CN106473162A - A kind of pomegranate fruit intelligently takes robot - Google Patents
A kind of pomegranate fruit intelligently takes robot Download PDFInfo
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- CN106473162A CN106473162A CN201610886970.5A CN201610886970A CN106473162A CN 106473162 A CN106473162 A CN 106473162A CN 201610886970 A CN201610886970 A CN 201610886970A CN 106473162 A CN106473162 A CN 106473162A
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- beat
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 181
- 241000219991 Lythraceae Species 0.000 title claims abstract description 166
- 238000005520 cutting process Methods 0.000 claims abstract description 60
- 238000010009 beating Methods 0.000 claims description 47
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 229910052742 iron Inorganic materials 0.000 claims description 17
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- 240000000233 Melia azedarach Species 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 244000294611 Punica granatum Species 0.000 abstract description 155
- 210000002615 epidermis Anatomy 0.000 abstract description 42
- 230000000694 effects Effects 0.000 description 23
- 238000000034 method Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 5
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- 235000013372 meat Nutrition 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- CIWBSHSKHKDKBQ-JLAZNSOCSA-N Ascorbic acid Chemical group OC[C@H](O)[C@H]1OC(=O)C(O)=C1O CIWBSHSKHKDKBQ-JLAZNSOCSA-N 0.000 description 2
- 241000635253 Leymus interior Species 0.000 description 2
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- 238000010276 construction Methods 0.000 description 2
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- 230000001360 synchronised effect Effects 0.000 description 2
- OYPRJOBELJOOCE-UHFFFAOYSA-N Calcium Chemical compound [Ca] OYPRJOBELJOOCE-UHFFFAOYSA-N 0.000 description 1
- ZZZCUOFIHGPKAK-UHFFFAOYSA-N D-erythro-ascorbic acid Natural products OCC1OC(=O)C(O)=C1O ZZZCUOFIHGPKAK-UHFFFAOYSA-N 0.000 description 1
- 206010012735 Diarrhoea Diseases 0.000 description 1
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- 206010020772 Hypertension Diseases 0.000 description 1
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- 150000007524 organic acids Chemical class 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011591 potassium Substances 0.000 description 1
- 229910052700 potassium Inorganic materials 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 235000018102 proteins Nutrition 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N4/00—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device
- A23N4/02—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device for stoning fruit
- A23N4/10—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device for stoning fruit for fruit with very small pips, e.g. raisins
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Preparation Of Fruits And Vegetables (AREA)
Abstract
The present invention relates to agricultural mechanical field, specifically a kind of pomegranate fruit intelligently takes robot, including frame, left and right clamping device, cutter sweep, upper pinch device with beat fruit device；Left and right clamping device includes clamping screw, a pair of clamping unit and left and right clamping motor；Cutter sweep includes cutting support plate, cuts rotation motor, places plate, pomegranate bottom device for excising and pomegranate side cutter sweep；Upper pinch device includes upper pinch motor, gripper, No. two gripper, upper pinch seat, upper clamp cylinder and gripper jaw；Beat fruit device to include putting fruit tray and beat fruit unit for a pair.The present invention can be automatically by down centimeters incision at the fallen flowers of Punica granatum L., automatically pericarpium granati is cut into six lobes, and can automatically Punica granatum L. epidermis be tapped, so as to realize automatically taking out the sarcocarp in Punica granatum L., need not manually operate, disclosure satisfy that the high-volume demand to pomegranate fruit for the market, practical.
Description
Technical field
The present invention relates to agricultural mechanical field, specifically a kind of pomegranate fruit intelligently takes robot.
Background technology
Punica granatum L. whole body is precious：Containing vitamin C and vitamin B group in fruit, organic acid, saccharide, protein, fat, with
And the mineral such as calcium, phosphorus, potassium.Punica granatum L. is warm in nature, sweet,sour and puckery taste, enters lung, kidney, large intestine channel；There is promoting the production of body fluid to quench thirst, convergence is astringent or styptic treatment for spontaneous sweating, only
Rush down effect of hemostasis；Cure mainly body fluid deficiency dryness of the mouth and throat, excessive thirst, chronic diarrhea, chronic dysentery, have blood in stool, the disease such as metrorrhagia.Sucus Granati also contains multiple
Aminoacid and trace element, have aid digestion, anti-gastric-ulcer, vessel softening, blood fat reducing and blood glucose, reduce multiple work(such as cholesterol
Energy.Coronary heart disease cardiopathia, hypertension can be prevented, can reach stomach invigorating and refresh oneself, appetite strengthening, lengthen one's life talk the effect of send macrobiosis, to drink
Wine excess person, relieves the effect of alcohol and has special effect.
The difficult stripping of skin but Punica granatum L. is fond of eating；With handss stripping, that greasy hard shell cannot strip off；Cut Fructus Citri junoriss with knife picture
Equally cut, do not do a good job in do the Punica granatum L. juice of proficiency.The method of existing stripping Punica granatum L. is artificial operation, and its operating procedure is：
1st, take out a Punica granatum L. to wash, down 7 centimeters at the fallen flowers of Punica granatum L., cross section.
2nd, the Punica granatum L. lid of incision is taken away, glittering and translucent Punica granatum L. will be exposed, then, by Punica granatum L. epidermis knife from upper
Down scratch, probably draw 6 knives, gently firmly broken into two with one's hands with handss.
3rd, then, repeatedly beat Punica granatum L. epidermis with handss, thus the sarcocarp in Punica granatum L. can very easily fall out automatically
Come, and the Punica granatum L. juice of proficiency will not be made.
Said method is simple to operate, but said method is suitable only for family's small lot and eats Punica granatum L., when needing because of the market demand
When a large amount of Punica granatum L.s being carried out taking meat, then said method needs to consume substantial amounts of artificial, and work efficiency is low, therefore, now anxious
Need a kind of automated machine equipment that high-volume Punica granatum L. can be carried out and take meat to act on.
Content of the invention
In order to make up the deficiencies in the prior art, a kind of heretofore described pomegranate fruit intelligently takes robot, its energy
Enough replace traditional method taking out pomegranate fruit by hand, and using automatically taking out to pomegranate fruit, save manpower, automatically
Change degree is high.
The technical solution adopted for the present invention to solve the technical problems is：A kind of pomegranate fruit intelligently takes robot, bag
Including rack, left and right clamping device, cutter sweep, upper pinch device and beat fruit device；Described left and right clamping device is located at machine
The frame bottom left and right sides, cutter sweep is respectively positioned in the middle part of the clamping device of left and right with beating fruit device, and upper pinch device is located at frame
Top.
