CN110959871A

CN110959871A - Fruit processing equipment

Info

Publication number: CN110959871A
Application number: CN201911380574.5A
Authority: CN
Inventors: 傅峰峰; 江志强; 刘楚奇; 陈伟俊
Original assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-04-07

Abstract

The invention relates to the technical field of fruit processing equipment, in particular to fruit treatment equipment. The position regulator P of the fruit processing equipment comprises a supporting seat, a body arranged on the supporting seat and a rotating friction piece arranged on the body, wherein the rotating friction piece rotates relative to the body to provide friction force for a fruit self-rotating regulating shaft; the body is specifically installed on the supporting seat in a way that the body can rotate at a small angle. The rotating friction piece is in rotating friction drive contact with the body, so that the rotating friction piece can drive the body to rotate at a small angle in the same direction. The rotation friction piece can provide a driving force in the same direction for the body when driving the fruit to rotate, so that the body rotates at a small angle in the same direction with the rotation friction piece relative to the supporting seat, the body drives the rotation friction piece to generate a vertical displacement along the direction, the rotation friction piece additionally provides the fruit with a displacement trend in the direction, and the fruit is not easy to slip.

Description

Fruit processing equipment

Technical Field

The invention relates to the technical field of fruit processing equipment, in particular to fruit processing equipment.

Background

Fruit handling equipment used to further process fruit requires the pitting of the fruit. In order to remove the core accurately without losing excessive pulp, the central axis of the core of the fruit needs to be adjusted to a specified position, such as a vertical direction, and then the fruit after the axis adjustment is moved to the next station for removing the core.

At present, large-scale fruit treatment facility all is equipped with special accent axle station, for example sets up three more and be the friction parts that the circumference array was arranged and the pivot is located same horizontal plane, and fruit is moved by the manipulator or slides in the region that these friction parts enclose through the slide, thereby these friction parts rotate with different speeds and drive fruit and rotate along different directions, until adjusting the kernel center pin of fruit to vertical direction. The friction piece needs to form a certain contact pressure on the fruit, so that enough friction force is formed between the friction piece and the fruit to drive the fruit to rotate. In order to avoid damaging the skin of the fruit, the rubbing member must not be too rough, so that the fruit is liable to slip and it is difficult to adjust the center axis of the core of the fruit to a predetermined position.

Disclosure of Invention

It is an object of the present invention to avoid the above-mentioned disadvantages of the prior art and to provide a fruit handling device which is not prone to slipping when adjusting the axes of the fruit.

In order to achieve the aim, the invention provides fruit processing equipment which comprises a fruit shaft adjusting mechanism, a transversely placed denucleation cutter, a fruit positioning mechanism, a steering driving mechanism and a transverse moving driving mechanism;

the fruit shaft adjusting mechanism comprises at least one position adjuster P, the position adjuster P comprises a supporting seat, a body arranged on the supporting seat and a rotating friction piece arranged on the body, the rotating friction piece rotates relative to the body to provide friction force for the fruit self-rotating adjusting shaft, the body is particularly arranged on the supporting seat in a small-angle rotating mode, the rotating friction piece and the body are in rotating friction drive contact, so that the rotating friction piece can drive the body to rotate at a small angle in the same direction, and the central axis of a kernel of a fruit is vertically arranged;

the fruit positioning mechanism initially enables the fruit to be positioned and placed in a mode that the axis adjustment effect core central axis is vertically arranged;

the steering driving mechanism drives the fruit positioning mechanism to steer so that the fruit rotates along with the steering driving mechanism and is positioned and placed in a mode that the central axis of the fruit pit is transversely aligned with the stone removing cutter;

the transverse moving driving mechanism drives the fruit positioning mechanism which has made the turning to transversely move towards the denucleation cutter until the fruit is sleeved with the denucleation cutter.

Wherein, the body fixedly connected with friction of positioning ware P drives the connecting piece, and the friction drives the connecting piece and rotates the friction piece coaxial and between for rotating friction drive contact.

The rotating friction piece comprises a crawler belt and a synchronous rotating wheel, the crawler belt is used for providing friction force for the fruit self-adjusting shaft, the synchronous rotating wheel rotates synchronously with the crawler belt, the synchronous rotating wheel is empty at the shaft position, the friction driving connecting piece extends into the shaft position of the synchronous rotating wheel, and the synchronous rotating wheel and the friction driving connecting piece are in rotating friction driving contact.

Wherein, synchronous runner is the driven wheel that rotates under the drive of track.

Wherein, be equipped with the sleeve between friction drive connecting piece and synchronous runner, the sleeve entangles friction drive connecting piece and is entangled by synchronous runner, and the sleeve is the friction of rotation between friction drive connecting piece, and with synchronous runner between all drive the contact.

The cross section of the inner wall of the sleeve is a circumference, the cross section of the part sleeved and contacted by the sleeve is circular on the friction drive connecting piece, and the cross section of the part fixed with the body is non-circular.

Wherein, synchronous runner has two, and the axle that the relative supporting seat of body rotated is located between these two synchronous runners, and all is parallel with the pivot of these two synchronous runners.

Wherein, the body is including establishing two driving plates that rotate friction piece both sides and synchronous revolution, and these two driving plates sharing friction drive connecting piece.

The position adjuster P comprises a sliding chute and a limiting rod which are matched with each other, one end of the limiting rod is fixed, and the other end of the limiting rod extends into the sliding chute and can slide in the sliding chute in a reciprocating manner; the sliding chute is arranged on one of the body and the supporting seat, and one end of the limiting rod, which is fixed, is arranged on the other end; the limiting rod limits the body to rotate at a small angle relative to the supporting seat at the sliding distance in the sliding groove.

Wherein, the body and the supporting seat of position regulator P are articulated, and articulated department is equipped with the support torsional spring.

Wherein, be equipped with the positioning shaft between body and supporting seat, positioning shaft one end is fixed and is rotated along with the body on the body, and the other end rotates with the supporting seat to be connected, and the support torsional spring cover is on this positioning shaft.

Wherein, the one end of being connected with the supporting seat rotation on the positioning shaft stretches out towards the direction that the body was kept away from to the supporting seat, and has the briquetting at the end fixing, supports two stabilizer blades of torsional spring and fixes respectively on the outside and the briquetting that the body was kept away from to the supporting seat with the angle that keeps supporting the torsional spring to be in compression state.

Wherein, the position regulator P has at least three, along circumference evenly distributed, carries out the accent axle to same fruit.

And the minimum distance from the limiting supporting plate to the center of the circumference is between the minimum distance from the rotating friction piece to the center of the circumference and the maximum distance.

Wherein, the bearing section is formed to the direction slope of the center of keeping away from the circumference array in spacing layer board top.

This fruit treatment facility's position regulator P's rotation friction piece is when driving fruit pivoted, can provide the drive power of a syntropy for position regulator P's body for the relative supporting seat of position regulator P body makes and rotates the small-angle rotation of friction piece syntropy with the rotation, the body area is rotated the friction piece and is produced the displacement of a vertical direction along this direction, make the rotation friction piece additionally provide the displacement trend of this direction of fruit, so enable fruit and be difficult to skid.

