阅读说明：本技术 一种条柱状果蔬缺陷识别修整机构 (Strip column-shaped fruit and vegetable defect identification and trimming mechanism ) 是由 杨德勇 谢为俊 魏硕 郑招辉 杨光照 丁鑫 于 2020-12-29 设计创作，主要内容包括：本发明涉及一条柱状果蔬缺陷识别修整机构包括：机架、定位旋转机构、夹紧机构、修整机构、深度相机和控制器；所述定位旋转机构、夹紧机构和修整机构均安装于机架上,所述定位旋转机构位于夹紧机构两侧,修整机构则安装在夹紧机构上方,所述深度相机安装于修整机构上；所述控制器分别与定位旋转机构、夹紧机构、修整机构和深度相机连接；可以实现条柱状果蔬对心定位、表面缺陷识别、定位与量化、缺陷修整。这种装置便于调节校准,操作方便且无任何环境污染。所述的条柱状果蔬缺陷修整装备结构合理简单,生产制造容易且成本低,操作简单,且能够高效实现果蔬缺陷修整,克服传统果蔬加工过程中的浪费问题,提高经济效益。(The invention relates to a columnar fruit and vegetable defect identification and trimming mechanism, which comprises: the device comprises a rack, a positioning rotating mechanism, a clamping mechanism, a trimming mechanism, a depth camera and a controller; the positioning rotating mechanism, the clamping mechanism and the trimming mechanism are all arranged on the rack, the positioning rotating mechanism is positioned at two sides of the clamping mechanism, the trimming mechanism is arranged above the clamping mechanism, and the depth camera is arranged on the trimming mechanism; the controller is respectively connected with the positioning rotating mechanism, the clamping mechanism, the trimming mechanism and the depth camera; the centering positioning, surface defect identification, positioning and quantification and defect trimming of the columnar fruits and vegetables can be realized. The device is convenient to adjust and calibrate, convenient to operate and free of any environmental pollution. The strip column-shaped fruit and vegetable defect trimming equipment is reasonable and simple in structure, easy to produce and manufacture, low in cost and simple to operate, can efficiently realize fruit and vegetable defect trimming, overcomes the waste problem in the traditional fruit and vegetable processing process, and improves economic benefits.)

1. The utility model provides a mechanism is maintained in discernment of cylindric fruit vegetables defect, its characterized in that includes: a gantry (210), a positioning and rotating mechanism, a clamping mechanism, a trimming mechanism, a depth camera (206), and a controller;

the positioning rotating mechanism, the clamping mechanism and the trimming mechanism are all arranged on a rack (210), the positioning rotating mechanism is positioned on two sides of the clamping mechanism, the trimming mechanism is arranged above the clamping mechanism, and the depth camera (206) is arranged on the trimming mechanism; the controller is respectively connected with the positioning rotating mechanism, the clamping mechanism, the trimming mechanism and the depth camera (206);

the rack (210) comprises a first support column, a second support column, a third support column, a fourth support column, a first cross beam, a second cross beam, a third cross beam, a fourth cross beam, a first longitudinal beam, a second longitudinal beam, a third longitudinal beam and a fourth longitudinal beam;

two ends of the first longitudinal beam are respectively connected with the top ends of the first support column and the second support column; two ends of the longitudinal beam II are respectively connected with the top ends of the strut III and the strut IV; two ends of the longitudinal beam III are respectively connected with the middle upper parts of the first support column and the second support column; two ends of the longitudinal beam IV are respectively connected with the middle upper parts of the third pillar and the fourth pillar; two ends of the first cross beam are respectively connected with the middle upper parts of the first support and the third support; two ends of the cross beam II are respectively connected with the front parts of the longitudinal beam III and the longitudinal beam IV; two ends of the beam III are respectively connected with the rear parts of the longitudinal beam III and the longitudinal beam IV; two ends of the beam IV are respectively connected with the middle upper parts of the second support column and the fourth support column;

the positioning and rotating mechanism comprises two positioning and rotating components, and the positioning and rotating components comprise: the device comprises a support frame, a first stepping motor (301), a first lead screw (302), a centering disc (204), a disc support seat (305), a coupling (306) and a first sliding table (307) which is horizontally arranged;

