CN104664559B - Automatic detection device and method for fruit and vegetable height - Google Patents
Automatic detection device and method for fruit and vegetable height Download PDFInfo
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- CN104664559B CN104664559B CN201510064025.2A CN201510064025A CN104664559B CN 104664559 B CN104664559 B CN 104664559B CN 201510064025 A CN201510064025 A CN 201510064025A CN 104664559 B CN104664559 B CN 104664559B
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Abstract
The invention discloses an automatic detection device and method for fruit and vegetable height, and the detection device comprises a detection bar, a driving mechanism, an in-position detection sensor, an executing mechanism moving in the vertical direction in a fruit and vegetable processing device and a control system, wherein the detection bar is arranged right above fruits and vegetables, the detection bar is connected with the executing mechanism through a vertical sliding mechanism, and the detection bar is suspended on the executing mechanism by a supporting member; the driving mechanism is a straight line motion mechanism which drives the executing mechanism to vertically move; the in-position detection sensor consists of a first sensing element and a second sensing element which can detect an in-position signal when the first sensing element and the second are closed to each other, wherein the first sensing element is arranged on the detection bar and the second sensing element is arranged on the executing mechanism. The automatic detection device is capable of detecting the fruit and vegetable heights according to different fruits and vegetables, so that the basis is provided for the arrangement of the movement stroke of the executing mechanism in the fruit and vegetable processing device, and the product processing quality is improved.
Description
Technical field
The present invention relates to a kind of fruits and vegetables class agricultural product processing machinery and processing method are and in particular to a kind of fruits and vegetables are highly automated
Detection means and method.
Background technology
In the process of fruits and vegetables agricultural products, generally include peel, the manufacturing procedure such as coring, cut end, each plus
In work operation, the executing agency in process equipment needs to determine the amplitude of execution action according to the size of fruits and vegetables.
For example, carry out fruits and vegetables peel processing when, need first fruits and vegetables to be placed in fruits and vegetables positioning seat and has good positioning, Ran Houli
With determining fruit pin and being inserted in fruits and vegetables from the top down, fruits and vegetables are fixed, subsequently determine fruit pin and drive fruits and vegetables to rotate, cooperation
The skin of fruits and vegetables is eliminated and (can be found in " fruits and vegetables disclosed in the utility model patent that Authorization Notice No. is cn201550569u by cutter
Skiving machine ")；In above-mentioned process, determine depth requirements that fruit pin is inserted in fruits and vegetables in suitable scope, too deep may
Collide with parts such as the fruits and vegetables positioning seats of lower section, excessively shallow may result in fixation not firm, this requires to determine fruit pin from upper
The stroke moving downward will according to the height of fruits and vegetables reasonable set；However, the difference in size of different types of fruits and vegetables is larger, and
It was and between the individuality of same fruits and vegetables, size is also variant, will continually adjust the formation determining fruit pin in process, both loaded down with trivial details,
Again inaccurate.
And for example, when carrying out fruits and vegetables cut end (after peeling excising fruits and vegetables upper and lower ends portion) processing, needing also exist for first will fruit
Vegetable is had good positioning, and then cut end cutter executes cut end action, the part excised from the end moving to fruits and vegetables along the vertical direction
Highly desirable pulp excessively can be caused to waste in rational scope, cross that I haven't seen you for ages leads to excision not exclusively, and the portion excised
Point height relevant with the stroke that cut end cutter moves along the vertical direction, the setting of stroke need also exist for size according to fruits and vegetables Lai
Determine.For different size of fruits and vegetables, equally exist in process and adjust the shortcoming loaded down with trivial details, precision is low.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of fruits and vegetables highly automated detection means, for
Different fruits and vegetables, this device is capable of the height of automatic detection fruits and vegetables, thus the motion row of the executing agency for garden stuff processing equipment
The setting of journey provides foundation, improves product processing quality.
Further object is that providing the fruits and vegetables that a kind of application highly automated detection means of above-mentioned fruits and vegetables is realized
Highly automated detection method.
The purpose of the present invention is realized by following technical scheme:
A kind of highly automated detection means of fruits and vegetables, including detection bar, drive mechanism, arrives level detection sensor, garden stuff processing
Make executing agency and the control system of vertical motion in equipment, wherein:
Described detection bar is arranged at the surface of fruits and vegetables, and this detection bar is connected with executing agency by vertically slidable mechanism,
And when detection bar is located at the peak of vertical stroke, described detection bar is suspended in executing agency by supporting member；
Described drive mechanism is the straight-line motion mechanism driving described executing agency to make vertical motion；
Described to level detection sensor by close to each other when be able to detect that the first sensing element of a signal and the second biography
Sensing unit is constituted, and wherein, the first sensing element is arranged in detection bar, and the second sensing element is arranged in executing agency；Work as inspection
When measuring staff is located at the peak of vertical stroke, described second sensing element is arranged on the top of the first sensing element；
The signal input part of described control system is connected with to level detection sensor, and signal output part is with drive mechanism even
Connect.
One preferred version of the present invention, wherein, described executing agency is the fruits and vegetables rotating mechanism in fruits and vegetables peeling apparatus,
This fruits and vegetables rotating mechanism include swingle, be located at swingle bottom determine fruit pin, drive swingle rotate revolving power mechanism
And mounting bracket of peeling；Wherein, described swingle is vertically arranged on and peels in mounting bracket, and this swingle is tied for hollow
Structure, described detection bar is arranged in swingle；When detection bar is located at the peak of vertical stroke, described detection bar passes through supporting
Part is suspended on the upper end of swingle, and the described lower end determining fruit pin is located at the lower section of the lower end of detection bar；Described revolving power mechanism
It is located at and peels in mounting bracket, this mounting bracket of peeling is connected with described drive mechanism, described second sensing element is arranged on to be cut
In skin mounting bracket.
