KR102648086B1 - Peeling Device - Google Patents

Abstract

The present invention relates to a peeling device, in which a separation prevention plate is installed on a supply module, which not only prevents the radishes from leaving by closing the front and back sides of the peeling object being rolled toward the mounting plate, but also fixes a cross-shaped blade to the moving module. It relates to a stripping device that can more firmly fix the object to be peeled by installing a part.

Description

Peeling Device

The present invention relates to a peeling device, in which a separation prevention plate is installed on the supply module, and not only can prevent the radishes from leaving by closing the front and rear of the peeling object being rolled toward the holding plate, but also a cross-shaped blade on the moving module. It relates to a stripping device in which a fixing part is installed to more firmly fix the stripping object.

Generally, bulbs refer to plants with bulbs, such as radishes, potatoes, carrots, and sweet potatoes. In particular, radish (radish, radish) is an edible root vegetable of the cruciferous family, with a length of about 20 to 35 cm and a diameter of about 5 to 10 cm.

In order to process food using these radishes, it is necessary to first remove the soil attached to the surface of the radish and peel the skin of the radish. Recently, as the number of kimchi processing plants and various food manufacturing plants increases, radish peelers are being used to peel radish.

A conventional device for automatically peeling radish is disclosed in Korean Patent Publication No. 10-2012-0047727.

Daeguk Patent Publication No. 10-2012-0047727 includes a main body provided with an inlet at the top and an outlet at the bottom; A plurality of guide means provided at the inner upper end of the main body, the upper end of which is rotatable by a rotating shaft, and the lower end configured to guide the peeling material introduced through the inlet of the main body to the center; a pull-out means provided below the guide means to forcibly pull the peeled material guided to the center downward and prevent it from shaking due to vibration during the peeling operation; a peeling means provided below the drawing means and consisting of a plurality of blades and a rotating bundle supporting one end of the blades; And a power means provided on one side of the peeling means and transmitting a rotational force to the rotating bundle of the peeling means so that a plurality of blades supported on the rotating bundle rotates to perform the peeling operation of the peeling material.

This conventional peeler is configured to remove the skin by moving the radish in an upright position in the downward direction, so that the removed skin falls downward and falls together with the radish, so that when the radish whose skin has been completely removed is recovered, the surrounding radish skin is again removed. There is a problem that adds work that needs to be eliminated.

In addition, the conventional peeler has a problem in that when radish thicker than the spacing between the blades is input, the radish collides with the bracket or support part that fixes the blade while moving, resulting in malfunction or damage to the device.

Republic of Korea Patent Publication 10-2012-0047727

Therefore, the purpose of the present invention is to solve the problems of the prior art as described above, and a departure prevention plate is installed on the supply module to prevent the escape of the radish by closing the front and back of the peeling object that rolls toward the holding plate. In addition, a cross-shaped blade fixing part is installed on the moving module to provide a peeling device that can more firmly fix the peeling object.

According to the characteristics of the present invention for achieving the above-described object, the stripping device according to the present invention is made in the form of a table, includes a support table on which a plurality of parts are installed, is installed on the upper side of the support table, and removes the object to be peeled. A supply module that selectively supplies the object to be peeled (P) depending on whether or not the object (P) is seated, is installed on one side of the supply module, is bent in a semicircular shape, and is moved in a rolling motion by the supply module (P). ) is seated on the mounting plate, and is installed on the upper and lower sides of the mounting plate, respectively, and moves in the upper or lower direction to grip the upper and lower surfaces of the peeling object (P), respectively, and simultaneously remove the peeling object (P). A gripping module positioned on the peeling central axis (C), installed on the front and rear sides of the gripping module, respectively, is inserted and fixed at the front and rear centers of the peeling object (P), and moves the peeling object (P) to the front, A moving module for moving in the rear direction, installed on the front side of the gripping module, and a plurality of blade members are disposed on the side of the peeling object (P), and on the outer peripheral surface of the peeling object (P) moved to the front side by the moving module. It includes a peeling removal module that adheres closely to remove the outer skin of the peeling object (P), and the supply module has a predetermined thickness, is formed in the shape of a square plate, and is installed vertically on the front and rear sides of the peeling object (P), respectively. A blocking plate that prevents the front and rear escape of the object to be peeled (P), the cross-section of which is shaped like a “┛” shape, is formed to be elongated back and forth, and is rotatably installed between the blocking plates to seat the object on the upper surface ( It consists of a seat that selectively moves P) toward the gripping module, and a plate having a "┏" shape, and is installed at the front and rear of the inside of the seat, respectively. According to the rotational motion of the seat, the holding plate It selectively closes the front and rear sides and includes a separation prevention plate that prevents the front and rear separation of the peeling object (P).

