阅读说明：本技术 一种蔬果多功能一体自动售卖机 (Multi-functional integrative vending machine of vegetables and fruits ) 是由 尹世和 于 2019-11-26 设计创作，主要内容包括：本发明涉及一种蔬果多功能一体自动售卖机,包括蔬果处理工作台、机械手、机械手运动机构、工具架、工具架运动机构、扫描识别功能传感器、清洗喷管、削皮切削功能组件、蔬果固定座、竖向刀、横向刀、去核刀、送碗装置、进出模块、清洗装置。对蔬果进行削皮切削时,蔬果相对于所述蔬果处理工作台静止,避免蔬果汁飞溅；所述削皮切削功能组件可以处理不同形状的蔬果；工具架运动机构带动清洗喷管可清洗蔬果、竖向刀、横向刀、去核刀和蔬果固定座,机械手和削皮切削功能组件可以分别移动到清洗装置内进行清洗,保持机器清洁卫生,避免滋生细菌,两套运动机构同时工作,节省时间、提高效率。(The invention relates to a multifunctional integrated automatic vegetable and fruit vending machine which comprises a vegetable and fruit processing workbench, a mechanical arm movement mechanism, a tool rack movement mechanism, a scanning recognition function sensor, a cleaning spray pipe, a peeling and cutting function assembly, a vegetable and fruit fixing seat, a vertical knife, a transverse knife, a kernel removing knife, a bowl feeding device, an in-out module and a cleaning device. When peeling and cutting are carried out on the vegetables and the fruits, the vegetables and the fruits are static relative to the vegetable and fruit processing workbench, so that the vegetables and the fruits are prevented from splashing; the peeling and cutting functional component can be used for processing vegetables and fruits with different shapes; the tool rack movement mechanism drives the cleaning spray pipe to clean vegetables and fruits, the vertical knife, the transverse knife, the denucleation knife and the vegetable and fruit fixing seat, the manipulator and the peeling and cutting functional component can be respectively moved into the cleaning device to be cleaned, the cleanness and the sanitation of the machine are kept, bacteria breeding is avoided, two sets of movement mechanisms work simultaneously, the time is saved, and the efficiency is improved.)

1. A multifunctional integrated automatic vegetable and fruit vending machine is characterized by comprising a vegetable and fruit processing workbench, a mechanical arm and a tool rack, wherein a mechanical arm movement mechanism and a tool rack movement mechanism are arranged above the vegetable and fruit processing workbench, a scanning and identifying function sensor, a vegetable and fruit fixing seat, a coring knife, a cleaning device, a bowl feeding device and an in-out module are arranged on the vegetable and fruit processing workbench, and a peeling and cutting function component and a cleaning spray pipe are arranged on the tool rack;

the manipulator is used for clamping vegetables, fruits, bowls or the in-out module;

the manipulator motion mechanism is connected with the manipulator and is used for driving the manipulator to move above the vegetable and fruit processing workbench;

the tool rack moving mechanism is connected with the tool rack and is used for driving the tool rack to move above the vegetable and fruit processing workbench;

the scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits clamped by the manipulator;

the cleaning spray pipe is used for cleaning vegetables and fruits, vegetable and fruit fixing seats and a coring knife and moves above the vegetable and fruit processing workbench under the driving of the tool rack;

the peeling and cutting functional component is used for peeling vegetables and fruits, cutting, slicing and/or dicing the vegetables and fruits, and moves above the vegetable and fruit processing workbench under the driving of the tool rack;

the vegetable and fruit fixing seat is used for fixing vegetables and fruits;

the kernel removing knife is used for removing kernels of the nucleated vegetables and fruits under the clamping of the manipulator;

the cleaning device is used for cleaning the manipulator and the peeling and cutting functional component;

the bowl feeding device is used for storing bowls, and the mechanical arm is used for taking the bowls away from the bowl feeding device and placing the bowls on the in-out module after the processed vegetables and fruits are placed in the bowls;

the in-out module is used for sending bowls containing processed vegetables and fruits out of the vegetable and fruit processing workbench under the action of the manipulator.

2. The multifunctional integrated automatic vegetable and fruit vending machine as claimed in claim 1, wherein the vegetable and fruit processing workbench is further provided with a vertical knife and a horizontal knife for clamping and slicing the coreless vegetable and fruit by the manipulator.

3. The multifunctional integrated automatic vegetable and fruit vending machine as claimed in claim 1, wherein the manipulator comprises a manipulator holder mechanism, a clamping force measuring mechanism, an articulating mechanism, a manipulator rotating motor, a manipulator clamping motor and a manipulator frame mechanism, the manipulator holder mechanism is provided with a clamping claw, the clamping claw is provided with a clamping spring, the manipulator rotating motor drives the manipulator holder mechanism to rotate, the manipulator clamping motor drives the clamping claw to move through the clamping force measuring mechanism and the articulating mechanism, and the clamping force measuring mechanism measures clamping force.

