CN110978097A - Pineapple bottom stem cutting device - Google Patents
Pineapple bottom stem cutting device Download PDFInfo
- Publication number
- CN110978097A CN110978097A CN201911267523.1A CN201911267523A CN110978097A CN 110978097 A CN110978097 A CN 110978097A CN 201911267523 A CN201911267523 A CN 201911267523A CN 110978097 A CN110978097 A CN 110978097A
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- CN
- China
- Prior art keywords
- rotary
- cutting
- clamping
- rotating
- feeding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
- B26D1/25—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a non-circular cutting member
- B26D1/26—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a non-circular cutting member moving about an axis substantially perpendicular to the line of cut
- B26D1/28—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a non-circular cutting member moving about an axis substantially perpendicular to the line of cut and rotating continuously in one direction during cutting
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/02—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs for stemming, piercing, or stripping fruit; Removing sprouts of potatoes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D7/02—Means for holding or positioning work with clamping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0625—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0641—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form using chutes, hoppers, magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D2210/00—Machines or methods used for cutting special materials
- B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
Abstract
The invention provides a pineapple bottom stem cutting device which comprises a feeding mechanism, a rotary clamping mechanism, a bottom stem cutting mechanism, a conveying mechanism and a control unit, wherein the feeding mechanism is used for throwing pineapples and transferring the pineapples into the rotary clamping mechanism, the rotary clamping mechanism is used for receiving the pineapples transferred by the feeding mechanism and conveying the pineapples to the bottom stem cutting mechanism in a rotary mode, the bottom stem cutting mechanism is used for cutting the bottom stems of the pineapples, the conveying mechanism is used for conveying the cut pineapples, and the control unit is respectively connected with the feeding mechanism, the rotary clamping mechanism, the bottom stem cutting mechanism and the conveying mechanism and controls feeding, clamping, cutting and conveying work. The invention has the beneficial effects that: the automatic feeding and feeding functions of unprocessed pineapples can be realized through the feeding mechanism, the pineapple clamping and transposition functions are realized through the rotary clamping mechanism, the secondary clamping function and the pineapple bottom stem cutting function of unprocessed pineapples are realized through the bottom stem cutting mechanism, and therefore the whole pineapple bottom stem automatic cutting function is realized.
Description
Technical Field
The invention belongs to the field of agricultural picking and processing equipment, and particularly relates to a pineapple bottom stem cutting device.
Background
The pineapple is delicious, unique in taste, rich in vitamins, has certain edible and medicinal values, is an indispensable fruit and is widely planted. Generally, when the pineapples are picked, the supporting stem is cut off from the lower part of the pineapples by using a sickle-shaped cutter, a section of stem is generally left at the bottom, and the section of stem not only causes difficulty in boxing and transportation of the pineapples, but also is not beneficial to storage and selling of the pineapples.
The traditional method for removing the bottom stem of the pineapple is manual cutting, namely, a sickle-shaped cutter is used for cutting off the short stem at the bottom. However, in the presence of large yield, the traditional method for manually removing stems cannot meet the requirement of processing efficiency, so that goods can be stacked, and excessive stacking of pineapples at higher temperature can cause deterioration and loss of large batches of pineapples; in addition, due to the large labor amount of manual stem removal, the economic pressure of pineapple picking treatment is increased under the trend that the labor price is increasingly expensive.
Disclosure of Invention
In view of the above, the present invention is directed to a device for cutting the bottom stem of pineapple to solve the above-mentioned problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a pineapple bottom stem cutting device, which comprises a feeding mechanism, a rotary clamping mechanism, a bottom stem cutting mechanism, a conveying mechanism and a control unit,
the feeding mechanism is used for throwing the pineapples and transferring the pineapples to the rotary clamping mechanism,
the rotary clamping mechanism is used for receiving the pineapples transferred by the feeding mechanism and rotationally transmitting the pineapples to the bottom stem cutting mechanism,
the bottom stem cutting mechanism is used for cutting the bottom stem of the pineapple,
the conveying mechanism is used for conveying the pineapple after being cut off,
the control unit is respectively connected with the feeding mechanism, the rotary clamping mechanism, the bottom stem cutting mechanism and the conveying mechanism and controls the feeding, clamping, cutting and conveying operations.
Further, the feeding mechanism comprises a storage box and a discharging box, a feeding frame is arranged at the bottom of the storage box, a discharging box is arranged on one side of the feeding frame, an opening is formed in the upper end of the storage box, a bottom plate is rotatably connected to the bottom of the storage box, a discharging port is formed in one side of the storage box, which is rotatably connected with the bottom plate, a centering cam is arranged below the bottom plate, a cam slide bar is connected to the centering cam to form a cam pair, the top end of the cam slide bar is abutted to the bottom of the bottom plate, the centering cam is further connected with a storage box motor, a transition slide plate is obliquely and downwardly arranged on the outer side of the bottom of the discharging port, a feeding baffle plate which is obliquely arranged is rotatably connected to the upper side of an opening of one side of the discharging box, which is far away from the feeding frame, the lower end of the transition slide plate extends inwards into the feeding frame from the opening at, the lower end of the feeding baffle is located between the rotating cage and the transition sliding plate, vertical rods are symmetrically arranged at the front end and the rear end of the feeding baffle, the discharging sliding plate is arranged in the middle of an opening of one side, away from the feeding rack, of the discharging box in an inward inclined mode, and the storage box motor is connected with the control unit.