Described frame generally cube frame structure, frame is provided with PLC and accumulator, and PLC controls
Device is used for controlling left and right clamping device, cutter sweep, upper pinch device and the automatic job beating fruit device, described accumulator
For the power electronic equipment to the present invention；
Described left and right clamping device includes clamping screw, a pair of clamping unit and left and right clamping motor, clamping screw edge
Frame is horizontally arranged at frame lower from left to right, and a pair of clamping unit is respectively symmetrically and is arranged on the clamping screw left and right sides, institute
The left and right clamping motor stated is arranged in frame, and left and right clamping motor main shaft connects clamping screw by shaft coupling；And clamping spiral shell
Bar left part is contrary with the thread rotary orientation of right part；Each clamping unit all includes clamping plate, and each clamping plate base plate is arranged on by bearing
On clamping screw；During work, PLC controls left and right clamping motor work to drive clamping screw to rotate, and then drives each
Clamping plate moves, thus driving a pair of clamping unit close to each other or being located remotely from each other；Each clamping plate inside top level is fixed with
Fastening spring, fastening spring medial surface is fixed with and directly touches clamping plate；When a pair of clamping unit close to each other to certain distance when, respectively
The clamping plate that directly touches on clamping unit can contact the Punica granatum L. left and right sides, thus clamping Punica granatum L., is easy to the follow-up stable cutting to Punica granatum L.；
The effect of described left and right clamping device is for clamping Punica granatum L. so that Punica granatum L. can keep in the overall process being subsequently cut
Stable state, consequently facilitating being smoothed out of Punica granatum L. cutting operation.
Described clamping plate generally " Z " type structure, clamping plate includes clamping mainboard, clamping time plate and clamping cylinder；Institute
The clamping mainboard stated includes a bottom plate, No. two bottom plates and No. three bottom plates；A described bottom plate passes through bearing and erects
Directly it is arranged on clamping screw, No. two main folder plate levels are connected in a bottom plate top and extend towards central rack, No. three masters
Clamping plate is vertically connected in inside No. two bottom plates and extends towards upper rack；It is provided with cube in the middle part of No. three described bottom plates
Accommodating groove 7；Clamping plate is designed as " Z " type structure and is not directly designed to vertical structure, and its effect is that of avoiding each clamping unit
Clamping plate during close to each other, cutter sweep hinders the motion of each clamping unit and makes each folder with beating fruit device
Tight plate cannot touch Punica granatum L.；
Clamping time plate generally T-shape structure, clamping time plate bottom can embed in the accommodating groove of No. three bottom plates, described
Clamping cylinder bottom is connected on No. three bottom plates, and clamping cylinder top is connected on clamping time plate；Described fastening spring water
Flat being connected in clamps time top of the plate portion；During work, PLC can control clamping cylinder according to the different configuration of different Punica granatum L.s
Flexible, by the flexible height to control clamping time plate of clamping cylinder, and then be fixedly connected with fastening spring straight can be adjusted
The height of tactile clamping plate, thus so as to control the contact position directly touching clamping plate and Punica granatum L. epidermis so that no matter various Punica granatum L.s
Whether construction is identical, and left and right clamping device all can be good at clamping Punica granatum L..
Described cutter sweep includes cutting support plate, cuts rotation motor, places plate, pomegranate bottom device for excising and pomegranate side cutting dress
Put；The generally flat strip of described cutting support plate, cutting support plate is rotatably horizontally arranged at along frame from front and back backward
Frame lower, and cut support plate between a pair of clamping unit；Described rotation motor of cutting is arranged in frame, and cuts rotation motor
Main shaft is connected by shaft coupling with cutting support plate one end；Described placement plate generally cube structure, places plate bottom solid
It is connected in the middle part of cutting support plate upper surface, before and after placing plate, both sides are opened wide, and be provided with cylindrical putting hole in the middle part of placement plate, described
Placement in the hole be used for placing Punica granatum L.；During work, the controllable rotation motor of cutting of PLC drives cutting support plate to be rotated；Just
Under beginning state, cutting support plate is in horizontality, and places plate positioned at cutting support plate upper end；
Described pomegranate bottom device for excising includes oblique support plate, pomegranate undercutting except cylinder and cuts pomegranate blade, and described oblique support plate is connected
Placing plate lower front, pomegranate undercutting is connected on oblique support plate except cylinder level, cutting pomegranate blade level and be connected in pomegranate undercutting degasification
Cylinder top；Under original state, pomegranate undercutting is in fully collapsed condition except cylinder, and putting hole is in complete opening-wide state, during work,
When needing that Punica granatum L. is carried out with sarcocarp separation, then manually Punica granatum L. is placed on the placement in the hole placing plate, now, putting hole lower surface
Punica granatum L. location be at Punica granatum L. fallen flowers down 7 centimeters, then, PLC controls pomegranate undercutting to stretch out except cylinder,
Cut the down 7 centimeters excision at Punica granatum L. fallen flowers by Punica granatum L. except cylinder moving with pomegranate undercutting of pomegranate blade；
Described pomegranate side cutter sweep includes perpendicular support plate, cylinder is cut in side, seat is cut in side, high pressure nozzle and water pipe, and described is perpendicular
Straight panel is vertically connected in placement plate bottom rear, and it is Rodless cylinder that cylinder is cut in side, and side is cut cylinder and is vertically installed on perpendicular support plate,
Described side is cut seat and is arranged on side and cuts on cylinder, and high pressure nozzle is connected in side and cuts on seat, described water pipe one end connection high pressure spray
Mouth, the water pipe other end passes through external high pressure water pump and connects outside water tank；After at Punica granatum L. fallen flowers, down 7 centimeters are removed,
Then then Punica granatum L. epidermis is cut to six lobes, now, pomegranate side cutter sweep works, PLC control side is cut cylinder and drives side to cut
Seat upward-downward translation, thus drive high pressure nozzle in Punica granatum L. rear upward-downward translation, then PLC control external high pressure plugman
Make so that water under high pressure flows through nozzle by water pipe, then Punica granatum L. epidermis is ejected into by nozzle, meanwhile, by real-time control water
Pressure makes water can just cut epidermis and substantially not damage Punica granatum L. interior flesh；Under the premise of Punica granatum L. is non-rotary, pass through
Above-mentioned steps can cut a vertical otch on epidermis on rear side of Punica granatum L. open, then passes through following upper pinch devices to Punica granatum L.
It is rotated, repeat above-mentioned cutting step such that it is able to realize for Punica granatum L. epidermis being cut into six lobes；
Described upper pinch device includes upper pinch motor, gripper, No. two gripper, upper pinch
Seat, upper clamp cylinder and gripper jaw；Described frame top is horizontally disposed with the top of a flat strip from left to right
Plate, described upper pinch device is arranged on plate in top, and upper pinch device is located at and places directly over plate；Upper pinch electricity
Machine is arranged on plate lower surface in top, and a gripper is located at plate upper surface in top, and upper pinch electric machine main shaft and a folder
Tight gear is connected, and No. two gripper are located in top plate upper end and are meshed with a gripper, described upper pinch
Seat is located at plate lower end in top, and No. two gripper are fixedly connected with upper pinch seat by cylindrical columns, upper clamp cylinder
Vertically it is connected in upper pinch seat lower surface, and gripper jaw is connected in upper clamp cylinder lower end；On rear side of Punica granatum L., epidermis passes through
Pomegranate side cutter sweep is cut after opening an otch, and upper pinch device works, and PLC controls gripper jaw to press from both sides Punica granatum L.
Tightly, then, the work of upper pinch motor drives a gripper rotation, and then drives No. two gripper rotations, thus carrying
Dynamic upper clamp cylinder rotation, so that the gripper jaw being fixedly connected with upper clamp cylinder carries Punica granatum L. rotated；Punica granatum L.
