CN113001658B

CN113001658B - Automatic processing device for bean sprouts

Info

Publication number: CN113001658B
Application number: CN202110198113.7A
Authority: CN
Inventors: 王凯; 柯璐瑶; 李炬; 赵武; 李文强; 何孟凡; 王恒; 王崇荣
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2021-12-28
Anticipated expiration: 2041-02-22
Also published as: CN113001658A

Abstract

The invention discloses an automatic processing device for bean sprouts, which comprises a rack, a clamping and cutting mechanical hand, a first clamping and cutting mechanical hand, a second clamping and cutting mechanical hand and a controller, wherein the clamping and cutting mechanical hand is arranged on the rack and moves along the vertical direction and the bean sprout conveying direction, the clamping and cutting mechanical hand clamps the bean sprouts and releases the roots of the bean sprouts, the first clamping and cutting mechanical hand and the second clamping and cutting mechanical hand are oppositely arranged on the rack, the first clamping and cutting mechanical hand and the second clamping and cutting mechanical hand move along the vertical direction, the bean sprout conveying direction and the transverse direction orthogonal to the conveying direction, the first clamping and cutting mechanical hand and the second clamping and cutting mechanical hand are mutually matched to cut the bean sprouts into rod strips and remove the leaves of the bean sprouts, the clamping and cutting mechanical hand is matched with the clamping and cutting mechanical hand to cut the roots of the bean sprouts and release the bean sprouts, and the controller controls the operations of the clamping and cutting mechanical hand and the first clamping and the second clamping and cutting mechanical hand. The automatic processing device for the bean sprouts can automatically complete the stem and leaf separation, the stem cutting and the stem strip separation of the bean sprouts, and improves the processing efficiency of the bean sprouts.

Description

Automatic processing device for bean sprouts

Technical Field

The invention belongs to the technical field of vegetable processing, and particularly relates to an automatic processing device for bean sprouts.

Background

The sprout is one of vegetables, is rich in nutrition, delicious and fragrant in taste, fresh, tender and delicious, is rich in plant protein, vitamins and the like, also contains bioactive substances such as phenolic substances, flavonol, anthocyanin and the like, and has the functional effects of delaying senility, preventing and treating obesity, resisting radiation and the like.

Sprouts typically require processing, i.e., the separation of the stems and leaves of the sprouts, followed by the separation of the sprouts stems into individual strips of sprouts. In the related art, the processing of the bean sprouts is usually carried out by manually separating the roots and the stems of the bean sprouts, then separating the stems and the leaves, and finally cutting the stems and the leaves of the bean sprouts, namely, manually separating the stems and the leaves and cutting the stems of the bean sprouts, however, the processing method has long processing time and low production efficiency, and is difficult to meet the requirement of large-scale processing. The related art proposes a cutting device for bean sprouts, which realizes mechanization of bean sprout cutting, but the applicant's inventors have recognized that the cutting device for bean sprouts requires manual holding of the bean sprouts during the cutting process, and not only has low processing efficiency, but also has potential safety hazards.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the embodiment of the invention provides an automatic processing device for bean sprouts, which can automatically complete the stem-leaf separation, the stem-cutting and the stem-bar separation of the bean sprouts, does not need to manually hold the bean sprouts, and improves the processing efficiency and the safety of the bean sprouts.

The automatic processing device for the bean sprouts comprises: a frame; the clamping and cutting mechanical arm is arranged on the rack and is movable along the vertical direction and the bean sprout conveying direction, the clamping and cutting mechanical arm comprises a first clamping and cutting blade and a second clamping and cutting blade, the first clamping and cutting blade and the second clamping and cutting blade can rotate and have an opening state and a closing state, in the closing state, the first clamping and cutting blade and the second clamping and cutting blade are closed to clamp the root of the bean sprout by cutting into the root of the bean sprout, and in the opening state, the first clamping and cutting blade and the second clamping and cutting blade are opened to release the root of the bean sprout; first and second clamping slitting robots disposed opposite each other on the frame, the first and second clamping slitting robots being movable in an up-down direction, in a bud conveying direction and in a transverse direction orthogonal to the conveying direction, the first clamping slitting robot comprising a first clamping slitting knife, the second clamping slitting robot comprising a second clamping slitting knife, the first and second clamping slitting knives having a disengaged state, a clamped state and a closed state, wherein in the closed state the first and second clamping slitting knives are closed to cut into bud sticks and cut the bud sticks into bud sticks by moving in the up-down direction while removing bud leaves on the bud sticks, in the disengaged state the first and second clamping slitting knives are opened to release the bud sticks, in the clamped state, the first and second clamping slitting knives approach each other to clamp the stem of the bud to allow the first and second clamping and cutting blades clamping the root of the bud to cut the root of the bud by rotation; and the controller is connected with the clamping and cutting-off mechanical arm and the first and second clamping and slitting mechanical arms to control the clamping and cutting-off mechanical arm and the first and second clamping and slitting mechanical arms to act.

According to the automatic processing device for the bean sprouts, disclosed by the embodiment of the invention, the stem and leaf separation, the stem cutting and the stem strip separation of the bean sprouts can be automatically completed, the labor is reduced, and the processing efficiency and the safety of the bean sprouts are improved.

In some embodiments, the automatic processing device for sprouts further comprises an image collector for imaging during the actions of the clamping and cutting manipulator and the first and second clamping and slitting manipulators, and the controller is connected with the image collector to control the actions of the clamping and cutting manipulator and the first and second clamping and slitting manipulators under the assistance of the imaging of the image collector.

In some embodiments, the automatic processing device for sprouts further comprises a first conveying assembly and a second conveying assembly, wherein the first conveying assembly is used for conveying sprouts, the second conveying assembly is used for conveying sprout sticks, and the framework is arranged between the first conveying assembly and the second conveying assembly in the conveying direction of the sprouts.

In some embodiments, the automatic bean sprout processing device further comprises a collecting bucket which is positioned below the rack and used for collecting the leaf and root of the bean sprout cut from the bean sprout stalks.

