CN112006291B - Double-deck roller type walnut shelling machine people - Google Patents
Double-deck roller type walnut shelling machine people Download PDFInfo
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- CN112006291B CN112006291B CN202010879266.3A CN202010879266A CN112006291B CN 112006291 B CN112006291 B CN 112006291B CN 202010879266 A CN202010879266 A CN 202010879266A CN 112006291 B CN112006291 B CN 112006291B
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Classifications
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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
- A23N5/00—Machines for hulling, husking or cracking nuts
Abstract
The invention relates to the technical field of agricultural equipment, in particular to a double-layer roller type walnut shelling robot which comprises a material conveying mechanism, a material clamping mechanism, a material transferring mechanism, a material containing mechanism, a shell opening mechanical arm and a roller chain moving mechanism, wherein the material transferring mechanism is positioned between the material conveying mechanism and the material containing mechanism, the material clamping mechanism is installed at the working end of the material transferring mechanism, the roller chain moving mechanism is positioned at one side of the material containing mechanism, and the shell opening mechanical arm is positioned at the working end of the roller chain moving mechanism and fixedly connected with the roller chain moving mechanism.
Description
Technical Field
The invention relates to the technical field of agricultural equipment, in particular to a double-layer roller type walnut shelling robot.
Background
Walnut, also known as walnut and walnut, is a plant of the family juglandaceae. It is also called four-big-dried fruit in the world together with almond, cashew nut and hazelnut. The walnut kernel contains rich nutrients, each hundred grams of the walnut kernel contains 15-20 grams of protein, more fat and 10 grams of carbohydrate, and contains various trace elements and mineral substances such as calcium, phosphorus, iron and the like which are necessary for a human body, and various vitamins such as carotene, riboflavin and the like. Is beneficial to human body. Is one of nut foods which are deeply favored by common people. Walnut has hard shell and needs to be broken for eating.
At the shell opening step in most of walnut shelling machines on the market, a batch of walnuts are mostly extruded through a roller, and the shell opening degree of the walnuts is not uniform by the method, so that a double-layer roller type walnut shelling robot needs to be provided, the shells of the walnuts can be accurately opened, the shell opening degree of the walnuts is unified, and the integrity of the shelled nuts is improved.
Disclosure of Invention
In order to solve the technical problem, the double-layer roller type walnut shelling robot is provided, the technical scheme can accurately shell walnut, the shell opening degree of the walnut is unified, and the completeness of shelled kernels is improved.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a double-layer roller type walnut shelling robot comprises a material conveying mechanism, a material clamping mechanism, a material transferring mechanism, a material containing mechanism, a shell opening mechanical arm and a roller chain moving mechanism;
the shell opening mechanical arm is positioned at the working end of the roller chain moving mechanism and is fixedly connected with the roller chain moving mechanism;
the material conveying mechanism is provided with a synchronous belt feeding mechanism which is used for conveying the walnuts in batches;
the material transfer mechanism is provided with a right-angle plate and is used for driving the material clamping mechanism to horizontally and longitudinally move through the right-angle plate;
a blanking plate is arranged on the material containing mechanism and used for limiting the plurality of walnuts;
the shell opening mechanical arm is provided with a right-angle cylinder and is used for driving the right-angle cylinder to clamp the top of the walnut
The roller chain moving mechanism is provided with a chain and is used for driving the shell opening mechanical arm to horizontally move through the driving chain.
Preferably, the material conveying mechanism further comprises a limiting frame plate, a first air cylinder and a second air cylinder, the limiting frame plate is located at the top of the synchronous belt feeding mechanism and fixedly connected with the synchronous belt feeding mechanism, the second air cylinder is installed on the synchronous belt feeding mechanism, the output end of the second air cylinder penetrates through the limiting frame plate, the first air cylinder is installed on the synchronous belt feeding mechanism, a distance of a walnut is arranged between the first air cylinder and the second air cylinder at an interval, and the output end of the first air cylinder penetrates through the limiting frame plate.
Preferably, the synchronous belt feeding mechanism comprises a feeding rack, a first synchronous wheel, a second synchronous wheel and a first servo motor, the first synchronous wheel and the second synchronous wheel are respectively located at two ends of the feeding rack and rotatably connected with the feeding rack, the first synchronous wheel and the second synchronous wheel are connected through a synchronous belt in a transmission mode, the first servo motor is installed on the feeding rack, and the output end of the first servo motor is connected with the stress end of the first synchronous wheel.
Preferably, the material transfer mechanism further comprises a linear driver and a push-pull mechanism, the linear driver is located at the output end of the push-pull mechanism and fixedly connected with the push-pull mechanism, and the right-angle plate is located at the output end of the linear driver and fixedly connected with the output end of the linear driver.
Preferably, the push-pull mechanism comprises a flat plate, a sliding rail, a sliding block, a linkage part and a third pushing cylinder, the sliding rail is located at the bottom of the flat plate and is fixedly connected with the flat plate, the sliding block is located at the bottom of the flat plate and is slidably connected with the sliding rail, the sliding block is fixedly connected with the linear driver, the third pushing cylinder is installed at the top of the flat plate, and the third pushing cylinder is connected with the sliding block through the linkage part.
