CN108354191B - Manipulator for walnut shelling - Google Patents
Manipulator for walnut shelling Download PDFInfo
- Publication number
- CN108354191B CN108354191B CN201810382699.0A CN201810382699A CN108354191B CN 108354191 B CN108354191 B CN 108354191B CN 201810382699 A CN201810382699 A CN 201810382699A CN 108354191 B CN108354191 B CN 108354191B
- Authority
- CN
- China
- Prior art keywords
- walnut
- cutting
- rotary
- motor
- fixing
- 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.)
- Active
Links
- 235000020234 walnut Nutrition 0.000 title claims abstract description 114
- 235000009496 Juglans regia Nutrition 0.000 title claims abstract description 109
- 240000007049 Juglans regia Species 0.000 title 1
- 241000758789 Juglans Species 0.000 claims abstract description 108
- 238000005520 cutting process Methods 0.000 claims abstract description 95
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 238000009826 distribution Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 13
- 241000758791 Juglandaceae Species 0.000 description 5
- 230000001788 irregular Effects 0.000 description 3
- 235000014571 nuts Nutrition 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 229920002488 Hemicellulose Polymers 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 229920002678 cellulose Polymers 0.000 description 1
- 239000001913 cellulose Substances 0.000 description 1
- 238000003486 chemical etching Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 229920005610 lignin Polymers 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000005728 strengthening Methods 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 walnut shelling manipulator which comprises a frame assembly, a conveying mechanism, a clamping mechanism, a cutting mechanism and a rotary prying mechanism, wherein the conveying mechanism comprises a vertical reciprocating driver and a walnut fixer, and the vertical reciprocating driver drives a walnut placer to vertically reciprocate; the clamping mechanism is positioned above the walnut placer; the two cutting mechanisms comprise a swinging reciprocating driving mechanism, a cutting arm and a cutting machine, the swinging reciprocating driving mechanism drives a connecting rod mechanism to rotate, the cutting arm is fixedly connected with the cutting machine, and the cutting machine comprises a saw blade; the rotary prying mechanism comprises a rotary prying device, a rotary driving mechanism and a horizontal reciprocating driving mechanism, the rotary prying device comprises a long-handle blade and a rotary prying arm, the tail part of the long-handle blade is arranged on the rotary prying arm through a bearing, the rotary prying arm is fixed on the horizontal reciprocating driving mechanism, the rotary driving mechanism is arranged on the rotary prying arm, and the rotary driving mechanism drives the long-handle blade to rotate. The manipulator is used for circularly cutting the walnut kernel gap, so that the completeness of kernel taking out can be improved.
Description
Technical Field
The invention relates to the technical field of walnut processing, in particular to a walnut shelling manipulator.
Background
The husking treatment of walnut is an important and difficult procedure because the weight of the shells of the nuts is large, and the shells of the fruits mainly consist of lignin, cellulose and hemicellulose, and the fruits are irregular in appearance, hard and difficult to strip, and in addition, the shapes are irregular, the size difference is large, the gap between the shells and the kernels is small, and the deformation amount required by complete breakage of the shells is large, so that the accurate husking is difficult to realize.
The walnut shell breaking method at home and abroad comprises the following steps: 1. centrifugal impact breaking the shell; 2. a chemical etching method; 3. vacuum shell breaking and kernel taking method; 4. an ultrasonic crust breaking method; 5. extrusion or impact crust breaking.
The first method has too many broken kernels and little application; the second method is not easy to control in practical operation, the nucleolus is easy to corrode, the poor treatment can cause environmental pollution, and few people adopt the method; the third and fourth methods are expensive in equipment, too high in crust breaking cost and too low in cost performance, so that the method is difficult to popularize and apply.
The fifth method is ideal, but the existing hull breaking machinery also has several prominent problems:
(1) The universality of the equipment is poor, the performance of the machine tool is unstable, and the adaptability is poor;
(2) The walnut variety is complex, the size difference is large, the shape is irregular, the gap between the shell and the kernel is small, so that the difficulty of breaking the shell and taking out the complete kernel is large, the shell and kernel separation is also needed after the shell is broken, and the separation of the shell and kernel is quite difficult due to the fact that the density difference of the shell and kernel is not large and the broken shell and kernel are provided with a plurality of burrs.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the walnut shelling manipulator which is novel in design, and the cutting mechanism is utilized to cut the maximum diaphragm of the walnut in a circular manner, so that the integrity of the extracted walnut can be greatly improved while the integrity of the walnut is ensured and the diaphragm is damaged.