Drawings

Figure 1 is a perspective view of a fruit handling apparatus;

FIG. 2 is a schematic view of the internal structure of the fruit processing apparatus;

FIG. 3 is a longitudinal cross-sectional view of the fruit processing apparatus along the central axis E of the coring knife with the fruit inserted by the coring knife, the fruit spindle adjustment mechanism retracted to the starting end S, and the water guard blocked between the processing end M and the starting end S;

FIG. 4 is a schematic view of the installation structure of the fruit shaft adjusting mechanism and the positioning and transferring mechanism;

FIG. 5 is a schematic structural view of a fruit axis adjusting mechanism;

FIG. 6 is an exploded view of the positioning device P of the fruit shaft adjusting mechanism;

FIG. 7 is a schematic diagram illustrating a state change of the positioner P;

FIG. 8 is a schematic view of the change of state of the fruit positioning mechanism;

FIG. 9 is a side view of the fruit positioning mechanism;

FIG. 10 is a schematic view of the steered structure of the steering driving mechanism;

FIG. 11 is a schematic view showing the positional relationship between the fruit shaft adjusting mechanism and the positioning and transferring mechanism after the steering driving mechanism is steered;

fig. 12 is a schematic view of the mounting structure of the fruit peeling mechanism;

fig. 13 is a front view of a mounting structure of the fruit peeling mechanism of fig. 12;

FIG. 14 is a mounting arrangement for a paring knife and a skin top piece;

fig. 15 is another peeling knife and skin top block mounting arrangement;

fig. 16 is a top view of a mounting structure of the fruit peeling mechanism of fig. 12;

FIG. 17 is a schematic view of the mating structure of the dicing blade and the cutting mat;

FIG. 18 is an exploded view of the avoidance drive mechanism;

fig. 19 is a schematic view of the mounting structure of the tool cleaning mechanism.

FIGS. 1 to 19 include:

a, apples, D, a positioning and transferring mechanism, E, a central shaft of a coring pipe cutter, J, a juicing mechanism, M, a processing end, O, a kernel central shaft, P, a position regulator, S, a starting end, T, a steering shaft, W, a position regulating rotating shaft and X, the central shaft of a fruit shaft regulating mechanism;

1-frame, 11-side plate, 12-water baffle, 120-hollow place, 121-cleaning cover, 122-spiral nozzle, 123-water guide plate, 13-camera, 14-panel, 15-top plate, 151-arc groove;

2-fruit shaft adjusting mechanism, 20-limit supporting plate, 201-supporting section, 21-supporting component, 211-supporting seat, 2111-sliding groove, 212-adjusting shaft, 213-supporting torsion spring, 214-pressing block, 22-body, 221-transmission mounting plate, 23-limiting rod, 24-shaft adjusting motor, 25-driving wheel, 26-synchronous rotating wheel component, 261-driven wheel, 262-sleeve, 263-friction driving connecting piece, 27-crawler;

3-avoidance driving mechanism, 31-rotating shaft, 32-driving motor, 33-radial connecting rod, 34-water supply pipe, 341-water inlet joint, 342-nozzle joint;

4-denucleation cutter, 41-denucleation tube knife, 411-blade, 42-core pushing rod;

5-fruit peeling mechanism, 51-peeling knife, 52-epidermis top block, 521-mounting rack, 522-fine adjustment screw, 53-swing lever, 54-arc movement driving device, 55-adjustment block, 56-block driving mechanism, 561-disk cam, 562-driven plate, 563-cam tension spring, 564-translation connecting rod, 57-mounting seat;

6-fruit slicing mechanism, 61-slicing knife, 611-radial slicing, 612-fixing ring, 62-cutting pad, 621-cushion block, 63-driving rod;

7-fruit positioning mechanism, 71-mounting plate, 72-clamping device, 721-clamping connecting rod, 7211-clamping head, 7212-straight line section, 722-mounting block, 73-clamping tension spring, 74-guide block, 741-driving shaft, 742-roller, 75-guide mounting plate, 751-limit groove, 76-driving motor;

8-steering driving mechanism, 81-rotating shaft frame, 82-steering motor, 83-steering block, 84-vertical limited block, 85-horizontal limited block;

9-transverse moving driving mechanism, 91-sliding rail, 92-gear, 93-rack;

10-cutter cleaning mechanism, 101-water valve, 102-water inlet pipe, 103-water distribution pipe, 104-spray head.

Detailed Description

The fruit processing equipment mainly relates to figures 1-7.

Fruit juicing equipment is fruit deep processing equipment and can be used for fully automatically juicing stored fruits into fruit juice. The control system of the fruit juicing equipment firstly controls the fruit processing equipment in the fruit juicing equipment to remove kernels and peels and cut the fruits before the fruits such as apples and pears are sent to the juicing mechanism to be juiced, so that the kernels and the peels which are inconvenient to be used for juicing are removed, the pulp remained in the fruits is cut into the fruit blocks, and the juicing mechanism of the fruit juicing equipment is used for juicing.

As shown in figure 1, two side plates 11 are symmetrically arranged on the front side and the rear side of a machine frame 1, the right end of each side plate 11 is a starting end S, the left end of each side plate 11 is a processing end M, and the starting end S and the processing end M are separated by a water baffle 12. Under the control of a controller (hereinafter referred to as "controller") of the fruit processing apparatus, the fruit-axis-adjusting mechanism 2 adjusts the axis of a fruit, such as an apple a, at a starting end S such that a core center axis O of the apple a (i.e., a straight line connecting a stem end to a stalk end of the apple a) is erected. Referring to fig. 2, the coring tool 4 of the fruit processing apparatus is disposed at the processing end M, and the coring knife 41 of the coring tool 4 is transversely disposed. The coring knife 41 may alternatively be another spiale rotating device, such as a fork knife. The controller controls the positioning and transferring mechanism D to position and turn the apple A after the shaft adjustment of the fruit shaft adjusting mechanism 2, so that the central axis O of the core of the apple A is aligned with the central axis E of the coring pipe cutter 41. The controller controls the avoidance driving mechanism 3 to drive the water baffle 12 to rotate and lift towards the start end S anticlockwise, and the given displacement conveying mechanism D reserves a channel leading to the processing end M. The controller controls the positioning and transferring mechanism D to convey the fruit shaft adjusting mechanism 2 and the apple A to the coring pipe cutter 41, the apple A is inserted by the coring pipe cutter 41 along a central axis E, the positioning and transferring mechanism D drives the fruit shaft adjusting mechanism 2 to return from the processing end M to the starting end S after the positioning of the apple A is released, the controller controls the positioning and transferring mechanism D to drive the fruit shaft adjusting mechanism 2 to recover to the state shown in the figure 1, and the fruit shaft adjusting mechanism 2 waits for shaft adjustment of the next fruit; the controller controls the avoidance driving mechanism 3 to drive the water guard 12 to restore the state where it is stopped between the processing end M and the starting end S. FIG. 3 is a longitudinal sectional view of the fruit processing apparatus along the central axis E of the coring knife 41 with the apple A inserted by the coring knife 41 of the coring knife 4, the fruit spindle adjusting mechanism 2 retracted to the starting end S, and the water guard 12 blocked between the processing end M and the starting end S. The controller controls the fruit peeling mechanism 5 arranged at the processing end M to peel the apple A inserted by the coring pipe knife 41, the controller controls the fruit cutting mechanism 6 to cut the pulp obtained after peeling, and the fruit blocks obtained after cutting downwards fall into the juicing mechanism J of the fruit juicing equipment to be juiced.