During rotating a whole circle, upper clamp motor uniformly suspends six times, and during suspending, it is right that pomegranate side cutter sweep is realized
The cutting of the epidermis of Punica granatum L. various location, thus realize being cut into six lobes to by Punica granatum L. epidermis by above-mentioned steps；
Described gripper jaw includes jaw plectane, folder pomegranate touch panel, folder howitzer spring, folder pomegranate iron hoop, steel wire side rope and folder pomegranate gas
Cylinder；Described jaw plectane is flattened cylindrical shape plate, is connected in upper clamp cylinder lower end, jaw plectane four in the middle part of jaw plectane
It is evenly arranged with four folder blocks week, four folder block upper ends have all been horizontally disposed with folder bracer, and described each folder props up block and jaw
Plectane upper surface is arranged in obtuse angle；Described folder pomegranate touch panel generally circular arc plate, folder pomegranate touch panel is designed as the purpose of circular arc type
It is so that folder pomegranate touch panel can preferably be fitted the shaped form surface of Punica granatum L., so that the folder clamping effect to Punica granatum L. for the pomegranate touch panel
More preferably, folder pomegranate touch panel quantity is four, and four folder pomegranate touch panels are rotatably installed in four folder block lower ends of jaw plectane respectively；Described
Folder pomegranate number of springs be four, four folder pomegranate spring one end be respectively fixedly connected with four folder pomegranate touch panels on, four folder howitzer springs are another
End is respectively fixedly connected with four folder bracers；Described folder pomegranate iron hoop generally annular, folder pomegranate iron hoop is just gone up positioned at jaw plectane
Side and wrapping upper clamp cylinder；Described steel wire side rope quantity is four, and four steel wire sides rope bottom is touched with four folder pomegranates respectively
Plate is fixedly connected with, and four steel wire sides rope top is run through four folder blocks and is connected with folder pomegranate iron hoop；Described folder pomegranate number of cylinders
For two,；Pomegranate cylinder is vertically symmetrical respectively is arranged on jaw plectane upper surface for two folders, and each folder pomegranate cylinder bottom and jaw plectane
It is fixedly connected with, each folder pomegranate cylinder head and folder pomegranate iron hoop are fixedly connected with；Under original state, upper clamp cylinder is in completely contraction-like
State, gripper jaw is located at directly over the Punica granatum L. placed on plate, and each folder pomegranate cylinder is in fully extended state, now at folder pomegranate iron hoop
The maximum height that Yu Suoneng moves to, now steel wire side rope pull four folder pomegranate touch panels and turn to an extreme angle, now four
The receiving cavity space that individual folder pomegranate touch panel is constituted is maximum, and each folder howitzer spring is in complete compact state；When needing Punica granatum L. is entered
During row clamping, then first, PLC controls upper clamp cylinder to stretch out so that four press from both sides the accommodating chamber that pomegranate touch panel is constituted
Wrap Punica granatum L., then, each folder pomegranate cylinder synchronous, so that each steel wire side rope no longer pulls each folder pomegranate touch panel, now, are respectively pressed from both sides
Pomegranate touch panel moves downward under the restoring force effect of each folder howitzer spring so that four press from both sides the receiving cavity space receipts that pomegranate touch panel is constituted
Contracting, until each folder pomegranate touch panel compresses Punica granatum L. epidermis completely, thus realizing the clamping to Punica granatum L..
Described fruit device of beating includes putting fruit tray and beats fruit unit for a pair, and described fruit tray of putting is connected in cutting support plate lower end
Middle face, beats fruit unit for a pair and is respectively symmetrically to be arranged on and put on the cutting support plate of both sides before and after fruit tray；
When place plate on Punica granatum L. fallen flowers at down 7 centimeters be already cut off, and Punica granatum L. epidermis be cut into six lobes it
Afterwards, upper pinch device makes Punica granatum L. depart from by the contraction of upper clamp cylinder and places plate, and then, PLC controls cuts
Rotation motor drives cutting support plate to be rotated；So that placing plate to be located at cutting support plate lower end, and beat fruit device and be located at cutting support plate
Upper end, then the Punica granatum L. after cut process is placed into by upper pinch device beat fruit device put on fruit tray, then
Beat fruit unit for a pair Punica granatum L. epidermis is hammered, during hammering, upper pinch device controls Punica granatum L. to be rotated, from
And Punica granatum L. surrounding is all hammered onto, so that pomegranate fruit can sufficiently depart from Punica granatum L. epidermis；
Beat fruit unit for a pair all to include beating fruit cylinder, beat fruit support plate, beat fruit motor, cam, beat fruit bar, beat fruit spring and beat
Plate, described fruit cylinder of beating is Rodless cylinder, beats fruit cylinder and is horizontally arranged at from back to front on cutting support plate along fuselage；Beat fruit
Plate includes beating base plate, beats inner panel, beats outside plate and beat middle plate, beat base plate, beat inner panel, composition beats fruit support plate with beating middle plate to beat outside plate
" mouth " font structure, and to beat the height of inner panel be higher than to beat the height of middle plate, beats fruit support plate and beats fruit cylinder by beating base plate and being arranged on
On, beat fruit motor and be arranged on to beat on middle plate and be located at and beat middle plate one end, cam is located at and beats the middle plate other end, and beats fruit electric machine main shaft
It is connected with cam；Described beat that fruit bar is located inside cam and level runs through and beats inner panel, beat fruit bar outer end and flank of cam phase
Contact, and beat fruit spring one end and beat fruit bar outer end and be fixedly connected with, beat the fruit spring other end and be fixedly connected with beating inner panel, beat fruit bar close
What the one end putting fruit tray was vertically fixed with flat square structure beats plate；During work, when needing that Punica granatum L. epidermis is hammered, then
PLC controls beats fruit cell operation for a pair, beats fruit electric machine main shaft high-speed rotation to carry moving cam quickly to rotate, and then drives
Beat fruit bar and frequently carry out front-rear reciprocation movement, and then drive is beaten plate and pericarpium granati tapped repeatedly, meanwhile, according to difference
The size of Punica granatum L., can also make to beat fruit cylinder operation and drive and beat fruit support plate and move forward and backward, and then adjusts and beat fruit bar to correct position,
So that beat fruit device not affected by Punica granatum L. size to the beating effect of Punica granatum L..
Described fruit tray of putting includes putting a disk, beats fruit tray and Lian Panzhu, and a described disk of putting is connected in cutting support plate lower end
Middle face, described beat fruit tray and be located at put below a disk, and put a disk and beat and be connected by Lian Panzhu between fruit tray, put a disk
A diameter of beat fruit tray diameter two to three times.During work, beat on fruit tray by what Punica granatum L. was placed on fruit tray, the sarcocarp quilt of Punica granatum L.
Tap youngster and depart from pericarpium granati, and put a disk from beating fruit tray and falling into；Put a diameter of two to three times beating fruit tray diameter of a disk
Effect is so that putting a disk can fill more sarcocarp being separated；
Preferably, the described clamping plate that directly touches is elastomeric material, and this design makes directly to touch clamping plate can be according to Punica granatum L. surface
Shape be curved, if directly touch clamping plate be inelastic flat rigid material, directly touch clamping plate connect with Punica granatum L. epidermis
When tactile, due to its inflexibility so that directly touching clamping plate with Punica granatum L. epidermis is that point contacts or linear contact lay, this elastomeric material
Can be contacted for face with Punica granatum L. epidermis such that it is able to make left and right clamping device to Punica granatum L. because of bending from directly tactile clamping plate can be made
Clamping effect more preferable.
