CN108354191A - A kind of manipulator of CRACKING WALNUT - Google Patents
A kind of manipulator of CRACKING WALNUT Download PDFInfo
- Publication number
- CN108354191A CN108354191A CN201810382699.0A CN201810382699A CN108354191A CN 108354191 A CN108354191 A CN 108354191A CN 201810382699 A CN201810382699 A CN 201810382699A CN 108354191 A CN108354191 A CN 108354191A
- Authority
- CN
- China
- Prior art keywords
- walnut
- cutting
- fixed
- arm
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 235000020234 walnut Nutrition 0.000 title claims abstract description 107
- 235000009496 Juglans regia Nutrition 0.000 title claims abstract description 102
- 238000005336 cracking Methods 0.000 title claims abstract description 21
- 240000007049 Juglans regia Species 0.000 title 1
- 238000005520 cutting process Methods 0.000 claims abstract description 108
- 241000758789 Juglans Species 0.000 claims abstract description 101
- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 241000239290 Araneae Species 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims description 7
- 241000758791 Juglandaceae Species 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 235000006040 Prunus persica var persica Nutrition 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 240000005809 Prunus persica Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 244000144730 Amygdalus persica Species 0.000 description 1
- 229920002488 Hemicellulose Polymers 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229920002678 cellulose Polymers 0.000 description 1
- 239000001913 cellulose Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229920005610 lignin Polymers 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 235000014571 nuts Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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
- A23N5/00—Machines for hulling, husking or cracking nuts
- A23N5/08—Machines for hulling, husking or cracking nuts for removing fleshy or fibrous hulls of nuts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/90—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation
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)
Abstract
The invention discloses a kind of manipulators of CRACKING WALNUT, including support assembly, conveyer, clamp system, cutting mechanism and Xuan Qiao mechanisms, conveyer includes vertical reciprocating actuator and walnut fixator, and vertical reciprocating actuator driving walnut placer makees vertical move back and forth；Clamp system is located at the top of walnut placer；There are two cutting mechanisms, and cutting mechanism includes swinging reciprocating drive mechanism, cutting arm and cutting machine, swings the rotation of reciprocating drive mechanism drive link mechanism, and cutting arm is fixedly connected with cutting machine, and cutting machine includes saw blade；Xuan Qiao mechanisms include rotation sled device, rotary drive mechanism and horizontal reciprocating driving mechanism, rotation sled device includes long handle blade and rotation sled arm, the tail portion of long handle blade is by bearing on rotation sled arm, rotation sled arm is fixed in horizontal reciprocating driving mechanism, rotary drive mechanism is installed on rotation sled arm, and rotary drive mechanism drives the rotation of long handle blade.At the kernel gap of the manipulator ring cutting walnut, the integrality for taking out kernel can be improved.
Description
Technical field
The present invention relates to Walnut Processing Technology fields, and in particular to a kind of manipulator of CRACKING WALNUT.
Background technology
The processing of peeling off of walnut is important and difficult process together because the proportion that accounts for of the shell weight of this kind of nut compared with
Greatly, and the shell of this kind of fruit is mainly made of lignin, cellulose and hemicellulose, and shape is irregular, hard, it is difficult to it removes,
Along in irregular shape, size difference is larger, gap is small between shell benevolence, the deflection required by shell is completely severed is big, therefore
It is difficult to realize precisely to peel off.
Nowadays domestic and international walnut shell-breaking has following method：1, centrifugal collision broken shell method；2, chemical corrosion method；3, true
Empty shell-cracking kernel-taking method；4, ultrasonic wave broken shell method；5, squeeze or hit broken shell method.
The broken benevolence of first method is too many, using seldom；Second method is not easily controlled in practical operation, and kernel is easy
Corroded, processing is bad also to cause environmental pollution, and also few people use；The third and fourth method, equipment is expensive,
Broken shell cost is too high, and cost performance is too low, thus is difficult to promote and apply.
Fifth method is ideal, but there is also several outstanding problems for existing broken shell machinery：
(1) poor universality of equipment, unstable, the bad adaptability of equipment performance；
(2) since Walnut Cultivars are complicated, the differing greatly of size, irregular, shell benevolence the gap of shape are small, so broken shell
The difficulty for taking out more complete kernel is larger, also needs to carry out separation of hull from kernel after broken shell, little in view of shell benevolence density difference, in addition broken
Burr there are many on shell, broken benevolence, so the separation of shell benevolence also has suitable difficulty.
Invention content
In order to solve the above-mentioned problems of the prior art, the present invention provides a kind of manipulator of CRACKING WALNUT, the machines
Tool hand is novel in design, at the maximum diaphragm using cutting mechanism ring cutting walnut, ensure kernel is complete, diaphragm be destroyed it is same
When, the integrality for taking out kernel can be greatly improved.