Between the mounting plate and the stripping removal module, there is a cutting member that cuts a portion of the stripping object (P) moved toward the stripping removal module by the moving module to prevent collision between the stripping removal module and the stripping object (P). is further provided.

The cutting member includes a cutting frame that is bent into a semicircular shape, a cutting blade portion that protrudes toward the rear along the rear edge of the cutting frame, and cuts a portion of the peeling object (P).

On both sides of the cutting member, fixing brackets are further provided, one surface of which is fixed to the blocking plate, to securely support both sides of the cutting member.

On the front and rear sides of the moving module, there is a blade fixing part in the form of a cross blade, which is inserted and fixed into the front center and the rear center of the peeling object (P), respectively, and firmly fixes the peeling object (P) to the moving module. It is characterized by being provided.

The stripping device according to the present invention has the following effects.

The present invention is configured to cut a portion of the object to be peeled by a cutting member in the process of moving the object to the front by the movement module.

Therefore, if the size of the peeling object is larger than the stripping operation range of the stripping removal module, a collision between the stripping removal module and the stripping object, which will be described later, can be prevented, and thus failure and damage due to a collision between the stripping object and the device can be prevented. It works.

In addition, the separation prevention plate rotates like the seating base in response to the rotation of the seating unit, and closes the front and rear sides of the rolling movement path of the peeling object, thereby preventing the peeling object from breaking away during the rolling movement. There is an advantage.

In addition, a blade fixing part in the form of a cross blade is applied to the moving module, so that it can withstand the pressing pressure applied in the horizontal and vertical directions of the peeling object as it is fixedly coupled to the front and rear centers of the peeling object, respectively. There is an advantage in that the fixation power is improved and the peeling object generated during the peeling process can be prevented from leaving.

Figure 1 is a perspective view showing the configuration of a preferred embodiment of the stripping device according to the present invention.
Figure 2 is a front view showing the configuration of a preferred embodiment of the stripping device according to the present invention.
Figure 3 is a plan view showing the configuration of a preferred embodiment of the stripping device according to the present invention.
Figure 4 is a side view showing the configuration of a preferred embodiment of the stripping device according to the present invention.
Figure 5 is a front perspective view showing the configuration of the supply module, gripping module, and movement module constituting an embodiment of the present invention.
Figure 6 is a plan view showing the configuration of the supply module, gripping module, and moving module that constitute an embodiment of the present invention.
Figure 7 is a side view showing the configuration of the supply module, gripping module, and moving module that constitute an embodiment of the present invention.
Figure 8 is a perspective view showing the configuration of a supply module constituting an embodiment of the present invention.
Figure 9 is a perspective view showing the configuration of a mounting plate constituting an embodiment of the present invention.
Figure 10 is a perspective view showing the configuration of a gripping module and a moving module constituting an embodiment of the present invention.
Figure 11 is a rear perspective view showing the configuration of a grip module and a movement module constituting an embodiment of the present invention.
Figure 12 is a side view showing the configuration of a gripping module and a moving module constituting an embodiment of the present invention.
Figure 13 is a plan view showing the configuration of a gripping module constituting an embodiment of the present invention.
Figure 14 is a front view showing the configuration of the mobile module constituting the actual loading example of the present invention.
Figure 15 is a left side view showing the configuration of a movement module constituting an embodiment of the present invention.
Figure 16 is a plan view showing the configuration of a movement module constituting an embodiment of the present invention.
Figure 17 is a plan view showing the configuration of a second position fixing unit constituting an embodiment of the present invention.
Figure 18 is an enlarged view showing the configuration of a stripping removal module constituting an embodiment of the present invention.
Figure 19 is a left side view showing the configuration of a stripping removal module constituting an embodiment of the present invention.
Figure 20 is a plan view showing the configuration of a stripping removal module constituting an embodiment of the present invention.
Figure 21 is an operation diagram showing the operation of the blade member constituting the embodiment of the present invention.
Figure 22 is a front view showing the operation of the blade member constituting the embodiment of the present invention.
Figure 23 is an enlarged view showing the configuration of a blade member constituting an embodiment of the present invention.
Figure 24 is a layout view according to the installation angle of the blade member constituting the embodiment of the present invention.
Figure 25 is a front view showing a state in which the outer skin is removed in the process of moving the peeling object constituting the embodiment of the present invention forward.