Preferably, described pomegranate blade upper surface of cutting is contacted with the putting hole lower end in the middle part of placement plate；So that stone
Pomegranate blade can more accurately along putting hole lower end by Punica granatum L. fallen flowers down 7 centimeters excision；
Preferably, described upper clamp cylinder is coaxial with the putting hole placing plate；This design enables gripper jaw position
In placing the surface of in the hole Punica granatum L. such that it is able to make gripper jaw when clamping to Punica granatum L., respectively press from both sides pomegranate touch panel and Punica granatum L.
The contact of epidermis is more fitted, and the stress of Punica granatum L. epidermis surrounding is more balanced so that Punica granatum L. will not because of surrounding stress not
Balance and come off from gripper jaw.
Preferably, described folder pomegranate touch panel medial surface is evenly arranged with silicon rubber suction cup；The design of silicon rubber suction cup makes each folder
Pomegranate touch panel can more fastening clamp Punica granatum L. so that Punica granatum L. is more difficult to come off from gripper jaw.
Preferably, described put that a disk surrounding is evenly arranged with that outside downwards extends put a back-up ring, beat fruit tray surrounding
All with the shattering slipping ring being provided with outside extension upward；The effect of described shattering slipping ring is easy for pomegranate fruit and falls from beating fruit tray
Enter and put in a disk, the effect putting a back-up ring is to prevent pomegranate fruit from falling on the ground in a disk from putting.
Beneficial effect：
A kind of heretofore described pomegranate fruit intelligently takes robot, its can automatically by the fallen flowers of Punica granatum L. down
7 centimeters cut, automatically pericarpium granati is cut into six lobes, and can automatically Punica granatum L. epidermis be tapped such that it is able to reality
Now automatically the sarcocarp in Punica granatum L. is taken out, need not manually operate, work efficiency more manually takes meat to improve a lot, and disclosure satisfy that city
The high-volume demand to pomegranate fruit for the field, practical.
Brief description
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is the perspective view of clamping device about the present invention；
Fig. 4 is the full sectional view of clamping unit of the present invention；
Fig. 5 is the full sectional view in the A-A direction of Fig. 2；
Fig. 6 is the structural representation of upper pinch device of the present invention；
Fig. 7 is enlarged drawing at the B of Fig. 5；
In figure：Plate 11, left and right clamping device 2, clamping screw 21, clamping unit 22, left and right clamping motor in frame 1, top
23rd, clamping plate 221, clamping mainboard 2211, clamping time plate 2212, clamping cylinder 2214, No. two bottom plates of 2213, bottom plate
2215th, No. three bottom plates 2216, accommodating groove 2217, fastening spring 222, directly touch clamping plate 223, cutter sweep 3, cutting support plate 31,
Cut rotation motor 32, place plate 33, putting hole 331, pomegranate bottom device for excising 34, oblique support plate 341, pomegranate undercutting except cylinder 342, cut pomegranate knife
Piece 343, pomegranate side cutter sweep 35, perpendicular support plate 351, cylinder 352 is cut in side, seat 353 is cut in side, high pressure nozzle 354, water pipe 355, top
Clamping device 4, upper pinch motor 41, gripper 42, No. two gripper 43, upper pinch seat 44, upper clamp
Cylinder 45, gripper jaw 46, jaw plectane 461, folder pomegranate touch panel 462, folder howitzer spring 463, folder pomegranate iron hoop 464, steel wire side rope 465,
Folder pomegranate cylinder 466, a folder block 4611, folder bracer 4612, silicon rubber suction cup 4621, beat fruit device 5, put fruit tray 51, put a disk 511,
Put a back-up ring 5111, beat fruit tray 512, shattering slipping ring 5121, connect disk post 513, beat fruit unit 52, beat fruit cylinder 521, beat fruit support plate
522nd, beat base plate 5221, beat inner panel 5222, beat outside plate 5223, beat middle plate 5224, beat fruit motor 523, cam 524, beat fruit bar
525th, beat fruit spring 526, beat plate 527.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention realizes are easy to understand, tie below
Close embodiment, the present invention is expanded on further.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, a kind of pomegranate fruit of the present invention intelligently takes machine
Device people, including frame 1, left and right clamping device 2, cutter sweep 3, upper pinch device 4 with beat fruit device 5；Described left and right folder
Tight device 2 is located at the frame 1 bottom left and right sides, and cutter sweep 3 is respectively positioned in the middle part of left and right clamping device 2 with beating fruit device 5, top
Clamping device 4 is located at frame 1 top.
Described frame 1 generally cube frame structure, frame 1 is provided with PLC and accumulator, and PLC is controlled
Device processed is used for controlling left and right clamping device 2, cutter sweep 3, upper pinch device 4 and the automatic job beating fruit device 5, described
Accumulator is used for the power electronic equipment of the present invention；
Described left and right clamping device 2 includes clamping screw 21, a pair of clamping unit 22 and left and right clamping motor 23, clamping
Screw rod 21 is horizontally arranged at frame 1 bottom from left to right along frame 1, and a pair of clamping unit 22 is respectively symmetrically and is arranged on clamping screw
21 left and right sides, described left and right clamping motor 23 is arranged in frame 1, and left and right clamping motor 23 main shaft is connected by shaft coupling
Clamping screw 21；And clamping screw 21 left part is contrary with the thread rotary orientation of right part；Each clamping unit 22 all includes clamping plate 221,
Each clamping plate 221 base plate is arranged on clamping screw 21 by bearing；During work, PLC controls left and right clamping motor 23
Work is to drive clamping screw 21 to rotate, and then drives each clamping plate 221 to move, thus driving a pair of clamping unit 22 mutually to lean on
Near or be located remotely from each other；Each clamping plate 221 inside top level is fixed with fastening spring 222, and fastening spring 222 medial surface is fixed with
Directly touch clamping plate 223；When a pair of clamping unit 22 close to each other to certain distance when, each clamping unit 22 directly touches clamping plate
The 223 accessible Punica granatum L. left and right sides, thus clamping Punica granatum L., are easy to the follow-up stable cutting to Punica granatum L.；Described left and right clamping dress
The effect putting 2 is for clamping Punica granatum L. so that Punica granatum L. can keep stable state in the overall process being subsequently cut, thus
It is easy to being smoothed out of Punica granatum L. cutting operation.
Described clamping plate 221 generally " Z " type structure, clamping plate 221 includes clamping mainboard 2211, clamping time plate 2212
With clamping cylinder 2213；Described clamping mainboard 2211 includes 2214, No. two bottom plates 2215 of a bottom plate and No. three main folders
Plate 2216；A described bottom plate 2214 is vertically installed on clamping screw 21 by bearing, No. two bottom plate 2215 levels
It is connected in bottom plate 2214 top and extends towards frame 1 middle part, No. three bottom plates 2216 are vertically connected in No. two bottom plates
2215 inner sides simultaneously extend towards frame 1 top；It is provided with cube accommodating groove 2217 in the middle part of No. three described bottom plates 2216；Clamping
Plate 221 is designed as " Z " type structure and is not directly designed to vertical structure, and its effect is that of avoiding the clamping plate of each clamping unit 22
221 during close to each other, and cutter sweep 3 hinders the motion of each clamping unit 22 and makes each folder with beating fruit device 5
Tight plate 221 cannot touch Punica granatum L.；
Clamping time plate 2212 generally T-shape structure, clamping time plate 2212 bottom can embed the receipts of No. three bottom plates 2216
Receive in groove 2217, described clamping cylinder 2213 bottom is connected on No. three bottom plates 2216, clamping cylinder 2213 top is connected
On clamping time plate 2212；Described fastening spring 222 level is connected in clamping time plate 2212 top；During work, PLC
The flexible of clamping cylinder 2213 can be controlled according to the different configuration of different Punica granatum L.s, by clamping cylinder 2213 flexible controlling
The height of clamping time plate 2212, and then the height directly touching clamping plate 223 being fixedly connected with fastening spring 222 can be adjusted, thus from
And the contact position directly touching clamping plate 223 and Punica granatum L. epidermis can be controlled so that no matter the construction of various Punica granatum L.s whether identical, left and right
Clamping device 2 all can be good at clamping Punica granatum L..
