A multifunctional fruit cleaning machine

Abstract

This utility model relates to the field of household goods technology and discloses a multifunctional fruit washing machine, including a gripping module, a washing module, a lighting and sterilization module, a storage module, and a central control panel. The gripping module includes a movable support frame, intelligent mechanical claws, and intelligent grippers, used to grip or transport fruit to a corresponding position under the action of electric drive and infrared sensing. The washing module includes an ultrasonic generator, a spray nozzle, a water tank, inlet and outlet water inlets, a water storage tank, water pipes, and a water pump, used for ultrasonic washing of fruit. The lighting and sterilization module includes a lighting and sterilization device, a main lamp tube, a lamp holder, and a lamp holder shaft, used for internal lighting and ultraviolet sterilization. The storage module includes a conveyor belt, a lifting device, a fruit storage chamber, and a wastewater collection tank, used for collecting fruit and wastewater respectively. The central control panel is electrically connected to the gripping module, the washing module, and the lighting and sterilization module. This utility model provides a fully automatic, intelligent, multifunctional fruit washing machine.

Description

Technical Field

[0001] This utility model relates to the field of household goods technology, and in particular to a multifunctional fruit washing machine. Background Technology

[0002] With the continuous development of social technology, smart furniture has become a trend, and the resulting new technologies have greatly improved people's quality of life. In food processing, especially fruit washing, traditional manual washing methods are inefficient, costly in terms of manpower and time, and struggle to ensure thorough and even washing, potentially leaving blind spots and affecting fruit safety. While existing fruit washing machines have solved the inefficiency problem of traditional manual methods, they still suffer from limitations such as limited functionality, unsatisfactory cleaning results, inconvenient processes, low levels of automation, and significant energy and water consumption. As consumers become more health-conscious and demand higher quality and hygiene standards for fruit, coupled with the increasing severity of water shortages, improving cleaning efficiency, reducing energy consumption, alleviating water waste, and achieving multifunctional intelligent fruit washing have become urgent challenges. With the development of university-industry collaboration, university research, oriented towards market demands and combined with the trend of mechanized agricultural product processing, holds promise for solving the problems existing in current technologies. Utility Model Content

[0003] To address the existing problems, this utility model provides a multifunctional fruit washing machine. The purpose is to provide a multifunctional fruit washing machine that is efficient, convenient, fully automatic, intelligent, energy-saving, and environmentally friendly, solving the problems of existing fruit washing machines such as limited functionality, unsatisfactory cleaning effect, inconvenient cleaning process, low level of intelligence, and energy consumption and pollution.

[0004] To achieve the above objectives, the present invention provides the following technical solution.

[0005] A multifunctional fruit washing machine includes a gripping module, a washing module, a lighting and sterilization module, a storage module, and a central control panel. The gripping module includes a movable support frame, an intelligent mechanical claw, and an intelligent gripper, used to grip or transport fruit to a corresponding position under the action of electric drive and infrared sensing. The washing module includes an ultrasonic generator, a spray nozzle, a water tank, inlet and outlet water inlets, a water storage tank, water pipes, and a water pump, used for ultrasonic water washing of fruit. The lighting and sterilization module includes a lighting and sterilization device, a main lamp tube, a lamp holder, and a lamp holder shaft, used for internal lighting and ultraviolet sterilization. The storage module includes a conveyor belt, a lifting device, a fruit storage chamber, and a wastewater collection tank, used for collecting fruit and wastewater respectively. The central control panel is electrically connected to the gripping module, the washing module, and the lighting and sterilization module.

[0006] As a further improvement of this utility model, it also includes a peeling module; the storage module also includes a peel collection box for collecting the peels removed from the fruit by the peeling module; the peeling module includes a peeling conveying pipe, a peeling knife, a disc, a fixing steel needle, a lower fixing device, and an upper fixing device; the outlet of the peeling conveying pipe is aligned with the lower fixing device; the lower fixing device and the upper fixing device are arranged correspondingly, and the two can fix and release the fruit by being relatively close or separated; a fixing steel needle is vertically arranged at the center of the upper fixing device, and the upper fixing device can rotate around the axis of the fixing steel needle; the disc is vertically arranged, and the peeling knife is vertically arranged on the disc, and the rotation of the disc can drive the peeling knife to peel around the edge of the fruit.

[0007] As a further improvement of this utility model, it also includes a fruit funnel and a fruit cutting and pitting module; the storage module also includes a peel collection box for collecting the fruit pits removed from the fruit by the fruit cutting and pitting module; the fruit cutting and pitting module includes an infrared detection device, a slicing knife and a pitting knife, the infrared detection device is used to align the pitting knife with the fruit pit; the fruit cutting and pitting module is aligned with the outlet of the fruit funnel and cooperates with the intelligent gripper.

[0008] As a further improvement of this utility model, it also includes a juicing module; the storage module further includes a juice storage tank for storing the juice extracted by the juicing module; the juicing module includes a juicing transmission pipe, juicing rollers, a filter funnel and a juice collector; the outlet of the juicing transmission pipe is aligned downward between the pairs of juicing rollers; the juicing rollers include juicing roller gears and grooves, and the rotation of the juicing roller gears drives the juicing rollers to squeeze the fruit fixed in the grooves.

