CN112425791B - Pineapple processing robot - Google Patents
Pineapple processing robot Download PDFInfo
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- CN112425791B CN112425791B CN202011199116.4A CN202011199116A CN112425791B CN 112425791 B CN112425791 B CN 112425791B CN 202011199116 A CN202011199116 A CN 202011199116A CN 112425791 B CN112425791 B CN 112425791B
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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
- A23N7/00—Peeling vegetables or fruit
- A23N7/002—Peeling pinaeapples
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Abstract
The invention discloses a pineapple processing robot, which comprises: the device comprises a supporting device, an upper clamping and cutting device, a rotary platform, a bottom cutting device and a middle cutting device; the supporting device mainly comprises a plurality of supporting plates and supporting rods and is used for supporting the whole structure; the rotary platform mainly comprises an annular groove, a pulley and a supporting plate and is used for rotating the middle cutting device; the intermediate cutting device consists of a main movement device, a epidermis cutting device and a black spot cutting device and is used for cutting the epidermis of the pineapple to remove black spots. The invention has the following beneficial effects: the body type is smaller, so that the occupied area of the field can be reduced; the invention adopts full-automatic processing, thereby effectively freeing hands; considering the special structure of pineapple, a plurality of black spots are generated after peeling, the method of increasing the cutting depth is abandoned to avoid excessive waste, and the black spots are identified and positioned and then fixed-point removed.
Description
Technical Field
The invention relates to the technical field of food processing, in particular to a pineapple processing robot.
Background
Pineapple is popular as common fruits, and due to the special structure of the pineapple, a plurality of black spots with regular arrangement appear after peeling a layer of skin, and at present, the black spots are removed by adjusting the cutting depth both in manual peeling and batch processing in factories, so that waste is produced to a great extent; meanwhile, as pineapple is peeled manually in most cases during retail, small and medium-sized pineapple processing equipment in the market is less.
Disclosure of Invention
The invention aims to provide a pineapple processing robot which solves the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: a pineapple processing robot comprising: the device comprises a supporting device, an upper clamping and cutting device, a rotating platform, a bottom cutting device and a middle cutting device, wherein the middle cutting device comprises a main motion device, a epidermis cutting device and a black spot cutting device.
Further, the supporting device is composed of a first supporting plate, supporting rods, a second supporting plate and a first supporting seat, wherein the first supporting plate is fixedly connected with the second supporting plate through a plurality of supporting rods, and the plurality of first supporting seats are fixed at the bottom of the second supporting plate.
Further, the upper clamping and cutting device is composed of a first motor, a first clamping plate, a second motor, a third motor, a first gear, a first sliding rod, a first T-shaped sliding groove, a first T-shaped sliding block, a first fixing rod, a first connecting rod, a first cutter, a first thread groove, a worm wheel, a second thread groove, a second fixing rod, a first fixing frame, a second T-shaped sliding groove, a second T-shaped sliding block and a second gear, wherein one end of the first clamping plate and one end of the second clamping plate form a movable hinge mechanism with the second fixing rod and the first fixing rod, the second fixing rod and the first fixing rod are fixed on a first supporting plate, and the other end of the first clamping plate and the other end of the second clamping plate are movably hinged with the first thread groove and the second thread groove; the first connecting rod is connected with the first T-shaped sliding block and the second T-shaped sliding block through bearings, the first connecting rod is matched with the first thread groove through left-handed threads, the first connecting rod is matched with the second thread groove through right-handed threads, the first connecting rod is fixedly connected with the worm wheel, the worm wheel is meshed with the worm, the worm is coaxially connected with the output shaft of the third motor, the third motor is fixed on the first supporting plate, the first T-shaped sliding block and the second T-shaped sliding block are respectively in clearance fit with the first T-shaped sliding groove and the second T-shaped sliding groove, and the first T-shaped sliding groove and the second T-shaped sliding groove are fixed on the first supporting plate. A first cutter is fixed in the middle of the first fixing frame, a plurality of square grooves are formed in the upper surface and the lower surface of the two sides of the first cutter respectively in clearance fit with a plurality of first sliding rods, and the plurality of first sliding rods are respectively fixed on the inner surface of the first supporting plate shell; tooth shapes are processed on two sides of the first fixing frame to form a rack to be meshed with the first gear and the second gear, the first gear and the second gear are respectively connected with the second motor and the output shaft of the first motor, and the second motor and the first motor are fixed on the first supporting plate.
Further, the rotating platform consists of an upper annular groove, a lower annular groove, a fourth motor, a third gear, an upper pulley, a third supporting plate, a lower pulley, a second connecting rod, a fourth supporting plate, a fourth gear, a conductive groove, an electric brush and a fixing rod, wherein the third supporting plate and the fourth supporting plate are connected through the second connecting rod, a plurality of upper pulleys and lower pulleys are uniformly fixed on the lower surface of the third supporting plate and the upper surface of the fourth supporting plate, and the upper pulleys and the lower pulleys respectively rotate in the upper annular groove and the lower annular groove; the fourth gear is a tooth form machined on the side surface of the fourth supporting plate, the fourth gear is meshed with the third gear, the third gear is fixed on an output shaft of the fourth motor, and the fourth motor is fixed on the second supporting plate; the side surface of the third supporting plate is provided with a conductive groove which is matched with an electric brush, the electric brush is fixed on a fixed rod, and the fixed rod is fixed on the second supporting plate.