Described cutter sweep 3 includes cutting support plate 31, cuts rotation motor 32, places plate 33, pomegranate bottom device for excising 34 and pomegranate
Side cutter sweep 35；The generally flat strip of described cutting support plate 31, cutting support plate 31 can turn along frame 1 from front and back backward
Dynamic is horizontally arranged at frame 1 bottom, and cuts support plate 31 between a pair of clamping unit 22；Described rotation motor 32 of cutting is pacified
It is contained in frame 1, and cuts rotation motor 32 main shaft and be connected by shaft coupling with cutting support plate 31 one end；Described placement plate 33 is whole
Body is cube structure, places plate 33 bottom and is connected in the middle part of cutting support plate 31 upper surface, before and after placing plate 33, both sides are opened wide, and
Place and be provided with cylindrical putting hole 331 in the middle part of plate 33, be used for placing Punica granatum L. in described putting hole 331；During work, PLC is controlled
The controllable rotation motor 32 of cutting of device processed drives cutting support plate 31 to be rotated；Under original state, cutting support plate 31 is in horizontality,
And place plate 33 positioned at cutting support plate 31 upper end；
Described pomegranate bottom device for excising 34 includes oblique support plate 341, pomegranate undercutting except cylinder 342 and cuts pomegranate blade 343, described
Tiltedly support plate 341 is connected in placement plate 33 lower front, and pomegranate undercutting is connected on oblique support plate 341 except cylinder 342 level, cuts pomegranate blade
343 levels are connected in pomegranate undercutting and remove cylinder 342 top；Under original state, pomegranate undercutting is in fully collapsed condition except cylinder 342,
Putting hole 331 is in complete opening-wide state, during work, when needing that Punica granatum L. is carried out with sarcocarp separation, is then manually placed on Punica granatum L.
Place in the putting hole 331 of plate, now, the Punica granatum L. location of putting hole 331 lower surface is in down 7 lis at Punica granatum L. fallen flowers
Rice place, then, PLC controls pomegranate undercutting to stretch out except cylinder 342, cut pomegranate blade 343 move except cylinder 342 with pomegranate undercutting and
The down 7 centimeters excision at Punica granatum L. fallen flowers by Punica granatum L.；
Described pomegranate side cutter sweep 35 includes perpendicular support plate 351, cylinder 352 is cut in side, seat 353 is cut in side, high pressure nozzle 354 and
Water pipe 355, described vertical plate is vertically connected in placement plate 33 bottom rear, and it is Rodless cylinder that cylinder 352 is cut in side, and gas is cut in side
Cylinder 352 is vertically installed on perpendicular support plate 351, and described side is cut seat 353 and is arranged on side and cuts on cylinder 352, and high pressure nozzle 354 is connected
Cut on seat 353 in side, described water pipe 355 one end connects high pressure nozzle 354, and water pipe 355 other end passes through external high pressure water pump
Connect outside water tank；After down 7 centimeters are removed at Punica granatum L. fallen flowers, then then Punica granatum L. epidermis is cut to six lobes, now,
Pomegranate side cutter sweep 35 works, and PLC control side is cut cylinder 352 and drives side to cut seat 353 upward-downward translation, thus driving high pressure
Nozzle 354 controls external high pressure pump working so that water under high pressure passes through water in Punica granatum L. rear upward-downward translation, then PLC
Pipe flow is ejected into Punica granatum L. epidermis through high pressure nozzle 354, then by high pressure nozzle 354, is made by the pressure of real-time control water meanwhile
Obtain water to cut epidermis and substantially not damage Punica granatum L. interior flesh；Under the premise of Punica granatum L. is non-rotary, by above-mentioned step
One vertical otch suddenly can be cut open on epidermis on rear side of Punica granatum L., then pass through following upper pinch devices 4 and Punica granatum L. is carried out
Rotary motion, repeats above-mentioned cutting step such that it is able to realize for Punica granatum L. epidermis being cut into six lobes；
Described upper pinch device 4 include upper pinch motor 42, No. two gripper 43 of 41, gripper,
Upper pinch seat 44, upper clamp cylinder 45 and gripper jaw 46；Described frame 1 top be horizontally disposed with from left to right one flat
Plate 11 in the top of flat strip, described upper pinch device 4 is arranged on plate 11 in top, and upper pinch device 4 is located at and puts
Put directly over plate 33；Upper pinch motor 41 is arranged on plate 11 lower surface in top, and a gripper 42 is located on plate 11 in top
End face, and upper pinch motor 41 main shaft is connected with a gripper 42, No. two gripper 43 are located on plates 11 in top
Hold and be meshed with a gripper 42, described upper pinch seat 44 is located at plate 11 lower end in top, and No. two gripper
43 are fixedly connected with upper pinch seat 44 by cylindrical columns, and upper clamp cylinder 45 is vertically connected in upper pinch seat 44 lower end
Face, and gripper jaw 46 is connected in upper clamp cylinder 45 lower end；On rear side of Punica granatum L., epidermis is cut by pomegranate side cutter sweep 35
After opening an otch, upper pinch device 4 works, and PLC controls gripper jaw 46 to clamp Punica granatum L., then, upper pinch
Motor 41 work drives a gripper 42 to rotate, and then drives No. two gripper 43 to rotate, thus driving upper clamp
Cylinder 45 rotates, so that the gripper jaw 46 being fixedly connected with upper clamp cylinder 45 is carried Punica granatum L. and rotated；Punica granatum L. rotates
During one whole circle, upper clamp motor 41 uniformly suspends six times, and during suspending, it is right that pomegranate side cutter sweep 35 is realized
The cutting of the epidermis of Punica granatum L. various location, thus realize being cut into six lobes to by Punica granatum L. epidermis by above-mentioned steps；
Described gripper jaw 46 includes jaw plectane 461, folder pomegranate touch panel 462, folder howitzer spring 463, folder pomegranate iron hoop 464, steel
Silk side rope 465 and folder pomegranate cylinder 466；Described jaw plectane 461 is flattened cylindrical shape plate, is connected in the middle part of jaw plectane 461
Upper clamp cylinder 45 lower end, jaw plectane 461 surrounding is evenly arranged with four folder blocks 4611, four folder block 4611 upper ends
All it has been horizontally disposed with folder bracer 4612, described each folder is propped up block 4611 and is arranged in obtuse angle with jaw plectane 461 upper surface；Described
Folder pomegranate touch panel 462 generally circular arc plate, the purpose that folder pomegranate touch panel 462 is designed as circular arc type is so that folder pomegranate touch panel 462 can
The preferably shaped form surface of laminating Punica granatum L., so that folder pomegranate touch panel 462 is more preferable to the clamping effect of Punica granatum L., presss from both sides pomegranate touch panel
462 quantity are four, and four folder pomegranate touch panels 462 are rotatably installed in four folder block 4611 lower ends of jaw plectane 461 respectively；Described
Folder howitzer spring 463 quantity be four, four folder howitzer spring 463 one end are respectively fixedly connected with four folder pomegranate touch panels 462, four folder pomegranates
Spring 463 other end is respectively fixedly connected with four folder bracers 4612；Described folder pomegranate iron hoop 464 generally annular, presss from both sides pomegranate ferrum