Taking the processing of the apple a as an example, the fruit shaft adjusting mechanism 1, the positioning and transferring mechanism D, the fruit peeling mechanism 5 and the fruit dicing mechanism 6 in the fruit processing equipment will be specifically described.

First, fruit shaft adjusting mechanism 2 and positioning and transferring mechanism D

The installation structure of the fruit shaft adjusting mechanism 2 and the positioning and transferring mechanism D is shown in fig. 4, the positioning and transferring mechanism D is arranged between two side plates 11 and comprises a fruit positioning mechanism 7, a steering driving mechanism 8 and a transverse moving driving mechanism 9, and the fruit shaft adjusting mechanism 2 is arranged on the fruit positioning mechanism 7. Fruit positioning mechanism 7 includes movable mounting panel 71 and clamping device 72, and fruit shaft adjusting mechanism 2 establishes at mounting panel 71 front side and the center pin X of fruit shaft adjusting mechanism 2 is coaxial with the center pin of mounting panel 71, and the fruit that is used for placing apple A places the position and establishes in mounting panel 71 front side center pin department, and clamping device 72 can the centre gripping put on fruit shaft adjusting mechanism 2 and aim at the apple A that the fruit placed the position. The fruit positioning mechanism 7 is disposed between the two shaft brackets 81 of the steering driving mechanism 8, and two ends of the mounting plate 71 are respectively mounted on the two shaft brackets 81 of the steering driving mechanism 8 in a coaxial (steering shaft T) rotatable manner, so that the mounting plate 71 can drive the fruit shaft adjusting mechanism 2 and the apple a to rotate together with the horizontal steering shaft T about the shaft brackets 81 of the steering driving mechanism 8. The two horizontally arranged and mutually symmetrical slide rails 91 of the traverse driving mechanism 9 are respectively arranged on the inner walls of the two side plates 11 of the frame 1, the steering driving mechanism 8 is arranged between the two slide rails 91, and the two mutually symmetrical rotating shaft frames 81 of the steering driving mechanism 8 are respectively arranged on the two slide rails 91 through sliding blocks, so that the steering driving mechanism 8 can slide along the slide rails 91.

Initially, the controller controls the positioning and transferring mechanism D to transfer the fruit shaft adjusting mechanism 2 to the starting end S in fig. 1, and the central axis X of the fruit shaft adjusting mechanism 2 is aligned with the camera 13 erected above the starting end S. The controller controls the robot (not shown) to feed the apples a onto the fruit-spindle-adjusting mechanism 2. The controller controls the camera 13 as an image capturing unit to shoot the apple A placed on the fruit shaft adjusting mechanism 2 in alignment, and controls the shaft adjusting action of the fruit shaft adjusting mechanism 2 according to the shot fruit image.

The fruit shaft adjusting mechanism 2 comprises three positioners P (P1, P2, P3) uniformly distributed along a circumference with a center axis X of the fruit shaft adjusting mechanism 2 as a center, each positioner P is fixedly arranged on the mounting plate 71 through two groups of symmetrically arranged support assemblies 21, outer surfaces of the crawler belts 27 of the three positioners P (P1, P2, P3) facing the center axis X are inclined outwards at the same angle, so that the apple a can be positioned at a fruit placing position aligned with the center axis X of the fruit shaft adjusting mechanism 2 when being held together by the crawler belts 27 of the three positioners P (P1, P2, P3), the outer surfaces of the crawler belts 27 serve as rotating friction members to provide friction force for the fruit self-rotating shaft adjusting mechanism, and the three positioners P (P1, P2, P3) are used for shaft adjusting of the apple a together. Install spacing layer board 20 between two adjacent position adjusters P, every position adjuster P can both rotate relative fruit shaft adjusting mechanism 2's center pin X for the distance of each position adjuster P to center pin X changes. The minimum distance from the limiting supporting plate 20 to the central axis X of the fruit shaft adjusting mechanism 2 is between the minimum distance and the maximum distance from each position adjuster P to the central axis X, and the apples A can be prevented from falling from an inner ring surrounded by the three position adjusters P (P1, P2 and P3). The top of the limiting supporting plate 20 is inclined towards the direction far away from the central axis X to form a supporting section 201, so that the apple A is prevented from falling between the two positioners P.

The exploded structure of the positioner P is shown in fig. 6, the two bodies 22 are transmission plates which are oppositely arranged and synchronously rotate, a driving wheel 25 is arranged at the position close to the middle section between the two bodies 22, a transmission mounting plate 221 is arranged at the position on the left body 22 opposite to the driving wheel 25, and a shaft adjusting motor 24 is arranged on the transmission mounting plate 221 and drives the driving wheel 25 to rotate; the upper and lower sections between the two bodies 22 are provided with a synchronizing wheel assembly 26, and a crawler belt 27 is wound around the periphery of the area enclosed by the drive wheel 25 and the two synchronizing wheel assemblies 26. The lower part of the figure shows the installation structure of the synchronous rotating wheel assembly 26, the upper part of the figure shows the disassembly structure of the synchronous rotating wheel assembly 26, the synchronous rotating wheel assembly 26 comprises a driven wheel 261 serving as a rotating friction piece (synchronous rotating wheel), the driven wheel 261 is empty at the shaft position, a friction driving connecting piece 263 extends into the shaft position of the driven wheel 261, two sleeves 262 with the inner wall cross sections being circumferences are respectively inserted between the driven wheel 261 and the friction driving connecting piece 263 from two ends of the shaft position of the driven wheel 261, so that the sleeves 262 are sleeved on the friction driving connecting piece 263 and sleeved on the driven wheel 261, the cross sections of the parts, sleeved and contacted by the sleeves 262, on the friction driving connecting piece 263 are circular, the driven wheel 261, the sleeves 262 and the friction driving connecting piece 263 are coaxially arranged, and the sleeves 262 are in rotating friction contact with the friction driving connecting piece 263 and the driven wheel 261. The two ends of the friction driving connecting piece 263 respectively extend out of the two ends of the axial position of the driving wheel 261 towards the body 22 and are fixedly connected with the body 22, and the cross section of the part where the friction driving connecting piece 263 is fixed with the body 22 is square or other shapes except circular.