[0009] As a further improvement of this utility model, it also includes a mobile module; the mobile module includes a global ultrasonic obstacle avoidance perception matrix, an infrared transceiver pair, an ultrasonic radar, and wheels installed at the bottom of the fruit washing machine; the global ultrasonic obstacle avoidance perception matrix, the infrared transceiver pair, and the ultrasonic radar all work together with the machine vision processing system to realize the autonomous movement of the machine.

[0010] As a further improvement of this utility model, it also includes a spray self-cleaning module; the spray self-cleaning module includes a plurality of spray nozzles disposed in the peeling module or the juicing module.

[0011] As a further improvement of this utility model, the intelligent mechanical claw includes a front claw, a connecting rod, an external meshing gear, an internal meshing gear, a hydraulic rod, and a push rod; the front claw is made of silicone; the connecting rod is hinged to the front claw by bolts; the push rod is connected to the connecting rod by multiple hinged connectors; the two ends of the hydraulic rod are respectively hinged to the outside of the push rod and the internal meshing gear, and the hydraulic rod has a cavity for storing hydraulic oil; the external meshing gear and the internal meshing gear mesh with each other to realize the rotation of the front claw.

[0012] As a further improvement of this utility model, the intelligent gripper includes a gripper, a connecting rod, and a protective plate; the gripper is arc-shaped to match the curvature of the fruit; the gripper is made of stainless steel and has a silicone layer on its outer surface; the grippers are arranged in pairs facing each other for holding the fruit; both sides of the two connecting rods are detachably connected to the gripper and the protective plate respectively through cylindrical pins, and a first incomplete gear on one side of the connecting rod meshes with a second incomplete gear on the other side of the connecting rod; the first incomplete gear and the second incomplete gear are detachably connected to the protective plate respectively through cylindrical pins.

[0013] As a further improvement of this utility model, a spray nozzle is also provided in the fruit storage room.

[0014] As a further improvement of this utility model, a vacuum unit is also provided in the fruit storage room.

[0015] This utility model has the following beneficial effects:

[0016] This utility model features a fully automated fruit washing process, integrating functions of grasping, washing, sterilization, and storage. It achieves fully automated processing of fruits from sorting to washing, sterilization, and temporary storage, reducing manual operation. Through infrared sensing and electric drive, the intelligent control module precisely positions the fruits. The combination of ultrasonic and spray cleaning improves cleaning efficiency, while ultraviolet sterilization ensures hygiene. The conveyor belt and lifting device optimize the fruit transportation path. The wastewater collection tank separates dirt, avoiding cross-contamination and also helps to achieve wastewater recycling, saving water resources and promoting sustainable development.

[0017] Preferably, the fixed steel needle clamps the fruit with the upper and lower fixing devices, and the rotating disc drives the peeler to peel the fruit at a uniform speed along the edge of the fruit, avoiding waste of fruit pulp; the fixed steel needle serves as the rotation axis to ensure accurate peeling direction and guarantee the stability of the structure during operation; the modular design facilitates cleaning and maintenance.

[0018] Preferably, the infrared detection device identifies the position of the fruit pit in real time, and the pitting knife cuts it precisely, reducing human error; the fruit funnel guides the fruit into the pitting station, realizing the connection of the production line; the intelligent gripper assists in fixing and improves processing efficiency.

[0019] Preferably, the juicing roller uses gear drive to squeeze the fruit, and the grooves fix the fruit to prevent slippage, thus improving the juice yield and stability; the filter funnel removes fruit pulp, and the juice flows directly into a dedicated storage chamber to achieve separate storage and ensure the purity of the beverage.

[0020] Preferably, ultrasonic radar, infrared sensors, and vision systems work together to achieve obstacle avoidance and movement, adapting to complex environments (such as kitchens). The mobile module adopts a low-noise, low-energy-consumption design to reduce environmental impact. The device can autonomously move to water sources or workbenches, improving flexibility, convenience, and time-saving, making it suitable for expansion into commercial or home scenarios.

[0021] Preferably, a spray nozzle is added to the peeling or juicing module to automatically rinse away residual fruit scraps, reducing the frequency of manual maintenance; it also prevents the accumulation of fruit peels or juice residue that could lead to bacterial growth, providing hygiene protection and extending the service life of the equipment.

[0022] Preferably, the silicone front claws protect the fruit skin and allow for easy opening and closing; the hydraulic rod and gear transmission system enable precise control of the opening and closing angle; the hydraulic cavity stores hydraulic oil to absorb the impact of opening and closing, providing a continuous and stable gripping force to adapt to fruits of different sizes and hardness.

[0023] Preferably, the curved stainless steel grippers are paired with a silicone layer to conform to the contours of the fruit and prevent slippage; the incomplete gear transmission reduces the risk of jamming; and the cylindrical pin connection method supports quick disassembly and replacement of worn parts, facilitating maintenance.