Preferably, the material containing mechanism further comprises a chute plate, a material carrying plate and a fourth cylinder, the chute plate is located at the bottom of the blanking plate and fixedly connected with the blanking plate, the material carrying plate is located at the bottom of the blanking plate and slidably connected with the blanking plate, and the output end of the fourth cylinder is connected with the stressed end of the material carrying plate.
Preferably, the shell opening manipulator is further including the dysmorphism frame, first bearing frame, the fifth cylinder, rotary driving mechanism and the subassembly of pounding, a right angle section of thick bamboo is installed on the dysmorphism frame through first bearing frame, and a right angle section of thick bamboo and dysmorphism frame rotatable coupling, the stiff end of fifth cylinder is articulated with dysmorphism frame, the output of fifth cylinder is articulated with the atress end of a right angle section of thick bamboo, the inside of a right angle section of thick bamboo is cavity, the subassembly of pounding is installed in the inside of a right angle section of thick bamboo, rotary driving mechanism installs on the dysmorphism frame, the atress end of pounding the subassembly is connected with rotary driving mechanism's output transmission.
Preferably, the rotary driving mechanism comprises a second bearing seat, a second servo motor and an intermittent driving wheel, the second bearing seat is mounted on the special-shaped frame, the intermittent driving wheel is located on one side of the second bearing seat and is rotatably connected with the second bearing seat, the second servo motor is mounted on the other side of the second bearing seat, the output end of the second servo motor is connected with the stressed end of the intermittent driving wheel, the intermittent driving wheel is annular, and a convex block is arranged at the outer edge of the annular.
Preferably, beat the subassembly including the connecting rod, the dwang, right angle pole and spring, the right angle pole is located the inside department of buckling of a right angle section of thick bamboo, the dwang run through a right angle section of thick bamboo and rather than rotatable coupling, the one end of dwang and the atress end fixed connection of right angle pole, the output of connecting rod and the other end fixed connection of dwang, the both ends of spring are connected with a right angle section of thick bamboo and connecting rod respectively, its atress end passes through the ring outer fringe of spring conflict intermittent drive wheel during connecting rod non-operating state, the lug department of conflict intermittent drive wheel during connecting rod operating state.
Preferably, the roller chain moving mechanism further comprises a chain wheel frame, a driving wheel, a driven wheel and a third servo motor, the driving wheel and the driven wheel are respectively located at two ends of the chain wheel frame and rotatably connected with the chain wheel frame, the third servo motor is installed on the chain wheel frame, the output end of the third servo motor is connected with the stress end of the driving wheel, and the driving wheel and the driven wheel are in transmission connection through a chain.
Compared with the prior art, the invention has the beneficial effects that: firstly, a worker sequentially places walnuts at a working end of a material conveying mechanism, the material conveying mechanism starts to work, the working end of the material conveying mechanism is driven to move to a discharging end of the material conveying mechanism and is separated into single walnuts at the discharging end of the material conveying mechanism, a material clamping mechanism starts to work and consists of a finger cylinder and two chucks, the two chucks are driven by the finger cylinder to clamp the walnuts, a material transfer mechanism starts to work, the working end of the material transfer mechanism drives the single walnuts to be placed at containing points of the material containing mechanism through the material clamping mechanism, the material containing mechanism is provided with a plurality of containing points, the material transfer mechanism drives the material clamping mechanism to return to the discharging end of the material conveying mechanism again, the material conveying mechanism separates out the single walnuts again, the working end of the material clamping mechanism clamps, and the material transfer mechanism places the next walnut at a second containing point of the material containing mechanism through the material clamping mechanism, the operation is repeated until walnuts are placed at all placing points of the material placing mechanism, then the roller chain moving mechanism starts to work, the working end of the roller chain moving mechanism drives the shell opening mechanical hand to start moving along the placing direction of the walnuts on the material placing mechanism, the roller chain moving mechanism stops working when the working end of the shell opening mechanical hand is positioned above one placing point, the shell opening mechanical hand starts to work, the working end of the shell opening mechanical hand clamps the positions of the walnuts and breaks the shells of the walnuts, the operation is repeated until all the walnuts on the material placing mechanism are opened, then the material placing mechanism starts to work, the material placing mechanism pours out the walnuts at all the placing points, a worker collects the walnuts below the material placing mechanism through a container, then places the opened walnuts into a shell and kernel separator, and the shell and kernel separator separates the shell and the kernel, the brand of the shell-kernel separator is tide macro type;
1. through the arrangement of the material conveying mechanism, a plurality of walnuts can be simultaneously conveyed and simultaneously divided into single walnuts for discharging;
2. through the arrangement of the device, the walnut can be accurately shelled, the shelling degree of the walnut is unified, and the completeness of shelled kernels is improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic perspective view of the material conveying mechanism of the present invention;
FIG. 4 is a schematic perspective view of the synchronous belt feeding mechanism of the present invention;
FIG. 5 is a schematic perspective view of the material transfer mechanism of the present invention;
FIG. 6 is a first perspective view of the push-pull mechanism of the present invention;
FIG. 7 is a first perspective view of the push-pull mechanism of the present invention;
FIG. 8 is a schematic perspective view of the material holding mechanism, the roller chain moving mechanism and the shell opening robot of the present invention;
FIG. 9 is a first schematic perspective view of the shell opening robot of the present invention;
fig. 10 is a schematic perspective view of the shell opening manipulator in a perspective state of the right-angle cylinder according to the present invention.