Hereinafter, a preferred embodiment of the stripping device according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 shows a perspective view showing the configuration of a preferred embodiment of the stripping device according to the present invention, Figure 2 shows a front view showing the configuration of a preferred embodiment of the peeling device according to the present invention, and Figure 3 shows the configuration of a preferred embodiment of the stripping device according to the present invention. A plan view showing the configuration of a preferred embodiment of the stripping device according to the present invention is shown, Figure 4 shows a side view showing the configuration of a preferred embodiment of the stripping device according to the present invention, and Figure 5 shows the supply module constituting the embodiment of the present invention. and a front perspective view showing the configuration of the gripping module and the moving module, and Figure 6 shows a plan view showing the configuration of the supply module, the gripping module, and the moving module constituting an embodiment of the present invention, and Figure 7 shows the present invention. A side view showing the configuration of the supply module, gripping module, and moving module constituting the embodiment is shown. Figure 8 shows a perspective view showing the configuration of the supply module constituting the embodiment of the present invention, and Figure 9 shows the configuration of the supply module constituting the embodiment of the present invention. A perspective view showing the configuration of the mounting plate constituting the embodiment is shown.

As shown in Figures 1 to 9, the stripping device according to the present invention is made in the form of a table, includes a support table 100 on which a plurality of parts are installed, is installed on the upper side of the support table 100, and performs a stripping operation. A supply module 200 that selectively supplies the peeling object (P) depending on whether the object (P) is seated, is installed on one side of the supply module 200, and is bent in a semicircular shape, and the supply module 200 ), which is installed on the upper and lower sides of the mounting plate 210, respectively, and a mounting plate 210 on which the peeling object (P), which is rolled, is seated, and is moved in an upward or downward direction to the upper part of the peeling object (P) A gripping module 300 that grips the surface and the lower surface and simultaneously positions the peeling object (P) on the peeling center axis (C), is installed on the front and rear sides of the gripping module 300, and peels the object ( A moving module 400 that is inserted and fixed at the front and rear centers of the peeling object (P), respectively, and moves the peeling object (P) in the front and rear directions, is installed on the front side of the gripping module 300, and includes a plurality of blades. A peeling removal module ( 500), wherein the supply module 200 has a predetermined thickness and is formed in the shape of a square plate, and is installed vertically on the front and rear sides of the peeling object (P), respectively, to separate the front and rear of the peeling object (P). A blocking plate (202) that prevents damage, and a cross-section of a “┛” shaped object, which is elongated back and forth, are rotatably installed between the blocking plates (202) and are selectively placed on the peeling object (P), which is seated on the upper surface. It consists of a seating table 204 that rolls toward the gripping module 300 and a plate having a “┏” shape, and is installed on the front and rear sides of the seating table 204, respectively, and the seating table 204 ) It is composed of a separation prevention plate 208 that selectively closes the front and rear sides of the mounting plate 210 according to the rotational motion of the plate 210 and prevents the front and rear separation of the object to be peeled (P).

As shown in FIG. 1, the support table 100 is formed in the form of a table and is elongated front and rear. A number of parts are installed inside and on the top of the support table 100 to be fixed and supported.

A supply module 200 is installed on the rear upper surface of the support table 100. The supply module 200 largely consists of a blocking plate 202, a seating base 204, a seating pivot axis 206, a seating pivot member 207, and a separation prevention plate 208.

As shown in FIG. 5, the blocking plate 202 has a predetermined thickness and is formed in the shape of a square plate, and is installed vertically on the front and rear sides of the peeling object (P), respectively. The blocking plate 202 blocks the front and rear sides of the peeling object (P) when the peeling object (P) is placed on the seating table 204, which will be described later, and blocks the front and rear sides during the insertion process of the peeling object (P). It serves to prevent the peeling object (P) from leaving.

A seating stand 204 is installed between the blocking plates 202. As shown in FIGS. 5 to 8, the seating base 204 has a “┛” shape in cross section and is elongated front and back. The seating table 204 is rotatably installed between different blocking plates 202, and serves to supply the peeling object (P) seated on the upper surface to the holding plate 210, which will be described later.

A large seating rotation axis 206 is formed on the front and rear sides of the seating table 204. The seating rotation axis 206 has a cylindrical shape and protrudes from the center of the front or rear of the seating base 204. As shown in FIG. 7, the seating rotation axis 206 is inserted through the blocking plate 202, and when the seating table 204 rotates, the seating table 204 is rotated based on the seating rotating axis 206. A rotational motion may be performed.