the bottom of the support frame is fixedly connected to the middle position of the inner side of the longitudinal beam II, a stepping motor (301) is arranged at one end of the support frame, the stepping motor I (301) is connected with a screw rod I (302) through a coupler (306), a sliding table I (307) is arranged on the screw rod I (302), and the centering disc (204) is installed on the sliding table I (307) through a disc support seat (305);

the clamping mechanism includes: three second stepping motors (401) and three second lead screws (402) which are vertically arranged; the device comprises three vertically arranged sliding tables II (403), a clamping mechanism supporting seat (404), a clamping mechanism cantilever (202), three horizontally arranged clamping jaws (209), a clamping mechanism fixing seat (408), three vertically arranged sliding table bases (409) and three couplers I (410);

two ends of the clamping mechanism supporting seat (404) are fixedly connected to the second cross beam and the third cross beam respectively; three sliding table bases (409) are arranged below the clamping mechanism supporting seat (404), a motor (401) is arranged at the lower end of each sliding table base (409), a lead screw II (402) is further arranged on each sliding table base (409), a sliding table II (403) is arranged on each lead screw II (402), the sliding table II (403) is in threaded connection with the lead screw II (402), the lead screw II (402) is connected with the motor (401) through a coupler II (410),

the three second sliding tables (403) are hinged below the clamping mechanism cantilever (202), the clamping mechanism cantilever (202) is hinged with the three clamping jaws (209), each clamping jaw (209) is connected with a clamping mechanism fixing seat (408) in a sliding mode, and the clamping mechanism fixing seats (408) are fixedly connected above the clamping mechanism supporting seats (404);

the trimming mechanism consists of a right-angle moving mechanical arm and a rotary removing mechanism,

the right-angle mobile robot arm includes: an X-direction mechanical arm, two Y-direction mechanical arms and a Z-direction mechanical arm;

the rotary removing mechanism is arranged on the Z-direction mechanical arm;

x direction arm, two Y direction arms and a Z direction arm all include: a third support frame, a third screw rod (501), a third sliding table (502) and a third stepping motor (503);

the bottoms of the support frames III on the two Y-direction mechanical arms are fixedly connected to the middle positions of the longitudinal beam I and the longitudinal beam II respectively;

the third screw rod (501) is arranged on the third support frame, the third sliding table (502) is installed on the third screw rod (501), a third stepping motor (503) is installed at one end of the third support frame, and the third stepping motor (503) is installed at one end of the third support frame and is connected with the third stepping motor (503) through a third coupling (506);

two ends of the X-direction mechanical arm are respectively arranged on the third sliding table (502) of the two Y-direction mechanical arms, and the Z-direction mechanical arm is arranged on the third sliding table (502) of the X-direction mechanical arm.

2. The mechanism of claim 1, wherein the two positioning rotation components are mirror images.

3. The mechanism for identifying and trimming defects of fruits and vegetables in a bar shape as claimed in claim 2, wherein the left positioning rotating component further comprises a stepping motor base (303) and a stepping motor I (308), the stepping motor base (303) is mounted on the first sliding table (307), and the stepping motor I (308) is mounted inside the stepping motor base (303) and connected with the centering disk (204).

4. The mechanism for identifying and trimming defects of fruit and vegetables in a bar shape according to claim 1, wherein the rotary removing mechanism comprises: a high-speed motor (207) and a rotary cutter (208);

the high-speed motor (207) is mounted on a third sliding table (502) of the Z-direction mechanical arm through a high-speed motor fixing frame, and the rotary cutter (208) is connected with the high-speed motor (207).

5. The mechanism for identifying and trimming defects of fruits and vegetables in a bar shape as claimed in claim 1, wherein said centering disk (204) is trumpet-shaped.

6. The mechanism for identifying and trimming defects of cylindrical fruits and vegetables according to claim 1, wherein the controller is respectively connected with a first stepping motor (301), a second stepping motor (401) and a high-speed motor (207).

7. The mechanism for identifying and trimming defects of fruits and vegetables in a bar shape as claimed in claim 1, wherein said depth camera (206) is mounted at the middle position of the X-direction mechanical arm.

Technical Field

The invention relates to an agricultural product processing machine, in particular to a columnar fruit and vegetable defect identification and trimming mechanism.

Background

Fruit vegetables defect is maintained and is helped improving fruit vegetables overall utilization and fruit vegetables planting benefit, promotes fruit vegetables production and processing enterprise profit. At present, fruit and vegetable processing mainly focuses on peeling, head and tail cutting and separation of defective fruits and vegetables, and the separated fruits and vegetables are partially used as feed for livestock and poultry, and partially directly discarded, so that not only is resource waste caused, but also the economic benefit of fruit and vegetable planting enterprises is influenced. The fruit and vegetable with surface defects can be used as raw materials of various deep-processing products of the fruit and vegetable after defect trimming, the additional value of the fruit and vegetable is improved, and waste utilization is realized. The traditional manual trimming has high labor intensity and low efficiency and has certain danger, and the existing fruit and vegetable processing machinery can not meet the processing requirements of trimming the defects of the columnar fruit and vegetable.

In recent years, with the rapid development of robot technology, robots are adopted in more and more fields, and the quality and efficiency of work can be improved by replacing manual work with robots. However, at present, the robot technology is mainly used in industrial production, and as the price of the robot is gradually reduced, more and more robots participate in agricultural production. The cartesian robot is widely applied to industrial and agricultural production due to the advantages of low cost, simple system structure, high reliability, high speed, high precision and the like.

At present, no mechanism suitable for identifying and trimming strip-column-shaped fruit and vegetable defects exists at home and abroad, the existing mechanism mainly focuses on peeling fruits and vegetables, removing heads and tails and grading operation, a fruit and vegetable defect identifying and trimming mechanism does not exist, and the fruit and vegetable defect identifying and trimming is an urgent problem to be solved, so that the mechanism is required to be independently designed according to the characteristics of the strip-column-shaped fruits and vegetables, and the mechanism suitable for identifying and trimming strip-column-shaped fruit and vegetable surface defects is developed.

Disclosure of Invention

At present, various cylindrical fruit and vegetable peeling, slicing, shredding and grading devices appear in China, but cylindrical fruit and vegetable defect trimming devices do not appear yet. At present, the machine for peeling, shredding and dicing the cylindrical fruits and vegetables is widely applied. And some domestic fruit and vegetable processing enterprises adopt mechanical modes such as rollers with different gaps to grade the fruits and vegetables according to certain diameters according to different diameters of the fruits and vegetables, but cannot separate out the fruits and vegetables with defects and even cannot finish the fruits and vegetables with the defects. Some domestic enterprises utilize machine vision technology to realize more accurate grading of fruits and vegetables, can separate out the fruit and vegetable of defect, nevertheless lack the technical equipment to defect fruit and vegetable further processing. The invention realizes the identification and the trimming of various defects of the fruits and the vegetables by utilizing a machine vision technology and a robot technology.

Aiming at the defects in the prior art, the invention aims to provide a strip column-shaped fruit and vegetable defect identification and trimming mechanism.

The mechanism is maintained in discernment of strip column fruit vegetables defect includes: a gantry 210, positioning rotation mechanism, clamping mechanism, finishing mechanism, depth camera 206, and controller;

the positioning rotating mechanism, the clamping mechanism and the trimming mechanism are all mounted on the frame 210, the positioning rotating mechanism is located on two sides of the clamping mechanism, the trimming mechanism is mounted above the clamping mechanism, and the depth camera 206 is mounted on the trimming mechanism; the controller is connected to the positioning rotation mechanism, the clamping mechanism, the trimming mechanism, and the depth camera 206, respectively;

the rack 210 comprises a first support column, a second support column, a third support column, a fourth support column, a first cross beam, a second cross beam, a third cross beam, a fourth cross beam, a first longitudinal beam, a second longitudinal beam, a third longitudinal beam and a fourth longitudinal beam;

two ends of the first longitudinal beam are respectively connected with the top ends of the first support column and the second support column; two ends of the longitudinal beam II are respectively connected with the top ends of the strut III and the strut IV; two ends of the longitudinal beam III are respectively connected with the middle upper parts of the first support column and the second support column; two ends of the longitudinal beam IV are respectively connected with the middle upper parts of the third pillar and the fourth pillar; two ends of the first cross beam are respectively connected with the middle upper parts of the first support and the third support; two ends of the cross beam II are respectively connected with the front parts of the longitudinal beam III and the longitudinal beam IV; two ends of the beam III are respectively connected with the rear parts of the longitudinal beam III and the longitudinal beam IV; two ends of the beam IV are respectively connected with the middle upper parts of the second support column and the fourth support column;

the positioning and rotating mechanism comprises two positioning and rotating components, and the positioning and rotating components comprise: the device comprises a support frame, a first stepping motor 301, a first lead screw 302, a centering disc 204, a disc support seat 305, a coupler 306 and a first sliding table 307 which is horizontally arranged;

the bottom of the support frame is fixedly connected to the middle position of the inner side of the longitudinal beam II, a stepping motor 301 is arranged at one end of the support frame, the stepping motor 301 is connected with a first lead screw 302 through a coupler 306, a first sliding table 307 is arranged on the first lead screw 302, and the centering disc 204 is arranged on the first sliding table 307 through a disc support seat 305;

the clamping mechanism includes: three second stepping motors 401 and three vertically arranged second lead screws 402; three vertically arranged sliding table II 403, a clamping mechanism supporting seat 404, a clamping mechanism cantilever 202, three horizontally arranged clamping jaws 209, a clamping mechanism fixing seat 408, three vertically arranged sliding table bases 409 and three coupling I410;

two ends of the clamping mechanism supporting seat 404 are fixedly connected to the second cross beam and the third cross beam respectively;

three sliding table bases 409 are arranged below the clamping mechanism supporting seat 404, a motor 401 is arranged at the lower end of each sliding table base 409, a second lead screw 402 is further arranged on each sliding table base 409, a second sliding table 403 is arranged on each second lead screw 402, the second sliding table 403 is in threaded connection with the second lead screw 402, the second lead screw 402 is connected with the motor 401 through a second coupler 410,

the two three sliding tables 403 are hinged below the clamping mechanism cantilever 202, the clamping mechanism cantilever 202 is hinged with three clamping jaws 209, each clamping jaw 209 is connected with the clamping mechanism fixing seat 408 in a sliding manner, and the clamping mechanism fixing seat 408 is fixedly connected above the clamping mechanism supporting seat 404.

The trimming mechanism consists of a right-angle moving mechanical arm and a rotary removing mechanism,

the right-angle mobile robot arm includes: an X-direction mechanical arm, two Y-direction mechanical arms and a Z-direction mechanical arm;

the rotary removing mechanism is arranged on the Z-direction mechanical arm;

x direction arm, two Y direction arms and a Z direction arm all include: a third support frame, a third screw 501, a third sliding table 502 and a third stepping motor 503;

the bottoms of the support frames III on the two Y-direction mechanical arms are fixedly connected to the middle positions of the longitudinal beam I and the longitudinal beam II respectively;

the third screw 501 is arranged on the third support frame, the third sliding table 502 is arranged on the third screw 501, a third stepping motor 503 is arranged at one end of the third support frame, and the third stepping motor 503 is arranged at one end of the third support frame and is connected with the third stepping motor 503 through a third coupling 506;

two ends of the X-direction mechanical arm are respectively arranged on a third sliding table 502 of the two Y-direction mechanical arms, and the Z-direction mechanical arm is arranged on the third sliding table 502 of the X-direction mechanical arm;

on the basis of the scheme, the two positioning rotating components are in mirror symmetry;

on the basis of the scheme, the left positioning rotating part further comprises a stepping motor base 303 and a stepping motor I308, the stepping motor base 303 is installed on the first sliding table 307, and the stepping motor I308 is installed inside the stepping motor base 303 and connected with the centering disc 204.

On the basis of the above scheme, the rotary removing mechanism comprises: a high-speed motor 207 and a rotary cutter 208;

the high-speed motor 207 is mounted on a third sliding table 502 of the Z-direction mechanical arm through a high-speed motor fixing frame, and the rotary cutter 208 is connected with the high-speed motor 207.

On the basis of the scheme, the centering disk 204 is in a horn shape.

On the basis of the scheme, the controller is respectively connected with the first stepping motor 301, the second stepping motor 401 and the high-speed motor 207.

On the basis of the above scheme, the depth camera 206 is installed at the middle position of the X-direction mechanical arm.

The working process of the strip column fruit and vegetable defect identification and trimming mechanism comprises the following steps:

the centering disc moves along with the first sliding table 307, the left sliding table 307 and the right sliding table 307 move oppositely, when the centering disc 204 moves towards the middle and touches the columnar fruit and vegetable 205, the horn-shaped centering disc 204 can lift the columnar fruit and vegetable 205 to the center of the centering disc, and centering positioning of the columnar fruit and vegetable 205 is realized; after the columnar fruit and vegetable 205 is centered and positioned, the stepping motor I308 drives the centering disc 204 to rotate, and the columnar fruit and vegetable 205 also rotates along with the centering disc 204 between the two centering discs 204, so that 360-degree image acquisition, defect identification and trimming are realized.

When the positioning and rotating mechanism rotates the surface defects of the strip-column-shaped fruits and vegetables 205 to the uppermost end, the second sliding table 403 moves downwards to drive the clamping jaw 209 to move towards the middle to circumferentially clamp the strip-column-shaped fruits and vegetables 205, so that the trimming process is smoothly carried out. After finishing the trimming of one defect, the second sliding table 403 moves upwards to open the clamping jaw 209, loosen the bar-shaped fruit and vegetable 205, the positioning and rotating mechanism rotates the bar-shaped fruit and vegetable 205 again, the next defect is trimmed continuously, the position of the defect is rotated to the uppermost end, the clamping mechanism clamps the bar-shaped fruit and vegetable 205 again, and the trimming process is continued. And repeating the operation until all defects are repaired.

The two sliding tables 403 are connected with the clamping mechanism cantilever 202 through hinge connection, and the clamping jaws 209 are driven to move horizontally to be opened and closed through the clamping mechanism cantilever 202 when the two sliding tables 403 move up and down.

After the position and the size of the defects of the strip-shaped fruits and vegetables 205 are obtained, the defects of the strip-shaped fruits and vegetables 205 are positioned at the uppermost end through the action of the positioning rotating and clamping mechanism, the cutter is controlled to move right above the defects through the mechanical arm, then the cutter is controlled to move according to a planned path and the action of the positioning rotating and clamping mechanism is matched, and the defects on the surface of the strip-shaped fruits and vegetables 205 are removed.

The right-angle moving mechanical arm controls the movement of XYZ three degrees of freedom of the rotary removing mechanism, the rotary removing mechanism is composed of a motor, a coupler and a cutter, and the motor provides power in the rotating direction of the cutter.

In the process that the positioning and rotating mechanism drives the strip-column-shaped fruit and vegetable 205 to rotate, the depth camera 206 mounted on the rack 210 is used for acquiring a 360-degree image of the strip-column-shaped fruit and vegetable 205, and then the type, the position and the size of the surface defect of the strip-column-shaped fruit and vegetable 205 are identified through an image processing method and an image three-dimensional reconstruction technology.

In the trimming process, the cutter is always in contact with the strip-column-shaped fruit and vegetable 205, so after the defective strip-column-shaped fruit and vegetable 205 is trimmed for the first time, the depth camera 206 is matched with the strip-column-shaped fruit and vegetable 205 to rotate to acquire 360-degree images again, whether surface defects are completely removed or not is judged, and the operation is repeated for multiple times until the defects are completely removed.

The controller is used for controlling the actions of the positioning rotating mechanism, the clamping mechanism and the trimming mechanism, and comprises:

1. the columnar fruit and vegetable centering positioning control is realized by controlling the opposite movement of the screw rod sliding table;

2. controlling the rotation of the strip-column-shaped fruits and vegetables to the center disc so as to drive the strip-column-shaped fruits and vegetables to rotate;

3. the circumferential clamping control of the strip-shaped fruit and vegetable is realized, and three screw rod sliding tables of the clamping mechanism are controlled to move up and down to drive the clamping jaw to open and close;

4. and controlling the position of the rotary cutter to control the motion of the rectangular coordinate robot, so that the cutter moves according to a planned path.