[0024] Preferably, the surface of the fruit is sprayed and rinsed in the storage box at regular or designated times to remove dust or residue, extend storage time and maintain freshness.

[0025] Preferably, by reducing the oxygen content through vacuuming, bacterial growth and oxidation reactions are inhibited, significantly extending the shelf life of fruits (especially suitable for tropical fruits). Attached Figure Description

[0026] The accompanying drawings described herein are for illustrative purposes only and do not limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. In the drawings:

[0027] Figure 1 This is a structural schematic diagram of the overall appearance of this utility model;

[0028] Figure 2 This is a schematic diagram of the overall internal structure of this utility model;

[0029] Figure 3 This is a structural schematic diagram of the fruit washing box of this utility model;

[0030] Figure 4 This is a schematic diagram of the working box of this utility model;

[0031] Figure 5 This is a schematic diagram of the structure of the automatic peeler of this utility model;

[0032] Figure 6 This is a schematic diagram of the structure of the fruit cutting and pitting module of this utility model;

[0033] Figure 7 This is a schematic diagram of the juicing roller of this utility model;

[0034] Figure 8 This is a schematic diagram of the structure of the filter funnel of this utility model;

[0035] Figure 9 This is a schematic diagram of the storage chamber structure of this utility model;

[0036] Figure 10 This is a schematic diagram of the structure of the intelligent mechanical claw of this utility model;

[0037] Figure 11 This is a schematic diagram of the structure of the intelligent gripper of this utility model;

[0038] Figure 12 This is a schematic diagram of the structure of the lighting sterilization device of this utility model;

[0039] Figure 13 This is a schematic diagram of the structure of the ultrasonic generator of this utility model;

[0040] The components include: 1. Fruit washing box; 2. Working box; 3. Storage room; 4. Water pump; 5. Water tank; 6. Water pipe; 7. Intelligent mechanical gripper; 8. Lighting and sterilization module; 9. Intelligent gripper; 10. Machine chassis plate; 11. Drive wheels; 12. Full-area ultrasonic obstacle avoidance perception matrix; 13. Infrared transceiver pair; 14. Central control panel; 15. Vacuum unit; 16. Peeling module; 17. Ultrasonic radar; 18. Juice storage box; 101. Movable support frame; 102. 103. Inlet and outlet; 104. Ultrasonic generator; 105. Water tank; 106. First spray nozzle; 207. Peeling conveyor pipe; 208. Juicing conveyor pipe; 209. Lifting device; 2000. Receiving platform; 201. Fruit funnel; 202. Fruit cutting and pitting module; 203. Juicing roller; 204. Second spray nozzle; 205. Third spray nozzle; 216. Filter funnel; 217. Juicing roller gear; 218. Groove; 309. Fruit storage chamber 302. Fourth spray nozzle; 401. First water pump; 402. Second water pump; 403. Third water pump; 404. Fourth water pump; 601. First water pipe; 602. Second water pipe; 603. Third water pipe; 604. Fourth water pipe; 701. First intelligent mechanical gripper; 702. Second intelligent mechanical gripper; 703. Third intelligent mechanical gripper; 704. Front gripper; 705. Connecting rod; 706. External meshing gear; 707. Internal meshing gear; 708. 709. Hydraulic rod; 801. Push rod; 802. First sterilization device; 803. Second sterilization device; 804. Main lamp tube; 805. Lamp holder; 806. Lamp holder shaft; 907. Gripper; 908. Connecting rod; 909. Protective plate; 9000. First incomplete gear; 901. Second incomplete gear; 1602. Peeling knife; 1603. Disc; 1604. Lower fixing device; 1605. Upper fixing device; 1606. Fixing steel needle; 1607. Rotating shaft. Detailed Implementation

[0041] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0042] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0043] Unless otherwise defined below, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] A multifunctional fruit washing machine includes a gripping module, a washing module, a lighting and sterilization module 8, a storage module, and a central control panel 14. Specifically, as shown... Figure 1 As shown, the multifunctional fruit washing machine in this embodiment includes a fruit washing tank 1, a working tank 2, and a storage chamber 3. The fruit washing tank 1 is located above the working tank 2 and the storage chamber 3, and is detachably connected to the working tank 2 and the storage chamber 3, thus protecting and sealing the internal structure. The fruit washing tank 1 is equipped with a gripping module, a washing module, and a lighting and sterilization module 8; the storage chamber 3 is equipped with a storage module; and the working tank 2 is equipped with a central control panel 14.

