-axis linkage symmetrical conical trajectory root-removing mechanism, cutting into the root of the cabbage and cutting off the root.

[0046] The cabbage root removal work area 1 also includes a root collection box, which is placed below the three-axis linkage symmetrical conical trajectory root removal mechanism and is used to collect the removed cabbage roots.

[0047] The quarter-cutting positioning box 2.1 is a cabbage-cutting support structure used to receive cabbage after the root has been removed. The quarter-cutting positioning box 2.1 is equipped with a cross-cutting mechanism, which includes two sets of pneumatic sliding table cutter assemblies, one horizontal and one vertical. The cutters of the two sets of pneumatic sliding table cutter assemblies are arranged perpendicularly and have preset vertical moving straight-line trajectories. The cutters of the two sets of pneumatic sliding table cutter assemblies feed synchronously along the preset moving straight-line trajectories to perform cross-cutting on the cabbage. The quarter-cutting positioning box 2.1 is equipped with perforated strip grooves for guiding the cutters of the two sets of pneumatic sliding table cutter assemblies along the preset moving straight-line trajectories.

[0048] Two sets of cutters are arranged horizontally and vertically respectively, and can feed synchronously along a preset straight trajectory to cut the cabbage positioned inside the box into four equal parts. The bottom of the four-part cutting and positioning box 2.1 is equipped with a flip-open bottom plate. When there is no external support, the bottom plate is in a free-opening state, providing a structural basis for the automatic unloading of materials.

[0049] In specific implementation, the four-part cutting positioning box 2.1 has a cross-shaped hollow strip groove, in which there is a box part that faces both the horizontal and vertical pneumatic slide table cutting assemblies. This box part can be fixedly connected to the frame 6 near the two sets of horizontal and vertical pneumatic slide table cutting assemblies by a support rod.

[0050] like Figure 4 and Figure 5 As shown, the cabbage splitting and cleaning work area 2 also includes an electric opening and closing support mechanism. The electric opening and closing support mechanism is set on the lower side of the bottom of the quarter-cutting positioning box 2.1. The electric opening and closing support mechanism mainly consists of an electric door opening push rod 2.11, a door opening push rod connector 2.12, and a flip-openable bottom plate. The bottom of the quarter-cutting positioning box 2.1 is open and is provided with a flip-openable bottom plate for temporarily supporting the cabbage. The fixed end of the electric door opening push rod 2.11 is fixedly installed via the door opening push rod connector 2.12. The end of the movable telescopic rod of the electric door opening push rod 2.11 is fixedly connected to the flip-openable bottom plate. The flip-openable bottom plate is used to cover and support the four-part cabbage petals that come down from the bottom of the quarter-cutting positioning box 2.1. One end of the electric door opening push rod 2.11 is hinged to the overall frame 6, and the other end is hinged to a flip-open bottom plate. This allows the push rod to drive the rod to rotate around the hinge point of the overall frame 6, thereby causing the flip-open bottom plate to swing from the bottom of the quarter-cut positioning box 2.1 to the V-shaped conveying mechanism. This allows the quartered cabbage petals that fall from the bottom of the quarter-cut positioning box 2.1 to be transferred to the V-shaped conveying mechanism below.

[0051] The electric opening and closing support mechanism is positioned below the bottom of the four-part cutting positioning box 2.1. During the cabbage cutting process, the electric push rod extends to support the flipping bottom plate of the cutting positioning box, keeping the bottom plate in a horizontal and closed supporting state to ensure stable positioning and no deviation or shaking during the cabbage cutting process. After the cabbage is cut into four parts, the electric push rod retracts, removing the support limit on the bottom plate. The bottom plate flips open under its own weight, completing the automatic unloading of the cut cabbage.

[0052] The cabbage splitting and cleaning work area 2 also includes a cleaning water tank 2.14 containing clean water, with the lower part of the V-shaped conveyor mechanism placed in the cleaning water tank 2.14.

[0053] The V-shaped conveyor mechanism uses a V-shaped washing conveyor belt 2.23, which is set directly below the quartering positioning box 2.1 and between the cabbage drying work area 3. It is used to convey the quartered cabbage petals and to center and limit the cabbage petals.

[0054] A brush roller cleaning mechanism is installed on the upper middle side of the V-shaped conveyor mechanism. The brush roller cleaning mechanism includes an electric brush roller 2.13. The axis of the electric brush roller 2.13 is perpendicular to the conveying direction of the V-shaped conveyor mechanism. The electric brush roller 2.13 is placed across the V-shaped cleaning conveyor belt 2.23 of the V-shaped conveyor mechanism and is arranged at intervals, so that when the cabbage on the V-shaped cleaning conveyor belt 2.23 of the V-shaped conveyor mechanism passes through the intervals, it comes into contact with the electric brush roller 2.13 and is clearly brushed by the electric brush roller 2.13.

[0055] The V-shaped conveyor mechanism is located inside the washing water tank 2.14 directly below the quartering positioning box 2.1, serving as the conveying carrier for the quartered cabbage. The V-shaped conveyor mechanism adopts a V-shaped belt conveyor structure, which can center and limit the support of the quartered cabbage petals, preventing material deviation and scattering during the conveying process. At the same time, it is adapted to the posture of subsequent tumbling and washing operations, ensuring that the cabbage conveying process is continuous and stable.