Above-mentioned preferred version is the concrete application in fruits and vegetables peeling apparatus for the highly automated detection means of fruits and vegetables of the present invention,
Fruits and vegetables are driven to rotate when the effect of described executing agency is to peel, thus coordinating the feed motion of paring knife by fruits and vegetables
Skin eliminate, its principle is: described drive mechanism is rotated bar by mounting bracket of peeling and moves downward, and described detection bar exists
Also move downwardly together with swingle under Action of Gravity Field；Described determine fruit pin and contact fruits and vegetables first and be inserted in fruits and vegetables, subsequently examine
The bottom of measuring staff also contacts the top of fruits and vegetables, and with the motion further downward of swingle, described detection bar is because by fruits and vegetables
Stop and cannot continue to move downward so that the second sensing element peeling in mounting bracket moves closer to the first sensing element,
When the second sensing element reaches at the first sensing element, this signal that puts in place is detected to level detection sensor, and this is put in place
Signal transmission controls drive mechanism to quit work and be maintained at current shape to control system, control system according to this signal that puts in place
State, realizes the fixation of melon and fruit；Last revolving power mechanism drives swingle to drive fruits and vegetables to rotate, and completes to cut with peeling knife cooperation
Skin is processed.The described depth determining fruit pin insertion fruits and vegetables is determined fruit pin contact fruits and vegetables and is moved downward when swingle stops descending
Stroke, the trip is vertical between fruit pin lower end and detection bar lower end equal to determining when detection bar is positioned at the peak of vertical stroke
Distance is plus the vertical distance between the first sensing element and the second sensing element, and this two vertical distances are can be prior
Set, therefore regardless of the shapes and sizes of the fruits and vegetables processed, can ensure that the depth determining fruit pin insertion fruits and vegetables is
Suitable setting value it is ensured that fixed effect, also avoids determining fruit pin colliding with the part below fruits and vegetables simultaneously.
One preferred version of the present invention, wherein, described to level detection sensor by proximity switch and sensing metal derby structure
Become, wherein, sensing metal derby constitutes the first described sensing element, and proximity switch constitutes the second described sensing element, described
Proximity switch is connected with control system；Described sensing metal derby is fixed in detection bar, and this sensing metal derby simultaneously constitutes described
Supporting member；Described proximity switch is arranged on peels in mounting bracket.
The above-mentioned operation principle to level detection sensor is: opens with close when described sensing metal derby moves to detection bar
During the induction region closing, proximity switch detects the signal that puts in place of sensing metal derby, and this signal transmission that puts in place to controlling is
System, executes next step action by control system output control signal.In addition to using above-mentioned preferred version, the described detection that puts in place passes
Can also be made up of the contacts such as travel switch, infrared sensor or non-contact detection switch outside sensor.
One preferred version of the present invention, wherein, described drive mechanism is made up of cylinder with lock, and this cylinder with lock is fixed on
Be connected with frame peels in fixed plate, and the expansion link of this cylinder with lock is upwardly extended and is connected with described mounting bracket of peeling；Institute
State the fixed plate and peel and be provided with vertical guiding mechanism between mounting bracket of peeling, this vertical guiding mechanism is by being arranged on fixation of peeling
Guide rod on plate is constituted with being arranged on the sliding sleeve peeling in mounting bracket, and described guide rod passes through from sliding sleeve.
In above-mentioned preferred version, in cylinder with lock, it is provided with clamping device, expansion link can be locked in current location, work
When controlled electromagnetic valve work in clamping device by control system, realize to the locking of expansion link or unclamp so that swingle exists
Vertical position can be locked as needed；Arrange described vertical guiding mechanism the motion of mounting bracket of peeling is led
To so that motion is more stable.
One preferred version of the present invention, wherein, described mounting bracket of peeling includes lifter plate and secondary support, wherein,
The lower end of described secondary support is fixed on lifter plate, and upper end is fixedly connected with the expansion link of cylinder with lock；On described lifter plate
It is provided with bearing block, described swingle passes through this bearing block, and is connected on this bearing block by bearing；Described second sensing element
It is arranged on the upper end of secondary support.
One preferred version of the present invention, wherein, described revolving power mechanism includes motor, synchronous belt drive mechanism, flower
Key set, splined shaft and motor mounting plate, wherein, described motor is arranged on motor mounting plate, this motor mounting plate and lifting
Plate is fixedly connected；The driving wheel of described synchronous belt drive mechanism is connected with electric machine main shaft, driven pulley is connected with spline housing, Timing Belt
It is connected with driving wheel and driven pulley；Described splined shaft is connected to the upper end of swingle, and this splined shaft passes through from described spline housing.
The operation principle of above-mentioned revolving power mechanism: determine fruit pin move downward insertion fruits and vegetables during, rotary power
Mechanism does not work, and moves downwardly together with mounting bracket of peeling；After determining fruit pin and be completely inserted into fruits and vegetables, this rotating power machine
Structure works, and described motor drives spline housing work by synchronous belt drive mechanism, and then drives the splined shaft linking together, rotation
Bull stick and determine fruit pin rotate, thus driving fruits and vegetables to rotate.
One preferred version of the present invention, wherein, also includes Xie Guo mechanism, and this Xie Guo mechanism includes clamping cylinder, clamping
Block, described detection bar and home position sensing, wherein, described clamping cylinder is fixed in frame；Described gripping block is by geometrical clamp
Tight block and movable clamping block are constituted, and described movable clamping block is connected on the expansion link of clamping cylinder, and the described block that fixes to clamp is consolidated
It is scheduled in frame, and be oppositely arranged with movable clamping block；Described detection bar is between fixing to clamp between block and movable clamping block
Pass through in gap；Described home position sensing is made up of proximity switch and sensing metal derby, and wherein, described proximity switch is arranged on clamping
On the cylinder body of cylinder, described sensing metal derby is arranged on peels in mounting bracket；Described proximity switch and clamping cylinder respectively with
The signal input part of control system and signal output part connect.
Be conveniently to peel using the purpose of above-mentioned preferred version finish after by fruits and vegetables from determining to unload fruit pin, its work is former
Reason is: during peeling, the lower end of described detection bar is pressed in the top of fruits and vegetables all the time, peels after finishing, described clamping cylinder band
The motion of dynamic movable clamping block, this movable clamping block and described fix to clamp block cooperation detection bar is clamped；Then drive mechanism band
Dynamic swingle and determine fruit pin and move upwards, and detection bar then keeps the compression to fruits and vegetables is able to pull out from fruits and vegetables so that determining fruit pin
Go out；After determining fruit pin and extract completely from fruits and vegetables, reach proximity switch with the sensing metal derby that mounting bracket of peeling is moved upwards
Induction zone, this proximity switch detects this signal that puts in place, and this signal that puts in place is fed back to control system, and control system controls
Clamping cylinder works, and unclamps detection bar, and subsequent swingle drives detection bar to reset upwards together.
