CN111820425A - Automatic mechanical equipment that removes pulp of calabash - Google Patents

Abstract

The invention discloses automatic pulp removing mechanical equipment for a gourd, which comprises a mechanical arm, a mechanical arm and a feeding mechanism, wherein the mechanical arm, the mechanical arm and the feeding mechanism are sequentially arranged from top to bottom, the mechanical arm comprises a lifting mechanism, a scrap collecting mechanism and a rotating mechanism, the lifting mechanism is used for controlling the lifting and the overturning of the mechanical arm, the scrap collecting mechanism is used for collecting crushed pulp scraps, the rotating mechanism is used for driving the mechanical arm and the mechanical arm to rotate, the lifting mechanism is sequentially arranged from top to bottom, a supporting seat is arranged at the left end of the feeding mechanism, supporting frames are respectively and vertically arranged at four corners of each supporting seat, the top end of each supporting frame is connected with a control console, the top end of each control console is connected with the pulp removing mechanism, each control console comprises a shell, a control button, a power interface and. The mechanical arm can adjust the horizontal placement of the hoist and tightly hold the hoist to be fixed, hands are replaced, the safety and the stability of removing pulp are improved, and the production efficiency is improved.

Description

Automatic mechanical equipment that removes pulp of calabash

Technical Field

The invention relates to a mechanical technology, in particular to automatic pulp removing mechanical equipment for a gourd.

Background

The gourd has certain historical cultural development in China, and ancient people dry the gourd in the sun and empty the gourd to be used as objects for holding things. The calabash has certain economic value and collection value, the wine pot, the water ladle, the calabash silk and the calabash musical instrument are collected from the container to the musical instrument and then to the culture, and the calabash is a diversified cultural life. However, the processing of the gourd is not convenient, the integrity of the gourd is guaranteed, the pulp hooking efficiency of the conventional method by using the iron wire is low, and certain technical and dangerous properties still exist in the pulp removing process of the motor. Along with the comprehensive development of mechanical agriculture, artificial intelligence is also developing rapidly, and intelligent machine is slowly replacing manual operation, like intelligent manipulator, automatic seeding. However, for small agricultural individual households, the production chain body type and the operation technology of large machinery are difficult to popularize, the imperfect electromechanical processing mode has certain dangerousness, and the improvement of the stability and the automation degree of pulp removal of small processing plants and peasant household cucurbits needs to be researched.

The prior device for removing pulp of the closed calabash has appeared, but still has a plurality of problems in the using process. For example, in the patent of "a natural calabash pulp removing machine" with the publication number of CN108077945A, although the device has a simple overall structure, the calabash needs to be manually held to feed in the processing process, and the control of the rotating speed and pulp removing degree required by the motor degree needs certain skill and processing experience, so that the application range and the use performance are reduced.

The device adopts a clamping and replacing matching connecting rod to carry out manual operation, but more time and physical force are needed to finish the manual operation, the gourd pulp removing device has certain difficulty when a gourd mouth is aligned with the pulp removing device, and the application range of the device is influenced by the shape of the gourd, so that the use performance of the product is reduced.

Disclosure of Invention

In order to solve the problems in the prior art, the invention aims to provide an automatic gourd pulp removing device which is flexibly adjusted.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the utility model provides an automatic mechanical equipment that removes flesh of calabash, includes manipulator, arm and the feed mechanism that from top to bottom sets gradually, and the arm is including the steerable manipulator that from top to bottom sets gradually go up and down and the upset of upset rise the mechanism, collect the collection bits mechanism of the flesh bits of smashing and drive the rotatory rotary mechanism of manipulator and arm, feed mechanism's left end is provided with the supporting seat, and four angles of supporting seat are vertical respectively and are provided with the support frame, and the top of support frame is connected with the control cabinet, the top of control cabinet is connected with removes flesh mechanism, the control cabinet includes the casing, sets up control button, power source and the display screen in a casing side to and set up PLC control chip and the battery in the casing, control button and display screen all link to each other with PLC control chip's input through the wire.

As a further improvement of the invention, the manipulator comprises a front claw piece for fastening the left end of the hoist, a rear palm piece for adjusting the rear end position of the hoist and a supporting platform, the front claw piece and the rear palm piece are movably connected through a plurality of connecting rods, and the bottom end of the front claw piece is in sliding connection with the top end of the supporting platform.

As a further improvement of the invention, the front claw piece comprises a clamping jaw, a clamping arm and a first fixing plate, a clamping motor, a first screw rod, a first movable cross rod and a guide post are arranged on the back surface of the first fixing plate, the bottom end of the clamping jaw is hinged with the top end of the first fixing plate, the top end of the clamping arm is hinged with the side end surface of the bottom end of the clamping jaw, the lower end of the clamping arm is hinged with two ends of the movable cross rod, the clamping motor is arranged at the lower end of the back surface of the first fixing plate and is connected with the first screw rod through an output shaft, the other end of the first screw rod penetrates through the first movable cross rod, a first coupler is sleeved at the connecting end of the first screw rod and the output shaft of the clamping motor, the left end and the right end of the first movable cross rod are respectively penetrated with the guide post, two ends of the guide post, an anti-skid bar is arranged between the upper slope and the lower slope.

As a further improvement of the invention, the rear palm comprises a fixed palm, a pressing connecting rod, a pushing connecting rod, a second fixed plate and a pressing palm surface, one end of the pressing palm surface is connected with the fixed palm, the other end of the pressing palm surface is connected with the pushing connecting rod, one end of the pressing connecting rod is fixedly connected with the side surface of the pressing palm surface, the other end of the pressing connecting rod is hinged with the back surface of the second fixed plate, the back surface of the second fixed plate is provided with a first rotating motor, a second screw rod and a second moving cross rod, one side end of the pressing connecting rod is connected with an output shaft of the first rotating motor, the upper surface of the pressing connecting rod is provided with a sensing device for sensing the contact degree with the surface of the gourd, the sensing device is connected with the input end of a PLC control chip in the shell, one end of the pushing connecting rod far away from the pressing palm surface is connected with the second moving cross rod, the vertical second lead screw that runs through of second removal horizontal pole is provided with, and the lower extreme of second lead screw is connected with the output shaft that the second rotated the motor, and the second lead screw rotates the link cover of motor output shaft with the second and is equipped with the second coupling, fixed palm is the cyclic annular piece that is formed by a plurality of leaf form claws through fixed latch closure are articulated, and the back of every leaf form claw is fixed with the spring, and the other end fixedly connected with fixed plate of spring, the inner circle limit of leaf form claw is articulated with the inner circle limit of fixed plate, the connecting rod sets up to 4, transversely sets up respectively between first fixed plate and second fixed plate, the one end that the connecting rod is located first fixed plate sets up two push motor respectively, and every push motor's output links to each other with the connecting rod.

As a further improvement of the invention, the overturning and lifting mechanism comprises two overturning arms, two supporting arms and a supporting block, wherein grooves are formed in the upper ends of the two supporting arms, the left end of each overturning arm is rotatably connected with the side wall of the groove in the upper end of the supporting arm through a rotating shaft and then fixedly connected with the bottom end of the supporting platform, a right electric push rod is arranged at the bottom of the right end of each overturning arm, a left electric push rod is arranged at the bottom end of each supporting arm, the telescopic stroke of each left electric push rod is larger than that of each right electric push rod, and the right electric push rod and the left electric push rod are fixedly connected with the top ends of the supporting.

As a further improvement of the invention, the scrap collecting mechanism comprises a scrap collecting cavity and a conveyor belt, wherein a scrap collecting groove which is only provided with an opening at the upper end and is communicated with the scrap collecting cavity is integrally formed at the left end of the scrap collecting cavity, the bottom of the scrap collecting groove is provided with the conveyor belt, one end of the scrap collecting cavity, which is far away from the scrap collecting groove, is provided with a sliding door, a squeezing roller wheel is arranged at the joint of the conveyor belt and the scrap collecting cavity, the width of the squeezing roller wheel is wider than that of the conveyor belt, and the bottom of the scrap collecting groove is obliquely and upwards distributed from one end of the scrap collecting cavity to the other end.

As a further improvement of the invention, the rotating mechanism comprises a rotating base, the upper surface of the rotating base is provided with a fixing ring protruding upwards, the side wall of the fixing ring is provided with a supporting bearing surrounding the fixing ring, a rotating motor is arranged in the rotating base, and an output shaft of the rotating motor penetrates through the fixing ring and then extends to the bottom of the chip collecting cavity and is fixedly connected with the chip collecting cavity.

As a further improvement of the invention, the feeding mechanism comprises a feeding motor, a guide rail groove, a guide rail baffle, a sliding base and a feeding screw rod, the guide rail baffle is fixedly connected with the left end of the guide rail groove, a guide rail for the sliding base to slide is arranged in the guide rail groove, first through holes for the feeding screw rod to penetrate through are formed in the side walls of the left end and the right end of the sliding base, second through holes for the feeding screw rod to penetrate through are formed in the side walls of the guide rail baffle, one end of the feeding screw rod is connected with an output shaft of the feeding motor after penetrating through the first through hole and the second through hole respectively, a third coupler is sleeved at the connecting end of the feeding screw rod and the output shaft of the feeding motor, the feeding motor is arranged on a supporting seat, and the contact ends of the sliding base and the guide rail are provided with.

As a further improvement of the invention, the pulp removing mechanism comprises a pulp removing motor, a brush and a pulp removing base, a fourth coupler is sleeved at the connecting end of an output shaft of the pulp removing motor and the brush, an induction contact is arranged at the head of the brush and connected with the input end of a PLC (programmable logic controller) control chip in the shell, the upper end of the pulp removing base is fixedly connected with the pulp removing motor, and the lower end of the pulp removing base is fixedly connected with the top end of the shell

As a further improvement of the invention, a moving groove is vertically arranged at the top end of one end, away from the second fixing plate, of the supporting platform, a sliding motor is arranged on the back surface of the first fixing plate, an output shaft of the sliding motor penetrates through the first fixing plate and is connected with a gear, a rack matched with the gear is arranged on the surface of the moving groove, and the bottom end of the first fixing plate is connected with the top end of the supporting platform in a sliding manner.

Compared with the prior art, the invention has the following beneficial effects:

1. at removing the pulp in-process, adopt inductive contact when the calabash removes the pulp on the one hand, the automatic alignment calabash center, on the other hand is according to the degree of removing the pulp, and coordinated motor rotational speed and manipulator feed rate for it is more intelligent to remove the pulp process, has improved production efficiency, and each device is harmonious nature, makes to remove pulp process intelligence simple and easy.

2. Nimble specific calabash manipulator use mode function is more, and adaptation calabash shape kind is more, can realize adjusting the calabash level and place and promptly fix, replaces the staff, has improved the security and the stability of removing the flesh, and the manipulator can also make the calabash appointed form promptly fixed simultaneously, is applicable to more calabash processing condition and not only limits to removing the flesh, for example the function such as portrayal, washing surface mould, and is multiple functional, and program execution process automation degree is high.

3. Through control button operation, PLC control chip automatic control realizes that the calabash from the assigned position take up, remove the flesh, collect bits, the series flow of placing, and it is higher to remove flesh process continuity, stability, easy operation, very big reduction the labour, really realize knowing putting both hands.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the front claw member of the present invention

FIG. 3 is a schematic view of a jaw configuration of the present invention;

FIG. 4 is a schematic view of the fixing palm structure of the present invention;

FIG. 5 is a schematic view of the front view structure of the manipulator fixing the hoist in the present invention;

FIG. 6 is a schematic view of a rear sole structure according to the present invention;

FIG. 7 is a schematic view of the connection of the supporting platform, the first fixing plate and the second fixing plate according to the present invention;

FIG. 8 is a schematic structural view of the lifting mechanism of the present invention;

FIG. 9 is a schematic view of the connection between the chip collecting mechanism and the rotating mechanism according to the present invention;

FIG. 10 is a schematic view of the chip collecting mechanism according to the present invention;

FIG. 11 is a schematic view of the interior of the rotating mechanism of the present invention;

FIG. 12 is a schematic view of the connection between the rotating mechanism and the feeding mechanism in the present invention;

FIG. 13 is a perspective detail view of the slide base coupled to the feed screw of the present invention;

FIG. 14 is a schematic diagram of the structure of the pulp removing mechanism and the console of the present invention.

In the drawings:

1. a manipulator; 10. a front claw member; 100. a clamping jaw; 101. clamping arms; 102. a first fixing plate; 103. clamping the motor; 104. a first lead screw; 105. a first movable cross bar; 106. a guide post; 107. a first coupling; 108. a push motor; 109. a slide motor; 1000. anti-slip teeth; 1001. an anti-skid bar; 11. a rear palm piece; 110. fixing the palm; 111. pressing the connecting rod; 112. pushing the connecting rod; 113. a second fixing plate; 114. pressing the palm surface; 115. a first rotating electric machine; 116. a second rotating electric machine; 117. a second lead screw; 118. a second movable cross bar; 119. a moving guide groove; 1104. a second coupling, 1100, lobed claw; 1101. fixing a ring buckle; 1102. a spring; 1103. a fixing plate; 1110. an induction device; 12. A support platform; 120. a moving groove; 121. a gear; 122 rack bar; 13. a connecting rod;

2. a feed mechanism; 20. a feed motor; 21. a guide rail groove; 22. a guide rail baffle; 23. a sliding base; 24. a feed screw rod; 25. a guide rail; 26. a third coupling; 27. a vertical wheel set; 230. a first through hole; 220. a second through hole;

3. a turning-over and lifting mechanism; 30. turning over the arm; 31. supporting the arm; 32. a support block; 33. a right electric push rod; 34. a left electric push rod;

4. a scrap collecting mechanism; 40. a chip collecting cavity; 41. a conveyor belt; 42. a sliding door; 43. extruding a roller;

5. a rotation mechanism; 50. rotating the base; 51. a stationary ring; 52. a support bearing; 53. a rotating electric machine;

6. a supporting seat;

7. a support frame;

8. a console; 80. a housing; 81. a control button; 82. a display screen;

9. a pulp removing mechanism; 90. a pulp removing motor; 91. a brush; 92. a fourth coupling; 93. an inductive contact; 94. and (4) removing pulp from the base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The invention relates to automatic pulp removing mechanical equipment for a gourd, which comprises a mechanical arm 1, a mechanical arm and a feeding mechanism 2 which are sequentially arranged from top to bottom, wherein the mechanical arm comprises a lifting mechanism 3 which is sequentially arranged from top to bottom and can control the mechanical arm 1 to lift and turn, a pulp and scrap collecting mechanism 4 which collects crushed pulp and scrap and a rotating mechanism 5 which drives the mechanical arm 1 and the mechanical arm to rotate, so that the mechanical arm 1 can realize the adjustment of the direction and the collection of the pulp and scrap. The left end of feed mechanism 2 is provided with supporting seat 6, and four angles of supporting seat 6 are vertical respectively and are provided with support frame 7, and the top of support frame 7 is connected with control cabinet 8, the top of control cabinet 8 is connected with removes flesh mechanism 9, control cabinet 8 includes casing 80, sets up control button 81, power source and display screen 82 in casing 80 side to and set up PLC control chip and the battery in casing 80, control button 81 and display screen 82 all link to each other through wire and PLC control chip's input.

As shown in fig. 7, the manipulator 1 includes a front claw member 10 for fastening the left end of the hoist, a rear palm member 11 for adjusting the rear end position of the hoist, and a supporting platform 12, the front claw member 10 and the rear palm member 11 are movably connected through a plurality of connecting rods 13, and the bottom end of the front claw member 10 is slidably connected with the top end of the supporting platform 12.

As shown in fig. 2 and 3, the front jaw 10 includes a clamping jaw 100, a clamping arm 101 and a first fixing plate 102, a clamping motor 103, a first lead screw 104, a first movable cross bar 105 and a guide post 106 are mounted on the back surface of the first fixing plate 102, the bottom end of the clamping jaw 100 is hinged to the top end of the first fixing plate 102, the top end of the clamping arm 101 is hinged to the side end surface of the bottom end of the clamping jaw 100, the lower end of the clamping arm 101 is hinged to both ends of the movable cross bar 105, the clamping motor 103 is disposed at the lower end of the back surface of the first fixing plate 102 and connected to the first lead screw 104 through an output shaft, the other end of the first lead screw 104 penetrates through the first movable cross bar 105, a first coupler 107 is sleeved at the connecting end of the first lead screw 104 and the output shaft of the clamping motor 103, the guide posts 106 penetrate through both left and right ends of the. The front claw piece 10 is used for clamping the front end of a hoist, the opening of the clamping jaw 100 can be adjusted, the upper edge and the lower edge of the inner side surface of the clamping jaw 100 are provided with slopes, a plurality of anti-skidding teeth 1000 are uniformly distributed on the surfaces of the slopes, an anti-skidding bar 1001 is arranged between the upper slope and the lower slope, and the hoist can be further clamped.

As shown in fig. 4, 5 and 6, the rear palm member 11 includes a fixed palm 110, a pressing link 111, a pushing link 112, a second fixed plate 113 and a pressing palm surface 114, one end of the pressing palm surface 114 is connected to the fixed palm 110, the other end is connected to the pushing link 112, one end of the pressing link 111 is fixedly connected to the side surface of the pressing palm surface 114, the other end is hinged to the back surface of the second fixed plate 113, the back surface of the second fixed plate 113 is provided with a first rotating motor 115, a second rotating motor 116, a second lead screw 117 and a second moving cross bar 118, one side end of the pressing link 111 is connected to the output shaft of the first rotating motor 115, the upper surface of the pressing link 111 is provided with a sensing device 1110 for sensing the contact degree with the surface of the hoist, the sensing device 1110 is connected to the input end of the PLC control chip in the housing 20, one end of the pushing link 112 far from the pressing palm surface 114 is connected to the second moving cross bar, two ends of a second movable cross bar 118 are slidably connected with a movable guide groove 119 vertically arranged on the back of a second fixing plate 113, the second movable cross bar 118 is vertically provided with a second screw rod 117 in a penetrating manner, the lower end of the second screw rod 117 is connected with an output shaft of a second rotating motor 116, a second coupling 1104 is sleeved at the connecting end of the second screw rod 117 and the output shaft of the second rotating motor 116, the fixing palm 110 is an annular member formed by hinging a plurality of leaf-shaped claws 1100 through fixing buckles 1101, a spring 1102 is fixed on the back of each leaf-shaped claw 1100, the other end of the spring 1102 is fixedly connected with a fixing plate 1103, the inner ring edge of each leaf-shaped claw 1100 is hinged with the inner ring edge of the fixing plate 1103 so as to achieve the effect of swinging along the inner side shaft of the fixing plate 1103, the connecting rods 13 are 4 and are respectively and transversely arranged between the first fixing plate 102 and the second fixing plate 113, two pushing motors 108 are respectively arranged at one end of the connecting, the output of each push motor 108 is connected to a link 13. The palm piece 11 is used for adjusting the rear end of the hoist so that the opening of the hoist is opposite to the pulp removing mechanism 9 on the left.

As shown in fig. 8, the lifting mechanism 3 includes two turning arms 30, two supporting arms 31 with grooves formed in the upper ends thereof, and a supporting block 32, the left end of each turning arm 30 is connected with the side wall of the groove formed in the upper end of the supporting arm 31 through a rotating shaft, and then is fixedly connected with the bottom end of the supporting platform 12, a set of right electric push rod 33 is arranged at the bottom end of the right end of each turning arm 30, a set of left electric push rod 34 is arranged at the bottom end of each supporting arm 31, the telescopic stroke of the left electric push rod 34 is greater than that of the right electric push rod 33, and the right electric push rod 33 and the left electric push rod 34 are fixedly connected with the top end of the supporting. The lifting mechanism 3 consists of two functional modules of lifting and turning, and each set of electric push rod comprises a lifting rod, a reciprocating motor arranged at one side end of the lifting rod and gear boxes arranged at the bottom ends of the lifting rod and the reciprocating motor. All the lifting motors can synchronously ascend or descend so as to drive the manipulator 1 to ascend or descend, and when the right electric push rod 33 descends and the left electric push rod 34 ascends, the turnover arm 30 rotates by taking the contact hinge of the turnover arm and the support arm 31 as a rotating shaft.

As shown in fig. 9 and 10, the chip collecting mechanism 4 includes a chip collecting cavity 40 and a conveyor belt 41, the left end of the chip collecting cavity 40 is integrally formed with a chip collecting groove which is only opened at the upper end and is communicated with the chip collecting cavity 40, the bottom of the chip collecting groove is provided with the conveyor belt 41, one end of the chip collecting cavity 40, which is far away from the chip collecting groove, is provided with a sliding door 42, a squeezing roller 43 is arranged at the joint of the conveyor belt 41 and the chip collecting cavity 40, the width of the squeezing roller 43 is wider than that of the conveyor belt 41, and the bottom of the chip collecting groove is inclined and upwards distributed from one end of the chip collecting cavity 40 to the other end of the chip collecting cavity 40. The conveyer belt 41 is installed at the overhanging part in collection bits chamber 40, and the pulp bits of smashing and son fall on the conveyer belt 41 of collection bits mechanism 4, get into collection bits chamber 40 and store after extrusion running roller 43 extrusion, after collection bits chamber 40 storage a period, can open sliding door 42 and clear up.

As shown in fig. 1, 11 and 12, the rotating mechanism 5 includes a rotating base 50, a fixing ring 51 protruding upward is disposed on an upper surface of the rotating base 50, a supporting bearing 52 surrounding the fixing ring 51 is disposed on a side wall of the fixing ring 51, a rotating motor 53 is disposed in the rotating base 50, and an output shaft of the rotating motor 51 passes through the fixing ring 51, extends to the bottom of the chip collecting cavity 40, and is fixedly connected to the chip collecting cavity 40. The purpose is to drive the chip collecting mechanism 4, the overturning and lifting mechanism 3 and the manipulator 1 on the rotating mechanism 5 to integrally rotate, and the manipulator 1 and the overturning and lifting mechanism 3 are matched to realize side edge grabbing of a hoist.

As shown in fig. 1, 12, 13 and 14, the feeding mechanism 2 includes a feeding motor 20, a guide rail groove 21, a guide rail baffle 22, a sliding base 23 and a feeding screw rod 24, the guide rail baffle 22 is fixedly connected with the left end of the guide rail groove 21, a guide rail 25 for the sliding base 23 to slide is arranged in the guide rail groove 21, the side walls of the left and right ends of the sliding base 23 are provided with a first through hole 230 for the feed screw rod 24 to pass through, the side wall of the guide rail baffle 22 is provided with a second through hole 220 for the feed screw 24 to pass through, one end of the feed screw rod 24 is connected with the output shaft of the feed motor 20 after passing through the first through hole 230 and the second through hole 220, respectively, a third coupling 26 is sleeved at the connection end of the feed screw rod 24 and the output shaft of the feed motor 20, the feeding motor 20 is arranged on the supporting seat 6, and the contact ends of the sliding base 23 and the guide rail 25 are provided with vertical wheel sets 27 matched with the guide rail 25.

As shown in fig. 14, go flesh mechanism 9 including going flesh motor 90, brush 91 and going flesh base 94, the output shaft that goes flesh motor 90 and the link cover of brush 91 are equipped with fourth shaft coupling 92, the head of brush 91 is provided with inductive contact 93, inductive contact 93 links to each other with the interior PLC control chip's of casing 20 input, the upper end that goes flesh base 94 and the top fixed connection who goes flesh motor 90 fixed connection, lower extreme and casing 80.

As shown in fig. 7 and 8, a moving groove 120 is vertically disposed at a top end of one end of the supporting platform 12, which is far away from the second fixing plate 113, a sliding motor 109 is disposed at a back surface of the first fixing plate 102, an output shaft of the sliding motor 109 penetrates through the first fixing plate 102 and is connected with a gear 121, a rack 122 adapted to the gear 121 is disposed on a surface of the moving groove 120, and a bottom end of the first fixing plate 102 is slidably connected with a top end of the supporting platform 12. The sliding motor 109 is started, the gear 121 is meshed with the rack 122, so that the gear 121 moves in the moving groove 120 at a small distance, and the supporting platform 12 is further provided with a sliding groove for the first fixing plate 102 to slide, so that the first fixing plate 102 is driven to slide back and forth on the supporting platform 12, and the horizontal position of the gourd-shaped opening on the manipulator 1 is aligned with the center of the brush 91.

The specific implementation process comprises the following steps:

starting and moving the automatic gourd pulp removing equipment: firstly, the device is connected to an external power supply, then a control button 81 on the console 8 is pressed to start the device, at this time, the feeding motor 20 starts to rotate, the sliding base 23 moves to the position of the set guide rail 25 through the transmission of the feeding screw 24, and then the feeding motor 20 stops rotating and generates self-locking of the feeding screw 24. The rotation motor 53 is started to rotate, so that the entire upper end robot arm and the robot arm 1 are adjusted to an appropriate direction and then stopped.

Grabbing an automatic hoist: starting the overturning mechanism 3, starting the left and right sets of electric push rods to ascend or descend simultaneously, so that the overturning arm 30 and the supporting arm 31 ascend or descend vertically at the same time and have the same movement speed, and stopping the operation of the right electric push rod 33 and the left electric push rod 34 at the same time when the overturning arm and the supporting arm move to a certain height. The clamping motor 103 of the front claw 10 is started to rotate, the first lead screw 104 pushes the first movable cross rod 105 to move downwards to drive the clamping arm 101 to move downwards, so that the opening of the clamping jaw 100 becomes maximum, meanwhile, the pushing motor 108 connected with the connecting rod 13 rotates to enable the second fixing plate 113 to move downwards relative to the first fixing plate 102, the first rotating motor 115 on the rear palm piece 11 rotates backwards for a certain distance and then stops, and the second rotating motor 116 starts to rotate backwards, so that the whole rear palm piece 11 is below the front claw 10. At this time, the two sets of right electric push rods 33 slowly descend, so that the height of the supporting arm 31 is reduced, the overturning arm 30 tilts outwards, the two sets of left electric push rods 34 start to gradually rise, and the overturning arm 30 drives the manipulator 1 to start to overturn downwards. When the hoist is placed upside down and is positioned on the horizontal plane, and the front claw piece 10 reaches the waist of the hoist, the clamping motor 103 is started reversely again to enable the clamping jaw 100 to clamp the waist of the hoist. At this time, the mechanical arm resets, the left electric push rod 34 is adjusted back to the initial position, and when the right electric push rod 33 and the left electric push rod 34 are adjusted to be at the same horizontal plane, the rotating motor 53 enables the manipulator 1 to align to the pulp removing mechanism 9 on the left side.

Automatic regulation of the gourd: the adjustment of calabash is divided into fastening and position adjustment, and the calabash waist passes through the clamping jaw 100 fastening of front claw spare 10, and the rear end of the regulation calabash of rethread back palm spare 11 for the calabash mouth is just to the mechanism 9 that removes the flesh of left side. And starting the two pushing motors 108 to drive the connecting rod 13 to move, so that the second fixing plate 113 rises to a position slightly lower than the first fixing plate 102 and stops. The back palm piece 11 begins to start, and first rotation motor 115 drives presses connecting rod 111 to make progress rotatoryly, touches the calabash certain degree on pressing connecting rod 111, presses the induction system 1110 that sets up on connecting rod 111 this moment and receives the signal, and PLC control chip in the reconveying console 8, presses connecting rod 111 motion this moment and stops and lock. Then, the second rotating motor 116 is started, and the second moving cross bar 118 is pushed by the second lead screw 117 to slide upwards on the moving guide groove 119, so that the pushing link 112 is pushed upwards, and the fixing palm 110 is pushed downwards with the hinge at the top end of the pressing link 111 as a fulcrum. Each of the lobed claws 1100 on the fixed leg 110 is compressed by the spring 1102 under a compressive force. At this time, the leaf-shaped claw 1100 grasps the rear upper end of the hoist, the pressing connecting rod 111 supports the rear lower end of the hoist, the opening of the hoist is adjusted to be right opposite to the left, the second rotating motor 116 stops rotating, and the position of the hoist relative to the manipulator 1 is fixed at this time. At this moment, the opening of the hoist needs to be aligned to the center of the brush 91 on the pulp removing mechanism 9, the turning and lifting mechanism 3 is started, the right electric push rod 33 and the left electric push rod 34 slowly lift at the same time, so that the center of the hoist and the brush 91 are on the same horizontal plane, the sliding motor 109 is started, the gear 121 is meshed with the rack 122, the gear 121 moves in the moving groove 120 at a small distance, the supporting platform 12 is further provided with a sliding groove for the first fixing plate 102 to slide back and forth on the supporting platform 12, and therefore the horizontal position of the opening of the hoist on the manipulator 1 is aligned to the center of the brush 91.

Removing pulp and collecting scraps of the automatic gourd: starting feed mechanism 2's feed motor 20, inside slide base 23 left direction slow movement made brush 91 get into the calabash through the calabash mouth, brush 91 top is equipped with inductive contact 93 for the calabash degree of depth forms PLC control chip in data transmission control cabinet 8, gets into the inside certain degree of calabash after feed motor 20 stall. At this time, the pulp removing motor 90 starts to rotate, and the pulp scraps and seeds in the gourd are broken after the feeding motor 20 rotates forward and backward alternately for a plurality of times. At this time, the pulp removing motor 90 stops rotating, the feeding mechanism 2 starts to retreat to a safe distance and then stops, the overturning and lifting mechanism 3 is started again at this time to enable the manipulator 1 to overturn downwards repeatedly, the right electric push rod 33 descends to the lowest position and stops, and the left electric push rod 34 ascends to enable the manipulator 1 to overturn downwards. The crushed pulp chips and the crushed seeds fall onto a conveyor belt 41 of the chip collecting mechanism 4 and are extruded by an extrusion roller 43 to enter a chip collecting cavity 40 for storage. After the scraps are collected, the overturning and lifting mechanism 3 recovers the pulp removing state, and pulp and scraps are removed from the gourd for the second time through the feeding mechanism 2 and the overturning and lifting mechanism 3, so that the pulp in the inner cavity of the gourd is completely removed. Then the feeding motor 20 of the feeding mechanism 2 rotates, so that the manipulator 1 and the mechanical arm retreat to the designated position through the sliding base 23 and stop, and pulp removal is completed.

The display screen 82 cooperates with the inductive contacts 93 and the distributed inductive devices 1110 to reflect the work progress, and the PLC control chip in the console 8 can preset pulp removing speed, precision and processing time, set clamping force according to the size of the hoist and the like. The distance threshold is preset in the PLC control chip, when the bottom end of the hoist reaches the pressing connecting rod 111, the sensing device 1110 arranged on the pressing connecting rod 111 and used for sensing the contact degree with the surface of the hoist receives a signal and then transmits the signal to the PLC control chip in the console 8, and at the moment, the pressing connecting rod 111 stops moving and is locked. When the opening of the hoist is adjusted to be in the middle of the head of the moving brush 91 and extends into the hoist, the sensing contact 93 detects a signal of the distance from the sensing contact 93 to the bottom of the inner wall of the hoist, then the physical signal is converted into an electric signal and transmitted to a PLC control chip in the console 8, and at the moment, the pulp removing motor 90 is closed, so that the pulp removing mechanism 9 stops working.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides an automatic mechanical equipment that removes pulp of calabash which characterized in that: comprises a mechanical arm (1), a mechanical arm and a feeding mechanism (2) which are sequentially arranged from top to bottom, wherein the mechanical arm comprises a turnover mechanism (3) which can control the mechanical arm (1) to lift and turn over, a scrap collecting mechanism (4) which collects crushed scrap of pulp and a rotating mechanism (5) which drives the mechanical arm (1) and the mechanical arm to rotate, the left end of the feeding mechanism (2) is provided with a supporting seat (6), four corners of the supporting seat (6) are respectively and vertically provided with a supporting frame (7), the top end of the supporting frame (7) is connected with a console (8), the top end of the console (8) is connected with a pulp removing mechanism (9), the console (8) comprises a shell (80), a control button (81), a power interface and a display screen (82) which are arranged on one side surface of the shell (80), and a PLC control chip and a storage battery which are arranged in the shell, and the control button (81) and the display screen (82) are connected with the input end of the PLC control chip through wires.

2. The automatic mechanical equipment for removing pulp of calabash as claimed in claim 1, wherein: manipulator (1) are including preceding claw spare (10), the back palm spare (11) and supporting platform (12) of adjustment calabash rear end position of fastening calabash front end, through a plurality of connecting rod (13) swing joint between preceding claw spare (10) and back palm spare (11), the bottom of preceding claw spare (10) and the top sliding connection of supporting platform (12).

3. The automatic mechanical equipment for removing pulp of gourd according to claim 2, wherein: the front claw piece (10) comprises a clamping jaw (100), a clamping arm (101) and a first fixing plate (102), wherein a clamping motor (103), a first screw rod (104), a first movable cross rod (105) and a guide post (106) are installed on the back surface of the first fixing plate (102), the bottom end of the clamping jaw (100) is hinged to the top end of the first fixing plate (102), the top end of the clamping arm (101) is hinged to the side end face of the bottom end of the clamping jaw (100), the lower end of the clamping arm (101) is hinged to two ends of the movable cross rod (105), the clamping motor (103) is arranged at the lower end of the back surface of the first fixing plate (102) and is connected with the first screw rod (104) through an output shaft, the other end of the first screw rod (104) penetrates through the first movable cross rod (105), a first coupler (107) is sleeved at the connecting end of the first screw rod (104) and the output shaft of the clamping motor (103), the guide posts (106) penetrate through, two ends of the guide post (106) are respectively fixed by bolts, the upper edge and the lower edge of the inner side surface of the clamping jaw (100) are provided with slopes, a plurality of anti-skidding teeth (1000) are uniformly distributed on the surfaces of the slopes, and an anti-skidding bar (1001) is arranged between the upper slope and the lower slope.

4. The automatic mechanical equipment for removing pulp of gourd according to claim 3, wherein: the rear palm piece (11) comprises a fixed palm (110), a pressing connecting rod (111), a pushing connecting rod (112), a second fixing plate (113) and a pressing palm surface (114), one end of the pressing palm surface (114) is connected with the fixed palm (110), the other end of the pressing palm surface is connected with the pushing connecting rod (112), one end of the pressing connecting rod (111) is fixedly connected with the side surface of the pressing palm surface (114), the other end of the pressing connecting rod is hinged with the back surface of the second fixing plate (113), a first rotating motor (115), a second rotating motor (116), a second lead screw (117) and a second movable cross rod (118) are installed on the back surface of the second fixing plate (113), one side end of the pressing connecting rod (111) is connected with an output shaft of the first rotating motor (115), an induction device (1110) used for inducing the surface contact degree with a gourd is arranged on the upper surface of the pressing connecting rod (111), and the induction device (1110) is connected with the input end of a, one end, far away from the pressing palm surface (114), of the pushing connecting rod (112) is connected with a second movable cross rod (118), two ends of the second movable cross rod (118) are in sliding connection with a movable guide groove (119) vertically arranged on the back surface of a second fixing plate (113), a second lead screw (117) vertically penetrates through the second movable cross rod (118), the lower end of the second lead screw (117) is connected with an output shaft of a second rotating motor (116), a second coupler (1104) is sleeved at the connecting end of the second lead screw (117) and the output shaft of the second rotating motor (116), the fixing palm (110) is an annular piece formed by hinging a plurality of leaf-shaped claws (1100) through fixing ring buckles (1101), a spring (1102) is fixed on the back surface of each leaf-shaped claw (1100), the other end of the spring (1102) is fixedly connected with a fixing plate (1103), the inner ring edge of each leaf-shaped claw (1100) is hinged with the inner ring edge of the fixing plate (1103), the number of the connecting rods (13) is 4, the connecting rods are transversely arranged between the first fixing plate (102) and the second fixing plate (113) respectively, two pushing motors (108) are arranged at one ends, located on the first fixing plate (102), of the connecting rods (13) respectively, and the output end of each pushing motor (108) is connected with the connecting rod (13).

5. The automatic mechanical equipment for removing pulp of calabash as claimed in claim 1, wherein: the overturning and lifting mechanism (3) comprises two overturning arms (30), two supporting arms (31) with grooves formed in the upper ends and supporting blocks (32), the left end of each overturning arm (30) and the side wall of the groove in the upper end of each supporting arm (31) are connected with the bottom end of the supporting platform (12) in a rotating mode through a rotating shaft, a right electric push rod (33) is arranged at the bottom of the right end of each overturning arm (30), a left electric push rod (34) is arranged at the bottom end of each supporting arm (31), the telescopic stroke of the left electric push rod (34) is larger than that of the right electric push rod (33), and the right electric push rod (33) and the left electric push rod (34) are fixedly connected with the top ends of the supporting blocks (32).

6. The automatic mechanical equipment for removing pulp of calabash as claimed in claim 1, wherein: collection bits mechanism (4) are including collection bits chamber (40) and conveyer belt (41), the left end integrated into one piece of collection bits chamber (40) has only upper end opening and with the collection bits groove of collection bits chamber (40) looks UNICOM, and the tank bottom of collection bits groove is provided with conveyer belt (41), the one end of keeping away from the collection bits groove in collection bits chamber (40) is provided with sliding door (42), conveyer belt (41) are equipped with extrusion running roller (43) with collection bits chamber (40) junction, and the width of extrusion running roller (43) is wider in the width of conveyer belt (41), and the tank bottom of collection bits groove is slope upwards to the other end of keeping away from collection bits chamber (40) one end and distributes.

7. The automatic mechanical equipment for removing pulp of gourd according to claim 6, wherein: the rotary mechanism (5) comprises a rotary base (50), an upward convex fixing ring (51) is arranged on the upper surface of the rotary base (50), a supporting bearing (52) surrounding the fixing ring (51) is arranged on the side wall of the fixing ring (51), a rotary motor (53) is arranged in the rotary base (50), and an output shaft of the rotary motor (51) penetrates through the fixing ring (51), extends to the bottom of the chip collecting cavity (40) and is fixedly connected with the chip collecting cavity (40).

8. The automatic mechanical equipment for removing pulp of calabash as claimed in claim 1, wherein: the feeding mechanism (2) comprises a feeding motor (20), a guide rail groove (21), a guide rail baffle (22), a sliding base (23) and a feeding screw rod (24), the guide rail baffle (22) is fixedly connected with the left end of the guide rail groove (21), a guide rail (25) for the sliding base (23) to slide is arranged in the guide rail groove (21), a first through hole (230) for the feeding screw rod (24) to penetrate through is formed in the side wall of the left end and the right end of the sliding base (23), a second through hole (220) for the feeding screw rod (24) to penetrate through is formed in the side wall of the guide rail baffle (22), one end of the feeding screw rod (24) penetrates through the first through hole (230) and the second through hole (220) respectively and then is connected with an output shaft of the feeding motor (20), and a third coupling (26) is sleeved on the connecting end of the feeding screw rod (24) and the output shaft of the feeding motor, the feeding motor (20) is arranged on the supporting seat (6), and the contact ends of the sliding base (23) and the guide rail (25) are provided with vertical wheel sets (27) matched with the guide rail (25).

9. The automatic mechanical equipment for removing pulp of calabash as claimed in claim 1, wherein: remove flesh mechanism (9) including removing flesh motor (90), brush (91) and remove flesh base (94), the output shaft that removes flesh motor (90) and the link cover of brush (91) are equipped with fourth shaft coupling (92), the head of brush (91) is provided with inductive contact (93), inductive contact (93) link to each other with the input of PLC control chip in casing (20), the upper end that removes flesh base (94) and remove flesh motor (90) fixed connection, the top fixed connection of lower extreme and casing (80).

10. The automatic mechanical equipment for removing pulp of gourd according to claim 4, wherein: the top end of one end, far away from the second fixing plate (113), of the supporting platform (12) is vertically provided with a moving groove (120) which is recessed downwards, the back face of the first fixing plate (102) is provided with a sliding motor (109), an output shaft of the sliding motor (109) penetrates through the first fixing plate (102) and then is connected with a gear (121), a rack (122) matched with the gear (121) is arranged on the surface of the moving groove (120), and the bottom end of the first fixing plate (102) is connected with the top end of the supporting platform (12) in a sliding mode.

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