Multifunctional integrated leek processing machine

Abstract

The utility model discloses a multifunctional integrated leek processing machine belongs to agricultural machinery equipment technical field. The processing machine includes frame, control system and the four compartment rotating material distributing device, pneumatic soil removal device, intelligent yellow leaf removal device, collection groove, stapler type bundling mechanism and ration stacking device that set gradually. Among them, the four compartment rotating material distributing device is installed in the frame entrance through linear guide rail. The pneumatic soil removal device contains louvered work platform and symmetrical clamping piece mechanism. The intelligent yellow leaf removal device is installed through the guide rail sliding block and integrates openMV vision module and vacuum pneumatic sucking disc. The stapler type bundling mechanism is arranged below the collection groove. The ration stacking device contains the material receiving basket driven by the lead screw. The utility model discloses through the optimization of each function module's mechanical structure and the layout, and the compact structure is smooth, and the realization leek from the material distribution to the stacking series of procedure's continuous automation processing, effectively improves the operation efficiency and the neatness.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and in particular to a multi-functional integrated leek processing machine. Background Technology

[0002] my country is a major producer and consumer of chives. In 2023, the national chive planting area exceeded 80,000 hectares, with a total output of approximately 13.5 million tons, accounting for more than 60% of the global total. Open-field, solar greenhouse, and plastic greenhouse cultivation methods ensure year-round chive supply, and chives are widely used in family meals, the catering industry, and the frozen food and prepared food industries. With the improvement of urban consumption levels and the development of fresh food e-commerce, market demand for chives is gradually shifting towards standardization, commercialization, and large-scale production, placing higher demands on the processing stages from harvesting to shelf placement.

[0003] Current technologies and products in the field of leek processing have significant limitations and are unable to meet the needs of modern production: 1. Low level of automation, reliant on manual labor and inefficient. Existing leek harvesters require manual operation for bundling, cleaning, and tray loading, failing to achieve full automation. Compared to purely manual operation, processing efficiency is not significantly improved, and they cannot meet the batch processing needs of large-scale planting bases.

[0004] 2. Limited functionality and insufficient integration. Existing patented technologies mostly focus on a single processing step, lacking integrated equipment that combines soil removal, yellow leaf removal, bundling, and stacking. The production process requires the coordinated operation of multiple agricultural machines, which not only increases equipment purchase and maintenance costs but also reduces the overall processing continuity.

[0005] 3. Traditional processing methods are prone to causing losses and affecting freshness. Traditional methods of removing soil often involve manual beating, mechanical vibration, or water washing. Manual beating and mechanical vibration result in a high rate of broken leaves and large fluctuations in cleanliness, while water washing keeps the leaves damp and shortens the shelf life. At the same time, the removal of yellow leaves relies on manual sorting, which is inefficient and prone to omissions, affecting the commercial quality of the chives.

[0006] 4. High labor costs and difficulty in controlling waste rates. The leek processing sector generally faces a labor shortage. Manual processing is not only labor-intensive and costly, but also suffers from inconsistent sorting standards and difficulty in controlling processing losses, thus limiting the overall profitability of the industry.

[0007] The core reason for the above problems is that existing technologies have not been designed specifically to take into account the physical characteristics of chives, such as their long, thin, soft, and easily broken fibers, and lack a modular architecture that integrates multiple processes. At the same time, they have not effectively integrated pneumatic technology, visual recognition technology, and automated control technology, making it difficult to achieve efficient, non-destructive, and intelligent end-to-end processing, and thus failing to meet the development needs of the chive industry for large-scale, standardized, and high-quality production. Utility Model Content

