CN110754908A

CN110754908A - Multifunctional vegetable and fruit processing equipment

Info

Publication number: CN110754908A
Application number: CN201911173717.5A
Authority: CN
Inventors: 尹世和
Original assignee: Guodu Orchard Guangzhou Technology Co Ltd
Current assignee: Guodu Orchard Guangzhou Technology Co Ltd
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-02-07

Abstract

The invention relates to multifunctional vegetable and fruit processing equipment which comprises a vegetable and fruit processing workbench, a mechanical arm movement mechanism, a movable assembly frame, a scanning recognition function sensor, a movable assembly with peeling and cutting functions, a vegetable and fruit fixing seat, a vertical knife, a transverse knife, a kernel removing knife, a bowl feeding device, a placing platform and a cleaning device. When peeling and cutting are carried out on the vegetables and the fruits, the vegetables and the fruits are static relative to the vegetable and fruit processing workbench, so that the vegetables and the fruits are prevented from splashing; the movable assembly with the peeling and cutting functions can adapt to the vegetables and fruits with different shapes according to the scanning and identifying result of the scanning and identifying function sensor; the cleaning spray pipe on the manipulator can clean vegetables and fruits, the vertical knife, the horizontal knife, the denucleation knife and the vegetable and fruit fixing seat, and the movable assembly with the peeling and cutting functions clamped by the manipulator and the manipulator can be moved into the cleaning device to be cleaned, so that the machine is kept clean and sanitary, and bacteria breeding is avoided.

Description

Multifunctional vegetable and fruit processing equipment

Technical Field

The invention relates to the field of food processing machinery, in particular to multifunctional vegetable and fruit processing equipment.

Background

In the field of vegetable and fruit processing, multifunctional integrated equipment such as automatic scanning recognition, cleaning, peeling, dicing, denucleation and the like is lacked in the market, most of machines only relate to partial working procedures, and the following defects 1 are lacked in the working procedure of cleaning the machines at regular time; 2. the lack of peeling procedures for fruits with large shape differences cannot be well adapted to the processing of different types of vegetables and fruits; 3. in the peeling process of the machine, the peeling knife is fixed, and the vegetables and fruits rotate to splash into the vegetable and fruit juice easily, which brings inconvenience to users.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the invention provides multifunctional vegetable and fruit processing equipment which comprises automatic scanning recognition, cleaning, peeling, dicing and denucleation functions so as to solve the problems in the background technology.

In order to solve the technical problems, the invention adopts the technical scheme that: a multifunctional vegetable and fruit processing device comprises a vegetable and fruit processing workbench and a manipulator, wherein a manipulator motion mechanism and a movable assembly frame are arranged above the vegetable and fruit processing workbench, a placing platform is arranged beside the vegetable and fruit processing workbench, and a scanning and recognizing function sensor, a vegetable and fruit fixing seat and a coring knife are arranged on the vegetable and fruit processing workbench; the movable assembly rack is used for storing movable assemblies, each movable assembly comprises a movable assembly with a peeling and cutting function, and a cleaning spray pipe is fixed on the manipulator;

the manipulator can clamp the movable assembly with the peeling and cutting functions, vegetables, fruits and bowls;

the manipulator motion mechanism is connected with the manipulator and is used for driving the manipulator to move above the vegetable and fruit processing workbench;

the scanning and identifying function sensor is used for scanning and identifying the vegetables and fruits;

the cleaning spray pipe is used for cleaning vegetables and fruits, the vegetable and fruit fixing seat and the coring knife and moves above the vegetable and fruit processing workbench along with the mechanical arm under the driving of the mechanical arm;

the movable assembly with the peeling and cutting functions is used for peeling vegetables and fruits, cutting, slicing and/or dicing the vegetables and fruits, and moves above the vegetable and fruit processing workbench along with the manipulator after being clamped by the manipulator;

the vegetable and fruit fixing seat is used for fixing vegetables and fruits;

the kernel removing knife is used for removing kernels of the nucleated vegetables and fruits under the clamping of the manipulator;

the placing platform is used for placing unprocessed vegetables and fruits and bowls, and the bowls are used for storing processed vegetables and fruits.

Furthermore, the vegetable and fruit processing workbench is also provided with a vertical knife and a horizontal knife which are respectively used for clamping, slicing and slicing the seedless vegetable and fruit under the manipulator.