The technical scheme adopted for achieving the purposes of the invention is as follows:
a manipulator for walnut shelling is characterized in that: comprises a frame assembly, a conveying mechanism, a clamping mechanism, a cutting mechanism and a rotary prying mechanism;
the conveying mechanism comprises a vertical reciprocating driver and a walnut fixer, wherein the vertical reciprocating driver is arranged on the frame assembly and drives the walnut placer to vertically reciprocate;
the clamping mechanism is arranged on the frame assembly and is positioned above the walnut placer, and comprises two clamping arms which respectively clamp opposite sides of the walnut during clamping;
the two cutting mechanisms are symmetrically arranged on the frame assembly, each cutting mechanism comprises a swinging reciprocating driving mechanism, a cutting arm and a cutting machine, each swinging reciprocating driving mechanism drives each cutting arm to do arc movement, each cutting arm is fixedly connected with each cutting machine, each cutting machine comprises a saw blade, when the walnut shell is cut, the two saw blades respectively cut the largest diaphragm of the walnut shell, and the symmetrical planes of the two saw blades are perpendicular to the symmetrical planes of the two clamping arms;
the rotary prying mechanism comprises a rotary prying device, a rotary driving mechanism and a horizontal reciprocating driving mechanism, the rotary prying device comprises a long-handle blade and a rotary prying arm, the tail of the long-handle blade is mounted on the rotary prying arm through a bearing, the horizontal reciprocating driving mechanism is mounted on a frame assembly, the rotary prying arm is fixed on the horizontal reciprocating driving mechanism, the rotary driving mechanism is mounted on the rotary prying arm, the rotary driving mechanism drives the long-handle blade to rotate, and when the long-handle blade rotates to pry open walnut shells from the cutting position of walnut, the long-handle blade is perpendicular to the symmetrical planes of the two clamping arms.
The vertical reciprocating driver is an electric cylinder, the walnut fixer comprises a walnut fixing rod, the walnut fixing rod is vertically arranged, a walnut placing groove is formed in the top end of the walnut fixing rod, and the bottom end of the walnut fixing rod is connected with a screw rod of the electric cylinder.
The clamping mechanism is an electric clamping jaw.
The swinging reciprocating driving mechanism comprises a first servo motor, a first driving wheel, a first driven wheel, a first belt and a transmission shaft, wherein the first servo motor and the transmission shaft are arranged on the frame assembly, the first driving wheel is sleeved on an output shaft of the first servo motor, the first driven wheel is sleeved on the transmission shaft, the first driving wheel is connected with the first driven wheel through the first belt, the cutting arm is a connecting mechanism, the connecting mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the fifth connecting rod is L-shaped, the first connecting rod is connected with the transmission shaft, one end of the second connecting rod is hinged with one end of the first connecting rod, the other end of the second connecting rod, one end of the fifth connecting rod is hinged with one end of the third connecting rod, the other end of the third connecting rod is hinged with one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged with the other end of the first connecting rod, the turning part of the fifth connecting rod is fixedly connected with the third connecting rod, the cutting base, the cutting motor and the cutting blade are arranged on the cutting base, the saw blade is driven by the cutting motor, and the other ends of the fifth connecting rod and the sixth connecting rod are fixedly connected with the cutting base.
The rotary driving mechanism comprises a rotary motor, a second driving wheel, a second driven wheel and a second belt, the rotary motor is fixedly connected with the rotary prying arm, the second driving wheel is sleeved on an output shaft of the rotary motor, the second driven wheel is sleeved on the handle of the long-handle blade, the second driving wheel is connected with the second driven wheel through a second belt, the horizontal reciprocating driving mechanism is a servo sliding table, the servo sliding table comprises a platform, and the rotary prying arm is fixed on the platform.
The frame assembly include lower frame and last frame, lower frame includes many lower stands, goes up the frame and is square frame structure, goes up the frame and includes bottom plate, middle crossbeam, goes up stand and square footstock, middle crossbeam has two, goes up the stand and has four, the length of bottom plate is greater than square footstock's length, the bottom plate supports fixedly through many lower stands, the lower extreme of four upper stands is fixed on the bottom plate, the upper end of four upper stands is connected with four angles of square footstock respectively, two middle crossbeams symmetry sets up, the both ends of one middle crossbeam are connected with the middle part of two wherein upper stands respectively, the both ends of another middle crossbeam are connected with the middle part of two other upper stands respectively, the motor housing of electric jar is fixed on the bottom plate, the lead screw of electric jar passes the bottom plate.