Further, the bottom cutting device is composed of a fifth motor, a fifth supporting plate, a sixth motor, a first dovetail groove, a first dovetail sliding block, a fifth gear, a first rack, a second rack, a sixth gear, a second dovetail sliding block, a second dovetail groove, a seventh motor, an eighth motor, a seventh gear, a second sliding rod, a second fixing frame, a second cutter, a third fixing frame and an eighth gear, wherein the second fixing frame and the third fixing frame are fixedly connected through the second cutter, a plurality of square sliding grooves are machined on the upper surface and the lower surface of the second fixing frame and the lower surface of the third fixing frame in clearance fit with the plurality of second sliding rods, racks are machined on the side surfaces of the second fixing frame and the third fixing frame through tooth shapes, the racks are meshed with the seventh gear and the eighth gear respectively, the seventh gear and the eighth gear are respectively connected with output shafts of the fifth motor and the eighth motor, and the fifth motor are fixed on the fifth supporting plate. Similar to the structure of the upper clamping and cutting device, a plurality of second sliding rods are fixed on the inner side of a fifth bearing plate shell, a sixth motor and a seventh motor are both fixed on the fifth bearing plate, output shafts of the sixth motor and the seventh motor are respectively fixed with a fifth gear and a sixth gear, the fifth gear and the sixth gear are respectively meshed with a first rack and a second rack, the first rack and the second rack are respectively fixed on the side surfaces of a first dovetail groove and a second dovetail groove, the first dovetail groove and the second dovetail groove are both fixed on a third bearing plate, the first dovetail slide and the second dovetail slide are both fixed on the fifth bearing plate, and the first dovetail slide and the second dovetail slide are both in clearance fit with the first dovetail groove and the second dovetail groove.
Further, the main movement device is composed of a third connecting rod, a first support frame, angle irons, a third dovetail sliding block, a ninth gear, a third dovetail sliding groove, a ninth motor, a first belt transmission shell, a pressure sensor, a second belt transmission shell, a first belt wheel, a transmission belt, a second belt wheel, a control circuit board, friction wheels and a thirteenth motor, wherein the first support frame is fixedly connected with the third dovetail sliding block through the angle irons, the third dovetail sliding block is in clearance fit with the third dovetail sliding groove, the third dovetail sliding groove is fixed on a third supporting plate, gear teeth are machined on the side surface of the third dovetail sliding block, a rack is meshed with the ninth gear, the ninth gear is fixedly connected with an output shaft of the ninth motor, and the ninth motor is fixed on the side surface of the third dovetail sliding groove; the first belt transmission shell and the second belt transmission shell are fixed on the first support frame through a plurality of third connecting rods, the pressure sensor is fixed on the first belt transmission shell, the control circuit board is fixed on the second support plate, the output shaft of the thirteenth motor is fixedly connected with the friction wheel, the thirteenth motor is fixed on the side face of the first support frame, and the friction wheel is in friction contact with the transmission belt.
Further, the epidermis excision device comprises third supporting seat, the fifth T-shaped spout, the second I-shaped slider, the sixth T-shaped spout, the deflector, the fourth cutter, twelfth motor, thirteenth gear, fourth rack, the camera, the fifth connecting rod, eighth T-shaped spout, the fourth T-shaped slider constitutes, fifth T-shaped spout, sixth T-shaped spout is all fixed in second belt drive shell side, the fifth T-shaped spout, the sixth T-shaped spout cooperates with second I-shaped slider both ends respectively, the third supporting seat is fixed in second I-shaped slider side, be fixed with eighth T-shaped spout on the second I-shaped slider, eighth T-shaped spout and fourth T-shaped slider clearance fit, fourth rack and fourth T-shaped slider fixed connection, fourth rack and thirteenth gear engagement, thirteenth gear and twelfth motor output shaft fixed connection, twelfth motor side is fixed in third supporting seat side, fourth T-shaped slider one end is fixed with fourth, the deflector is fixed on fourth belt drive shell side, the eighth T-shaped spout is fixed on eighth T-shaped side, the one end is fixed on the third connecting rod, it is fixed on the third supporting seat to hold.
Further, the black spot cutting device is composed of a second supporting seat, a third T-shaped sliding groove, a first I-shaped sliding block, a tenth motor, a tenth gear, an eleventh gear, a transmission shaft, a third cutter, a fourth T-shaped sliding groove, a third T-shaped sliding block, a seventh T-shaped sliding groove, a fourth connecting rod, a third rack, an eleventh motor and a twelfth gear, wherein the third T-shaped sliding groove and the fourth T-shaped sliding groove are all fixed on the side surface of a first belt transmission shell, the third T-shaped sliding groove and the fourth T-shaped sliding groove are respectively matched with two ends of the first I-shaped sliding block, the second supporting seat is fixed on the side surface of the first I-shaped sliding block, the seventh T-shaped sliding groove is fixed on the first I-shaped sliding block, the seventh T-shaped sliding groove is in clearance fit with the third T-shaped sliding block, the third rack is fixedly connected with the third T-shaped sliding block, the third rack is meshed with the twelfth gear, the twelfth gear is fixedly connected with the output shaft of the eleventh motor, the side surface of the eleventh motor is fixed on the side surface of the second supporting seat, one end of the third T-shaped sliding block is connected with the transmission shaft through a bearing, the eleventh gear is fixed on the transmission shaft, the tenth gear is fixedly connected with the tenth gear and the tenth gear is fixedly connected with the tenth gear on the fourth motor on the side surface of the other end of the transmission shaft.