Ring 464 is located at directly over jaw plectane 461 and wrapping upper clamp cylinder 45；465 quantity are restricted for four in described steel wire side, four
Steel wire side rope 465 bottoms are fixedly connected with four folder pomegranate touch panels 462 respectively, and four folder blocks are run through at four steel wire sides rope 465 tops
4611 and with folder pomegranate iron hoop 464 be connected；Described folder pomegranate cylinder 466 quantity is two,；Two folder pomegranate cylinders 466 are respectively vertically
It is symmetrically mounted on jaw plectane 461 upper surface, and each folder pomegranate cylinder 466 bottom is fixedly connected with jaw plectane 461, each folder pomegranate cylinder
466 tops are fixedly connected with folder pomegranate iron hoop 464；Under original state, upper clamp cylinder 45 is in fully collapsed condition, gripper jaw 46
It is located at directly over the Punica granatum L. placed on plate 33, each folder pomegranate cylinder 466 is in fully extended state, now at folder pomegranate iron hoop 464
The maximum height that Yu Suoneng moves to, four folder pomegranate touch panels 462 of now steel wire side rope 465 pulling turn to an extreme angle,
The receiving cavity space maximum that now four folder pomegranate touch panels 462 are constituted, and each folder howitzer spring 463 is in complete compact state；When
When needing Punica granatum L. is clamped, then first, PLC controls upper clamp cylinder 45 to stretch out so that four press from both sides pomegranate touch panels
462 accommodating chambers being constituted wrap Punica granatum L., and then, each folder pomegranate cylinder 466 synchronous are so that each steel wire side restricts 465 no longer
Pull each folder pomegranate touch panel 462, now, each folder pomegranate touch panel 462 moves downward under the restoring force effect of each folder howitzer spring 463, makes
Obtain the accommodating chamber space contraction that four folder pomegranate touch panels 462 are constituted, until each folder pomegranate touch panel 462 compresses Punica granatum L. epidermis completely, from
And realize the clamping to Punica granatum L..
Described fruit device 5 of beating includes putting fruit tray 51 and beats fruit unit 52 for a pair, and described fruit tray 51 of putting is connected in cutting
In the middle part of support plate 31 lower surface, beat fruit unit 52 for a pair and be respectively symmetrically to be arranged on and put on the cutting support plate 31 of both sides before and after fruit tray 51；
At the Punica granatum L. fallen flowers placing on plate 33, down 7 centimeters are already cut off, and Punica granatum L. epidermis is cut into six lobes
Afterwards, upper pinch device 4 makes Punica granatum L. depart from by the contraction of upper clamp cylinder 45 and places plate 33, then, PLC
Control is cut rotation motor 32 and drives cutting support plate 31 to be rotated；So that placing plate 33 to be located at cutting support plate 31 lower end, and beat fruit dress
Put 5 and be located at cutting support plate 31 upper end, then the Punica granatum L. after cut process is placed into by upper pinch device 4 and beats fruit dress
Put 5 put on fruit tray 51, then beat fruit unit 52 for a pair and Punica granatum L. epidermis hammered, hammering during, upper pinch
Device 4 controls Punica granatum L. to be rotated, so that Punica granatum L. surrounding is all hammered onto, and then pomegranate fruit is sufficiently taken off
From Punica granatum L. epidermis；
Beat fruit unit 52 for a pair all to include beating fruit cylinder 521, beat fruit support plate 522, beat fruit motor 523, cam 524, beat fruit
Bar 525, beat fruit spring 526 and beat plate 527, described fruit cylinder 521 of beating is Rodless cylinder, beats fruit cylinder 521 along fuselage 1 from rear
It is horizontally arranged at forward on cutting support plate 31；Beat fruit support plate 522 to include beating base plate 5221, beat inner panel 5222, beat outside plate 5223 and
Beat middle plate 5224, beat base plate 5221, " mouth " beating inner panel 5222, beat outside plate 5223 with composition of beating middle plate 5224 and beat fruit support plate 522
Font structure, and beat the height of inner panel 5222 higher than the height beating middle plate 5224, beat fruit support plate 522 and installed by beating base plate 5221
On beating fruit cylinder 521, beat fruit motor 523 be arranged on beat on middle plate 5224 and be located at beat middle plate 5224 one end, cam 524 is located at
Beat middle plate 5224 other end, and beat fruit motor 523 main shaft and be connected with cam 524；Described fruit bar 525 of beating is located at cam 524
Inner side and level runs through and beats inner panel 5222, beats fruit bar 525 outer end and contacts with cam 524 side, and beat fruit spring 526 one end and
Beat fruit bar 525 outer end to be fixedly connected with, beat fruit spring 526 other end and be fixedly connected with beating inner panel 5222, beat fruit bar 525 near putting fruit tray 51
One end be vertically fixed with flat square structure beat plate 527；During work, when needing that Punica granatum L. epidermis is hammered, then PLC control
Device control processed is beaten fruit unit 52 for a pair and is worked, and beats fruit motor 523 main shaft high-speed rotation to carry moving cam 524 quickly to rotate, and then
Drive is beaten fruit bar 525 and is frequently carried out front-rear reciprocation movement, and then drive is beaten plate 527 and pericarpium granati is tapped repeatedly, with
When, according to the size of different Punica granatum L.s, can also make to beat fruit cylinder 521 work drive and beat fruit support plate 522 and move forward and backward, and then adjust
Beating fruit bar 525 is not affected by Punica granatum L. size to the beating effect of Punica granatum L. to correct position so that beating fruit device 5.
Described fruit tray 51 of putting includes putting a disk 511, beats fruit tray 512 and connect disk post 513, and a described disk 511 of putting is connected
In the middle part of cutting support plate 31 lower surface, described beat fruit tray 512 and be located at put below a disk 511, and put a disk 511 and beat fruit tray
Pass through even disk post 513 between 512 to be connected, put a diameter of beat fruit tray 512 diameter two to three times of a disk 511.During work, will
What Punica granatum L. was placed on fruit tray 51 beats on fruit tray 512, and the sarcocarp of Punica granatum L. is tapped and departs from pericarpium granati, and from beating fruit tray 512
Fall into and put a disk 511；The effect putting a diameter of two to three times beating fruit tray 512 diameter of a disk 511 is so that and puts a disk 511 energy
Enough fill more sarcocarp being separated；
Preferably, the described clamping plate 223 that directly touches is elastomeric material, and this design makes directly to touch clamping plate 233 can be according to stone
The shape on pomegranate surface is curved, if directly touch clamping plate 223 be inelastic flat rigid material, directly touch clamping plate 233 with stone
When pomegranate epidermis is contacted, due to its inflexibility so that directly touching clamping plate 223 with Punica granatum L. epidermis is that point contacts or linear contact lay,
The selection of this elastomeric material can make directly tactile clamping plate 233 can contact for face such that it is able to make with Punica granatum L. epidermis because of bending
Obtain left and right clamping device 2 more preferable to the clamping effect of Punica granatum L..