The invention has the beneficial effects that:

the centering positioning, surface defect identification, positioning and quantification and defect trimming of the columnar fruits and vegetables can be realized. The device is convenient to adjust and calibrate, convenient to operate and free of any environmental pollution. Through the technical scheme, the strip column-shaped fruit and vegetable defect trimming equipment is reasonable and simple in structure, easy to produce and manufacture, low in cost and simple to operate, can efficiently realize fruit and vegetable defect trimming, overcomes the waste problem in the traditional fruit and vegetable processing process, improves economic benefits, and has good popularization and application values while improving the market competitiveness of equipment.

The invention relates to the field of agricultural product processing machinery. The invention has simple structure, can quickly identify the type, the range, the space coordinates and the like of the surface defects of the strip-column-shaped fruits and vegetables according to the strip-column-shaped fruit and vegetable images, eliminates the related defects on the surfaces of the strip-column-shaped fruits and vegetables, realizes the surface defect finishing of the strip-column-shaped fruits and vegetables, effectively solves the problems of fruit and vegetable waste and planting benefits caused by the surface defects of the strip-column-shaped fruits and vegetables, greatly improves the utilization rate of the fruits and vegetables, and has wide market prospect, considerable economic benefits and good social benefits.

Drawings

The invention has the following drawings:

FIG. 1 is a flow chart of a bar-shaped fruit and vegetable defect identification and trimming mechanism

FIG. 2 is an isometric view of a bar-shaped fruit and vegetable defect identification and trimming mechanism

FIG. 3 is a schematic view of a centering and rotating mechanism of the present invention

FIG. 4 is a schematic view of a clamping mechanism of the present invention

FIG. 5 is a schematic view of a Cartesian robot according to the present invention

Wherein: the clamping mechanism comprises a cantilever 202, a cantilever 204, a centering disk 205, a cylindrical fruit and vegetable 206, a depth camera 207, a high-speed motor 208, a rotary cutter 209, a clamping jaw 210 and a rack.

301 step motor I, 302 lead screw I, 303 step motor seat, 305 disc supporting seat, 306 coupling I, 307 slip table I, 308 step motor I.

A 401 stepper motor II, a 402 lead screw II, a 403 sliding table II, a 404 clamping mechanism supporting seat, a 408 clamping mechanism fixing seat, a 409 sliding table base and a 410 coupler II.

A third screw 501, a third sliding table 502, a third stepping motor 503 and a third coupling 506.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following describes a specific embodiment of the mechanism for identifying and trimming the stripped fruits and vegetables with reference to the attached drawings 1-5.

Example 1: referring to fig. 1, the bar-shaped fruit and vegetable defect identification and trimming mechanism includes a frame 210, a positioning and rotating mechanism, a clamping mechanism, a trimming mechanism, a depth camera 206 and a controller;

the strip-column-shaped fruit and vegetable is placed into the strip-column-shaped fruit and vegetable defect identification and trimming mechanism, the strip-column-shaped fruit and vegetable is firstly rotated in a centering and positioning mode, the depth camera 206 collects 360-degree images of the strip-column-shaped fruit and vegetable 205 and carries out image processing and three-dimensional reconstruction to obtain characteristic parameters of defects, then the clamping mechanism clamps the strip-column-shaped fruit and vegetable 205, and finally the mechanical arm is guided to act to drive the rotary cutter 208 to remove the defects according to a planned path. After the defect elimination for one week is completed, the depth camera 206 is matched with the strip-shaped fruit and vegetable 205 again to rotate to obtain a 360-degree image of the strip-shaped fruit and vegetable 205, whether the defects are completely eliminated or not is judged, if not, the mechanical arm is guided to act again to eliminate the defects, and the steps are repeated until the defects are completely eliminated.