In some embodiments, the clamping and cutting manipulator further comprises a clamping and cutting driver, a housing, a clamping and cutting blade opening and closing driver, and a clamping and cutting blade rotating driver, wherein the clamping and cutting driver is installed on the frame and can move along the conveying direction of the bean sprouts, the clamping and cutting driver is connected with the housing to drive the housing to move along the up-down direction and drive the housing to move along the conveying direction of the bean sprouts, the clamping and cutting blade opening and closing driver and the clamping and cutting blade rotating driver are arranged in the housing, the clamping and cutting blade opening and closing driver is connected with the first clamping and cutting blade and the second clamping and cutting blade to drive the first clamping and cutting blade and the second clamping and cutting blade to open and close, the clamping and cutting blade rotating driver is connected with the clamping and cutting blade opening and closing driver to drive the clamping and cutting blade opening and closing driver and the first clamping and cutting blade and the second clamping and cutting blade to open and close The sheet is rotated.

In some embodiments, the pinching and severing robot further includes a linkage coupled to the pinching and severing blade opening and closing actuator, the first and second pinching and severing blades being mounted on the linkage.

In some embodiments, the pinching and cutting-off driver and the pinching and cutting-off blade opening and closing driver are telescopic motors, and the pinching and cutting-off blade rotating driver is a rotating motor.

In some embodiments, the first clamping slitting manipulator further comprises: the first driver, the first shell and the first clamping slitting knife vibrator, the first driver is installed on the rack and can move along the vertical direction, the bean sprout conveying direction and the transverse direction, the first driver is connected with the first shell to drive the first shell to move along the vertical direction and drive the first shell to move along the bean sprout conveying direction and the transverse direction, and the first clamping slitting knife vibrator is arranged in the first shell and connected with the first clamping slitting knife to drive the first clamping slitting knife to vibrate; the second centre gripping divides strip manipulator still includes: the second driver, second casing and second centre gripping slitting sword vibrator, the second driver is installed in the frame and along upper and lower direction the bud dish direction of delivery with horizontal portable, the second driver with the second casing links to each other with the drive the second casing moves and drives along upper and lower direction the second casing is followed bud dish direction of delivery with lateral shifting, second centre gripping slitting sword vibrator is established in the second casing and with the second centre gripping slitting sword links to each other with the drive the vibration of second centre gripping slitting sword.

In some embodiments, the first clamping slitting knife comprises a first knife rest and a plurality of first clamping slitting knives, the first knife rest is connected with the first clamping slitting knife vibrator and comprises a first arc-shaped plate, the plurality of first clamping slitting knives are installed on the inner circumferential surface of the first arc-shaped plate, and the first clamping slitting knives are distributed at intervals along the circumferential direction of the first arc-shaped plate and extend along the radial direction of the first arc-shaped plate; the second clamping slitting knife comprises a second knife rest and a plurality of second clamping slitting knives, the second knife rest is connected with the second clamping slitting knife vibrator and comprises a second arc-shaped plate, the second clamping slitting knives are installed on the inner circumferential surface of the second arc-shaped plate, the second clamping slitting knives are distributed at intervals along the circumferential direction of the second arc-shaped plate and extend along the radial direction of the second arc-shaped plate, in the folding state, the first arc-shaped plate and the second arc-shaped plate form a generally circular plate, and the folding state and the clamping state are the same state or different states.

In some embodiments, the first and second drivers are both telescopic motors and the first and second grip slitting knife vibrators are both vibrating motors.

Drawings

Fig. 1 is a schematic view of an automatic processing device for bean sprouts according to an embodiment of the present invention.

Fig. 2 is another schematic view of an automatic processing device for bean sprouts according to an embodiment of the present invention.

Fig. 3 is a schematic view of a clamping and cutting manipulator of the automatic processing device for bean sprouts according to the embodiment of the present invention.

Fig. 4 is a schematic view of a first clamping and stripping manipulator of the automatic bean sprout processing device according to the embodiment of the invention.

Fig. 5 is a schematic view of a second clamping and stripping robot of the automatic bean sprout processing device according to the embodiment of the invention.

Reference numerals:

a frame 1, a first chute 101, a second chute 102,

a gripping and cutting robot 2, a first gripping and cutting blade 21, a second gripping and cutting blade 22, a gripping and cutting driver 23, a housing 24, a gripping and cutting blade opening and closing driver 25, a gripping and cutting blade rotating driver 26, a link mechanism 27, a first connecting rod 271, a second connecting rod 272,

a first clamping slitting manipulator 3, a first clamping slitting knife 31, a first knife rest 311, a first arc-shaped plate 3111, a first clamping slitting knife 312, a first driver 32, a first shell 33, a first clamping slitting knife vibrator 34,

a second clamping slitting manipulator 4, a second clamping slitting knife 41, a second knife rest 411, a second arc plate 4111, a second clamping slitting knife 412, a second driver 42, a second shell 43, a second clamping slitting knife vibrator 44,

the image collector comprises an image collector 5, a first conveying assembly 6, a second conveying assembly 7, a collecting barrel 8, a first movable base 9, a second movable base 10 and a third movable base 11.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1 to 5, an automatic processing apparatus for bean sprouts according to an embodiment of the present invention includes a frame 1, a gripping and cutting robot 2, a first gripping and slitting robot 3, a second gripping and slitting robot 4, and a controller (not shown).

The gripping and cutting manipulator 2 is provided on the frame 1 and is movable in the up-down direction and the bean sprouts conveying direction (the front-back direction as shown in fig. 1). As shown in fig. 3, the gripping and cutting robot 2 includes a first gripping and cutting blade 21 and a second gripping and cutting blade 22, the first gripping and cutting blade 21 and the second gripping and cutting blade 22 being rotatable and having an open state in which the first gripping and cutting blade 21 and the second gripping and cutting blade 22 are closed to grip the root of the bud by cutting into the root of the bud and a closed state in which the first gripping and cutting blade 21 and the second gripping and cutting blade 22 are opened to release the root of the bud.