Furthermore, the rotating cage comprises two rotating disks which are symmetrically distributed, a plurality of fixing rods which are distributed in parallel are connected between the two rotating disks, a plurality of sliding grooves are symmetrically formed in the two rotating disks, a pushing movable rod is connected between each group of symmetrical sliding grooves, an elastic element is arranged between the pushing movable rod and the outer end of each sliding groove, the fixing rods and the pushing movable rods are distributed at intervals, grooves are symmetrically formed in the outer edges of the two rotating disks, the vertical rods are in contact with the outer edges of the rotating disks, a rotating shaft is fixedly connected to the outer side of one rotating disk, the other end of the rotating shaft penetrates through a material discharging box to be connected with an output shaft of a rotating cage motor, a fixing cam is arranged on the inner side of each rotating disk, the two fixing cams are symmetrically arranged and fixedly connected to a connecting rod, and the connecting rod penetrates through the rotating disk far away from the rotating cage motor and is fixedly, the rotating cage motor is connected with the control unit.
Furthermore, two fixed rods are arranged between every two pushing movable rods, and the fixed rods are symmetrically distributed on two sides of each pushing movable rod.
Furthermore, the rotary clamping mechanism comprises a rotary unit, a plurality of gripper rotary arms are uniformly connected to the outer end of the rotary unit in a circumferential rotating mode, each gripper rotary arm is connected with a gripper, a rotary rack is arranged at the bottom of the rotary unit, and the height of the gripper position corresponds to the height of the discharging sliding plate.
Further, the rotary unit comprises a station rotating rod, a rotating rod cantilever, a rotating rod rotating motor and a clamping arm rotating arm driving motor, the station rotating rod is vertically rotated and installed on the rotary rack, the bottom of the station rotating rod is connected with the rotating rod rotating motor, the upper end of the station rotating rod is circumferentially and fixedly connected with a plurality of rotating rod cantilevers, the outer end of each rotating rod cantilever is connected with a clamping arm through the clamping arm rotating arm driving motor, and the rotating rod rotating motor and the clamping arm rotating arm driving motor are both connected with the control unit.
Furthermore, the rotating rod cantilevers are horizontally arranged and evenly distributed on the station rotating rods.
Furthermore, the clamping jaw comprises a clamping jaw and two opening and closing support rods, the upper side and the lower side of the clamping jaw are fixedly connected with the opening and closing support rods respectively, the two opening and closing support rods are connected to a clamping jaw rotating shaft in a crossed rotating mode, a first pressure sensor and a second pressure sensor are arranged on the inner side of the clamping jaw, and the first pressure sensor and the second pressure sensor are connected to the control unit.
Furthermore, the gripper rotating arm is of a U-shaped plate structure, through holes are oppositely formed in two ends of the inner side of the gripper rotating arm, a first electromagnet is arranged at the bottom of the inner side of the gripper rotating arm, two ends of the clamping jaw rotating shaft are respectively connected into the two through holes, the outer side of the gripper rotating arm is connected to the end portion of the rotating rod cantilever through a rotating arm rotating shaft, a rotating arm rotating gear is arranged on the rotating arm rotating shaft and is in meshed connection with a gear connected to an output shaft of a gripper rotating arm driving motor, and the first electromagnet is connected with a control unit.
Furthermore, the clamping jaw is made of elastic materials, is opened in the initial state and is closed when being extruded by external force.
Further, end stem excision mechanism includes base, secondary clamp unit, cutting unit, rotary-cut unit, base upside both ends are equipped with secondary clamp support and end stem excision frame respectively, be equipped with secondary clamp unit and cutting unit on the secondary clamp support, just secondary clamp unit is located the cutting unit top, be equipped with the rotary-cut unit on the end stem excision frame, inside secondary clamp unit one end stretched into the tong, the cutting unit was located the tong bottom.
Furthermore, the secondary clamping unit comprises a secondary clamping rod, the rear end of the secondary clamping rod is rotatably connected with the upper panel of the secondary clamping support, the front end of the secondary clamping rod is provided with a horizontally distributed clamping ring, the middle of the secondary clamping rod is provided with an iron block, a second electromagnet is arranged at the position, corresponding to the iron block, of the upper panel of the secondary clamping support, and the second electromagnet is connected with the control unit.
Furthermore, a secondary clamping elastic element is arranged behind the second electromagnet, and two ends of the secondary clamping elastic element are fixedly connected to an upper panel of the secondary clamping support and the secondary clamping rod respectively.
Furthermore, a rotating shaft is arranged at the rear end of the secondary clamping rod and is matched with a revolute pair on the upper panel of the secondary clamping support through the rotating shaft to be rotatably connected with the upper panel of the secondary clamping support.
Further, the secondary clamping elastic element is a spring.
Furthermore, the cutting unit comprises a cutting knife, a cutting knife rotating shaft and a cutting knife rotating motor, the cutting knife rotating shaft is rotatably connected with the secondary clamping support, the upper end and the lower end of the cutting knife rotating shaft are respectively and fixedly connected with the cutting knife and the cutting knife rotating motor, the cutting knife is positioned below the clamping hand, and the cutting knife rotating motor is connected with the control unit.