Technical solution is used by realizing above-mentioned purpose of the present invention：
A kind of manipulator of CRACKING WALNUT, it is characterised in that：Including support assembly, conveyer, clamp system, cutting machine
Structure and Xuan Qiao mechanisms；
The conveyer includes vertical reciprocating actuator and walnut fixator, and vertical reciprocating actuator is installed on rack
On assembly, vertical reciprocating actuator driving walnut placer makees vertical move back and forth；
The clamp system is installed on support assembly, and clamp system is located at the top of walnut placer, the folder
Tight mechanism includes two clamp arm, and two clamp arm clamp the opposite both sides of walnut respectively when clamping；
There are two the cutting mechanisms, and two cutting mechanisms are symmetrically arranged on support assembly, and cutting mechanism includes swinging
Reciprocating drive mechanism, cutting arm and cutting machine swing reciprocating drive mechanism driving cutting arm and do movement in a curve, cutting arm and cutting
Machine is fixedly connected, and cutting machine includes saw blade, and when cutting, the maximum diaphragm of walnut shell, and pair of two saw blades is respectively cut in two saw blades
Title face is vertical with the plane of symmetry of two clamp arm；
The Xuan Qiao mechanisms include rotation sled device, rotary drive mechanism and horizontal reciprocating driving mechanism, and rotation sled device includes length
The tail portion of handle blade and rotation sled arm, long handle blade is installed on by bearing on rotation sled arm, and horizontal reciprocating driving mechanism is installed on machine
On frame assembly, rotation sled arm is fixed in horizontal reciprocating driving mechanism, and rotary drive mechanism is installed on rotation sled arm, rotary driving machine
Structure drives the rotation of long handle blade, and when the rotation of long handle blade pries open walnut shell from the cut place of walnut, long handle blade is perpendicular to two folders
The plane of symmetry of arm.
The vertical reciprocating actuator is electric cylinders, and walnut fixator includes walnut fixed link, and walnut fixed link is set vertically
It sets, the top of walnut fixed link is equipped with walnut placing groove, and the bottom end of walnut fixed link and the leading screw of electric cylinders connect.
The clamp system is electronic clamping jaw.
The swing reciprocating drive mechanism includes first servo motor, the first driving wheel, the first driven wheel, the first belt
And transmission shaft, first servo motor and transmission shaft are installed on support assembly, the first driving wheel is set in first servo motor
On output shaft, the first driven wheel is set on transmission shaft, and the first driving wheel is connect by the first belt with the first driven wheel, cutting
Arm is bindiny mechanism, and bindiny mechanism includes first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and the 6th company
Bar, the 5th connecting rod is L-shaped, and first connecting rod and transmission axis connection, one end of second connecting rod and one end of first connecting rod are hinged, and second
One end of the other end of connecting rod, one end of the 5th connecting rod and third connecting rod is hinged, the other end of third connecting rod and fourth link and
One end of six-bar linkage is hinged, and the other end of fourth link and the other end of first connecting rod are hinged, the turning of the 5th connecting rod with
Third connecting rod is fixedly connected, and cutting machine includes cutting base, cutting motor and saw blade, and cutting motor is installed on cutting base,
Saw blade is driven by cutting motor, and the other end of the 5th connecting rod and six-bar linkage is fixedly connected with cutting bottom.
The rotary drive mechanism includes electric rotating machine, the second driving wheel, the second driven wheel and the second belt, electric rotating
Machine is fixedly connected with rotation sled arm, and the second driving wheel is set on the output shaft of electric rotating machine, and the second driven wheel is set in long-hilt bread-sword
On the handle of a knife of piece, the second driving wheel is connect by the second belt with the second driven wheel, and horizontal reciprocating driving mechanism is servo slide table,
Servo slide table includes platform, and rotation sled arm is fixed on platform.
The support assembly includes lower bearing bracket and upper spider, and lower bearing bracket includes more lower pillar stands, and upper spider is square frame
Rack and panel construction, upper spider include bottom plate, intermediate transverse girder, upper pillar stand and rectangular top frame, and intermediate transverse girder has two, and upper pillar stand has four
Root, the length of bottom plate are more than the length of rectangular top frame, and bottom plate is fixed by more lower pillar stand supports, and the lower end of four upper pillar stands is solid
It being scheduled on bottom plate, the upper end of four upper pillar stands is connect with four angles of rectangular top frame respectively, and two intermediate transverse girders are symmetrical arranged, wherein
The both ends of a piece intermediate transverse girder are connect with the middle part of wherein two upper pillar stands respectively, in addition the both ends of an intermediate transverse girder respectively with
The middle part of other two upper pillar stands connects, and the motor housing of electric cylinders is fixed on bottom plate, and the leading screw of electric cylinders passes through bottom plate.
The walnut fixator further includes guide seats and guide rod, and guide rod has two, the lower part of walnut fixed link
Across guide seats center, and walnut fixed link is fixedly connected with guide seats, and upper spider further includes two fixed cross beams, and two fix
Crossbeam is symmetrical arranged, wherein one end of a fixed cross beam is fixed on a wherein intermediate transverse girder, the other end with wherein one
The upper end of guide rod is fixedly connected, and one end of another fixed cross beam is fixed on another intermediate transverse girder, the other end with it is another
The upper end of root guide rod is fixedly connected, and two fixed cross beams are respectively perpendicular to two intermediate transverse girders, and the lower end of two guide rods is fixed respectively
On bottom plate, two guide rods are each passed through the both sides of guide seats, and guide seats can be slided up and down along two guide posts.