[0008] To achieve the above objectives, this utility model proposes a multifunctional integrated leek processing machine and its processing method, the specific solution of which is as follows: A multi-functional integrated leek processing machine includes a frame, a control system, and a four-compartment rotary dispensing device, a pneumatic soil removal device, a quantitative stacking device, a stapler-type binding mechanism, a collection trough, an intelligent yellow leaf removal device, and a brush arranged in sequence. The frame is constructed using aluminum profiles and measures 1100mm × 600mm × 1000mm, and is used to support various devices. The four-compartment rotary dispensing device is installed at the entrance of the frame via a linear guide rail, and is used to receive chives and achieve uniform dispensing. The pneumatic soil removal device includes a louvered working platform, a clamping mechanism, and a pneumatic air knife; the louvered working platform is fixed on the frame and located below the four-compartment rotary material distribution device; the clamping mechanism is symmetrically installed on both sides of the louvered working platform and is hinged to the cylinder piston rod through a connecting rod; the cylinder is fixed on the lower frame. The intelligent yellow leaf removal device is mounted on the frame via a linear guide rail assembly and is located downstream of the pneumatic soil removal device. The intelligent yellow leaf removal device has a built-in OpenMV vision module and a vacuum pneumatic suction cup. The collection trough is tilted and fixed on the frame, located downstream of the intelligent yellow leaf removal device; the stapler-type binding mechanism is set on the frame in front of the four-compartment rotary dispensing device and installed below the collection trough; the brush is fixed on the linear guide slider by a special bracket; it is aligned with the inlet of the collection trough; and the chives are swept into the collection trough by the linear guide drive. The quantitative palletizing device includes a receiving basket and a lead screw. The receiving basket is installed at the end of the frame via the lead screw and is located downstream of the stapler-type binding mechanism. The control system is based on the STM32F103ZET6 microcontroller and integrates a power module, a serial communication module and an IO expansion module. It is installed in the electrical control box on the side of the rack and is used to control the coordinated operation of various devices. Each device achieves fully automated processing of the entire process through the control system, including material sorting, soil removal, yellow leaf removal, bundling, and stacking.

[0009] The preferred embodiment of the multi-functional integrated leek processing machine is that the four-compartment rotary dispensing device includes a material trough, a rigid baffle plate, a coupling, and a DC geared motor. The feed trough is connected to a DC geared motor via a coupling, and the DC geared motor is fixed on the slider of the linear guide rail; The rigid baffle plate is installed at the outlet below the material trough to buffer the falling material and guide the chives to fall evenly. The linear guide rail is laid longitudinally along the frame, driving the four-compartment rotary material distribution device to reciprocate longitudinally along the worktable, realizing a closed-loop operation of material feeding, material distribution, and return.

[0010] The preferred embodiment of the multi-functional integrated leek processing machine is that the louvered working platform of the pneumatic soil removal device includes a platform upper plate, a platform side plate, and an SC small pneumatic cylinder. The platform has multiple upper plates, which are connected to the platform side plates via bearings, and the platform side plates are fixed to the frame; The SC miniature pneumatic cylinder is hinged to the platform plate via a connecting rod. The cylinder extends and retracts to drive the platform plate to rotate synchronously by 90° to achieve opening and closing. Each clamping mechanism includes an electromagnet and clamps coated with food-grade frosted anti-slip material. The control system controls the electromagnet to be energized and engaged. The clamping force of the clamping mechanism is 36.7875N, and the safety factor is 649.2. It is driven by a cylinder to rotate 90° around the hinge point. The electromagnet has a suction force of 5 kg. The food-grade frosted anti-slip material has a coefficient of friction μ=0.6 and a contact length of 40mm. The pneumatic air knife is mounted on a bracket above the louvered work platform, with a height of 100mm. It is connected to an air compressor through an air guide pipe with a diameter of 8mm and a length of 30m. The air outlet is vertically downward and aimed at the root of the leek. The air compressor output pressure is 0.4-0.6MPa.

[0011] A preferred embodiment of the multifunctional integrated leek processing machine is as follows: the intelligent yellow leaf removal device includes a guide rail slider, an OpenMV vision module, a vacuum pneumatic suction cup, gear b, and rack b. The guide rail slider is laid horizontally along the frame and moves in the XY plane, with an X-axis travel of 800mm and a Y-axis travel of 500mm. The OpenMV vision module is fixed on the guide rail slider, with a height of 300mm, aligned directly above the working platform, and is used to acquire images of the leeks. The vacuum pneumatic suction cup is mounted below the guide rail slider via a bracket, has a suction cup diameter of 3mm, and is connected to a vacuum pump via an air duct. A motor drives gear b and rack b to move the vacuum pneumatic suction cup up and down. The vacuum pneumatic suction cup uses the vacuum pump to generate negative pressure to adsorb yellow leaves. The OpenMV vision module sends the coordinates of the identified yellow leaves to the main control unit, which then controls the vacuum pneumatic suction cup to precisely adsorb and move the leaves to the waste area for release.

[0012] The preferred embodiment of the multifunctional integrated leek processing machine is as follows: the stapler-type binding mechanism includes an upper shell, a lower shell, a tape head, a servo motor, and a nylon strapping tape feeder; the upper shell and the lower shell are connected by bolts to form a complete housing; the servo motor is vertically installed at the top center of the upper shell, the tape head is fixed in the upper shell and extends out from the upper shell; the nylon strapping tape is embedded in the front mounting groove of the lower shell, and the feeder is fixed on the lower shell, all of which are fixed with glue; The cassette head is connected to the servo motor via gear a and rack b, and the nail feeder and nylon strapping are driven by a lead screw to achieve the wrapping and fastening of the strapping. The collection tank is made of stainless steel, with a U-shaped cross-section, a width of 80mm, a depth of 50mm, and is fixed to the frame at a 30° angle.