A large seating moving member 207 is installed on the lower surface of the seating table 204. The seating large moving member 207 is a general cylinder, so detailed description will be omitted. One end of the seating pivot member 207 is fixed to the center of the lower surface of the seating table 204, and the other end is fixed to the top of the inner surface of the support table 100. Air flows into the seating large moving member 207 according to an operation signal from a control unit (not shown), and the cylinder rod (not shown) protrudes in the upper diagonal direction, which causes the seating base 204 as shown in FIG. ) rotational motion is performed.

Due to the rotational motion of the mounting base 204 as described above, the object to be peeled off (P) located on the upper surface of the seating base 204 rolls and moves toward the mounting plate 210, which will be described later.

Separation prevention plates 208 are installed on the front and rear sides of the inner surface of the seating stand 204. The separation prevention plate 208 is made of a plate having a "┏" shape, and is installed at the front and rear sides of the mounting base 204, respectively, and is mounted on the mounting plate ( 210) selectively closes the front and rear sides, and serves to prevent the front and rear of the peeling object (P) from leaving.

That is, the separation prevention plate 208 rotates like the seating base 204 as shown in FIG. 7 according to the rotational motion of the seating base 204, and is located before and after the rolling movement path of the peeling object (P). By closing the material on the side, the object to be peeled (P) can be prevented from leaving through the front and rear sides of the mounting plate 210, which will be described later, during the rolling movement process.

A mounting plate 210 is installed on the front side of the supply module 200. As shown in FIG. 7, the mounting plate 210 is made of a plate material bent into a semicircular shape, and is formed long forward and backward at the lower front side of the mounting base 204.

The upper surface of the mounting plate 210 is a portion where the peeling object (P), which is rolled and moved by the supply module 200, is seated and supported.

A transfer hole 212 is formed in the center of the mounting plate 210. As shown in FIG. 9, the transfer hole 212 is formed to penetrate vertically through the center of the mounting plate 210. Inside the transfer hole 212, first and second position fixing parts 408 and 431, which will be described later, are guided forward and backward during the forward and backward movement of the movement module 400, which will be described later.

A cutting member 214 is installed on the front side of the mounting plate 210. The cutting member 214 consists of a cutting frame 216, a cutting blade portion 218, and a fixing bracket 220.

The cutting frame 216 is bent into a semicircular shape and is placed on the front side of the mounting plate 210. The cutting frame 216 is disposed on the front side of the mounting plate 210 and serves to support the cutting blade portion 218, which will be described later.

A cutting blade portion 218 is formed on the rear edge of the cutting frame 216. The cutting blade portion 218 is shaped like a blade and protrudes rearward along the rear edge of the cutting frame 216. The cutting blade portion 218 serves to cut a portion of the peeling object (P) in the process of moving the peeling object (P) to the front side by the movement module 400, which will be described later.

In other words, if the size of the peeling object (P) is larger than the stripping operation range of the stripping removal module 500, which will be described later, breakdown or damage to the device may occur due to a collision between the stripping removal module 500 and the peeling object (P), which will be described later. Therefore, in order to prevent this, part of the object to be peeled (P) can be cut.

Fixing brackets 220 are installed on both sides of the cutting frame 216. The fixing bracket 220 is a general bracket and detailed description will be omitted. The rear of the fixing bracket 220 is fixed to the blocking plate 202, and the side is fixed to the cutting frame 216 to firmly fix the cutting frame 216 to the blocking plate 202. It plays a role.

Figure 10 shows a perspective view showing the configuration of the gripping module and moving module constituting an embodiment of the present invention, and Figure 11 shows a rear perspective view showing the configuration of the gripping module and moving module constituting an embodiment of the present invention. 12 is a side view showing the configuration of the gripping module and the moving module constituting the embodiment of the present invention, and FIG. 14 is a plan view showing the configuration of the gripping module constituting the embodiment of the present invention.

As shown in FIGS. 10 to 14, gripping modules 300 are installed on the upper and lower sides of the holding plate 210. A plurality of gripping modules 300 are installed at regular intervals on the upper and lower sides of the mounting plate 210.