The reference numbers in the figures are:
1-a material conveying mechanism; 1 a-a synchronous belt feeding mechanism; 1a 1-feeder frame; 1a2 — first synchronous wheel; 1a3 — second synchronizing wheel; 1a4 — first servomotor; 1 b-a limit frame plate; 1 c-a first cylinder; 1 d-a second cylinder;
2-a material clamping mechanism;
3-a material transfer mechanism; 3 a-square plate; 3 b-linear drive; 3 c-a push-pull mechanism; 3c 1-plate; 3c 2-slide rail; 3c3 — slide; 3c 4-linkage; 3c 5-third push cylinder;
4-a material containing mechanism; 4 a-a blanking plate; 4 b-a chute plate; 4 c-a material carrying plate; 4 d-a fourth cylinder;
5-opening the shell manipulator; 5 a-a profile holder; 5 b-a first bearing seat; 5 c-a fifth cylinder; 5 d-right-angle cylinder; 5 e-a rotary drive mechanism; 5e1 — second bearing block; 5e2 — second servomotor; 5e 3-intermittent drive wheel; 5 f-a hammering assembly; 5f 1-link; 5f 2-rotating levers; 5f 3-right angle bar; 5f 4-spring;
6-roller chain moving mechanism; 6 a-sprocket carrier; 6 b-a driving wheel; 6 c-driven wheel; 6 d-third servomotor.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1 to 10, a double-layer roller type walnut shelling robot comprises a material conveying mechanism 1, a material clamping mechanism 2, a material transfer mechanism 3, a material containing mechanism 4, a shell opening manipulator 5 and a roller chain moving mechanism 6;
the material transfer mechanism 3 is positioned between the material conveying mechanism 1 and the material containing mechanism 4, the material clamping mechanism 2 is arranged at the working end of the material transfer mechanism 3, the roller chain moving mechanism 6 is positioned at one side of the material containing mechanism 4, and the shell opening manipulator 5 is positioned at the working end of the roller chain moving mechanism 6 and is fixedly connected with the roller chain moving mechanism;
the material conveying mechanism 1 is provided with a synchronous belt feeding mechanism 1a, and the synchronous belt feeding mechanism 1a is used for conveying walnuts in batches;
the material transfer mechanism 3 is provided with a right-angle plate 3a, and the material transfer mechanism 3 is used for driving the material clamping mechanism 2 to horizontally and longitudinally move through the right-angle plate 3 a;
a blanking plate 4a is arranged on the material containing mechanism 4, and the blanking plate 4a is used for limiting a plurality of walnuts;
the shell opening mechanical arm 5 is provided with a right-angle cylinder 5d, and the shell opening mechanical arm 5 is used for driving the right-angle cylinder 5d to clamp the top of the walnut
The roller chain moving mechanism 6 is provided with a chain, and the roller chain moving mechanism 6 is used for driving the shell opening mechanical arm 5 to horizontally move through the driving chain;
firstly, the worker places walnuts in the working end of the material conveying mechanism 1 in sequence, the material conveying mechanism 1 starts to work, the working end of the material conveying mechanism 1 is driven to move to the discharging end of the material conveying mechanism 1, the walnuts are separated into single walnuts at the discharging end of the material conveying mechanism, the material clamping mechanism 2 starts to work, the material clamping mechanism 2 consists of a finger cylinder and two chucks, the two chucks are driven to clamp the walnuts through the finger cylinder, the material transfer mechanism 3 starts to work, the working end of the material transfer mechanism 3 drives the single walnuts to be placed at the containing points of the material containing mechanism 4 through the material clamping mechanism 2, a plurality of containing points are arranged on the material containing mechanism 4, the material transfer mechanism 3 drives the material clamping mechanism 2 to return to the discharging end of the material conveying mechanism 1 again, the material conveying mechanism 1 separates out the single walnuts again, the working end of the walnut clamping mechanism 2 is clamped, and the material transfer mechanism 3 places the next walnut to be Two containing points reciprocate in this way until walnuts are placed at all containing points of the material containing mechanism 4, then the roller chain moving mechanism 6 starts to work, the working end of the roller chain moving mechanism 6 drives the shell opening mechanical arm 5 to start to move along the placing direction of the walnuts on the material containing mechanism 4, the roller chain moving mechanism 6 stops working when the working end of the shell opening mechanical arm 5 is positioned above one containing point, the shell opening mechanical arm 5 starts to work, the working end of the shell opening mechanical arm 5 clamps the positions of the walnuts and breaks the shells of the walnuts, the reciprocating is carried out in this way until all the walnuts on the material containing mechanism 4 are all opened, then the material containing mechanism 4 starts to work, the walnuts on all the containing points are poured out by the material containing mechanism 4, a worker collects the walnuts below the material containing mechanism 4 through a container, and then places the walnut shells which are opened in a walnut shell and kernel separator, the shell-kernel separator separates walnut shells from kernels, and the brand of the shell-kernel separator is 500 in a tidal macro model.