The swing reciprocating drive mechanism further includes motor cabinet, fixed support plate, connecting shaft and first shaft coupling, motor
Seat is fixed in rectangular top frame, and first servo motor is fixed on above motor cabinet, is fixed on motor cabinet at the top of fixed support plate,
One end of connecting shaft is connect by bearing with fixed support plate, and the other end passes through first shaft coupling and transmission axis connection, transmission shaft
Perpendicular to upper pillar stand, first connecting rod is sleeved in connecting shaft, and two motor cabinets are symmetrically distributed on the both sides of rectangular top frame, and two first
The direction of the output shaft of servo motor on the contrary, electronic clamping jaw between two motor cabinets.
The cutting machine further includes saw blade fixing axle, second shaft coupling and saw blade fixed plate, the output shaft of cutting motor
Saw blade fixing axle is connected by the second shaft joint, saw blade is set in saw blade fixing axle, saw blade fixing axle and saw blade fixed plate
Side is connected by bearing, and the other side of saw blade fixed plate is fixed on cutting base.
It is set on the cutting base there are four sliding slot and slotted hole, four sliding slots are square distribution, and slotted hole is positioned at cutting
The center of pedestal is cut, the length direction of each sliding slot is vertical with the cut direction of saw blade, and cutting motor includes motor mounting plate, motor
Threaded hole there are four being set on mounting plate, four threaded holes are corresponding with the position of four sliding slots respectively, motor mounting plate and cutting bottom
Seat is fixedly connected by four fixing bolts, and second shaft coupling passes through slotted hole.
The rotation sled arm includes two support reinforcing plates and fixed mounting plate, and two support reinforcing plates are symmetrically arranged on fixed peace
The both sides of loading board, servo platform are installed on the side of bottom plate, and the bottom of two support reinforcing plates and fixed mounting plate is fixed on flat
On platform, projection of the rotation sled arm on platform is in " [" shape, fixed mounting plate lower part offer mounting hole, and the tail portion of long handle blade is logical
It crosses bearing to be installed on the top of fixed mounting plate, electric rotating machine is installed on the lower part of fixed mounting plate, and electric rotating seat in the plane
In in the space that fixed mounting plate and two support plates surround, the output shaft of electric rotating machine passes through mounting hole.
Compared with prior art, advantages and advantages of the invention are：
1, for the present invention according to analysis of actually peeling off, why walnut is difficult to realize rate of perfect kernel, complicated with walnut internal structure
There are much relations, walnut kernel is fragile, can not only be hindered with the diaphragm being connected with shell, the diaphragm in kernel major gap
Hinder walnut to take out, can drive kernel that it is made to split when walnut shell is opened, and then be difficult to realize completely peel off, for this of walnut
Kind feature, we design the symmetrical 90 degree of directions of cutting walnut crest line, there is the maximum diaphragm of most of kind walnut in the direction,
This maximum diaphragm can be destroyed in cutting process, and direction endonucleolus pulp will not destroy easily there are compared with big gap
Kernel, therefore peeled off in a manner of cutting and revolving sled, rate of perfect kernel can be greatly improved.
2, cutting arm of the invention can reach end using link mechanism by the design of each length of connecting rod of linkage
End saw blade is cut according to desired trajectory, and the present invention only uses servo motor to drive cutting arm, enormously simplifies structure, saw blade with
It drives the motor of saw blade to pass through special designing, is fixed on the cutting base being connect with cutting arm with more studs, ensure that cutting
Stability, and sliding slot is arranged in fixed bolt, can be adjusted according to walnut different size, realizes to the adaptations of different walnuts.
3, the present invention is controlled, it is ensured that be accurately clamped to ensure the precision of walnut holding using electronic clamping jaw
Power, and can prevent the integrality that walnut is destroyed when spin-ended sled according to the mitigation of time control chucking power when revolving sled.
4, the present invention is ensures the safety of cutting, using the design placed, cut apart, leading by conveyer when beginning
It is snapped down to lowest point to block, facilitates placement walnut, after placing, electric cylinders is opened and walnut is transported to setting position, upper spider
Cutting mechanism is included in rack entirely in view of safety when outer aluminium section bar is built, staff will not be made in cutting in this way
At injury.
Description of the drawings
Fig. 1 is the structural schematic diagram of the manipulator of CRACKING WALNUT.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the vertical view of Fig. 1.
Fig. 4 is the left view of Fig. 1.
Fig. 5 is the installation diagram of cutting arm.
Fig. 6 is the installation diagram of cutting machine.
Fig. 7 is the installation diagram of cutting motor.
Fig. 8 is the installation diagram of rotation sled device and rotary drive mechanism.
Fig. 9 is the enlarged drawing of I in Fig. 4.