The two bodies 22 are respectively mounted on two sets of supporting components 21 which are oppositely arranged, the lower right side of the drawing shows an exploded structure of the supporting components 21, the supporting components 21 comprise a supporting seat 211, an adjusting shaft 212, a supporting torsion spring 213 and a pressing block 214, the lower left side of the drawing shows an assembling structure of the supporting components 21, and the adjusting shaft 212 passes through the supporting seat 211 and can rotate relative to the supporting seat 211 by taking an adjusting rotating shaft W as an axis. The positioning rotation shaft W is parallel to the axes of the driving wheel 25 and the two driven wheels 261, but not in the same plane. One end of the positioning shaft 212 is fixed on the body 22, the other end of the positioning shaft 212 extends towards the direction of the supporting seat 211 far away from the body 22, a pressing block 214 rotating along with the positioning shaft 212 is fixed at the end part of the left end of the positioning shaft 212, and two support legs of the supporting torsion spring 213 are respectively fixed on the outer side of the supporting seat 211 far away from the body 22 and the pressing block 214, so that the body 22 is installed on the supporting seat 211 in a hinged mode through the supporting torsion spring 213. The body 22 deflects towards the Z direction relative to the support base 211 under the action of gravity G, the positioning shaft 212 and the pressing block 214 fixed at the end of the positioning shaft 212 deflect towards the Z direction together under the driving of the body 22, the support leg of the support torsion spring 213 fixed on the pressing block 214 deflects towards the Z direction together with the pressing block 214, the support torsion spring 213 is twisted and deformed to apply a reverse supporting force F to the pressing block 214, the more the pressing block 214 deflects towards the Z direction, the more the degree of the torsion deformation of the support torsion spring 213 is, and the larger the reverse supporting force F applied to the pressing block 214 is. This counter-support force F on the pressing piece 214 is transmitted to the body 22 via the positioning shaft 212, preventing the body 22 from deflecting further until the counter-support force F and the force of gravity G on the body 22 are balanced, the body 22 is obliquely arranged on the supporting seat 211, and the caterpillar 27 inclines with the body 22 to support the fruit.

The controller controls the camera 13 in fig. 1 and 4 to shoot towards the apple a to obtain a posture image of the apple a, and the obtained image is analyzed by using a camera calibration algorithm (or other image recognition technologies) in the prior art, so that size data such as the position state of the central axis O of the kernel of the apple a, the length L from the stem end to the pedicle end of the apple a, the profile curve of the outer contour of the fruit peel and the like are obtained. The controller controls the rotation directions of the three positioners P according to the current position state of the kernel central axis O of the apple A, so that the kernel central axis O of the apple A is vertically arranged and is overlapped with the central axis X of the fruit shaft adjusting mechanism 2 as much as possible.

As shown in fig. 5, the apple a is placed with its stem end facing downward to the right and its stem end facing away from the stem end facing upward to the left, and the kernel center axis O is inclined upward to the left with respect to the center axis X. The controller controls the positioner P1 to adjust the axes of the apple A in the Z direction and the positioner P2 to adjust the axes of the apple A in the Z' direction.

The position adjuster P1 adjusts the axes of the apples A in the Z direction, as shown in FIG. 6, the axis adjusting motor 24 drives the driving wheel 25 to rotate in the Z direction, and the caterpillar track 27 is driven by the driving wheel 25 to move around the Z direction; the two driven wheels 261 are driven by the caterpillar 27 to synchronously rotate along the Z direction, the driven wheels 261 rotate relative to the sleeves 262 and provide a driving friction force f towards the Z direction for the sleeves 262, the sleeves 262 transmit the driving friction force f towards the Z direction to the friction driving connecting piece 263, and one end of the friction driving connecting piece 263 fixed on the body 22 drives the body 22 to rotate in the same direction. The body 22 receives the common acting force C which drives the friction force F and the component of the gravity G in the direction, the common acting force C makes the body 22 drive the adjusting shaft 212 and the pressing block 214 to continuously deflect in the Z direction, the pressing block 214 drives the supporting torsion spring 213 which is in the torsional deformation state to continuously twist, the reverse supporting force F applied to the pressing block 214 by the supporting torsion spring 213 is increased accordingly, until the reverse supporting force F and the common acting force C received by the body 22 reach a balance, and the body 22 does not deflect in the Z direction any more.

The positioner P2 adjusts the axes of the apple a in the Z 'direction, the axis-adjusting motor 24 drives the driving wheel 25 to rotate in the Z' direction, the driven wheel 261 provides a driving friction force f 'in the Z' direction, and the driving friction force f 'is opposite to the action direction of the gravity G on the body 22, so that the friction drives the connecting piece 263 to drive the body 22 to rotate in the Z' direction. The pressing piece 214 rotates along with the body 22 in the direction Z ', the supporting torsion spring 213 rotates to reduce the degree of torsional deformation, and the reverse supporting force F applied to the pressing piece 214 by the supporting torsion spring 213 decreases until the common acting force C' applied to the body 22 together with the driving friction force F 'is balanced with the acting force of the gravity G on the body 22, and the body 22 no longer deflects in the direction Z'.

The size of the driving friction force f limits the limit angle of the body 22 which can rotate relative to the supporting seat 211 when the position adjuster P adjusts the shaft, and the driving friction force f of the position adjuster P is small, so that the body 22 can only rotate relative to the supporting seat 211 by a small angle. Furthermore, a limiting rod 23 is fixedly connected to one side of the body 22 facing the supporting seat 211, a sliding slot 2111 matched with the limiting rod 23 is formed in one side of the supporting seat 211 facing the body 22 (the limiting rod 23 can also be fixed on the supporting seat 211, and the sliding slot 2111 is formed in the body 22), the limiting rod 23 extends into the sliding slot 2111 and can slide in the sliding slot 2111 in a reciprocating manner along with the rotation of the body 22, and the sliding distance of the limiting rod 23 in the sliding slot 2111 limits that the body 22 can only rotate at a small angle relative to the supporting seat 211.

It can be seen from the above that, when the track 27 of the positioner P drives the fruit to rotate, the body 22 of the positioner P can be provided with a driving force in the same direction, so that the body 22 rotates relative to the support base 211 at a small angle in the same direction as the track 27 to drive the track 22 to generate a vertical displacement along the direction, and the track 27 additionally provides the fruit with a displacement trend in the same direction, so that the fruit is not easy to slip. In fig. 7, 7(a) to 7(b) show that when the positioning device P1 adjusts its axis in the Z direction, the caterpillar 27 moves the fruit in the Z direction away from the central axis X and tends to move vertically upwards; conversely, when the positioning device P2 is adjusted in the direction Z ', the tracks 27 move the fruit in the direction Z' to a position close to the central axis X and have a downward vertical movement tendency, as shown in fig. 7(b) to 7 (a). When the positioners P1 and P2 in fig. 5 adjust the axis of the apple a, the lower right stem end of the apple a rotates downward toward the center axis X, and the upper left pedicle end of the apple a rotates upward toward the center axis X, so that the apple a is gradually adjusted toward the vertical center axis O. The above-mentioned process of adjusting the axes of the apple a is only a simplified example, and the specific control program may be adaptively designed by using a control algorithm such as a fuzzy PID algorithm in the prior art, which is not described herein again.