As shown in fig. 1 and 2, the rack 1 is provided with a plurality of first sliding grooves 101, the plurality of first sliding grooves 101 are arranged at intervals in the left-right direction, and the first sliding grooves 101 extend in the front-rear direction. As shown in fig. 2, three first sliding grooves 101 are provided on the frame 1, but the present invention is not limited thereto. The frame 1 is further provided with a second chute 102, and the second chute 102 extends in the left-right direction and connects the plurality of first chutes 101 to each other. In the embodiment shown in fig. 2, the frame 1 is provided with a second chute 102, but the invention is not limited thereto. The second chute 102 is located behind the first chute 101.

The gripping and cutting robot 2 is movable in the front-rear direction along the first chute 101. In the example shown in fig. 2, the gripping and cutting robot 2 moves along the first chute 101 located in the middle, and it is understood that the gripping and cutting robot 2 may move from the first chute 101 located in the middle to move along the other first chutes 101 and the second chute 102 as needed.

The first holding and slitting manipulator 3 and the second holding and slitting manipulator 4 are provided on the rack 1 so as to face each other, and the first holding and slitting manipulator 3 and the second holding and slitting manipulator 4 are movable in the up-down direction, the bean sprout conveying direction (the front-back direction as shown in fig. 1), and the lateral direction orthogonal to the conveying direction (the left-right direction as shown in fig. 1). The first clamping slitting manipulator 3 includes a first clamping slitting knife 31, the second clamping slitting manipulator 4 includes a second clamping slitting knife 41, the first clamping slitting knife 31 and the second clamping slitting knife 41 have a departing state, a clamping state, and a closing state, wherein in the closing state, the first clamping slitting knife 31 and the second clamping slitting knife 41 are closed to cut into the bean sprouts poles so as to cut the bean sprouts poles into the bean sprouts pole strips by moving in the up-down direction while removing the bud leaves on the bean sprouts poles, in the departing state, the first clamping slitting knife 31 and the second clamping slitting knife 41 are opened to release the bean sprouts poles, and in the clamping state, the first clamping slitting knife 31 and the second clamping slitting knife 41 are close to each other to clamp the bean sprouts poles, so that the first clamping slitting knife 31 and the second clamping slitting knife 22 clamping the root of the bean sprouts can cut off the root portions by rotating.

The first clamping and slitting manipulator 3 is connected in the first chute 101 on the left side, the first clamping and slitting manipulator 3 can move in the front-rear direction along the first chute 101, and the first clamping and slitting manipulator 3 can also move in the left-right direction along the second chute 102. The second clamping and slitting manipulator 4 is connected in the first chute 101 on the right side, the second clamping and slitting manipulator 4 can move in the front-rear direction along the first chute 101, and the second clamping and slitting manipulator 4 can also move in the front-rear direction along the second chute 102.

In a folding state, the first clamping and slitting manipulator and the second clamping and slitting manipulator are close to each other, the first clamping and slitting manipulator and the second clamping and slitting manipulator cut into the bean sprouts poles and move up and down, the whole bean sprouts poles are divided into a plurality of bean sprouts pole strips, and the bean sprouts on the bean sprouts poles are cut off at the same time.

When being in the centre gripping state, the first clamp is got and is divided strip manipulator 3 and the second clamp is got and is got strip manipulator 4 and draw close each other and carry out the centre gripping to the bud dish pole to the first clamp is got and is cut off blade 21 and the second clamp is got and is cut off blade 22 bud dish root excision.

In the separated state, the first and

second holding cutters

31 and 41 are moved away from each other to release the bud sticks after being separated from the roots.

A controller (not shown) is connected with the clamping and cutting mechanical arm 2, the first clamping and slitting mechanical arm 3 and the second clamping and slitting mechanical arm 4 to control the actions of the clamping and cutting mechanical arm 2, the first clamping and slitting mechanical arm 3 and the second clamping and slitting mechanical arm 4, so that the operations of processing and processing the sprouts are completed.

According to the automatic processing device for the bean sprouts, the clamping and cutting of the bean sprouts can be automatically realized through the clamping and cutting mechanical arms, the bean sprout stems are cut into strips and separated from the bean sprout stems through the first clamping and strip dividing mechanical arms and the second clamping and strip cutting mechanical arms, the root of the bean sprouts is cut through the cooperation of the first clamping and strip cutting knives and the first clamping and cutting blades, the labor is reduced, and the processing efficiency and the safety of the bean sprouts are improved.

In some embodiments, the automatic processing device for sprouts further comprises an image collector 5, such as a camera, the image collector 5 forms an image during the actions of the clamping and cutting manipulator 2, the first clamping and slitting manipulator 3 and the second clamping and slitting manipulator 4, the controller is connected with the image collector 5, and the image of the image collector 5 can assist the controller to control the actions of the clamping and cutting manipulator 2, the first clamping and slitting manipulator 3 and the second clamping and slitting manipulator 4.

According to the automatic processing device for the bean sprouts, disclosed by the embodiment of the invention, the image collector 5 is arranged, and the action states of the clamping and cutting mechanical hand 2, the first clamping and slitting mechanical hand 3 and the second clamping and slitting mechanical hand 4 are monitored by machine vision, so that the whole bean sprouts are firstly subjected to stem and leaf separation, then the stem and slitting of the bean sprouts are carried out, and finally the root and stem separation is carried out, and the automation, the intelligence degree and the precision of the automatic processing device for the bean sprouts are improved.

In some embodiments, the automatic processing device for sprouts further comprises a first conveying assembly 6 and a second conveying assembly 7, wherein the first conveying assembly 6 is used for conveying sprouts, the second conveying assembly 7 is used for conveying sprout sticks, and the rack 1 is arranged between the first conveying assembly 6 and the second conveying assembly 7 in the conveying direction of the sprouts. As shown in fig. 1 and 2, the first conveyor assembly 6 is provided at the rear side of the frame 1, and the second conveyor assembly 7 is provided at the front side of the frame 1. In particular, the first conveyor assembly 6 and the second conveyor assembly 7 may be conveyor belts. It is to be understood that the types of the first and

second conveyor assemblies

6 and 7 in the present application are not limited thereto.