Further, the rotary-cut unit comprises a rotary-cut moving plate, the cross section of the bottom stem cutting frame is of a U-shaped structure, rotary-cut feeding guide rails are vertically arranged on the end surfaces of two sides of the U-shaped structure, two ends of the rotary-cut moving plate are connected to the two rotary-cut feeding guide rails through guide rail sliders in a sliding mode, a vertically-arranged rotary-cut head is connected to the middle of the rotary-cut moving plate, the bottom end of the rotary-cut head is connected with a rotary-cut main motor, a rotary-cut feeding rack is arranged on the end surface of the bottom stem cutting frame outside the rotary-cut feeding guide rails, a rotary-cut feeding gear is meshed with the rotary-cut feeding rack, the rotary-cut feeding gear is connected to an output shaft of the rotary-cut feeding motor, the rotary-cut feeding motor is fixedly connected with the.
Further, transport mechanism is including setting up the chain slat type conveyer belt in the conveying frame, the surface of chain slat type conveyer belt evenly is equipped with a plurality of straight baffles, both ends all are equipped with the sprocket around the chain slat type conveyer belt, connect through the chain between two sprockets, and wherein one end sprocket is connected on the output shaft of conveying motor, conveying motor is connected with the control unit.
Further, the feeding mechanism, the bottom-stem cutting mechanism and the conveying mechanism are radially distributed at intervals of 120 degrees around the rotary clamping mechanism.
Compared with the prior art, the pineapple bottom stem cutting device has the following advantages:
the device for cutting off the pineapple bottom stems can realize the automatic feeding and feeding functions of unprocessed pineapples through the feeding mechanism, realize the clamping and transposition functions of pineapples through the rotary clamping mechanism, realize the secondary clamping function of unprocessed pineapples and the cutting-off function of pineapple bottom stems through the bottom stem cutting mechanism, and realize the conveying function through the conveying mechanism, thereby realizing the automatic cutting-off function of the whole pineapple bottom stems; the problems of low efficiency and high labor cost of manually removing the pineapple bottom stems are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of a pineapple bottom stem cutting device according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a feeding mechanism according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a feeding mechanism according to an embodiment of the present invention;
FIG. 4 is a sectional view of the internal structure of the emptying box according to the embodiment of the invention;
FIG. 5 is a schematic structural diagram of a rotating cage according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a rotary clamping mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a rotary unit according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a gripper pivoting arm according to an embodiment of the present invention;
FIG. 9 is a schematic view of a structure of a gripper according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of a pedicle removal mechanism according to an embodiment of the invention;
FIG. 11 is a schematic view of an installation structure of a secondary clamping unit and a cutting unit according to an embodiment of the present invention;
fig. 12 is a schematic structural view of a rotary cutting unit according to an embodiment of the present invention;
FIG. 13 is a schematic view of a secondary clamping bar according to an embodiment of the present invention;
FIG. 14 is a schematic structural diagram of a cutting unit according to an embodiment of the present invention;
FIG. 15 is a schematic view of the bottom stem cutting mechanism according to an embodiment of the present invention;
FIG. 16 is a schematic structural diagram of a conveying mechanism according to an embodiment of the present invention;
fig. 17 is a block diagram of a control system of the control unit according to the embodiment of the present invention;
fig. 18 is a control flow chart of the pineapple bottom stem cutting device according to the embodiment of the invention.
Description of reference numerals:
1. a feeding mechanism; 11. a material storage box; 111. a centering cam; 112. a cam slider; 113. a storage box motor; 114. a base plate; 12. a transition sliding plate; 13. rotating the cage; 131. a fixed cam; 132. rotating the disc; 133. fixing the rod; 134. a pushing movable rod; 135. a rotating shaft; 136. an elastic element; 137. a cage motor; 138. a chute; 139. a connecting rod; 14. a feeding baffle plate; 141. a vertical rod; 15. a feeding rack; 16. a discharging sliding plate; 17: a material placing box; 2. a rotary clamping mechanism; 21. a rotation unit; 211. a station rotating rod; 212. a rotating rod cantilever; 213. a rotating rod rotating motor; 214. the gripper rotating arm drives the motor; 22. a gripper turning arm; 221. an electromagnet I; 222. a swing arm rotating gear; 223. a through hole; 23. clamping a hand; 231. a clamping jaw; 232. opening and closing the supporting rod; 233. the clamping jaw rotating shaft; 234. a first pressure sensor; 235. a second pressure sensor; 24. rotating the frame; 3. a base stem removal mechanism; 31. a secondary clamping unit; 311. a secondary clamping rod; 312. an electromagnet II; 313. a secondary clamping resilient element; 314. an iron block; 315. a clamping ring; 32. a cutting unit; 321. cutting; 322. a cutter rotating shaft; 323. a cutter rotation motor; 33. a rotary cutting unit; 331. rotary cutting the moving plate; 332. cutting the head in a rotating way; 333. rotating and cutting the main motor; 334. a rotary cutting feed motor; 335. rotary cutting the feed gear; 34. a base stem resection rack; 341. rotary cutting the feeding rack; 342. rotary cutting the feeding guide rail; 35. clamping the bracket for the second time; 36. a base; 4. a transport mechanism; 41. a chain slat conveyor; 42. a straight baffle plate; 43. a sprocket; 44. a transfer motor; 45. and a conveyor frame.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in figure 1, the pineapple bottom stem cutting device comprises a feeding mechanism 1, a rotary clamping mechanism 2, a bottom stem cutting mechanism 3, a conveying mechanism 4 and a control unit,
the feeding mechanism 1 is used for throwing the pineapples and transferring the pineapples to the rotary clamping mechanism 2,
the rotary clamping mechanism 2 is used for receiving the pineapples transferred by the feeding mechanism 1 and rotationally transmitting the pineapples to the bottom stem cutting mechanism 3,
the bottom stem cutting mechanism 3 is used for cutting the bottom stem of the pineapple,
the transport mechanism 4 is used to transport the excised pineapples,
the control unit is respectively connected with the feeding mechanism 1, the rotary clamping mechanism 2, the bottom stem cutting mechanism 3 and the conveying mechanism 4, and controls the feeding, clamping, cutting and conveying operations.