The holding module 300 is made of a square plate, and has a support plate 302 protruding and fixed to the top of the inner surface of the support table 100 toward the supply module 200, and a support plate 302 on the side of the support plate 302. It is fixedly installed and consists of a first rail guide block 304 having a first rail groove 306 penetrating upward and downward on one side, and a bar shape, which is elongated up and down, and has one side of the first rail groove 306. ), and is fixed to the side end of the first rail bar 308 and the support plate 302, which is raised and lowered while mounted inside the first rail groove 306. A second rail groove 312 penetrating upward and downward is formed on one side, a second rail guide block 310 installed in a direction facing the first rail guide block 304, and a bar shape are formed, It is formed to be long up and down, one side is made of a rail shape corresponding to the first rail groove 306, and one side is made of a rail shape corresponding to the second rail groove 312, and the second rail groove 312 is formed to be long. A second rail bar 314 that is raised and lowered while mounted inside the second rail groove 312, is fixedly installed on the side of the support plate 302, and is connected to the first rail bar 308. A lifting member 316 that moves the first rail bar 308 up and down is rotatably installed between the first rail bar 308 and the second rail bar 314, and a gear is formed on the outer peripheral surface. It is gear-coupled with gears formed on the sides of the first and second rail bars (308, 314) to move the second rail bar (314) up and down when the first rail bar (308) is raised and lowered. The pinion gear 320 and the ends of the first and second rail bars 308 and 314 are formed to protrude toward the mounting plate 210, and two pressure rollers 328 are installed at a predetermined interval to remove the object P. It consists of a gripping member 320 that grips the upper or lower outer peripheral surface.

The support plate 302 is made in the shape of a rectangular block with a predetermined thickness and protrudes toward the mounting plate 210. The support plate 302 is coupled and fixed to the grip module fixing plate 303 fixed to the top of the inner surface of the support table 100, and serves to support a plurality of components.

A first rail guide block 304 is installed on the front right side of the support plate 302. The first rail guide block 304 is a general LM block and detailed description will be omitted. The first rail guide block 304 is protruded forward and fixed to the front of the support plate 302 while standing vertically in the longitudinal direction. The first rail guide block 304 is fixed to the front of the support plate 302 and serves to guide the vertical movement of the first rail bar 308, which will be described later.

A first rail groove 306 is formed on the left side of the first rail guide block 304 (see FIG. 13). The first rail groove 306 is a general rail groove, and detailed description will be omitted. The first rail groove 306 is formed upward and downward through the center of the left side of the first rail guide block 304, on which the first rail bar 308, which will be described later, is mounted, and the first rail bar 308 This is the part where vertical movement occurs.

A first rail bar 308 is installed on the left side of the first rail guide block 304. The first rail bar 308 is a general rail, so detailed description will be omitted. The first rail bar 308 is shaped like a bar and is elongated vertically. The side portion of the first rail bar 308 is formed in a shape corresponding to the first rail groove 306, and is formed along the inside of the first rail groove 306 of the first rail guide block 304, It is lifted downward. The first rail bar 308 moves up and down along the first rail groove 306, and at the same time brings the holding member 320, which will be described later, into close contact with the lower surface of the peeling object P, or at the same time releases it from close contact with the lower surface of the object to be peeled (P). It serves to rotate the pinion gear 320.

A gear (not shown) is formed on the left side of the first rail bar 308. The gear has a general gear shape and is formed to be long up and down on the left side of the first rail bar 308. The gear is gear-coupled with the pinion gear 320, which will be described later, and serves to rotate the pinion gear 320 forward and backward.

A first rail guide block 304 is installed on the front left side of the support plate 302. The second rail guide block 304 is an LM block, and detailed description will be omitted. The second rail guide block 304 is protruded and fixed to the front while standing vertically on the front left side of the support plate 302. The second rail guide block 310 is fixed to the front left side of the support plate 302 and serves to guide the vertical movement of the second rail bar 314, which will be described later.

A second rail groove 312 is formed on the right side of the second rail guide block 310 (see FIG. 13). The second rail groove 312 is a general rail groove, and detailed description will be omitted. The second rail groove 312 is formed upward and downward through the center of the right side of the second rail guide block 310, and a second rail bar 314, which will be described later, is mounted, and the upper and lower sides of the second rail bar 314 are mounted. This is the part where movement takes place.

A second rail bar 314 is installed on the right side of the second rail guide block 310. The second rail bar 314 is a general rail, so detailed description will be omitted. The second rail bar 314 is shaped like a bar and is elongated vertically. The side portion of the second rail bar 314 is formed in a shape corresponding to the second rail groove 312, and is formed along the inside of the second rail groove 312 of the second rail guide block 310, It is lifted downward. The second rail bar 314 moves up and down along the second rail groove 312, and serves to bring the holding member 320, which will be described later, into close contact with the upper surface of the peeling object (P) or to release it from close contact. .