After the apple a is adjusted to the central axis O of the kernel of the fruit to be erected, the controller controls the positioners P1 and P2 to stop adjusting the axis of the apple a, the positioners P1 and P2 refer to fig. 6, the axis-adjusting motor 24 does not drive the driving wheel 25 to rotate any more, the caterpillar 27 does not move any more, so the driven wheel 261 does not provide driving friction any more, the reverse supporting force F and the acting force of the gravity G on the body 22 reach balance again, the body 22 drives the caterpillar 27 to restore the state of being obliquely arranged on the supporting seat 211 before adjusting the axis, and the apple a supported by the caterpillar 27 is driven to move almost transversely, so that the central axis O of the kernel of the apple a approaches to the central axis X of the fruit axis-adjusting mechanism 2 and even coincides with the central axis X.

Under the control of the controller, the fruit positioning mechanism 7 of the positioning and conveying mechanism D enables the apple A to be positioned and placed in a mode that the axis adjustment result kernel central axis O is vertically placed. As shown in fig. 8(a), the fruit positioning mechanism 7 has a fruit placing position disposed at a front central axis X of the mounting plate 71, two clamping links 721 with the same structure of the clamping device 72 are disposed in a mirror image manner with the central axis X as an axis and rotate synchronously, and the clamping links 721 have a lever structure as follows:

the fulcrum is provided at a mounting block 722 below the mounting plate 71,

the front section of the lever is arched in the direction away from the central axis X to avoid the fruit placing position, the clamping tension spring 73 applies a tension force to the front section of the lever in the direction towards the central axis X, the front end of the lever extends out of the clamping head 7211 towards the fruit placing position,

the front part of the rear section of the lever is in a straight line with the rear part of the front section of the lever, the backward extending direction of the rear section of the lever is close to the central axis X, and the rear section of the lever arches in the direction close to the central axis X and extends out of a straight line segment 7212 parallel to the front part of the rear section of the lever. The clamp device 72 is provided with a guide block 74 which stops outside the straight section 7212 of the clamp link 721 to resist the pull of the clamp tension spring 73 on the front section of the lever.

As shown in fig. 9, the guide mounting plate 75 is fixed below the mounting plate 71, the driving motor 76 is mounted on the left side of the guide mounting plate 75, and the driving shaft of the driving motor 76 passes through the guide mounting plate 75 to the right, extends to the middle of the guide block 74, and is inserted into the driving shaft 741 of the guide block 74. The driving motor 76 is a driving device for driving the guide block 74 to rotate, and specifically, the driving motor 76 drives the driving shaft 741 to rotate so as to drive the guide block 74 to rotate around the driving shaft 741 in the plane of the two clamping links 721. The end of the guide block 74, which blocks the rear section of the lever, is provided with a roller 742, the rotation axis of the roller 742 is parallel to a driving shaft 741 driven by the driving motor 76 to rotate the guide block 74, and the roller 742 rolls smoothly on the straight section 7212, so that the two clamp links 721 can be smoothly opened and closed outward. The guide mounting plate 75 is provided with a limiting groove 751, and one end of the guide block 74, which is away from the roller 742, is inserted into the limiting groove 751 and is limited to reciprocate in the limiting groove 751, thereby limiting the angle at which the two clamping links 721 open outward and close inward.

The drive motor 76 drives the guide block 74 to move toward and away from the central axis X in fig. 8(a), so that: when the roller 742 of the guide block 74 is far from the central axis X, the lever front section of each clamping link 721 is close to the central axis X under the pulling force of the clamping tension spring 73, so that the clamping heads 7211 of each clamping link 721 are changed from the fully opened state shown in fig. 8(a) to the half opened state shown in fig. 8(b), and finally to the closed state shown in fig. 8(c), and the clamping heads 7211 of the two clamping links 721 clamp the fruit together; when the roller 742 of the guide block 74 approaches the central axis X, the lever front section of each clamping link 721 moves away from the central axis X against the pulling force of the clamping tension spring 73, so that the clamping head 7211 of each clamping link 721 releases the clamping of the fruit.

The lever rear sections of the two holding links 721 of the fruit positioning mechanism 7 are arched in the direction close to the central axis X, the driving motors 76 of the two holding links 721 are then closer to the central axis X, the holding links 721 and the driving motors 76 are gathered at the center of the fruit positioning mechanism 7, the whole layout of the fruit positioning mechanism 7 is more compact, and the occupied space is less.

After the fruit positioning mechanism 7 clamps the apple A, the controller controls the steering driving mechanism 8 to drive the fruit shaft adjusting mechanism 2 to steer towards the processing end M together with the apple A, and controls the transverse moving driving mechanism 9 to convey the apple A to the coring pipe cutter 41.

As shown in fig. 10, the steering driving mechanism 8 includes two pivot brackets 81 respectively disposed at two sides of the mounting plate 71, two side portions of the back surface of the mounting plate 71 are respectively fixed with a steering block 83, the steering blocks 83 at two ends of the mounting plate 71 are respectively connected with the pivot brackets 81 at the side where the mounting plate is disposed in a rotatable manner around a steering axis T, the steering block 83 disposed at the right end of the mounting plate 71 is driven by a steering motor 82 to rotate relative to the pivot brackets 81, so as to drive the mounting plate 71 to rotate in the same direction, and the steering block 83 disposed at the left end of the mounting plate 71 rotates in the same direction with the mounting plate 71. The inner wall of the rotating shaft frame 81 is provided with a vertical limiting block 84, the steering driving mechanism 8 drives the fruit positioning mechanism to rotate forwards, and the rear side of the mounting plate 71 horizontally rests on the top surface of the vertical limiting block 84. The inner wall of the rotating shaft frame 81 is provided with a transverse limiting block 85 (see fig. 11), the steering driving mechanism 8 drives the fruit positioning mechanism to steer, and the rear side of the mounting plate 71 is vertically attached to the front side surface of the transverse limiting block 85.

The transverse driving mechanism 9 is provided with a rack 93 parallel to the sliding rail 91, the steering driving mechanism 8 is driven by a gear 92 driven by a motor to move along the rack 93, so as to drive the rotating shaft frame 81 to slide on the sliding rail 91, the sliding rail 91 of the transverse driving mechanism 9 extends to the position of the water baffle 12 from the starting end S towards the processing end M as shown in fig. 2, the steering driving mechanism 8 drives the fruit positioning mechanism 7 to rotate 90 degrees anticlockwise towards the processing end M on the starting end S, so that the central axis O of the core of the apple A is transversely aligned with the central axis E of the coring pipe cutter 41, and the end of the base of the apple A faces the coring pipe cutter 41. The transverse moving driving mechanism 9 drives the fruit shaft adjusting mechanism 2 and the apple A which are positioned by the fruit positioning mechanism 7 and turned by the turning driving mechanism 8 to horizontally slide along the slide rail 91, and the apple A can be conveyed to the coring knife 41 in a direction that the central axis O of the apple core is aligned with the central axis E of the coring knife 41 until the apple A is inserted by the coring knife 41 along the central axis E direction (namely the central axis O direction of the apple core).