As shown in fig. 3, the material conveying mechanism 1 further includes a limiting frame plate 1b, a first cylinder 1c and a second cylinder 1d, the limiting frame plate 1b is located at the top of the synchronous belt feeding mechanism 1a and is fixedly connected with the synchronous belt feeding mechanism 1a, the second cylinder 1d is installed on the synchronous belt feeding mechanism 1a, an output end of the second cylinder 1d penetrates through the limiting frame plate 1b, the first cylinder 1c is installed on the synchronous belt feeding mechanism 1a, a distance of one walnut is arranged between the first cylinder 1c and the second cylinder 1d, and an output end of the first cylinder 1c penetrates through the limiting frame plate 1 b;
the staff places the walnut on hold-in range feeding mechanism 1a, hold-in range feeding mechanism 1a begins work, hold-in range feeding mechanism 1a drives a plurality of walnuts and removes, the output of first cylinder 1c is retrieved, the walnut contradicts the output of second cylinder 1d, the work end of first cylinder 1c stretches out, only have a walnut to be located between the output of first cylinder 1c and second cylinder 1d this moment, then the work end of second cylinder 1d is retrieved, put down the work end that drops to material clamping mechanism 2 by the blanking of spacing framed slab 1b restriction under the drive that continues to receive hold-in range feeding mechanism 1a work end by isolated walnut.
As shown in fig. 4, the synchronous belt feeding mechanism 1a includes a feeding frame 1a1, a first synchronous wheel 1a2, a second synchronous wheel 1a3 and a first servo motor 1a4, the first synchronous wheel 1a2 and the second synchronous wheel 1a3 are respectively located at two ends of the feeding frame 1a1 and rotatably connected with the same, the first synchronous wheel 1a2 and the second synchronous wheel 1a3 are connected through synchronous belt transmission, the first servo motor 1a4 is mounted on the feeding frame 1a1, and an output end of the first servo motor 1a4 is connected with a stressed end of the first synchronous wheel 1a 2;
the synchronous belt feeding mechanism 1a starts to work, the output end of the first servo motor 1a4 drives the first synchronous wheel 1a2 to rotate, the first synchronous wheel 1a2 drives the walnuts to move through the synchronous belt, the second synchronous wheel 1a3 is used for supporting the synchronous belt and rotating in a matched mode, and the feeding rack 1a1 is used for fixed support.
As shown in fig. 5, the material transfer mechanism 3 further comprises a linear driver 3b and a push-pull mechanism 3c, the linear driver 3b is located at the output end of the push-pull mechanism 3c and is fixedly connected with the output end of the push-pull mechanism 3c, and the right-angle plate 3a is located at the output end of the linear driver 3b and is fixedly connected with the output end of the push-pull mechanism 3 c;
As shown in fig. 6 and 7, the push-pull mechanism 3c includes a flat plate 3c1, a slide rail 3c2, a slider 3c3, a linkage member 3c4 and a third push cylinder 3c5, the slide rail 3c2 is located at the bottom of the flat plate 3c1 and is fixedly connected to the flat plate, the slider 3c3 is located at the bottom of the flat plate 3c1 and is slidably connected to the slide rail 3c2, the slider 3c3 is fixedly connected to the linear driver 3b, the third push cylinder 3c5 is mounted at the top of the flat plate 3c1, and the third push cylinder 3c5 is connected to the slider 3c3 through the linkage member 3c 4;
the push-pull mechanism 3c starts to work, the output end of the third push cylinder 3c5 pulls the slide block 3c3 through the linkage piece 3c4, the slide block 3c3 drives the linear driver 3b to move along the slide rail 3c2, and the flat plate 3c1 is used for fixing and supporting.
As shown in fig. 8, the material holding mechanism 4 further includes a chute plate 4b, a material loading plate 4c and a fourth cylinder 4d, the chute plate 4b is located at the bottom of the blanking plate 4a and fixedly connected therewith, the material loading plate 4c is located at the bottom of the blanking plate 4a and slidably connected therewith, and an output end of the fourth cylinder 4d is connected with a stressed end of the material loading plate 4 c;
the blanking plate 4a is provided with a plurality of round holes, the walnuts are respectively placed into the round holes and then supported by the material carrying plate 4c, the material carrying plate 4c is driven by the output end of the fourth cylinder 4d to be away from the blanking plate 4a after the walnut shells are opened, and the walnuts losing support begin to fall.