4. The multifunctional integrated automatic vegetable and fruit vending machine as claimed in claim 1, wherein the peeling and cutting function component comprises a peeling and cutting function component rod and a peeling and cutting function component rotating motor, a horizontal transverse knife, a vertical transverse knife, a side peeling knife and a top and bottom surface peeling knife are arranged on the peeling and cutting function component rod, the peeling and cutting function component rod is connected with the peeling and cutting function component rotating motor, and the peeling and cutting function component rotating motor drives the peeling and cutting function component rod to rotate.

5. The multifunctional vegetable and fruit integrated vending machine according to claim 1, wherein the manipulator motion mechanism is implemented by one of a rectangular coordinate type manipulator arm composed of three mutually perpendicular kinematic pairs, a parallel arm structure composed of three parallel arms and three kinematic pairs, a cylindrical coordinate type manipulator arm composed of one revolute pair and two kinematic pairs, a joint type manipulator composed of a power type rotary joint and two front and lower arms, or a polar coordinate type manipulator composed of two revolute pairs and one kinematic pair;

the tool rack motion mechanism is realized by one of a rectangular coordinate type mechanical arm consisting of three mutually perpendicular moving pairs, a parallel arm structure consisting of three parallel arms and three moving pairs, a cylindrical coordinate type mechanical arm consisting of a revolute pair and two moving pairs, a power type rotary joint and a joint type mechanical arm consisting of a front arm and a lower arm or a polar coordinate type mechanical arm consisting of two revolute pairs and one moving pair.

6. The multifunctional integrated automatic vegetable and fruit vending machine as claimed in claim 1, wherein the cleaning device comprises a spray pipe and a water tank, the manipulator and the peeling and cutting function assembly can respectively move into the cleaning device for cleaning, after cleaning, the manipulator can spin-dry the clamping jaws and the clamping spring pieces in a manner of rotating the manipulator clamping seat mechanism, and the peeling and cutting function assembly can spin-dry under the action of a rotating motor of the peeling and cutting function assembly.

7. The multifunctional integrated automatic vegetable and fruit vending machine according to claim 1, wherein the access module comprises a weighing module for acquiring weight information of bowls containing processed vegetables and fruits and unprocessed vegetables and fruits.

8. The multifunctional integrated automatic vegetable and fruit vending machine according to claim 1, further comprising a vegetable and fruit storage rotary warehouse and a power handle of the vegetable and fruit storage rotary warehouse, wherein the vegetable and fruit storage rotary warehouse is disposed beside the vegetable and fruit processing workbench, the vegetable and fruit storage rotary warehouse comprises a rotary warehouse main body and a vegetable and fruit fixing plate, the vegetable and fruit fixing plate is used for storing vegetables and fruits, the manipulator draws the vegetable and fruit fixing plate out of the position above the vegetable and fruit processing workbench, then clamps away the vegetables and fruits stored therein, and then pushes the vegetable and fruit fixing plate back to the rotary warehouse main body; the power handle of the vegetable and fruit storage rotary warehouse is arranged on the vegetable and fruit processing workbench, the power handle of the vegetable and fruit storage rotary warehouse is connected with the vegetable and fruit storage rotary warehouse, and the mechanical arm provides power for the vegetable and fruit storage rotary warehouse by rotating the power handle of the vegetable and fruit storage rotary warehouse.

9. The multifunctional integrated automatic vegetable and fruit vending machine according to claim 1, further comprising a bowl cover feeding device and a power handle of the bowl cover feeding device, wherein the bowl cover feeding device is arranged below the vegetable and fruit processing workbench and used for feeding bowl covers out under the action of the manipulator; send bowl lid device power handle setting to be in on the vegetables and fruits processing table, send bowl lid device power handle with send bowl lid device to connect, the manipulator is through rotating send bowl lid device power handle to provide power for sending bowl lid device.

10. The multifunctional integrated vegetable and fruit vending machine according to claim 1, further comprising a toothpick feeding device, wherein the toothpick feeding device is arranged above the vegetable and fruit processing workbench, and the toothpick feeding device is used for feeding toothpicks into bowls containing processed vegetables and fruits under the action of the manipulator and the access module.

Technical Field

The invention relates to the field of food processing machinery, in particular to a multifunctional integrated automatic vegetable and fruit vending machine.

Background

At present, the automatic vegetable and fruit vending machine is a common commercial automatic device, is not limited by time and place, can save manpower and facilitate transaction, and is a brand new commercial retail form, also called a micro supermarket operating for 24 hours.