Secondly, a denucleation cutter 4, a fruit peeling mechanism 5 and a fruit dicing mechanism 6

Fig. 12 shows the internal structure of the processing end M of the fruit handling device, with the drive for the coring tool 4 mounted behind the panel 14 (not shown), with the coring knife 41, which is hollow inside, disposed transversely on the panel 14 and with the cutting edge at the end remote from the panel 14. The apple A is inserted by the coring pipe cutter 41, and the core of the apple A enters the pipe wall of the coring pipe cutter 41; the pulp of the apple A is remained outside the tube wall of the coring tube knife 41, two blades 411 are symmetrically extended out along the radial direction on the outer side wall of the coring tube knife 41 by taking the central axis E as an axis, and the two blades 411 clamp the pulp of the apple A. The drive arrangement of the coring tool 4 drives the coring knife 41 to rotate about the central axis E, and the two blades 411 rotate with the coring knife 41 to thereby drive the apple a to rotate about the central axis E of the coring knife 41. The coring knife 41 is provided with a coring lever 42 that extends along the central axis E of the coring knife 41 to push the core out of the coring knife 41.

As shown in fig. 13, the fruit peeling mechanism 5 is mounted on the top plate 15, and the peeling knife 51 of the fruit peeling mechanism 5 extends downward to the side of the coring knife 41, thereby peeling the apple a inserted by the coring knife 41. The fruit peeling mechanism 5 includes a swing lever 53 that can swing near the central axis E of the coring knife 41 and away from the central axis E of the coring knife 41. The upper end of the oscillating lever 53 is mounted on an arc-motion drive device 54 by means of a driven torsion spring which causes the oscillating lever 53 to have a tendency to oscillate towards the central axis E close to the coring knife 41. The peeling knife 51 and the peel top block 52 are arranged at the tail end of the swinging rod 53, when the apple A rotates around the central shaft E along with the coring knife 41, the swinging rod 53 drives the peeling knife 51 and the peel top block 52 to swing to be close to the central shaft E, so that the peeling knife 51 and the peel top block 52 can automatically adapt to the non-smooth surface of the fruit.

The position of the peeling knife 51 and the peel apex block 52 is shown in fig. 14, the peeling knife 51 is slightly closer to the central axis E of the peeling knife 41 than the peel apex block 52, the cutting edge of the peeling knife 51 cuts into the peel of the apple a and the peel apex block 52 abuts against the peel of the apple a beside the cutting edge of the peeling knife 51, and the difference in distance between the peeling knife 51 and the peel apex block 52 to the central axis E determines the thickness of the peeled peel. A mounting frame 521 is fixed on the swing rod 53 at a position above the peeling knife 51, the lower end of the mounting frame 521 is wound below the peeling knife 51 from the side of the peeling knife 51 far away from the central axis E, the top skin block 52 is mounted at the lower end of the mounting frame 521 in a manner of adjustable mounting angle, specifically, one end of the top skin block 52 far away from the central axis E is mounted at the lower end of the mounting frame 521 by a fastening screw, the fastening screw is unscrewed, the top skin block 52 longitudinally rotates relative to the peeling knife 51 with the end far away from the central axis E as the axis, so as to adjust the distance from the top skin block 52 to the central axis E, and then the fastening screw is tightened to fix the distance.

The above-described manner of adjusting the distance between the peeling knife 51 and the top skin block 52 to the central axis E by tightening the screws may be changed to the manner of adjusting the relative positions of the peeling knife 51 and the top skin block 52 by fine adjustment screws 522 as shown in fig. 15. The threaded end of the fine adjustment screw 522 abuts the side of the end of the skin top block 52 remote from the central axis E away from the peeling knife 51, and the fine adjustment screw 522 blocks the skin top block 52 in a direction away from the peeling knife 51 and can be rotated to approach the peeling knife 51 and away from the peeling knife 51 to adjust the extreme position of the skin top block 52 adjacent to the peeling knife 51.

By means of fig. 14 or fig. 15, the peeling knife 51 and the peel top block 52 are mounted at the end of the oscillating bar 53 in such a way that the relative positions can be finely adjusted, so that the difference in distance between the peeling knife 51 and the peel top block 52 to the central axis E can be finely adjusted before peeling starts, thereby adjusting the thickness of the peeled peel, and facilitating the operation. In addition, the peeling blade 51 is detachably attached to the distal end of the swing lever 53 for replacement.

As shown in fig. 13, the swing lever 53 is blocked by the adjustment block 55 of the fruit peeling mechanism 5 in the direction approaching the central axis E, and the adjustment block 55 can be moved toward and away from the central axis E to adjust the limit position of the swing lever 53 approaching the central axis E. The adjustment stopper 55 is moved closer to the center axis E and away from the center axis E by the stopper drive mechanism 56. As shown in fig. 16, the adjustment stopper 55 is an arc-shaped guide plate, and the shape of the portion that receives the swing lever 53 is an arc that is curved toward the swing lever 53. The pivot point of the swing lever 53 is provided above the adjustment stopper 55, and its projection on the horizontal plane of the adjustment stopper 55 is located between the position where the adjustment stopper 55 is closest to the central axis E and the position where it is farthest from the central axis E. The top plate 15 is provided with an arc-shaped groove 151 matched with the shape of the warp of the apple, the swinging rod 53 penetrates through the arc-shaped groove 151, an arc-moving driving device 54 for driving the swinging rod 53 to move along the arc-shaped groove 151 is arranged on the left side of the adjusting stop 55, and the arc-moving driving device 54 extends rightwards to the upper part of the arc-shaped groove 151 so as to be hinged with a swinging fulcrum at the upper end of the swinging rod 53. The stopper drive mechanism 56 is a cam mechanism including a disc cam 561, a driven plate 562, and a cam tension spring 563 that pulls the driven plate 562 toward the disc cam, and the disc cam 561 rotates to horizontally move the driven plate 562 closer to or away from the arc-shaped groove 151. One end of a translation link 564 is fixed to the driven plate 562, and the other end passes through the mounting seat 57 and then is fixed to the adjustment stopper 55, and the adjustment stopper 55 is fixed to the driven plate 562 through the translation link 564 and reciprocates left and right with the driven plate 562, thereby pushing the swing lever 53 closer to and away from the central axis E. The controller can adaptively adjust the distance between the adjusting block 55 and the central axis E according to the radius of the fruit to be peeled, so that the fruit peeling device can adapt to fruits with different sizes, and the peeling knife 51 arranged at the tail end of the oscillating rod 53 peels the fruit at a position matched with the radius of the fruit.

The main working process of the fruit peeling mechanism 5 is as follows:

1) the controller acquires and analyzes an image of the apple A shot in the axis adjusting process, or directly acquires size data such as a peel outline curve and the like of the apple A to be processed in the axis adjusting process;

2) before peeling begins, the controller controls the stop driving mechanism 56 to drive the adjusting stop 55 to move close to the central axis E or away from the central axis E according to the outline curve of the fruit peel so as to adjust the limit position of the swinging rod 53 close to the central axis E, and the limit position is adapted to the minimum distance from the outline on the outline curve of the fruit peel to the central axis E, so that fruits with different sizes can be peeled adaptively.