The invention has the following beneficial effects: the body type is smaller, so that the occupied area of the field can be reduced; the invention adopts full-automatic processing, thereby effectively freeing hands; considering the special structure of pineapple, a plurality of black spots are generated after peeling, the method of increasing the cutting depth is abandoned to avoid excessive waste, and the black spots are identified and positioned and then fixed-point removed.
Drawings
Fig. 1 is an assembly view of a pineapple processing robot.
Fig. 2 is an isometric view of a pineapple processing robot support device.
Fig. 3 is an isometric view of an upper clamping device of the pineapple processing robot.
Fig. 4 is an internal structure view of the upper clamping and cutting device of the pineapple processing robot.
Fig. 5 is a diagram of a rotary platform structure of the pineapple processing robot.
Fig. 6 is a block diagram of a bottom cutting device of the pineapple processing robot.
Fig. 7 is an internal structure diagram of the bottom cutting device of the pineapple processing robot.
Fig. 8 is an isometric view of a middle cutting device of the pineapple processing robot.
Fig. 9 is a structural view of a peeling apparatus of a pineapple processing robot.
Fig. 10 is a block diagram of a black spot removing device of a pineapple processing robot.
Fig. 11 is a block diagram of a pineapple processing robot skin cutting device.
Fig. 12 is a view showing an internal structure of the intermediate cutting device of the pineapple processing robot.
In the figure: 1-first support plate, 2-support bar, 3-second support plate, 4-upper annular groove, 5-lower annular groove, 6-first support seat, 7-first motor, 8-first clamping plate, 9-second clamping plate, 10-second motor, 11-third motor, 12-first gear, 13-first slide bar, 14-first T-shaped slide groove, 15-first T-shaped slide block, 16-first fixed bar, 17-first connecting bar, 18-first cutter, 19-first thread groove, 20-worm, 21-worm wheel, 22-second thread groove, 23-second fixed bar, 24-first fixed frame, 25-second T-shaped slide groove, 26-second T-shaped slide block, 27-second gear 28-fourth motor, 29-third gear, 30-upper pulley, 31-third support plate, 32-lower pulley, 33-second connecting rod, 34-fourth support plate, 35-fourth gear, 36-conductive slot, 37-brush, 38-fixed rod, 39-fifth motor, 40-fifth support plate, 41-sixth motor, 42-first dovetail slot, 43-first dovetail slide, 44-fifth gear, 45-first rack, 46-second rack, 47-sixth gear, 48-second dovetail slide, 49-second dovetail slot, 50-seventh motor, 51-eighth motor, 52-seventh gear, 53-second slide bar, 54-second mount, 55-second cutter, 56-third mount, 57-eighth gear, 58-third connecting rod, 59-first support frame, 60-angle iron, 61-third dovetail slide, 62-ninth gear, 63-third dovetail slide, 64-ninth motor, 65-second support base, 66-third T-shaped slide, 67-first I-shaped slide, 68-first belt drive housing, 69-tenth motor, 70-tenth gear, 71-eleventh gear, 72-drive shaft, 73-third cutter, 74-pressure sensor, 75-fourth T-shaped slide, 76-third support base, 77-fifth T-shaped slide, 78-second I-shaped slide 79-second belt drive housing, 80-sixth T-shaped chute, 81-deflector, 82-fourth cutter, 83-third T-shaped slide, 84-seventh T-shaped chute, 85-fourth connecting rod, 86-third rack, 87-eleventh motor, 88-twelfth gear, 89-twelfth motor, 90-thirteenth gear, 91-fourth rack, 92-camera, 93-fifth connecting rod, 94-eighth T-shaped chute, 95-fourth T-shaped slide, 96-first pulley, 97-drive belt, 98-second pulley, 100-control circuit board, 101-friction pulley, 102-thirteenth motor.
Detailed Description
Examples: a pineapple processing robot comprising: the device comprises a supporting device, an upper clamping and cutting device, a rotating platform, a bottom cutting device and a middle cutting device, wherein the middle cutting device comprises a main motion device, a epidermis cutting device and a black spot cutting device.
The supporting device consists of a first supporting plate 1, supporting rods 2, a second supporting plate 3 and a first supporting seat 6, wherein the first supporting plate 1 and the second supporting plate 3 are fixedly connected through a plurality of supporting rods 2, and a plurality of first supporting seats 6 are fixed at the bottom of the second supporting plate 3.