[0013] A preferred embodiment of the multifunctional integrated leek processing machine is as follows: the quantitative palletizing device includes a receiving basket, a lead screw, a pressure sensor, and a voice broadcast module; the pressure sensor is attached to the bottom of the receiving basket and rigidly connected to it; the receiving basket is fixed on the lead screw slider, the lead screw is laid horizontally and aligned with the outlet of the stapler-type binding mechanism; the lead screw drives the receiving basket to move horizontally; the voice broadcast module is connected to the GPIO port of the main control unit via DuPont wires to indicate the quality threshold and palletizing status; When the pressure sensor detects that the weight of the chives has reached the set threshold, the main control unit controls the lead screw to move a distance equal to the thickness of a bunch of chives, thus achieving automatic stacking. The receiving basket is made of plastic and has a capacity of 6.4 × 10. 6 mm³, lead screw with a lead of 5mm and a stroke of 500mm, pressure sensor using resistance strain gauge type pressure sensor with an accuracy of ±1g and a range of 0-5kg; and ASKPRO voice broadcast module DC24V.

[0014] A processing method for a multi-functional integrated leek processing machine includes the following steps: Step 1: Sorting materials; The chives are received by a four-compartment rotary dispensing device. A DC geared motor drives the material trough to rotate intermittently. With the help of a rigid baffle plate, the chives are evenly dropped onto the louvered working platform. The dispensing time is 3 seconds. Step 2: Remove the soil; After the material is separated, the control system controls the clamping mechanism to clamp the chive bundles, and the cylinder drives the clamping mechanism to rotate 90° to make the chives hang vertically; then the cylinder drives the louvered working platform blades to rotate downward 90° to open the channel; the pneumatic air knife blows away the soil from the roots with an air pressure of 0.4MPa, and the soil falls into the waste collection trough, with a soil removal time of 5 seconds. Step 3: Remove yellow leaves; After the soil is removed, the chives are moved to the yellow leaf removal station along the louvered work platform. The OpenMV vision module collects images and identifies the coordinates of the yellow leaves. The control system drives the linear guide rail to move the vacuum pneumatic suction cup directly above the yellow leaves. After the vacuum pneumatic suction cup adsorbs the yellow leaves, it is moved to the waste collection tank. The yellow leaf removal time is 3 seconds. Step 4: Bundling; After removing the yellow leaves, the brush sweeps the chives into a collection trough in bundles at a sweeping speed of 30mm / s; each bundle of chives is 20-30mm in diameter; the main control unit controls the servo motor to rotate, which drives the cassette head to rise to a height of 20mm via gear A and rack A. After the cassette head mechanism is reset, the nylon strapping wraps around the root of the chives with a radius of 40mm, completing the pre-wrapping; the nail feeder is activated, and the nylon strapping is nailed to achieve binding. The excess part of the strapping is cut off, completing the single bundle binding of the chives, with each bundle weighing 200g±5g and the binding time being 4s. The nails for the nail feeder are made of galvanized iron wire with a diameter of 1mm.

[0015] Step 5: Palletizing; After being bundled, the chives fall from the collection trough into the receiving basket. The pressure sensor collects the chive weight signal in real time. When the weight of the chives in the receiving basket reaches the 200g threshold, the main control unit triggers the voice broadcast module to announce that the current weight is 200g and the stacking begins. At the same time, the main control unit drives the lead screw to rotate, moving the receiving basket forward by 20-30mm, so that the next bundle of chives is closely arranged next to the previous bundle, achieving quantitative and neat stacking. Repeat the above process until the stacked chives in the receiving basket reach the preset 10-15 bunches. The voice broadcast module will then prompt that the stacking is complete, and the receiving basket will be replaced manually. The control system coordinates the pace of each step through timer interrupts, forming a closed-loop control of perception-decision-execution, which can ensure seamless connection of processes; and it adapts to different varieties of chives by adjusting the parameters of motor speed and air pressure online. Beneficial effects

[0016] 1. Processing efficiency is significantly improved. Quantitative Effect: This utility model, through the integrated design of a "four-compartment rotary material distribution device + pneumatic soil removal device + intelligent yellow leaf removal device + stapler-style binding mechanism + quantitative palletizing device," coupled with a control system based on STM32, achieves fully automated processing of chives from harvest to shelf placement, eliminating the need for manual intervention. This significantly improves processing capacity per unit time, meets the needs of large-scale production, and reduces reliance on manual labor. Breaking through the limitations of traditional single-function equipment, it integrates multiple processes such as soil removal, yellow leaf removal, binding, and palletizing into one machine. Modular design enables collaborative work among various mechanisms, avoiding increased costs and cumbersome operation associated with using multiple agricultural machines, and improving space utilization and production continuity.