[0045] like Figure 1 and Figure 2 As shown, the grasping module includes a movable support frame, an intelligent mechanical claw 7, and an intelligent gripper 9, used to grasp or transport fruit to a corresponding position under the action of electric drive and infrared sensing. See also Figure 3 The cleaning module includes an ultrasonic generator 103, a spray nozzle, a water tank 104, an inlet / outlet 102, a water storage tank 5, a water pipe 6, and a water pump 4, used for ultrasonic washing of fruits; the lighting and sterilization module 8 includes a first sterilization device 801, a main lamp 803, a lamp holder 804, and a lamp holder shaft 805, used for internal lighting and ultraviolet sterilization; the storage module includes a conveyor belt, a lifting device 203, a fruit storage chamber 301, and a wastewater collection tank, used for collecting fruits and wastewater respectively; the central control panel 14 is electrically connected to the gripping module, the cleaning module, and the lighting and sterilization module 8 respectively. See details... Figure 1 and Figure 2Water pipe 6 and water pump 4 are connected to the water storage tank 5 from the outside of the working box 2 and storage chamber 3. The inlet and outlet 102 are detachably connected to the water storage tank 5 via the first water pipe 601 and the first water pump 401, allowing clean water to be drawn from the water storage tank 5 into the water tank 104. The first spray nozzle 105, made of stainless steel, is detachably connected to the water storage tank 5 via the second water pump 402 and the second water pipe 602, allowing water to be drawn from the water storage tank 5 into the fruit washing box 1 for spray cleaning. A conveyor belt is used to transport fruit to the fruit storage chamber 301 for storage or to deliver fruit to the fruit washing machine.

[0046] like Figure 4 As shown, the multifunctional fruit washing machine in this embodiment also includes a peeling module 16; the storage module also includes a peel collection box for collecting the peels removed from the fruit by the peeling module 16.

[0047] Specifically, see Figure 5 The peeling module 16 is installed in the work box 2. The peeling module 16 includes a peeling conveying pipe 201 and an automatic peeler. The automatic peeler includes a peeling knife 1601, a disc 1602, a fixed steel needle 1605, a lower fixing device 1603, and an upper fixing device 1604. The peeling conveying pipe 201 is made of stainless steel with a silicone layer on its surface. The peeling conveying pipe 201 is divided into two sections with an included angle of 115° between the two sections. The outlet of the lower section is aligned with the lower fixing device 1604. 603; The lower fixing device 1603 and the upper fixing device 1604 are arranged correspondingly, and the two can fix and loosen the fruit by being relatively close or separated; a fixing steel needle 1605 is vertically set in the center of the upper fixing device 1604, and the upper fixing device 1604 can rotate around the axis of the fixing steel needle 1605; the disc 1602 is vertically set, and the peeling knife 1601 is vertically set on the disc 1602. The rotation of the disc 1602 can drive the peeling knife 1601 to peel around the edge of the fruit. The automatic peeler is made of stainless steel. During operation, the peeling blade 1601 is fixed on the disc 1602 and rotates with the disc 1602 to peel the fruit around the edge. The lower layer is fixed to support and hold the fruit, while the upper fixing device 1604 is equipped with fruit fixing steel pins 1605 to fix the fruit and drive the fruit to rotate. This facilitates the peeling blade 1601 to peel the fruit thoroughly. It can rotate 90° around the rotating shaft 1606 in the working box 2 to convey the fruit.

[0048] like Figure 6 As shown, the multifunctional fruit washing machine in this embodiment also includes a fruit funnel 205 and a fruit cutting and pitting module 206 disposed in the working box 2; the upper part of the fruit funnel 205 is square and the lower part is spiral, and it is made of silicone; the fruit receiving platform 204 uses a telescopic lifting mechanism and is disposed inside the fruit funnel 205 to receive and transfer fruit.

[0049] The storage module also includes a peel collection box for collecting the pits removed from the fruit by the fruit cutting and pitting module 206. The fruit cutting and pitting module 206 includes an infrared detection device, a slicing knife, and a pitting knife. The infrared detection device is used to align the pitting knife with the fruit pit. The fruit cutting and pitting module 206 is aligned with the outlet of the fruit funnel 205 and cooperates with the intelligent gripper 9. Specifically, see... Figure 6 The fruit cutting and pitting module 206 is made of stainless steel and uses hydraulic principles. Through infrared detection, it determines the size of the pitting knife based on the size of the fruit pit to remove the pit. The segmenting knife cuts the fruit into segments. The pitting knife and the segmenting knife are circular.

[0050] The multifunctional fruit washing machine in this embodiment also includes a juicing module; the storage module further includes a juice storage tank 18 for storing the juice extracted by the juicing module; the juicing module includes a juicing transmission pipe 202, juicing rollers 207, a filter funnel 210, and a juice collector; the juicing transmission pipe 202 forms a 60° angle with the horizontal line, is made of stainless steel, and has a silicone layer on its surface; the outlet of the juicing transmission pipe 202 is aligned downwards between the pairs of juicing rollers 207; see also Figure 7 The juicing roller 207 includes a juicing roller gear 211 and a groove 212. The rotation of the juicing roller gear 211 drives the juicing gear to squeeze the fruit fixed in the groove 212. Specifically, the squeezing juicing roller gear 211 is made of stainless steel, is circular, and has a groove 212 to stabilize the fruit and ensure stable juicing. During operation, the juicing roller gear 211 rotates, and the juice passes through the filter funnel 210 to reach the juice storage tank 18 for juice storage. The filter funnel 210 is as follows: Figure 8 As shown, the juice filter funnel 210 is square, made of stainless steel, and contains many tiny filters. It is detachably connected to the squeeze-type juicing roller 207 and the juice storage tank 18. Figure 9 As shown, the juice storage tank 18 is made of stainless steel and is detachably connected to the filter funnel 210. It is installed inside the lower left of the working box 2 and connected to the external juice collector through the water pipe 6. The interior is equipped with food-grade biodegradable plastic to reduce the contact between the juice and oxygen, thereby extending the freshness time of the fruit juice.

