CN106954865B - A device and method for removing thorns from chestnuts - Google Patents

Abstract

A device and method for removing thorns from chestnuts, mainly a device, including a feeding device, a clamping and cutting device, and a retrieving device. The feeding device performs secondary feeding through a conveyor belt and a pushing mechanism; The sawtooth cutter is pushed to a suitable position, and cooperates with the clamping mechanism and the circumferential rotation movement to realize circumferential cutting, and finally the separated chestnut and thorn shells are pushed into the receiving box by the pusher. The device and method for removing thorns from chestnuts provided by the present invention realize continuous cutting of thorny chestnuts through conveying, clamping and cutting, and pushing; further, high-efficiency operations are realized.

Description

A device and method for removing thorns from chestnuts

technical field

The invention relates to chestnut processing equipment, in particular to a device and method for removing thorns from chestnuts.

Background technique

Chestnut is a kind of nut food with high nutritional value, but it is not easy to obtain. After the chestnut matures on the fruit tree, it is wrapped with a thorny shell. For chestnuts, it is also necessary to remove the thorns and shells of chestnuts. The existing processing method generally adopts manual processing, but if the manual processing is slightly improper, it will be injured by the thorns on the thorn ball. And some mechanical equipment of removing thorn shells are more complicated, and energy consumption is bigger, and efficiency is not high.

Contents of the invention

The technical problem to be solved by the present invention is to provide a device and method for removing thorns from chestnuts, which can not only reduce the workload of manual work, improve work efficiency, but also avoid the waste of material and manpower and potential safety hazards caused by manual removal of thorns .

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A device for removing thorns from chestnuts, comprising a feeding device, a clamping and cutting device and a retrieving device;

The feeding device includes a feeding frame, on which a vibrating box is installed, and the vibrating box is connected with the clamping and cutting device through a conveyor belt to complete the initial feeding;

The clamping and cutting device includes a first bracket and a second bracket, the first bracket is provided with a cutting platform and a material transfer platform respectively, and the second bracket is provided with a lifting platform and a clamping mechanism, wherein the material transfer platform is connected to the conveyor belt And the upper end is equipped with a pushing mechanism, and the cutting platform is equipped with a retractable cutting mechanism, and the lifting platform is respectively connected with the material transfer platform and the cutting platform to realize secondary feeding and clamping cutting;

The retrieving device includes a material receiving platform arranged at the front end of the second support. The material receiving platform is correspondingly provided with a material receiving box, and the corresponding cutting platform is provided with a material pusher, and the material pusher pushes the cut chestnut thorn shell into to the inbox.

The pushing mechanism includes a pair of material partitions arranged perpendicularly to the end of the conveyor belt, and a first feeding port is opened on the material partition near the conveyor belt; a first base is installed between the pair of material partitions, and on the first base A material pushing hydraulic cylinder is provided, and the piston rod of the material pushing hydraulic cylinder is connected with a pushing groove, and the pushing groove pushes chestnut thorn shells onto the lifting platform.

The telescopic cutting mechanism includes a telescopic hydraulic cylinder, the piston rod of the telescopic hydraulic cylinder is connected to the support platform, the two ends of the support platform are slidably arranged on the slide rails, the upper end of the support platform is installed with a first stepping motor, and the first stepping motor Attached to the serrated cutter via a clamp.

The clamping mechanism includes a left clamping hand and a right clamping hand, wherein the left clamping hand is hinged with the ball screw mechanism, and is driven by the second stepping motor to move telescopically, and the right clamping hand is connected to the third stepping motor through the connecting rod connect.

Negative pressure suction cups are provided on the inner surfaces of the left gripper and the right gripper.

The receiving platform is provided with a steering mechanism, the steering mechanism includes a lifting hydraulic cylinder, the upper end of the lifting hydraulic cylinder is connected with a steering platform, a rotating motor is installed on the steering platform, the rotating motor is connected with a vacuum suction cup through a rotating rod, and the vacuum suction cup is provided by a vacuum pump. Negative pressure.