The upper clamping and cutting device is composed of a first motor 7, a first clamping plate 8, a second clamping plate 9, a second motor 10, a third motor 11, a first gear 12, a first sliding rod 13, a first T-shaped sliding groove 14, a first T-shaped sliding block 15, a first fixed rod 16, a first connecting rod 17, a first cutting blade 18, a first thread groove 19, a worm 20, a worm wheel 21, a second thread groove 22, a second fixed rod 23, a first fixing frame 24, a second T-shaped sliding groove 25, a second T-shaped sliding block 26 and a second gear 27, wherein one end of the first clamping plate 8 and one end of the second clamping plate 9 and the second fixed rod 23 and the first fixed rod 16 form a movable hinge mechanism, the second fixed rod 23 and the first fixed rod 16 are fixed on the first supporting plate 1, and the other end of the first clamping plate 8 and the second clamping plate 9 are movably hinged with the first thread groove 19 and the second thread groove 22; the first connecting rod 17 is connected with the first T-shaped sliding block 15 and the second T-shaped sliding block 26 through bearings, the first connecting rod 17 is matched with the first threaded groove 19 through left-handed threads, the first connecting rod 17 is matched with the second threaded groove 22 through right-handed threads, the first connecting rod 17 is fixedly connected with the worm wheel 21, the worm wheel 21 is meshed with the worm 20, the worm 20 is coaxially connected with the output shaft of the third motor 11, the third motor 11 is fixed on the first supporting plate 1, the first T-shaped sliding block 15 and the second T-shaped sliding block 26 are respectively in clearance fit with the first T-shaped sliding groove 14 and the second T-shaped sliding groove 25, and the first T-shaped sliding groove 14 and the second T-shaped sliding groove 25 are fixed on the first supporting plate 1. The middle of the first fixing frame 24 is fixedly provided with a first cutter 18, the upper and lower surfaces of the two sides of the first fixing frame are respectively provided with a plurality of square grooves which are respectively in clearance fit with a plurality of first sliding rods 13, and a plurality of first sliding rods 13 are respectively fixed on the inner surface of the shell of the first supporting plate 1; the first fixing frame 24 is provided with tooth shapes at both sides, racks are formed to be meshed with the first gear 12 and the second gear 27, the first gear 12 and the second gear 27 are respectively connected with output shafts of the second motor 10 and the first motor 7, and the second motor 10 and the first motor 7 are fixed on the first supporting plate 1.
The rotary platform consists of an upper annular groove 4, a lower annular groove 5, a fourth motor 28, a third gear 29, an upper pulley 30, a third supporting plate 31, a lower pulley 32, a second connecting rod 33, a fourth supporting plate 34, a fourth gear 35, a conducting groove 36, a brush 37 and a fixed rod 38, wherein the third supporting plate 31 and the fourth supporting plate 34 are connected through the second connecting rod 33, a plurality of upper pulleys 30 and lower pulleys 32 are uniformly fixed on the lower surface of the third supporting plate 31 and the upper surface of the fourth supporting plate 34, and the plurality of upper pulleys 30 and lower pulleys 32 respectively rotate in the upper annular groove 4 and the lower annular groove 5; the fourth gear 35 is a tooth form machined on the side surface of the fourth supporting plate 34, the fourth gear 35 is meshed with the third gear 29, the third gear 29 is fixed on an output shaft of the fourth motor 28, and the fourth motor 28 is fixed on the second supporting plate 3; the third support plate 31 is provided with a conductive groove 36 on the side surface, the conductive groove 36 is matched with a brush 37, the brush 37 is fixed on a fixed rod 38, and the fixed rod 38 is fixed on the second support plate 3.
The bottom cutting device is composed of a fifth motor 39, a fifth supporting plate 40, a sixth motor 41, a first dovetail groove 42, a first dovetail sliding block 43, a fifth gear 44, a first rack 45, a second rack 46, a sixth gear 47, a second dovetail sliding block 48, a second dovetail groove 49, a seventh motor 50, an eighth motor 51, a seventh gear 52, a second sliding rod 53, a second fixing frame 54, a second cutter 55, a third fixing frame 56 and an eighth gear 57, wherein the second fixing frame 54 and the third fixing frame 56 are fixedly connected by the second cutter 55, a plurality of square sliding grooves are formed on the upper and lower surfaces of the second fixing frame 54 and the third fixing frame 56 in a clearance fit manner with the plurality of second sliding rods 53, racks are formed on the side surfaces of the second fixing frame 54 and the third fixing frame 56 in a toothed manner, the racks are respectively meshed with the seventh gear 52 and the eighth gear 57, the seventh gear 52 and the eighth gear 57 are respectively connected with the output shafts of the fifth motor 39 and the eighth motor 51, and the fifth motor 39 and the eighth motor 51 are fixed on the fifth supporting plate 40. Similar to the structure of the upper clamping and cutting device, a plurality of second sliding rods 53 are fixed on the inner side of the shell of the fifth supporting plate 40, the sixth motor 41 and the seventh motor 50 are fixed on the fifth supporting plate 40, the output shafts of the sixth motor 41 and the seventh motor 50 are respectively fixed with a fifth gear 44 and a sixth gear 47, the fifth gear 44 and the sixth gear 47 are respectively meshed with a first rack 45 and a second rack 46, the first rack 45 and the second rack 46 are respectively fixed on the side surfaces of the first dovetail groove 42 and the second dovetail groove 49, the first dovetail groove 42 and the second dovetail groove 49 are respectively fixed on the third supporting plate 31, the first dovetail sliding block 43 and the second dovetail sliding block 48 are respectively fixed on the fifth supporting plate 40, and the first dovetail sliding block 43 and the second dovetail sliding block 48 are respectively in clearance fit with the first dovetail groove 42 and the second dovetail groove 49.