As shown in fig. 9, the shell opening manipulator 5 further includes a special-shaped frame 5a, a first bearing seat 5b, a fifth cylinder 5c, a rotary driving mechanism 5e and a hammering assembly 5f, wherein a right-angle cylinder 5d is mounted on the special-shaped frame 5a through the first bearing seat 5b, the right-angle cylinder 5d is rotatably connected with the special-shaped frame 5a, a fixed end of the fifth cylinder 5c is hinged with the special-shaped frame 5a, an output end of the fifth cylinder 5c is hinged with a stressed end of the right-angle cylinder 5d, the right-angle cylinder 5d is hollow, the hammering assembly 5f is mounted inside the right-angle cylinder 5d, the rotary driving mechanism 5e is mounted on the special-shaped frame 5a, and the stressed end of the hammering assembly 5f is in transmission connection with the output end of the rotary driving mechanism 5 e;
the shell opening mechanical arm 5 starts to work, the output end of the fifth air cylinder 5c pulls the right-angle cylinder 5d, the right-angle cylinder 5d starts to rotate along the axis of the first bearing seat 5b until the top of the walnut is clamped by the end portion of the right-angle cylinder 5d, then the rotary driving mechanism 5e starts to work, the output end of the rotary driving mechanism 5e rotates and pushes up the stressed end of the hammering assembly 5f, the output end of the hammering assembly 5f downwards breaks the shell of the walnut, and the special-shaped frame 5a is used for fixing and supporting.
As shown in fig. 10, the rotary driving mechanism 5e includes a second bearing seat 5e1, a second servo motor 5e2 and an intermittent driving wheel 5e3, the second bearing seat 5e1 is mounted on the special-shaped frame 5a, the intermittent driving wheel 5e3 is located at one side of the second bearing seat 5e1 and rotatably connected with the second bearing seat, the second servo motor 5e2 is mounted at the other side of the second bearing seat 5e1, the output end of the second servo motor 5e2 is connected with the stressed end of the intermittent driving wheel 5e3, the intermittent driving wheel 5e3 is annular, and a projection is arranged at the outer edge of the annular ring;
the rotary driving mechanism 5e starts to work, the output end of the second servo motor 5e2 drives the intermittent driving wheel 5e3 to rotate, the intermittent driving wheel 5e3 drives the stressed end of the hammering assembly 5f to tilt upwards through the bump, and the second bearing seat 5e1 is used for fixed support.
As shown in fig. 10, the hammering assembly 5f includes a connecting rod 5f1, a rotating rod 5f2, a right-angle rod 5f3 and a spring 5f4, the right-angle rod 5f3 is located at a bent position inside a right-angle cylinder 5d, the rotating rod 5f2 penetrates through the right-angle cylinder 5d and is rotatably connected with the right-angle cylinder 5d, one end of the rotating rod 5f2 is fixedly connected with a stressed end of the right-angle rod 5f3, an output end of the connecting rod 5f1 is fixedly connected with the other end of the rotating rod 5f2, two ends of the spring 5f4 are respectively connected with the right-angle cylinder 5d and the connecting rod 5f1, the stressed end of the connecting rod 5f1 in a non-working state abuts against an outer edge of a circular ring of the intermittent driving wheel 5e3 through the spring 5f4, and the connecting rod 5f1 in a working state abuts against a projection of the intermittent driving wheel 5e 3;
when the intermittent driving wheel 5e3 rotates, the stressed end of the connecting rod 5f1 is driven to tilt upwards through the bump, the connecting rod 5f1 drives the right-angle rod 5f3 to turn downwards through the rotating rod 5f2, the output end of the right-angle rod 5f3 breaks the walnut shell downwards, and the spring 5f4 is used for resetting the connecting rod 5f 1.
As shown in fig. 8, the roller chain moving mechanism 6 further includes a chain wheel frame 6a, a driving wheel 6b, a driven wheel 6c and a third servo motor 6d, the driving wheel 6b and the driven wheel 6c are respectively located at two ends of the chain wheel frame 6a and rotatably connected therewith, the third servo motor 6d is installed on the chain wheel frame 6a, an output end of the third servo motor 6d is connected with a stressed end of the driving wheel 6b, and the driving wheel 6b and the driven wheel 6c are in transmission connection through a chain;
the roller chain moving mechanism 6 starts to work, the output end of the third servo motor 6d drives the driving wheel 6b to rotate, the driving wheel 6b drives the shell opening manipulator 5 to horizontally move through the chain, the driven wheel 6c is used for supporting the chain and is matched with the chain to rotate, and the chain wheel frame 6a is used for fixing and supporting.