According to the automatic processing device for the bean sprouts, provided by the embodiment of the invention, the first conveying component 6 and the second conveying component 7 are arranged, so that the bean sprouts before processing and the bean sprouts after processing can be automatically conveyed, and the conveying efficiency and the processing efficiency of the bean sprouts are improved.

In some embodiments, the automatic bean sprout processing device further comprises a collecting bucket 8, wherein the collecting bucket 8 is positioned below the machine frame 1 and is used for collecting bean sprout leaves cut off from bean sprout stalks and bean sprout roots cut off from the bean sprout stalks. As shown in fig. 1 and 2, the collection tub 8 is located directly below the housing 1. According to the automatic processing device for the bean sprouts, the collecting barrel 8 is arranged, so that the leaf of the bean sprouts cut off from the bean sprouts stalks and the root of the bean sprouts cut off from the bean sprouts are collected conveniently, the surrounding environment of a processing station is kept, and the processing quality of the bean sprouts is improved.

In some embodiments, the gripping and cutting robot 2 further includes a gripping and cutting driver 23, a housing 24, a gripping and cutting blade opening and closing driver 25, and a gripping and cutting blade rotating driver 26. The clamping and cutting driver 23 is installed on the frame 1 and can move along the conveying direction of the bean sprouts, and the clamping and cutting driver 23 is connected with the shell 24 to drive the shell 24 to move along the up-down direction and drive the shell 24 to move along the conveying direction of the bean sprouts. A pinching cutoff blade opening and closing driver 25 and a pinching cutoff blade rotating driver 26 are provided in the housing 24, and the pinching cutoff blade opening and closing driver 25 is connected to the first pinching cutoff blade 21 and the second pinching cutoff blade 22 to drive the first pinching cutoff blade 21 and the second pinching cutoff blade 22 to open and close. The pinching cutoff blade rotary driver 26 is connected to the pinching cutoff blade opening and closing driver 25 to drive the pinching cutoff blade opening and closing driver 25 and the first and second

pinching cutoff blades

21 and 22 to rotate.

As shown in fig. 3, a first movable base 9 is provided above the gripping and cutting actuator 23, the first movable base 9 is connected in the first chute 101, the first movable base 9 drives the gripping and cutting actuator 23 to move in the front-rear direction, or may move in the left-right direction, and the first movable base 9 may be driven by another actuator.

The housing 24 is provided below the clamp cut-off actuator 23, the clamp cut-off actuator 23 drives the housing 24 to move in the up-down direction, and the clamp cut-off actuator 23 and the housing 24 move together in the front-back direction by the drive of the first moving base 9.

The clamping cutting blade opening and closing driver 25 and the clamping cutting blade rotating driver 26 are both arranged in the shell 24, the clamping cutting blade rotating driver 26 is located above the clamping cutting blade opening and closing driver 25, the fixed end of the clamping cutting blade rotating driver 26 is connected with the inner wall surface of the upper side of the shell 24, the driving end of the clamping cutting blade rotating driver 26 is connected with the fixed end of the clamping cutting blade opening and closing driver 25, and the clamping cutting blade rotating driver 26 drives the clamping cutting blade opening and closing driver 25 to rotate.

The driving end of the pinching and cutting-off blade opening and closing driver 25 is connected to the first pinching and cutting-off blade 21 and the second pinching and cutting-off blade 22, and the pinching and cutting-off blade opening and closing driver 25 drives the pinching and cutting-off blades to open and close the first pinching and cutting-off blade 21 and the second pinching and cutting-off blade 22. When the first and second pinching and cutting

blades

21 and 22 are closed, the sprouts can be caught, and when the first and second pinching and cutting

blades

21 and 22 are opened, the sprouts can be released.

According to the automatic processing device for the bean sprouts, disclosed by the embodiment of the invention, the automatic clamping of the bean sprouts is realized by opening the closed driver 25 through the clamping cutting blades, so that the processing efficiency and the safety of the bean sprouts are improved. The clamping cutting blade rotary driver 26 is matched with the first clamping cutting blade 21 and the second clamping cutting blade to cut off the root of the bean sprouts, and the processing quality of the bean sprouts is improved.

In some embodiments, the gripping and cutting robot 2 further includes a link mechanism 27, the link mechanism 27 is connected to the gripping and cutting blade opening and closing driver 25, and the first gripping and cutting blade 21 and the second gripping and cutting blade 22 are mounted on the link mechanism 27.

As shown in fig. 3, the link mechanism 27 includes two first connecting rods 271 and two second connecting rods 272, the upper ends of the two first connecting rods 271 are each bolted to the gripping and cutting blade opening and closing driver 25, the upper end of one second connecting rod 272 is bolted to the lower end of one first connecting rod 271, the upper end of the other second connecting rod 272 is bolted to the lower end of the other first connecting rod 271, the middle portions of the two second connecting rods 272 are bolted, the first gripping and cutting blade 21 is connected to the lower end of one second connecting rod 272, the second gripping and cutting blade 22 is connected to the lower end of the other second connecting rod 272, the lower ends of the first gripping and cutting blade 21 and the second gripping and cutting blade 22 are arranged to face each other, and the lower ends of the first gripping and cutting blade 21 and the second gripping and cutting blade 22 can be cut into sprouts.

According to the automatic processing device for the bean sprouts, provided by the embodiment of the invention, the synchronous movement of the first clamping and cutting blade 21 and the second clamping and cutting blade 22 is realized by arranging the link mechanism 27, so that the clamping of the bean sprouts is realized more stably.

In some embodiments, the gripping and cutting-off driver 23 and the gripping and cutting-off blade opening and closing driver 25 are telescopic motors, and the gripping and cutting-off blade rotating driver 26 is a rotary motor. It is to be understood that the gripping and cutting actuator 23 and the gripping and cutting blade opening and closing actuator 25 in the present application are not limited thereto, and may be, for example, a telescopic cylinder or a telescopic hydraulic cylinder. The type of the cutting blade rotation driver is also not limited to this, and may be, for example, a hydraulic motor or the like.