Wherein, 1- lower pillar stands, 2- bottom plates, 3- intermediate transverse girders, 4- upper pillar stands, the rectangular top frames of 5-, 6- fixed cross beams, 7- electricity
Cylinder, 8- walnuts fixed link, 9- walnuts placing groove, 10- guide seats, 11- guide rods, 12- first servo motors, 13- first are led
Driving wheel, the first driven wheels of 14-, the first belts of 15-, 16- transmission shafts, 17- first connecting rods, 18- second connecting rods, 19- third connecting rods,
20- fourth links, the 5th connecting rods of 21-, 22- six-bar linkages, 23- cutting bases, 24- cutting motors, 25- saw blades, 26- saw blades are solid
Dead axle, 27- second shaft couplings, 28- saw blades fixed plate, 29- long handles blade, 30- electric rotating machines, the second driving wheels of 31-, 32-
Two driven wheels, the second belts of 33-, 34- rotation sleds arm, the electronic clamping jaws of 35-, 36- clamp arm, 37- servo slide tables, 38- platforms, 39- electricity
Engine base, 40- fixed support plates, 41- connecting shafts, 42- first shaft couplings, 43- support reinforcings plate, 44- fixed mounting plates, 45- peaces
Fill hole, 46- sliding slots, 47- slotted holes, 48- motor mounting plates, 49- fixing bolts, 50- walnuts.
Specific implementation mode
The present invention is described in detail below in conjunction with the accompanying drawings.
The structure of the manipulator of CRACKING WALNUT provided by the invention is as shown in Figure 1, Figure 2, Figure 3 and Figure 4, including rack is total
At, conveyer, clamp system, cutting mechanism and Xuan Qiao mechanisms.
The support assembly includes lower bearing bracket and upper spider, and lower bearing bracket includes more lower pillar stands 1.Upper spider is square frame
Rack and panel construction, upper spider include bottom plate 2, intermediate transverse girder 3, fixed cross beam 6, upper pillar stand 4 and rectangular top frame 5, intermediate transverse girder 3 and solid
Determining crossbeam 6 has two, and upper pillar stand 4 has four, and the length of bottom plate 2 is more than the length of rectangular top frame 5, and bottom plate 2 passes through under more
The support of column 1 is fixed, and the lower end of four upper pillar stands 4 is fixed on a base plate 2, the upper ends of four upper pillar stands 4 respectively with rectangular top frame 5
Four angles connection.Two intermediate transverse girders 3 be symmetrical arranged, wherein the both ends of an intermediate transverse girder 3 respectively with wherein two upper pillar stands 4
Middle part connection, in addition the both ends of an intermediate transverse girder 3 are connect with the middle part of other two upper pillar stands 4 respectively.Wherein one solid
The one end for determining crossbeam 6 is fixed on a wherein intermediate transverse girder 3, and the other end is hanging, and one end of another fixed cross beam 6 is fixed on
On another intermediate transverse girder 3, the other end is hanging, and two fixed cross beams 6 are respectively perpendicular to two intermediate transverse girders 3.
The conveyer includes vertical reciprocating actuator and walnut fixator, and the vertical reciprocating actuator is electricity
The motor housing of cylinder 7, electric cylinders 7 is fixed on 2 bottom surface of bottom plate, and the leading screw of electric cylinders 7 passes through bottom plate 2.
The walnut fixator includes walnut fixed link 8, guide seats 10 and guide rod 11, and guide rod 11 has two,
Walnut fixed link 8 is vertically arranged, and the bottom end of walnut fixed link 8 is connect with the leading screw of electric cylinders 7, and the lower part of walnut fixed link 8 passes through
10 center of guide seats, and walnut fixed link 8 is fixedly connected with guide seats 10, guide seats 10 are horizontally disposed, and walnut is fixed
The top of bar 8 is equipped with walnut placing groove 9.The upper end of wherein one guide rod 11 and the free end of wherein one fixed cross beam 6 connect
It connects, the upper end of another guide rod 11 is connect with the free end of another fixed cross beam 6, and the lower end of two guide rods 11 is fixed respectively
On a base plate 2, two guide rods 11 are each passed through the both sides of guide seats 10, and guide seats 10 can glide in two guide posts 11
It is dynamic.Guide rod and guide seats play the role of reinforcing fixed to walnut fixed link, and walnut fixed link is avoided to shake.
The clamp system is electronic clamping jaw 35 (model LEHZ32-22), and electronic clamping jaw includes two clamp arm 36, electronic
Clamping jaw 35 is fixedly installed in the centre position of rectangular top frame 5, and two clamp arm 36 are located at the top of walnut fixed link 8, two folders when clamping
Arm clamps the opposite both sides of walnut respectively.
There are two the cutting mechanisms, and cutting mechanism includes swinging reciprocating drive mechanism, cutting arm and cutting machine.
The swing reciprocating drive mechanism includes first servo motor 12, motor cabinet 39, the master of fixed support plate 40, first
Driving wheel 13, the first driven wheel 14, the first belt 15, transmission shaft 16, connecting shaft 41 and first shaft coupling 42, motor cabinet 39 are fixed on
On the side of rectangular top frame 5, first servo motor 12 is fixed on 39 top of motor cabinet, and 40 top of fixed support plate is fixed on motor
On seat 39, fixed support plate 40 is connect by bearing with fixed support plate 40 perpendicular to motor cabinet 39, one end of connecting shaft 41, separately
One end is connect by first shaft coupling 42 with transmission shaft 16, and transmission shaft 16 is perpendicular to upper pillar stand 4.First driving wheel 13 is set in
On the output shaft of one servo motor 12, the first driven wheel 14 is set on transmission shaft 16, and the first driving wheel 13 passes through the first belt
15 connect with the first driven wheel 14.Two motor cabinets 39 are symmetrically distributed on the both sides of rectangular top frame 5, two first servo motors 12
The direction of output shaft on the contrary, electronic clamping jaw 35 between two motor cabinets 39.