The walnut fixer also comprises a guide base and two guide rods, the lower parts of the walnut fixing rods penetrate through the center of the guide base, the walnut fixing rods are fixedly connected with the guide base, the upper frame further comprises two fixing cross beams, the two fixing cross beams are symmetrically arranged, one end of one fixing cross beam is fixed on one middle cross beam, the other end of the fixing cross beam is fixedly connected with the upper end of one guide rod, one end of the other fixing cross beam is fixed on the other middle cross beam, the other end of the other fixing cross beam is fixedly connected with the upper end of the other guide rod, the two fixing cross beams are respectively perpendicular to the two middle cross beams, the lower ends of the two guide rods are respectively fixed on the bottom plate, the two guide rods respectively penetrate through two sides of the guide base, and the guide base can slide up and down along the two guide rods.
The swinging reciprocating driving mechanism further comprises a motor base, a fixed supporting plate, a connecting shaft and a first coupler, wherein the motor base is fixed on the square top frame, the first servo motor is fixed above the motor base, the top of the fixed supporting plate is fixed on the motor base, one end of the connecting shaft is connected with the fixed supporting plate through a bearing, the other end of the connecting shaft is connected with a transmission shaft through the first coupler, the transmission shaft is perpendicular to the upper upright post, the first coupler is sleeved on the connecting shaft, the two motor bases are symmetrically distributed on two sides of the square top frame, the directions of output shafts of the two first servo motors are opposite, and an electric clamping jaw is positioned between the two motor bases.
The cutting machine also comprises a saw blade fixing shaft, a second coupling and a saw blade fixing plate, wherein an output shaft of the cutting motor is connected with the saw blade fixing shaft through the second coupling, the saw blade is sleeved on the saw blade fixing shaft, the saw blade fixing shaft is connected with one side of the saw blade fixing plate through a bearing, and the other side of the saw blade fixing plate is fixed on the cutting base.
The cutting base on be equipped with four spouts and slotted hole, four spouts are square distribution, and the slotted hole is located the central authorities of cutting base, and the length direction of each spout is perpendicular with the cutting direction of saw bit, and the cutting motor includes the motor mounting panel, is equipped with four screw holes on the motor mounting panel, four screw holes correspond with the position of four spouts respectively, and motor mounting panel passes through four fixing bolt fixed connection with the cutting base, the second shaft coupling passes the slotted hole.
The rotary prying arm comprises two support reinforcing plates and a fixed mounting plate, wherein the two support reinforcing plates are symmetrically arranged on two sides of the fixed mounting plate, a servo platform is arranged on one side of a bottom plate, the bottoms of the two support reinforcing plates and the fixed mounting plate are fixed on the platform, the projection of the rotary prying arm on the platform is in a shape of '[', a mounting hole is formed in the lower portion of the fixed mounting plate, the tail portion of the long handle blade is arranged on the upper portion of the fixed mounting plate through a bearing, a rotary motor is arranged on the lower portion of the fixed mounting plate, and the rotary motor is located in a space surrounded by the fixed mounting plate and the two support plates, and an output shaft of the rotary motor penetrates through the mounting hole.
Compared with the prior art, the invention has the following beneficial effects and advantages:
1. according to the characteristic that the walnut is difficult to realize the whole kernel rate, the walnut has a great relationship with the complex internal structure of the walnut, the texture of the walnut kernel is fragile, the diaphragm connected with the shell grows in the main gap of the walnut kernel, the diaphragm can not only prevent the walnut from taking out, but also drive the walnut kernel to split when the walnut shell is opened, and further complete husking is difficult to realize, and aiming at the characteristic that the walnut is difficult to realize, the method is designed to cut the direction of 90 degrees of the line symmetry of the walnut, the maximum diaphragm of most varieties of walnut exists in the direction, the maximum diaphragm can be destroyed in the cutting process, and the large gap is reserved in the direction of the kernel pulp, so the kernel is not easily destroyed, and the whole kernel rate can be greatly improved by the mode of cutting and spinning the walnut kernel.