[0017] In contrast, traditional manual processing requires multiple people to work together, and existing semi-automatic equipment still requires manual assistance. This machine achieves continuous automated operation, significantly shortening the processing cycle.

[0018] 2. The quality of work and the rate of commercialization have been significantly improved. Soil removal rate: The pneumatic soil removal device achieves a soil removal efficiency of 91.33%, and does not require water washing, keeping the chives dry and extending the shelf life by 1-2 days.

[0019] Yellow leaf recognition rate: The visual system has an accuracy rate of >95% in recognizing yellow leaves, and it can be precisely removed with the help of a vacuum pneumatic suction cup, increasing the commercialization rate by more than 30%.

[0020] Low damage rate: The clamping mechanism uses food-grade frosted anti-slip material, and the contact stress is only 4.79% of the compressive strength of chives. The mechanical damage rate is <2%, which is far lower than that of manual beating or vibration to remove soil (the damage rate is often >10%).

[0021] 3. Energy conservation, environmental protection, and resource saving Pneumatic system as the main component: Compared with pure electric system, pneumatic actuators reduce energy consumption by more than 30% and have no oil pollution.

[0022] Waterless washing process: avoids the consumption of large amounts of water resources by traditional water washing methods (0.5-1 ton of water can be saved per ton of chives), and at the same time eliminates sewage discharge.

[0023] Lightweight design: The entire machine weighs only 35kg and is mainly made of aluminum profiles, which facilitates transportation and installation and reduces manufacturing and maintenance costs.

[0024] 4. Labor costs have been significantly reduced. Fully automated process: A single machine can replace 3-4 workers, and based on an 8-hour workday, it can save approximately 100,000-150,000 yuan in labor costs annually.

[0025] Easy to operate: Supports voice broadcast and adjustable parameters, no professional training is required to operate, reducing the labor threshold.

[0026] 5. Compact structure and multifunctional integration High space utilization: The machine is only 1100×600×1000mm in size and integrates five functions: material sorting, soil removal, yellow leaf removal, bundling, and palletizing. It replaces the traditional assembly line layout of multiple machines connected in series, reducing the floor space by more than 50%.

[0027] Modular design: Supports flexible addition or removal of functional modules to adapt to different scale scenarios (such as fields, processing workshops, and distribution centers).

[0028] 6. Strong standardization and scalability Quantitative palletizing accuracy: The pressure sensor accuracy reaches ±1g, and each bundle of chives is quantified at 200g, resulting in high palletizing neatness and facilitating warehousing and logistics.

[0029] Open control system: Reserves voice control and data interfaces, supports access to IoT platforms, and enables remote monitoring and data analysis. Attached Figure Description

[0030] Figure 1 This is an assembly drawing of a multi-functional integrated leek processing machine; Figure 2 This is a schematic diagram of the four-compartment rotary material distribution device; Figure 3 This is a schematic diagram showing the closed position of the louvered work platform. Figure 4 A schematic diagram showing the opening position of the louvered work platform; Figure 5 This is a schematic diagram of the intelligent yellow leaf removal device. Figure 6 This is a schematic diagram of a stapler-type binding mechanism.

[0031] The components are as follows: 1-Frame; 2-Linear guide rail; 3-Four-compartment rotary feeding device; 4-Waste collection trough; 5-Receiving basket; 6-Screw; 7-Stapler-type binding mechanism; 8-Collection trough; 9-Air compressor; 10-Louvre-type work platform; 11-Intelligent yellow leaf removal device; 12-Clamping mechanism; 13-Pneumatic air knife; 14-Coupling; 15-DC geared motor; 16-Four-compartment rotary material trough; 17-Platform upper plate; 18-Platform side plate; 19-SC small pneumatic cylinder; 20-Connecting rod; 21-Guide rail slider; 22-OpenMV vision module; 23-Vacuum pneumatic suction cup; 24-Upper shell; 25-Lower shell; 26-Cassette head; 27-Servo motor; 28-Nylon strapping tape; 29-Nail feeder; 30-Gear a; 31-Rack a; 32-Brush; 33-Rigid baffle; 34-Gear b; 35-Rack b. Detailed Implementation

[0032] The technical solutions in the embodiments of this utility model will be clearly and completely described below. 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 are within the protection scope of this utility model.