The main motion device is composed of a third connecting rod 58, a first supporting frame 59, an angle iron 60, a third dovetail slide block 61, a ninth gear 62, a third dovetail chute 63, a ninth motor 64, a first belt transmission housing 68, a pressure sensor 74, a second belt transmission housing 79, a first belt pulley 96, a transmission belt 97, a second belt pulley 98, a control circuit board 100, a friction wheel 101 and a thirteenth motor 102, wherein the first supporting frame 59 is fixedly connected with the third dovetail slide block 61 through the angle iron 60, the third dovetail slide block 61 is in clearance fit with the third dovetail chute 63, the third dovetail chute 63 is fixed on the third supporting plate 31, gear teeth are machined on the side surface of the third dovetail slide block 61, a rack is meshed with the ninth gear 62, the ninth gear 62 is fixedly connected with an output shaft of the ninth motor 64, and the ninth motor 64 is fixed on the side surface of the third dovetail chute 63; the first belt transmission housing 68 and the second belt transmission housing 79 are fixed on the first supporting frame 59 through a plurality of third connecting rods 58, the pressure sensor 74 is fixed on the first belt transmission housing 68, the control circuit board 100 is fixed on the second supporting plate 3, the output shaft of the thirteenth motor 102 is fixedly connected with the friction wheel 101, the thirteenth motor 102 is fixed on the side surface of the first supporting frame 59, and the friction wheel 101 is in friction contact with the transmission belt 97.
The epidermis cutting device is composed of a third supporting seat 76, a fifth T-shaped sliding groove 77, a second I-shaped sliding block 78, a sixth T-shaped sliding groove 80, a guide plate 81, a fourth cutter 82, a twelfth motor 89, a thirteenth gear 90, a fourth rack 91, a camera 92, a fifth connecting rod 93, an eighth T-shaped sliding groove 94 and a fourth T-shaped sliding block 95, wherein the fifth T-shaped sliding groove 77 and the sixth T-shaped sliding groove 80 are respectively fixed on the side surface of a second belt transmission shell 79, the fifth T-shaped sliding groove 77 and the sixth T-shaped sliding groove 80 are respectively matched with two ends of the second I-shaped sliding block 78, the third supporting seat 76 is fixed on the side surface of the second I-shaped sliding block 78, the eighth T-shaped sliding groove 94 is fixed on the second I-shaped sliding block 78, the eighth T-shaped sliding groove 94 is in clearance fit with the fourth T-shaped sliding block 95, the fourth rack 91 is fixedly connected with the fourth T-shaped sliding block 95, the fourth rack 91 is meshed with the thirteenth gear 90, the thirteenth gear 90 is fixedly connected with an output shaft of the twelfth motor 89, the side surface of the twelfth motor 89 is fixed on the side surface of the third supporting seat 76, the fourth T-shaped sliding groove 80 is fixedly connected with the fourth T-shaped sliding block 95, the fourth T-shaped sliding groove 82 is fixedly connected with the fourth T-shaped sliding block 95, and the fourth T-shaped sliding groove 95 is fixedly connected with the fourth T-shaped sliding block 95, and the fourth T-shaped sliding groove 95.
The black spot cutting device is composed of a second supporting seat 65, a third T-shaped sliding groove 66, a first I-shaped sliding block 67, a tenth motor 69, a tenth gear 70, an eleventh gear 71, a transmission shaft 72, a third cutter 73, a fourth T-shaped sliding groove 75, a third T-shaped sliding block 83, a seventh T-shaped sliding groove 84, a fourth connecting rod 85, a third rack 86, an eleventh motor 87 and a twelfth gear 88, wherein the third T-shaped sliding groove 66 and the fourth T-shaped sliding groove 75 are respectively fixed on the side surface of a first belt transmission shell 68, the third T-shaped sliding groove 66 and the fourth T-shaped sliding groove 75 are respectively matched with two ends of the first I-shaped sliding block 67, the second supporting seat 65 is fixed on the side surface of the first I-shaped sliding block 67, the seventh T-shaped sliding groove 84 is fixed on the first I-shaped sliding block 67, the seventh T-shaped sliding groove 84 is in clearance fit with the third T-shaped sliding block 83, the third rack 86 is fixedly connected with the third T-shaped sliding block 83, the third rack 86 is meshed with the twelfth gear 88, the twelfth gear 88 is fixedly connected with the output shaft of the eleventh motor 87, the side surface of the eleventh motor 87 is fixedly connected with the eleventh motor 87, the side surface of the eleventh motor 75 is fixedly connected with the tenth gear seat 70, the tenth motor is fixedly connected with the tenth gear 69 through the tenth gear 69 and the tenth gear 69 is fixedly connected with the tenth gear 71 on the other end of the transmission shaft 72, and the tenth gear is fixedly connected with the tenth gear 71 on the transmission shaft end of the tenth T-shaped sliding block 70.