In the field of vegetable and fruit processing, multifunctional integrated equipment for automatic scanning, identification, cleaning, peeling, dicing, denucleation, selling and the like is lacked in the market, most of machines only relate to partial procedures, and the following defects 1 are lacked in the process of cleaning the machines at regular time; 2. the lack of peeling procedures for fruits with large shape differences cannot be well adapted to the processing of different types of vegetables and fruits; 3. during the peeling process of the machine, the vegetables and fruits rotate, so that the formed vegetable and fruit juice is easy to splash, and inconvenience is brought to users; 4. only one set of motion mechanism is needed, the operation efficiency of the equipment is low, and the time is wasted.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the invention provides a multifunctional integrated automatic vegetable and fruit vending machine which comprises automatic scanning, identifying, cleaning, peeling, cutting, denucleating and vending functions so as to solve the problems in the background technology.

In order to solve the technical problems, the invention adopts the technical scheme that: the multifunctional integrated automatic vegetable and fruit vending machine comprises a vegetable and fruit processing workbench, a mechanical arm and a tool rack, wherein a mechanical arm movement mechanism and a tool rack movement mechanism are arranged above the vegetable and fruit processing workbench, a scanning recognition function sensor, a vegetable and fruit fixing seat, a coring knife, a cleaning device, a bowl feeding device and an inlet and outlet module are arranged on the vegetable and fruit processing workbench, and a peeling and cutting function assembly and a cleaning spray pipe are arranged on the tool rack;

the manipulator is used for clamping vegetables, fruits, bowls or the in-out module;

the manipulator motion mechanism is connected with the manipulator and is used for driving the manipulator to move above the vegetable and fruit processing workbench;

the tool rack moving mechanism is connected with the tool rack and is used for driving the tool rack to move above the vegetable and fruit processing workbench;

the scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits clamped by the manipulator;

the cleaning spray pipe is used for cleaning vegetables and fruits, vegetable and fruit fixing seats and a coring knife and moves above the vegetable and fruit processing workbench under the driving of the tool rack;

the peeling and cutting functional component is used for peeling vegetables and fruits, cutting, slicing and/or dicing the vegetables and fruits with cores, and moves above the vegetable and fruit processing workbench under the driving of the tool rack;

the vegetable and fruit fixing seat is used for fixing vegetables and fruits;

the kernel removing knife is used for removing kernels of the nucleated vegetables and fruits under the clamping of the manipulator;

the cleaning device is used for cleaning the manipulator and the peeling and cutting functional component;

the bowl feeding device is used for storing bowls, and the mechanical arm is used for taking the bowls away from the bowl feeding device and placing the bowls on the in-out module after the processed vegetables and fruits are placed in the bowls;

the in-out module is used for sending bowls containing processed vegetables and fruits out of the vegetable and fruit processing workbench under the action of the manipulator.

Furthermore, a vertical knife and a horizontal knife are arranged on the vegetable and fruit processing workbench and are respectively used for clamping, slicing and slicing the seedless vegetables and fruits under the manipulator.

Further, the manipulator comprises a manipulator clamping seat mechanism, a clamping force measuring mechanism, an articulated mechanism, a manipulator rotating motor, a manipulator clamping motor and a manipulator frame mechanism, wherein a clamping claw is arranged on the manipulator clamping seat mechanism, a clamping elastic sheet is arranged on the clamping claw, the manipulator rotating motor drives the manipulator clamping seat mechanism to rotate, the manipulator clamping motor drives the clamping force measuring mechanism and the articulated mechanism to drive the clamping claw to move, and the clamping force measuring mechanism is used for measuring clamping force.

Furthermore, the manipulator motion mechanism is realized by one of a rectangular coordinate type manipulator arm consisting of three mutually perpendicular moving pairs, a parallel arm structure consisting of three parallel arms and three moving pairs, a cylindrical coordinate type manipulator arm consisting of one rotating pair and two moving pairs, a joint type manipulator consisting of a power type rotary joint and two front and lower arms, or a polar coordinate type manipulator consisting of two rotating pairs and one moving pair.

Furthermore, the peeling and cutting functional assembly comprises a peeling and cutting functional assembly rod and a peeling and cutting functional assembly rotating motor, wherein a horizontal transverse knife, a vertical transverse knife, a side face peeling knife and a top face and bottom face peeling knife are arranged on the peeling and cutting functional assembly rod, the peeling and cutting functional assembly rod is connected with the peeling and cutting functional assembly rotating motor, and the peeling and cutting functional assembly rotating motor drives the peeling and cutting functional assembly rod to rotate.

Furthermore, the tool rack motion mechanism is realized by one of a rectangular coordinate type mechanical arm consisting of three mutually perpendicular sliding pairs, a parallel arm structure consisting of three parallel arms and three sliding pairs, a cylindrical coordinate type mechanical arm consisting of one sliding pair and two sliding pairs, a joint type mechanical arm consisting of a power type rotary joint and two front and lower arms, or a polar coordinate type mechanical arm consisting of two sliding pairs and one sliding pair.