2. The cutting arm adopts the link mechanism, and the end saw blade can cut according to the preset track through the design of the length of each link of the link mechanism.
3. In order to ensure the accuracy of clamping the walnut, the electric clamping jaw is used for controlling, so that the accurate clamping force can be ensured, the reduction of the clamping force can be controlled according to time when the walnut is picked, and the damage to the integrity of the walnut when the walnut is picked is prevented.
4. In order to ensure the safety of cutting, the invention adopts the design of separating placement and cutting, the walnut is conveniently placed by sliding down to the lowest position by the guide block of the conveying mechanism at the beginning, after the walnut is placed, the electric cylinder is started to convey the walnut to the set position, and the cutting mechanism is fully contained in the frame in consideration of safety when the aluminum profile outside the upper frame is built, so that the damage to staff in the cutting process can be avoided.
Drawings
Fig. 1 is a schematic structural view of a walnut shelling manipulator.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a left side view of fig. 1.
Fig. 5 is an assembly view of the cutting arm.
Fig. 6 is an assembly view of the cutter.
Fig. 7 is an assembly view of the cutting motor.
Fig. 8 is an assembly view of the rotary pry apparatus and the rotary drive mechanism.
Fig. 9 is an enlarged view of I in fig. 4.
Wherein, the nut harvester comprises a lower upright, a 2-bottom plate, a 3-middle cross beam, a 4-upper upright, a 5-square top frame, a 6-fixed cross beam, a 7-electric cylinder, an 8-nut fixed rod, a 9-nut placing groove, a 10-guiding base, an 11-guiding rod, a 12-first servo motor, a 13-first driving wheel, a 14-first driven wheel, a 15-first belt, a 16-transmission shaft, a 17-first connecting rod, a 18-second connecting rod, a 19-third connecting rod, a 20-fourth connecting rod, a 21-fifth connecting rod, a 22-sixth connecting rod, a 23-cutting base, a 24-cutting motor, a 25-saw blade, a 26-saw blade fixed shaft, a 27-second coupling, a 28-saw blade fixed plate, a 29-long handle blade, a 30-rotating motor, a 31-second driving wheel, a 32-second driven wheel, a 33-second belt, a 34-rotating arm, a 35-electric prying arm, a 36-clamping arm, a 37-servo, a 38-platform, a 39-motor mount, a 40-fixed support plate, a 41-connecting shaft, a 42-first coupling, a 43-support plate, a 44-reinforcing plate, a 44-support plate, a 45-mounting plate, a 45-second mounting plate, a 46-mounting plate, a 50-mounting plate, a bolt, a 48-mounting plate, a 50-and a nut.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The structure of the walnut shelling manipulator provided by the invention is shown in figures 1, 2, 3 and 4, and the walnut shelling manipulator comprises a frame assembly, a conveying mechanism, a clamping mechanism, a cutting mechanism and a rotary prying mechanism.
The frame assembly comprises a lower frame and an upper frame, wherein the lower frame comprises a plurality of lower upright posts 1. The upper frame is square frame type structure, and the upper frame includes bottom plate 2, middle crossbeam 3, fixed beam 6, goes up stand 4 and square footstock 5, and middle crossbeam 3 and fixed beam 6 all have two, go up stand 4 and have four, and the length of bottom plate 2 is greater than the length of square footstock 5, and bottom plate 2 is supported fixedly through many lower stand 1, and the lower extreme of four upper stands 4 is fixed on bottom plate 2, and the upper end of four upper stands 4 is connected with four angles of square footstock 5 respectively. The two middle cross beams 3 are symmetrically arranged, two ends of one middle cross beam 3 are respectively connected with the middle parts of two upper upright posts 4, and two ends of the other middle cross beam 3 are respectively connected with the middle parts of the other two upper upright posts 4. One end of one fixed cross beam 6 is fixed on one middle cross beam 3, the other end is suspended, one end of the other fixed cross beam 6 is fixed on the other middle cross beam 3, the other end is suspended, and the two fixed cross beams 6 are respectively perpendicular to the two middle cross beams 3.
The conveying mechanism comprises a vertical reciprocating driver and a walnut fixer, wherein the vertical reciprocating driver is an electric cylinder 7, a motor shell of the electric cylinder 7 is fixed on the bottom surface of the bottom plate 2, and a screw rod of the electric cylinder 7 penetrates through the bottom plate 2.