The cutting arm be link mechanism, link mechanism include first connecting rod 17, second connecting rod 18, third connecting rod 19,
Fourth link 20, the 5th connecting rod 21 and six-bar linkage 22, the 5th connecting rod 21 is L-shaped, and first connecting rod 17 is set in connecting shaft 41,
One end of second connecting rod 18 and one end of first connecting rod 17 are hinged, the other end of second connecting rod 18, the 5th connecting rod 21 one end and
One end of third connecting rod 19 is hinged, and the other end of third connecting rod 19 and one end of fourth link 20 and six-bar linkage 22 are hinged, the
The other end of double leval jib 20 is hinged with the other end of first connecting rod 17, and the turning of the 5th connecting rod 21 is fixed with third connecting rod 19 to be connected
It connects.
The cutting mechanism includes cutting base 23, cutting motor 24, saw blade 25, saw blade fixing axle 26, the second shaft coupling
Device 27 and saw blade fixed plate 28.Cutting base 23 is square, and is set on cutting base 23 there are four sliding slot 46 and slotted hole 47, four
Sliding slot 46 is square distribution, and slotted hole 47 is located at 23 center of cutting base, length direction and the cutting base 23 of each sliding slot 46
Length direction is parallel.Cutting motor 23 includes motor mounting plate 48, sets that there are four threaded hole, four screw threads on motor mounting plate 48
Hole is corresponding with the position of four sliding slots 46 respectively.It is solid by four fixing bolts 49 with cutting base 23 to unscrew motor mounting plate 48
Fixed connection.By the way that sliding slot is arranged, the position of cutting motor can be made to change, to change the cutting track of saw blade, work as core
Peach individual it is larger, unscrew fixing bolt, make cutting motor towards far from link mechanism direction move, by cutting motor adjust to
Fixing bolt is tightened when at suitable position again, to make the cutting track of saw blade match with the shape at walnut maximum diaphragm.
The other end of 5th connecting rod 21 and six-bar linkage 22 is fixedly connected with the edge of 23 width direction of cutting base.Cutting motor 24
Output shaft one end of saw blade fixing axle 26 is connected by the second shaft joint 27, second shaft coupling 27 passes through slotted hole 47.Saw blade
25 are set on the other end of saw blade fixing axle 26, and saw blade fixing axle 26 is connect with the side of saw blade fixed plate 28 by bearing,
The other side of saw blade fixed plate 28 is fixedly connected with cutting base.Saw blade fixinig plate, which plays saw blade fixing axle, reinforces stable work
With, avoid saw blade fixing axle shake.
The Xuan Qiao mechanisms include rotation sled device, rotary drive mechanism and horizontal reciprocating driving mechanism.
Rotation sled device includes long handle blade 29 and rotation sled arm 34, and rotation sled arm 34 includes two support reinforcing plates 43 and fixed mounting plate
44, two support reinforcing plates 43 are symmetrically arranged on the both sides of fixed mounting plate 44.
Described is servo slide table 37 (ten thousand aircraft tools, model KR100), and servo slide table 37 includes platform 38, servo platform
38 are installed on the side of bottom plate 2.
The bottom of two support reinforcing plates 43 and fixed mounting plate 44 is fixed on platform, and projection of the rotation sled arm on platform is in
" [" shape, 44 lower part of fixed mounting plate offer mounting hole 45, and the tail portion of long handle blade 29 is installed on fixed mounting plate by bearing
On 44 top.
The rotary drive mechanism includes electric rotating machine 30, the second driving wheel 31, the second driven wheel 32 and the second belt
33.Electric rotating machine 30 is installed on the lower part of fixed mounting plate 44, and electric rotating machine 30 is located at the support of fixed mounting plate 44 and two
In the space that plate reinforcing plate 43 surrounds, the output shaft of electric rotating machine 30 passes through mounting hole 45.Second driving wheel 31 is set in rotation
On the output shaft of motor 30, the second driven wheel 32 is set on the handle of a knife of long handle blade 29, and the second driving wheel 31 passes through the second skin
Band 33 is connect with the second driven wheel 32.