The working principle of the invention is as follows: a worker places walnuts on a synchronous belt feeding mechanism 1a, the synchronous belt feeding mechanism 1a starts to work, the synchronous belt feeding mechanism 1a drives a plurality of walnuts to move, the output end of a first air cylinder 1c is recovered, the walnuts are abutted against the output end of a second air cylinder 1d, the working end of the first air cylinder 1c extends out, only one walnut is positioned between the output ends of the first air cylinder 1c and the second air cylinder 1d at the moment, then the working end of the second air cylinder 1d is recovered, the isolated walnut is driven by the working end of the synchronous belt feeding mechanism 1a to fall down to the working end of a material clamping mechanism 2, the material clamping mechanism 2 starts to work, the material clamping mechanism 2 consists of a finger air cylinder and two chucks, the two chucks are driven by the finger air cylinder to clamp the walnuts, the material transferring mechanism 3 starts to work, the working end of the material transfer mechanism 3 drives a single walnut to be placed at a placing point of the material placing mechanism 4 through the material clamping mechanism 2, a plurality of round holes are formed in a blanking plate 4a, the walnut is respectively placed in the round holes and then supported by the material carrying plate 4c, the material transfer mechanism 3 drives the material clamping mechanism 2 to return to a discharging end of the material conveying mechanism 1 again, the material conveying mechanism 1 separates out the single walnut again, the working end of the material clamping mechanism 2 clamps, the material transfer mechanism 3 places the next walnut at a second placing point of the material placing mechanism 4 through the material clamping mechanism 2, the operation is repeated in such a way until all placing points of the material placing mechanism 4 place the walnut, then the roller chain moving mechanism 6 starts to operate, the output end of the third servo motor 6d drives the driving wheel 6b to rotate, the driving wheel 6b drives the shell opening manipulator 5 to start to move along the placing direction of the walnut on the material placing mechanism 4 through a chain, when the working end of the shell opening mechanical arm 5 is positioned above a containing point, the roller chain moving mechanism 6 stops working, the shell opening mechanical arm 5 starts working, the output end of the fifth air cylinder 5c pulls the right-angle cylinder 5d, the right-angle cylinder 5d starts to rotate along the axis of the first bearing seat 5b until the end part of the right-angle cylinder 5d clamps the top of the walnut, then the rotary driving mechanism 5e starts working, the output end of the rotary driving mechanism 5e rotates and pushes up the stressed end of the beating component 5f, the output end of the beating component 5f downwards breaks the shell of the walnut, the reciprocating is carried out in such a way until all the walnuts on the material containing mechanism 4 are shelled, then the material containing mechanism 4 starts working, after the walnut shell opening is finished, the output end of the fourth air cylinder 4d drives the material carrying plate 4c to be away from the material dropping plate 4a, the walnut which is not supported begins to fall, a worker collects the walnuts below the material containing mechanism 4 through a container, then placing the walnut after the shell is opened into a shell-kernel separator, separating the walnut shell and the walnut kernel by the shell-kernel separator, wherein the brand of the shell-kernel separator is 500 in the Chaozhong model.
The device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
firstly, placing walnuts at the working end of the material conveying mechanism 1 in sequence by a worker;
step two, the material conveying mechanism 1 starts to work, the working end of the material conveying mechanism 1 is driven to move to the discharging end of the material conveying mechanism, and the walnut is separated into single walnuts at the discharging end of the material conveying mechanism;
thirdly, the material clamping mechanism 2 starts to work, the material clamping mechanism 2 consists of a finger cylinder and two chucks, and the two chucks are driven by the finger cylinder to clamp the walnut;
step four, the material transfer mechanism 3 starts to work, the working end of the material transfer mechanism 3 drives a single walnut to be placed at the placing point of the material placing mechanism 4 through the material clamping mechanism 2, and the process is repeated until all the placing points of the material placing mechanism 4 are provided with walnuts;
step five, the roller chain moving mechanism 6 starts to work, the working end of the roller chain moving mechanism 6 drives the shell opening mechanical hand 5 to start to move along the placing direction of walnuts on the material containing mechanism 4, and the roller chain moving mechanism 6 stops working when the working end of the shell opening mechanical hand 5 is located above a containing point;
step six, the shell opening mechanical arm 5 starts to work, the working end of the shell opening mechanical arm 5 clamps the position of the walnut and breaks the shell of the walnut, and the operation is repeated until all the walnuts on the material containing mechanism 4 are opened;
step seven, 4, starting to work, and pouring out the walnuts on all the containing points by the material containing mechanism 4;
and step eight, collecting the walnuts below the material containing mechanism 4 through a container by a worker, then placing the opened walnuts into a shell-kernel separator, and separating the walnut shells and the kernels by the shell-kernel separator.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A double-layer roller type walnut shelling robot is characterized by comprising a material conveying mechanism (1), a material clamping mechanism (2), a material transfer mechanism (3), a material containing mechanism (4), a shell opening mechanical arm (5) and a roller chain moving mechanism (6);
the material transfer mechanism (3) is positioned between the material conveying mechanism (1) and the material containing mechanism (4), the material clamping mechanism (2) is installed at the working end of the material transfer mechanism (3), the roller chain moving mechanism (6) is positioned at one side of the material containing mechanism (4), and the shell opening mechanical arm (5) is positioned at the working end of the roller chain moving mechanism (6) and is fixedly connected with the roller chain moving mechanism;
the material conveying mechanism (1) is provided with a synchronous belt feeding mechanism (1a), and the synchronous belt feeding mechanism (1a) is used for conveying walnuts in batches;
the material transfer mechanism (3) is provided with a right-angle plate (3a), and the material transfer mechanism (3) is used for driving the material clamping mechanism (2) to horizontally and longitudinally move through the right-angle plate (3 a);
a blanking plate (4a) is arranged on the material containing mechanism (4), and the blanking plate (4a) is used for limiting a plurality of walnuts;
the shell opening mechanical arm (5) is provided with a right-angle cylinder (5d), and the shell opening mechanical arm (5) is used for driving the right-angle cylinder (5d) to clamp the top of the walnut;
a chain is arranged on the roller chain moving mechanism (6), and the roller chain moving mechanism (6) is used for driving the shell opening mechanical arm (5) to horizontally move through the driving chain;
the shell opening manipulator (5) further comprises a special-shaped frame (5a), a first bearing seat (5b), a fifth cylinder (5c), a rotary driving mechanism (5e) and a hammering assembly (5f), wherein a right-angle cylinder (5d) is installed on the special-shaped frame (5a) through the first bearing seat (5b), the right-angle cylinder (5d) is rotatably connected with the special-shaped frame (5a), the fixed end of the fifth cylinder (5c) is hinged with the special-shaped frame (5a), the output end of the fifth cylinder (5c) is hinged with the stressed end of the right-angle cylinder (5d), the inside of the right-angle cylinder (5d) is hollow, the hammering assembly (5f) is installed inside the right-angle cylinder (5d), the rotary driving mechanism (5e) is installed on the special-shaped frame (5a), and the stressed end of the hammering assembly (5f) is in transmission connection with the output end of the rotary driving mechanism (5 e);
the rotary driving mechanism (5e) comprises a second bearing seat (5e1), a second servo motor (5e2) and an intermittent driving wheel (5e3), the second bearing seat (5e1) is mounted on the special-shaped frame (5a), the intermittent driving wheel (5e3) is positioned on one side of the second bearing seat (5e1) and is rotatably connected with the second bearing seat, the second servo motor (5e2) is mounted on the other side of the second bearing seat (5a 1), the output end of the second servo motor (5e2) is connected with the stressed end of the intermittent driving wheel (5e3), the intermittent driving wheel (5e3) is annular, and a convex block is arranged at the outer edge of the annular;
the hammering component (5f) comprises a connecting rod (5f1), a rotating rod (5f2), a right-angle rod (5f3) and a spring (5f4), the right-angle rod (5f3) is located at a bending position inside a right-angle cylinder (5d), the rotating rod (5f2) penetrates through the right-angle cylinder (5d) and is in rotatable connection with the right-angle cylinder, one end of the rotating rod (5f2) is fixedly connected with a stressed end of the right-angle rod (5f3), an output end of the connecting rod (5f1) is fixedly connected with the other end of the rotating rod (5f2), two ends of the spring (5f4) are respectively connected with the right-angle cylinder (5d) and the connecting rod (5f1), the stressed end of the connecting rod (5f1) in a non-working state intermittently props against the outer edge of a circular ring of the driving wheel (5e3) through the spring (5f4), and the connecting rod (5f1) in a working state intermittently props against a lug (3) in a working state.
2. The double-layer roller type walnut shelling robot as claimed in claim 1, wherein the material conveying mechanism (1) further comprises a limit frame plate (1b), a first cylinder (1c) and a second cylinder (1d), the limit frame plate (1b) is located at the top of the synchronous belt feeding mechanism (1a) and fixedly connected with the synchronous belt feeding mechanism, the second cylinder (1d) is installed on the synchronous belt feeding mechanism (1a), an output end of the second cylinder (1d) penetrates through the limit frame plate (1b), the first cylinder (1c) is installed on the synchronous belt feeding mechanism (1a), a distance of one walnut is arranged between the first cylinder (1c) and the second cylinder (1d), and an output end of the first cylinder (1c) penetrates through the limit frame plate (1 b).
3. The double-layer roller type walnut shelling robot as claimed in claim 2, wherein the synchronous belt feeding mechanism (1a) comprises a feeding rack (1a1), a first synchronous wheel (1a2), a second synchronous wheel (1a3) and a first servo motor (1a4), the first synchronous wheel (1a2) and the second synchronous wheel (1a3) are respectively located at two ends of the feeding rack (1a1) and rotatably connected with the feeding rack, the first synchronous wheel (1a2) and the second synchronous wheel (1a3) are connected through synchronous belt transmission, the first servo motor (1a4) is mounted on the feeding rack (1a1), and an output end of the first servo motor (1a4) is connected with a force bearing end of the first synchronous wheel (1a 2).
4. A double-deck roller walnut shelling robot as claimed in claim 1 wherein the material transfer mechanism (3) further comprises a linear actuator (3b) and a push-pull mechanism (3c), the linear actuator (3b) being located at and fixedly connected to an output end of the push-pull mechanism (3c), and the right angle plate (3a) being located at and fixedly connected to an output end of the linear actuator (3 b).
5. A double-layer roller type walnut shelling robot as claimed in claim 4, wherein the push-pull mechanism (3c) comprises a plate (3c1), a slide rail (3c2), a slide block (3c3), a linkage (3c4) and a third push cylinder (3c5), the slide rail (3c2) is located at the bottom of the plate (3c1) and fixedly connected with the plate, the slide block (3c3) is located at the bottom of the plate (3c1) and slidably connected with the slide rail (3c2), the slide block (3c3) is fixedly connected with the linear driver (3b), the third push cylinder (3c5) is mounted at the top of the plate (3c1), and the third push cylinder (3c5) is connected with the slide block (3c3) through the linkage (3c 4).
6. The double-layer roller type walnut shelling robot as claimed in claim 1, wherein the material holding mechanism (4) further comprises a chute plate (4b), a material carrying plate (4c) and a fourth cylinder (4d), the chute plate (4b) is located at the bottom of the material dropping plate (4a) and fixedly connected with the material dropping plate, the material carrying plate (4c) is located at the bottom of the material dropping plate (4a) and slidably connected with the material dropping plate, and the output end of the fourth cylinder (4d) is connected with the stressed end of the material carrying plate (4 c).
7. The double-layer roller type walnut shelling robot as claimed in claim 1, wherein the roller chain moving mechanism (6) further comprises a chain wheel frame (6a), a driving wheel (6b), a driven wheel (6c) and a third servo motor (6d), the driving wheel (6b) and the driven wheel (6c) are respectively located at two ends of the chain wheel frame (6a) and rotatably connected with the chain wheel frame, the third servo motor (6d) is installed on the chain wheel frame (6a), an output end of the third servo motor (6d) is connected with a stressed end of the driving wheel (6b), and the driving wheel (6b) and the driven wheel (6c) are connected through chain transmission.
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| CN202010879266.3A CN112006291B (en) | 2020-08-27 | 2020-08-27 | Double-deck roller type walnut shelling machine people |
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| CN202010879266.3A CN112006291B (en) | 2020-08-27 | 2020-08-27 | Double-deck roller type walnut shelling machine people |
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| CN112006291B true CN112006291B (en) | 2021-08-03 |
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| CN114271511B (en) * | 2022-01-26 | 2023-08-25 | 安徽丰瑞食品有限公司 | Shelling equipment on walnut production and processing line |
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| US3871275A (en) * | 1973-05-29 | 1975-03-18 | James Bland Quantz | High production nutcracking apparatus |
| US8522676B2 (en) * | 2008-07-01 | 2013-09-03 | Impact Devices LLC | Gravity-induced impact nutcracker |
| CN201308088Y (en) * | 2008-11-07 | 2009-09-16 | 安徽省宁国市长乐林产品开发有限公司 | Hickory manual hulling machine |
| CN103863814B (en) * | 2014-03-25 | 2017-01-04 | 湖南三兴精密工业股份有限公司 | Self-feeding delivery device and method thereof |
| CN106174608B (en) * | 2016-07-12 | 2019-01-01 | 宁国市昌水山核桃脱脯机械有限公司 | A kind of arm-type Chinese walnut shell crushing machine of bionical percussion |
| CN107571013B (en) * | 2017-09-19 | 2019-05-14 | 安徽机电职业技术学院 | A kind of spring part production line |
| CN108420081A (en) * | 2018-03-02 | 2018-08-21 | 郑文平 | A kind of agricultural Chinese chestnut equipment |
| CN208597670U (en) * | 2018-03-16 | 2019-03-15 | 青岛理工大学 | Efficient walnut shell-breaking kernel-taking separation of hull from kernel mechanized production system |
| CN108813656A (en) * | 2018-04-30 | 2018-11-16 | 中山市翔实机械设备有限公司 | One kind taking orange peel machine |
| CN109533790B (en) * | 2018-12-05 | 2024-02-09 | 昆山佰奥智能装备股份有限公司 | Differential roller chain conveying streamline |
| CN209536177U (en) * | 2018-12-05 | 2019-10-25 | 昆山佰奥智能装备股份有限公司 | Differential roller chain conveys streamline |
| CN210418012U (en) * | 2019-07-22 | 2020-04-28 | 东莞市玮创自动化设备有限公司 | Roller chain conveying line |
| CN211225094U (en) * | 2019-11-18 | 2020-08-11 | 合肥市云逸自动化设备有限公司 | Automatic feeding structure for nut opening shell breaking machine |
| CN111493329B (en) * | 2020-04-21 | 2022-08-19 | 黄志勇 | Walnut breaker |
| CN111567817A (en) * | 2020-05-14 | 2020-08-25 | 青岛理工大学 | Nest hole self-positioning long-diameter striking type high-dewed walnut shell breaking and kernel taking equipment and method |
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Effective date of registration: 20230626 Address after: 430000, 1st to 6th floors, Building A6, Huazhong E-commerce Industrial Park, Block 206M, Wuhan Economic and Technological Development Zone, Hubei Province (ZKCX-110) Patentee after: Wuhan aisichuang Technology Co.,Ltd. Address before: 430000 south campus, No.3, Nanli Road, Wenhua Avenue, Hongshan District, Wuhan City, Hubei Province Patentee before: WUHAN CITY VOCATIONAL College |