[0033] like Figure 1-6As shown, a multi-functional integrated leek processing machine includes a frame 1, a control system, and a four-compartment rotating material dispensing device 3, a pneumatic soil removal device, a quantitative stacking device, a stapler-type binding mechanism 7, a collection trough 8, an intelligent yellow leaf removal device 11, and a brush 32 arranged in sequence. The frame 1 is a frame constructed of aluminum profiles, with dimensions of 1100mm×600mm×1000mm, used to support various devices; The four-compartment rotary dispensing device 3 is installed at the entrance of the frame 1 via a linear guide rail 2, and is used to receive chives and achieve uniform dispensing; The pneumatic soil removal device includes a louvered working platform 10, a clamping mechanism 12, and a pneumatic air knife 13. The louvered working platform 10 is fixed on the frame 1 and located below the four-compartment rotary material distribution device 3. The clamping mechanism 12 is symmetrically installed on both sides of the louvered working platform 10 and is hinged to the cylinder piston rod through a connecting rod. The cylinder is fixed on the lower frame 1. The intelligent yellow leaf removal device 11 is installed on the frame 1 via a linear guide rail assembly and is located downstream of the pneumatic soil removal device. The intelligent yellow leaf removal device 11 has a built-in OpenMV vision module 22 and a vacuum pneumatic suction cup 23. The collection trough 8 is tilted and fixed on the frame 1, located downstream of the intelligent yellow leaf removal device 11; the stapler-type binding mechanism 7 is set on the frame 1 in front of the four-compartment rotating material distribution device 3, and installed below the collection trough 8; the brush 32 is fixed on the slider of the linear guide rail 2 by a special bracket; it is aligned with the inlet of the collection trough 8; and the chives are swept into the collection trough 8 by the linear guide rail 2. The quantitative palletizing device includes a receiving basket 5 and a lead screw 6. The receiving basket 5 is installed at the end of the frame 1 via the lead screw 6 and is located downstream of the stapler-type binding mechanism 7. The control system is based on the STM32F103ZET6 microcontroller and integrates a power module, a serial communication module and an IO expansion module. It is installed in the electrical control box on the side of the rack and is used to control the coordinated operation of various devices. Each device achieves fully automated processing of the entire process through the control system, including material sorting, soil removal, yellow leaf removal, bundling, and stacking.

[0034] The four-compartment rotary material distribution device 3 includes a material trough 16, a rigid baffle plate 33, a coupling 14, and a DC geared motor 15; The feed trough 16 is connected to the DC geared motor 15 via a coupling 14, and the DC geared motor 15 is fixed on the slider of the linear guide rail 2. The rigid baffle plate 33 is installed at the outlet below the material trough 16 to buffer the falling material and guide the chives to fall evenly. The linear guide rail 2 is laid longitudinally along the frame 1, driving the four-compartment rotary material distribution device 3 to reciprocate along the longitudinal direction of the worktable, realizing a closed-loop operation of feeding, distributing, and returning to its original position.

[0035] The louvered working platform 10 of the pneumatic soil removal device includes a platform upper plate 17, a platform side plate 18, and an SC small pneumatic cylinder 19. The platform upper plate 17 is provided with multiple plates, which are connected to the platform side plates 18 via bearings. The platform side plates 18 are fixed to the frame 1. The SC small pneumatic cylinder 19 is hinged to the platform plate 17 via a connecting rod 20. The cylinder extends and retracts to drive the platform plate 17 to rotate synchronously by 90° to achieve opening and closing. Each clamping mechanism 12 includes an electromagnet and clamps coated with food-grade frosted anti-slip material. The control system controls the electromagnet to be energized and attracted. The clamping force of the clamping mechanism 12 is 36.7875N, and the safety factor is 649.2. It is driven by a cylinder to rotate 90° around the hinge point. The electromagnet has a suction force of 5 kg. The food-grade frosted anti-slip material has a friction coefficient μ=0.6 and a contact length of 40mm. The pneumatic air knife 13 is mounted on the bracket above the louvered working platform 10, with a height of 100mm. It is connected to the air compressor 9 through an air guide pipe with a diameter of 8mm and a length of 30m. The air outlet is vertically downward and aimed at the root of the leek. The output pressure of the air compressor 9 is 0.4-0.6MPa.