The lifting platform is provided with a pair of slotted plates, and the slotted plate near the side of the push slot is provided with a second feeding port.

The two ends of the paired card slot plate are provided with a pair of guide posts, and the upper end of the guide post is provided with an arc surface, and an RFP-6 series 601 type film sensor is provided on the arc surface.

A method for removing thorn shells of chestnuts, characterized in that: comprising the following steps:

1) Feeding: Firstly, the chestnuts with thorny shells are vibrated by the vibration box and conveyed by the conveyor belt, and then fall onto the material transfer platform. The pushing mechanism on the material transfer platform pushes the chestnuts with thorny shells to the lifting platform and retracts. The lifting platform rises to a position flush with the cutting platform and then stops to complete two feedings;

2) Clamping and cutting: the left clamping hand of the clamping mechanism is close to the right clamping hand, and the left clamping hand and the right clamping hand work together to realize the clamping of the chestnut with thorny shell; at the same time, the retractable cutting mechanism moves forward to Start the sawtooth cutter after the proper position, and the clamping mechanism drives the chestnut with thorny shell to rotate for one circle, and cuts the thorny shell circumferentially; divides the external thorny shell of the chestnut into two halves;

3) Receiving: After the cutting is completed, the left gripper retracts 5cm-10cm, and the pushing hand stretches forward to push the cut thorn shells and chestnuts directly into the receiving box to complete a dethorn shell; the pushing hand Retract; the lifting platform descends to a position flush with the material transfer platform;

4) The lifting platform continues to receive the chestnuts with thorny shells sent by the pushing mechanism and rises to a position flush with the cutting platform and then stops; the left clamp hand stretches forward 5cm-10cm to clamp, and the retractable cutting mechanism starts directly. cut, and repeat step 3);

Five), repeat step four), until all chestnuts with thorny shells are removed.

In step 2), after the initial circumferential cutting, the steering mechanism rises and the chestnut with thorny shell is adsorbed and rotated by 90 degrees, and then released for secondary cutting.

A device and method for removing thorns from chestnuts of the present invention have the following technical effects:

1) Through the vibration of the vibrating box and the transmission of the conveyor belt, the continuous conveying of the chestnut with the thorny shell can be realized. Through the action of the pushing mechanism on the material transfer platform and the transportation of the lifting platform, the secondary feeding of the chestnut with the single thorny shell can be completed sequentially for clamping. get ready. During this process, the conveyor belt, the pushing mechanism and the lifting platform operate in a continuous cycle, and the chestnuts with thorny shells are continuously sent to the designated positions in sequence.

2) By setting the clamping mechanism and the retractable cutting mechanism, the right clamping hand is positioned, the left clamping hand is telescopically clamped or loosened to achieve positioning and clamping, and the third stepping motor at the right clamping hand end is used to rotate to realize the chestnut with thorny shell Circumferential rotation; and the corresponding retractable cutting mechanism can be adjusted to a suitable depth to perform circumferential cutting on the chestnuts with thorny shells that rotate in the circumferential direction. Since the cutting depth is adjustable, it can ensure that the thorny shells are cut open to the greatest extent. Chestnuts remain whole.

3) By setting the pusher, the pusher is located between the slot plate and the left and right grippers in the height direction, and the bottom edge of the serrated cutter is higher than the pusher. In this way, during operation, the sawtooth cutter does not need to be repeatedly stretched after the initial confirmation of the extension length, and the left gripper only needs to move a short distance away to keep it loose from the chestnut thorn ball.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

Fig. 1 is the overall schematic diagram of the present invention.

Fig. 2 is a schematic diagram of the feeding device in the present invention.

Fig. 3 is a schematic diagram of various mechanisms on the first bracket in the present invention.

Fig. 4 is a schematic diagram of various mechanisms on the first bracket in the present invention.

Fig. 5 is a schematic diagram of various mechanisms on the second bracket in the present invention.