One preferred version of the present invention, wherein, described executing agency is the cut-side mechanism in fruits and vegetables cut end equipment, and this is cut
Terminal structure includes cut end knife, cut end swivel lever, turning arm, cut end cylinder, cut end fixed plate and cut end mounting bracket, its
In, described cut end cylinder is fixed in cut end fixed plate, and described cut end swivel lever is arranged on cut end installation by rotating seat
On frame；One end of described turning arm is hinged with the expansion link of cut end cylinder, and the other end is hinged with the upper end of cut end swivel lever；Institute
State the lower end that cut end knife is arranged on cut end swivel lever；
Described detection bar is arranged in guide pin bushing, and this guide pin bushing is fixed in cut end mounting bracket；Described detection bar is slided with guide pin bushing
Dynamic cooperation constitutes vertically slidable mechanism；
Described be made up of to level detection sensor proximity switch and sensing metal derby, wherein, sensing metal derby constitutes described
The first sensing element, proximity switch constitutes the second described sensing element, and described proximity switch is connected with control system；Described
Sensing metal derby is fixed on the upper end of detection bar, and this sensing metal derby constitutes described supporting member and is bearing in the upper end of guide pin bushing；
Described proximity switch is arranged in cut end mounting bracket；
Described drive mechanism is made up of cylinder with lock；It is provided between described cut end fixed plate and cut end mounting bracket and vertically lead
To mechanism, this vertical guiding mechanism is by the guide rod being arranged in cut end fixed plate and the sliding sleeve structure being arranged in cut end mounting bracket
Become, described guide rod passes through from sliding sleeve.
Above-mentioned preferred version is the concrete application in fruits and vegetables cut end equipment for the highly automated detection means of fruits and vegetables of the present invention,
The effect of described executing agency is that its principle is by the end excision of fruits and vegetables: described cylinder with lock drives cut-side mechanism overall
Move downward, described detection bar is also moved with guide pin bushing under gravity downwardly together；The subsequently bottom contact fruits and vegetables of detection bar
Top, with the motion further downward of guide pin bushing, described detection bar cannot continue because of the stop by fruits and vegetables to move downward,
The second sensing element in cut end mounting bracket is made to move closer to the first sensing element, when the second sensing element reaches the first biography
When at sensing unit, this signal that puts in place is detected to level detection sensor, and by this signal transmission that puts in place to control system, control system
System controls drive mechanism to quit work and be maintained at current state according to this signal that puts in place；Last cut end cylinder pass through turning arm,
Cut end swivel lever drives cut end swivel to move, by the upper end excision of fruits and vegetables.In fruits and vegetables, the height of removed part is equal to and works as
When detection bar is located at the peak of vertical stroke, vertical distance between cut end knife and detection bar lower end is plus the first sensing element
And the second vertical distance between sensing element, no matter and this two vertical distances can be previously set, therefore added
The shapes and sizes of the fruits and vegetables of work how, can ensure that the height of removed part in fruits and vegetables is suitable setting value.
The highly automated detection method of fruits and vegetables that a kind of application highly automated detection means of above-mentioned fruits and vegetables is realized, wherein, described
Executing agency is the fruits and vegetables rotating mechanism in fruits and vegetables peeling apparatus, comprises the following steps:
(1) under original state, fruits and vegetables rotating mechanism is located at the top of vertical motion stroke, and revolving power mechanism is in and stops
Only state, described clamping cylinder is in releasing orientation；
(2) startup program, cylinder with lock drives fruits and vegetables rotating mechanism integrally to move downward, and detection bar is under gravity
Move downwardly together with swingle；Described determine fruit pin and contact fruits and vegetables first and be inserted in fruits and vegetables, the bottom of subsequent detection bar
The top of contact fruits and vegetables, with the motion further downward of swingle, described detection bar cannot continue because of the stop by fruits and vegetables
Continue and move downward so that the second sensing element peeling in mounting bracket moves closer to the first sensing element, when the second sensing element
When part reaches at the first sensing element, this signal that puts in place is detected to level detection sensor, and by this signal transmission that puts in place to control
System processed, control system controls drive mechanism to quit work and be maintained at current state according to this signal that puts in place；Finally rotate dynamic
Force mechanisms drive swingle to drive fruits and vegetables to rotate, and complete, with peeling knife cooperation, processing of peeling；
(3), after peeling and finishing, described clamping cylinder drives movable clamping block motion, this movable clamping block and described geometrical clamp
Detection bar is clamped by tight block cooperation；Then drive mechanism drives fruits and vegetables rotating mechanism integrally to move upwards, and detection bar then keeps
Compression to fruits and vegetables is able to extract from fruits and vegetables so that determining fruit pin；After determining fruit pin and extract completely from fruits and vegetables, with installation of peeling
The sensing metal derby that support moves upwards reaches the induction zone of proximity switch, and this proximity switch detects this signal that puts in place, and will
This signal that puts in place feeds back to control system, and control system controls clamping cylinder work, unclamps detection bar, and subsequent swingle drives inspection
Measuring staff resets together upwards.
The highly automated detection method of fruits and vegetables that a kind of application highly automated detection means of above-mentioned fruits and vegetables is realized, wherein, described
Executing agency is the cut-side mechanism in fruits and vegetables cut end equipment, comprises the following steps:
(1), under original state, cut-side mechanism is located at the top of vertical motion stroke；
(2) startup program, cylinder with lock drives cut-side mechanism integrally to move downward, and described detection bar is under gravity
Move downwardly together with guide pin bushing；Subsequently the bottom of detection bar contacts the top of fruits and vegetables, with the motion further downward of guide pin bushing, institute
State detection bar cannot continue because of the stop by fruits and vegetables to move downward so that the second sensing element in cut end mounting bracket by
Gradually near the first sensing element, when the second sensing element reaches at the first sensing element, detect this to level detection sensor
Put in place signal, and by this signal transmission that puts in place to control system, control system controls drive mechanism to stop according to this signal that puts in place
Work and be maintained at current state；Last cut end cylinder passes through turning arm, cut end swivel lever drives cut end swivel to move, by fruits and vegetables
Upper end excision；Fruits and vegetables rotating mechanism and detection bar is driven to reset with rear drive mechanism.
The present invention compared with prior art has a following beneficial effect:
1st, the executing agency's collaborative work during the highly automated detection means of the fruits and vegetables of the present invention and garden stuff processing set, is holding
Row mechanism detects the relative altitude of fruits and vegetables during moving downward, thus providing for the setting of the movement travel of executing agency
Foundation, from but regardless of processing fruits and vegetables shapes and sizes how, can ensure that optimal processing effect (for example determines fruit pin
The depth of insertion, the height of cut end), not only need not according to the difference of processing object frequent adjusting device parameter, and execute
The movement travel of mechanism controls very accurate.