[0056] More specifically, the V-shaped cleaning conveyor belt 2.23 includes a horizontal section and an inclined upward section along the conveying direction. The horizontal section is placed in the clean water of the cleaning water tank 2.14 for cleaning, and the inclined upward section is exposed above the water surface and extends upward toward the drying conveyor mechanism.

[0057] The brush roller washing mechanism includes an electric brush roller 2.13, which is fixedly mounted on the machine frame 6 and arranged parallel to each other above the V-shaped conveyor mechanism. A working gap adapted to the thickness of the cabbage is reserved between the brush roller and the washing conveyor belt 2.23. As the cabbage is conveyed forward with the washing conveyor belt 2.23, the relative squeezing and dynamic rolling action between the brush roller and the washing conveyor belt 2.23 further automatically separates and peels off the adhering cabbage petals. At the same time, the flexible friction of the brush combined with the water rinsing thoroughly removes the mud and impurities attached to the surface of the cabbage, completing the cabbage separation and deep washing process simultaneously.

[0058] In practice, the quartering positioning box 2.1 receives the cabbage after the root has been removed. The vertical cutting blade 2.2 and the horizontal cutting blade 2.10 are driven by the vertical blade pneumatic slide table 2.4 and the horizontal blade pneumatic slide table 2.7, respectively, to feed synchronously along a preset straight trajectory, cutting the cabbage positioned inside the box into four equal parts. The quartering positioning box 2.1 has a flip-open bottom plate. During the cutting process, the electric door push rod 2.11 extends to support the bottom plate, keeping it in a horizontal and closed support state to ensure stable cutting and positioning. After cutting, the electric door push rod 2.11 retracts, and the bottom plate flips open under its own weight, allowing the cut cabbage petals to fall onto the washing conveyor belt 2.23 in the washing water tank 2.14. The washing conveyor belt 2.23 centrally supports and conveys the cabbage leaves forward. An electric brush roller 2.13 and the washing conveyor belt 2.23 have a pre-set working gap adapted to the thickness of the cabbage. Through relative compression and dynamic rolling, combined with water rinsing, the adhered cabbage leaves are further separated and peeled off, while thoroughly removing mud, sand, and impurities from the cabbage surface. After washing, the cabbage is transferred to the drying area via the washing transition plate 2.24.

[0059] The cabbage splitting and cleaning work area 2 also includes a cleaning transition plate 2.24, which is located on the side of the output end of the V-shaped conveyor mechanism and is used to transition between the V-shaped conveyor mechanism of the cabbage splitting and cleaning work area 2 and the cabbage drying work area 3 for cabbage transportation.

[0060] In practice, the discharge end of the V-shaped conveyor belt is equipped with a washing transition plate 2.24, which smoothly connects with the feed end of the drying zone conveyor belt to achieve a stable transition and conveying of the cabbage.

[0061] like Figure 6 As shown, the cabbage drying work area 3 includes a drying conveyor mechanism and a hot air dryer 3.3. The hot air dryer 3.3 is arranged above the conveyor belt of the drying conveyor mechanism and faces the conveyor belt. The hot air dryer 3.3 removes surface water from the cabbage after it has been washed and transported by the drying conveyor mechanism. The whole assembly is fixed on the frame 6 of the whole machine to realize the continuous drying and smooth transition of the washed cabbage.

[0062] The drying conveyor mechanism adopts a mesh belt drying conveyor belt 3.2, and the hot air dryer 3.3 is arranged directly above the middle of the mesh belt drying conveyor belt 3.2; the hot air dryer 3.3 is fixedly installed on the frame 6 of the whole machine.

[0063] In practice, the drying conveyor belt 3.2 adopts a mesh belt structure and is arranged below the hot air dryer 3.3; the washed cabbage is conveyed at a low speed and steadily on the drying conveyor belt 3.2, which prolongs the residence time of the material in the drying zone and ensures the drying effect.

[0064] The mesh structure of the hot air dryer 3.3 facilitates hot air penetration, ensuring even heating of all sides of the cabbage and preventing uneven drying in certain areas. The hot air dryer 3.3 is fixedly installed on the machine frame, with its air outlet facing the conveyor belt. It delivers high-temperature airflow downwards, allowing the hot air to penetrate the mesh and heat all sides of the cabbage evenly. Surface moisture evaporates rapidly under forced convection; this forced convection also removes residual moisture from the cabbage surface, accelerating the drying process and shortening the work cycle.

[0065] After drying, the cabbages are conveyed to the end of the drying conveyor belt 3.2 and then smoothly slide into the packaging tray in the packaging area by the guiding action of the drying transition plate 3.8.

[0066] The cabbage drying work area 3 also includes a drying transition plate 3.8, which is located on the side of the output end of the mesh belt drying conveyor 3.2 of the drying conveyor mechanism, and is used for the transition connection of cabbage transportation between the mesh belt drying conveyor 3.2 of the drying conveyor mechanism and the cabbage packaging work area 4.

[0067] Specifically, the drying transition plate 3.8 is positioned between the discharge end of the drying conveyor belt 3.2 and the packaging tray in the packaging area. One end of the plate smoothly connects to the tail end of the drying conveyor belt 3.2, while the other end extends above the inlet position of the packaging tray, forming a gentle material transition channel. After the dried cabbage is conveyed to the tail end of the drying conveyor belt 3.2, it slides smoothly into the packaging tray under the guidance of the drying transition plate 3.8, preventing material jamming, falling, or deviation, thus achieving a smooth connection between the drying area and the packaging area.