The robot work principle of above-mentioned CRACKING WALNUT is as follows：
1, walnut is placed on the walnut placing groove in walnut fixed link, opens electric cylinders, driven by the leading screw of electric cylinders
Walnut fixed link moves up, and to make walnut reach specified location, the position that walnut is placed is should be noted that when placing, makes core
Peach maximum diaphragm is cut；
2, electronic clamping jaw is opened, two clamp arm of electronic clamping jaw move down, and clamp the opposite both sides of walnut respectively so that core
Plane where peach maximum diaphragm is vertical with the plane of symmetry of electronic clamping jaw；
3, first servo motor and cutting motor are opened, first servo motor drives the rotation of the first driving wheel, and first actively
Wheel drives the rotation of the first driven wheel, the first driven wheel to drive connecting shaft to rotate by first shaft coupling by the first belt, connection
Axis drives the first connecting rod rotation of link mechanism, first connecting rod that second connecting rod and fourth link rotation, second connecting rod is driven to drive
One end of third connecting rod and the 5th connecting rod rotates, and fourth link drives the other end of third connecting rod and one end of six-bar linkage to turn
Dynamic, the 5th connecting rod and six-bar linkage drive cutting base to be moved along the camber line of design, while cutting motor passes through second
Axis device drives the rotation of saw blade fixing axle, saw blade fixing axle to drive saw blade to being cut at the maximum diaphragm of walnut, the rail of cutting
Mark is the camber line (camber line of design is determined according to the shape of shell at walnut maximum diaphragm) of design, and cutting arm is multiple after the completion of cutting
Position；
4, servo slide table and electric rotating machine are opened, servo slide table band moving platform is moved towards walnut, and platform drives rotation sled arm
Mobile, rotation sled armband moves long handle blade movement, while electric rotating machine drives the rotation of the second driving wheel, the second driving wheel to pass through second
Belt drives the rotation of the second driven wheel, the second driven wheel that long handle blade is driven to be rotated, from the cut place of walnut by walnut shell
It pries open, walnut shell is fallen；
5, walnut fixed link resets, and takes out walnut kernel.
Claims (11)
1. a kind of manipulator of CRACKING WALNUT, it is characterised in that：Including support assembly, conveyer, clamp system, cutting mechanism
With Xuan Qiao mechanisms；
The conveyer includes vertical reciprocating actuator and walnut fixator, and vertical reciprocating actuator is installed on support assembly
On, vertical reciprocating actuator driving walnut placer makees vertical move back and forth；
The clamp system is installed on support assembly, and clamp system is located at the top of walnut placer, the clamping machine
Structure includes two clamp arm, and two clamp arm clamp the opposite both sides of walnut respectively when clamping；
There are two the cutting mechanisms, and two cutting mechanisms are symmetrically arranged on support assembly, and cutting mechanism includes swinging back and forth
Driving mechanism, cutting arm and cutting machine swing reciprocating drive mechanism driving cutting arm and do movement in a curve, and cutting arm is solid with cutting machine
Fixed connection, cutting machine include saw blade, and when cutting, the maximum diaphragm of walnut shell, and the plane of symmetry of two saw blades is respectively cut in two saw blades
It is vertical with the plane of symmetry of two clamp arm；
The Xuan Qiao mechanisms include rotation sled device, rotary drive mechanism and horizontal reciprocating driving mechanism, and rotation sled device includes long-hilt bread-sword
The tail portion of piece and rotation sled arm, long handle blade is installed on by bearing on rotation sled arm, and it is total that horizontal reciprocating driving mechanism is installed on rack
Cheng Shang, rotation sled arm are fixed in horizontal reciprocating driving mechanism, and rotary drive mechanism is installed on rotation sled arm, and rotary drive mechanism drives
Dynamic long handle blade rotation, when the rotation of long handle blade pries open walnut shell from the cut place of walnut, long handle blade is perpendicular to two clamp arm
The plane of symmetry.
2. the manipulator of CRACKING WALNUT according to claim 1, it is characterised in that：The vertical reciprocating actuator is electricity
Cylinder, walnut fixator include walnut fixed link, and walnut fixed link is vertically arranged, and the top of walnut fixed link is placed equipped with walnut
Slot, the bottom end of walnut fixed link and the leading screw of electric cylinders connect.
3. the manipulator of CRACKING WALNUT according to claim 1, it is characterised in that：The clamp system is electrical clip
Pawl.
4. the manipulator of CRACKING WALNUT according to claim 1, it is characterised in that：The swing reciprocating drive mechanism packet
Include first servo motor, the first driving wheel, the first driven wheel, the first belt and transmission shaft, first servo motor and transmission shaft peace
Loaded on support assembly, the first driving wheel is set on the output shaft of first servo motor, and the first driven wheel is set in transmission shaft
On, the first driving wheel is connect by the first belt with the first driven wheel, and cutting arm is bindiny mechanism, and bindiny mechanism includes the first company
Bar, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage, the 5th connecting rod is L-shaped, first connecting rod and transmission
Axis connection, one end of second connecting rod and one end of first connecting rod are hinged, the other end of second connecting rod, one end of the 5th connecting rod and the
One end of three-link is hinged, and the other end of third connecting rod and one end of fourth link and six-bar linkage are hinged, fourth link it is another
The other end of one end and first connecting rod is hinged, and the turning of the 5th connecting rod is fixedly connected with third connecting rod, and cutting machine includes cutting
Pedestal, cutting motor and saw blade, cutting motor are installed on cutting base, and saw blade is driven by cutting motor, the 5th connecting rod and
The other end of six-bar linkage is fixedly connected with cutting bottom.
5. the manipulator of CRACKING WALNUT according to claim 1, it is characterised in that：The rotary drive mechanism includes rotation
Rotating motor, the second driving wheel, the second driven wheel and the second belt, electric rotating machine are fixedly connected with rotation sled arm, the second active wheel case
On output shaft loaded on electric rotating machine, the second driven wheel is set on the handle of a knife of long handle blade, and the second driving wheel passes through the second skin
Band is connect with the second driven wheel, and horizontal reciprocating driving mechanism is servo slide table, and servo slide table includes platform, and rotation sled arm is fixed on flat
On platform.