Fig. 6 is a schematic diagram of various mechanisms on the receiving platform in the present invention.

Fig. 7 is a schematic diagram of a vacuum chuck in the present invention.

Fig. 8 is a schematic diagram of the outlet of the vibrating box in the present invention.

In the figure: feeding frame 1, vibrating box 2, conveyor belt 3, first support 4, second support 5, cutting platform 6, material transfer platform 7, lifting platform 8, clamping mechanism 9, receiving platform 10, receiving box 11. Partition plate 12, pusher hand 12-1, first feed port 13, first base 14, pusher hydraulic cylinder 15, push groove 16, telescopic hydraulic cylinder 16-1, support platform 17, slide rail 18 , the first stepper motor 19, fixture 20, serrated cutter 21, left gripper 22, right gripper 23, ball screw mechanism 24, second stepper motor 25, connecting rod 26, third stepper motor 27, lifting Hydraulic cylinder 28, steering platform 29, rotating motor 30, rotating rod 31, vacuum sucker 32, vacuum pump 33, draw-in groove plate 34, guide column 35.

Detailed ways

As shown in Figure 1-2, a chestnut thorn shell removal device includes a feeding device, a clamping and cutting device and a reclaiming device;

The feeding device includes a feeding frame 1, on which a vibrating box 2 is installed, the front end of the vibrating box 2 is provided with an opening, the opening is connected to one end of the conveyor belt 3, and the other end of the conveyor belt 3 is connected to the clamping and cutting device, thereby completing the initial feeding.

In order to achieve one-time feeding without clogging and continuity, an arc-shaped opening slightly larger than the size of a chestnut with thorny shell can be set at the outlet of the vibrating box 2, and the upper opening is hinged with a limiting rod, which has a smaller elastic force. return spring. The chestnut with thorny shell will rush out of the restricting rod on the arc opening under vibration, and the subsequent chestnut with thorny shell will be restricted by the restricting rod for a few seconds before rushing out. Because the thorns are thorny, the limiting rod only needs to be a simple smooth bar to play a limiting role, which is simple and convenient, and can ensure that the chestnuts with thorny shells are continuously sent out from the vibrating box 2 successively.

Conveyor belt 3 width is 7cm, adapts to the external diameter of the chestnut with prickly shell, not only is convenient to pass but also can be positioned well, conveys by the specified direction.

As shown in Figure 3-4, the clamping and cutting device includes a first bracket 4 and a second bracket 5, the first bracket 4 and the second bracket 5 are simple frame structures, wherein the first bracket 4 is respectively set up and down. Cutting platform 6 and feeding platform 7 are arranged. Wherein, the material transfer platform 7 is connected with the conveyor belt 3 and a material pushing mechanism is installed on the upper end. The pushing mechanism includes a pair of material partitions 12 arranged perpendicularly to the ends of the conveyor belt 3, and a first material inlet 13 is opened on the material partition 12 close to the conveyor belt 3. The material partitions 12 mainly play a positioning role, and the two partitions The width between the material boards 12 is between 7 cm-9 cm, and the chestnut with thorny shell enters between the two material boards 12 through the first feeding port 13 . The first base 14 is installed on the material transfer platform 7 at the rear between the pair of material partition plates 12, and the first base 14 is provided with a pushing hydraulic cylinder 15, and the piston rod of the pushing hydraulic cylinder 15 is connected with the pushing groove 16. , push groove 16 is U-shaped structure, and U-shaped structure can form three sides encirclement state to the Chinese chestnut of band thorn shell, drives push groove 16 telescopically by pushing material hydraulic cylinder 15 and will push chestnut thorn shell on the lifting platform 8.

The lifting platform 8 is located on the second support 5 , and the top of the second support 5 is also provided with a clamping mechanism 9 . After the chestnut thorn shell is pushed on the lifting platform 8, the stretching hydraulic cylinder action of the lifting platform 8 below lifts the lifting platform 8 to be flush with the cutting platform 6, and the clamping mechanism 9 realizes clamping.