Furthermore, the cleaning device comprises a spray pipe and a water tank, the manipulator and the peeling and cutting functional assembly can respectively move into the cleaning device for cleaning, after cleaning is completed, the manipulator rotates the clamping jaws and the clamping elastic sheets in a manner of rotating the manipulator clamping seat mechanism for spin-drying, and the peeling and cutting functional assembly rotates under the action of the rotating motor of the peeling and cutting functional assembly for spin-drying.

Further, the business turn over module includes weighing module, weighing module is used for acquireing the bowl utensil that holds the good vegetables and fruits, the weight information of unprocessed vegetables and fruits.

Furthermore, a vegetable and fruit storage rotary warehouse is further arranged beside the vegetable and fruit processing workbench, a power handle of the vegetable and fruit storage rotary warehouse is further arranged on the vegetable and fruit processing workbench, the vegetable and fruit storage rotary warehouse comprises a rotary warehouse main body and a vegetable and fruit fixing plate, the vegetable and fruit fixing plate is used for storing vegetables and fruits, the manipulator draws out the vegetable and fruit fixing plate to the position above the vegetable and fruit processing workbench, then clamps away the stored vegetables and fruits, and then pushes the vegetable and fruit fixing plate back to the rotary warehouse main body; the power handle of the vegetable and fruit storage rotary warehouse is connected with the vegetable and fruit storage rotary warehouse, and the mechanical arm provides power for the vegetable and fruit storage rotary warehouse by rotating the power handle of the vegetable and fruit storage rotary warehouse.

Further, a bowl cover feeding device is further arranged below the vegetable and fruit processing workbench, a power handle of the bowl cover feeding device is further arranged on the vegetable and fruit processing workbench, and the bowl cover feeding device is used for feeding out covers under the action of the mechanical arm; the bowl cover feeding device is characterized in that a power handle of the bowl cover feeding device is connected with the bowl cover feeding device, and the mechanical arm provides power for the bowl cover feeding device by rotating the power handle of the bowl cover feeding device.

The automatic toothpick feeding device comprises a toothpick feeding device, wherein the toothpick feeding device is arranged above the vegetable and fruit processing workbench and used for feeding toothpicks into bowls containing processed vegetables and fruits under the action of a mechanical arm and an in-out module.

The invention has the beneficial effects that: the multifunctional peeling machine can realize the integration of automatic scanning, identification, cleaning, peeling, slicing, denucleation, selling and the like, when peeling and cutting are carried out on vegetables and fruits, the vegetables and fruits are fixed on a vegetable and fruit fixing seat, the tool holder drives the peeling and cutting functional component to peel the vegetables and fruits, and after the peeling, slicing and/or dicing are carried out on the vegetables and fruits with cores, the denucleation knife is used for denucleating, the vertical knife and the transverse knife are used for slicing and/or dicing the non-core vegetables and fruits, and the vegetables and fruits are static relative to the vegetable and fruit processing workbench, so that the splashing of fruit juice is avoided; the peeling and cutting functional component scans and identifies the vegetables and fruits according to the scanning and identifying functional sensor and moves around the vegetables and fruits to adapt to the vegetables and fruits with different shapes; the cleaning spray pipe can be driven by the tool rack to clean vegetables and fruits, the vertical knife, the horizontal knife denucleation knife and the vegetable and fruit fixing seat, the mechanical arm and the peeling and cutting functional component can be respectively moved into the cleaning device to be cleaned, the cleanness and the sanitation of the machine are better kept, and bacteria breeding is avoided. When the peeling and cutting functional component is used for processing vegetables and fruits, the manipulator moves into the cleaning device to clean and spin-dry, when the manipulator works, the peeling and cutting functional component can move into the cleaning device to clean and spin-dry, and the two sets of movement mechanisms are carried out simultaneously, so that the time is saved, and the efficiency is improved.

Drawings

Fig. 1 is a schematic perspective view of a multifunctional integrated vegetable and fruit vending machine according to the present invention.

Fig. 2 is a schematic view illustrating a state where the robot arm of the present invention is pulling out the vegetable/fruit fixing plate to a position above the vegetable/fruit processing table.

FIG. 3 is a schematic view of the cleaning nozzle of the present invention for cleaning vegetables and fruits.

Fig. 4 is a schematic view of the peeling and cutting functional assembly for peeling the top surface of the vegetable and fruit and simultaneously moving the manipulator into the cleaning device for cleaning.

Fig. 5 is a schematic view of the peeling and cutting functional assembly for peeling the side of the vegetable and fruit and moving the manipulator into the cleaning device for cleaning.

Fig. 6 is a schematic view of the peeling and cutting functional assembly of the present invention for cutting vegetables and fruits transversely while the robot moves into the cleaning device for cleaning.

Fig. 7 is a schematic view of the peeling and cutting functional assembly of the present invention in a state of cutting vegetables and fruits vertically.

Fig. 8 is a schematic view of the robot hand holding a fruit or vegetable with a core on the coring knife and simultaneously moving the peeling and cutting functional assembly into the cleaning device for cleaning.