As shown in fig. 2 to 4, the broken line in fig. 4 indicates the position of the pineapple, the feeding mechanism 1 includes a storage box 11 and a discharge box 17, a feeding frame 15 is disposed at the bottom of the storage box 11, a discharge box 17 is disposed at one side of the feeding frame 15, the storage box 11 is provided with an opening at the upper end, the bottom is rotatably connected to a bottom plate 114, a discharge port is disposed at one side of the storage box 11 rotatably connected to the bottom plate 114, a centering cam 111 is disposed below the bottom plate 114, a cam slider 112 is connected to the centering cam 111 to form a cam pair, the top end of the cam slider 112 abuts against the bottom of the bottom plate 114, the centering cam 111 is further connected to a storage box motor 113, a transition sliding plate 12 is obliquely disposed downward at the outer side of the bottom of the discharge port, both the upper side of the discharge box 17 and the side far away from the feeding frame 15 are provided with openings, the lower end of the transition sliding plate 12 extends, be equipped with rotating cage 13 in the blowing case 17, the opening upside that the one side of feed frame 15 was kept away from to blowing case 17 is connected with the material loading baffle 14 that the slope set up through revolute pair, material loading baffle 14 lower extreme is located between rotating cage 13 and the transition slide 12, and both ends symmetry is equipped with vertical pole 141 around material loading baffle 14, department is equipped with ejection of compact slide 16 in the inside slope in the middle of the opening of one side of feed frame 15 is kept away from to blowing case 17, storage case motor 113 is connected with the control unit.
As shown in fig. 5, the rotating cage 13 includes two rotating disks 132 symmetrically distributed, a plurality of fixing rods 133 are connected between the two rotating disks 132, the two rotating disks 132 are symmetrically provided with a plurality of sliding slots 138, a push movable rod 134 is connected between each set of symmetrical sliding slots 138, an elastic element 136 is arranged between the push movable rod 134 and the outer end of the sliding slot 138, the fixing rods 133 and the push movable rods 134 are distributed at intervals, a groove is symmetrically arranged on the outer edge of each of the two rotating disks 132, the vertical rod 141 is in contact with the outer edge of the rotating disk 132, a rotating shaft 135 is fixedly connected to the outer side of one of the rotating disks 132, the other end of the rotating shaft 135 passes through the discharging box 17 and is connected to an output shaft of the rotating cage motor 137, a fixed cam 131 is arranged on the inner side of each of the rotating disk 132, the two fixed cams 131 are symmetrically arranged and fixedly connected to a connecting rod 139, the connecting rod 139 penetrates through the rotating disc 132 far away from the cage motor 137 and is fixedly connected to the inner wall of the material discharge box 17, and the cage motor 137 is connected with the control unit.
Two fixing rods 133 are arranged between every two pushing movable rods 134, and the fixing rods 133 are symmetrically distributed on two sides of each pushing movable rod 134.
As shown in fig. 6 and 7, the rotary clamping mechanism 2 includes a rotary unit 21, the outer end of the rotary unit 21 is circumferentially and uniformly connected with a plurality of gripper rotary arms 22 through a rotary pair in a rotating manner, each gripper rotary arm 22 is connected with a gripper 23, a rotary frame 24 is arranged at the bottom of the rotary unit 21, and the position height of the gripper 23 corresponds to the position height of the discharge sliding plate 16.
The rotary unit 21 comprises a station rotating rod 211, a rotating rod cantilever 212, a rotating rod rotating motor 213 and a gripper rotating arm driving motor 214, the station rotating rod 211 is vertically rotated and installed on the rotary frame 24, the bottom of the station rotating rod 211 is connected with the rotating rod rotating motor 213, the upper end of the station rotating rod 211 is circumferentially and fixedly connected with a plurality of rotating rod cantilevers 212, the outer end of the rotating rod cantilever 212 is connected with a gripper 23 through the gripper rotating arm driving motor 214, and the rotating rod rotating motor 213 and the gripper rotating arm driving motor 214 are all connected with the control unit.
The rotating rod cantilevers 212 are horizontally arranged and evenly distributed on the station rotating rods 211.
As shown in fig. 9, the clamping jaw 23 includes a clamping jaw 231 and two opening and closing support rods 232, the upper and lower sides of the clamping jaw 231 are respectively and fixedly connected to the opening and closing support rods 232, the two opening and closing support rods 232 are cross-rotatably connected to a clamping jaw rotating shaft 233, a first pressure sensor 234 and a second pressure sensor 235 are disposed on the inner side of the clamping jaw 231, and the first pressure sensor 234 and the second pressure sensor 235 are both connected to the control unit.
As shown in fig. 8, the gripper pivoting arm 22 has a u-shaped plate structure, two opposite ends of the inner side of the u-shaped plate structure are provided with through holes 223, the bottom of the inner side of the u-shaped plate structure is provided with an electromagnet one 221, two ends of the clamping jaw pivot shaft 233 are respectively connected to the two through holes 223, the outer side of the gripper pivoting arm 22 is connected to the end of the pivoting lever cantilever 212 through a pivoting arm pivot shaft, the pivoting arm pivot shaft is provided with a pivoting arm rotating gear 222, the pivoting arm rotating gear 222 is engaged with a gear connected to an output shaft of the gripper pivoting arm driving motor 214, and the electromagnet one 221 is connected.