As shown in Figure 5, specifically, the clamping mechanism 9 includes a left gripper 22 and a right gripper 23, wherein the left gripper 22 is hinged with a ball screw mechanism 24, and is driven by a second stepping motor 25 to move telescopically. , the right gripper 23 is connected with the third stepping motor 27 through the connecting rod 26 . Different from the general clamping mechanism, the clamping hand in this device can not only realize telescopic clamping, but also drive the chestnut with thorny shell to perform a 360-degree circumferential rotation, which can cooperate with the cutting mechanism behind to complete the cutting.

In order to improve the clamping force, rubber can be installed on the inside of the left gripper 22 and the right gripper 23 .

Also can take another kind of scheme, can carry out the separation of thorn shell and chestnut. Negative pressure suction cups are all arranged on the inner surfaces of the left gripper 22 and the right gripper 23 . Thus when the cutting is completed, the adsorption effect of the left gripper 22 and the right gripper 23 can be utilized, and when the left gripper 22 moves and the pusher 12-1 promotes, the chestnut with dethorned shell can be pushed to the receiving box first 11, the thorn shell is pushed into the thorn shell case again. This completes the classification of thorn shells and chestnuts.

As shown in FIG. 4 , a cutting platform 6 is provided on the first support 4 above the material transfer platform 7 , and a retractable cutting mechanism is installed on the cutting platform 6 . Specifically, the retractable cutting mechanism includes a telescopic hydraulic cylinder 16-1. The piston rod of the telescopic hydraulic cylinder 16-1 is connected to the support platform 17. The two ends of the support platform 17 are slidingly arranged on the slide rail 18. On the stepping motor 19, the first stepping motor 19 is connected with the serrated cutter 21 through the clamp 20. The cutting depth can be adjusted by adjusting the protruding length of the serrated cutter 21 . Reasonable adjustments can be made according to the size of chestnuts with different prickly shells to ensure a reasonable cutting depth, so that the obtained chestnuts will not be damaged and remain intact.

As shown in Figure 6, the material retrieving device includes a material receiving platform 10 arranged at the front end of the second support 5, the material receiving platform 10 is correspondingly provided with a material receiving box 11, and the corresponding cutting platform 6 is provided with a material pushing hand 12- 1. The pushing hand 12-1 is located between the clamping hand and the slot plate 34 in the height direction, so that the mixture of chestnuts and thorn shells can be directly pushed into the receiving box 11 after cutting.

As shown in Figure 6, described receiving platform 10 is provided with steering mechanism, and steering mechanism comprises lifting hydraulic cylinder 28, and lifting hydraulic cylinder 28 upper ends are connected with steering platform 29, and rotating motor 30 is installed on steering platform 29, and rotating motor 30 The rotating rod 31 is connected with the vacuum chuck 32 , and the vacuum chuck 32 is provided with a negative pressure by a vacuum pump 33 . Because the removal of the thorn shell after a cut still has difficulties, it can be driven by the vacuum suction cup 32 to rotate ninety degrees after cutting, which can ensure that the thorn shell is cut into four halves and the chestnut inside is intact, and it is more convenient to shell.

As shown in FIG. 5 , the lifting platform 8 is provided with a pair of slotted plates 34 , and the slotted plate 34 on the side close to the push slot 16 is provided with a second feeding port. This makes it easy to reposition and prepare for clamping.

As shown in FIG. 5 , a pair of guide posts 35 are provided at both ends of the pair of slotted plates 34 , and an arc surface is provided at the upper end of the guide post 35 , and an RFP-6 series 601 type film sensor is provided on the arc surface. The sensor can sense the pressure, contact force, and tactile force between objects, and can be used in a variety of application environments and scenarios. The piezoresistive film sensor has a unique ultra-thin, ultra-soft, ultra-light, ultra-low power Power consumption and other characteristics, the response time is at the US level. When the lifting platform 8 rises here, the lifting platform 8 stops after the film sensor senses, and the clamping mechanism above can perform a fast clamping action. The guide column 35 here not only plays the role of supporting and guiding, but also plays the role of limiting, which is simple and flexible.