The walnut fixer include walnut dead lever 8, direction base 10 and guide bar 11, guide bar 11 has two, the vertical setting of walnut dead lever 8, the bottom of walnut dead lever 8 and the screw connection of electric jar 7, the lower part of walnut dead lever 8 passes direction base 10 central authorities, and walnut dead lever 8 and direction base 10 fixed connection, direction base 10 level sets up, the top of walnut dead lever 8 is equipped with walnut standing groove 9. The upper end of one guide rod 11 is connected with the suspension end of one fixed cross beam 6, the upper end of the other guide rod 11 is connected with the suspension end of the other fixed cross beam 6, the lower ends of the two guide rods 11 are respectively fixed on the bottom plate 2, the two guide rods 11 respectively penetrate through two sides of the guide base 10, and the guide base 10 can slide up and down along the two guide rods 11. The guide rod and the guide base play a role in reinforcing and fixing the walnut fixing rod, and the walnut fixing rod is prevented from shaking.
The clamping mechanism is an electric clamping jaw 35 (LEHZ 32-22), the electric clamping jaw comprises two clamping arms 36, the electric clamping jaw 35 is fixedly arranged in the middle of the square top frame 5, the two clamping arms 36 are located above the walnut fixing rod 8, and the two clamping arms respectively clamp opposite two sides of the walnut during clamping.
The cutting mechanism comprises a swinging reciprocating driving mechanism, a cutting arm and a cutting machine.
The swinging reciprocating driving mechanism comprises a first servo motor 12, a motor seat 39, a fixed supporting plate 40, a first driving wheel 13, a first driven wheel 14, a first belt 15, a transmission shaft 16, a connecting shaft 41 and a first coupler 42, wherein the motor seat 39 is fixed on one side of the square top frame 5, the first servo motor 12 is fixed above the motor seat 39, the top of the fixed supporting plate 40 is fixed on the motor seat 39, the fixed supporting plate 40 is perpendicular to the motor seat 39, one end of the connecting shaft 41 is connected with the fixed supporting plate 40 through a bearing, the other end of the connecting shaft 41 is connected with the transmission shaft 16 through the first coupler 42, and the transmission shaft 16 is perpendicular to the upper upright 4. The first driving wheel 13 is sleeved on the output shaft of the first servo motor 12, the first driven wheel 14 is sleeved on the transmission shaft 16, and the first driving wheel 13 is connected with the first driven wheel 14 through a first belt 15. The two motor bases 39 are symmetrically distributed on two sides of the square top frame 5, the output shafts of the two first servo motors 12 are opposite in direction, and the electric clamping jaw 35 is located between the two motor bases 39.
The cutting arm is a link mechanism, the link mechanism comprises a first link 17, a second link 18, a third link 19, a fourth link 20, a fifth link 21 and a sixth link 22, the fifth link 21 is L-shaped, the first link 17 is sleeved on a connecting shaft 41, one end of the second link 18 is hinged with one end of the first link 17, one end of the second link 18, one end of the fifth link 21 and one end of the third link 19 are hinged, the other end of the third link 19 is hinged with one end of the fourth link 20 and one end of the sixth link 22, the other end of the fourth link 20 is hinged with the other end of the first link 17, and a turning part of the fifth link 21 is fixedly connected with the third link 19.
The cutting mechanism includes a cutting base 23, a cutting motor 24, a saw blade 25, a saw blade fixing shaft 26, a second coupling 27, and a saw blade fixing plate 28. The cutting base 23 is square, is equipped with four spouts 46 and slotted hole 47 on the cutting base 23, and four spouts 46 are square distribution, and slotted hole 47 is located cutting base 23 central authorities, and the length direction of each spout 46 is parallel with the length direction of cutting base 23. The cutting motor 24 includes a motor mounting plate 48, and four screw holes are provided on the motor mounting plate 48, and correspond to the positions of the four sliding grooves 46, respectively. The unscrewing motor mounting plate 48 is fixedly connected with the cutting base 23 by four fixing bolts 49. Through setting up the spout, can make the position of cutting motor change to change the cutting track of saw bit, individual when the walnut is great, unscrew fixing bolt, make cutting motor remove towards the direction of keeping away from link mechanism, screw up fixing bolt again when adjusting cutting motor to suitable position department, thereby make the cutting track of saw bit and the biggest diaphragm department's of walnut shape assorted. The other ends of the fifth connecting rod 21 and the sixth connecting rod 22 are fixedly connected with the edges of the cutting base 23 in the width direction. The output shaft of the cutting motor 24 is connected to one end of the blade fixing shaft 26 through a second coupling 27, and the second coupling 27 passes through the oblong hole 47. The saw blade 25 is sleeved on the other end of the saw blade fixing shaft 26, one side of the saw blade fixing shaft 26 is connected with one side of the saw blade fixing plate 28 through a bearing, and the other side of the saw blade fixing plate 28 is fixedly connected with the cutting base. The saw blade fixing piece plays a role in strengthening and stabilizing the saw blade fixing shaft, and the saw blade fixing shaft is prevented from shaking.