2nd, structure is simple, and design is ingenious.Can be moved downwardly together with executing agency using detection bar simultaneously again can be relatively
Design feature that executing agency moves upwards so that detection bar in executing agency downwardly together motion process, bottom can be with fruit
Vegetable contacts, and the subsequent meeting of the motion further downward executing agency relatively with executing agency moves upwards thus triggering and puts in place
Detection sensor works, executive component therefore in executing agency (as determined fruit pin, cut end knife) when entering working condition with fruit
The position relationship of vegetable can be by executing in detection bar bottom and executing agency when detection bar is positioned at the peak of vertical stroke
Between in the position relationship of part and level detection sensor, the position relationship between the first sensing element and the second sensing element comes
Obtain, and the shapes and sizes of these position relationships and fruits and vegetables it doesn't matter, can be previously set, realize " automatically looking for height ".
Brief description
Fig. 1～Fig. 3 is the structural representation of first embodiment of the highly automated detection means of fruits and vegetables of the present invention, its
In, Fig. 1 is front view (view in full section), Fig. 2 and Fig. 3 is stereogram.
Fig. 4 is the perspective view of second embodiment of the highly automated detection means of fruits and vegetables of the present invention.
In figure reference is: 1, sliding sleeve；2nd, transmission component installing plate；3rd, secondary support；4th, proximity switch；5th, detect
Bar；6th, splined shaft；7th, clamping cylinder；8th, rolling bearing units；9th, motor mounting plate；10th, lifter plate；11st, spline housing fixed mount；12、
Guide rod；13rd, cylinder with lock；14th, swingle；15th, determine fruit pin；16th, bearing block；17th, motor；18th, clamping cylinder fixed plate；19、
Proximity switch；20th, sensor fixation plate；21st, sense metal derby；22nd, peel fixed plate；23rd, Timing Belt；24th, spline housing；25、
Driven pulley；26th, driving wheel；27th, bearing；28th, movable clamping block；29th, sealing ring；30th, fruits and vegetables；31st, positioning seat；32nd, linear axes
Hold；1a, cylinder with lock；2a, turning arm；3a, sensing metal derby；4a, rotating seat；5a, cut end fixed plate；6a, cut end swivel move
Bar；7a, cut end tool rest；8a, cut end knife；9a, pressure head；10a, guide pin bushing；11a, guide rod；12a, sliding sleeve；13a, inductor support；
14a, proximity switch；15a, detection bar；16a, cut end cylinder；17a, cut end mounting bracket；18a, guide bar support.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
The highly automated detection means of fruits and vegetables of the present invention mainly by detection bar, drive mechanism, to level detection sensor, fruits and vegetables
Make the executing agency of vertical motion in process equipment and control system is constituted, wherein, described detection bar is just being arranged at fruits and vegetables
Top, this detection bar is connected with executing agency by vertically slidable mechanism, and when detection bar is located at the peak of vertical stroke,
Described detection bar is suspended in executing agency by supporting member.Described drive mechanism is to drive described executing agency to make vertical motion
Straight-line motion mechanism.Described to level detection sensor by close to each other when be able to detect that a signal the first sensing element and
Second sensing element is constituted, and wherein, the first sensing element is arranged in detection bar, and the second sensing element is arranged on executing agency
On；When detection bar is located at the peak of vertical stroke, described second sensing element is arranged on the top of the first sensing element.Institute
The signal input part stating control system is connected with to level detection sensor, and signal output part is connected with drive mechanism.
Cutting in the fruits and vegetables rotating mechanism and fruits and vegetables cut end equipment in below with described executing agency for fruits and vegetables peeling apparatus
Terminal structure is example, and the specific embodiment of the present invention is explained in detail.
Embodiment 1
Referring to Fig. 1～Fig. 3, in the present embodiment, described executing agency is the fruits and vegetables rotating mechanism in fruits and vegetables peeling apparatus, should
Fruits and vegetables rotating mechanism includes swingle 14, is located at determining fruit pin 15, driving the rotation that swingle 14 rotates to move of swingle 14 bottom
Force mechanisms and mounting bracket of peeling.Wherein, described swingle 14 is vertically arranged on and peels in mounting bracket, this swingle 14
For hollow structure, described detection bar 5 is arranged in swingle 14, and is provided with linear bearing between detection bar 5 and swingle 14
30, this linear bearing 30 constitutes described vertically slidable mechanism；When detection bar is located at the peak of vertical stroke, described detection
Bar 5 is suspended on the upper end of swingle 14 by supporting member, and the described lower end determining fruit pin 15 is located at the lower section of the lower end of detection bar 5.
Described revolving power mechanism is located at peels in mounting bracket, and this mounting bracket of peeling is connected with described drive mechanism, and described second
Sensing element is arranged on peels in mounting bracket.
Fruits and vegetables are driven to rotate, thus coordinating the feeding of paring knife to transport when the effect of described executing agency is to peel
Move and the skin of fruits and vegetables 30 eliminated, its principle is: described drive mechanism is rotated bar 14 by mounting bracket of peeling and moves downward,
Described detection bar 5 is also moved with swingle 14 under gravity downwardly together；Described determine fruit pin 15 and contact fruits and vegetables 30 simultaneously first
It is inserted in fruits and vegetables 30, the bottom of subsequent detection bar 5 also contacts the top of fruits and vegetables 30, with the fortune further downward of swingle 14
Dynamic, described detection bar 5 cannot continue to move downward because of the stop by fruits and vegetables 30 so that the second biography in mounting bracket of peeling
Sensing unit moves closer to the first sensing element, when the second sensing element reaches at the first sensing element, to level detection sensor
This signal that puts in place is detected, and by this signal transmission that puts in place to control system, control system controls driving according to this signal that puts in place
Mechanism quits work and is maintained at current state, realizes the fixation of melon and fruit；Last revolving power mechanism drives swingle 14 to drive
Fruits and vegetables 30 rotate, and complete, with peeling knife cooperation, processing of peeling.The described depth determining fruit pin 15 insertion fruits and vegetables 30 is to determine fruit pin 15
The stroke that contact fruits and vegetables 30 move downward when swingle 14 stops descending, the trip is equal to and is located at vertical stroke when detection bar
Peak when determine vertical distance between fruit pin 15 lower end and detection bar 5 lower end plus the first sensing element and the second sensing element
Vertical distance between part, and this two vertical distances can be previously set, therefore no matter the fruits and vegetables 30 processed
Shapes and sizes how, can ensure that the depth determining fruit pin 15 insertion fruits and vegetables 30 is suitable setting value it is ensured that fixing imitate
Really, the part simultaneously also avoiding determining fruit pin 15 with fruits and vegetables 30 lower section collides.