A gear (not shown) is formed on the right side of the second rail bar 314. The gear has a general gear shape and is formed to be long up and down on the right side of the second rail bar 314. The gear is gear-coupled with the pinion gear 320, which will be described later, and serves to raise and lower the second rail bar 314 according to the forward and reverse rotation of the pinion gear 320.

A raising and lowering member 316 is installed at the front right end of the support plate 302. The raising and lowering member 316 is a general cylinder, so detailed description will be omitted. The elevating member 316 is installed perpendicularly to the front of the support plate 302 (see FIG. 12). The cylinder rod (not shown) of the raising and lowering member 316 is connected to a rail moving block 318, which will be described later, and serves to raise and lower the first rail bar 308 up and down.

A rail moving block 318 is installed at the top of the raising and lowering member 316. The rail moving block 318 is " It is made in the form of a block having a letter shape, one end is fixed to the top of the first rail bar 308, and the other end is fixed to the top of the cylinder rod of the raising and lowering member 316. The rail moving block 318 The lower portions on both sides are fixedly installed at the top of the first rail bar 308 and the lifting member 316, respectively, so that the first rail bar 308 is raised and lowered when the lifting member 316 is raised and lowered. Move it down.

A pinion gear 320 is installed between the first rail bar 308 and the second rail bar 314. The pinion gear 320 is a general pinion gear, and detailed description will be omitted. The pinion gear 320 is rotatably fixedly installed on the front of the support plate 302, and gears are formed along the outer peripheral surface. The pinion gear 320 is gear-coupled with the gears of the first and second rail bars 308 and 314, and raises and lowers the second rail bar 314 when the first rail bar 308 is raised and lowered. It plays a role.

That is, when the first rail bar 308 moves upward, the pinion gear 320 is reversed, and accordingly, the second rail bar 314 moves downward.

In addition, when the first rail bar 308 moves downward, the pinion gear 320 rotates forward, and accordingly, the second rail bar 314 moves upward.

A holding member 320 is installed on the upper or lower side of the first and second rail bars 308 and 314. The holding member 320 largely consists of a lifting block 324, a roller support block 326, and a pressure roller 328.

The lifting block 324 is shaped like a block and is elongated left and right. The lifting block 324 is fixedly installed at the ends of the first and second rail bars 308 and 314, and protrudes toward the object P seated on the mounting plate 210. The lifting block 324 is fixedly installed at the ends of the first and second rail bars 308 and 314, and serves to support the roller support block 326 and the pressure roller 328, which will be described later.

A roller support block 326 is installed at the left end of the lifting block 324. The roller support block 326 is made in the form of a block having a “∨” or “∧” shape, and is protruded and fixed toward the upper or lower side of the roller support block 326. The roller support block 326 is fixed to the upper or lower surface of the left end of the lifting block 324 and supports the pressure roller 328, which will be described later.

A pressure roller 328 is installed on the front of the roller support block 326. The pressure roller 328 is a general wheel, so detailed description will be omitted. The wheel applied to the pressure roller 328 may be of a wheel type or a roller type, and here, among the wheel types, an omni wheel type wheel will be used for explanation.

Two pressure rollers 328 are installed on the front upper side of the roller support block 326, spaced apart from each other at a predetermined distance to the left and right. A plurality of rollers (not shown) are disposed on the front of the pressure roller 328 so that they can rotate radially about the central axis. The roller of the pressure roller 328 is made of an elastic material and is in close contact with the outer peripheral surface of the object to be peeled (P).

The pressure roller 328 is in close contact with the outer peripheral surface of the peeling object (P) according to the raising and lowering motion of the roller support block 326, and serves to hold the peeling object (P).

A guide roller 330 is installed on the upper side of the roller support block 326 located below the peeling object (P). The guide roller 330 is a general roller, and detailed description will be omitted. Two guide rollers 330 are arranged vertically on the front top of the roller support block 326, and are installed on the left and right sides of the roller support block 326, respectively.

The guide roller 330 is rotatably installed on the front of the roller support block 326, and rolls along the outer peripheral surface of the peeling object (P) when the roller support block 326 is lifted and lowered. ) serves to guide the pressure roller (328).