The start and stop of the above-mentioned driving devices are all completed through the control box PLC controller, sensors and related control circuits.

A method for removing thorn shells of chestnuts, characterized in that: comprising the following steps:

1. Feeding: firstly, the chestnut with thorny shell is vibrated by the vibrating box 2 and conveyed by the conveyor belt 3, and then falls into the front end of the push groove 16 of the material transfer platform 7. The pushing hydraulic cylinder 15 on the material transfer platform 7 acts and passes through the push groove 16 functions push the chestnut with thorny shell onto the lifting platform 8, and the stretching hydraulic cylinder action of the lifting platform 8 below lifts the lifting platform 8 to a position flush with the cutting platform 6 and then stops.

Two, clamping and cutting: the second stepper motor 25 drives the ball screw mechanism 24 to move, so that the left gripper 22 is close to the right gripper 23, and the left gripper 22 and the right gripper 23 work together to realize the chestnut with thorny shell Clamping; at the same time, the telescopic hydraulic cylinder 16-1 moves to move the sawtooth cutter 21 forward to a suitable position and then stops; the first stepper motor 19 drives the sawtooth cutter 21 to rotate, and the third stepper motor 27 drives the connecting rod 26 rotations, and then drive the chestnuts with thorny shells to rotate, thereby realizing circumferential cutting, and dividing the external thorny shells of chestnuts into two halves.

3. Receiving: After the cutting is completed, the second stepper motor 25 drives the ball screw mechanism 24 to retract, and the pusher 12-1 directly pushes the cut thorn shells and chestnuts into the receiving box through the action of the hydraulic cylinder 11 in.

A method for removing thorns from chestnuts. In step 2, after the initial circumferential cutting, the lifting hydraulic cylinder 28 rises, and after the vacuum suction cup 32 absorbs the chestnuts with thorns, the rotating motor 30 drives the vacuum suction cup 32 to rotate 90 degrees and loosen the chestnut. open for secondary cutting.

Claims (7)

1. a kind of Chinese chestnut is except thorn housing apparatus, it is characterised in that: including feed device, clamping cutting device and feeding device；

The feed device includes cradle (1), is equipped on cradle (1) vibrating bin (2), and vibrating bin (2) passes through conveyer belt (3) it is connect with clamping cutting device, completes first feeding；

The clamping cutting device includes first support (4) and second support (5), and first support (4) is equipped with Cutting platform (6) With material transfer platform (7), Cutting platform (6) and material transfer platform (7) are distributed by upper and lower position, and it is flat that second support (5) is equipped with lifting Platform (8) and clamp system (9), wherein material transfer platform (7) is connect with conveyer belt (3) and upper end is equipped with pusher, and cutting is flat Platform (6) is equipped with scalable cutting mechanism, and hoistable platform (8) is docked with material transfer platform (7), Cutting platform (6) respectively, realizes two Secondary feeding and clamping cutting；

The feeding device includes rewinding platform (10) of the setting in second support (5) front end, and correspondence is set on rewinding platform (10) Have rewinding case (11), is provided with pusher hand (12-1) on Cutting platform (6) with rewinding case (11) opposite position, pusher hand (12- 1) the Chinese chestnut thorn shell after cutting is pushed into rewinding case (11)；

The pusher includes the pairs of material baffle (12) with conveyer belt (3) ending vertical arrangement, close to conveyer belt (3) every First charging aperture (13) are provided on flitch (12)；First base (14), first base are installed between pairs of material baffle (12) (14) pusher hydraulic cylinder (15) are equipped with, the piston rod of pusher hydraulic cylinder (15) is connect with slot (16) is pushed away, and pushes away slot (16) for Chinese chestnut Thorn shell is pushed on hoistable platform (8)；

The scalable cutting mechanism includes telescopic hydraulic cylinder (16-1), the piston rod and support platform of telescopic hydraulic cylinder (16-1) (17) it connects, support platform (17) both ends are slidably arranged on sliding rail (18), and support platform (17) upper end is equipped with the first stepping On motor (19), the first stepper motor (19) is connect by fixture (20) with saw tooth cutting tool (21)；

The clamp system (9) includes left clamp hand (22) and right clamp hand (23), wherein left clamp hand (22) and ball screw framework (24) ball-joint, and telescopic moving is driven by second stepper motor (25), right clamp hand (23) passes through connecting rod (26) and third step It is connected into motor (27).