The clamping jaw 231 is made of elastic material, is opened in an initial state, and is closed when being extruded by external force.
As shown in fig. 10 and 15, the pedicle resection mechanism 3 includes a base 36, a secondary clamping unit 31, a cutting unit 32, and a rotary cutting unit 33, wherein a secondary clamping bracket 35 and a pedicle resection frame 34 are respectively disposed at two ends of an upper side of the base 36, the secondary clamping bracket 35 is provided with the secondary clamping unit 31 and the cutting unit 32, the secondary clamping unit 31 is located above the cutting unit 32, the pedicle resection frame 34 is provided with the rotary cutting unit 33, one end of the secondary clamping unit 31 extends into the inside of the gripper 23, and the cutting unit 32 is located at the bottom of the gripper 23.
As shown in fig. 11 and 13, the secondary clamping unit 31 includes a secondary clamping rod 311, the rear end of the secondary clamping rod 311 is rotatably connected to the upper panel of the secondary clamping bracket 35, the front end is provided with a horizontally distributed clamping ring 315, the middle is provided with an iron block 314, the upper panel of the secondary clamping bracket 35 is provided with a second electromagnet 312 corresponding to the iron block 314, and the second electromagnet 312 is connected to the control unit.
A secondary clamping elastic element 313 is arranged behind the second electromagnet 312, and two ends of the secondary clamping elastic element 313 are fixedly connected to the upper panel of the secondary clamping support 35 and the secondary clamping rod 311 respectively.
The rear end of the secondary clamping rod 311 is provided with a rotating shaft, and the rotating shaft is matched with a rotary pair on the upper panel of the secondary clamping bracket 35 to be rotatably connected with the upper panel of the secondary clamping bracket 35.
The secondary clamping spring element 313 is a spring.
As shown in fig. 14, the cutting unit 32 includes a cutter 321, a cutter rotating shaft 322, and a cutter rotating motor 323, the cutter rotating shaft 322 is rotatably connected to the secondary clamping bracket 35 through a rotating pair, the cutter 321 and the cutter rotating motor 323 are fixedly connected to the upper end and the lower end of the cutter rotating shaft 322, respectively, the cutter 321 is located below the gripper 23, and the cutter rotating motor 323 is connected to the control unit.
As shown in fig. 12, the rotary cutting unit 33 comprises a rotary cutting moving plate 331, the bottom stem-cutting frame 34 has a U-shaped cross section, two end faces are vertically provided with rotary cutting feeding rails 342, both ends of the rotary cutting moving plate 331 are slidably connected to the two rotary cutting feeding guide rails 342 through guide rail sliders, the middle of the rotary cutting moving plate 331 is connected with a vertically arranged rotary cutting head 332 through a rotary pair, the bottom end of the rotary cutting head 332 is connected with a rotary cutting main motor 333, the end surface of the bottom stem cutting frame 34 outside the rotary cutting feeding guide rail 342 is provided with a rotary cutting feeding rack 341, a rotary cutting feed gear 335 is engaged on the rotary cutting feed rack 341, the rotary cutting feed gear 335 is connected on the output shaft of the rotary cutting feed motor 334, the rotary cutting feed motor 334 is fixedly connected with the rotary cutting moving plate 331, and the rotary cutting main motor 333 is connected with the control unit.
As shown in fig. 16, the conveying mechanism 4 includes a chain plate type conveying belt 41 disposed on a conveying frame 45, a plurality of straight baffles 42 are uniformly disposed on a surface of the chain plate type conveying belt 41, chain wheels 43 are disposed at both front and rear ends of the chain plate type conveying belt 41, the two chain wheels 43 are connected by a chain, one end of the chain wheel 43 is connected to an output shaft of a conveying motor 44, and the conveying motor 44 is connected to a control unit.
The feeding mechanism 1, the bottom-stem cutting mechanism 3 and the conveying mechanism 4 are radially distributed at intervals of 120 degrees around the rotary clamping mechanism 2.
As shown in fig. 17, the control unit is in signal connection with the first pressure sensor 234, the second pressure sensor 235, the first electromagnet 221, the second electromagnet 312, the storage box motor 113, the revolving cage motor 137, the revolving bar rotating motor 213, the gripper revolving arm driving motor 214, the cutting knife rotating motor 323, the rotary cutting main motor 333, the rotary cutting feed motor 334 and the delivery motor 44, and the storage box motor 113, the revolving cage motor 137, the revolving bar rotating motor 213, the gripper revolving arm driving motor 214, the cutting knife rotating motor 323, the rotary cutting main motor 333, the rotary cutting feed motor 334 and the delivery motor 44 are all stepping motors or servo motors.
In this embodiment, the control unit is a single chip microcomputer STM32F427ZIT7, the storage box motor 113 is a three-phase asynchronous motor Y80M1-4, the cage motor 137 is a three-phase asynchronous motor Y90L-4, the rotating rod rotating motor 213 is a stepping motor 130BYG350, the gripper rotating arm driving motor 214 is a stepping motor 28YBJ-48, the cutting knife rotating motor 323 is a stepping motor 42BYGH34, the rotary cutting feed motor 334 is a stepping motor 42 gh by 34, the rotary cutting main motor 333 is a three-phase asynchronous motor Y90S-6, and the conveying motor 44 is a three-phase asynchronous motor Y80M 1-4.
