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 2019-11-27 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、活动组件架、扫描识别功能传感器、清洗喷管、削皮切削功能的活动组件、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、送碗盖装置。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；所述削皮切削功能的活动组件根据扫描识别功能的活动组件的扫描识别结果可以适应不同形状的蔬果；机械手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,机械手和机械手所夹持的削皮切削功能的活动组件可以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。(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 movable assembly frame, a scanning recognition function sensor, a cleaning spray pipe, a movable assembly with peeling and cutting functions, a vegetable and fruit fixing seat, a vertical knife, a transverse knife, a kernel removing knife, a bowl feeding device, an inlet and outlet module, a cleaning device and a bowl feeding cover 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 movable assembly with the peeling and cutting functions can adapt to the vegetables and fruits with different shapes according to the scanning and identifying result of the movable assembly with the scanning and identifying functions; the manipulator drives and washs spray tube and can wash vegetables and fruits, vertical sword, horizontal sword, the sword of denucleating and vegetables and fruits fixing base, and the movable assembly of the cutting function of peeling that manipulator and manipulator centre gripping can remove and wash in the belt cleaning device, keeps machine sanitation and hygiene, avoids breeding the bacterium.)

1. A multifunctional integrated automatic vegetable and fruit vending machine comprises a vegetable and fruit processing workbench and a manipulator, and is characterized in that a manipulator movement mechanism and a movable assembly frame are arranged above the vegetable and fruit processing workbench, and a vegetable and fruit fixing seat, a kernel removing knife and an in-out module are arranged on the vegetable and fruit processing workbench; a bowl feeding device is arranged beside the vegetable and fruit processing workbench; the movable assembly rack is used for storing movable assemblies, and the movable assemblies comprise movable assemblies with peeling and cutting functions; a cleaning spray pipe is fixed on the manipulator;

the manipulator can clamp the movable assembly with the peeling and cutting functions, vegetables and fruits, bowls and the inlet and outlet 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 scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits;

the movable assembly with the peeling and cutting functions 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 along with the manipulator after being clamped by the manipulator;

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 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 and can be used as an inlet for unprocessed vegetables and fruits carried by a client;

the cleaning spray pipe is used for cleaning vegetables and fruits, the vegetable and fruit fixing seat and the coring knife, can add clear water, salt water, sugar water and other liquid to bowls in the bowl feeding device, and moves above the vegetable and fruit processing workbench along with the mechanical arm under the driving of the mechanical arm.

2. The multifunctional vegetable and fruit processing equipment 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, slicing and slicing the coreless vegetable and fruit by a manipulator.

3. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the movable assembly rack further comprises movable assemblies with different functions according to the use requirement, and the movable assembly rack comprises a movable assembly rack positioning mechanism, and a movable assembly rack positioning magnet is arranged at the front end of the movable assembly rack positioning mechanism and is connected with the movable assembly.

4. The multifunctional vegetable and fruit processing equipment as claimed in claim 3, wherein the movable assembly for peeling and cutting comprises a movable assembly rod for peeling and cutting, the movable assembly rod for peeling and cutting is provided with a horizontal transverse knife, a vertical transverse knife, a side peeling knife and a top and bottom peeling knife, and the movable assembly rod for peeling and cutting is provided with a movable assembly positioning magnet movably connected with a movable assembly frame positioning magnet.

5. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the manipulator comprises a manipulator holder mechanism, a clamping force measuring mechanism, a hinge mechanism, a manipulator rotating motor, a manipulator clamping motor, and a manipulator frame mechanism, wherein the manipulator holder mechanism is provided with a clamping jaw, the clamping jaw is provided with a clamping spring, the manipulator frame mechanism is provided with a conduit connector, the conduit connector can be connected and communicated with the cleaning nozzle, the manipulator rotating motor drives the manipulator holder mechanism to rotate, the manipulator clamping motor drives the clamping jaw to move through the clamping force measuring mechanism and the hinge mechanism, and the clamping force measuring mechanism measures clamping force.

6. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the manipulator motion mechanism is implemented by one of a rectangular coordinate type manipulator arm composed of three mutually perpendicular moving pairs, a parallel arm structure composed of three parallel arms and three moving pairs, a cylindrical coordinate type manipulator arm composed of one revolute pair and two moving pairs, a joint type manipulator composed of a power type rotary joint and a front arm and a lower arm, or a polar coordinate type manipulator composed of two revolute pairs and one moving pair.

7. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, further comprising a cleaning device disposed beside the vegetable and fruit processing workbench, wherein the cleaning device comprises a spray pipe and a water tank, the robot and the movable components with peeling and cutting functions held by the robot move into the cleaning device for cleaning, and the robot spins the robot and the movable components with peeling and cutting functions in a rotating manner after cleaning.

8. 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.

9. 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.

10. The multifunctional integrated vegetable and fruit vending machine according to claim 1, further comprising a bowl cover feeding device, wherein the bowl cover feeding device is arranged beside the vegetable and fruit processing workbench and used for storing bowl covers, and the mechanical arm takes the bowl covers out of the bowl cover feeding device and covers the bowl covers in the bowl feeding device.

11. The multifunctional integrated automatic vegetable and fruit vending machine according to claim 1, further comprising a gas nozzle, wherein the gas nozzle is disposed on the bowl feeding device and used for adding protective gas to bowls in the bowl feeding device so as to prolong the shelf life of the processed vegetables and fruits.

12. 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, the formed vegetable and fruit juice is easy to splash, and inconvenience is brought to users.

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: a multifunctional integrated automatic vegetable and fruit vending machine comprises a vegetable and fruit processing workbench and a manipulator, wherein a manipulator movement mechanism and a movable assembly frame are arranged above the vegetable and fruit processing workbench, and a vegetable and fruit fixing seat, a kernel removing knife and an in-out module are arranged on the vegetable and fruit processing workbench; a bowl feeding device is arranged beside the vegetable and fruit processing workbench; the movable assembly rack is used for storing movable assemblies, and the movable assemblies comprise movable assemblies with peeling and cutting functions; a cleaning spray pipe is fixed on the manipulator;

the manipulator can clamp the movable assembly with the peeling and cutting functions, vegetables and fruits, bowls and the inlet and outlet 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 scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits;

the movable assembly with the peeling and cutting functions 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 along with the manipulator after being clamped by the manipulator;

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 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 and can be used as an inlet for unprocessed vegetables and fruits carried by a client;

the cleaning spray pipe is used for cleaning vegetables and fruits, the vegetable and fruit fixing seat and the coring knife, can add clear water, salt water, sugar water and other liquid to bowls in the bowl feeding device, and moves above the vegetable and fruit processing workbench along with the mechanical arm under the driving of the mechanical arm.

Furthermore, the vegetable and fruit processing workbench is also provided with a vertical knife and a horizontal knife which are respectively used for clamping, slicing and slicing the seedless vegetable and fruit under the manipulator.

Furthermore, the movable component frame can be additionally provided with movable components with different functions according to the use requirements, and comprises a movable component frame positioning mechanism, wherein the front end of the movable component frame positioning mechanism is provided with a movable component frame positioning magnet for connecting with the movable component;

the movable assembly with the peeling and cutting functions comprises a movable assembly rod with the peeling and cutting functions, and a horizontal transverse knife, a vertical transverse knife, a side peeling knife and a top surface and bottom surface peeling knife are arranged on the movable assembly rod with the peeling and cutting functions;

the movable component rod with the peeling and cutting functions is provided with a movable component positioning magnet which is movably connected with a movable component frame positioning magnet.

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, a conduit joint is arranged on the manipulator frame mechanism, 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 measures 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.

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.

The cleaning device is arranged beside the vegetable and fruit processing workbench and comprises a spray pipe and a water tank, the manipulator and the movable assembly with the peeling and cutting functions clamped by the manipulator move into the cleaning device for cleaning, and after cleaning is completed, the manipulator spin-dries the clamping jaws, the clamping elastic pieces and the movable assembly with the peeling and cutting functions in a manner of rotating the manipulator clamping seat mechanism.

The vegetable and fruit storage rotary warehouse comprises a rotary warehouse 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 upper part of the vegetable and fruit processing workbench, then clamps the stored vegetables and fruits, and pushes the vegetable and fruit fixing plate back to the rotary warehouse 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.

The bowl cover conveying device is arranged beside the vegetable and fruit processing workbench and used for storing bowl covers, and the mechanical arm takes the bowl covers away from the bowl cover conveying device and covers the bowl covers on bowls in the bowl conveying device;

the device further comprises a gas spray pipe, wherein the gas spray pipe is arranged on the bowl feeding device and used for adding protective gas to bowls in the bowl feeding device so as to prolong the shelf life of the processed vegetables and fruits.

The device comprises a vegetable and fruit processing workbench, a mechanical arm, a feeding module, a toothpick conveying device and a toothpick discharging module, wherein the vegetable and fruit processing workbench is arranged on the lower portion of the vegetable and fruit processing workbench, and the feeding module is used for feeding toothpicks to bowls containing processed vegetables and fruits under the action of the mechanical arm and the feeding and discharging module.

The invention has the beneficial effects that: the automatic peeling machine can realize the integration of automatic scanning, identification, cleaning, peeling, slicing, denucleation, selling and other functions, 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 movable component with the peeling and cutting functions is clamped by the manipulator and is used for peeling the vegetables and fruits, and denucleation is carried out on the vegetables and fruits after cutting, slicing and/or dicing are carried out on the nucleated vegetables and fruits by using the denucleation knife, and the coreless vegetables and fruits are sliced and/or diced by using the vertical knife and the transverse knife, so that the vegetables and fruits are static relative to the vegetable and fruit processing workbench, and the splashing of vegetable and fruit juice is avoided; the movable component with the peeling and cutting functions scans the vegetables and the fruits according to the scanning and identifying function sensor, and moves around the vegetables and the fruits according to the identifying result, so that the movable component is suitable for the vegetables and the fruits with different shapes; the cleaning spray pipe can be driven by the manipulator to clean vegetables and fruits, the vertical knife, the horizontal knife denucleation knife and the vegetable and fruit fixing seat, and the movable assembly with the peeling and cutting functions clamped by the manipulator and the manipulator can be moved into the cleaning device to be cleaned, so that the cleanness and the sanitation of the machine are better kept, and bacteria breeding is avoided.

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 movable assembly with the clamping, peeling and cutting functions of the manipulator for peeling the top surface of the vegetable and fruit.

Fig. 5 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator for peeling the side of the vegetable and fruit.

Fig. 6 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator of the invention in a state of transversely cutting vegetables and fruits.

Fig. 7 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator of the invention in a state of vertically cutting vegetables and fruits.

Fig. 8 is a schematic view showing a state where the robot and the movable assembly for peeling and cutting held by the robot are moved into the cleaning apparatus for cleaning according to the present invention.

FIG. 9 is a schematic view showing the state of the manipulator of the present invention when the manipulator clamps and hangs the kernel and vegetable onto the kernel removing knife for kernel removal.

FIG. 10 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. 11 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. 12 is a schematic view of the state that the mechanical arm takes the bowl cover from the bowl cover conveying device and then covers the bowl in the bowl conveying device.

Fig. 13 is a schematic view showing the state of the robot gripping in-out module of the present invention when the robot gripping in-out module delivers the bowl covered with the bowl cover and containing the processed vegetables and fruits.

Fig. 14 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. 15 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. 16 is a schematic structural view of the robot hand in a closed state according to the present invention.

FIG. 17 is a schematic view of the robot of the present invention in an open position after the cleaning nozzle is aligned with the catheter adapter.

FIG. 18 is a schematic partial cross-sectional view of a movable element of the present invention shown in a movable element holder.

Fig. 19 is a schematic view of a movable assembly for peeling and cutting functions according to the present invention, partially in cross-section.

Fig. 20 is a schematic partial cross-sectional view of a robot holding a movable assembly for peeling and cutting functions in accordance with 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 movable assembly frame; 5-scanning and identifying a functional sensor; 6, cleaning a spray pipe; 7-movable components with peeling and cutting functions; 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; 20-a catheter adapter; 21-a gas nozzle; 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; 401-a movable assembly mount positioning mechanism; 402-a movable assembly mount positioning magnet; 410-a movable assembly positioning magnet; 701-a movable component rod with peeling and cutting functions; 702-a horizontal cross knife; 703-vertical transverse knife; 704-side paring knife; 705-top and bottom paring knives; 1301-a weighing module; 1302-ingress and egress body; 1303-enter and exit the guideway slipway group; 1304-door access mechanism; 1501-a spray pipe; 1502-water tank; 1601-a rotary library body; 1602-vegetable and fruit fixing plate.

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. 1-20, 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 movable assembly frame 4, a scanning recognition function sensor 5, a cleaning spray pipe 6, a movable assembly 7 with peeling and cutting functions, a vegetable and fruit fixing seat 8, a coring knife 11, a bowl feeding device 12 and an in-out module 13; preferably, the device also comprises a vertical knife 9, a horizontal knife 10, a toothpick feeding device 14, a cleaning device 15, a vegetable and fruit storage rotary warehouse 16, a power handle 17 of the vegetable and fruit storage rotary warehouse, a bowl and cover feeding device 18 and an air nozzle 21, 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 realization 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 joint type mechanical arm consisting of a power type rotating joint and two front and lower arms, and a polar coordinate type mechanical arm consisting of two rotating pairs and one moving pair.

As shown in fig. 2, 9, 10, 11, 16, 17, and 20, the manipulator 2 is connected to the manipulator motion mechanism 3, the manipulator 2 can move above the vegetable and fruit processing table 1 under the action of the manipulator motion mechanism 3, the manipulator 2 includes a manipulator holder mechanism 201, a gripper 202, a gripper spring 203, a grip dynamometer 204, a hinge mechanism 205, a manipulator rotation motor 206, a manipulator grip motor 207, and a manipulator frame mechanism 208, the manipulator rotation motor 206 can drive the manipulator holder mechanism 201 to rotate, the manipulator grip motor 207 can drive the gripper 202 to move through the grip dynamometer 204 and the hinge mechanism 205, the grip dynamometer 204 can measure a gripping force, and the manipulator 2 can grip the movable assembly 7 with peeling and cutting functions, the in-out module 13, the vegetable and fruit 30, and the bowl 31.

As shown in fig. 1 and 18, the movable assembly frame 4 is disposed above the vegetable and fruit processing table 1, and the movable assembly frame 4 includes a movable assembly frame positioning mechanism 401, a movable assembly frame positioning magnet 402, and a movable assembly 7 for storing the peeling and cutting functions.

As shown in fig. 1 and 8, the scanning and recognizing sensor 5 is fixed to the fruit and vegetable processing table 1 and scans and recognizes the fruit and vegetable 30.

As shown in fig. 3, 16 and 17, the cleaning nozzle 6 is mounted on the manipulator 2, can move above the vegetable and fruit processing workbench 1 along with the manipulator 2, and is used 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, and can add clear water, salt water, sugar water and other liquid to the bowls 31 in the bowl feeding device 12; the manipulator 2 is also provided with a conduit joint 20, and when the manipulator 2 is in a closed state, the cleaning spray pipe 6 is separated from the conduit joint 20; after the robot 2 rotates to align the cleaning nozzle 6 with the pipe joint 20, the cleaning nozzle 6 and the pipe joint 20 are engaged and conducted when the robot 2 is in an open state.

As shown in fig. 1, 4, 5, 6, 7, 18, 19, and 20, the movable assembly 7 for peeling and cutting is stored in the movable assembly frame 4, and can be moved above the vegetable and fruit processing table 1 with the manipulator 2 after being held by the manipulator 2, for peeling and cutting the vegetable and fruit 30, the vegetable and fruit 30 is stationary with respect to the vegetable and fruit processing table 1 during the peeling and cutting process, the movable assembly for peeling and cutting moves around the vegetable and fruit 30 according to the shape of the vegetable and fruit 30, and the movable assembly 7 for peeling and cutting includes a movable assembly rod 701 for peeling and cutting, a horizontal transverse knife 702, a vertical transverse knife 703, a side knife 704, a top and bottom knife 705, and a movable assembly positioning magnet 410.

As shown in fig. 1, 3 and 9, the fruit and vegetable fixing base 8 is disposed on the fruit and vegetable processing platform 1, and the fruit and vegetable fixing base 8 is used for fixing the fruit and vegetable 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. 10 and 11, the bowl feeding device 12 is disposed near 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. 13 and 14, the in-out module 13 is disposed on the fruit and 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 fruits and vegetables 30 out of the fruit and vegetable processing table 1 under the action of the robot 2, and can be used as an entrance for unprocessed fruits and vegetables 30 carried by a customer.

As shown in fig. 9, 10, 12 and 13, the bowl cover feeding device 18 is disposed beside the vegetable and fruit processing workbench 1, the bowl cover feeding device 18 is used for storing bowls 33, when the bowl cover 33 is required to be covered according to the requirements of customers, the mechanical arm 2 takes the bowl cover 33 from the bowl cover feeding device 18 and covers the bowls 31 in the bowl cover feeding device 12, and the gas nozzle 21 adds protective gas into the bowls 31 in the process that the mechanical arm 2 puts the processed vegetables and fruits 30 into the bowls 31 and the mechanical arm 2 covers the bowl cover 33, so as to prolong the shelf life of the processed vegetables and fruits 30.

As shown in fig. 1, 11, 13 and 14, 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. 2 and 10, the cleaning device 15 is disposed beside the vegetable and fruit processing workbench 1, the cleaning device 15 includes a spray pipe 1501, a water tank 1502, and a movable assembly 7 for cleaning the peeling and cutting functions held by the manipulator 2 and the manipulator 2, the manipulator 2 and the movable assembly 7 for peeling and cutting functions held by the manipulator 2 can move into the cleaning device 15 for cleaning, and after cleaning, the manipulator 2 can spin-dry the clamping jaws 202, the clamping spring plates 203, and the movable assembly 7 for peeling and cutting functions by rotating the manipulator clamping base mechanism 201.

As shown in fig. 1, 2, 13 and 14, 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.

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 vegetables and fruits processing work is carried out, the manipulator 2 draws out the vegetable and fruits fixing plate 1602 to the upper part of the vegetable and fruits processing workbench 1, then clamps away the vegetables and fruits 30 placed in the vegetable and fruits fixing plate 1602, then pushes the vegetable and fruits fixing plate 1602 back to the rotary library main body 1601, then the manipulator 2 moves the clamped vegetables and fruits 30 to the sensing area of the scanning recognition function sensor 5, the manipulator 2 rotates the vegetables and fruits 30, so that the scanning recognition function sensor 5 obtains the shape information of the vegetables and fruits 30, and after the scanning recognition is carried out by the scanning recognition function sensor 5, the manipulator 2 inserts the vegetables and fruits 30 on the fruit fixing seat 8 to fix the vegetables and fruits 30;

then the mechanical arm 2 opens the cleaning spray pipe 6 after aligning the conduit joint 20, the cleaning spray pipe 6 is connected and communicated with the conduit joint 20, the cleaning spray pipe 6 is driven by the mechanical arm 2 to clean the vegetables and fruits 30, the mechanical arm 2 is closed after cleaning is finished, and the cleaning spray pipe 6 is separated from the conduit joint 20;

then the manipulator 2 clamps the movable assembly 7 with the peeling and cutting functions, after clamping, the movable assembly 7 with the peeling and cutting functions under the driving of the manipulator 2 peels the vegetables and fruits 30 by using the side peeling knife 704 and the top and bottom peeling knife 705 according to the shapes of the vegetables and fruits 30, and also can 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 in the peeling and cutting processes and are static relative to the vegetable and fruit processing workbench, and the state and shape information of the vegetables and fruits 30 can be obtained by the scanning and identifying function sensor 5 in the peeling and cutting processes;