[0068] The cabbage packaging work area 4 further includes: The horizontal moving mechanism includes a packaging tray guide chute 4.1, a pneumatic slide rail pusher rod 4.2, and a pneumatic pusher slide 4.3. The packaging tray guide chute 4.1 is fixedly installed, and a packaging tray for carrying cabbage petals is placed on the packaging tray guide chute 4.1. The pneumatic slide rail pusher rod 4.2 and the pneumatic pusher slide 4.3 are installed on the packaging tray guide chute 4.1 on the side of the packaging tray. The fixed part of the pneumatic pusher slide 4.3 is fixed to the packaging tray guide chute 4.1. The movable slide end of the pneumatic pusher slide 4.3 is fixedly connected to the pneumatic slide rail pusher rod 4.2. The pneumatic pusher slide 4.3 drives the pneumatic slide rail pusher rod 4.2 to push the packaging tray on the packaging tray guide chute 4.1 toward the packaging tray conveying and lifting mechanism. The pneumatic slide rail pusher rod 4.2 is set perpendicular to the line connecting the horizontal moving mechanism and the packaging tray conveying and lifting mechanism, which enables the packaging tray to be pushed.

[0069] The packaging tray guide chute 4.1 is the initial guide and conveying channel for the packaging trays. The packaging trays are initially arranged along the axial direction of the chute. A pneumatic slide rail is provided on one side of the chute, and a pusher is connected to the pneumatic slide rail. It can move back and forth in a straight line along the direction of the chute, pushing the packaging trays in the guide chute to the top of the lifting platform 4.5 mechanism.

[0070] The packaging tray conveying and lifting mechanism includes a lifting pneumatic push rod 4.4 and a lifting platform 4.5. The lifting platform 4.5 is located to the side of the packaging tray guide chute 4.1, and the lifting pneumatic push rod 4.4 is installed on the bottom surface of the lifting platform 4.5. The lifting pneumatic push rod 4.4 is used to move the lifting platform 4.5 up and down. When the packaging tray is pushed above the lifting platform 4.5, the lifting pneumatic push rod 4.4 drives the lifting platform 4.5 to move upward, lifting the packaging tray to the film-coating operation height, thus completing the positioning and lifting conveying of the packaging tray.

[0071] When the lifting platform 4.5 is raised to its lowest position, the platform surface of the lifting platform 4.5 and the groove surface of the packaging tray guide slide 4.1 are on the same plane and closely connected. This allows the pneumatic pusher slide 4.3 to drive the pneumatic slide rail pusher rod 4.2 to directly push the packaging tray and the cabbage petals on it on the packaging tray guide slide 4.1 onto the platform surface of the lifting platform 4.5 for subsequent lifting and packaging.

[0072] When the lifting platform 4.5 is raised to its highest position, the platform surface of the lifting platform 4.5 is higher than the plane where the iris flap 4.14 of the full-circumference film-coated mechanism is located.

[0073] The plastic wrap circulation pulling mechanism includes a plastic wrap frame 4.6, a servo motor swing arm type hot melt film cutting assembly, and a film clamping and traction assembly. The plastic wrap frame 4.6 is located on the lower side of the packaging tray conveying and lifting mechanism. Plastic wrap is wound on the plastic wrap frame 4.6. The servo motor swing arm type hot melt film cutting assembly and the film clamping and traction assembly are located above the packaging tray conveying and lifting mechanism and are respectively located on both sides at the same level, and are located below the full-circumference film covering and sealing mechanism; the whole arrangement is above the packaging tray lifting platform 4.5 mechanism.

[0074] The film traction groove seat 4.9 is located above the material outlet end of the plastic wrap support. The groove seat has four slots corresponding to the film clamping mechanism, which are used to limit and initially position the plastic wrap, and provide a stable clamping point for the film clamping traction assembly.

[0075] The film clamping and traction assembly includes a film clamping pneumatic slide 4.10, a film clamping claw connecting frame 4.11, and a flexible film clamping traction claw 4.12. The film clamping pneumatic slide 4.10 is symmetrically installed on both sides. The film clamping claw connecting frame 4.11 is slidably connected across the film clamping pneumatic slide 4.10 on both sides. The flexible film clamping traction claw 4.12 is fixedly installed on the film clamping claw connecting frame 4.11. The flexible film clamping traction claw 4.12 is originally located on the side away from the plastic wrap rack 4.6. Driven by the film clamping pneumatic slide 4.10, the flexible film clamping traction claw 4.12 moves towards the servo swing arm type hot melt cutting film assembly, clamps the plastic wrap at the horizontal strip outlet end of the film traction groove seat 4.9 of the servo swing arm type hot melt cutting film assembly, and then moves over the lifting platform 4.5 and pulls it to the side away from the plastic wrap rack 4.6.

[0076] In practice, the film clamping traction assembly consists of four flexible rubber film clamping traction claws, a connecting crossbar, and two sets of parallel pneumatic slides. The four flexible film clamping traction claws 4.12 are equidistantly arranged along the axial direction of the connecting crossbar to form a film clamping mechanism. The two ends of the connecting crossbar are fixedly connected to the sliders of the two sets of parallel pneumatic slides, and can move horizontally and reciprocally synchronously with the pneumatic slides. In the initial state, the film clamping traction claws are embedded in the slots of the film traction groove 4.9 to clamp the plastic wrap. Then, they move horizontally synchronously with the pneumatic slides to pull the plastic wrap out at a uniform speed along the conveying direction, so that the plastic wrap completely covers the top of the lifting platform 4.5.