6. according to the manipulator of any CRACKING WALNUTs of claim 1-5, it is characterised in that：The support assembly includes
Lower bearing bracket and upper spider, lower bearing bracket include more lower pillar stands, upper spider square frame formula structure, upper spider include bottom plate, in
Between crossbeam, upper pillar stand and rectangular top frame, intermediate transverse girder has two, and upper pillar stand has four, and the length of bottom plate is more than rectangular top frame
Length, bottom plate are fixed by more lower pillar stand supports, and the lower end of four upper pillar stands is fixed on bottom plate, the upper end of four upper pillar stands
Connect respectively with four angles of rectangular top frame, two intermediate transverse girders be symmetrical arranged, wherein the both ends of an intermediate transverse girder respectively with its
In two upper pillar stands middle part connection, in addition the both ends of an intermediate transverse girder are connect with the middle part of other two upper pillar stands respectively,
The motor housing of electric cylinders is fixed on bottom plate, and the leading screw of electric cylinders passes through bottom plate.
7. the manipulator of CRACKING WALNUT according to claim 6, it is characterised in that：The walnut fixator further includes leading
To pedestal and guide rod, guide rod has two, and the lower part of walnut fixed link passes through guide seats center, and walnut fixed link with lead
It is fixedly connected to pedestal, upper spider further includes two fixed cross beams, and two fixed cross beams are symmetrical arranged, wherein the one of a fixed cross beam
End is fixed on a wherein intermediate transverse girder, and the other end is fixedly connected with the upper end of wherein one guide rod, and another fixed horizontal
One end of beam is fixed on another intermediate transverse girder, and the other end is fixedly connected with the upper end of another guide rod, two fixed cross beams
Two intermediate transverse girders are respectively perpendicular to, the lower end of two guide rods is separately fixed on bottom plate, and two guide rods are each passed through guide seats
Both sides, and guide seats can be slided up and down along two guide posts.
8. the manipulator of CRACKING WALNUT according to claim 6, it is characterised in that：The swing reciprocating drive mechanism is also
Including motor cabinet, fixed support plate, connecting shaft and first shaft coupling, motor cabinet is fixed in rectangular top frame, first servo motor
It is fixed on above motor cabinet, is fixed on motor cabinet at the top of fixed support plate, one end of connecting shaft is supported by bearing with fixed
Plate connects, and the other end is by first shaft coupling and transmission axis connection, and for transmission shaft perpendicular to upper pillar stand, first connecting rod is sleeved on connection
On axis, two motor cabinets are symmetrically distributed on the both sides of rectangular top frame, and the direction of the output shaft of two first servo motors is on the contrary, electronic
Clamping jaw is between two motor cabinets.
9. the manipulator of CRACKING WALNUT according to claim 6, it is characterised in that：The cutting machine further includes that saw blade is solid
The output shaft of dead axle, second shaft coupling and saw blade fixed plate, cutting motor connects saw blade fixing axle, saw blade by the second shaft joint
Be set in saw blade fixing axle, saw blade fixing axle is connect with the side of saw blade fixed plate by bearing, saw blade fixed plate it is another
Side is fixed on cutting base.
10. the manipulator of CRACKING WALNUT according to claim 9, it is characterised in that：The cutting base is equipped with four
A sliding slot and slotted hole, four sliding slots are square distribution, and slotted hole is located at the center of cutting base, the length direction of each sliding slot with
The cut direction of saw blade is vertical, and cutting motor includes motor mounting plate, is set on motor mounting plate there are four threaded hole, four screw threads
Hole is corresponding with the position of four sliding slots respectively, and motor mounting plate is fixedly connected with cutting base by four fixing bolts, and second
Shaft coupling passes through slotted hole.