Furthermore, the movable component frame can be additionally provided with movable components with different functions according to the use requirements, and comprises a movable component frame positioning mechanism, wherein the front end of the movable component frame positioning mechanism is provided with a movable component frame positioning magnet for connecting with the movable component;

the movable assembly with the peeling and cutting functions comprises a movable assembly rod with the peeling and cutting functions, and a horizontal transverse knife, a vertical transverse knife, a side peeling knife and a top surface and bottom surface peeling knife are arranged on the movable assembly rod with the peeling and cutting functions;

the movable component rod with the peeling and cutting functions is provided with a movable component positioning magnet which is movably connected with a movable component frame positioning magnet.

Further, the manipulator comprises a manipulator clamping seat mechanism, a clamping force measuring mechanism, an articulated mechanism, a manipulator rotating motor, a manipulator clamping motor and a manipulator frame mechanism, wherein a clamping claw is arranged on the manipulator clamping seat mechanism, a clamping elastic sheet is arranged on the clamping claw, a cleaning pipe joint is arranged on the manipulator frame mechanism, the manipulator rotating motor drives the manipulator clamping seat mechanism to rotate, the manipulator clamping motor drives the clamping force measuring mechanism and the articulated mechanism to move, and the clamping force measuring mechanism measures clamping force.

Furthermore, the manipulator motion mechanism is realized by one of a rectangular coordinate type manipulator arm consisting of three mutually perpendicular moving pairs, a parallel arm structure consisting of three parallel arms and three moving pairs, a cylindrical coordinate type manipulator arm consisting of one rotating pair and two moving pairs, a joint type manipulator consisting of a power type rotary joint and two front and lower arms, or a polar coordinate type manipulator consisting of two rotating pairs and one moving pair.

Furthermore, a cleaning device is arranged beside the vegetable and fruit processing workbench and comprises a spray pipe and a water tank, the manipulator and the peeling and cutting functional cutter driven by the manipulator move into the cleaning device for cleaning, and after cleaning is completed, the manipulator rotates the manipulator clamping seat mechanism to spin-dry the clamping jaws, the clamping elastic pieces and the peeling and cutting functional cutter.

Further, still be equipped with by vegetables and fruits processing workstation next door and send the bowl device, send the bowl device to be used for depositing bowls, the manipulator can be with handling vegetables and fruits put into send the bowls of depositing in the bowl device, the manipulator can follow bowls take away in sending the bowl device, put on the place the platform.

Further, a bowl cover feeding device is further arranged below the vegetable and fruit processing workbench, a power handle of the bowl cover feeding device is further arranged on the vegetable and fruit processing workbench, and the bowl cover feeding device is used for feeding out covers under the action of the mechanical arm; the bowl cover feeding device is characterized in that a power handle of the bowl cover feeding device is connected with the bowl cover feeding device, and the mechanical arm provides power for the bowl cover feeding device by rotating the power handle of the bowl cover feeding device.

The invention has the beneficial effects that: the automatic peeling machine can realize the integration of automatic scanning, identification, cleaning, peeling, slicing, denucleation and the like, when peeling and cutting are carried out on vegetables and fruits, the vegetables and fruits are fixed on a vegetable and fruit fixing seat, the movable component with the peeling and cutting functions clamped by the manipulator is used for peeling the vegetables and fruits, denucleation is carried out on the vegetables and fruits with cores after cutting, slicing and/or dicing are carried out on the vegetables and fruits with cores, the vertical knife and the transverse knife are used for slicing and/or dicing the non-core vegetables and fruits, and the vegetables and fruits are static relative to the vegetable and fruit processing workbench, so that fruit juice is prevented from splashing; the movable component with the peeling and cutting functions scans the vegetables and the fruits according to the scanning and identifying function sensor, and moves around the vegetables and the fruits according to the identifying result, so that the movable component is suitable for the vegetables and the fruits with different shapes; the cleaning spray pipe can be driven by the manipulator to clean vegetables and fruits, the vertical knife, the horizontal knife denucleation knife and the vegetable and fruit fixing seat, and the movable assembly with the peeling and cutting functions clamped by the manipulator and the manipulator can be moved into the cleaning device to be cleaned, so that the cleanness and the sanitation of the machine are better kept, and bacteria breeding is avoided.