Referring to fig. 2, the whole mechanism is divided into a positioning rotating mechanism, a clamping mechanism and a trimming mechanism, wherein the positioning rotating mechanism is located at two sides of the clamping mechanism, and the trimming mechanism is installed above the clamping mechanism. After the strip-shaped fruit and vegetable 205 is placed in the trimming device, firstly, the centering disc 204 moves towards the middle under the drive of the first screw rod 302, and after the centering disc 204 touches the strip-shaped fruit and vegetable 205, the position of the strip-shaped fruit and vegetable 205 in the centering positioning process can be adjusted by the horn-shaped structure form of the centering disc 204, so that the axis of the strip-shaped fruit and vegetable 205 passes through the center of the centering disc 204, and the purpose of centering positioning is achieved; secondly, the centering disc 204 is driven by the stepping motor 308 to rotate so as to drive the strip-shaped fruit and vegetable 205 to rotate together, at the moment, the depth camera 206 obtains a 360-degree color image and depth data of the strip-shaped fruit and vegetable 205, the defect number and the defect position of the strip-shaped fruit and vegetable 205 are determined after image processing and three-dimensional reconstruction, and the stepping motor I308 is guided to rotate so that the defect position of the strip-shaped fruit and vegetable 205 is positioned at the top end; the second screw rod 402 rotates to drive the cantilever 202 of the clamping mechanism to move, so that the clamping jaw 209 is driven to open and close, and circumferential fixation of the strip-shaped columnar fruits and vegetables 205 is realized; fourthly, after the defects of the stripped columnar fruits and vegetables 205 rotate to the uppermost end and are fixed in the circumferential direction, the three stepper motors 503 control the three screws 501 to move, so that the mechanical arm is controlled to move along the XYZ direction, the rotary cutter 208 is moved to a position right above the defects of the stripped columnar fruits and vegetables 205, the rotary cutter 208 is driven by the high-speed motor 207 to rotate, and then the stripped columnar fruits and vegetables defects are eliminated according to a planned path under the driving of the mechanical arm; fifthly, after defect removal for one week is completed, the depth camera 206 acquires the 360-degree image of the strip-column-shaped fruit and vegetable 205 again, whether the defects are completely removed is judged, and if the defects are not completely removed, the operation is repeated until all the defects are removed.

After the strip-column-shaped fruit and vegetable 205 is placed in the trimming device, the stepping motor 301 drives the first lead screw 302 to move so as to drive the stepping motor base 303, the stepping motor I308, the centering disc support 305 and the first sliding table 307 to move so as to enable the centering disc 204 to move oppositely, so that centering positioning of the strip-column-shaped fruit and vegetable is achieved, after centering positioning is completed, the stepping motor I308 drives the centering disc 204 to rotate, the strip-column-shaped fruit and vegetable 205 rotates together with the disc, circumferential rotation of the strip-column-shaped fruit and vegetable 205 is achieved, and therefore the depth camera 206 obtains 360-degree images and depth information of the strip-column-shaped fruit and vegetable 205.

Referring to fig. 4, after the defect position of the strip-column-shaped fruit and vegetable 205 is determined, the second stepping motor 401 drives the second screw rod 402 to rotate, so that the second sliding table 403 moves downwards to drive the cantilever 202 of the clamping mechanism to be closed, and therefore the clamping jaw 209 is driven to be closed to clamp the strip-column-shaped fruit and vegetable 205, and circumferential fixing of the strip-column-shaped fruit and vegetable 205 is achieved. After finishing defect trimming, the second stepping motor 401 drives the second screw rod 402 to rotate, so that the second sliding table 403 moves upwards to drive the cantilever 202 of the clamping mechanism to open, and further drive the clamping jaw 209 to open and loosen the strip-column-shaped fruit and vegetable 205.

Referring to fig. 5, after the columnar fruit and vegetable 205 is circumferentially fixed, the third stepping motor 503 drives the third screw 501 to move and drives the third sliding table 502 to move, so that the rotary cutter 208 of the third stepping motor 503 moves above the defect of the columnar fruit and vegetable 205, and then the high-speed motor 207 rotates to drive the rotary cutter 208 to rotate and acts on the defect position of the columnar fruit and vegetable 205 under the control of the mechanical arm to remove the defect.

Those not described in detail in this specification are within the skill of the art.