In some embodiments, the first clamping slitting manipulator 3 further includes a first driver 32, a first housing 33, and a first clamping slitting blade vibrator 34, the first driver 32 is mounted on the frame 1 and is movable in the up-down direction, the bean sprout conveying direction, and the transverse direction, the first driver 32 is connected to the first housing 33 to drive the first housing 33 to move in the up-down direction and drive the first housing 33 to move in the bean sprout conveying direction and the transverse direction, and the first clamping slitting blade vibrator 34 is disposed in the first housing 33 and is connected to the first clamping slitting blade 31 to drive the first clamping slitting blade 31 to vibrate.

As shown in fig. 4, a second movable base 10 is disposed above the first driver 32, the first driver 32 is connected to the second movable base 10, the second movable base 10 is connected to the second sliding slot 102, and the second movable base 10 drives the first driver 32 to move in the left-right direction and the front-back direction. The first housing 33 is disposed at a lower end of the first driver 32, and the first driver 32 drives the first housing 33 to move in an up-and-down direction. The first holding slitting knife vibrator 34 is arranged in the first shell 33, the driving end of the first holding slitting knife vibrator 34 extends out of the first shell 33, and the first holding slitting knife 31 is connected with the driving end of the first holding slitting knife vibrator 34.

The second clamping slitting manipulator 4 further comprises a second driver 42, a second shell 43 and a second clamping slitting knife vibrator 44, the second driver 42 is mounted on the rack 1 and can move along the up-down direction, the bean sprout conveying direction and the transverse direction (the left-right direction), the second driver 42 is connected with the second shell 43 to drive the second shell 43 to move along the up-down direction and drive the second shell 43 to move along the bean sprout conveying direction and the transverse direction, and the second clamping slitting knife vibrator 44 is arranged in the second shell 43 and connected with the second clamping slitting knife 41 to drive the second clamping slitting knife 41 to vibrate.

As shown in fig. 5, a third moving base 11 is disposed above the second driver 42, the second driver 42 is connected to the third moving base 11, the third moving base 11 is connected to the second sliding slot 102, and the third moving base 11 drives the second driver 42 to move in the front-back direction and the left-right direction. The second housing 43 is arranged at the lower end of the second driver 42, the second driver 42 drives the second housing 43 to move in the up-down direction, the second holding slitting knife vibrator 44 is arranged in the second housing 43, the driving end of the second holding slitting knife vibrator 44 extends out of the second housing 43, the second holding slitting knife 41 is connected with the driving end of the second holding slitting knife vibrator 44, and the second holding slitting knife 41 and the first holding slitting knife 31 are oppositely arranged in the left-right direction.

According to the automatic processing device for the bean sprouts, disclosed by the embodiment of the invention, the first clamping slitting knife 31 and the second clamping slitting knife 41 are respectively and correspondingly connected with the first clamping slitting knife vibrator 34 and the second clamping slitting knife vibrator 44, so that the cut bean sprouts can be vibrated and shaken off while the bean sprouts are vertically split, the automation of vegetable leaf separation is realized, and the vegetable leaf separation efficiency is improved.

In some embodiments, the first clamping slitting knife 31 comprises a first knife holder 311 and a plurality of first clamping slitting knives 312, the first knife holder 311 is connected with the first clamping slitting knife vibrator 34 and comprises a first arc-shaped plate 3111, the plurality of first clamping slitting knives 312 are installed on the inner circumferential surface of the first arc-shaped plate 3111, and the first clamping slitting knives 31 are distributed at intervals along the circumferential direction of the first arc-shaped plate 3111 and extend along the radial direction of the first arc-shaped plate 3111.

As shown in fig. 4 and 5, the first arc plate 3111 is connected to the first holding slitting knife vibrator 34, the arc degree of the first arc plate 3111 is 90 ° to 180 °, and the plurality of first holding slitting knives 31 are arranged at equal intervals in the circumferential direction of the first arc plate 3111.

The second holding and slicing knife 41 comprises a second knife holder 411 and a plurality of second holding and slicing knives 412, the second knife holder 411 is connected with the second holding and slicing knife vibrator 44 and comprises a second arc plate 4111, the plurality of second holding and slicing knives 412 are mounted on the inner circumferential surface of the second arc plate 4111, the second holding and slicing knives 41 are distributed at intervals along the circumferential direction of the second arc plate 4111 and extend along the radial direction of the second arc plate 4111, wherein in the folded state, the first arc plate 3111 and the second arc plate 4111 form a substantially circular plate, wherein the folded state and the clamped state may be the same state or different states, for example, in the folded state, the depth of the first holding and slicing knife 31 and the second holding and slicing knife 41 cutting the bean sprouts sticks is greater than the depth of the first holding and slicing knife 31 and the second holding and slicing knife 41 cutting the bean sprouts in the clamped state, of course, the first holding and slicing knife 31 and the second holding and slicing knife 41 in the folded state can also hold the bean sprouts sticks, the closed state and the clamped state are the same state.

As shown in fig. 4 and 5, the second arc plate 4111 is connected to the second holding bar cutter vibrator 44, the radian of the second arc plate 4111 is 90 ° to 180 °, and the radian of the second arc plate 4111 is the same as that of the first arc plate 3111, and the plurality of second holding bar cutters 41 are arranged at equal intervals in the circumferential direction of the second arc plate 4111. The number of the second holding slitting knives 41 is the same as that of the first holding slitting knives 31, and the distance between the first holding slitting knives 31 in the circumferential direction of the first arc-shaped plate 3111 is equal to the distance between the second holding slitting knives 41 in the circumferential direction of the second arc-shaped plate 4111.

According to the automatic bean sprout processing device provided by the embodiment of the invention, a plurality of first clamping and slitting knives 31 distributed on the first arc-shaped plate 3111 at equal intervals and a plurality of second clamping and slitting knives 41 distributed on the second arc-shaped plate 4111 at equal intervals can effectively sprout, and bean sprout sticks with uniform size are obtained, so that the cutting efficiency and the cutting quality are improved.

In some embodiments, first drive 32 and second drive 42 are both telescopic motors, and first grip slitter vibrator 34 and second grip slitter vibrator 44 are both vibrating motors.