Drawings

Fig. 1 is a schematic perspective view of a multifunctional vegetable and fruit processing apparatus according to the present invention.

Fig. 2 is a schematic view of the internal structure of a multifunctional vegetable and fruit processing apparatus according to the present invention.

Fig. 3 is a schematic view of the manipulator of the present invention in a state of being placed on the platform for clamping vegetables and fruits.

FIG. 4 is a schematic view of the cleaning nozzle of the present invention for cleaning vegetables and fruits.

Fig. 5 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator of the present invention for peeling the top surface of the vegetable or fruit.

Fig. 6 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator for peeling the side of the vegetable and fruit.

Fig. 7 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator of the present invention in a state of cutting vegetables and fruits transversely.

Fig. 8 is a schematic view of the movable assembly with the clamping, peeling and cutting functions of the manipulator of the invention in a state of vertically cutting vegetables and fruits.

Fig. 9 is a schematic view showing a state where the robot and the movable assembly for peeling and cutting held by the robot are moved into the cleaning apparatus for cleaning according to the present invention.

FIG. 10 is a schematic view showing the state of the robot hand of the present invention when the robot hand grips a fruit or vegetable having a core and then the fruit or vegetable is stoned on the stoning knife.

FIG. 11 is a schematic view showing the state of the robot arm of the present invention dropping the processed vegetables and fruits into the bowls in the bowl device.

FIG. 12 is a schematic view showing the state of the robot arm in the present invention when the robot arm takes the bowl containing the processed vegetables and fruits from the bowl feeder and puts the bowl on the placing platform.

FIG. 13 is a schematic view of the internal structure of the bowl cover feeding device powered by the power handle of the bowl cover feeding device rotated by the manipulator.

Fig. 14 is a schematic structural view of the robot in the closed state according to the present invention.

FIG. 15 is a schematic view of the robot of the present invention in an open position after the cleaning nozzle is aligned with the cleaning conduit junction.

FIG. 16 is a schematic partial cross-sectional view of a movable element of the present invention shown in a movable element holder.

Fig. 17 is a schematic view of a movable assembly for peeling and cutting functions according to the present invention, partially in cross-section.

Fig. 18 is a schematic partial cross-sectional view of a robot holding a movable assembly for peeling and cutting functions in accordance with the present invention.

The symbols in the drawings illustrate that:

1-vegetable and fruit processing workbench; 2-a manipulator; 3-a manipulator motion mechanism; 4-a movable assembly frame; 5-scanning and identifying a functional sensor; 6, cleaning a spray pipe; 7-movable components with peeling and cutting functions; 8-fixing the vegetable and fruit; 9-vertical knife; 10-a transverse knife; 11-a coring knife; 12-a bowl feed device; 13-cleaning the catheter joint; 15-a cleaning device; 18-bowl cover feeding device; 19-a power handle of the bowl cover feeding device; 30-vegetables and fruits; 31-a bowl; 33-bowl cover; 201-manipulator gripper mechanism; 202-a gripper jaw; 203-clamping spring plates; 204-clamping force measuring mechanism; 205-a hinge mechanism; 206-robot rotating motor; 207-manipulator clamping motor; 208-a manipulator frame mechanism; 301-sliding pair; 401-a movable assembly mount positioning mechanism; 402-a movable assembly mount positioning magnet; 410-a movable assembly positioning magnet; 701-a movable component rod with peeling and cutting functions; 702-a horizontal cross knife; 703-vertical transverse knife; 704-side paring knife; 705-top and bottom paring knives; 1501-a spray pipe; 1502-water tank; 1602-a placement platform.

Detailed Description

In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

As shown in fig. 1-18, the multifunctional vegetable and fruit processing equipment provided by the present invention mainly comprises a vegetable and fruit processing workbench 1, a manipulator 2, a manipulator motion mechanism 3, a movable assembly frame 4, a scanning recognition function sensor 5, a cleaning nozzle 6, a movable assembly with peeling and cutting functions 7, a vegetable and fruit fixing seat 8, a coring knife 11, a cleaning conduit joint 13, and a placing platform 1602; preferably, the automatic bowl-cover cleaning device also comprises a vertical knife 9, a horizontal knife 10, a bowl-sending device 12, a cleaning device 15, a bowl-sending cover device 18 and a power handle 19 of the bowl-sending cover device, wherein the fruits and vegetables can be nucleated fruits and vegetables such as apples, pears, peaches, white gourds, pumpkins and the like, and the seedless fruits and vegetables such as dragon fruits, guavas, tomatoes and the like;