FIG. 9 is a schematic view showing the state of the robot hand in removing the bowls containing the processed vegetables and fruits from the bowl feeding device.

Fig. 10 is a schematic view showing a state in which the robot gripping in-out module of the present invention is delivering bowls containing processed fruits and vegetables.

Fig. 11 is a schematic view of the toothpick feeding device of the present invention in a state of feeding toothpicks to bowls containing processed vegetables and fruits under the actions of the manipulator and the in-out module.

Fig. 12 is a schematic view of the state of the manipulator rotating the power handle of the vegetable and fruit storage and rotation warehouse to provide power for the vegetable and fruit storage and rotation warehouse.

Fig. 13 is a schematic view of the internal structure of the vegetable and fruit storage rotary warehouse when the mechanical arm rotates the power handle of the vegetable and fruit storage rotary warehouse to provide power for the vegetable and fruit storage rotary warehouse.

FIG. 14 is a schematic view of the internal structure of the bowl cover feeding device powered by the power handle of the bowl cover feeding device rotated by the manipulator.

Fig. 15 is a schematic structural view of the robot of the present invention.

Fig. 16 is a schematic view of the structure of the tool holder, cleaning nozzle and peeling and cutting function assembly of the present invention.

The symbols in the drawings illustrate that:

1-vegetable and fruit processing workbench; 2-a manipulator; 3-a manipulator motion mechanism; 4-a tool holder; 5-scanning and identifying a functional sensor; 6, cleaning a spray pipe; 7-peeling and cutting functional components; 8-fixing the vegetable and fruit; 9-vertical knife; 10-a transverse knife; 11-a coring knife; 12-a bowl feed device; 13-an in-out module; 14-a toothpick feeding device; 15-a cleaning device; 16-storing the vegetables and fruits in a rotary warehouse; 17-power handle of rotary storehouse for storing vegetable and fruit; 18-bowl cover feeding device; 19-a power handle of the bowl cover feeding device; 20-a tool holder motion mechanism; 30-vegetables and fruits; 31-a bowl; 32-toothpick; 33-bowl cover; 201-manipulator gripper mechanism; 202-a gripper jaw; 203-clamping spring plates; 204-clamping force measuring mechanism; 205-a hinge mechanism; 206-robot rotating motor; 207-manipulator clamping motor; 208-a manipulator frame mechanism; 301-sliding pair; 701-peeling and cutting functional component rod; 702-a horizontal cross knife; 703-vertical transverse knife; 704-side paring knife; 705-top and bottom paring knives; 706-peeling cutting function component rotating motor; 1301-a weighing module; 1302-ingress and egress body; 1303-enter and exit the guideway slipway group; 1304-door access mechanism; 1501-sink nozzles; 1502-water tank; 1601-a rotary library body; 1602-vegetable and fruit fixing plate; 2001-tool holder kinematic mechanism sliding pairs.

Detailed Description

In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

As shown in fig. 1-16, the multifunctional integrated automatic vegetable and fruit vending machine provided by the invention mainly comprises a vegetable and fruit processing workbench 1, a manipulator 2, a manipulator movement mechanism 3, a tool rack 4, a tool rack movement mechanism 20, a scanning and identifying function sensor 5, a cleaning spray pipe 6, a peeling and cutting function component 7, a vegetable and fruit fixing seat 8, a coring knife 11, a bowl feeding device 12, an in-out module 13 and a cleaning device 15; preferably, the automatic vegetable and fruit picking machine further comprises a vertical feeding knife 9, a horizontal knife 10, a toothpick device 14, a vegetable and fruit storage rotary warehouse 16, a power handle 17 of the vegetable and fruit storage rotary warehouse, a bowl cover feeding device 18 and a bowl cover feeding device power handle 19, wherein the vegetable and fruit can be nucleated vegetables and fruits such as apples, pears, peaches, white gourds, pumpkins and the like, and the seedless vegetables and fruits such as dragon fruits, guavas, tomatoes and the like;

the manipulator motion mechanism 3 is arranged above the vegetable and fruit processing workbench 1, preferably, the manipulator motion mechanism 3 is implemented by a rectangular coordinate type manipulator, and comprises three mutually vertical moving pairs 301, wherein the moving pairs are low pairs which move relatively in a plane. The implementation mode of the mechanical arm motion mechanism can be replaced by one of a parallel arm structure consisting of three parallel arms and three moving pairs, a cylindrical coordinate type mechanical arm consisting of one rotating pair and two moving pairs, a power type rotary joint, a joint type mechanical arm consisting of a front arm and a lower arm, and a polar coordinate type mechanical arm consisting of two rotating pairs and one moving pair;

the tool rack motion mechanism 20 is disposed above the vegetable and fruit processing workbench 1, and preferably, the tool rack motion mechanism 20 is implemented as a rectangular coordinate type mechanical arm, and includes three tool rack motion mechanism sliding pairs 2001 perpendicular to each other, where the sliding pairs are low pairs moving relatively in a plane. The tool rack motion mechanism can be realized by one of a parallel arm structure consisting of three parallel arms and three moving pairs, a cylindrical coordinate type mechanical arm consisting of one rotating pair and two moving pairs, a power type rotary joint, a joint type mechanical arm consisting of a front arm and a lower arm, and a polar coordinate type mechanical arm consisting of two rotating pairs and one moving pair.