[0051] The multifunctional fruit washing machine in this embodiment also includes a moving module; the moving module includes a global ultrasonic obstacle avoidance sensing matrix 12, an infrared transceiver pair 13, an ultrasonic radar 17, and moving wheels 11; the global ultrasonic obstacle avoidance sensing matrix 12, the infrared transceiver pair 13, and the ultrasonic radar 17 all work in conjunction with the machine vision processing system to achieve autonomous movement of the machine. Specifically, as... Figure 1As shown, the work box 2 and storage chamber 3 are detachably connected to the machine chassis plate 10, and bolts are provided at the connection points for easy disassembly and maintenance; the machine chassis plate 10 is detachably connected to the motor bracket; the motor bracket is detachably connected to the motor coupling, and the driving wheel 11 is mounted on the motor coupling. The driving wheel 11 is rotated by the motor drive. It is equipped with a full-range ultrasonic obstacle avoidance perception matrix 12, an infrared transceiver pair 13, and an ultrasonic radar 17, which, together with the machine vision processing system, enable the machine to move autonomously.

[0052] The multifunctional fruit washing machine in this embodiment also includes a spray self-cleaning module; the spray self-cleaning module includes several spray nozzles disposed in the peeling module 16 or the juicing module. Specifically, as shown... Figure 1 As shown, the second spray nozzle 208 and the third spray nozzle 209 are connected to the water storage tank 5 through the third water pipe 603 and the third water pump 403, so as to realize the periodic spray cleaning of the inside of the working box 2, ensuring that the inside of the device is sterile, non-toxic, safe and hygienic.

[0053] See Figure 10 The intelligent mechanical claw 7 includes a front claw 704, a connecting rod 705, an external meshing gear 706, an internal meshing gear 707, a hydraulic rod 708, and a push rod 709. The front claw 704 is made of silicone. The connecting rod 705 is hinged to the front claw 704 by bolts. The push rod 709 is connected to the connecting rod 705 by multiple hinged connectors. The two ends of the hydraulic rod 708 are hinged to the outer sides of the push rod 709 and the internal meshing gear 707, respectively. The hydraulic rod 708 has a cavity for storing hydraulic oil. The external meshing gear 706 and the internal meshing gear 707 mesh with each other to realize the rotation of the front claw 704 and control in a three-degree-of-freedom manner.

[0054] See Figure 11 The intelligent gripper 9 includes a gripper 901, a connecting rod 902, and a guard plate 903. The gripper 901 is arc-shaped to match the curvature of the fruit. The gripper 901 is made of stainless steel and has a silicone layer on its outer surface. The grippers 901 are arranged in pairs facing each other for holding the fruit. The first connecting rod 902 and the second connecting rod 902 are detachably connected to the gripper 901 and the guard plate 903 on both sides via cylindrical pins. A first incomplete gear 904 on one side of the connecting rod 902 meshes with a second incomplete gear 905 on one side of the other connecting rod 902. The first incomplete gear 904 and the second incomplete gear 905 are detachably connected to the guard plate 903 via cylindrical pins.

[0055] Driven by a motor and equipped with an infrared sensor, the intelligent robotic claw 7 and intelligent gripper 9 grasp or transport fruit to the appropriate processing location. When the multi-functional fruit washing machine receives an instruction to pick up the desired fruit, its internal camera records the fruit's location and transmits it to the control system on the intelligent robotic claw 7 or intelligent gripper 9. This allows the intelligent robotic claw 7 or intelligent gripper 9 to quickly move over the desired fruit and grasp it.

[0056] The fruit storage room 301 is also equipped with a spray nozzle and a vacuum unit 15.

[0057] Storage chamber 3 is made of stainless steel, a material known for its corrosion resistance and excellent sealing. It includes a third intelligent mechanical claw 703 and the fruit storage chamber 3, detachably connected to the working box 2. It is equipped with a fourth spray nozzle 302, connected to a water tank 5 via a fourth water pipe 604 and a fourth water pump 404, enabling timed spraying of the interior for cleaning. Simultaneously, storage chamber 3 is equipped with an airtight vacuum unit 15 for better storage and processing of the fruit. Storage chamber 3 also features a second lighting and sterilization device, such as… Figure 12 As shown, the second lighting sterilization device includes a second sterilization device 802, a main lamp tube 803, a lamp holder 804, and a lamp holder shaft 805. It periodically sterilizes and disinfects the interior with ultraviolet light, and can also optionally provide internal lighting. Both the first and second lighting sterilization devices are equipped with ultraviolet lamps and LED lamps, which are enclosed by the main lamp tube 803. The main lamp tube 803 can rotate around the lamp holder shaft 805 on the lamp holder 804. The lamp holder 804 is square and made of stainless steel, which has good corrosion resistance and high temperature resistance, facilitating all-round sterilization and lighting.