the manipulator motion mechanism 3 is arranged above the vegetable and fruit processing workbench 1, preferably, the manipulator motion mechanism 3 is implemented by a rectangular coordinate type manipulator, and comprises three mutually vertical moving pairs 301, wherein the moving pairs are low pairs which move relatively in a plane. The realization mode of the mechanical arm motion mechanism can be replaced by one of a parallel arm structure consisting of three parallel arms and three moving pairs, a cylindrical coordinate type mechanical arm consisting of one rotating pair and two moving pairs, a joint type mechanical arm consisting of a power type rotating joint and two front and lower arms, and a polar coordinate type mechanical arm consisting of two rotating pairs and one moving pair.

As shown in fig. 2 and 16, the movable assembly frame 4 is disposed above the vegetable and fruit processing table 1, and the movable assembly frame 4 includes a movable assembly frame positioning mechanism 401, a movable assembly frame positioning magnet 402, and a movable assembly 7 for storing the peeling and cutting functions.

As shown in fig. 2, 13, 14, 15, and 18, the manipulator 2 is connected to the manipulator motion mechanism 3, the manipulator 2 can move above the vegetable and fruit processing workbench 1 under the action of the manipulator motion mechanism 3, the manipulator 2 includes a manipulator holder mechanism 201, a gripper jaw 202, a gripper spring 203, a gripper force measuring mechanism 204, a hinge mechanism 205, a manipulator rotation motor 206, a manipulator gripper motor 207, and a manipulator frame mechanism 208, the manipulator rotation motor 206 can drive the manipulator holder mechanism 201 to rotate, the manipulator gripper motor 207 can drive the gripper jaw 202 to move through the gripper force measuring mechanism 204 and the hinge mechanism 205, the gripper force measuring mechanism 204 can measure the gripping force, and the manipulator 2 can grip the movable assembly 7, the vegetable and fruit 30, and the bowl 31 with peeling and cutting functions.

As shown in fig. 2, 3 and 4, the scanning and recognizing sensor 5 is fixed to the fruit and vegetable processing table 1 and scans and recognizes the fruit and vegetable 30.

As shown in fig. 4, 14 and 15, the cleaning nozzle 6 is mounted on the manipulator 2, and can move above the vegetable and fruit processing workbench 1 along with the manipulator 2, and is used for cleaning the vegetable and fruit 30, the vertical knife 9, the transverse knife 10, the coring knife 11 and the vegetable and fruit fixing seat 8; the manipulator 2 is also provided with a cleaning conduit joint 13, and when the manipulator 2 is in a closed state, the cleaning spray pipe 6 is separated from the cleaning conduit joint 13; after the robot 2 rotates to align the cleaning nozzle 6 with the cleaning pipe joint 13, the cleaning nozzle 6 and the cleaning pipe joint 13 are connected and conducted when the robot 2 is in an open state.

As shown in fig. 2, 5, 6, 7, 8, 16, 17 and 18, the movable assembly 7 for peeling and cutting is stored in the movable assembly frame 4, and can be moved above the vegetable and fruit processing table 1 with the manipulator 2 after being held by the manipulator 2, for peeling and cutting the vegetable and fruit 30, the vegetable and fruit 30 is stationary with respect to the vegetable and fruit processing table 1 during the peeling and cutting process, the movable assembly for peeling and cutting moves around the vegetable and fruit 30 according to the shape of the vegetable and fruit 30, and the movable assembly 7 for peeling and cutting includes a movable assembly rod 701 for peeling and cutting, a horizontal transverse knife 702, a vertical transverse knife 703, a side surface peeling knife 704, a top surface peeling knife 705 and a movable assembly positioning magnet 410.

As shown in fig. 2, 4 and 10, the fruit and vegetable fixing base 8 is disposed on the fruit and vegetable processing platform 1, and the fruit and vegetable fixing base 8 is used for fixing the fruit and vegetable 30; the vertical knife 9 is arranged on the vegetable and fruit processing workbench 1, and the vertical knife 9 is used for cutting the vegetable and fruit 30 under the action of the manipulator 2; the transverse knife 10 is arranged on the vegetable and fruit processing workbench 1, and the transverse knife 10 is used for cutting the vegetables and fruits 30 under the action of the manipulator 2; the knife 11 that denucleates sets up in vegetables and fruits processing table 1, and the knife 11 that denucleates is used for under the effect of manipulator 2 for 30 denucleates of vegetables and fruits.