As shown in fig. 1 and 15, the manipulator 2 is connected to the manipulator motion mechanism 3, the manipulator 2 can move above the vegetable and fruit processing workbench 1 under the driving of the manipulator motion mechanism 3, the manipulator 2 includes a manipulator holder mechanism 201, a gripper jaw 202, a gripper spring 203, a gripper force measuring mechanism 204, a hinge mechanism 205, a manipulator rotation motor 206, a manipulator gripper motor 207, and a manipulator frame mechanism 208, the manipulator rotation motor 206 can drive the manipulator holder mechanism 201 to rotate, the manipulator gripper motor 207 can drive the gripper jaw 202 to move through the gripper force measuring mechanism 204 and the hinge mechanism 205, the gripper force measuring mechanism 204 can measure the gripping force, and the manipulator 2 can grip the vegetable and fruit 30, the bowl 31, the in-out module 13, the vegetable and fruit storage rotation warehouse power handle 17, and the bowl cover feeding device power handle 19.

As shown in fig. 1 and 7, the tool rack 4 is connected to a tool rack moving mechanism 20, the tool rack 4 is driven by the tool rack moving mechanism 20 to move above the vegetable and fruit processing workbench 1, and the tool rack 4 is provided with a peeling and cutting functional assembly 7 and a cleaning nozzle 6.

As shown in fig. 1 and 3, the scanning and recognizing sensor 5 is fixed on the fruit and vegetable processing table and used for scanning and recognizing the fruit and vegetable 30.

As shown in fig. 1, 3 and 16, the cleaning nozzle 6 is disposed on the tool rack 4, and can be driven by the tool rack 4 to move above the vegetable and fruit processing workbench 1, for cleaning the vegetable and fruit 30, the vertical knife 9, the horizontal knife 10, the coring knife 11 and the vegetable and fruit fixing seat 8.

As shown in fig. 1, 4, 5, 6, 7, 10 and 16, the peeling and cutting function module 7 is disposed on the tool rack 4, and can be moved above the vegetable and fruit processing table 1 by the tool rack 4, for peeling and cutting the vegetable and fruit 30, and the vegetable and fruit 30 is stationary with respect to the vegetable and fruit processing table 1 during the peeling and cutting process, the peeling and cutting function module 7 moves around the vegetable and fruit 30 according to the shape of the vegetable and fruit 30, the peeling and cutting function module 7 includes a peeling and cutting function module rod 701, a horizontal cross knife 702, a vertical cross knife 703, a side peeling knife 704, a top and bottom peeling knife 705 and a peeling and cutting function module rotating motor 706, and the peeling and cutting function module rotating motor 706 can drive the peeling and cutting function module 7 to rotate.

As shown in fig. 1 and 8, the vegetable/fruit fixing base 8 is disposed on the vegetable/fruit processing platform 1, and the vegetable/fruit fixing base 8 is used for fixing the vegetable/fruit 30; the vertical knife 9 is arranged on the vegetable and fruit processing workbench 1, and the vertical knife 9 is used for cutting the vegetable and fruit 30 under the action of the manipulator 2; the transverse knife 10 is arranged on the vegetable and fruit processing workbench 1, and the transverse knife 10 is used for cutting the vegetables and fruits 30 under the action of the manipulator 2; the knife 11 that denucleates sets up in vegetables and fruits processing table 1, and the knife 11 that denucleates is used for under the effect of manipulator 2 for 30 denucleates of vegetables and fruits.

As shown in fig. 1, 9 and 10, the bowl feeding device 12 is disposed on the vegetable processing table 1, the bowl feeding device 12 is used for storing bowls 31, and after the robot 2 places the processed vegetables 30 into the bowls 31, the robot 2 clamps the bowls 31 containing the processed vegetables 30 from the bowl feeding device 12 and places the bowls on the in-out module 13.

As shown in fig. 10 and 11, the in-out module 13 is disposed on the vegetable processing table 1, and the in-out module 13 includes a weighing module 1301, an in-out main body 1302, an in-out guide rail sliding table set 1303, and an in-out door mechanism 1304, and is used for sending the bowls 31 containing the processed vegetables 30 out of the vegetable processing table 1 under the action of the manipulator 2, and can be used as an entrance for unprocessed vegetables 30 carried by the customer.

As shown in fig. 1 and 11, the toothpick feeding device 14 is disposed above the fruit and vegetable processing table 1, and the toothpick feeding device 14 is used for feeding toothpicks 32 to the bowls 31 containing the processed fruits and vegetables 30 under the action of the manipulator 2 and the in-out module 13.