The working principle of the invention is as follows: referring to fig. 1, when the pineapple is put into the machine, the third motor 11 rotates, and the first connecting rod 17 rotates with it by being meshed with the worm 20 and the worm wheel 21, and the first clamping plate 8 and the second clamping plate 9 rotate around the second fixing rod 23 and the first fixing rod 16 by being engaged with the forward and reverse threads in the first thread groove 19 and the second thread groove 22, so that the neck of the pineapple is clamped; referring to fig. 8, when the ninth motor 64 rotates, the ninth gear 62 is engaged with the side gear of the third dovetail block 61, and thus the third dovetail block 61 moves together with the intermediate cutting means connected thereto; referring to fig. 9, during movement, the pressure sensor 74 touches the pineapple surface, the ninth motor 64 stops when the pressure reaches a threshold value, the intermediate cutting device stops moving, after which the ninth motor 64 reverses so that the pressure sensor 74 is separated from the pineapple skin by a distance, after which the ninth motor 64 stops; referring to fig. 5, the fourth motor 28 rotates the third gear 29, and the fourth support plate 34 rotates due to the engagement of the third gear 29 with the fourth gear 35, so that the third support plate 31 rotates, and the intermediate cutting device rotates accordingly; the power supply of the middle cutting device and the bottom cutting device is realized by the contact of a conducting groove 36 and a brush 37; referring to fig. 9, 11 and 12, after the middle cutting device rotates, the twelfth motor 89 drives the thirteenth gear 90 to rotate, the thirteenth gear 90 is meshed with the fourth rack 91 to drive the fourth T-shaped slide block 95 to move along the eighth T-shaped chute 94, the fourth T-shaped slide block 95 drives the guide plate 81 and the fourth cutter 82 to move, when the fourth cutter 82 contacts the pineapple epidermis, cutting is started, the camera 92 performs color recognition by photographing the pineapple, and when the color is recognized as yellow, the twelfth motor 89 reverses to retract the guide plate 81 and the fourth cutter 82 by a certain distance; referring to fig. 12, the thirteenth motor 102 drives the friction wheel 101 to rotate, the friction wheel 101 drives the driving belt 97 to rotate, and then drives the third supporting seat 76 to move, the third supporting seat 76 drives the fourth cutter 82 to move downwards, the twelfth motor 89 rotates, and the fourth cutter 82 is driven to move to contact the surface of the pineapple to start cutting again, and the above actions are circulated; after the skin is cut, the eleventh motor 87 starts to rotate, and then the third T-shaped sliding block 83 drives the third cutter 73 to move until contacting the surface of the pineapple; the camera 92 photographs the cut pineapple, recognizes the black spot position, and controls the position of the third cutter 73 by controlling the rotation of the third supporting plate 31 and the rotation of the driving belt 97 through the control circuit board 100, and the third rack 86 moves to control the cutting depth of the third cutter 73; referring to fig. 1 and 6, when the black spot is removed, the sixth motor 41 drives the fifth gear 44 to rotate; simultaneously, the seventh motor 50 drives the sixth gear 47 to rotate, and is meshed by the gear rack, the fifth supporting plate 40 moves upwards, when the bottom of the pineapple is contacted, the first motor 7, the second motor 10, the fifth motor 39 and the eighth motor 51 start to rotate, and drive the first cutter 18 and the second cutter 55 to move, and simultaneously cut off the bottom of the pineapple and the neck of the pineapple.