[0036] The intelligent yellow leaf removal device 11 includes a guide rail slider 21, an OpenMV vision module 22, and a vacuum pneumatic suction cup 23. The guide rail slider 21 is laid horizontally along the frame 1 and moves in the XY plane, with an X-axis travel of 800mm and a Y-axis travel of 500mm. The OpenMV vision module 22 is fixed on the guide rail slider 21, with a height of 300mm, and is aligned directly above the working platform 10. It is used to collect images of chives. The vacuum pneumatic suction cup 23 is installed below the guide rail slider 21 by a bracket. The suction cup has a diameter of 3mm and is connected to a vacuum pump through an air duct. The vacuum pneumatic suction cup 23 uses the vacuum pump to generate negative pressure to adsorb yellow leaves. The OpenMV vision module 22 sends the coordinates of the identified yellow leaves to the main control unit, which controls the vacuum pneumatic suction cup 23 to accurately adsorb and move the leaves to the waste area for release.

[0037] The stapler-type binding mechanism includes an upper housing 24, a lower housing 25, a tape head 26, a servo motor 27, nylon strapping tape 28, and a staple feeder 29. The upper housing 24 and the lower housing 25 are connected by bolts to form a complete housing. The servo motor 27 is vertically installed at the top center of the upper housing 24, and the tape head 26 is fixed in the upper housing 24 and extends out from inside the upper housing 24. The nylon strapping tape 28 is embedded in the front mounting groove of the lower housing 25, and the staple feeder 29 is fixed on the lower housing 25, all of which are fixed with glue. The cassette head is connected to the servo motor 27 via gear a30 and rack a31, and the nail feeder 29 and nylon strapping 28 are driven by a lead screw to realize the wrapping and nailing of the strapping. The collection trough 8 is made of stainless steel, has a U-shaped cross-section, is 80mm wide and 50mm deep, and is fixed to the frame 1 at a 30° angle.

[0038] The quantitative palletizing device includes a receiving basket 5, a lead screw 6, a pressure sensor, and a voice broadcast module. The pressure sensor is attached to the bottom of the receiving basket 5 and is rigidly connected to it. The receiving basket 5 is fixed to the slider of the lead screw 6, which is laid horizontally and aligned with the outlet of the stapler-type binding mechanism. The lead screw 6 drives the receiving basket to move horizontally. The voice broadcast module is connected to the GPIO port of the main control unit via DuPont wires to indicate the quality threshold and palletizing status. When the pressure sensor detects that the weight of the chives has reached the set threshold, the main control unit controls the lead screw to move a distance equal to the thickness of a bunch of chives, thus achieving automatic stacking. The receiving basket is made of plastic and has a capacity of 6.4 × 10. 6 mm³, lead screw with a lead of 5mm and a stroke of 500mm, pressure sensor using resistance strain gauge type pressure sensor with an accuracy of ±1g and a range of 0-5kg; and ASKPRO voice broadcast module DC24V.

[0039] A processing method for a multi-functional integrated leek processing machine includes the following steps: Step 1: Sorting materials; The chives are received by the four-compartment rotary dispensing device 3. The DC geared motor 15 drives the material trough 16 to rotate intermittently. With the help of the rigid baffle plate 13, the chives are evenly dropped onto the louvered working platform 10. The dispensing time is 3 seconds. Step 2: Remove the soil; After the material is divided, the control system controls the clamping mechanism 12 to clamp the chive bundles, and the cylinder drives the clamping mechanism to rotate 90° to make the chives hang vertically; then the cylinder drives the louvered working platform 10 to rotate the blades downward 90° to open the channel; the pneumatic air knife 13 blows away the soil from the roots with an air pressure of 0.4MPa, and the soil falls into the waste trough, with a soil removal time of 5s. Step 3: Remove yellow leaves; After removing the soil, the chives are moved to the yellow leaf removal station by the louvered work platform 10. The OpenMV vision module 22 collects images and identifies the coordinates of the yellow leaves. The control system drives the linear guide rail 2 to move the vacuum pneumatic suction cup 23 directly above the yellow leaves. After the vacuum pneumatic suction cup 23 adsorbs the yellow leaves, it moves into the waste collection tank 4. The yellow leaf removal time is 3 seconds. Step 4: Bundling; After removing the yellow leaves, the brush sweeps the chives into the collection trough in bundles of 80%, at a sweeping speed of 30mm / s; each bundle of chives is 20-30mm in diameter; the main control unit controls the servo motor 27 to rotate, which drives the tape head 26 to rise to a height of 20mm via gears a30 and racks a31. After the card head mechanism is reset, the nylon strapping 28 wraps around the root of the chives once with a radius of 40mm, completing the pre-wrapping; the nail feeder 29 is activated, and the nylon strapping 28 is nailed to achieve binding. The excess part of the strapping is cut off, completing the single bundle binding of the chives, with each bundle weighing 200g±5g and the binding time being 4s. The nails for the nail feeder are made of galvanized iron wire with a diameter of 1mm.