The rotary prying mechanism comprises a rotary prying device, a rotary driving mechanism and a horizontal reciprocating driving mechanism.
The rotary pry device comprises a long handle blade 29 and a rotary pry arm 34, wherein the rotary pry arm 34 comprises two support reinforcing plates 43 and a fixed mounting plate 44, and the two support reinforcing plates 43 are symmetrically arranged on two sides of the fixed mounting plate 44.
Described is a servo ramp 37 (Mo Fei machine, model KR 100), the servo ramp 37 comprising a platform 38, the servo platform 38 being mounted on one side of the base plate 2.
The bottoms of the two support reinforcing plates 43 and the fixed mounting plate 44 are fixed on the platform, the projection of the rotary prying arm on the platform is in a shape of a cross, the lower part of the fixed mounting plate 44 is provided with a mounting hole 45, and the tail part of the long handle blade 29 is mounted on the upper part of the fixed mounting plate 44 through a bearing.
The rotation driving mechanism includes a rotation motor 30, a second driving pulley 31, a second driven pulley 32, and a second belt 33. The rotary electric machine 30 is mounted on the lower portion of the fixed mounting plate 44, and the rotary electric machine 30 is located in a space surrounded by the fixed mounting plate 44 and the two support plate reinforcing plates 43, and an output shaft of the rotary electric machine 30 passes through the mounting hole 45. The second driving wheel 31 is sleeved on the output shaft of the rotating motor 30, the second driven wheel 32 is sleeved on the handle of the long handle blade 29, and the second driving wheel 31 is connected with the second driven wheel 32 through a second belt 33.
The mechanical manual principle of walnut shelling is as follows:
1. the method comprises the steps of placing walnuts on a walnut placing groove on a walnut fixing rod, starting an electric cylinder, and driving the walnut fixing rod to move upwards through a lead screw of the electric cylinder, so that the walnuts reach a designated position, and paying attention to the position where the walnuts are placed when the walnuts are placed, so that the maximum membrane of the walnuts is cut;
2. opening the electric clamping jaw, and enabling two clamping arms of the electric clamping jaw to move downwards to clamp two opposite sides of the walnut respectively, so that the plane where the maximum membrane of the walnut is located is perpendicular to the symmetry plane of the electric clamping jaw;
3. starting a first servo motor and a cutting motor, wherein the first servo motor drives a first driving wheel to rotate, the first driving wheel drives a first driven wheel to rotate through a first belt, the first driven wheel drives a connecting shaft to rotate through a first coupler, the connecting shaft drives a first connecting rod of a connecting rod mechanism to rotate, the first connecting rod drives a second connecting rod and a fourth connecting rod to rotate, the second connecting rod drives one ends of a third connecting rod and a fifth connecting rod to rotate, the fourth connecting rod drives the other ends of the third connecting rod and the sixth connecting rod to rotate, the fifth connecting rod and the sixth connecting rod drive a cutting base to move along a designed arc line, meanwhile, the cutting motor drives a saw blade fixing shaft to rotate through a second coupler, the saw blade fixing shaft drives a saw blade to cut the maximum diaphragm of the walnut, the cut track is the designed arc line (the designed arc line is determined according to the shape of a shell at the maximum diaphragm of the walnut), and the cutting arm resets after cutting is completed;
4. starting a servo sliding table and a rotating motor, wherein the servo sliding table drives a platform to move towards the walnut, the platform drives a rotary prying arm to move, the rotary prying arm drives a long-handle blade to move, meanwhile, the rotating motor drives a second driving wheel to rotate, the second driving wheel drives a second driven wheel to rotate through a second belt, the second driven wheel drives the long-handle blade to rotate, and walnut shells are pried from cutting positions of the walnut, and the walnut shells fall off;
5. the walnut fixing rod is reset, taking out the walnut kernel.