First centre gripping slitting knife vibrator 34 and second centre gripping slitting knife vibrator 44 of the embodiment of this application are vibrating motor, and vibrating motor can vibrate the shake off at the bud dish leaf that cuts apart the in-process of slitting to the bud dish pole, has improved the efficiency of pole leaf separation.

It will be appreciated that the type of first and

second actuators

32, 42 in the present application is not limited thereto, and may also be, for example, telescopic cylinders or telescopic hydraulic cylinders.

An automatic processing apparatus for bean sprouts according to some specific examples of the embodiments of the present invention will be described with reference to fig. 1 to 5.

The automatic processing device for the bean sprouts comprises a rack 1, a clamping and cutting manipulator 2, a first clamping and slitting manipulator 3, a second clamping and slitting manipulator 4, a controller, an image collector 5, a first conveying assembly 6, a second conveying assembly 7 and a collecting barrel 8.

The clamping cutting manipulator 2 is arranged on the frame 1 and is movable in the up-down direction and the front-back direction, the clamping cutting manipulator 2 comprises a first clamping cutting blade 21 and a second clamping cutting blade 22, the first clamping cutting blade 21 and the second clamping cutting blade 22 are rotatable and have an open state and a closed state, wherein in the closed state, the first clamping cutting blade 21 and the second clamping cutting blade 22 are closed to clamp the root of the bud vegetable by cutting into the root of the bud vegetable, and in the open state, the first clamping cutting blade 21 and the second clamping cutting blade 22 are opened to release the root of the bud vegetable.

The clamping cutting manipulator 2 further comprises a clamping cutting driver 23, a shell 24, a clamping cutting blade opening and closing driver 25 and a clamping cutting blade rotating driver 26, a first moving base 9 is arranged above the clamping cutting driver 23, the first moving base 9 is arranged in the first sliding groove 101, and the clamping cutting driver is driven by the first moving base 9 to move in the left-right direction.

The housing 24 is provided below the clamp cut-off driver, the clamp cut-off driver drives the housing 24 to move in the up-down direction, and the clamp cut-off driver 23 and the housing 24 move together in the front-back direction by the driving of the first moving base 9. The clamping cutting blade opening and closing driver 25 and the clamping cutting blade rotating driver 26 are both arranged in the shell 24, the clamping cutting blade rotating driver 26 is located above the clamping cutting blade opening and closing driver 25, the fixed end of the clamping cutting blade rotating driver 26 is connected with the inner wall surface of the upper side of the shell 24, the driving end of the clamping cutting blade rotating driver 26 is connected with the fixed end of the clamping cutting blade opening and closing driver 25, and the clamping cutting blade rotating driver 26 drives the clamping cutting blade opening and closing driver 25 to rotate.

blades

21 and 22 are opened, the sprouts can be released.

The gripping and cutting manipulator 2 further includes a link mechanism 27, the link mechanism 27 includes two first connecting rods 271 and two second connecting rods 272, the upper ends of the two first connecting rods 271 are each bolted to the gripping and cutting blade opening and closing driver 25, the upper end of one second connecting rod 272 is bolted to the lower end of one first connecting rod 271, the upper end of the other second connecting rod 272 is bolted to the lower end of the other first connecting rod 271, the middle portions of the two second connecting rods 272 are bolted, the first gripping and cutting blade 21 is connected to the lower end of one second connecting rod 272, the second gripping and cutting blade 22 is connected to the lower end of the other second connecting rod 272, the lower ends of the first gripping and cutting blade 21 and the second gripping and cutting blade 22 are arranged to face each other, and the lower ends of the first gripping and cutting blade 21 and the second gripping and cutting blade 22 can be cut into the bean sprouts.

The first holding slitting manipulator and the second holding slitting manipulator 4 are arranged on the frame 1 opposite to each other, the first holding slitting manipulator and the second holding slitting manipulator 4 can move along the up-down direction, the left-right direction and the front-back direction,

the first clamping slitting manipulator 3 includes a first clamping slitting knife 31, the second clamping slitting manipulator 4 includes a second clamping slitting knife 41, the first and second clamping slitting knives 41 have an open state, a clamping state, and a closed state, wherein in the closed state, the first and second clamping slitting knives 41 are closed to cut into the bean sprouts poles and cut the bean sprouts poles into the bean sprouts pole strips by moving in the up-down direction while removing the bud leaves on the bean sprouts poles, and in the open state, the first and second clamping slitting knives 41 are opened to release the bean sprouts poles, and in the clamping state, the first and second clamping slitting knives 41 are close to each other to clamp the bean sprouts poles to allow the first and second clamping cutting blades 22 clamping the root of the bean sprouts to cut off the root of the bean sprouts by rotating.

The first clamping slitting manipulator 3 further comprises a first driver 32, a first shell 33 and a first clamping slitting knife vibrator 34, a second moving base 10 is arranged above the first driver 32, the first driver 32 is connected with the second moving base 10, the second moving base 10 is arranged in a second sliding groove 102, the second moving base 10 drives the first driver 32 to move in the front-back direction and the left-right direction, the first shell 33 is arranged at the lower end of the first driver 32, the first driver 32 drives the first shell 33 to move in the up-down direction, the first clamping slitting knife vibrator 34 is arranged in the first shell 33, the driving end of the first clamping slitting knife vibrator 34 extends out of the first shell 33, the first clamping slitting knife 31 is connected with the driving end of the first clamping slitting knife vibrator 34, and the first clamping slitting knife 31 extends in the front-back direction.

The second clamping slitting manipulator 4 further comprises a second driver 42, a second shell 43 and a second clamping slitting knife vibrator 44, a third moving base 11 is arranged above the second driver 42, the second driver 42 is connected with the third moving base 11, the third moving base 11 is arranged in a second sliding chute 102, the third moving base 11 drives the second driver 42 to move in the front-back direction and the left-right direction, the second shell 43 is arranged at the lower end of the second driver 42, the second driver 42 drives the second shell 43 to move in the up-down direction, the second clamping slitting knife vibrator 44 is arranged in the second shell 43, the driving end of the second clamping slitting knife vibrator 44 extends out of the second shell 43, the second clamping slitting knife 41 is connected with the driving end of the second clamping slitting knife vibrator 44, and the second holding slitting knife 41 is arranged opposite to the first holding slitting knife 31 in the left-right direction.