11. the manipulator of CRACKING WALNUT according to claim 6, it is characterised in that：The rotation sled arm includes two supports
Reinforcing plate and fixed mounting plate, two support reinforcing plates are symmetrically arranged on the both sides of fixed mounting plate, and servo platform is installed on bottom plate
Side on, the bottom of two support reinforcing plates and fixed mounting plate is fixed on platform, rotation projection of the sled arm on platform in " ["
Shape, fixed mounting plate lower part offer mounting hole, and the tail portion of long handle blade is installed on by bearing on the top of fixed mounting plate,
Electric rotating machine is installed on the lower part of fixed mounting plate, and electric rotating machine is located at the space that fixed mounting plate and two support plates surround
Interior, the output shaft of electric rotating machine passes through mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810382699.0A CN108354191B (en) | 2018-04-26 | 2018-04-26 | Manipulator for walnut shelling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810382699.0A CN108354191B (en) | 2018-04-26 | 2018-04-26 | Manipulator for walnut shelling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108354191A true CN108354191A (en) | 2018-08-03 |
| CN108354191B CN108354191B (en) | 2024-04-16 |
Family
ID=63009661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810382699.0A Active CN108354191B (en) | 2018-04-26 | 2018-04-26 | Manipulator for walnut shelling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108354191B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111524186A (en) * | 2020-04-21 | 2020-08-11 | 广州番禺职业技术学院 | Rotary mechanical device and method for pistachio nut head and tail replacement and posture adjustment |
| CN113812641A (en) * | 2021-08-26 | 2021-12-21 | 袁秋红 | Edible walnut cutting and opening equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101779820A (en) * | 2009-12-21 | 2010-07-21 | 新疆农业大学 | Walnut splitting type shell-cracking kernel-taking machine |
| CN103462179A (en) * | 2013-09-22 | 2013-12-25 | 昆明惠雕机械有限公司 | Chopping cutting machine for juglans sigillata |
| CN104473579A (en) * | 2014-11-29 | 2015-04-01 | 黄辉 | Mini automatic husk fragmenting device and method for small walnuts |
| CN204307214U (en) * | 2014-12-05 | 2015-05-06 | 陕西科技大学 | A kind of saw kerf extrusion-type walnut crust breaking device |
| CN206909639U (en) * | 2017-05-02 | 2018-01-23 | 上海工程技术大学 | A kind of optical detection formula coconut husk device for stripping |
| CN207172207U (en) * | 2017-09-26 | 2018-04-03 | 重庆市龙凤工艺品有限公司 | Efficient safe walnut slicer |
| CN207167689U (en) * | 2017-06-30 | 2018-04-03 | 四川省雅士科技有限公司 | A kind of walnut shell and meat separator |
| CN208708668U (en) * | 2018-04-26 | 2019-04-09 | 华中农业大学 | A kind of manipulator of CRACKING WALNUT |
-
2018
- 2018-04-26 CN CN201810382699.0A patent/CN108354191B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101779820A (en) * | 2009-12-21 | 2010-07-21 | 新疆农业大学 | Walnut splitting type shell-cracking kernel-taking machine |
| CN103462179A (en) * | 2013-09-22 | 2013-12-25 | 昆明惠雕机械有限公司 | Chopping cutting machine for juglans sigillata |
| CN104473579A (en) * | 2014-11-29 | 2015-04-01 | 黄辉 | Mini automatic husk fragmenting device and method for small walnuts |
| CN204307214U (en) * | 2014-12-05 | 2015-05-06 | 陕西科技大学 | A kind of saw kerf extrusion-type walnut crust breaking device |
| CN206909639U (en) * | 2017-05-02 | 2018-01-23 | 上海工程技术大学 | A kind of optical detection formula coconut husk device for stripping |
| CN207167689U (en) * | 2017-06-30 | 2018-04-03 | 四川省雅士科技有限公司 | A kind of walnut shell and meat separator |
| CN207172207U (en) * | 2017-09-26 | 2018-04-03 | 重庆市龙凤工艺品有限公司 | Efficient safe walnut slicer |
| CN208708668U (en) * | 2018-04-26 | 2019-04-09 | 华中农业大学 | A kind of manipulator of CRACKING WALNUT |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111524186A (en) * | 2020-04-21 | 2020-08-11 | 广州番禺职业技术学院 | Rotary mechanical device and method for pistachio nut head and tail replacement and posture adjustment |
| CN113812641A (en) * | 2021-08-26 | 2021-12-21 | 袁秋红 | Edible walnut cutting and opening equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108354191B (en) | 2024-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108237426B (en) | Automatic go up light-duty five equipment of unloading | |
| CN108354191A (en) | A kind of manipulator of CRACKING WALNUT | |
| CN213917192U (en) | Clamping device is used in composite sheet processing | |
| CN208880029U (en) | The automatic positioning of the motor-driven arm of adjustable loading clamps welder equipment | |
| CN208708668U (en) | A kind of manipulator of CRACKING WALNUT | |
| CN210381527U (en) | Turning device is used in circuit board processing | |
| CN206065956U (en) | A kind of vice clamping angle adjustable supporting | |
| CN106736136B (en) | A kind of welding tooling of vehicle frame and the method for welding | |
| CN212470277U (en) | Prevent fire door production and use door frame welding equipment | |
| CN108284341A (en) | A kind of dress knife equipment | |
| CN108971586A (en) | A kind of milling attachment for metallic decoration wire processing | |
| CN214817737U (en) | Ice skate fixture | |
| CN113799013B (en) | Anchor clamps for mechanical maintenance | |
| CN215093432U (en) | A section clamping device for section scanning | |
| CN212311060U (en) | Cutting equipment for steel structure engineering | |
| CN112475645A (en) | Follow-up supporting and centering clamping mechanism for realizing laser pipe cutting machine | |
| CN112171336A (en) | Quick positioning and clamping device for metal cutting | |
| CN110026604A (en) | Vibration-ultrasound broaching machine and its broaching method for aero-engine key part | |
| CN206623189U (en) | A kind of two-way bamboo splitting device | |
| CN220241405U (en) | Clamp for assembling industrial automatic door opening machine | |
| CN213997991U (en) | Cutting machine for machining yoke plate | |
| CN208391337U (en) | A kind of cellular li-ion battery welding fixture | |
| CN218224942U (en) | Automobile engine spare part processingequipment | |
| CN215846062U (en) | Double-station clamp for band sawing machine | |
| CN219324942U (en) | Rivet welding fixture for tower type photo-thermal power generation main beam |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |