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 2019-11-29 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、扫描识别功能传感器、清洗喷管、削皮切削功能刀具、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；所述削皮切削功能刀具根据扫描识别功能传感器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刀具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 tool rack, a scanning and identifying function sensor, a cleaning spray pipe, a peeling and cutting function cutter, a vegetable and fruit fixing seat, a vertical cutter, a transverse cutter, a coring cutter, a bowl feeding device, an in-out 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 peeling and cutting functional cutter can adapt to vegetables and fruits with different shapes according to the scanning recognition result of the scanning recognition functional sensor; 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 cutting function cutter 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 is arranged above the vegetable and fruit processing workbench, and a scanning recognition function sensor, a vegetable and fruit fixing seat, a coring 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; a tool rack is fixed on the manipulator, and a cleaning spray pipe and a peeling and cutting functional cutter are fixed on the tool rack;

the mechanical arm can clamp vegetables, fruits, bowls and 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 scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits;

the peeling and cutting functional cutter 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 under the driving of 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 integrated automatic vegetable and fruit vending machine as claimed in claim 1, wherein the tool rack is further provided with cutters with different functions according to use requirements, and the cutters with peeling and cutting functions comprise horizontal transverse cutters, vertical transverse cutters, side peeling cutters and top and bottom peeling cutters.

4. 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.

5. 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.

6. 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 manipulator and the peeling and cutting function tool driven by the manipulator move into the cleaning device for cleaning, and the manipulator spin-dries the manipulator and the peeling and cutting function tool in a rotating manner after cleaning.

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 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.

10. 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.

11. 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 is arranged above the vegetable and fruit processing workbench, and a scanning recognition function sensor, a vegetable and fruit fixing seat, a coring 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; a tool rack is fixed on the manipulator, and a cleaning spray pipe and a peeling and cutting functional cutter are fixed on the tool rack;

the mechanical arm can clamp vegetables, fruits, bowls and 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 scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits;

the peeling and cutting functional cutter 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 under the driving of 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 tool rack can be additionally provided with cutters with different functions according to the use requirements, and the cutters with the peeling and cutting functions comprise horizontal transverse cutters, vertical transverse cutters, side peeling cutters and top and bottom peeling cutters.

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 peeling and cutting machine comprises a manipulator, a peeling and cutting functional cutter, a clamping elastic sheet, a peeling and cutting functional cutter, a cleaning device and a manipulator clamping seat mechanism, wherein the manipulator and the peeling and cutting functional cutter driven by the manipulator move into the cleaning device to be cleaned, and the manipulator rotates the manipulator clamping seat mechanism to spin-dry the clamping jaws, the clamping elastic sheet and the peeling and cutting functional cutter after cleaning.

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, dicing, 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 manipulator drives the peeling and cutting functional cutter to peel the vegetables and fruits, and the denucleation is carried out by utilizing the denucleation cutter after the cutting, slicing and/or dicing are carried out on the nucleated vegetables and fruits, the vertical cutter and the transverse cutter are utilized to slice and/or dice the seedless 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 cutter moves around the vegetables and fruits according to the scanning and identifying result of the scanning and identifying functional sensor, so that the peeling and cutting functional cutter is suitable for the vegetables and 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 top and bottom peeling knives of the present invention for peeling the top of the vegetable or fruit.

Fig. 5 is a schematic view illustrating a state of the side peeling knife for peeling the side of vegetables and fruits according to the present invention.

Fig. 6 is a schematic view of the horizontal cross knife of the present invention cutting vegetables and fruits in a transverse direction.

Fig. 7 is a schematic view illustrating a vertical and horizontal knife of the present invention cutting vegetables and fruits vertically.

Fig. 8 is a schematic view of the manipulator and the peeling and cutting function tool driven by the manipulator moving into the cleaning device for cleaning.

FIG. 9 is a schematic view showing the state of the robot hand of the present invention when the robot hand grips a fruit or vegetable having a core and then the fruit or vegetable is stoned on the stoning knife.

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.

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-a catheter joint; 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; 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; 402-horizontal cross knife; 403-vertical cross knife; 404-side paring knife; 405-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. 1-17, 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 scanning recognition function sensor 5, a cleaning spray pipe 6, a conduit joint 7, a peeling and cutting function cutter, 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. 1, 16 and 17, a manipulator 2 is connected to a manipulator motion mechanism 3, the manipulator 2 can move above a vegetable and fruit processing workbench 1 under the action of the manipulator motion mechanism 3, the manipulator 2 includes a manipulator holder 201, a gripper jaw 202, a gripper spring 203, a gripper dynamometer 204, a hinge 205, a manipulator rotation motor 206, a manipulator gripper motor 207, and a manipulator frame 208, the manipulator rotation motor 206 can drive the manipulator holder 201 to rotate, the manipulator gripper motor 207 can drive the gripper jaw 202 to move through the gripper dynamometer 204 and the hinge 205, the gripper dynamometer 204 can measure the gripping force, the manipulator 2 can grip vegetable and fruit 30, bowls 31, an in-out module 13, a power handle 17 of a vegetable and fruit storage rotary warehouse, and a power handle 19 of a bowl cover feeding device, a tool rack 4 is fixed on the manipulator 2, the tool rack 4 is fixed with a cleaning spray pipe 6 and a peeling and cutting functional tool.

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. 1, 3, 16 and 17, the cleaning nozzle 6 is mounted on the tool rack 4, and can move above the vegetable and fruit processing workbench 1 along with the manipulator 2, so as to clean 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 add clear water, salt water, sugar water and other liquids to the bowls 31 in the bowl feeding device 12; the manipulator 2 is also provided with a conduit joint 7, and when the manipulator 2 is in a closed state, the cleaning spray pipe 6 is separated from the conduit joint 7; after the manipulator 2 rotates to align the cleaning nozzle 6 with the pipe joint 7, the cleaning nozzle 6 and the pipe joint 7 are connected and conducted when the manipulator 2 is in an open state.

As shown in fig. 1, 4, 5, 6, 7, 16 and 17, the peeling and cutting knife is mounted on the tool rack 4, and is movable above the fruit and vegetable processing table 1 along with the manipulator 2 to peel and cut the fruit and vegetable 30, and the peeling and cutting knife is stationary relative to the fruit and vegetable processing table 1 and moves around the fruit and vegetable 30 according to the shape of the fruit and vegetable 30, and includes a horizontal transverse knife 402, a vertical transverse knife 403, a side peeling knife 404, and a top and bottom peeling knife 405.

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. 1, 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, 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. 1, 7 and 8, the cleaning device 15 is disposed beside 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 tools driven by the manipulator 2, the manipulator 2 and the peeling and cutting function tools driven by the manipulator 2 can move into the cleaning device 15 for cleaning, and after cleaning, the manipulator 2 spins the clamping jaws 202, the clamping spring pieces 203 and the peeling and cutting function tools by rotating the manipulator clamping base mechanism 201.

As shown in fig. 1, 2 and 15, 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 stored vegetable and fruit 30, 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 7, the cleaning spray pipe 6 is connected and communicated with the conduit joint 7, 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 7;

then the peeling and cutting functional cutter moves under the driving of the manipulator 2, the peeling and cutting functional cutter peels the vegetables and fruits 30 by using the side peeling knife 404 and the top and bottom peeling knife 405 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 402 and the vertical transverse knife 403 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;

after peeling and cutting are finished, the manipulator 2 drives the peeling and cutting functional cutter to move into the cleaning device 15, the cleaning device 15 cleans the clamping claw 202, the clamping elastic sheet 203 and the peeling and cutting functional cutter in the manipulator through the spray pipe 1501, and after cleaning is finished, the manipulator 2 drives the peeling and cutting functional cutter to rotate so as to spin;

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 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 drives the peeling and cutting function tool to move into the cleaning device 15, the cleaning device 15 cleans the clamping claw 202, the clamping elastic sheet 203 and the peeling and cutting function tool in the manipulator through the spray pipe 1501, and the manipulator 2 drives the peeling and cutting function tool to rotate to spin after cleaning is completed.

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 30, the vegetables and fruits 30 are fixed on the vegetable and fruit fixing seat 8, the peeling and cutting functional cutter carried by the manipulator 2 is used for peeling the vegetables and fruits 30, and denucleation is carried out on the peeled vegetables and fruits 30 after the peeled vegetables and fruits 30 are cut, sliced and/or diced by the denucleation cutter 11, the coreless vegetables and fruits 30 are sliced and/or diced by the vertical cutter 9 and the transverse cutter 10, the vegetables and fruits 30 are static relative to the vegetable and fruit processing workbench 1, and splashing of vegetable and fruit juice is avoided; the peeling and cutting functional cutter 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 by manipulator 2 drives and washs vegetables and fruits 30, vertical sword 9, horizontal sword 10, the sword 11 that denucleates, vegetables and fruits fixing base 8, and the peeling and cutting function cutter that manipulator 2 and manipulator 2 driven can remove and wash in belt cleaning device 15, better keeps machine sanitation and hygiene, avoids breeding the bacterium. 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.