[0040] Step 5: Palletizing; After being bundled, the chives fall from the collection trough 8 into the receiving basket 5. The pressure sensor collects the chive weight signal in real time. When the weight of the chives in the receiving basket reaches the 200g threshold, the main control unit triggers the voice broadcast module to announce that the current weight is 200g and the stacking begins. At the same time, the main control unit drives the lead screw 6 to rotate, which moves the receiving basket 5 forward by a distance of 20-30mm, so that the next bundle of chives is closely arranged next to the previous bundle, achieving quantitative and neat stacking. Repeat the above process until the stacked chives in the receiving basket reach the preset 10-15 bunches. The voice broadcast module will then prompt that the stacking is complete, and the receiving basket will be replaced manually. The control system coordinates the pace of each step through timer interrupts, forming a closed-loop control of perception-decision-execution, which can ensure seamless connection of processes; and it adapts to different varieties of chives by adjusting the parameters of motor speed and air pressure online.

[0041] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-functional integrated leek processing machine, characterized in that, It includes a frame, a control system, and a four-compartment rotating material distribution device (3), a pneumatic soil removal device, a quantitative stacking device, a stapler-type binding mechanism (7), a collection trough (8), an intelligent yellow leaf removal device (11), and a brush (32) arranged in sequence. The frame (1) is a frame constructed of aluminum profiles with dimensions of 1100mm×600mm×1000mm, used to support various devices; The four-compartment rotary material distribution device (3) is installed at the entrance of the frame (1) via a linear guide rail (2) to receive chives and achieve uniform material distribution; The pneumatic soil removal device includes a louvered working platform (10), a clamping mechanism (12), and a pneumatic air knife (13); the louvered working platform (10) is fixed on the frame (1) and located below the four-compartment rotary material distribution device (3); the clamping mechanism (12) is symmetrically installed on both sides of the louvered working platform (10) and is hinged to the cylinder piston rod through a connecting rod; the cylinder is fixed on the lower frame (1); The intelligent yellow leaf removal device (11) is installed on the frame (1) via a linear guide rail assembly and is located downstream of the pneumatic soil removal device. The intelligent yellow leaf removal device (11) has a built-in OpenMV vision module (22) and a vacuum pneumatic suction cup (23). The collection trough (8) is tilted and fixed on the frame (1) and located downstream of the intelligent yellow leaf removal device (11); the stapler-type binding mechanism (7) is set on the frame (1) in front of the four-compartment rotating material distribution device (3) and installed below the collection trough (8); the brush (32) is fixed on the slider of the linear guide rail (2) by a special bracket; it is aligned with the inlet of the collection trough (8); and the chives are swept into the collection trough (8) by the linear guide rail (2). The quantitative palletizing device includes a receiving basket (5) and a screw (6). The receiving basket (5) is installed at the end of the frame (1) via the screw (6) and is located downstream of the stapler-type binding mechanism (7). The control system is based on the STM32F103ZET6 microcontroller, and integrates a power supply module, a serial communication module and an IO expansion module. It is installed in the electrical control box on the side of the rack (1) and is used to control the coordinated operation of each device. Each device achieves fully automated processing of the entire process through the control system, including material sorting, soil removal, yellow leaf removal, bundling, and stacking.

2. The multi-functional integrated leek processing machine as described in claim 1, characterized in that, The four-compartment rotary material distribution device (3) includes a material trough (16), a rigid baffle plate (33), a coupling (14), and a DC geared motor (15). The feed trough (16) is connected to the DC geared motor (15) via a coupling (14), and the DC geared motor (15) is fixed on the slider of the linear guide rail (2); The rigid baffle plate (33) is installed at the outlet below the material trough (16) to buffer the falling material and guide the chives to fall evenly; The linear guide rail (2) is laid longitudinally along the frame (1), driving the four-compartment rotating material distribution device (3) to move back and forth longitudinally along the worktable, realizing a closed-loop operation of feeding, distributing and returning.