In this embodiment, the revolute pair is a bearing.
As shown in fig. 18, the control process is as follows:
step one, supplying power to the storage box motor 113, the rotating cage motor 137, the rotary cutting main motor 333 and the transmission motor 44, and rotating at a given rotating speed; the rotating rod rotating motor 213 is reset, so that the clamping hand 23 is aligned with the feeding baffle plate 14;
secondly, detecting signals of a first pressure sensor 234 and a second pressure sensor 235, if the signals are detected, indicating that the pineapple to be cut is in the clamp 23, electrifying a first electromagnet 221, attracting the opening and closing support rod 232, driving the clamp jaw 231 to close, and clamping the pineapple;
comparing the values of the first pressure sensor 234 and the second pressure sensor 235, if the value of the first pressure sensor 234 is greater than the value of the second pressure sensor 235, rotating the gripper rotation driving motor by 90 ° (clockwise is positive and counterclockwise is negative according to the rotation direction of the gripper 23), otherwise rotating the gripper rotation driving motor by 90 °, so that the gripper 23 is in a vertical state, that is, the root of the pineapple to be cut is downward and the head is upward;
step four, in synchronization with step three, the rotary rod rotating motor 213 rotates by 120 ° to align the clamping hand 23 with the secondary clamping unit 31, at this time, the secondary clamping unit 31 does not operate, the electromagnet second 312 is powered off, the secondary clamping elastic element 313 jacks up the secondary clamping rod 311, and the clamping ring 315 on the secondary clamping rod 311 is located above the clamping jaw 231;
step five, the secondary clamping unit 31 acts, the second electromagnet 312 supplies power, an iron plate on the secondary clamping rod 311 is downwards adsorbed, the secondary clamping elastic element 313 is compressed, the secondary clamping rod 311 rotates towards the direction of the clamping jaw 231 around the rotating shaft, the clamping ring 315 enters the clamping jaw 231 in the vertical state, the pineapple to be cut is tightly pressed, and secondary clamping of the pineapple to be cut is completed;
and step six, the cutting knife rotating motor 323 rotates for a circle to cut off the pineapple bottom stem. In the specific process, when the cutting unit 32 does not act, the cutting knife 321 is positioned far away from the clamping jaw 231; when the cutting knife is operated, the cutting knife rotating motor 323 is electrified and drives the cutting knife rotating shaft 322 to rotate for one circle, and the cutting knife 321 also rotates for one circle; in the rotating process, the bottom stem of the pineapple to be stem cut is cut off by the blade of the cutter 321 through the lower part of the clamping jaw 231;
step seven, the rotary cutting feed motor 334 rotates forward to drive the rotary cutting feed gear 335 to rotate, the rotary cutting moving plate 331 moves towards the direction close to the clamping jaw 231, the rotary cutting head 332 repairs and flattens the bottom stem section of the pineapple to be cut in the approaching process until the rotary cutting head 332 contacts the bottom of the clamping jaw 231, and then the rotary cutting feed motor 334 rotates reversely until the rotary cutting unit 33 returns to the initial position; here, the direction of the rotary cutting unit 33 approaching the clamping jaw 231 is set to be the motor forward rotation direction, and the reverse rotation direction is set to be the reverse rotation direction;
step eight, the second electromagnet 312 is powered off, and secondary clamping is stopped;
step nine, rotating the rotary lever rotating motor 213 at 120 ° to transfer the gripper 23 to the conveying mechanism 4;
step ten, the electromagnet I221 is powered off, the clamping hand 23 is opened, and the chopped pineapple is spitted out to the conveying mechanism 4.
The working process of the embodiment is as follows:
when the pineapple picking device works, picked pineapples are manually poured into the material storage box 11 directly, and the system is started; the cam slide rod 112 slides up and down in a reciprocating manner along with the rotation of the centering cam 111, pushes the bottom plate 114 to swing obliquely, and discharges the pineapples stored in the storage box 11 in batches; the thrown pineapples slide into the rotating cage 13 through the transition sliding plate 12, and the transition sliding plate 12 is provided with a feeding baffle plate 14 for blocking the pineapples to avoid blocking at the opening of the rotating cage; at any time, when the rotating disc 132 rotates the groove on the rotating disc 132 to the upper part, the feeding baffle 14 swings along the rotating shaft under the action of the gravity of the pineapples and falls to the groove, at the moment, the space above the feeding baffle 14 can pass through one pineapple to be cut, and at other times, the feeding baffle 14 swings in the opposite direction, so that the pineapple to be cut cannot pass through; the pineapples passing through the space above the feeding baffle plate 14 enter an accommodating groove formed by a fixed rod 133 and a pushing movable rod 134 on the rotating cage 13, the pushing movable rod 134 is contacted with the profile of the fixed cam 131 along with the continuous rotation of the rotating cage 13, and when the pushing movable rod 134 moves to a rest point far away from the fixed cam 131, the pushing movable rod 134 is pushed to the outer end of the chute 138 to push the pineapples to be cut out and slide into the clamp 23 along the discharging sliding plate 16;
before the bottom stems are cut off, pineapples conveyed out of the rotary cage 13 are automatically clamped by the clamping hands 23, then the clamping hands rotate to drive the motor to rotate by 90 degrees, so that the clamping hands 23 are in a vertical state, namely the roots of the pineapples to be cut are downward, and the heads of the pineapples are upward; meanwhile, the rotary-lever electric rotating machine 213 is rotated by 120 ° to align the gripping hand 23 with the secondary gripping unit 31;
when the bottom stem is cut off, the secondary clamping rod 311 tightly presses the pineapple to be cut; the cutting knife 321 rotates to cut off the pineapple bottom stem; then, the rotary cutting unit 33 moves, and the rotary cutting head 332 finishes and flattens the pineapple bottom stems; finally, the secondary clamping lever 311 is released;