Claims (4)
1. A pineapple processing robot, comprising: the device comprises a supporting device, an upper clamping and cutting device, a rotating platform, a bottom cutting device and a middle cutting device, wherein the middle cutting device consists of a main motion device, a epidermis cutting device and a black spot cutting device;
the supporting device consists of a first supporting plate (1), supporting rods (2), a second supporting plate (3) and first supporting seats (6), wherein the first supporting plate (1) and the second supporting plate (3) are fixedly connected through a plurality of supporting rods (2), and a plurality of first supporting seats (6) are fixed at the bottom of the second supporting plate (3);
the upper clamping and cutting device is composed of a first motor (7), a first clamping plate (8), a second clamping plate (9), a second motor (10), a third motor (11), a first gear (12), a first sliding rod (13), a first T-shaped sliding groove (14), a first T-shaped sliding block (15), a first fixed rod (16), a first connecting rod (17), a first cutting knife (18), a first thread groove (19), a worm (20), a worm wheel (21), a second thread groove (22), a second fixed rod (23), a first fixing frame (24), a second T-shaped sliding groove (25), a second T-shaped sliding block (26) and a second gear (27), wherein one end of the first clamping plate (8), one end of the second clamping plate (9) and the second fixed rod (23) and the first fixed rod (16) form a movable hinge mechanism, the second fixed rod (23) and the first fixed rod (16) are fixed on a first supporting plate (1), and the other end of the first clamping plate (8) and the second clamping plate (9) are movably hinged with the first thread groove (19) and the second thread groove (22); the first connecting rod (17) is connected with the first T-shaped sliding block (15) and the second T-shaped sliding block (26) through bearings, the first connecting rod (17) is in clearance fit with the first threaded groove (19), the first connecting rod (17) is in right-hand fit with the second threaded groove (22), the first connecting rod (17) is fixedly connected with the worm wheel (21), the worm wheel (21) is meshed with the worm (20), the worm (20) is coaxially connected with an output shaft of the third motor (11), the third motor (11) is fixed on the first supporting plate (1), the first T-shaped sliding block (15) and the second T-shaped sliding block (26) are in clearance fit with the first T-shaped sliding groove (14) and the second T-shaped sliding groove (25), and the first T-shaped sliding groove (14) and the second T-shaped sliding groove (25) are fixed on the first supporting plate (1);
a first cutter (18) is fixed in the middle of the first fixing frame (24), a plurality of square grooves are formed in the upper surface and the lower surface of the two sides of the first cutter, the square grooves are respectively in clearance fit with a plurality of first sliding rods (13), and the plurality of first sliding rods (13) are respectively fixed on the inner surface of the shell of the first supporting plate (1); tooth shapes are processed on two sides of the first fixing frame (24), racks are formed to be meshed with the first gear (12) and the second gear (27), the first gear (12) and the second gear (27) are respectively connected with output shafts of the second motor (10) and the first motor (7), and the second motor (10) and the first motor (7) are fixed on the first supporting plate (1);
the rotary platform is composed of an upper annular groove (4), a lower annular groove (5), a fourth motor (28), a third gear (29), an upper pulley (30), a third supporting plate (31), a lower pulley (32), a second connecting rod (33), a fourth supporting plate (34), a fourth gear (35), a conductive groove (36), an electric brush (37) and a fixing rod (38), wherein the third supporting plate (31) and the fourth supporting plate (34) are connected through the second connecting rod (33), a plurality of upper pulleys (30) and lower pulleys (32) are uniformly fixed on the lower surface of the third supporting plate (31) and the upper surface of the fourth supporting plate (34), and the upper pulleys (30) and the lower pulleys (32) rotate in the upper annular groove (4) and the lower annular groove (5) respectively; the fourth gear (35) is in a tooth shape machined on the side surface of the fourth supporting plate (34), the fourth gear (35) is meshed with the third gear (29), the third gear (29) is fixed on an output shaft of the fourth motor (28), and the fourth motor (28) is fixed on the second supporting plate (3); the side surface of the third supporting plate (31) is provided with a conducting groove (36), the conducting groove (36) is matched with an electric brush (37), the electric brush (37) is fixed on a fixed rod (38), and the fixed rod (38) is fixed on the second supporting plate (3);
the bottom cutting device is composed of a fifth motor 39, a fifth supporting plate (40), a sixth motor (41), a first dovetail groove (42), a first dovetail sliding block (43), a fifth gear (44), a first rack (45), a second rack (46), a sixth gear (47), a second dovetail sliding block (48), a second dovetail groove (49), a seventh motor (50), an eighth motor (51), a seventh gear (52), a second sliding rod (53), a second fixing frame (54), a second cutter (55), a third fixing frame (56) and an eighth gear (57), wherein the second fixing frame (54) and the third fixing frame (56) are fixedly connected by the second cutter (55), a plurality of square sliding grooves are formed in the upper surface and the lower surface of the second fixing frame (54) and the third fixing frame (56) in a clearance fit mode, racks are formed in the side surfaces of the second fixing frame (54) and the third fixing frame (56) in a tooth shape, and meshed with the seventh gear (52) and the eighth gear (57) respectively, and the seventh gear (52), the eighth gear (57) are respectively connected with the fifth motor (39), the eighth motor (51) and the fifth motor (51) are fixedly connected on the fifth supporting plate (40); a plurality of second sliding rods (53) are fixed on the inner side of a shell of a fifth supporting plate (40), a sixth motor (41) and a seventh motor (50) are both fixed on the fifth supporting plate (40), a fifth gear (44) and a sixth gear (47) are respectively fixed on output shafts of the sixth motor (41) and the seventh motor (50), the fifth gear (44) and the sixth gear (47) are respectively meshed with a first rack (45) and a second rack (46), the first rack (45) and the second rack (46) are respectively fixed on the side surfaces of the first dovetail groove (42) and the second dovetail groove (49), the first dovetail groove (42) and the second dovetail groove (49) are both fixed on the third supporting plate (31), and the first dovetail slider (43) and the second dovetail slider (48) are both fixed on the fifth supporting plate (40), and the first dovetail slider (43) and the second dovetail slider (48) are in clearance fit with the first dovetail groove (42) and the second dovetail groove (49).