3) In the peeling process, the controller acquires the position of the arc-shaped driving device 54 driving the oscillating rod 53 to move along the arc-shaped groove 151, controls the baffle driving mechanism 56 to drive the adjusting baffle 55 according to the variation trend of the outline curve of the fruit peel at the position, and drives the adjusting baffle 55 to move close to the central axis E or far away from the central axis E, so that the limit position of the oscillating rod 53 close to the central axis E is matched with the distance from the outline on the outline curve of the fruit peel to the central axis E in real time, and the fruit peeling machine is suitable for the sizes of different positions of the fruit.

As shown in FIG. 3, the fruit dicing mechanism 6 includes a dicing blade 61 and a dicing pad 62, the coring knife 41 is inserted into the fruit so that the dicing blade 61 performs dicing, and the dicing blade 61, the dicing pad 62, and the coring knife 41 are coaxial. The cut pad 62 is notched at the central axis E so that the cut pad 62 can be fitted over the wing 411 of the coring knife 41, and the cut pad 62 retains the apple a on the side of the apple a adjacent the panel 14. The driving rod 63 as a closing driving mechanism is arranged on one side of the cutting pad 62 far away from the cutting knife 61 and is used for driving the cutting pad 62 to move rightwards along the central axis E to be close to the cutting knife 61, the pulp of the apple A inserted outside the coring pipe knife 41 is pushed towards the cutting knife 61 by the cutting pad 62 until the pulp passes through the cutting knife 61 to form a fruit block, and the fruit block falls into the juice extracting mechanism J of the fruit extracting device from one side of the cutting knife 61 towards the starting end S for extracting juice. The dicing blade 61 is vertically mounted on the water guard 12, the matching structure of the dicing blade 61 and the cutting mat 62 is as shown in fig. 17, the dicing blade 61 is provided with eight radial slices 611 arranged around a central axis E, two of the radial slices 611 are horizontally arranged, and a fixing ring 612 for connecting the inward ends of the radial slices 611 is provided at the central axis E of the dicing blade 61. Eight cushion blocks 621 protrude from the cutting pad 62 facing the cutting blade 61, a slot aligned with the radial cut-out piece 611 is left between two adjacent cushion blocks 621, the cushion blocks 621 are also distributed around the central axis E, and the slot is aligned with the radial cut-out piece 611 one by one. The driving rod 63 drives the cutting pad 62 to move toward the dicing blade 61 until the radial cut piece 611 falls into the slot without touching the cutting pad 62. The cushion block 621 of the cutting pad 62 is pressed against one end of the fruit, the radial slice 611 of the cutting knife 61 cuts into the fruit pulp from the other end of the fruit, the radial slice 611 sinks into the slot to completely cut the fruit, and the radial slice 611 does not touch the cutting pad 62, so that the cutting edge of the cutting knife 61 is not damaged.

In the scheme, as shown in fig. 3, the dicing knife 61 is arranged on the water baffle 12 opposite to the coring pipe knife 41, the cutting pad 62 is sleeved outside the coring pipe knife 41, residues of fruit peel and fruit kernel and the like fall below the coring pipe knife 41 in the coring and peeling processes, the fruit pulp is pushed towards the dicing knife 61 by the cutting pad 62 in the dicing process until the fruit pulp passes through the dicing knife 61 to form fruit blocks and falls to one side of the dicing knife 61 far away from the coring pipe knife 41, and waste materials and the fruit blocks are separated at different positions and cannot be mixed together. The avoidance driving mechanism 3 is arranged at the position of the water baffle 12 and used for driving the water baffle 12 and the slicing knife 61 to temporarily avoid to the side, so that a channel for the fruit positioning mechanism D to pass through and send the apple A to the coring pipe knife 41 is reserved, and after the fruit positioning mechanism D drives the fruit shaft adjusting mechanism 2 to return to the starting end S, the avoidance driving mechanism 3 drives the water baffle 12 and the slicing knife 61 to recover to be arranged between the coring pipe knife 41 and the fruit positioning mechanism D.

The avoidance driving mechanism 3 is shown in fig. 18, the cutting blade 61 is installed at the hollow 120 in the middle of the splash guard 12, the rotating shaft 31 is installed at the top of the cutting blade 61 and the top of the splash guard 12, and the driving motor 32 drives the rotating shaft 31 to rotate so as to drive the splash guard 12 to rotate and lift together with the cutting blade 61. The rotating shaft 31 is a square shaft, the top plane of the water baffle 12 is fixedly attached to the bottom plane of the square shaft, and the top of the dicing knife 61 is also fixed to the top of the water baffle 12. A washing cover 121 fitted with the dicing blade 61 is provided on the front side of the splash plate 12, and the washing cover 121 is opened at the bottom so that fruit pieces fall. The spiral nozzle 122 is arranged at the position where the cleaning cover 121 covers the dicing blade 61, the cover body of the cleaning cover 121 is provided with an opening so that the nozzle joint 342 is mounted on the spiral nozzle 122, one end of the hard water supply pipe 34 is inserted into the water inlet of the nozzle joint 342 positioned at the outer side of the cleaning cover 121 and then communicated with the spiral nozzle 122, and the spiral nozzle 122, the water supply pipe 34, the water inlet joint 341 of the water supply pipe 34 and the nozzle joint 342 form a dicing blade cleaning structure. The other end of the water supply pipe 34 is fixed at the end of the rotating shaft 31 through a radial connecting rod 33, so that the water supply pipe 34 is in transmission connection with the rotating shaft 31, the water supply pipe 34 is parallel to the rotating shaft 31, and the rotating shaft 31 is driven by the driving motor 32 to drive the dicing cutter 61 to rotate and lift while driving the water supply pipe 34 to lift at the same angle.

When the water deflector 12 is rotatably lifted due to the escape, the rotation shaft 31 provides a rotary lifting force from the top to the water deflector 12, and the hard water supply pipe 34 applies a lifting force to the cleaning cover 121. The water guard 12 is simultaneously applied on the top plane by the rotating shaft 31 and the lifting force applied on the cleaning cover 121 by the water supply pipe 34, the water guard 12 cannot randomly rock in the lifting process, wherein the water supply pipe 34 plays a role in assisting to apply the lifting force, and more stable support can be provided for the water guard 12.