[0058] like Figure 13 As shown, the ultrasonic generator 103 is made of stainless steel and has extremely high corrosion resistance. It is shaped like a fan-shaped cylinder with fan-shaped slots on its surface, which can efficiently generate ultrasonic waves. It is detachably connected to the water tank 104.

[0059] The working process of this multifunctional fruit washing machine is as follows: First, the first intelligent mechanical claw 701 in the fruit washing tank 1, driven and supported by the movable support frame 101, accurately grabs the fruit under the guidance of the camera positioning and the movement path calculated by the control system. Then, the ultrasonic generator 103 for washing is activated, and in conjunction with the clean water drawn from the water tank 104, the fruit is washed efficiently. Then, the wastewater is collected in the collection tank through the outlet. Then, the first intelligent mechanical claw 701 can also send the fruit to the fruit peeling conveying pipe 201, where the automatic peeler starts to peel automatically through the intelligent gripper 9 and the fruit funnel 2. 05. The fruit is transported to the fruit cutting and pitting module 206. If the user does not choose to use it immediately, the fruit can be transported by the intelligent gripper 9, conveyor belt and lifting device 203 to the storage chamber 3 for storage. Then, when the user needs the fruit, the fruit can be transported out of the machine by the conveyor belt and the second intelligent mechanical gripper 702, or the machine can go to the user's designated location to deliver the fruit. The juicing function is that the fruit is sent to the juicing transmission pipe 202 by the intelligent mechanical gripper 7, the juicing roller 207 juices the fruit, the juice is obtained through the filter funnel 210 and stored, thus realizing multi-functional fruit processing.

[0060] The working principle of this multifunctional fruit washing machine:

[0061] 1. Grasping Module: The intelligent robotic claw 7 and intelligent gripper 9 are controlled in a three-degree-of-freedom manner. Driven by a motor and equipped with an infrared sensor, they grasp or transport fruit to the appropriate processing location. When the multi-functional fruit washing machine receives an instruction to pick up the desired fruit, its internal camera records the fruit's position and transmits it to the control system on the intelligent robotic claw 7 or intelligent gripper 9. This helps the intelligent robotic claw 7 quickly move above the desired fruit, grasp it, and then, based on the user's specific needs and the path calculated by the control system, place the fruit at the appropriate location.

[0062] 2. Cleaning module: When the detection device detects that fruit has been placed in it, the water inlet stops filling when it reaches a certain height. The ultrasonic generator 103 starts working to generate high-frequency oscillation, thereby cleaning the fruit in the water tank 104. After cleaning is completed, the drain valve opens and drains all the water in the water tank 104 into the wastewater storage tank.

[0063] 3. Peeling Module 16: When the user selects a fruit and needs it peeled, the intelligent mechanical claw 7 grabs the fruit and places it into the peeling conveyor pipe 201. The fruit then travels through the pipe to the peeling area. After the automatic peeler detects the fruit, the upper fixing device 1604 clamps the fruit in place. The peeling blade 1601 then moves close to the upper fixing device 1604, causing the fruit to rotate. The disc 1602 rotates autonomously under the drive of the motor, causing the peeling blade 1601 to peel the fruit, thus achieving the peeling work. After the fruit is peeled, the entire peeling device rotates 90 degrees. The detection device on this side detects the position of the fruit and transmits it to the intelligent gripper 9. The intelligent gripper 9 picks up the detected peeled fruit and places it into the fruit funnel 205. Fruit is fed to the fruit cutting and pitting module 206 via the fruit funnel 205 for segmenting and pitting. The intelligent gripper 9 from the motor uses infrared sensing to straighten the fruit. At the same time, the pitting knife determines the size of the blade according to the size of the pit under infrared sensing, so as to accurately segment and pit the fruit.

[0064] 4. Juicing Module: When the user selects juicing, the cleaned fruit is picked up by the intelligent robotic gripper 7 and placed into the juicing transmission pipe 202. The fruit then travels through the juicing transmission pipe 202 to the juicing rollers 207. This device extracts juice from the fruit by pressing the two rollers together. Once the fruit reaches the juicing rollers, the grooves 212 on the rollers hold the fruit in place. The juicing rollers then begin to rotate under the drive of the motor, gradually pressing the fruit. Simultaneously, a filtering device filters the juice to obtain the fruit juice, which is then stored for the user to collect when needed.