Referring to Fig. 1～Fig. 3, described be made up of to level detection sensor proximity switch 19 and sensing metal derby 21, wherein, sense
Answer metal derby 21 to constitute the first described sensing element, proximity switch 19 constitutes the second described sensing element, described close to opening
Close 19 to be connected with control system；Described sensing metal derby 21 is fixed in detection bar 5, and this sensing metal derby 21 simultaneously constitutes described
Supporting member；Described proximity switch 19 is arranged on peels in mounting bracket.To the operation principle of level detection sensor should be: work as institute
State sensing metal derby 21 when moving to the induction region with proximity switch 19 with detection bar 5, proximity switch 19 detects sensing gold
Belong to the signal that puts in place of block 21, and by this signal transmission that puts in place to control system, next is executed by control system output control signal
Step action.Additionally, described can also be by the contact such as travel switch, infrared sensor or contactless inspection to outside level detection sensor
Slowdown monitoring switch is constituted.
Referring to Fig. 1～Fig. 3, described drive mechanism is made up of cylinder with lock 13, and this cylinder with lock 13 is fixed on frame even
Connect peels in fixed plate 22, and the expansion link of this cylinder with lock 13 is upwardly extended and is connected with described mounting bracket of peeling.Described cut
Skin fixed plate 22 and peel and be provided with vertical guiding mechanism between mounting bracket, this vertical guiding mechanism is by being arranged on fixed plate of peeling
Guide rod 12 on 22 and be arranged on the sliding sleeve 1 peeling in mounting bracket and constitute, described guide rod 12 passes through from sliding sleeve 1.Locking gas
It is provided with clamping device in cylinder 13, expansion link can be locked in current location, controlled in clamping device by control system during work
Electromagnetic valve work, realize to the locking of expansion link or unclamp so that swingle 14 can enter as needed in vertical position
Row locking；Arrange described vertical guiding mechanism the motion of mounting bracket of peeling to be guided so that being moved more stable.
Referring to Fig. 1～Fig. 3, described mounting bracket of peeling includes lifter plate 10 and secondary support 3, wherein, described secondary
The lower end of frame 3 is fixed on lifter plate 10, and upper end is fixedly connected with the expansion link of cylinder with lock 13.Described lifter plate 10 is provided with
Bearing block 16, described swingle 14 passes through this bearing block 16, and is connected on this bearing block 16 by bearing 27；Described bearing block
16 two ends are provided with sealing ring 29.Described second sensing element (i.e. proximity switch 19) is arranged on secondary by sensor fixation plate 20
The upper end of level support 3.
Referring to Fig. 1～Fig. 3, described revolving power mechanism includes motor 17, synchronous belt drive mechanism, spline housing 24, spline
Axle 6 and motor mounting plate 9, wherein, described motor 17 is arranged on motor mounting plate 9, and this motor mounting plate 9 is provided with spline
Set fixed mount 11, described spline housing 24 is installed on spline housing fixed mount 11, and described spline housing fixed mount 11 is arranged on transmission group
On part installing plate 2；Described transmission component installing plate 2 is fixedly connected with lifter plate 10.The driving wheel of described synchronous belt drive mechanism
26 are connected with motor 17 main shaft, and driven pulley 25 is set on spline housing 24, and Timing Belt 23 is connected with driving wheel 26 and driven pulley 25；
The upper end of described driving wheel 26 and rolling bearing units 8 coordinate, and rolling bearing units 8 are arranged on motor mounting plate 9.Described splined shaft 6 is even
Be connected on swingle 14 upper end (described swingle 14 and splined shaft 6 can be structure as a whole, swingle 14 part be pipe knot
Structure, splined shaft 6 is hollow spline structure), this splined shaft 6 passes through from described spline housing 24.The work of above-mentioned revolving power mechanism
Make principle: determining during fruit pin 15 moves downward insertion fruits and vegetables 30, revolving power mechanism does not work, and installing with peeling
Frame moves downwardly together；After determining fruit pin 15 and be completely inserted into fruits and vegetables 30, this revolving power mechanism works, and described motor 17 passes through
Synchronous belt drive mechanism drives spline housing 24 to work, and then drives the splined shaft 6 linking together, swingle 14 and determine fruit pin
15 rotations, thus drive fruits and vegetables 30 to rotate.
Referring to Fig. 1～Fig. 3, the highly automated detection means of fruits and vegetables of the present embodiment also includes Xie Guo mechanism, this Xie Guo mechanism
Including clamping cylinder 7, gripping block, described detection bar 5 and home position sensing, wherein, described clamping cylinder 7 is fixed on clamping gas
In cylinder fixed plate 18, this clamping cylinder fixed plate 18 is fixed on the upper end of guide rod 12；Described gripping block is by fixing to clamp block and work
Dynamic gripping block 28 is constituted, and described movable clamping block 28 is connected on the expansion link of clamping cylinder 7, and the described block that fixes to clamp is by clamping
The cylinder ends of cylinder 7 are constituted, and described movable clamping block 28 is oppositely arranged with the cylinder ends of clamping cylinder 7；Described detection bar 5
Pass through from fixing to clamp the gap between block and movable clamping block 28；Described home position sensing is by proximity switch 4 and sensing gold
Belong to block to constitute, wherein, described proximity switch 4 is arranged on the cylinder body of clamping cylinder 7, described sensing metal derby is by secondary support 3
Upper end constitute (secondary support 3 is made of metal, therefore when the upper end of secondary support 3 is close to described proximity switch 4, permissible
Triggering proximity switch 4 works)；Described proximity switch 4 and clamping cylinder 7 are defeated with the signal input part of control system and signal respectively
Go out end to connect.
The effect of above-mentioned Xie Guo mechanism be conveniently to peel finish after by fruits and vegetables 30 from determining to unload fruit pin 15, its work is former
Reason is: during peeling, the lower end of described detection bar 5 is pressed in the top of fruits and vegetables 30 all the time, peels after finishing, described clamping cylinder
7 drive movable clamping blocks 28 move, this movable clamping block 28 and described fix to clamp block cooperation detection bar 5 is clamped；Then drive
Motivation structure is rotated bar 14 and determines fruit pin 15 and move upwards, and detection bar 5 then keeps the compression to fruits and vegetables 30 so that determining fruit pin
15 are able to extract from fruits and vegetables 30；After determining fruit pin 15 and extract completely from fruits and vegetables 30, with peeling what mounting bracket was moved upwards
Sensing metal derby (i.e. the upper part of secondary support 3) reaches the induction zone of proximity switch 4, and this proximity switch 4 detects this and arrives
Position signal, and this signal that puts in place is fed back to control system, control system controls clamping cylinder 7 to work, and unclamps detection bar 5, with
Swingle 14 drives detection bar 5 to reset upwards together afterwards.