By the structure of the gripping module 300 as described above, the pressure roller 328 is moved by the same elevation and lowering distance on the upper and lower sides of the outer peripheral surface of the object to be peeled (P) seated on the holding plate 210, thereby simultaneously lifting the object to be peeled ( In addition to holding P), the fixing operation of the moving module 400, which will be described later, can be performed while accurately positioning the peeling object (P) on the peeling center axis (C).

In addition, a plurality of the gripping modules 300 are installed at regular intervals in the front and rear directions along the mounting plate 210, so that a gripping operation is performed on one or more portions of the outer peripheral surface of the peeling object (P) having an atypical shape. As the virtual central axis of the peeling object (P) is aligned with the peeling center axis (C) of the peeling removal module 500, which will be described later, a more precise and effective peeling removal operation can be performed.

Figure 14 shows a front view showing the configuration of a moving module constituting an embodiment of the present invention, Figure 15 shows a left side view showing the configuration of a moving module constituting an embodiment of the present invention, and Figure 16 shows a configuration of a moving module constituting an embodiment of the present invention. A plan view showing the configuration of the moving module constituting the embodiment is shown, and Figure 17 shows a plan view showing the configuration of the second position fixing unit constituting the embodiment of the present invention.

Referring to Figures 14 to 17, movement modules 400 are installed on the front and rear sides of the mounting plate 210. The moving module 400 largely consists of a forward and backward guide rail 402, a forward and backward moving block 404, a forward and backward moving member 406, a first position fixing part 408, and a second position fixing part 431.

The front and rear guide rail 402 is a general rail, so detailed description will be omitted. The forward and backward guide rails 402 are installed long forward and backward along the inner side of the support table 100. The forward and backward guide rail 402 serves to guide the forward and backward movement of the forward and backward movement block 404, which will be described later (see Figure 5).

A forward and backward moving block 404 is installed on the front of the forward and backward guide rail 402. The forward and backward movement block 404 is made in the form of a rectangular plate and is long forward and backward (see Figure 10). The forward and backward movement block 404 is installed directly on the forward and backward guide rail 402, or is an LM block (not shown). It can be installed to be movable back and forth on the front and rear guide rail 402.

The forward and backward movement block 404 is installed to be movable forward and backward along the inner surface of the support table 100, and serves to guide the forward and backward movement of the first and second position fixing parts 408 and 431, which will be described later.

A forward and backward moving member 406 is installed at the lower part of the forward and backward moving block 404. The forward and backward moving member 406 is a general cylinder, and detailed description will be omitted. The forward and backward moving member 406 is installed long left and right on the lower inner surface of the support table 100, and serves to move the forward and backward moving block 404 forward and backward.

A first position fixing part 408 is installed on the front side of the forward and backward moving block 404. The first position fixing unit 408 includes a fixing unit moving rail 410, a fixing unit moving block 412, a first position fixing bracket 414, and a first position fixing member 416.

A fixed moving rail 410 is installed on the front side of the forward and backward moving block 404. The fixed moving rail 410 is made in the shape of a rail and is long forward and backward. The fixed part moving rail 410 is installed long back and forth at the center of the side of the forward and backward moving block 404, and guides the forward and backward movement of the fixed part moving block 412, which will be described later.

A fixed part moving block 412 is installed on the side of the fixed part moving rail 410. The fixed moving block 412 is a general LM block, and detailed description will be omitted. The fixed unit moving block 412 is installed to be movable back and forth on the side of the fixed unit moving rail 410, and serves to move the first position fixing bracket 414, which will be described later, back and forth.

A fixed moving member 413 is installed on the side of the forward and backward moving block 404. The fixed moving member 413 is a general cylinder, so detailed description will be omitted. The fixed part movable member 413 is installed long back and forth on the side of the forward and backward movable block 404, and the end of the cylinder rod (not shown) of the fixed part movable member 413 is connected to the fixed part movable block 412. It is fixedly installed and serves to move the fixed part moving block 412 forward and backward.

A first position fixing bracket 414 is installed on the side of the fixed unit moving block 412. The first position fixing bracket 414 is made in the form of a block with a cross-section of a "┘" shape, and is fixedly installed on the side of the fixer movable block 214 (see FIG. 14). The first position fixing bracket ( 414) is fixedly installed on the side of the fixed unit moving block 412 and moves back and forth along the fixed unit moving rail 410. A first position fixing member 416, which will be described later, is installed at the upper end of the first position fixing bracket 414, so that the first position fixing member 416 can be moved back and forth.