3. The multi-functional integrated leek processing machine as described in claim 1, characterized in that, The louvered working platform (10) of the pneumatic soil removal device includes a platform upper plate (17), a platform side plate (18), and an SC small pneumatic cylinder (19). The platform upper plate (17) is provided with multiple plates, which are connected to the platform side plate (18) through bearings. The platform side plate (18) is fixed on the frame (1). The SC small pneumatic cylinder (19) is hinged to the platform plate (17) via a connecting rod (20). The SC small pneumatic cylinder (19) drives the platform plate (17) to rotate 90° synchronously to achieve opening and closing. Each clamping mechanism (12) includes an electromagnet and clamps covered with food-grade frosted anti-slip material. The control system controls the electromagnet to be energized and attracted. The clamping force of the clamping mechanism (12) is 36.7875N and the safety factor is 649.

2. It is driven by a cylinder to rotate 90° around the hinge point. The electromagnet has a suction force of 5 kg. The food-grade frosted anti-slip material has a friction coefficient of μ=0.6 and a contact length of 40mm. The pneumatic air knife (13) is mounted on the bracket above the louvered work platform (10) at a height of 100mm. It is connected to the air compressor (9) through an air guide pipe with a diameter of 8mm and a length of 30m. The air outlet is vertically downward and aimed at the root of the leek. The output pressure of the air compressor (9) is 0.4-0.6MPa.

4. The multi-functional integrated leek processing machine as described in claim 1, characterized in that, The intelligent yellow leaf removal device (11) includes a guide rail slider (21), an OpenMV vision module (22), a vacuum pneumatic suction cup (23), a gear b (34), and a rack b (35). The guide rail slider (21) is laid horizontally along the frame (1) and moves in the XY plane. The X-axis travel is 800mm and the Y-axis travel is 500mm. The OpenMV vision module (22) is fixed on the guide rail slider (21) with a height of 300mm and is aligned with the top of the working platform (10) to collect images of chives. The vacuum pneumatic suction cup (23) is installed below the guide rail slider (21) through a bracket. The suction cup has a diameter of 3mm and is connected to the vacuum pump through an air duct. The motor drives the gear b (34) and rack b (35) to drive the vacuum pneumatic suction cup (23) to move up and down. The vacuum pneumatic suction cup (23) uses the vacuum pump to generate negative pressure to adsorb yellow leaves. The OpenMV vision module (22) sends the coordinates of the identified yellow leaves to the main control unit, which controls the vacuum pneumatic suction cup (23) to accurately adsorb and move them to the waste area for release.

5. The multi-functional integrated leek processing machine as described in claim 1, characterized in that: The stapler-type binding mechanism includes an upper housing (24), a lower housing (25), a cassette head (26), a servo motor (27), nylon strapping (28), and a staple feeder (29). The upper housing (24) and the lower housing (25) are connected by bolts to form a complete housing. The servo motor (27) is vertically installed at the top center of the upper housing (24), the cassette head (26) is fixed in the upper housing (24) and extends out from inside the upper housing (24). The nylon strapping (28) is embedded in the front mounting groove of the lower housing (25), and the staple feeder (29) is fixed on the lower housing (25), all of which are fixed with glue. The cassette head is connected to the servo motor (27) via gear a (30) and rack a (31), and the nail feeder (29) and nylon strapping (28) are driven by a screw to realize the wrapping and nailing of the strapping; The collection tank (8) is made of stainless steel, with a U-shaped cross section, a width of 80mm, a depth of 50mm, and is fixed to the frame (1) at an angle of 30°.

6. The multi-functional integrated leek processing machine as described in claim 1, characterized in that: The quantitative palletizing device also includes a pressure sensor and a voice broadcast module; the pressure sensor is attached to the bottom of the receiving basket (5) and is rigidly connected to the receiving basket (5); the receiving basket (5) is fixed on the slider of the lead screw (6), the lead screw (6) is laid in the horizontal direction and aligned with the outlet of the stapler-type binding mechanism; the lead screw (6) drives the receiving basket to move horizontally; the voice broadcast module is connected to the GPIO port of the main control unit through DuPont wires and is used to prompt the quality threshold and palletizing status; When the pressure sensor detects that the weight of the chives has reached the set threshold, the main control unit controls the lead screw to move a distance equal to the thickness of a bunch of chives, thus achieving automatic stacking. The receiving basket is made of plastic and has a capacity of 6.4 × 10. 6 mm³, lead screw with a lead of 5mm and a stroke of 500mm, pressure sensor using resistance strain gauge type pressure sensor with an accuracy of ±1g and a range of 0-5kg; and ASKPRO voice broadcast module DC24V.

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