As shown in fig. 1, 3, 4, 5, 7, 8 and 10, the cleaning device 15 is disposed on the vegetable and fruit processing workbench 1, the cleaning device 15 includes a spray pipe 1501 and a water tank 1502 for cleaning the manipulator 2 and the peeling and cutting function module 7, the manipulator 2 and the peeling and cutting function module 7 can respectively move into the cleaning device 15 for cleaning, after cleaning, the manipulator 2 spins the clamping jaws 202 and the clamping spring 203 in a manner of rotating the manipulator clamping base mechanism 201, and the peeling and cutting function module 7 spins under the action of the peeling and cutting function module rotating motor 706.

As shown in fig. 1, 2, 12 and 13, the vegetable and fruit storage and rotation warehouse 16 is disposed beside the vegetable and fruit processing workbench 1, the vegetable and fruit storage and rotation warehouse 16 includes a rotation warehouse main body 1601 and a vegetable and fruit fixing plate 1602, the vegetable and fruit fixing plate 1602 is used for storing the vegetable and fruit 30, the manipulator 2 can draw out the vegetable and fruit fixing plate 1602 to the upper side of the vegetable and fruit processing workbench 1, then clamp the vegetable and fruit 30 stored therein, and push the vegetable and fruit fixing plate 1602 back to the rotation warehouse main body 1601; the power handle 17 of the vegetable and fruit storage rotary warehouse is arranged on the vegetable and fruit processing workbench 1, the power handle 17 of the vegetable and fruit storage rotary warehouse is connected with the vegetable and fruit storage rotary warehouse 16, and the mechanical arm 2 provides power for the vegetable and fruit storage rotary warehouse 16 by rotating the power handle 17 of the vegetable and fruit storage rotary warehouse.

As shown in fig. 1 and 14, the bowl cover feeding device 18 is disposed below the vegetable and fruit processing table 1, and is used for feeding the bowl cover 33 by the manipulator 2; the bowl cover feeding device power handle 19 is arranged on the vegetable and fruit processing workbench 1, the bowl cover feeding device power handle 19 is connected with the bowl cover feeding device 18, and the mechanical arm 2 provides power for the bowl cover feeding device 18 by rotating the bowl cover feeding device power handle 19, so that the bowl cover feeding device 18 feeds the bowl cover 33.

The working principle of the invention is as follows:

the mechanical arm 2 clamps the power handle 17 of the vegetable and fruit storage rotary warehouse, and provides power for the vegetable and fruit storage rotary warehouse 16 by rotating the power handle 17 of the vegetable and fruit storage rotary warehouse to control the vegetable and fruit storage rotary warehouse 16, and the vegetable and fruit 30 is stored in the vegetable and fruit storage rotary warehouse 16 and placed on the vegetable and fruit fixing plate 1602;

when the vegetable and fruit processing work is performed, the manipulator 2 draws out the vegetable and fruit fixing plate 1602 to the upper side of the vegetable and fruit processing workbench 1, then clamps away the vegetable and fruit 30 placed therein, then pushes the vegetable and fruit fixing plate 1602 back to the rotary library main body 1601, and then the manipulator 2 performs scanning identification on the clamped vegetable and fruit 30 through the scanning identification function sensor 5 and inserts the vegetable and fruit 30 on the vegetable and fruit fixing seat 8 to fix the vegetable and fruit 30;

then the cleaning spray pipe 6 is driven by the tool rack 4 to clean the vegetables and fruits 30, after the cleaning is finished, the peeling and cutting functional component 7 is driven by the tool rack 4 to move, the peeling and cutting functional component 7 peels the vegetables and fruits 30 by using the side surface peeling knife 704 and the top surface and bottom surface peeling knife 705 according to the shapes of the vegetables and fruits 30, and can also cut the vegetables and fruits 30 by using the horizontal transverse knife 702 and the vertical transverse knife 703 according to the requirements of customers, the vegetables and fruits 30 are fixed on the vegetable and fruit fixing seat 8 in the peeling and cutting processes and are static relative to the vegetable and fruit processing workbench 1, and the state and shape information of the vegetables and fruits 30 can be obtained by scanning and identifying the functional sensor 5 in the peeling and cutting processes;

when the peeling and cutting functional assembly 7 works, the manipulator 2 is driven by the manipulator motion mechanism 3 to move into the cleaning device 15 for cleaning, and after cleaning is completed, the manipulator 2 spin-dries the clamping jaws 202 and the clamping elastic sheets 203 in a manner of rotating the manipulator clamping seat mechanism 201;