after peeling and cutting, the manipulator 2 drives the movable assembly 7 with the peeling and cutting functions to move into the cleaning device 15, the cleaning device 15 cleans the clamping claw 202, the clamping elastic sheet 203 and the movable assembly 7 with the peeling and cutting functions in the manipulator through the spray pipe 1501, the manipulator 2 drives the movable assembly 7 with the peeling and cutting functions to rotate for drying, and then the manipulator 2 puts the movable assembly 7 with the peeling and cutting functions back to the movable assembly frame 4;

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 702, the vertical transverse knife 703, 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 delivered to the upper part of the bowls 31 stored in the bowl delivery device 12 in a non-scattering state under the clamping action of the manipulator 2, the manipulator 2 loosens, and the processed vegetables and fruits 30 fall into the bowls 31;

according to the requirements of customers, clear water, salt water, sugar water and other liquid can be added into the bowls 31 containing the processed vegetables and fruits 30 through the cleaning spray pipes 6;

according to the requirement of a client, a bowl cover 33 can be covered on the bowl 31 for containing the processed vegetables and fruits 30, and after the mechanical arm 2 takes the bowl cover 33 from the bowl cover conveying device 18, the bowl cover is covered on the bowl 31 for containing the processed vegetables and fruits 30 in the bowl conveying device 12; in the process that the manipulator 2 puts the processed vegetables and fruits 30 into the bowl 31 and the manipulator 2 covers the bowl cover 33, the gas nozzle 21 adds protective gas into the bowl 31 to prolong the shelf life of the processed vegetables and fruits 30;

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 on 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;

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 cleaning spray pipe 6 is driven by the manipulator 2 to clean the vertical knife 9, the horizontal knife 10, the denucleation knife 11 and the vegetable and fruit fixing seat 8;

then the manipulator 2 moves into the cleaning device 15, the cleaning device 15 cleans the clamping claws 202 and the clamping shrapnel 203 in the manipulator 2 through the spray pipe 1501, and the manipulator 2 is dried in a rotating mode after the cleaning is finished.

In conclusion, the multifunctional vegetable and fruit processing equipment provided by the invention can realize the integration of automatic scanning, identification, cleaning, peeling, dicing, denucleation and other functions, when peeling and cutting are carried out on the vegetable and fruit 30, the vegetable and fruit 30 is fixed on the vegetable and fruit fixing seat 8, the movable component 7 with the peeling and cutting functions is clamped by the manipulator 2 and is used for peeling the vegetable and fruit 30, the denucleation knife 11 is used for denucleating after the peeling, slicing and/or dicing are carried out on the cored vegetable and fruit 30, the vertical knife 9 and the transverse knife 10 are used for slicing and/dicing the coreless vegetable and fruit 30, the vegetable and fruit 30 is static relative to the vegetable and fruit processing workbench 1, and the splashing of vegetable and fruit juice is avoided; the movable component 7 with peeling and cutting functions scans the vegetables and fruits 30 according to the scanning and identifying function sensor 5, and the identified result moves around the vegetables and fruits 30 to adapt to the vegetables and fruits 30 with different shapes; the cleaning spray pipe 6 can be driven by the manipulator 2 to clean the vegetables and fruits 30, the vertical knife 9, the transverse knife 10, the coring knife 11 and the vegetable and fruit fixing seat 8, and the movable assembly 7 with peeling and cutting functions, which is clamped by the manipulator 2 and the manipulator 2, can be moved into the cleaning device 15 to be cleaned, so that the cleanness and the sanitation of the machine are better kept, and bacteria breeding is avoided; the gas nozzle 21 can add protective gas into the bowl 31 in the process that the manipulator 2 puts the processed vegetables and fruits 30 into the bowl 31 and the manipulator 2 covers the bowl cover 33, so that the shelf life of the processed vegetables and fruits 30 is prolonged; 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.

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.