As shown in fig. 19, in the mounting structure of the tool cleaning mechanism 10, clean water flows in from the water inlet pipe 102 below the water valve 101, the controller controls the water valve 101 to open, the clean water flows in from each of the branch pipes 103 of the tool cleaning mechanism 10 into the plurality of cleaning nozzles 104 mounted on the top plate 15 and the water inlet joints 341 of the water supply pipe 34, and the clean water flows in from the water inlet joints 341 and then flows into the spiral nozzles 122 through the water supply pipe 34 and the nozzle joints 342 in fig. 18. In fig. 19, the plurality of cleaning nozzles 104 spray the cleaning liquid from above toward the position of each cutter, and the spiral nozzle 122 sprays the cleaning liquid against the dicing blade 61. When the cutter is cleaned, the water baffle plate 12 and the cleaning cover 121 together block water drops formed by spraying, and the water drops are prevented from splashing other mechanisms arranged on the right side of the water baffle plate 12 of the fruit processing equipment. The bottom of the position where the water baffle 12 and the dicing blade 61 are assembled together extends towards the side where the coring blade 41 is located to form a water guide plate 123, and cleaning liquid sprayed by the spiral nozzle 122 passes through and washes the dicing blade 61 and then is guided by the water guide plate 123 to flow to the lower part of the coring blade 41, so that water is prevented from splashing to the right side of the water baffle 12.

As shown in fig. 17, the dicing blade 61 has a face H in a dicing completed state: the top surfaces of two radial slices 611 arranged horizontally, the connecting surfaces of the inward ends of the radial slices 611 and the top of the fixing ring 612, and the connecting surfaces of the outward ends of the radial slices 611 far away from the fixing ring 612 face upward, and a geometrically conceptual straight line in the plane is in a horizontal state so that water can stay at the straight line. Before the dicing blade 61 is cleaned, as shown in fig. 19, the escape driving mechanism 3 serves as a driving mechanism to rotate the dicing blade 61 so as to incline the straight line and maintain the straight line until the cleaning is completed. The avoidance driving mechanism 3 drives the dicing cutter 61 to keep in a state that water drops can slide off from the dicing cutter 61, the spraying direction of the spiral nozzle 122 is oblique left lower and is opposite to the dicing cutter 61, so that water flow can wash the surface of the dicing cutter 61 to clean the dicing cutter 61, water drops can be prevented from being remained on the dicing cutter 61 for too long time, and the dicing cutter is prevented from rusting, damaging and breeding bacteria. The avoidance driving mechanism 3 can stably lift the dicing blade 61, allows the dicing blade 61 to avoid, and prevents the dicing blade 61 from horizontally staying for a long time during cleaning.

Claims

1. The fruit processing equipment is characterized by comprising a fruit shaft adjusting mechanism (2), a transversely placed denucleation cutter (4), a fruit positioning mechanism (7), a steering driving mechanism (8) and a transverse moving driving mechanism (9);

the fruit shaft adjusting mechanism comprises at least one position adjuster P, the position adjuster P comprises a supporting seat (211), a body (22) arranged on the supporting seat (211) and a rotating friction piece arranged on the body (22), and the rotating friction piece rotates relative to the body (22) to provide friction force for the fruit self-rotating shaft adjusting mechanism;

the fruit positioning mechanism (7) enables the fruit to be positioned and placed in a mode that the axis-adjusting effect core central axis is vertically arranged at the beginning;

the steering driving mechanism (8) drives the fruit positioning mechanism (7) to steer so that the fruit rotates along with the steering driving mechanism and is positioned and placed in a mode that the central axis of the fruit pit is transversely aligned with the stone removing cutter (4);

the transverse moving driving mechanism (9) drives the fruit positioning mechanism (7) which has made the steering to transversely move towards the denucleation cutter (4) until the fruit is sleeved on the denucleation cutter (4).

2. Fruit handling equipment according to claim 1, characterized in that the body (22) of the positioner P is fixedly connected with a friction-driving connection member (263), the friction-driving connection member (263) being coaxial with and in rotational friction-driving contact with the rotational friction member.

3. Fruit handling equipment according to claim 2, wherein the rotating friction member comprises a track (27) for providing friction to the fruit from the rotatable shaft and a synchronizing wheel rotating synchronously with the track (27), the synchronizing wheel being hollow at the shaft axis, the friction drive connection member (263) extending into the synchronizing wheel shaft axis, the synchronizing wheel being in rotational friction drive contact with the friction drive connection member (263).

4. Fruit handling equipment according to claim 3, wherein the synchronizing wheel is a driven wheel (261) which is rotated by the track (27).

5. Fruit handling equipment according to claim 3, wherein a sleeve (262) is provided between the friction drive connection member (263) and the synchronizing wheel, the sleeve (262) being arranged to be received over the friction drive connection member (263) and over the synchronizing wheel, the sleeve (262) being in rotational friction drive contact with both the friction drive connection member (263) and the synchronizing wheel.

6. Fruit handling equipment according to claim 5, wherein the cross-section of the inner wall of the sleeve (262) is circumferential, and the cross-section of the part of the friction drive connecting member (263) which is in contact with the sleeve (262) is circular, and the cross-section of the part which is fixed to the body (22) is non-circular.

7. Fruit handling equipment according to claim 3, wherein there are two synchronising rotors, the axis of rotation of the body (22) relative to the support base (211) being located between the two synchronising rotors and parallel to the axes of rotation of both synchronising rotors.

8. Fruit handling equipment according to claim 2, characterized in that the body (22) comprises two driving plates arranged on either side of the rotating friction member and rotating synchronously, the two driving plates sharing the friction driving connection member (263).

9. Fruit handling equipment according to claim 1, characterized in that the positioner P comprises a chute (2111) and a stop bar (23) cooperating with each other, one end of the stop bar (23) being fixed and the other end extending into the chute (2111) and being able to slide reciprocally in the chute (2111); the sliding groove (2111) is arranged on one of the body (22) of the position adjuster P and the supporting seat (211), and one end fixed by the limiting rod (23) is arranged on the other end; the distance limiting body (22) of the limiting rod (23) sliding in the sliding groove (2111) can only rotate at a small angle relative to the supporting seat (211).

10. Fruit handling equipment according to claim 1 or 9, characterized in that the body (22) of the positioner P is hinged to the support (211) where a support torsion spring (213) is provided.

11. Fruit handling equipment according to claim 10, characterized in that between the body (22) and the support (211) there is provided an adjustment shaft (212), one end of the adjustment shaft (212) being fixed to the body (22) to rotate with the body (22) and the other end being rotatably connected to the support (211), the support torsion spring (213) being fitted over the adjustment shaft (212).

12. Fruit handling equipment according to claim 11, characterized in that the end of the positioning shaft (212) rotatably connected to the support (211) protrudes towards the support (211) away from the body (22) and is provided with a pressure piece (214) fixed to the end, and that the two legs of the support torsion spring (213) are fixed to the outer side of the support (211) away from the body (22) and to the pressure piece (214), respectively, at an angle such as to keep the support torsion spring (213) in a compressed state.

13. Fruit handling equipment according to claim 1, characterized in that the positioners P are at least three, circumferentially distributed and uniformly adjustable for the same fruit.

14. Fruit handling equipment according to claim 13, characterized in that a stop pallet (20) is mounted between two adjacent positioners P, the minimum distance of the stop pallet (20) to the centre of the circumference being between the minimum distance and the maximum distance of the rotating friction member to the centre of the circumference.

15. Fruit handling equipment according to claim 13 or 14, wherein the top of the retainer plate (20) is inclined away from the centre of the circumferential array to form a bearer section (201).