after the bottom stalk is cut off, the rotating-lever rotating motor 213 rotates by 120 degrees, and the clamping hands 23 are transferred to the conveying mechanism 4; the clamping hands 23 are opened, and the cut pineapple is spitted out to the conveying mechanism 4; the conveying mechanism 4 conveys the pineapple with cut stem to a pre-placed pineapple box to finish the cutting work of the bottom stem of the pineapple.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A pineapple bottom stem cutting device is characterized in that: comprises a feeding mechanism, a rotary clamping mechanism, a bottom stem cutting mechanism, a conveying mechanism and a control unit,
the feeding mechanism is used for throwing the pineapples and transferring the pineapples to the rotary clamping mechanism,
the rotary clamping mechanism is used for receiving the pineapples transferred by the feeding mechanism and rotationally transmitting the pineapples to the bottom stem cutting mechanism,
the bottom stem cutting mechanism is used for cutting the bottom stem of the pineapple,
the conveying mechanism is used for conveying the pineapple after being cut off,
the control unit is respectively connected with the feeding mechanism, the rotary clamping mechanism, the bottom stem cutting mechanism and the conveying mechanism and controls the feeding, clamping, cutting and conveying operations.
2. The device for cutting off the bottom stem of the pineapple as claimed in claim 1, wherein: the feeding mechanism comprises a storage box and a discharging box, a feeding frame is arranged at the bottom of the storage box, a discharging box is arranged on one side of the feeding frame, the upper end of the storage box is provided with an opening, the bottom of the storage box is rotatably connected with a bottom plate, a discharging port is arranged on one side of the storage box, which is rotatably connected with the bottom plate, a centering cam is arranged below the bottom plate, a cam slide bar is connected onto the centering cam to form a cam pair, the top end of the cam slide bar is propped against the bottom of the bottom plate, the centering cam is also connected with a storage box motor, a transition slide plate is obliquely and downwards arranged on the outer side of the bottom of the discharging port, the upper side of the discharging box and one side far away from the feeding frame are both provided with openings, the lower end of the transition slide plate extends inwards into the feeding frame from the opening at the upper end of the feeding frame, a rotating, the lower end of the feeding baffle is located between the rotating cage and the transition sliding plate, vertical rods are symmetrically arranged at the front end and the rear end of the feeding baffle, the discharging sliding plate is arranged in the middle of an opening of one side, away from the feeding rack, of the discharging box in an inward inclined mode, and the storage box motor is connected with the control unit.
3. A pineapple basal stem removing device according to claim 2, wherein: the rotary cage comprises two rotary discs which are symmetrically distributed, a plurality of fixed rods which are distributed in parallel are connected between the two rotary discs, a plurality of sliding grooves are symmetrically arranged on the two rotary discs, a pushing movable rod is connected between each group of symmetrical sliding grooves, an elastic element is arranged between the pushing movable rod and the outer end of each sliding groove, the fixed rods and the pushing movable rods are distributed at intervals, grooves are symmetrically arranged on the outer edges of the two rotary discs, the vertical rods are in contact with the outer edges of the rotary discs, a rotating shaft is fixedly connected to the outer side of one rotary disc, the other end of the rotating shaft penetrates through a material discharging box to be connected with an output shaft of a rotary cage motor, a fixed cam is arranged on the inner side of each rotary disc, the two fixed cams are symmetrically arranged and fixedly connected to a connecting rod, and the connecting rod penetrates through the rotary disc far away from the rotary cage motor and, the rotating cage motor is connected with the control unit.
4. The device for cutting off the bottom stem of the pineapple as claimed in claim 1, wherein: the rotary clamping mechanism comprises a rotary unit, a plurality of gripper rotary arms are uniformly and circumferentially rotatably connected to the outer end of the rotary unit, each gripper rotary arm is connected with a gripper, a rotary rack is arranged at the bottom of the rotary unit, and the position height of the gripper corresponds to the position height of the discharge sliding plate.
5. The device for cutting off the bottom stem of the pineapple as claimed in claim 4, wherein: the rotary unit comprises a station rotating rod, a rotating rod cantilever, a rotating rod rotary motor and a clamping hand rotary arm driving motor, the station rotating rod is vertically and rotatably mounted on the rotary rack, the bottom of the station rotating rod is connected with the rotating rod rotary motor, the upper end of the station rotating rod is circumferentially and fixedly connected with a plurality of rotating rod cantilevers, the outer end of each rotating rod cantilever is connected with a clamping hand through the clamping hand rotary arm driving motor, and the rotating rod rotary motor and the clamping hand rotary arm driving motor are both connected with the control unit;
the clamping jaw comprises a clamping jaw and two opening and closing support rods, the upper side and the lower side of the clamping jaw are respectively fixedly connected with the opening and closing support rods, the two opening and closing support rods are in cross rotating connection with a clamping jaw rotating shaft, a first pressure sensor and a second pressure sensor are arranged on the inner side of the clamping jaw, and the first pressure sensor and the second pressure sensor are both connected to a control unit;
the clamping jaw rotating arm is of a U-shaped plate structure, through holes are oppositely formed in two ends of the inner side of the U-shaped plate structure, an electromagnet I is arranged at the bottom of the inner side of the U-shaped plate structure, two ends of the clamping jaw rotating shaft are respectively connected into the two through holes, the outer side of the clamping jaw rotating arm is connected to the end portion of the rotating rod cantilever through a rotating arm rotating shaft, a rotating arm rotating gear is arranged on the rotating arm rotating shaft and is connected with a gear connected to an output shaft of a clamping jaw rotating arm driving motor in a meshed mode, and the electromagnet I.