2. a kind of Chinese chestnut according to claim 1 is except thorn housing apparatus, it is characterised in that: left clamp hand (22) and right clamp hand (23) Medial surface is provided with negative pressure sucker.

3. a kind of Chinese chestnut according to claim 1 is except thorn housing apparatus, it is characterised in that: the rewinding platform (10) is equipped with Steering mechanism, steering mechanism include lifting hydraulic cylinder (28), and lifting hydraulic cylinder (28) upper end, which is connected with, turns to platform (29), are turned to It is equipped on platform (29) rotating electric machine (30), rotating electric machine (30) is connect by rotating bar (31) with vacuum chuck (32), very Suction disk (32) provides negative pressure by vacuum pump (33).

4. a kind of Chinese chestnut according to claim 3 is except thorn housing apparatus, it is characterised in that: the hoistable platform (8) is equipped with Pairs of clamping groove plate (34) is equipped with second charging aperture close to the clamping groove plate (34) for pushing away slot (16) side.

5. a kind of Chinese chestnut according to claim 4 is except thorn housing apparatus, it is characterised in that: two in the pairs of clamping groove plate (34) End is equipped with pairs of guide post (35), and guide post (35) upper end is equipped with arcwall face, and it is thin that arcwall face is equipped with serial 601 models of RFP-6 Film sensors.

6. removing the method for Chinese chestnut thorn shell using the device as described in any one of claim 1-5, it is characterised in that: including Following steps:

One) Chinese chestnut of barbed shell, feeding: is dropped into material transfer platform after vibrating bin (2) vibrate and conveyer belt (3) transmits first (7) on, the Chinese chestnut of barbed shell is pushed on hoistable platform (8) and is retracted by the pusher movement on material transfer platform (7), is gone up and down Platform (8) stops after rising at the position flushed with Cutting platform (6), completes feeding twice；

Two), clamp cutting: the left clamp hand (22) of clamp system (9) is close to right clamp hand (23), left clamp hand (22) and right clamp hand (23) Collective effect realizes the clamping to the Chinese chestnut of barbed shell；At the same time, scalable cutting mechanism moves forward to suitable position Start saw tooth cutting tool (21) afterwards, clamp system (9) drives the Chinese chestnut of barbed shell to rotate a circle, and it is circumferentially cutting to carry out thorn shell, by plate Thorn shell is split into two halves outside chestnut；

Three), rewinding: after cutting, left clamp hand (22) retracts 5cm-10cm, and pusher hand (12-1) protracts the thorn after cutting Shell, Chinese chestnut are directly pushed into rewinding case (11), complete a deburring shell；Pusher hand (12-1) retracts, hoistable platform (8) decline To the position flushed with material transfer platform (7)；

Four), hoistable platform (8) continues to the Chinese chestnut for the barbed shell that pusher transmission comes and rises to and Cutting platform (6) It stops after at the position flushed；Left clamp hand (22) extension 5cm-10cm is clamped, and scalable cutting mechanism, which directly initiates, to be cut, And repeat step 3)；

Five) step 4, is repeated), until the Chinese chestnut of all barbed shells is removed thorn shell.

7. a kind of method for piercing shell except Chinese chestnut according to claim 6, it is characterised in that: in step 2) in, by first After circumferentially cutting, steering mechanism rises and unclamps after being rotated by 90 ° the absorption of the Chinese chestnut of barbed shell, carries out secondary cut.