Described control system is made up of plc, and each sensing element is connected to the signal input part of plc, the signal output of plc
End is connected with the magnetic valve for controlling this cylinder operation in each cylinder, the signal output part of plc also with rotary driving machine
Relay in motor 17 in structure connects.
Referring to Fig. 1～Fig. 3, the fruits and vegetables that the application highly automated detection means of above-mentioned fruits and vegetables of the present embodiment is realized are highly automated
Detection method, comprises the following steps:
(1), under original state, fruits and vegetables rotating mechanism is located at the top of vertical motion stroke, rotating power machine
Structure is in halted state, and described clamping cylinder 7 is in releasing orientation；Fruits and vegetables 30 are fixed on positioning seat 31:
(2) startup program, cylinder with lock 13 drives fruits and vegetables rotating mechanism integrally to move downward, and detection bar 5 is in Action of Gravity Field
Under also move downwardly together with swingle 14；Described determine fruit pin 15 and contact fruits and vegetables 30 first and be inserted in fruits and vegetables 30, subsequently examine
The bottom of measuring staff 5 also contacts the top of fruits and vegetables 30, and with the motion further downward of swingle 14, described detection bar 5 is because being subject to
The stop of fruits and vegetables 30 and cannot continue to move downward so that the second sensing element peeling in mounting bracket moves closer to the first biography
Sensing unit, when the second sensing element reaches at the first sensing element, detects this signal that puts in place to level detection sensor, and will
To control system, control system controls drive mechanism to quit work and is maintained at according to this signal that puts in place to be worked as this signal transmission that puts in place
Front state；Last revolving power mechanism drives swingle 14 to drive fruits and vegetables 30 to rotate, and completes, with peeling knife cooperation, processing of peeling；
(3) after peeling and finishing, described clamping cylinder 7 drives movable clamping block 28 to move, this movable clamping block 28 and described
Fix to clamp block cooperation to clamp detection bar 5；Then drive mechanism drives fruits and vegetables rotating mechanism integrally to move upwards, and detection bar
5 keep the compression of fruits and vegetables 30 is able to extract from fruits and vegetables 30 so that determining fruit pin 15；Complete from fruits and vegetables 30 when determining fruit pin 15
After extracting, the sensing metal derby (i.e. the upper part of secondary support 3) moving upwards with mounting bracket of peeling reaches proximity switch 4
Induction zone, this proximity switch 4 detects this signal that puts in place, and this signal that puts in place is fed back to control system, control system control
Clamping cylinder 7 processed works, and unclamps detection bar 5, and subsequent swingle 14 drives detection bar 5 to reset upwards together.
Embodiment 2
Referring to Fig. 4, in the present embodiment, described executing agency is the cut-side mechanism in fruits and vegetables cut end equipment, this cut-side mechanism
Including cut end knife 8a, cut end swivel lever 6a, turning arm 2a, cut end cylinder 16a, cut end fixed plate 5a and cut end mounting bracket
17a.Wherein, described cut end cylinder 16a is fixed in cut end fixed plate 5a, and described cut end swivel lever 6a is set by rotating seat 4a
Put in cut end mounting bracket 17a；One end of described turning arm 2a is hinged with the expansion link of cut end cylinder 16a, the other end with cut
The upper end of end swivel lever 6a is hinged；The lower end of described cut end swivel lever 6a is provided with cut end tool rest 7a, and described cut end knife 8a sets
Put on this cut end tool rest 7a.
Referring to Fig. 4, described detection bar 15a is arranged in guide pin bushing 10a, and this guide pin bushing 10a is fixed on by guide bar support 18a and cuts
In fixed plate 5a of end；Described detection bar 15a and guide pin bushing 10a are slidably matched and constitute vertically slidable mechanism；The lower end of detection bar 15a sets
There is pressure head 9a, for increasing active area.
Referring to Fig. 4, described to level detection sensor by proximity switch 14a and sensing metal derby 3a constitute, wherein, sensing gold
Belong to block 3a and constitute the first described sensing element, proximity switch 14a constitutes the second described sensing element, described proximity switch
14a is connected with control system；Described sensing metal derby 3a is fixed on the upper end of detection bar 15a, and this sensing metal derby 3a constitutes institute
The supporting member stated the upper end being bearing in guide pin bushing 10a；Described proximity switch 14a is arranged on cut end peace by inductor support 13a
On dress support 17a.
Referring to Fig. 4, described drive mechanism is made up of cylinder with lock 1a；Described cut end fixed plate 5a and cut end mounting bracket
It is provided with vertical guiding mechanism, this vertical guiding mechanism by the guide rod 11a being arranged in cut end fixed plate 5a and is arranged between 17a
Sliding sleeve 12a in cut end mounting bracket 17a is constituted, and described guide rod 11a passes through from sliding sleeve 12a.
In the present embodiment, the effect of described executing agency is that its principle is: described locking gas by the end excision of fruits and vegetables
Cylinder 1a drives cut-side mechanism integrally to move downward, and described detection bar 15a is also transported with guide pin bushing 10a under gravity downwardly together
Dynamic；Subsequently the bottom of detection bar 15a contacts the top of fruits and vegetables, with the motion further downward of guide pin bushing 10a, described detection bar
15a cannot continue because of the stop by fruits and vegetables to move downward so that the second sensing element in cut end mounting bracket 17a gradually
Near the first sensing element, when the second sensing element reaches at the first sensing element, detect this to level detection sensor and arrive
Position signal, and by this signal transmission that puts in place to control system, control system controls drive mechanism to stop work according to this signal that puts in place
Make and be maintained at current state；Last cut end cylinder 16a passes through turning arm 2a, cut end swivel lever 6a drives cut end swivel to move,
Upper end excision by fruits and vegetables.In fruits and vegetables, the height of removed part is equal to when detection bar is located at the peak of vertical stroke
Vertical distance between cut end knife 8a and detection bar 15a lower end is plus vertical between the first sensing element and the second sensing element
Distance, and this two vertical distances can be previously set, therefore regardless of the shapes and sizes of the fruits and vegetables processed,
The height that can ensure in fruits and vegetables removed part is suitable setting value.