Preferably, described pomegranate blade 343 upper surface of cutting is contacted with putting hole 331 lower end at placement plate 33 middle part；From
And enable Punica granatum L. blade 343 more accurately along putting hole 33 lower end by Punica granatum L. fallen flowers down 7 centimeters excision；
Preferably, described upper clamp cylinder 45 is coaxial with the putting hole 331 placing plate 33；This design makes gripper jaw
46 can be located at the surface of Punica granatum L. in putting hole 33 such that it is able to make gripper jaw 46 when clamping to Punica granatum L., each folder
Pomegranate touch panel 462 contact with Punica granatum L. epidermis is more fitted, and the stress of Punica granatum L. epidermis surrounding is more balanced so that Punica granatum L. not
Can come off from gripper jaw 46 because of surrounding force unbalance.
Preferably, described folder pomegranate touch panel 462 medial surface is evenly arranged with silicon rubber suction cup 4621；The setting of silicon rubber suction cup 4621
Meter enable each folder pomegranate touch panel 462 more fastening clamp Punica granatum L. so that Punica granatum L. is more difficult to come off from gripper jaw 46.
Preferably, described put that a disk 511 surrounding is evenly arranged with that outside downwards extends put a back-up ring 5111, beat fruit
Disk 512 surrounding all be provided with upward outside extend shattering slipping ring 5121；The effect of described shattering slipping ring 5121 is easy for
Pomegranate fruit is put in a disk 511 from beating fruit tray 512 and fall into, and the effect putting a back-up ring 5111 is to prevent pomegranate fruit from putting a disk
Fall in 511 on the ground.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appended claims and its equivalent circle.
Fixed.
Claims (8)
1. a kind of pomegranate fruit intelligently take robot it is characterised in that：Including frame (1), left and right clamping device (2), cutting
Device (3), upper pinch device (4) and beat fruit device (5)；Described left and right clamping device (2) is located at about frame (1) bottom
Both sides, cutter sweep (3) is respectively positioned in the middle part of left and right clamping device (2) with beating fruit device (5), and upper pinch device (4) is located at machine
Frame (1) top；Wherein：
Described frame (1) generally cube frame structure, frame is provided with PLC and accumulator on (1)；
Described left and right clamping device (2) includes clamping screw (21), a pair of clamping unit (22) and left and right clamping motor (23),
Clamping screw (21) is horizontally arranged at frame (1) bottom from left to right along frame (1), and a pair of clamping unit (22) is respectively symmetrically peace
It is contained in clamping screw (21) left and right sides, described left and right clamping motor (23) is arranged in frame (1), left and right clamping motor
(23) main shaft connects clamping screw (21) by shaft coupling；And clamping screw (21) left part is contrary with the thread rotary orientation of right part；Respectively
Clamping unit (22) all includes clamping plate (221), and each clamping plate (221) base plate is arranged on clamping screw (21) by bearing,
Each clamping plate (221) inside top level is fixed with fastening spring (222), and fastening spring (222) medial surface is fixed with and directly touches folder
Plate (223)；
Described cutter sweep (3) includes cutting support plate (31), cuts rotation motor (32), places plate (33), pomegranate bottom device for excising
And pomegranate side cutter sweep (35) (34)；The described generally flat strip of cutting support plate (31), cutting support plate (31) is along frame
(1) rotatably it is horizontally arranged at frame (1) bottom from front and back backward, and cuts support plate (31) and be located at a pair of clamping unit (22)
Between；Described rotation motor (32) of cutting is arranged in frame (1), and it is logical with cutting support plate (31) one end to cut rotation motor (32) main shaft
Cross shaft coupling to be connected；Described placement plate (33) generally cube structure, places plate (33) bottom and is connected in cutting support plate
(31), in the middle part of upper surface, before and after placing plate (33), both sides are opened wide, and are provided with cylindrical putting hole in the middle part of placement plate (33)
(331)；
Described pomegranate bottom device for excising (34) includes oblique support plate (341), pomegranate undercutting except cylinder (342) and cuts pomegranate blade (343), institute
The oblique support plate (341) stated is connected in placement plate (33) lower front, and pomegranate undercutting is connected in oblique support plate except cylinder (342) level
(341), on, cut pomegranate blade (343) level and be connected in pomegranate undercutting except cylinder (342) top；
Described pomegranate side cutter sweep (35) includes perpendicular support plate (351), cylinder (352) is cut in side, seat (353), high pressure nozzle are cut in side
(354) and water pipe (355), described vertical plate is vertically connected in placement plate (33) bottom rear, and it is no bar that cylinder (352) is cut in side
Cylinder, and side cuts cylinder (352) and be vertically installed on perpendicular support plate (351), described side is cut seat (353) and is arranged on side and cuts cylinder
(352) on, high pressure nozzle (354) is connected in side and cuts on seat (353), and described water pipe (355) one end connects high pressure nozzle
(354), water pipe (355) other end passes through the outside water tank of external high pressure water pump connection；
Described upper pinch device (4) includes upper pinch motor (41), gripper (42), No. two gripper
(43), upper pinch seat (44), upper clamp cylinder (45) and gripper jaw (46)；Described frame (1) top water from left to right
Put down plate (11) in the top be provided with a flat strip, described upper pinch device (4) is arranged on plate in top (11), and
Upper pinch device (4) is located to be placed directly over plate (33)；Upper pinch motor (41) is arranged on plate in top (11) lower surface, and one
Number gripper (42) is located at plate (11) upper surface in top, and upper pinch motor (41) main shaft and gripper (42) phase
Connect, No. two gripper (43) are located in top plate (11) upper end and are meshed with a gripper (42), described top
Clamping seats (44) are located at plate (11) lower end in top, and No. two gripper (43) pass through cylindrical columns and upper pinch seat (44)
It is fixedly connected with, upper clamp cylinder (45) is vertically connected in upper pinch seat (44) lower surface, and gripper jaw (46) is connected in top
Gripper cylinder (45) lower end；
Described fruit device (5) of beating includes putting fruit tray (51) and beating fruit unit (52) for a pair, and described fruit tray (51) of putting is connected in
In the middle part of cutting support plate (31) lower surface, beat fruit unit (52) for a pair and be respectively symmetrically and be arranged on the cutting putting both sides before and after fruit tray (51)
On support plate (31)；Beat fruit unit (52) for a pair all to include beating fruit cylinder (521), beat fruit support plate (522), beat fruit motor (523), convex
Take turns (524), beat fruit bar (525), beat fruit spring (526) and beat plate (527), described fruit cylinder (521) of beating is Rodless cylinder, beats
Fruit cylinder (521) is horizontally arranged in cutting support plate (31) from back to front along fuselage (1)；Beat fruit support plate (522) to include beating base plate
(5221), beat inner panel (5222), beat outside plate (5223) and beat middle plate (5224), beat base plate (5221), beat inner panel (5222), beat outward
" mouth " font structure of fruit support plate (522) beaten by plate (5223) with beating middle plate (5224) composition, and it is high to beat the height of inner panel (5222)
In the height beating middle plate (5224), beat fruit support plate (522) and beaten on fruit cylinder (521) by beating base plate (5221) and being arranged on, beat fruit
Motor (523) is arranged on beats middle plate (5224) above and positioned at beating middle plate (5224) one end, and cam (524) is located at and beats middle plate (5224)
The other end, and beat fruit motor (523) main shaft and be connected with cam (524)；Described fruit bar (525) of beating is located in cam (524)
Side and level run through beats inner panel (5222), beats fruit bar (525) outer end and contacts with cam (524) side, and beats fruit spring (526)
One end is fixedly connected with beating fruit bar (525) outer end, beats fruit spring (526) other end and beats inner panel (5222) and be fixedly connected with, beats fruit bar
(525) beat plate (527) near what the one end putting fruit tray (51) was vertically fixed with flat square structure.