then the mechanical arm 2 clamps the peeled and cut vegetables and fruits 30, the vegetables and fruits 30 are taken away from the vegetable and fruit fixing seat 8, if the vegetables and fruits 30 have cores, the mechanical arm 2 clamps the vegetables and fruits 30 to move above the coring knife 11, and moves downwards after the axis of the vegetables and fruits 30 is aligned with the coring knife 11 to core the vegetables and fruits 30; if the vegetables and fruits 30 are of a type without removing kernels, the manipulator 2 clamps the vegetables and fruits 30 and then moves relative to the vertical knife 9 or the transverse knife 10, so that the vertical knife 9 or the transverse knife 10 cuts the vegetables and fruits 30; the vegetables and fruits 30 processed by one or more of the horizontal transverse knife 402, the vertical transverse knife 403, the denucleation knife 11, the vertical knife 9 and the transverse knife 10 can be cut into sheets, blocks, hemispheres or overall spheres according to the requirements of customers;

the processed vegetables and fruits 30 are conveyed to the upper part of the bowls 31 stored in the bowl conveying device 12 in a non-scattering state under the clamping action of the manipulator 2, the manipulator 2 loosens, the processed vegetables and fruits 30 fall into the bowls 31, and then the manipulator 2 clamps the bowls 31 containing the processed vegetables and fruits 30 away from the bowl conveying device 12 and puts the bowls onto the weighing module 1301 in the in-out module 13;

then the robot 2 clamps the in-out main body 1302 in the in-out module 13, drives the in-out main body 1302 to send the bowls 31 containing the processed vegetables and fruits 30 out of the vegetable and fruit processing workbench 1, and in the process, the toothpick feeding device 14 sends out the toothpicks 32 to the bowls 31 containing the processed vegetables and fruits 30 under the action of the robot 2 and the in-out module 13;

when the manipulator 2 works, the movable peeling and cutting functional component 7 moves into the cleaning device 15 for cleaning, and after cleaning is finished, the peeling and cutting functional component 7 rotates under the action of the peeling and cutting functional component rotating motor 706 for spin-drying;

after the customer takes away the bowls 31 containing the processed vegetables and fruits 30, the robot 2 drives the in-out main body 1302 to return to the vegetable and fruit processing workbench 1;

then the mechanical arm 2 clamps the power handle 19 of the bowl cover feeding device, and provides power for the bowl cover feeding device 18 by rotating the power handle 19 of the bowl cover feeding device, so that the bowl cover feeding device 18 feeds the bowl cover 33;

then the cleaning spray pipe 6 is driven by the tool rack 4 to clean the vertical knife 9, the horizontal knife 10, the denucleation knife 11 and the vegetable and fruit fixing seat 8;

and then the manipulator 2 moves into the cleaning device 15 for cleaning, and after cleaning, the manipulator 2 spins the clamping claws 202 and the clamping spring plates 203 in a manner of rotating the manipulator clamping seat mechanism 201.

In conclusion, the multifunctional integrated automatic vegetable and fruit vending machine provided by the invention can realize multifunctional integration of automatic scanning, identification, cleaning, peeling, dicing, denucleation, selling and the like, when peeling and cutting are carried out on vegetables and fruits, the vegetables and fruits 30 are fixed on the vegetable and fruit fixing seat 8, the tool rack 4 is provided with the peeling and cutting functional component 7 for peeling the vegetables and fruits 30, and the denucleation knife 11 is used for denucleating the stoned vegetables and fruits 30 after cutting, slicing and/or dicing the stoned vegetables and fruits 30, the vertical knife 9 and the transverse knife 10 are used for slicing and/dicing the seedless vegetables and fruits 30, and the vegetables and fruits 30 are static relative to the vegetable and fruit processing workbench 1, so that the splashing of vegetable and fruit juice is avoided; the peeling and cutting functional component 7 scans the vegetables and fruits 30 according to the scanning and identifying functional sensor 5, and the identified result moves around the vegetables and fruits 30 to adapt to the vegetables and fruits 30 with different shapes; cleaning spray pipe 6 can wash vegetables and fruits 30, vertical sword 9, horizontal sword 10, the sword 11 and the vegetables and fruits fixing base 8 of denucleating, and manipulator 2 and peeling cutting function subassembly 7 can remove respectively and wash in belt cleaning device 15, better keep machine sanitation and hygiene, avoid breeding the bacterium. In addition, a toothpick feeding device 14 is arranged for feeding toothpicks 32 into the bowls 31 containing the processed vegetables and fruits 30 under the action of the manipulator 2 and the in-out module 13, which is more convenient. When the peeling and cutting functional component 7 is used for processing the vegetables and fruits 30, the manipulator 2 moves into the cleaning device 15 for cleaning and spin-drying; when the manipulator 2 works, the peeling and cutting functional component 7 moves into the cleaning device 15 for cleaning and spin-drying; the two sets of motion mechanisms are carried out simultaneously, so that the time is saved and the efficiency is improved.

All directional indications (such as up, down, left, right, front, and rear … …) in the present embodiment are only used to explain the relative positional relationship between the components, the movement, and the like in a certain posture (as shown in the drawing), and if the certain posture is changed, the directional indication is changed accordingly.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.