2. The pineapple processing robot according to claim 1, wherein the main movement device is composed of a third connecting rod (58), a first supporting frame (59), angle irons (60), a third dovetail sliding block (61), a ninth gear (62), a third dovetail sliding groove (63), a ninth motor (64), a first belt transmission shell (68), a pressure sensor (74), a second belt transmission shell (79), a first belt wheel (96), a transmission belt (97), a second belt wheel (98), a control circuit board (100), a friction wheel (101) and a thirteenth motor (102), the first supporting frame (59) is fixedly connected with the third dovetail sliding block (61) through angle irons (60), the third dovetail sliding block (61) is in clearance fit with the third dovetail sliding groove (63), the third dovetail sliding block (63) is fixed on the third supporting plate (31), gear teeth are processed on the side surface of the third dovetail sliding block (61), the gear teeth are formed to be meshed with the ninth gear (62), the ninth gear (62) is fixedly connected with an output shaft of the ninth motor (64), and the ninth motor (64) is fixed on the side surface of the third dovetail sliding block (63); the first belt transmission shell (68) and the second belt transmission shell (79) are fixed on the first supporting frame (59) through a plurality of third connecting rods (58), the pressure sensor (74) is fixed on the first belt transmission shell (68), the control circuit board (100) is fixed on the second supporting plate (3), the output shaft of the thirteenth motor (102) is fixedly connected with the friction wheel (101), the thirteenth motor (102) is fixed on the side surface of the first supporting frame (59), and the friction wheel (101) is in friction contact with the transmission belt (97).
3. The pineapple processing robot as set forth in claim 1, wherein the skin cutting device is composed of a third supporting seat (76), a fifth T-shaped sliding groove (77), a second i-shaped sliding block (78), a sixth T-shaped sliding groove (80), a guide plate (81), a fourth cutter (82), a twelfth motor (89), a thirteenth gear (90), a fourth rack (91), a camera (92), a fifth connecting rod (93), a eighth T-shaped sliding groove (94), a fourth T-shaped sliding block (95), the fifth T-shaped sliding groove (77) and the sixth T-shaped sliding groove (80) are all fixed on the side surface of the second belt transmission housing (79), the fifth T-shaped sliding groove (77), the sixth T-shaped sliding groove (80) are respectively matched with two ends of the second i-shaped sliding block (78), the third supporting seat (76) is fixed on the side surface of the second i-shaped sliding block (78), the eighth T-shaped sliding groove (94) is fixed on the second i-shaped sliding block (78), the eighth T-shaped sliding groove (94) is in clearance fit with the fourth T-shaped sliding block (95), the fourth T-shaped sliding groove (80) is in clearance fit with the fourth T-shaped sliding block (95), the fourth T-shaped sliding block (95) is fixed on the side surface of the fourth i-shaped sliding block (78), the eighth T-shaped sliding block (90) is fixed on the opposite ends of the second i-shaped sliding block (78), one end of a fourth T-shaped sliding block (95) is fixed with a fourth cutter (82), a guide plate (81) is fixed on the fourth cutter (82), a camera (92) is fixed on the side surface of an eighth T-shaped sliding groove (94), one end of a fifth connecting rod (93) is fixed on a third supporting seat (76), and the other end of the fifth connecting rod is fixed on a transmission belt (97).
4. The pineapple processing robot as set forth in claim 1, wherein the black spot cutting device is composed of a second supporting seat (65), a third T-shaped chute (66), a first i-shaped slide block (67), a tenth motor (69), a tenth gear (70), an eleventh gear (71), a transmission shaft (72), a third cutter (73), a fourth T-shaped chute (75), a third T-shaped slide block (83), a seventh T-shaped chute (84), a fourth connecting rod (85), a third rack (86), an eleventh motor (87) and a twelfth gear (88), the third T-shaped chute (66) and the fourth T-shaped chute (75) are all fixed on the side surface of the first belt transmission housing (68), the third T-shaped chute (66), the fourth T-shaped chute (75) are respectively matched with two ends of the first i-shaped slide block (67), the second supporting seat (65) is fixed on the side surface of the first i-shaped slide block (67), the seventh T-shaped slide block (84) is fixed on the first i-shaped slide block (67), the seventh T-shaped slide block (84) is fixedly matched with the third T-shaped slide block (86) and the third T-shaped slide block (86) is fixedly engaged with the third rack (88) and the third rack (83) is fixedly engaged with the third rack (88), the side of the eleventh motor (87) is fixed on the side of the second supporting seat (65), one end of the third T-shaped sliding block (83) is connected with the transmission shaft (72) through a bearing, the eleventh gear (71) is fixed on the transmission shaft (72), the eleventh gear (71) is meshed with the tenth gear (70), the tenth gear (70) is fixedly connected with the output shaft of the tenth motor (69), the tenth motor (69) is fixed on the side of the third T-shaped sliding block (83), the third cutter (73) is fixed on the transmission shaft (72), one end of the fourth connecting rod (85) is fixed on the second supporting seat (65), and the other end of the fourth connecting rod is fixed on the transmission belt (97).
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| CN202011199116.4A CN112425791B (en) | 2020-11-01 | 2020-11-01 | Pineapple processing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011199116.4A CN112425791B (en) | 2020-11-01 | 2020-11-01 | Pineapple processing robot |
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| CN112425791B true CN112425791B (en) | 2023-08-18 |
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| CN114568916B (en) * | 2022-03-29 | 2023-08-22 | 南京吉才汇科技有限公司 | Rotary digging machine for peeling pineapple fruit spots |
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