First centre gripping slitting sword 31 includes first knife rest 311 and a plurality of first centre gripping slitting sword 312, and first knife rest 311 links to each other and includes first arc 3111 with first centre gripping slitting sword vibrator 34, and a plurality of first centre gripping slitting sword 312 are installed on the inner peripheral surface of first arc 3111, and first centre gripping slitting sword 31 is along the radial extension of first arc 3111 and the circumference interval distribution of first arc 3111. The first arc plate 3111 is connected to a first holding slitting knife vibrator 34, and a plurality of first holding slitting knives 31 are arranged at equal intervals in the circumferential direction of the first arc plate 3111.

The second holding slitting knife 41 comprises a second knife rest 411 and a plurality of second holding slitting knives 412, the second knife rest 411 is connected with a second holding slitting knife vibrator 44 and comprises a second arc-shaped plate 4111, the second holding slitting knives 412 are installed on the inner circumferential surface of the second arc-shaped plate 4111, the second holding slitting knives 41 are distributed at intervals along the circumferential direction of the second arc-shaped plate 4111 and extend along the radial direction of the second arc-shaped plate 4111, the second arc-shaped plate 4111 is connected with the second holding slitting knife vibrator 44, the radian of the second arc-shaped plate 4111 is the same as that of the first arc-shaped plate 3111, and the second holding slitting knives 41 are arranged at intervals in the circumferential direction of the second arc-shaped plate 4111. The number of the second holding slitting knives 41 is the same as that of the first holding slitting knives 31, and the distance between the first holding slitting knives 31 in the circumferential direction of the first arc-shaped plate 3111 is equal to the distance between the second holding slitting knives 41 in the circumferential direction of the second arc-shaped plate 4111.

A controller (not shown) is connected with the clamping and cutting manipulator 2, the first clamping and slitting manipulator 3 and the second clamping and slitting manipulator 4 to control the actions of the clamping and cutting manipulator 2, the first clamping and slitting manipulator 3 and the second clamping and slitting manipulator 4.

The image collector 5 is used for imaging in the action processes of the clamping cutting mechanical arm 2, the first clamping strip-dividing mechanical arm 3 and the second clamping strip-dividing mechanical arm 4, and the controller is connected with the image collector 5 to control the clamping cutting mechanical arm 2, the first clamping strip-dividing mechanical arm 3 and the second clamping strip-dividing mechanical arm 4 to act under the assistance of imaging of the image collector 5.

First conveying assembly 6 is used for carrying the bud dish, and second conveying assembly 7 is used for carrying the bud dish pole strip, and first conveying assembly 6 establishes the left side in frame 1, and second conveying assembly 7 establishes the right side in frame 1.

The collecting barrel 8 is positioned below the machine frame 1 and is used for collecting the bud leaves cut off from the bud stalks and the bud roots cut off from the bud stalks.

The operation of the automatic processing device for bean sprouts according to the embodiment of the present invention will be described with reference to fig. 1 to 5.

As shown in fig. 1 to 5, the sprouts to be treated are placed on the first conveyor assembly 6 and conveyed towards the housing 1. The image collector 5 reads the image information of the bean sprouts, the clamping and cutting manipulator 2 is controlled by the controller to move to the position above the first conveying assembly 6, and the clamping and cutting manipulator 2 drives the shell 24 to move downwards through the clamping and cutting driver 23. The clamping cutting blade opening and closing driver 25 drives the first clamping cutting blade 21 and the second clamping cutting blade 22 to be closed through the link mechanism 27, the first clamping cutting blade 21 and the second clamping cutting blade 22 cut into the root of the bean sprouts to clamp the bean sprouts, and then the controller controls the clamping cutting manipulator 2 to move forwards to the upper side of the collecting barrel 8.

After the clamping and cutting manipulator 2 moves above the collecting barrel 8 and is located between the first clamping and slitting manipulator 3 and the second clamping and slitting manipulator 4, the controller controls the first clamping and slitting manipulator 3 and the second clamping and slitting manipulator 4 to be close to each other, the first clamping and slitting knife 31 and the second clamping and slitting knife 41 are cut into bean sprouts, then the first driver 32 and the second driver 42 synchronously drive the first clamping and slitting knife 31 and the second clamping and slitting knife 41 to move downwards to cut and slit the bean sprouts, when the first clamping and slitting knife 31 and the second clamping and slitting knife 41 move downwards, the bean sprout leaves are separated from the bean sprout stalks, and the first clamping and slitting knife vibrator 34 and the second clamping and slitting knife vibrator 44 vibrate to enable the cut bean sprout leaves to fall into the collecting barrel 8. After the splitting of the bean sprouts is completed, the first clamping slitting knife 31 and the second clamping slitting knife 41 move upwards to the initial positions and clamp the bean sprouts. And then the controller controls the clamping cutting manipulator 2, the first clamping slitting manipulator 3 and the second clamping slitting manipulator 4 to synchronously move towards the second conveying assembly 7.