[0077] The servo-driven swing arm type hot melt film cutting assembly is arranged on one side near the plastic wrap holder 4.6, including a hot melt wire 4.7, a servo motor 4.8, and a film traction slot 4.9. The film traction slot 4.9 is fixedly installed and has a horizontal strip-shaped through-slot for pre-accommodating one end of the plastic wrap through it. The servo motor 4.8 is located on the side of the outlet end of the horizontal strip-shaped through-slot. The output end of the servo motor 4.8 is connected to the hot melt wire 4.7. The servo motor 4.8 drives the hot melt wire 4.7 to swing up and down, which is used to hot melt and cut the plastic wrap coming out of the outlet end of the horizontal strip-shaped through-slot.

[0078] In practice, the servo-driven swing-arm type hot melt film cutting assembly is arranged in pairs on the left and right sides of the film traction slot 4.9. A drive servo motor 4.8 is installed and fixed on each side. The two ends of the hot melt wire 4.7 are connected to the output swing arms of the two servo motors 4.8 through connectors. Under normal conditions, the servo motor 4.8 keeps the limit position and straightens and flattens the hot melt wire 4.7. When it is necessary to cut the plastic wrap, the two servo motors 4.8 swing synchronously in the same direction, and the swing arms pull the hot melt wire 4.7 to feed laterally. The high temperature hot melt wire 4.7 contacts the plastic wrap to achieve melting and cutting. After melting, the end of the plastic wrap is still left in the slot of the slot, which is convenient for the film clamping traction claw to clamp again, ensuring the continuous cycle of the film pulling process.

[0079] The iris-type full-circumference film-sealing mechanism includes a drive gear 4.13, a gear ring rotary disk 4.15, and a film-sealing mechanism mounting support 4.16. The film-sealing mechanism mounting support 4.16 is fixedly installed and has a ring-shaped structure. The gear ring rotary disk 4.15 has a ring-shaped structure and is rotatably mounted on the film-sealing mechanism mounting support 4.16. Multiple film flap assemblies are hinged together at circumferential intervals in the middle of the gear ring rotary disk 4.15. A drive gear 4.13 is set on the outer side of the gear ring rotary disk 4.15. The drive gear 4.13 and the gear ring rotary disk 4.15 are meshed and connected. The drive gear 4.13 is connected to an external motor, which drives the gear ring rotary disk 4.15 to rotate around its own central axis, thereby causing the multiple film flap assemblies to close or separate towards the center, thus wrapping the plastic wrap covering the packaging tray under the packaging tray to achieve packaging.

[0080] Each flap assembly includes an iris flap 4.14, a guide pin 4.17, and a hinged link 4.18. The outer end of the hinged link 4.18 is hinged to the guide pin 4.17 and the gear ring rotary disk 4.15. The middle part of the hinged link 4.18 is hinged to the film covering mechanism mounting support 4.16. The inner end of the hinged link 4.18 is hinged to the outer edge of the iris flap 4.14 via a pin. The iris flap 4.14 is petal-shaped, and rollers for connecting with adjacent flap assemblies are provided on the side of the iris flap 4.14.

[0081] The drive gear 4.13 rotates, driving the gear ring rotary disk 4.15 to rotate, which in turn drives the hinge link 4.18 of the diaphragm flap assembly to rotate, which in turn drives the iris flap 4.14 to move spirally toward the center until all the diaphragm flap assemblies close together at the center.

[0082] After all the flap assemblies come together towards the center, adjacent flap assemblies are connected by rolling rollers on their respective iris flaps 4.14.

[0083] When the lifting platform 4.5 is raised to its highest position, all the film flap components can be brought together to the center. The closed position is precisely between the platform surface of the lifting platform 4.5 and the packaging plate / cabbage placed on it. As all the film flap components are brought together to the center, they simultaneously press down on the platform surface and squeeze the plastic wrap between the platform surface and the packaging plate / cabbage, ultimately achieving the packaging and covering of the plastic wrap.

[0084] The power source of the iris recognition mechanism is a drive motor, and the output shaft of the drive motor is rigidly connected to the drive gear. The outer edge of the gear ring rotary disk 4.15 is machined with meshing teeth, and the drive gear meshes with the teeth on the outer edge of the gear ring rotary disk 4.15 to form a gear meshing pair. Multiple sets of iris petals 4.14 are circumferentially hinged to the lower end of the gear ring rotary disk 4.15. Each set of iris petals 4.14 and the gear ring rotary disk 4.15 are connected to each other through a hinged connecting rod 4.18 to form a crank-connecting rod transmission pair.

[0085] In the initial standby state of the iris recognition mechanism, the drive motor controls the active gear to drive the gear ring rotary table 4.15 to rotate in the forward direction. Through the hinged connecting rod 4.18, all iris lobes 4.14 are pulled radially outward, and the entire iris recognition mechanism is in a fully open state, forming a through channel in the center. The packaging tray is lifted from bottom to top by the lifting platform 4.5, first passing through the lower plastic wrap layer, and then extending upward from the open channel in the center of the iris recognition mechanism, so that the plastic wrap is laid flat to cover the top surface of the packaging tray. After the packaging tray is lifted into place and the hot melt component of the servo motor 4.8 cuts the plastic wrap, the drive motor rotates in the reverse direction, and the active gear drives the gear ring rotary table 4.15 to rotate in the reverse direction. Through the hinged connecting rod 4.18, all iris lobes 4.14 are simultaneously pulled from all sides to the center to close. Multiple iris lobes 4.14 are pressed down along the outer wall of the packaging tray, pressing and covering the plastic wrap around the side wall of the packaging tray evenly, completing the full circumference film sealing of the packaging tray in one go.

[0086] In practice, the packaging tray is pushed sequentially to the top of the lifting platform 4.5 via the pneumatic slide rail push rod 4.2 through the guide chute 4.1. The lifting pneumatic push rod 4.4 drives the lifting platform 4.5 to move upward, lifting the packaging tray to the film covering operation height. The plastic wrap is led out by the plastic wrap holder 4.6, limited by the film traction groove seat 4.9, and the flexible film clamping traction claw 4.12 clamps the plastic wrap and moves horizontally with the film clamping pneumatic slide 4.10 to pull out the plastic wrap and cover the top of the lifting platform 4.5. Then, the two side servo motors 4.8 drive the hot melt wire 4.7 to swing synchronously to achieve melting and cutting. The iris mechanism consists of a drive gear 4.13, a gear ring rotary disk 4.15, and iris petals 4.14. The drive motor drives the drive gear 4.13 to rotate the gear ring rotary disk 4.15. Through the hinged connecting rod 4.18, the iris petals 4.14 are pulled from all sides to the center to close. Multiple iris petals are pressed down along the outer wall of the packaging tray, pressing the plastic wrap evenly around the box, completing the full circumference film sealing in one go.

[0087] The specific implementation also includes setting up an air compressor 5, which is installed on the machine frame 6. The air compressor 5 is connected to the pneumatic three-axis platform, the inclined pneumatic push rod 1.13 and the pneumatic slide table cutter assembly through pipelines to provide them with a pneumatic power source.

[0088] In practice, aluminum profiles are used as the frame of the machine 6, and each working area is assembled and fixed on the frame of the machine 6.

[0089] The cabbage processing procedure according to the structure of this invention includes the following steps: S1. First, in the cabbage derooting work area 1, the pneumatic flexible gripper 1.10 driven by the pneumatic three-axis platform clamps and positions the cabbage and transports it to the cabbage radial positioning tray 1.9. Then, the conical derooting knife 1.14 is driven by the inclined pneumatic push rod 1.13 to feed synchronously along the conical generatrix direction to perform ring cutting and derooting of the cabbage root. S2. Continue to use the pneumatic three-axis platform to drive the pneumatic flexible gripper 1.10 to transfer the root-removed cabbage to the quartering positioning box 2.1. The longitudinal cutting blade and the transverse cutting blade 2.10 feed synchronously to cut the cabbage into four equal parts to obtain cabbage petals. Then, the cabbage petals are transferred and guided to the washing conveyor belt 2.2 of the cabbage splitting and washing work area 2 by the downward movement of the flipping bottom plate and the electric opening and closing support mechanism. S3. When the cabbage leaves are transported by the washing conveyor belt 2.2, they will be rolled and rubbed against the washing conveyor belt 2.2 by the electric brush roller 2.13 and rinsed with water to complete the deep cleaning of the cabbage leaves. Then, they will be transferred to the drying conveyor belt 3.2 in the cabbage drying work area 3 by the washing transition plate 2.24. S4. During the transportation process of the drying conveyor belt 3.2, hot air is conveyed downward through the hot air dryer 3.3. The hot air penetrates the mesh belt to remove the surface moisture of the cabbage petals and complete the drying process. Then, the cabbage petals are transferred to the packaging tray of the packaging tray guide chute 4.1 in the cabbage packaging work area 4 via the drying transition plate 3.8. S5. Driven by the pneumatic sliding table 4.3, the pneumatic sliding rail pusher 4.2 pushes the packaging tray / vegetable tray onto the lifting platform 4.5. The lifting platform 4.5 lifts the packaging tray for the first time and positions it below the plastic wrap circulation pulling mechanism. Then, the flexible film clamping traction claw 4.12 pulls the plastic wrap to cover the packaging tray. Then, the servo motor 4.8 drives the hot melt wire 4.7 to press down and melt and cut the plastic wrap on the inlet side. The lifting platform 4.5 lifts the packaging tray for the second time and positions it slightly above the full-circumference film sealing mechanism. The drive gear 4.13 of the full-circumference film sealing mechanism drives the iris petals 4.14 of all the film petal components to gather towards the center, pressing down the plastic wrap and covering the packaging tray around and under it, completing the full-circumference film sealing.

[0090] The specific working steps of this embodiment are as follows: Step D1: Start the air compressor 5. The pneumatic three-axis platform transports the cabbage to the cabbage radial positioning tray 1.9. The pneumatic flexible gripper 1.10 clamps the cabbage. The inclined pneumatic push rod 1.13 drives the conical root-removing knife 1.14 to synchronously feed and ring cut along the conical generatrix direction. After low-loss root removal, the cabbage is transferred to the quartering positioning box 2.1. Step D2: The vertical cutting blade 2.2 and the horizontal blade connector 2.10 feed synchronously to perform cross-cutting, achieving precise division of the cabbage into four equal parts; the electric door opening push rod 2.11 retracts to flip and open the bottom plate, and the cabbage petals fall into the washing conveyor belt 2.23; Step D3: The electric brush roller 2.13 and the cleaning conveyor belt 2.23 roll and rub against each other in conjunction with water rinsing to complete deep cleaning, and then the water is transferred to the drying conveyor belt 3.2 via the cleaning transition plate 2.24; Step D4: The hot air dryer 3.3 delivers a high-temperature airflow downwards. The hot air penetrates the mesh surface to evaporate the moisture on the surface of the cabbage, completing the drying process. The dried cabbage slides down the drying transition plate 3.8 to the packaging tray in the packaging area. Step D5: The packaging tray is pushed by the push box assembly through the guide slide 4.1 to the lifting platform 4.5 for lifting. The flexible film clamping traction claw 4.12 pulls out the plastic wrap to cover it. The hot melt wire 4.7 melts and cuts it. The iris flap 4.14 gathers to completely cover the plastic wrap around the packaging tray, completing the full circumference film sealing.

[0091] Steps D1 to D5 are executed sequentially. The processes are connected through the cabbage radial positioning tray 1.9, the quartering positioning box 2.1, the washing transition plate 2.24, the drying transition plate 3.8, and the conveying mechanism to achieve continuous and standardized processing of the cabbage.

Claims

1. A machine for removing roots, separating, washing, and packaging cabbage, characterized in that, The machine includes a frame (6) and a cabbage root removal work area (1), a cabbage splitting and cleaning work area (2), a cabbage drying work area (3) and a cabbage packaging work area (4) arranged sequentially on the frame (6) along the cabbage processing flow, which are used for cabbage root removal, splitting and cleaning, drying and packaging, respectively. The cabbage splitting and cleaning work area (2) includes a four-part cutting positioning box (2.1), a cross-cutting mechanism, a V-shaped conveying mechanism, and a brush rolling and cleaning mechanism. The four-part cutting positioning box (2.1) is installed in the middle of the machine frame (6). The cross-cutting mechanism is arranged directly below the four-part cutting positioning box (2.1). The brush rolling and cleaning mechanism and the V-shaped conveying mechanism are arranged directly below the four-part cutting positioning box (2.1). The cross-cutting mechanism cuts the cabbage into four equal parts, and the V-shaped conveying mechanism cooperates with the brush rolling and cleaning mechanism to transport and clean the cabbage petals. The cabbage packaging work area (4) includes a horizontal moving mechanism, a packaging tray conveying and lifting mechanism, a plastic wrap circulating and pulling mechanism, and a full-circumference film covering and sealing mechanism. The packaging tray conveying and lifting mechanism and the horizontal moving mechanism are both installed on the lower side of the whole machine frame (6) and arranged horizontally adjacent to each other. The plastic wrap circulating and pulling mechanism is set above the packaging tray conveying and lifting mechanism, and the full-circumference film covering and sealing mechanism is set above the plastic wrap circulating and pulling mechanism. The horizontal moving mechanism pushes the cabbage onto the packaging tray conveying and lifting mechanism, and the plastic wrap circulating and pulling mechanism pulls the plastic wrap to cover the top of the packaging tray conveying and lifting mechanism. Then, the plastic wrap is lifted to the top of the full-circumference film covering and sealing mechanism, and the full-circumference film covering and sealing mechanism wraps the plastic wrap around the cabbage to achieve packaging.

2. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The cabbage root removal working area (1) includes a pneumatic three-axis platform, a pneumatic flexible gripper (1.10), a cabbage radial positioning tray (1.9), and a three-axis linkage symmetrical conical trajectory root removal mechanism. The cabbage radial positioning tray (1.9) is fixed on the lower side of the machine frame (6). The pneumatic flexible gripper (1.10) is arranged above the cabbage radial positioning tray (1.9) through the pneumatic three-axis platform. The three-axis linkage symmetrical conical trajectory root removal mechanism is located on the side of the cabbage radial positioning tray (1.9). The pneumatic flexible gripper (1.10) clamps and transports the cabbage to the cabbage radial positioning tray (1.9) for positioning under the drive of the pneumatic three-axis platform. Then, the three-axis linkage symmetrical conical trajectory root removal mechanism performs ring cutting and root removal on the cabbage root.

3. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 2, characterized in that: The pneumatic triaxial platform in the cabbage root removal work area (1) is mainly composed of three sets of pneumatic linear slide components. The three sets of pneumatic linear slide components are arranged vertically in pairs to realize linear movement in the three directions of X-axis, Y-axis and Z-axis respectively. The pneumatic flexible gripper (1.10) is rigidly installed on the output end of the pneumatic triaxial platform through the gripper connector (1.11). The three-axis linkage symmetrical conical trajectory root removal mechanism includes a root removal tool annular positioning bracket (1.12), three sets of inclined pneumatic push rods (1.13), and three conical combined root removal knives (1.14). The root removal tool annular positioning bracket (1.12) is a centrally symmetrical annular frustum-shaped structure and is fixedly installed. The annular plane of the root removal tool annular positioning bracket (1.12) is located in a vertical plane. The three sets of inclined pneumatic push rods (1.13) are evenly distributed and installed on the root removal tool annular positioning bracket (1.12) along the circumference. Each set of inclined pneumatic push rods (1.13) has a root removal knife (1.14) fixedly installed at its output end. The three knives together form a conical cutting profile that matches the shape of the cabbage root.

4. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The four-part cutting positioning box (2.1) is equipped with a cross-cutting mechanism, which includes two sets of pneumatic slide table cutter assemblies, one horizontal and one vertical. The cutters of the two sets of pneumatic slide table cutter assemblies are arranged perpendicularly and have a preset linear trajectory. The cutters of the two sets of pneumatic slide table cutter assemblies feed synchronously along the preset linear trajectory to cut the cabbage in a cross shape. The four-part cutting positioning box (2.1) is provided with a hollow strip groove for the cutters of the two sets of pneumatic slide table cutter assemblies to pass through the preset linear trajectory.

5. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The cabbage splitting and cleaning work area (2) also includes an electric opening and closing support mechanism. The electric opening and closing support mechanism is provided on the lower side of the bottom of the quarter-cutting positioning box (2.1). The electric opening and closing support mechanism is mainly composed of an electric door opening push rod (2.11), a door opening push rod connector (2.12), and a flip-openable bottom plate. The bottom of the quarter-cutting positioning box (2.1) is open and is provided with a flip-openable bottom plate for temporarily supporting the cabbage. The fixed end of the electric door opening push rod (2.11) is fixedly installed through the door opening push rod connector (2.12). The end of the movable telescopic rod of the electric door opening push rod (2.11) is fixedly connected to the flip-openable bottom plate. The flip-openable bottom plate is used to cover and support the four-part cabbage petals that come down from the bottom of the quarter-cutting positioning box (2.1). The electric door opening push rod (2.11) can be driven to rotate by its own push rod, thereby causing the flip-open bottom plate to swing from the bottom of the quarter-cutting positioning box (2.1) to the V-shaped conveying mechanism, so that the cabbage petals that fall from the bottom of the quarter-cutting positioning box (2.1) can be transferred and placed on the V-shaped conveying mechanism below.

6. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The cabbage splitting and cleaning work area (2) also includes a cleaning water tank (2.14) containing clean water, and a V-shaped conveying mechanism is placed in the cleaning water tank (2.14); The V-shaped conveying mechanism uses a V-shaped washing conveyor belt (2.23), which is set directly below the quarter cutting positioning box (2.1) and between the cabbage drying work area (3) to convey the cabbage and provide centered limiting support. The brush roller cleaning mechanism is provided on the upper middle side of the V-shaped conveyor mechanism. The brush roller cleaning mechanism includes an electric brush roller (2.13). The electric brush roller (2.13) is arranged across the V-shaped cleaning conveyor belt (2.23) of the V-shaped conveyor mechanism with a gap, so that when the cabbage on the V-shaped cleaning conveyor belt (2.23) of the V-shaped conveyor mechanism passes through the gap, it comes into contact with the electric brush roller (2.13) and is clearly brushed by the electric brush roller (2.13).

7. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The cabbage drying work area (3) includes a drying conveyor mechanism and a hot air dryer (3.3). The hot air dryer (3.3) is arranged above the conveyor belt of the drying conveyor mechanism and faces the conveyor belt. The hot air dryer (3.3) removes surface water from the cabbage transported by the drying conveyor mechanism. The drying and conveying mechanism adopts a mesh belt drying conveyor (3.2), and the hot air dryer (3.3) is arranged directly above the middle of the mesh belt drying conveyor (3.2).

8. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The cabbage packaging work area (4) further includes: The horizontal moving mechanism includes a packaging tray guide chute (4.1), a pneumatic slide rail pusher rod (4.2), and a pusher pneumatic slide (4.3). The packaging tray guide chute (4.1) is fixedly installed, and a packaging tray for carrying cabbage petals is placed on the packaging tray guide chute (4.1). The pneumatic slide rail pusher rod (4.2) and the pusher pneumatic slide (4.3) are set on the packaging tray guide chute (4.1) on the side of the packaging tray. The movable slide end of the pusher pneumatic slide (4.3) is fixedly connected to the pneumatic slide rail pusher rod (4.2). The pusher pneumatic slide (4.3) drives the pneumatic slide rail pusher rod (4.2) to push the packaging tray on the packaging tray guide chute (4.1) toward the conveying and lifting mechanism closer to the packaging tray. The packaging tray conveying lifting mechanism includes a lifting pneumatic push rod (4.4) and a lifting platform (4.5). The lifting platform (4.5) is located on the side of the packaging tray guide chute (4.1). The lifting pneumatic push rod (4.4) is provided on the bottom surface of the lifting platform (4.5). The lifting pneumatic push rod (4.4) is used to move the lifting platform (4.5) up and down.

9. The integrated machine for removing roots, separating, washing, and packaging cabbage according to claim 1, characterized in that: The plastic wrap circulating film pulling mechanism includes a plastic wrap frame (4.6), a servo motor swing arm hot melt film cutting assembly and a film clamping traction assembly. The plastic wrap frame (4.6) is located on the lower side of the packaging tray conveying and lifting mechanism. The plastic wrap frame (4.6) is wrapped with plastic wrap. The servo motor swing arm hot melt film cutting assembly and the film clamping traction assembly are located above the packaging tray conveying and lifting mechanism and are respectively located on both sides at the same level, and are located below the full circumference film covering and sealing mechanism. The film clamping and traction assembly includes a film clamping pneumatic slide (4.10), a film clamping claw connecting frame (4.11), and a flexible film clamping traction claw (4.12). The film clamping pneumatic slide (4.10) is symmetrically installed on both sides. The film clamping claw connecting frame (4.11) is slidably connected across the film clamping pneumatic slide (4.10) on both sides. The flexible film clamping traction claw (4.12) is fixedly installed on the film clamping claw connecting frame (4.11). Driven by the film clamping pneumatic slide (4.10), the flexible film clamping traction claw (4.12) moves towards the servo swing arm type hot melt film cutting assembly, clamps the plastic wrap at the horizontal strip through-slot outlet end of the film traction slot seat (4.9), and then pulls it over the lifting platform (4.5) to the side away from the plastic wrap rack (4.6). The servo-driven swing arm type hot melt film cutting assembly is arranged on one side near the plastic wrap rack (4.6), including a hot melt wire (4.7), a servo motor (4.8), and a film traction slot (4.9). The film traction slot (4.9) is fixedly installed and has a horizontal strip-shaped through slot for pre-accommodating one end of the plastic wrap. The servo motor (4.8) is located on the side of the outlet end of the horizontal strip-shaped through slot. The output end of the servo motor (4.8) is connected to the hot melt wire (4.7). The servo motor (4.8) drives the hot melt wire (4.7) to swing up and down to perform hot melt cutting on the plastic wrap coming out of the outlet end of the horizontal strip-shaped through slot. The full-circumference film-sealing mechanism includes a drive gear (4.13), a gear ring rotary disk (4.15), and a film-sealing mechanism mounting support (4.16). The film-sealing mechanism mounting support (4.16) is fixedly installed and has a ring structure. The gear ring rotary disk (4.15) has a ring structure and is rotatably mounted on the film-sealing mechanism mounting support (4.16). Multiple film flap assemblies are hinged together in the middle of the gear ring rotary disk (4.15) at circumferential intervals. A drive gear (4.13) is set on the outside of the gear ring rotary disk (4.15). The drive gear (4.13) and the gear ring rotary disk (4.15) are meshed and connected. The drive gear (4.13) drives the gear ring rotary disk (4.15) to rotate around its own central axis, thereby driving the multiple film flap assemblies to close or separate towards the center, thereby wrapping the plastic wrap covering the packaging tray under the packaging tray to achieve packaging. Each flap assembly includes an iris flap (4.14), a guide pin (4.17), and a hinged link (4.18). The outer end of the hinged link (4.18) is hinged to the guide pin (4.17) and the gear ring rotary disk (4.15). The middle part of the hinged link (4.18) is hinged to the film covering mechanism mounting support (4.16). The inner end of the hinged link (4.18) is hinged to the outer edge of the iris flap (4.14) via a pin. The iris flap (4.14) is petal-shaped, and the side of the iris flap (4.14) is provided with rollers for connecting with adjacent flap assemblies.

10. A method for processing cabbage using the integrated machine according to any one of claims 1 to 9, characterized in that, The method includes the following steps: S1. First, in the cabbage derooting work area (1), the pneumatic flexible gripper (1.10) driven by the pneumatic three-axis platform clamps and positions the cabbage and transports it to the cabbage radial positioning tray (1.9). Then, the conical derooting knife (1.14) driven by the inclined pneumatic push rod (1.13) feeds synchronously along the conical generatrix direction to perform ring cutting and derooting of the cabbage root. S2. Continue to drive the pneumatic flexible gripper (1.10) to transfer the rootless cabbage to the quarter cutting positioning box (2.1). The longitudinal cutting blade and the transverse cutting blade (2.10) feed synchronously to cut the cabbage into cabbage petals. Then, the cabbage petals are transferred to the washing conveyor belt (2.2) of the cabbage splitting and washing work area (2) by the flipping motion of the flipping bottom plate and the electric opening and closing support mechanism. S3. When the cabbage petals are transported by the washing conveyor belt (2.2), they will be washed by the electric brush roller (2.13) and the washing conveyor belt (2.2) rolling and rubbing against each other and being rinsed with water. Then, they will be transferred to the drying conveyor belt (3.2) of the cabbage drying work area (3) via the washing transition plate (2.24). S4. During the transportation process of the drying conveyor belt (3.2), hot air is conveyed downward through the hot air dryer (3.3). The hot air removes the surface moisture of the cabbage petals to complete the drying process. Then, the cabbage petals are transferred to the packaging tray of the packaging tray guide chute (4.1) in the cabbage packaging work area (4) via the drying transition plate (3.8). S5. The pneumatic sliding table (4.3) drives the pneumatic sliding rail pusher (4.2) to push the packaging tray onto the lifting platform (4.5). The lifting platform (4.5) lifts the packaging tray for the first time and positions it under the plastic wrap circulation pulling mechanism. Then, the flexible clamping traction claw (4.12) pulls the plastic wrap to cover the packaging tray. Then, the servo motor (4.8) drives the hot melt wire (4.7) to press down and melt and cut the plastic wrap on the inlet side. The lifting platform (4.5) lifts the packaging tray for the second time and positions it above the full-circumference film sealing mechanism. The drive gear (4.13) of the full-circumference film sealing mechanism drives the iris flaps (4.14) of all the film flap components to gather towards the center, press down the plastic wrap and cover the packaging tray around and under it, completing the full-circumference film sealing.

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