Referring to Fig. 4, the highly automated detection of fruits and vegetables of the application above-mentioned fruits and vegetables highly automated detection means realization of the present embodiment
Method, comprises the following steps:
(1), under original state, cut-side mechanism is located at the top of vertical motion stroke；
(2) startup program, cylinder with lock 1a drives cut-side mechanism integrally to move downward, and described detection bar 15a is made in gravity
With under also move downwardly together with guide pin bushing 10a；Subsequently the bottom of detection bar 15a contacts the top of fruits and vegetables, with entering of guide pin bushing 10a
One step moves downward, and described detection bar 15a cannot continue because of the stop by fruits and vegetables to move downward so that cut end mounting bracket
The second sensing element on 17a moves closer to the first sensing element, when the second sensing element reaches at the first sensing element, arrives
Level detection sensor detects this signal that puts in place, and by this signal transmission that puts in place to control system, control system puts in place according to this
Signal controls drive mechanism to quit work and be maintained at current state；Last cut end cylinder 16a passes through turning arm 2a, cut end swivel
Lever 6a drives cut end knife 8a to rotate, by the upper end excision of fruits and vegetables；Drive fruits and vegetables rotating mechanism and detection with rear drive mechanism
Bar 15a resets.
It is above-mentioned that but embodiments of the present invention are not limited by the above for the present invention preferably embodiment, its
His any Spirit Essence without departing from the present invention and the change made under principle, modification, replacement, combine, simplify, all should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (10)
1. a kind of highly automated detection means of fruits and vegetables it is characterised in that include detection bar, drive mechanism, to level detection sensor,
Make executing agency and the control system of vertical motion in garden stuff processing equipment, wherein:
Described detection bar is arranged at the surface of fruits and vegetables, and this detection bar is connected with executing agency by vertically slidable mechanism, and works as
When detection bar is located at the peak of vertical stroke, described detection bar is suspended in executing agency by supporting member；
Described drive mechanism is the straight-line motion mechanism driving described executing agency to make vertical motion；
Described to level detection sensor by close to each other when be able to detect that the first sensing element and second sensing element of a signal
Part is constituted, and wherein, the first sensing element is arranged in detection bar, and the second sensing element is arranged in executing agency；Work as detection bar
Positioned at the peak of vertical stroke when, described second sensing element is arranged on the top of the first sensing element；
The signal input part of described control system is connected with to level detection sensor, and signal output part is connected with drive mechanism.
2. the highly automated detection means of fruits and vegetables according to claim 1 is it is characterised in that described executing agency cuts for fruits and vegetables
Fruits and vegetables rotating mechanism in skin equipment, this fruits and vegetables rotating mechanism includes swingle, is located at determining fruit pin, driving rotation of swingle bottom
The revolving power mechanism of bar rotation and mounting bracket of peeling；Wherein, described swingle is vertically arranged on installation of peeling
On frame, this swingle is hollow structure, and described detection bar is arranged in swingle；When detection bar is located at the peak of vertical stroke
When, described detection bar is suspended on the upper end of swingle by supporting member, and the described lower end determining fruit pin is located at the lower end of detection bar
Lower section；Described revolving power mechanism is located at peels in mounting bracket, and this mounting bracket of peeling is connected with described drive mechanism, described
Second sensing element is arranged on peels in mounting bracket.
3. the highly automated detection means of fruits and vegetables according to claim 2 it is characterised in that described to level detection sensor by
Proximity switch and sensing metal derby are constituted, and wherein, sensing metal derby constitutes the first described sensing element, and proximity switch constitutes institute
The second sensing element stated, described proximity switch is connected with control system；Described sensing metal derby is fixed in detection bar, this sense
Metal derby is answered to simultaneously constitute described supporting member；Described proximity switch is arranged on peels in mounting bracket.
4. the highly automated detection means of fruits and vegetables according to claim 2 is it is characterised in that described drive mechanism is by locking gas
Cylinder is constituted, this cylinder with lock be fixed on is connected with frame peel in fixed plate, the expansion link of this cylinder with lock upwardly extend and
Described mounting bracket of peeling connects；The described fixed plate and peel and be provided with vertical guiding mechanism between mounting bracket of peeling, this is vertical
Guiding mechanism by being arranged on the guide rod peeled in fixed plate and be arranged on the sliding sleeve peeled in mounting bracket and constitute, described guide rod from
Pass through in sliding sleeve.
5. the highly automated detection means of fruits and vegetables according to claim 4 is it is characterised in that described mounting bracket of peeling includes
Lifter plate and secondary support, wherein, the lower end of described secondary support is fixed on lifter plate, the expansion link of upper end and cylinder with lock
It is fixedly connected；Described lifter plate is provided with bearing block, and described swingle passes through this bearing block, and is connected to this bearing by bearing
On seat；Described second sensing element is arranged on the upper end of secondary support.
6. the highly automated detection means of fruits and vegetables according to claim 5 is it is characterised in that described revolving power mechanism includes
Motor, synchronous belt drive mechanism, spline housing, splined shaft and motor mounting plate, wherein, described motor is arranged on motor mounting plate
On, this motor mounting plate is fixedly connected with lifter plate；The driving wheel of described synchronous belt drive mechanism is connected with electric machine main shaft, driven
Wheel is connected with spline housing, Timing Belt is connected with driving wheel and driven pulley；Described splined shaft is connected to the upper end of swingle, this spline
Axle passes through from described spline housing.
7. the highly automated detection means of the fruits and vegetables according to any one of claim 2～6 is it is characterised in that also include unloading fruit
Mechanism, this Xie Guo mechanism includes clamping cylinder, gripping block, described detection bar and home position sensing, wherein, described clamping cylinder
It is fixed in frame；By fixing to clamp block and movable clamping block is constituted, described movable clamping block is connected to clamping to described gripping block
On the expansion link of cylinder, the described block that fixes to clamp is fixed in frame, and is oppositely arranged with movable clamping block；Described detection bar from
Fix to clamp in the gap between block and movable clamping block and pass through；Described home position sensing is by proximity switch and sensing metal derby structure
Become, wherein, described proximity switch is arranged on the cylinder body of clamping cylinder, described sensing metal derby is arranged on mounting bracket of peeling
On；Described proximity switch and clamping cylinder are connected with the signal input part of control system and signal output part respectively.