Waiting to press from both sides and getting the cutting manipulator, first centre gripping divides strip manipulator 3 and second centre gripping to divide strip manipulator 4 all to be located second conveying assembly 7 top back, press from both sides and get cutting blade rotary actuator 26 drive first clamp and get cutting blade 21 and the second clamp and get cutting blade 22 and rotate, first clamp is got cutting blade 21 and the second clamp and is got cutting blade 22 and will have the stem leaf separation and the bud dish after the strip by the root excision, first clamp is got cutting blade 21 and the second clamp is got cutting blade 22 and get the open mode afterwards, first centre gripping slitting sword 31 and second centre gripping slitting sword 41 get into the state of leaving, the bud dish strip drops and carries forward to second conveying assembly 7.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. The utility model provides a bud dish automatic processing device which characterized in that includes:

a frame;

get the mechanical hand of cutting off, it establishes to get the mechanical hand of cutting off and press from both sides and get the mechanical hand of cutting off and be portable along upper and lower direction and bud dish direction of delivery in the frame, it includes that first and second clamp get the cutting off blade, first and second clamp get the cutting off blade rotatable and have an open mode and a closed state, wherein the closed state, first and second clamp get the cutting off blade closure in order to carry the bud dish root through cutting into in the bud dish root, in the open mode, first and second clamp get the cutting off blade and open in order to release the bud dish root, it still gets the mechanical hand of cutting off including the clamp to get cutting off driver, shell, clamp and get the cutting off blade and open closed driver and press from both sides the cutting off blade rotary drive,

the clamping and cutting-off driver is arranged on the frame and can move along the conveying direction of the bean sprouts, the clamping and cutting-off driver is connected with the shell to drive the shell to move along the up-down direction and drive the shell to move along the conveying direction of the bean sprouts,

the clamping and cutting blade opening and closing driver and the clamping and cutting blade rotating driver are arranged in the shell, the clamping and cutting blade opening and closing driver is connected with the first clamping and cutting blade and the second clamping and cutting blade to drive the first clamping and cutting blade and the second clamping and cutting blade to open and close, and the clamping and cutting blade rotating driver is connected with the clamping and cutting blade opening and closing driver to drive the clamping and cutting blade opening and closing driver and the first clamping and cutting blade and the second clamping and cutting blade to rotate;

first and second clamping slitting robots disposed opposite each other on the frame, the first and second clamping slitting robots being movable in an up-down direction, in a bud conveying direction and in a transverse direction orthogonal to the conveying direction, the first clamping slitting robot comprising a first clamping slitting knife, the second clamping slitting robot comprising a second clamping slitting knife, the first and second clamping slitting knives having a disengaged state, a clamped state and a closed state, wherein in the closed state the first and second clamping slitting knives are closed to cut into bud sticks and cut the bud sticks into bud sticks by moving in the up-down direction while removing bud leaves on the bud sticks, in the disengaged state the first and second clamping slitting knives are opened to release the bud sticks, in the clamped state, the first and second clamping slitting knives approach each other to clamp the stem of the bud to allow the first and second clamping and cutting blades clamping the root of the bud to cut the root of the bud by rotation;

and the controller is connected with the clamping and cutting-off mechanical arm and the first and second clamping and slitting mechanical arms to control the clamping and cutting-off mechanical arm and the first and second clamping and slitting mechanical arms to act.

2. The automatic processing device for bean sprouts according to claim 1, further comprising an image collector for imaging during the actions of the clamping and cutting manipulator and the first and second clamping and slitting manipulators, wherein the controller is connected with the image collector to control the actions of the clamping and cutting manipulator and the first and second clamping and slitting manipulators with the assistance of the imaging of the image collector.

3. An automatic processing device for sprouts according to claim 1, further comprising a first conveyor assembly for conveying sprouts and a second conveyor assembly for conveying strips of sprouts, said frame being provided between said first and second conveyor assemblies in the direction of sprout conveyance.

4. The automated bean sprout processing apparatus according to claim 3, further comprising a collecting bucket below the rack for collecting leaf and root of the bean sprout cut from the stem.

5. The automated bean sprout processing apparatus according to claim 1, wherein the clamping and cutting manipulator further comprises a linkage mechanism, the linkage mechanism is connected with the opening and closing driver of the clamping and cutting blade, and the first and second clamping and cutting blades are mounted on the linkage mechanism.

6. The automatic bean sprout processing device according to claim 1, wherein the clamping and cutting-off driver and the clamping and cutting-off blade opening and closing driver are telescopic motors, and the clamping and cutting-off blade rotating driver is a rotating motor.

7. The automatic processing device for bean sprouts according to any one of claims 1-4, wherein the first clamping and slitting manipulator further comprises: the first driver is mounted on the rack and can move along the vertical direction, the bean sprout conveying direction and the transverse direction, the first driver is connected with the first shell to drive the first shell to move along the vertical direction and drive the first shell to move along the bean sprout conveying direction and the transverse direction, and the first clamping slitting knife vibrator is arranged in the first shell and connected with the first clamping slitting knife to drive the first clamping slitting knife to vibrate;

the second centre gripping divides strip manipulator still includes: second driver, second casing and second centre gripping slitting sword vibrator, the second driver is installed in the frame and along upper and lower direction the bud dish direction of delivery with horizontal portable, the second driver with the second casing links to each other with the drive the second casing moves and drives along upper and lower direction the second casing is followed bud dish direction of delivery with lateral shifting, second centre gripping slitting sword vibrator is established in the second casing and with the second centre gripping slitting sword links to each other with the drive the vibration of second centre gripping slitting sword.

8. The automatic bean sprout processing device according to claim 7, wherein the first clamping slitting knife comprises a first knife rest and a plurality of first clamping slitting knives, the first knife rest is connected with the first clamping slitting knife vibrator and comprises a first arc-shaped plate, the plurality of first clamping slitting knives are arranged on the inner circumferential surface of the first arc-shaped plate, and the first clamping slitting knives are distributed at intervals along the circumferential direction of the first arc-shaped plate and extend along the radial direction of the first arc-shaped plate;

the second clamping slitting knife comprises a second knife rest and a plurality of second clamping slitting knives, the second knife rest is connected with the second clamping slitting knife vibrator and comprises a second arc-shaped plate, the second clamping slitting knives are installed on the inner circumferential surface of the second arc-shaped plate, the second clamping slitting knives are distributed at intervals along the circumferential direction of the second arc-shaped plate and extend along the radial direction of the second arc-shaped plate, in the folding state, the first arc-shaped plate and the second arc-shaped plate form a substantially circular plate, and the folding state and the clamping state are the same state or different states.

9. The automatic bean sprout processing device according to claim 7, wherein the first driver and the second driver are both telescopic motors, and the first clamping slitting knife vibrator and the second clamping slitting knife vibrator are both vibrating motors.