2. robot is intelligently taken according to a kind of claim pomegranate fruit according to claim 1 it is characterised in that：Institute
The fruit tray (51) of putting stated includes putting a disk (511), beating fruit tray (512) and Lian Panzhu (513), and a described disk (511) of putting is connected
In the middle part of cutting support plate (31) lower surface, described beat fruit tray (512) and be located at put below a disk (511), and put a disk (511) and have
Beat and be connected by Lian Panzhu (513) between fruit tray (512), put a disk (511) a diameter of beat the two of fruit tray (512) diameter to
Three times.
3. a kind of pomegranate fruit according to claim 1 intelligently take robot it is characterised in that：Described gripper jaw
(46) jaw plectane (461), folder pomegranate touch panel (462), folder howitzer spring (463), folder pomegranate iron hoop (464), steel wire side rope (465) are included
With folder pomegranate cylinder (466)；Described jaw plectane (461) is flattened cylindrical shape plate, and jaw plectane is connected in top in the middle part of (461)
Gripper cylinder (45) lower end, jaw plectane (461) surrounding is evenly arranged with four folder blocks (4611), four folder blocks (4611)
Upper end has all been horizontally disposed with folder bracer (4612), and described each folder props up block (4611) with jaw plectane (461) upper surface in obtuse angle
Arrangement；Described folder pomegranate touch panel (462) generally circular arc plate, folder pomegranate touch panel (462) quantity is four, four folder pomegranate touch panels
(462) it is rotatably installed in four folder block (4611) lower ends of jaw plectane (461) respectively；Described folder howitzer spring (463) number
Measure as four, four folder howitzer spring (463) one end are respectively fixedly connected with four folders pomegranate touch panel (462), and four folders howitzer spring (463) are another
One end is respectively fixedly connected with four folders bracer (4612)；Described folder pomegranate iron hoop (464) generally annular, presss from both sides pomegranate iron hoop
(464) it is located at directly over jaw plectane (461) and wrapping upper clamp cylinder (45)；Described steel wire side rope (465) quantity is
Four, four steel wire sides rope (465) bottom is fixedly connected with four folders pomegranate touch panel (462) respectively, and four steel wire sides rope (465) top is passed through
Wear four folder blocks (4611) and be connected with folder pomegranate iron hoop (464)；Described folder pomegranate cylinder (466) quantity is two,；Two folders
Pomegranate cylinder (466) is vertically symmetrical respectively to be arranged on jaw plectane (461) upper surface, and each folder pomegranate cylinder (466) bottom and jaw
Plectane (461) is fixedly connected with, and each folder pomegranate cylinder (466) top is fixedly connected with folder pomegranate iron hoop (464).
4. a kind of pomegranate fruit according to claim 1 intelligently take robot it is characterised in that：Described clamping plate
(221) generally " Z " type structure, clamping plate (221) includes clamping mainboard (2211), clamping time plate (2212) and clamping cylinder
(2213)；Described clamping mainboard (2211) includes a bottom plate (2214), No. two bottom plates (2215) and No. three bottom plates
(2216)；A described bottom plate (2214) is vertically installed on clamping screw (21) by bearing, No. two bottom plates
(2215) level is connected in bottom plate (2214) top and extends towards in the middle part of frame (1), and No. three bottom plates (2216) are vertically
It is connected in inside No. two bottom plates (2215) and extend towards frame (1) top；Arrange in the middle part of No. three described bottom plates (2216)
There is cube accommodating groove (2217)；
Clamping time plate (2212) generally T-shape structure, clamping time plate (2212) bottom can embed No. three bottom plates (2216)
In accommodating groove (2217), described clamping cylinder (2213) bottom is connected on No. three bottom plates (2216), clamping cylinder
(2213) top is connected on clamping time plate (2212)；Described fastening spring (222) level is connected in clamping time plate (2212)
Top.
5. a kind of pomegranate fruit according to claim 1 intelligently take robot it is characterised in that：Described directly touches clamping plate
(223) it is elastomeric material, and described cutting pomegranate blade (343) upper surface and place the putting hole (331) in the middle part of plate (33)
Lower end contacts.
6. a kind of pomegranate fruit according to claim 1 intelligently take robot it is characterised in that：Described upper clamp
Cylinder (45) is coaxial with the putting hole (331) placing plate (33).
7. a kind of pomegranate fruit according to claim 3 intelligently take robot it is characterised in that：Described folder pomegranate touch panel
(462) medial surface is evenly arranged with silicon rubber suction cup (4621).
8. a kind of pomegranate fruit according to claim 2 intelligently take robot it is characterised in that：Described puts a disk
(511) surrounding be evenly arranged with downwards outside extend put a back-up ring (5111), beat fruit tray (512) surrounding all with setting oriented
The shattering slipping ring (5121) that upper outer extends.
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| CN201610886970.5A CN106473162B (en) | 2016-10-11 | 2016-10-11 | A kind of pomegranate fruit intelligently takes robot |
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| CN201610886970.5A CN106473162B (en) | 2016-10-11 | 2016-10-11 | A kind of pomegranate fruit intelligently takes robot |
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| CN106473162B CN106473162B (en) | 2019-01-01 |
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| CN107518422A (en) * | 2017-08-03 | 2017-12-29 | 深圳市中科智诚科技有限公司 | A kind of intelligent robot with pomegranate fruit separation function that can be wirelessly transferred |
| CN110558576A (en) * | 2019-09-29 | 2019-12-13 | 宜昌海通食品有限公司 | Automatic pomegranate peeling machine |
| CN111418853A (en) * | 2020-04-22 | 2020-07-17 | 济南圆纯设计有限公司 | Peach processing device that denucleates |
| CN111480854A (en) * | 2019-01-26 | 2020-08-04 | 刘静琳 | Apple pitting machine |
| CN113017100A (en) * | 2021-03-05 | 2021-06-25 | 徐玲萍 | Fruit peeling, coring and juicing all-in-one machine for food processing |
| CN113170912A (en) * | 2021-06-07 | 2021-07-27 | 玉林师范学院 | Passion fruit pulp taking method and device |
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| CN113017100B (en) * | 2021-03-05 | 2022-07-08 | 山西好乐佳食品有限公司 | Fruit peeling, coring and juicing all-in-one machine for food processing |
| CN113170912A (en) * | 2021-06-07 | 2021-07-27 | 玉林师范学院 | Passion fruit pulp taking method and device |
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|---|---|
| CN106473162B (en) | 2019-01-01 |
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