As shown in fig. 2, 11 and 12, the bowl feeding device 12 is disposed near the vegetable processing table 1, the bowl feeding device 12 is used for storing the bowls 31, the robot 2 can place the processed vegetables 30 into the bowls 31, and the robot 2 can clamp the bowls 31 containing the processed vegetables 30 from the bowl feeding device 12 and place the bowls on the placement platform 1602.

As shown in fig. 2 and 12, the platform 1602 is disposed beside the fruit and vegetable processing table 1 for storing unprocessed fruits and vegetables 30 and bowls carried by customers, and the robot 2 can place processed fruits and vegetables 30 into bowls carried by customers.

As shown in fig. 2, 8 and 9, the cleaning device 15 is disposed beside the vegetable and fruit processing workbench 1, the cleaning device 15 includes a spray pipe 1501, a water tank 1502, and a movable assembly 7 for cleaning the peeling and cutting functions held by the manipulator 2 and the manipulator 2, the manipulator 2 and the movable assembly 7 for peeling and cutting functions held by the manipulator 2 can move into the cleaning device 15 for cleaning, and after cleaning, the manipulator 2 spins the holding claws 202, the holding elastic pieces 203, and the movable assembly 7 for peeling and cutting functions by rotating the manipulator holder mechanism 201.

As shown in fig. 2 and 13, the bowl cover feeding device 18 is disposed below the vegetable and fruit processing table 1, and is used for feeding the bowl cover 33 by the manipulator 2; the bowl cover feeding device power handle 19 is arranged on the vegetable and fruit processing workbench 1, the bowl cover feeding device power handle 19 is connected with the bowl cover feeding device 18, and the mechanical arm 2 provides power for the bowl cover feeding device 18 by rotating the bowl cover feeding device power handle 19, so that the bowl cover feeding device 18 feeds the bowl cover 33.

The working principle of the invention is as follows:

when the vegetables and fruits are processed, the manipulator 2 clamps the vegetables and fruits 30 on the placing platform 1602, then the manipulator 2 moves the clamped vegetables and fruits 30 to the sensing area of the scanning recognition function sensor 5, the manipulator 2 rotates the vegetables and fruits 30, so that the scanning recognition function sensor 5 obtains the shape information of the vegetables and fruits 30, after the scanning recognition is carried out by the scanning recognition function sensor 5, the manipulator 2 inserts the vegetables and fruits 30 on the vegetables and fruits fixing seat 8 to fix the vegetables and fruits 30;

then the mechanical arm 2 opens the cleaning spray pipe 6 after aligning the cleaning conduit joint 13, the cleaning spray pipe 6 is connected and communicated with the cleaning conduit joint 13, the cleaning spray pipe 6 is driven by the mechanical arm 2 to clean the vegetables and fruits 30, the mechanical arm 2 is closed after cleaning is finished, and the cleaning spray pipe 6 is separated from the cleaning conduit joint 13;

then the manipulator 2 clamps the movable assembly 7 with the peeling and cutting functions, after clamping, the movable assembly 7 with the peeling and cutting functions under the driving of the manipulator 2 peels the vegetables and fruits 30 by using the side peeling knife 704 and the top and bottom peeling knife 705 according to the shapes of the vegetables and fruits 30, and also can cut the vegetables and fruits 30 by using the horizontal transverse knife 702 and the vertical transverse knife 703 according to the requirements of customers, the vegetables and fruits 30 are fixed on the vegetable and fruit fixing seat in the peeling and cutting processes and are static relative to the vegetable and fruit processing workbench, and the state and shape information of the vegetables and fruits 30 can be obtained by the scanning and identifying function sensor 5 in the peeling and cutting processes;

after peeling and cutting, the manipulator 2 drives the movable assembly 7 with the peeling and cutting functions to move into the cleaning device 15, the cleaning device 15 cleans the clamping claw 202, the clamping elastic sheet 203 and the movable assembly 7 with the peeling and cutting functions in the manipulator through the spray pipe 1501, the manipulator 2 drives the movable assembly 7 with the peeling and cutting functions to rotate for drying, and then the manipulator 2 puts the movable assembly 7 with the peeling and cutting functions back to the movable assembly frame 4;