[0065] 5. Storage Module: This storage module mainly consists of a fruit storage chamber 301, a juice storage box 18, a peel collection box, a wastewater collection box, and a water storage tank 5. The fruit storage chamber 301 is primarily for storing unused fruit from the peeling module 16. The airtight vacuum unit 15 periodically performs vacuuming. Driven by an internal motor, the diaphragm inside the vacuum pump reciprocates, compressing and stretching the air in the fixed-volume pump chamber to create a vacuum. A pressure difference is generated between the pump's exhaust port and the external atmospheric pressure, drawing gas into the pump chamber and then expelling it from the exhaust port. This process extracts air and other gases from the chamber. The machine achieves a predetermined vacuum level to ensure fruit freshness and prevent oxidation and waste. The peel collection box primarily collects fruit peels and contains a heating device to dry them, preventing rotting, unpleasant odors, and insect attraction. The dried peels can also be used as organic fertilizer in flowerpots. The juice storage tank 18 stores juice to prevent overflow and waste due to excessive fruit intake. The wastewater collection tank collects wastewater from washing the fruit, as well as distilled water from the dried peels, which can be used for watering plants, flushing toilets, and mopping floors. The water storage tank 5 stores clean water for use in the multi-functional fruit washing machine, which is then used for spraying water onto the fruit and cleaning the internal components of the machine.

[0066] 6. Mobility Module: This module, based on machine vision, determines the distance to objects by emitting high-frequency sound waves and receiving their echoes. When sound waves encounter obstacles, they are reflected back. Sensors receive these echoes and calculate the round-trip time. Since the speed of sound is known, the sensors can calculate the distance to the obstacle based on the time difference. The multi-functional fruit washing machine relies on the real-time data processing of the ultrasonic radar 17 and the robot's control system to continuously monitor its surroundings. Once an obstacle is detected, the control system quickly calculates an obstacle avoidance path based on the distance information provided by the sensors, thus achieving autonomous movement. This function is a complex process combining sensor technology, signal processing, and control algorithms.

[0067] 7. Spray Self-Cleaning Module: This module includes a spray head, a spray motor, water pipes 6, and an electric water pump 4. The electric water pump 4 uses an electrically driven pump, which converts electrical energy into mechanical energy through an electric motor, thereby delivering water from the clean water storage chamber 3 to the spray head. Simultaneously, the spray motor drives the rotation and spraying of the spray head, achieving all-around spraying inside the multi-functional fruit washing machine, thus increasing the cleaning range and optimizing the cleaning effect.

[0068] 8. Lighting and Sterilization Module: This module primarily provides ultraviolet sterilization and internal lighting. The multi-functional fruit washing machine is equipped with an intelligent ultraviolet sterilization device that periodically uses ultraviolet radiation to destroy microbial DNA, sterilizing the water and internal air. During sterilization, the fruit in the backup storage box must be removed to prevent damage. When sterilization is not needed, the user can remotely turn the LED lights on or off via their mobile phone for illumination.

[0069] This utility model of a multi-functional fruit washing machine also includes an intelligent control unit, which comprises an STM32F microcontroller, a PLC control system, a Bluetooth module, infrared sensors LHI778 and LHI874, and ultrasonic radars 17UPA, APA, and AK2. The STM32F microcontroller primarily detects the temperature, humidity, carbon dioxide content, and methane content within the multi-functional fruit washing machine, thereby adjusting its internal structure accordingly. The PLC control system mainly controls the central control panel 14. The Bluetooth module connects to the user's mobile phone or tablet for remote operation. The infrared sensors detect the real-time status of the fruit and transmit signals to the control system for further processing. The ultrasonic radar 17 monitors the machine's status in real time and, through the intelligent control system, quickly calculates obstacle avoidance routes, enabling the multi-functional fruit washing machine to move autonomously. The intelligent control can also automatically adjust according to the characteristics of different fruits and cleaning needs, improving cleaning efficiency and effectiveness.

[0070] This invention also establishes a working platform and human-machine interface, enabling wireless transmission of remote video signals and sensor-acquired signals to a PC client. Combining digital image processing technology with the microcontroller's motor control and data processing functions, it achieves remote control of the multifunctional fruit washing machine, video signal processing, and wireless communication of the entire system. As an extension, it can also be combined with video signal acquisition and transmission with real-time motor control, allowing control and adjustment of the multifunctional fruit washing machine via a mobile phone, realizing functions such as "fruit washing, internal spraying, sterilization, internal lighting, fruit peeling, fruit storage, fruit juicing, and autonomous movement."

[0071] The above embodiments are merely one of the implementation methods for achieving the technical solution of this utility model. The scope of protection claimed by this utility model is not limited to this embodiment, but also includes any variations, substitutions, and other implementation methods that are easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multifunctional fruit washing machine, characterized in that, The system includes a gripping module, a cleaning module, a lighting and sterilization module (8), a storage module, and a central control panel (14). The gripping module includes a movable support frame (101), an intelligent mechanical claw (7), and an intelligent gripper (9), used to grip or transport fruits to the corresponding positions under the action of electric drive and infrared sensing. The cleaning module includes an ultrasonic generator (103), a spray nozzle, a water tank (104), an inlet and outlet (102), a water storage tank (5), a water pipe (6), and a water pump (4), used for ultrasonic water washing of fruits. The lighting and sterilization module (8) includes a lighting and sterilization device, a main lamp tube (803), a lamp holder (804), and a lamp holder shaft (805), used for internal lighting and ultraviolet sterilization. The storage module includes a conveyor belt, a lifting device (203), a fruit storage room (301), and a wastewater collection tank, used for collecting fruits and wastewater respectively. The central control panel (14) is electrically connected to the gripping module, the cleaning module, and the lighting and sterilization module (8).