8. the highly automated detection means of fruits and vegetables according to claim 1 is it is characterised in that described executing agency cuts for fruits and vegetables
Cut-side mechanism in end equipment, this cut-side mechanism includes cut end knife, cut end swivel lever, turning arm, cut end cylinder, cut end are fixed
Plate and cut end mounting bracket, wherein, described cut end cylinder is fixed in cut end fixed plate, and described cut end swivel lever passes through rotation
Swivel base is arranged in cut end mounting bracket；One end of described turning arm is hinged with the expansion link of cut end cylinder, the other end and cut end
The upper end of swivel lever is hinged；Described cut end knife is arranged on the lower end of cut end swivel lever；
Described detection bar is arranged in guide pin bushing, and this guide pin bushing is fixed in cut end mounting bracket；Described detection bar is slided with guide pin bushing and is joined
Close and constitute vertically slidable mechanism；
Described be made up of to level detection sensor proximity switch and sensing metal derby, wherein, sensing metal derby constitutes described the
One sensing element, proximity switch constitutes the second described sensing element, and described proximity switch is connected with control system；Described sensing
Metal derby is fixed on the upper end of detection bar, and this sensing metal derby constitutes described supporting member and is bearing in the upper end of guide pin bushing；Described
Proximity switch is arranged in cut end mounting bracket；
Described drive mechanism is made up of cylinder with lock；It is provided with vertical Guiding machine between described cut end fixed plate and cut end mounting bracket
Structure, this vertical guiding mechanism is made up of the guide rod being arranged in cut end fixed plate and the sliding sleeve being arranged in cut end mounting bracket,
Described guide rod passes through from sliding sleeve.
9. the highly automated detection method of fruits and vegetables that the highly automated detection means of fruits and vegetables described in a kind of application claim 7 is realized,
It is characterized in that, comprise the following steps:
(1) under original state, fruits and vegetables rotating mechanism is located at the top of vertical motion stroke, and revolving power mechanism is in stopping shape
State, described clamping cylinder is in releasing orientation；
(2) startup program, cylinder with lock drives fruits and vegetables rotating mechanism integrally to move downward, and detection bar is under gravity also with rotation
Bull stick moves downwardly together；Described determine fruit pin and contact fruits and vegetables first and be inserted in fruits and vegetables, the bottom of subsequent detection bar also contacts
The top of fruits and vegetables, with the motion further downward of swingle, described detection bar cannot continue because of the stop by fruits and vegetables to
Lower motion so that the second sensing element peeled in mounting bracket moves closer to the first sensing element, when the second sensing element arrives
When reaching at the first sensing element, this signal that puts in place is detected to level detection sensor, and this signal transmission that puts in place to controlling is
System, control system controls drive mechanism to quit work and be maintained at current state according to this signal that puts in place；Last rotating power machine
Structure drives swingle to drive fruits and vegetables to rotate, and completes, with peeling knife cooperation, processing of peeling；
(3) after peeling and finishing, described clamping cylinder drives movable clamping block motion, this movable clamping block and described fix to clamp block
Detection bar is clamped by cooperation；Then drive mechanism drives fruits and vegetables rotating mechanism integrally to move upwards, and detection bar then keeps to fruit
The compression of vegetable is able to extract from fruits and vegetables so that determining fruit pin；After determining fruit pin and extract completely from fruits and vegetables, with mounting bracket of peeling
The sensing metal derby moving upwards reaches the induction zone of proximity switch, and this proximity switch detects this signal that puts in place, and this is arrived
Position signal feeds back to control system, and control system controls clamping cylinder work, unclamps detection bar, and subsequent swingle drives detection bar
Reset upwards together.
10. the highly automated detection method of fruits and vegetables that the highly automated detection means of fruits and vegetables described in a kind of application claim 8 is realized,
It is characterized in that, comprise the following steps:
(1), under original state, cut-side mechanism is located at the top of vertical motion stroke；
(2) startup program, cylinder with lock drives cut-side mechanism integrally to move downward, and described detection bar is under gravity also with leading
Set moves downwardly together；Subsequently the bottom of detection bar contacts the top of fruits and vegetables, with the motion further downward of guide pin bushing, described inspection
Measuring staff cannot continue because of the stop by fruits and vegetables to move downward so that the second sensing element in cut end mounting bracket gradually leans on
Nearly first sensing element, when the second sensing element reaches at the first sensing element, detects this to level detection sensor and puts in place
Signal, and by this signal transmission that puts in place to control system, control system controls drive mechanism to quit work according to this signal that puts in place
And it is maintained at current state；Last cut end cylinder passes through turning arm, cut end swivel lever drives cut end swivel to move, and fruits and vegetables are upper
End is excised；Fruits and vegetables rotating mechanism and detection bar is driven to reset with rear drive mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510064025.2A CN104664559B (en) | 2015-02-05 | 2015-02-05 | Automatic detection device and method for fruit and vegetable height |
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| CN201510064025.2A CN104664559B (en) | 2015-02-05 | 2015-02-05 | Automatic detection device and method for fruit and vegetable height |
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| CN107270850B (en) * | 2017-06-23 | 2023-08-18 | 宁波新松机器人科技有限公司 | Clamp spring groove height measuring device and measuring method |
| CN108157987B (en) * | 2018-02-02 | 2020-11-27 | 义乌市添诚科技有限公司 | Sugarcane peeling device for food processing |
| CN108548511B (en) * | 2018-05-30 | 2024-01-30 | 广州亨龙智能装备股份有限公司 | Welding machine detection device and automatic welding machine |
| CN109732690B (en) * | 2019-01-29 | 2024-03-22 | 杨李益 | Electromechanical integrated melon and fruit double-knife peeling and cutting machine and processing method |
| CN111239225A (en) * | 2020-02-19 | 2020-06-05 | 华南农业大学 | In-situ detection system and method for glucose content in plant fruits |
| CN113383971B (en) * | 2021-07-07 | 2022-10-04 | 山东泰乐源农业科技有限公司 | Apple juice and preparation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3505611B2 (en) * | 1995-09-19 | 2004-03-08 | ヤンマー農機株式会社 | Head Vegetable Preparation Equipment |
| JP3026002B2 (en) * | 1998-08-26 | 2000-03-27 | テンチ機械株式会社 | Onion processing machine |
| DE102005034513B3 (en) * | 2005-07-20 | 2006-08-17 | Kronen Gmbh Nahrungsmitteltechnik | Peeling machine for round/rotationally symmetric fruits and vegetables, comprises peeling measurer, machine control connected with depth and/or spacer measuring instruments, rotation device and color sensor |
| CN201550569U (en) * | 2009-09-17 | 2010-08-18 | 杨李益 | Fruit and vegetable peeler |
| CN201709363U (en) * | 2010-05-28 | 2011-01-19 | 杨李益 | Mechanical and electrical integration full automatic peeling machine |
| CN202184110U (en) * | 2011-07-01 | 2012-04-11 | 杨李益 | Double knife type automatic machine for peeling and eye digging of pineapple |
| CN103005625B (en) * | 2013-01-21 | 2014-10-15 | 徐晓东 | Automatic fruit and vegetable peeler |
| CN204599265U (en) * | 2015-02-05 | 2015-09-02 | 杨李益 | The highly automated checkout gear of a kind of fruits and vegetables |
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