then the mechanical arm 2 clamps the peeled and cut vegetables and fruits 30, the vegetables and fruits 30 are taken away from the vegetable and fruit fixing seat 8, if the vegetables and fruits 30 have cores, the mechanical arm 2 clamps the vegetables and fruits 30 to move above the coring knife 11, and moves downwards after the axis of the vegetables and fruits 30 is aligned with the coring knife 11 to core the vegetables and fruits 30; if the vegetables and fruits 30 are of a type without removing kernels, the manipulator 2 clamps the vegetables and fruits 30 and then moves relative to the vertical knife 9 or the transverse knife 10, so that the vertical knife 9 or the transverse knife 10 cuts the vegetables and fruits 30; after being processed by one or more of the horizontal transverse knife 702 in the movable assembly 7 with the peeling and cutting functions, the vertical transverse knife 703 in the movable assembly 7 with the peeling and cutting functions, the stone removing knife 11, the vertical knife 9 and the transverse knife 10, the vegetable and fruit 30 can be cut into pieces, blocks, hemispheres or overall spheres according to the requirements of customers;

the processed vegetables and fruits 30 are conveyed to the upper part of the bowls 31 stored in the bowl conveying device 12 in a non-scattering state under the clamping action of the manipulator 2, the manipulator 2 is loosened, the processed vegetables and fruits 30 fall into the bowls 31, and then the manipulator 2 clamps the bowls 31 containing the processed vegetables and fruits 30 away from the bowl conveying device 12 and places the bowls on the placing platform 1602; if bowls carried by customers are placed on the placing platform 1602, the manipulator 2 drops the processed vegetables and fruits 30 into the bowls carried by the customers;

then the mechanical arm 2 clamps the power handle 19 of the bowl cover feeding device, and provides power for the bowl cover feeding device 18 by rotating the power handle 19 of the bowl cover feeding device, so that the bowl cover feeding device 18 feeds the bowl cover 33;

then, the cleaning spray pipe 6 is driven by the manipulator 2 to clean the vertical knife 9, the horizontal knife 10, the denucleation knife 11 and the vegetable and fruit fixing seat 8;

then the manipulator 2 moves into the cleaning device 15, the cleaning device 15 cleans the clamping claws 202 and the clamping shrapnel 203 in the manipulator 2 through the spray pipe 1501, and the manipulator 2 is dried in a rotating mode after the cleaning is finished.

In conclusion, the multifunctional vegetable and fruit processing equipment provided by the invention can realize the integration of automatic scanning, identification, cleaning, peeling, dicing, denucleation and other functions, when peeling and cutting are carried out on the vegetable and fruit 30, the vegetable and fruit 30 is fixed on the vegetable and fruit fixing seat 8, the movable component 7 with the peeling and cutting functions is clamped by the manipulator 2 and is used for peeling the vegetable and fruit 30, the denucleation knife 11 is used for denucleating after the peeling, slicing and/or dicing are carried out on the cored vegetable and fruit 30, the vertical knife 9 and the transverse knife 10 are used for slicing and/dicing the coreless vegetable and fruit 30, the vegetable and fruit 30 is static relative to the vegetable and fruit processing workbench 1, and the splashing of vegetable and fruit juice is avoided; the movable component 7 with peeling and cutting functions scans the vegetables and fruits 30 according to the scanning and identifying function sensor 5, and the identified result moves around the vegetables and fruits 30 to adapt to the vegetables and fruits 30 with different shapes; cleaning spray pipe 6 can by manipulator 2 drives and washs vegetables and fruits 30, vertical sword 9, horizontal sword 10, the sword 11 that denucleates, vegetables and fruits fixing base 8, and manipulator 2 and the movable assembly 7 of the cutting function of peeling that manipulator 2 was held can remove and wash in belt cleaning device 15, better keep the machine sanitation and hygiene, avoid breeding the bacterium.