2. The multifunctional fruit washing machine according to claim 1, characterized in that, It also includes a peeling module (16); the storage module also includes a peel collection box for collecting the peels removed from the fruit by the peeling module (16); the peeling module (16) includes a peeling conveying pipe (201), a peeling knife (1601), a disc (1602), a fixing steel needle (1605), a lower fixing device (1603), and an upper fixing device (1604); the outlet of the peeling conveying pipe (201) is aligned with the lower fixing device (1603); the lower fixing device (1604) 3) The upper fixing device (1604) is arranged in a corresponding manner. The two can be close to each other or separated to fix and loosen the fruit. The upper fixing device (1604) has a vertically arranged fixing steel needle (1605) in the center. The upper fixing device (1604) can rotate around the axis of the fixing steel needle (1605). The disc (1602) is set vertically, and the peeling knife (1601) is set vertically on the disc (1602). The rotation of the disc (1602) can drive the peeling knife (1601) to peel around the edge of the fruit.

3. A multifunctional fruit washing machine according to claim 1, characterized in that, It also includes a fruit funnel (205) and a fruit cutting and pitting module (206); the storage module also includes a peel collection box for collecting the pits removed from the fruit by the fruit cutting and pitting module (206); the fruit cutting and pitting module (206) includes an infrared detection device, a slicing knife and a pitting knife, the infrared detection device is used to align the pitting knife with the pit of the fruit; the fruit cutting and pitting module (206) is aligned with the outlet of the fruit funnel (205) and cooperates with the intelligent gripper (9).

4. A multifunctional fruit washing machine according to claim 1, characterized in that, It also includes a juicing module; the storage module also includes a juice storage tank (18) for storing the juice extracted by the juicing module; the juicing module includes a juicing transmission pipe (202), juicing rollers (207), a filter funnel (210) and a juice collector; the outlet of the juicing transmission pipe (202) is aligned downward between the pairs of juicing rollers (207); the juicing rollers (207) include juicing roller gears (211) and grooves (212), the rotation of the juicing roller gears (211) drives the juicing rollers (207) to squeeze the fruit fixed in the grooves (212).

5. A multifunctional fruit washing machine according to claim 1, characterized in that, It also includes a mobile module; the mobile module includes a global ultrasonic obstacle avoidance perception matrix (12), an infrared transceiver pair (13), an ultrasonic radar (17) and a moving wheel (11) set at the bottom of the fruit washing machine; the global ultrasonic obstacle avoidance perception matrix (12), the infrared transceiver pair (13), and the ultrasonic radar (17) all work together with the machine vision processing system to realize the autonomous movement of the machine.

6. A multifunctional fruit washing machine according to claim 2 or 4, characterized in that, It also includes a spray self-cleaning module; the spray self-cleaning module includes several spray nozzles disposed in the peeling module (16) or the juicing module.

7. A multifunctional fruit washing machine according to claim 1, characterized in that, The intelligent mechanical claw (7) includes a front claw (704), a connecting rod (705), an external meshing gear (706), an internal meshing gear (707), a hydraulic rod (708), and a push rod (709); the front claw (704) is made of silicone; the connecting rod (705) is hinged to the front claw (704) by bolts; the push rod (709) is connected to the connecting rod (705) by multiple hinged connectors; the two ends of the hydraulic rod (708) are respectively hinged to the outside of the push rod (709) and the internal meshing gear (707), and the hydraulic rod (708) has a cavity for storing hydraulic oil inside; the external meshing gear (706) and the internal meshing gear (707) mesh with each other to realize the rotation of the front claw (704).

8. A multifunctional fruit washing machine according to claim 1, characterized in that, The intelligent gripper (9) includes a gripper (901), a connecting rod (902), and a guard plate (903); the gripper (901) is arc-shaped and matches the curvature of the fruit; the gripper (901) is made of stainless steel and has a silicone layer on its outer surface; the grippers (901) are arranged in pairs facing each other for holding the fruit; both sides of the two connecting rods (902) are detachably connected to the gripper (901) and the guard plate (903) respectively through cylindrical pins, and a first incomplete gear (904) on one side of the connecting rod (902) meshes with a second incomplete gear (905) on one side of the other connecting rod (902); the first incomplete gear (904) and the second incomplete gear (905) are detachably connected to the guard plate (903) respectively through cylindrical pins.

9. A multifunctional fruit washing machine according to claim 1, characterized in that, The fruit storage room (301) is also equipped with a sprinkler.

10. A multifunctional fruit washing machine according to claim 1, characterized in that, The fruit storage room (301) is also equipped with a vacuum unit (15).

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