Claims (8)
1. A manipulator for walnut shelling is characterized in that: comprises a frame assembly, a conveying mechanism, a clamping mechanism, a cutting mechanism and a rotary prying mechanism;
the conveying mechanism comprises a vertical reciprocating driver and a walnut fixer, wherein the vertical reciprocating driver is arranged on the frame assembly and drives the walnut placer to vertically reciprocate;
the clamping mechanism is arranged on the frame assembly and is positioned above the walnut placer, and comprises two clamping arms which respectively clamp opposite sides of the walnut during clamping;
the two cutting mechanisms are symmetrically arranged on the frame assembly, each cutting mechanism comprises a swinging reciprocating driving mechanism, a cutting arm and a cutting machine,
the swing reciprocating driving mechanism comprises a first servo motor, a first driving wheel, a first driven wheel, a first belt, a transmission shaft, a motor base, a fixed supporting plate, a connecting shaft and a first coupler, wherein the motor base is fixed on a frame assembly;
the cutting machine comprises a cutting base, a cutting motor and a saw blade, wherein the cutting motor is arranged on the cutting base, the saw blade is driven by the cutting motor, and the other ends of the fifth connecting rod and the sixth connecting rod are fixedly connected with the cutting bottom;
the swinging reciprocating driving mechanism drives the cutting arm to do arc motion, when the walnut shell is cut, the two saw blades respectively cut the maximum diaphragm of the walnut shell, and the symmetrical surfaces of the two saw blades are perpendicular to the symmetrical surfaces of the two clamping arms;
the rotary prying mechanism comprises a rotary prying device, a rotary driving mechanism and a horizontal reciprocating driving mechanism, wherein the horizontal reciprocating driving mechanism is a servo sliding table, the servo sliding table comprises a platform, and a rotary prying arm is fixed on the platform;
the rotary driving mechanism comprises a rotary motor, a second driving wheel, a second driven wheel and a second belt, wherein the second driving wheel is sleeved on an output shaft of the rotary motor, the second driven wheel is sleeved on a cutter handle of the long-handle blade, and the second driving wheel is connected with the second driven wheel through the second belt;
the rotary prying device comprises a long-handle blade and a rotary prying arm, wherein the rotary prying arm comprises two support reinforcing plates and a fixed mounting plate, the two support reinforcing plates are symmetrically arranged on two sides of the fixed mounting plate, a platform is arranged on one side of a bottom plate, the bottoms of the two support reinforcing plates and the fixed mounting plate are fixed on the platform, the projection of the rotary prying arm on the platform is in a [ -shape, the lower part of the fixed mounting plate is provided with a mounting hole, the tail part of the long-handle blade is arranged on the upper part of the fixed mounting plate through a bearing, a rotary motor is arranged on the lower part of the fixed mounting plate, the rotary motor is positioned in a space surrounded by the fixed mounting plate and the two support plates, and an output shaft of the rotary motor penetrates through the mounting hole;
the rotary driving mechanism drives the long-handle blade to rotate, and when the long-handle blade rotates to pry the walnut shell from the cutting position of the walnut, the long-handle blade is perpendicular to the symmetrical surfaces of the two clamping arms.
2. The walnut shelling robot of claim 1, wherein: the vertical reciprocating driver is an electric cylinder, the walnut fixer comprises a walnut fixing rod, the walnut fixing rod is vertically arranged, a walnut placing groove is formed in the top end of the walnut fixing rod, and the bottom end of the walnut fixing rod is connected with a screw rod of the electric cylinder.
3. The walnut shelling robot of claim 1, wherein: the clamping mechanism is an electric clamping jaw.
4. A robot for walnut shelling according to any one of claims 1-3, characterized in that: the frame assembly include lower frame and last frame, lower frame includes many lower stands, goes up the frame and is square frame structure, goes up the frame and includes bottom plate, middle crossbeam, goes up stand and square footstock, middle crossbeam has two, goes up the stand and has four, the length of bottom plate is greater than square footstock's length, the bottom plate supports fixedly through many lower stands, the lower extreme of four upper stands is fixed on the bottom plate, the upper end of four upper stands is connected with four angles of square footstock respectively, two middle crossbeams symmetry sets up, the both ends of one middle crossbeam are connected with the middle part of two wherein upper stands respectively, the both ends of another middle crossbeam are connected with the middle part of two other upper stands respectively, the motor housing of electric jar is fixed on the bottom plate, the lead screw of electric jar passes the bottom plate.
5. The walnut shelling robot of claim 4, wherein: the walnut fixer also comprises a guide base and two guide rods, the lower part of each guide rod penetrates through the center of the guide base, the walnut fixing rods are fixedly connected with the guide base, the upper frame further comprises two fixing cross beams, the two fixing cross beams are symmetrically arranged, one end of one fixing cross beam is fixed on one middle cross beam, the other end of the fixing cross beam is fixedly connected with the upper end of one guide rod, one end of the other fixing cross beam is fixed on the other middle cross beam, the other end of the other fixing cross beam is fixedly connected with the upper end of the other guide rod, the two fixing cross beams are respectively perpendicular to the two middle cross beams, the lower ends of the two guide rods are respectively fixed on the bottom plate, the two guide rods respectively penetrate through two sides of the guide base, and the guide base can slide up and down along the two guide posts.
6. The walnut shelling robot of claim 5, wherein: the transmission shaft is perpendicular to the upper upright post, and the electric clamping jaw is positioned between the two motor bases.
7. The walnut shelling robot of claim 5, wherein: the cutting machine also comprises a saw blade fixing shaft, a second coupling and a saw blade fixing plate, wherein an output shaft of the cutting motor is connected with the saw blade fixing shaft through the second coupling, the saw blade is sleeved on the saw blade fixing shaft, the saw blade fixing shaft is connected with one side of the saw blade fixing plate through a bearing, and the other side of the saw blade fixing plate is fixed on the cutting base.
8. The walnut shelling robot of claim 7, wherein: the cutting base on be equipped with four spouts and slotted hole, four spouts are square distribution, and the slotted hole is located the central authorities of cutting base, and the length direction of each spout is perpendicular with the cutting direction of saw bit, and the cutting motor includes the motor mounting panel, is equipped with four screw holes on the motor mounting panel, four screw holes correspond with the position of four spouts respectively, and motor mounting panel passes through four fixing bolt fixed connection with the cutting base, the second shaft coupling passes the slotted 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 CN108354191A (en) | 2018-08-03 |
| CN108354191B true 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) |
Families Citing this family (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 |
| CN113812641B (en) * | 2021-08-26 | 2023-04-25 | 湖北丰神林果有限公司 | 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108354191A (en) | 2018-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108354191B (en) | Manipulator for walnut shelling | |
| CN105212243B (en) | A kind of garlic female root cutter | |
| CN211516217U (en) | Elevator panel beating fly-cutting device | |
| CN216031992U (en) | Gum dipping equipment of PVC gloves production usefulness | |
| CN1939162A (en) | White-gourd peeler | |
| CN205431815U (en) | Meat chopping machine | |
| CN110976000B (en) | Traditional chinese medicine draws cutting equipment | |
| CN218364951U (en) | Frozen meat splitting machine | |
| CN106974305B (en) | A kind of pineapple machining robot | |
| CN214818739U (en) | Guava dicing device | |
| CN215750540U (en) | Vertical automatic cutter equipment | |
| CN110102493A (en) | A kind of rectifier bridge assembling Automatic sieve chip machine | |
| CN210679048U (en) | Large-diameter wood splitting machine | |
| CN210969478U (en) | Silicon rod squaring device | |
| CN210756313U (en) | Full-automatic turntable type assembly machine for wire stripping pliers | |
| CN208708668U (en) | A kind of manipulator of CRACKING WALNUT | |
| CN213045159U (en) | Fish cake forming and processing device | |
| CN206492980U (en) | Material cutting mechanism | |
| CN215549013U (en) | Multi-saw blade sawing equipment | |
| CN215433886U (en) | Food dicing efficiency improvement system | |
| CN221160733U (en) | Perforating device for wood playing | |
| CN216912272U (en) | Stainless steel shearing device | |
| CN213916390U (en) | Trimming mechanism is used in metal product processing | |
| CN218460728U (en) | Construction steel bar guillootine | |
| CN219171098U (en) | Cardboard ration cutting device |
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 |