All directional indications (such as up, down, left, right, front, and rear … …) in the present embodiment are only used to explain the relative positional relationship between the components, the movement, and the like in a certain posture (as shown in the drawing), and if the certain posture is changed, the directional indication is changed accordingly.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A multifunctional vegetable and fruit processing device comprises a vegetable and fruit processing workbench and a manipulator, and is characterized in that a manipulator movement mechanism and a movable assembly frame are arranged above the vegetable and fruit processing workbench, a placing platform is arranged beside the vegetable and fruit processing workbench, and a scanning and recognition function sensor, a vegetable and fruit fixing seat and a kernel removing knife are arranged on the vegetable and fruit processing workbench; the movable assembly rack is used for storing movable assemblies, and the movable assemblies comprise movable assemblies with peeling and cutting functions; a cleaning spray pipe is fixed on the manipulator;

the manipulator is used for clamping the movable assembly with the peeling and cutting functions, vegetables, fruits and bowls;

the movable assembly with the peeling and cutting functions is used for peeling vegetables and fruits, cutting, slicing and/or dicing the vegetables and fruits with cores, and moves above the vegetable and fruit processing workbench along with the manipulator after being clamped by the manipulator;

the vegetable and fruit fixing seat is used for fixing vegetables and fruits;

the placing platform is used for placing unprocessed vegetables, fruits and bowls.

2. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the vegetable and fruit processing workbench is further provided with a vertical knife and a horizontal knife for clamping, slicing and slicing the coreless vegetable and fruit by a manipulator.

3. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the movable assembly rack further comprises movable assemblies with different functions according to the use requirement, and the movable assembly rack comprises a movable assembly rack positioning mechanism, and a movable assembly rack positioning magnet is arranged at the front end of the movable assembly rack positioning mechanism and is connected with the movable assembly.

4. The multifunctional vegetable and fruit processing equipment as claimed in claim 3, wherein the movable assembly for peeling and cutting function comprises a movable assembly rod for peeling and cutting function, and the movable assembly rod for peeling and cutting function is provided with a horizontal transverse knife, a vertical transverse knife, a side peeling knife and a top and bottom peeling knife; the movable component rod with the peeling and cutting functions is provided with a movable component positioning magnet which is movably connected with a movable component frame positioning magnet.

5. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the manipulator comprises a manipulator holder mechanism, a clamping force measuring mechanism, a hinge mechanism, a manipulator rotating motor, a manipulator clamping motor, and a manipulator frame mechanism, wherein the manipulator holder mechanism is provided with a clamping jaw, the clamping jaw is provided with a clamping spring, the manipulator frame mechanism is provided with a cleaning conduit connector, the cleaning conduit connector can be connected and communicated with the cleaning nozzle, the manipulator rotating motor drives the manipulator holder mechanism to rotate, the manipulator clamping motor drives the clamping jaw to move through the clamping force measuring mechanism and the hinge mechanism, and the clamping force measuring mechanism measures clamping force.

6. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, wherein the manipulator motion mechanism is implemented by one of a rectangular coordinate type manipulator arm composed of three mutually perpendicular moving pairs, a parallel arm structure composed of three parallel arms and three moving pairs, a cylindrical coordinate type manipulator arm composed of one revolute pair and two moving pairs, a joint type manipulator composed of a power type rotary joint and a front arm and a lower arm, or a polar coordinate type manipulator composed of two revolute pairs and one moving pair.

7. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, further comprising a cleaning device disposed beside the vegetable and fruit processing workbench, wherein the cleaning device comprises a spray pipe and a water tank, the robot and the movable components with peeling and cutting functions held by the robot move into the cleaning device for cleaning, and the robot spins the robot and the movable components with peeling and cutting functions in a rotating manner after cleaning.

8. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, further comprising a bowl feeding device for storing bowls, wherein the mechanical arm is used for taking the bowls stored in the bowl feeding device away from the bowl feeding device and placing the bowls on the placing platform after the processed vegetables and fruits are placed in the bowls stored in the bowl feeding device.

9. The multifunctional vegetable and fruit processing equipment as claimed in claim 1, further comprising a bowl cover feeding device and a power handle of the bowl cover feeding device, wherein the bowl cover feeding device is arranged below the vegetable and fruit processing workbench and used for feeding bowl covers out under the action of the manipulator; send bowl lid device power handle setting to be in on the vegetables and fruits processing table, send bowl lid device power handle with send bowl lid device to connect, the manipulator is through rotating send bowl lid device power handle to provide power for sending bowl lid device.