6. The device for cutting off the bottom stem of the pineapple as claimed in claim 1, wherein: the base stem excision mechanism comprises a base, a secondary clamping unit, a cutting unit and a rotary cutting unit, wherein a secondary clamping support and a base stem excision rack are arranged at two ends of the upper side of the base respectively, the secondary clamping unit and the cutting unit are arranged on the secondary clamping support, the secondary clamping unit is located above the cutting unit, the rotary cutting unit is arranged on the base stem excision rack, one end of the secondary clamping unit extends into the inside of a clamping hand, and the cutting unit is located at the bottom of the clamping hand.
7. The device for cutting off the bottom stem of the pineapple as claimed in claim 6, wherein: the secondary clamping unit comprises a secondary clamping rod, the rear end of the secondary clamping rod is rotatably connected with an upper panel of a secondary clamping support, the front end of the secondary clamping rod is provided with a horizontally distributed clamping ring, an iron block is arranged in the middle of the secondary clamping rod, an electromagnet II is arranged at the position, corresponding to the iron block, of the upper panel of the secondary clamping support and connected with the control unit, a secondary clamping elastic element is arranged behind the electromagnet II, and two ends of the secondary clamping elastic element are fixedly connected to the upper panel of the secondary clamping support and the secondary clamping rod respectively;
the cutting unit comprises a cutting knife, a cutting knife rotating shaft and a cutting knife rotating motor, the cutting knife rotating shaft is rotatably connected with the secondary clamping support, the upper end and the lower end of the cutting knife rotating shaft are respectively and fixedly connected with the cutting knife and the cutting knife rotating motor, the cutting knife is positioned below the clamping handle, and the cutting knife rotating motor is connected with the control unit;
the rotary-cut unit comprises a rotary-cut moving plate, the cross section of the bottom stem cutting frame is of a U-shaped structure, rotary-cut feeding guide rails are vertically arranged on the end faces of two sides of the U-shaped structure, two ends of the rotary-cut moving plate are connected to the two rotary-cut feeding guide rails through guide rail sliders in a sliding mode, a vertically-arranged rotary-cut head is connected to the middle of the rotary-cut moving plate, a rotary-cut main motor is connected to the bottom end of the rotary-cut head, a rotary-cut feeding rack is arranged on the end face of the bottom stem cutting frame outside the rotary-cut feeding guide rails, a rotary-cut feeding gear is meshed with the rotary-cut feeding rack, the rotary-cut feeding gear is connected to an output shaft of the rotary-cut feeding motor, the rotary-cut feeding motor is fixedly connected.
8. The device for cutting off the bottom stem of the pineapple as claimed in claim 1, wherein: the conveying mechanism comprises a chain plate type conveying belt arranged on a conveying rack, a plurality of straight baffles are uniformly arranged on the surface of the chain plate type conveying belt, chain wheels are arranged at the front end and the rear end of the chain plate type conveying belt and connected through chains, one end of each chain wheel is connected to an output shaft of a conveying motor, and the conveying motor is connected with a control unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911267523.1A CN110978097B (en) | 2019-12-11 | 2019-12-11 | Pineapple bottom stem cutting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911267523.1A CN110978097B (en) | 2019-12-11 | 2019-12-11 | Pineapple bottom stem cutting device |
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| CN110978097A true CN110978097A (en) | 2020-04-10 |
| CN110978097B CN110978097B (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113317535A (en) * | 2021-06-23 | 2021-08-31 | 中南林业科技大学 | Sweet persimmon stalk remove device |
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| CN2051152U (en) * | 1988-04-12 | 1990-01-17 | 郑宝兰 | Slicer for pineapple slice |
| CN2882276Y (en) * | 2006-04-10 | 2007-03-28 | 北海市果香园果汁有限公司 | Top cutter for pineapple |
| CN203266724U (en) * | 2013-05-27 | 2013-11-06 | 杨李益 | Fruit and vegetable slicing machine |
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| US2652871A (en) * | 1950-08-29 | 1953-09-22 | Hawaiian Pineapple Co Ltd | Apparatus for dicing decored cylinders of pineapple |
| CN86105728A (en) * | 1986-07-18 | 1988-02-03 | 湖南省机械研究所 | The multipurpose equipment of cutting spherical stem disk of garlic |
| CN2047098U (en) * | 1986-07-18 | 1989-11-08 | 湖南省机械研究所 | Top and bottom removing device for non-regular spherical fruit and vegetable |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113317535A (en) * | 2021-06-23 | 2021-08-31 | 中南林业科技大学 | Sweet persimmon stalk remove device |
| CN113317535B (en) * | 2021-06-23 | 2022-02-08 | 中南林业科技大学 | Sweet persimmon stalk remove device |
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| CN110978097B (en) | 2021-03-16 |
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