A first position fixing member 416 is installed at the top of the first position fixing bracket 414. The first position fixing member 416 includes a first position fixing bar 418, a first forward and backward moving guide shaft 420, a first forward and backward moving body 422, and a blade fixing part 430.

The first position fixing bar 418 has a cylindrical shape, is formed to be long forward and backward, and is installed long forward and backward on the top of the first position fixing bracket 414. The first position fixing bar 418 is a part that protrudes toward the front center side of the peeling object (P) and moves toward the front center side of the peeling object (P) as the first position fixing bracket 414 moves back and forth.

A first forward and backward movement guide shaft 420 is formed at the rear center of the first position fixing bar 418. The first forward and backward movement guide shaft 420 is formed in a cylindrical shape and has a diameter smaller than the outer diameter of the first position fixing bar 418. The first forward and backward movement guide shaft 420 is formed at the rear center of the first position fixing bar 418 and protrudes toward the object to be peeled (P). On the outer surface of the first forward and backward motion guide shaft 420, a first forward and backward motion body 422, which will be described later, is installed to be movable forward and backward.

A first forward and backward moving body 422 is installed on the circumferential surface of the first forward and backward moving guide shaft 420. The first forward and backward moving body 422 is made of a cylindrical shape, is formed to be long forward and backward, and is installed to surround the outer surface of the first forward and backward moving guide shaft 420. The first forward and backward moving body 422 is installed to be movable forward and backward on the outer surface of the first forward and backward moving guide shaft 420, and moves forward when pressed against the peeling object (P) to absorb the shock generated during pressing. It plays a buffering role.

A first mounting groove 424 is formed in the front center of the first forward and backward moving body 422. The first mounting groove 424 has a diameter larger than the outer diameter of the first forward and backward moving guide shaft 420, and is recessed rearwardly in the front center of the first forward and backward moving body 422. The first mounting groove 424 is a portion into which the first forward/backward movement guide shaft 420 is inserted and coupled.

A first elastic member 426 is installed inside the first mounting groove 424. The first elastic member 426 is a general spring, so detailed description will be omitted. One end of the first elastic member 426 is in close contact with the rear surface of the first forward and backward movement guide shaft 420, and the other end is in close contact with the rear inner surface of the first mounting groove 424. The first elastic member 426 elastically supports the first forward and backward movable body 422 toward the rear, so that when the first forward and backward movable body 422 is in close contact with the peeling object (P), the first forward and backward movable body 422 (422) It serves to absorb the shock.

A blade fixing part 430 is installed at the rear of the first forward and backward moving body 422. The blade fixing part 430 is formed in the shape of a cross blade, is inserted and fixed into the front center of the peeling object (P), and serves to firmly fix the peeling object (P) to the moving module 400. The blade fixing part 430 is formed to protrude toward the object to be peeled (P), and is inserted into the interior of the object to be peeled (P) when the first forward and backward moving body 422 is in close contact with the object to be peeled (P), 1It serves to firmly fix the peeling object (P) to the forward and backward moving body (422).

A second position fixing bracket 432 is installed on the rear side of the forward and backward moving block 404. The cross section of the second position fixing bracket 432 is made in the shape of a “┘” shaped block, and is fixedly installed on the side of the forward and backward moving block 404 (see FIG. 11). The second position fixing bracket 432 ) is fixedly installed on the side of the forward and backward moving block 404 and moves forward and backward along the forward and backward guide rail 402. A second position fixing member 434, which will be described later, is installed at the upper end of the second position fixing bracket 432, so that the second position fixing member 434 can be moved back and forth.

A second position fixing member 434 is installed at the top of the second position fixing bracket 432. The second position fixing member 434 includes a second position fixing bar 436, a second forward and backward moving guide shaft 438, a second forward and backward moving body 440, and a blade fixing part 430.

The second position fixing bar 436 has a cylindrical shape, is formed to be long forward and backward, and is installed long forward and backward on the top of the second position fixing bracket 432. The second position fixing bar 436 is a portion that protrudes toward the rear center side of the peeling object (P) and moves toward the rear center side of the peeling object (P) as the second position fixing bracket 432 moves back and forth.

A second forward and backward movement guide shaft 438 is formed at the front center of the second position fixing bar 436. The second forward/backward movement guide shaft 438 is formed in a cylindrical shape and has a diameter smaller than the outer diameter of the second position fixing bar 436. The second forward and backward movement guide shaft 438 is formed at the front center of the second position fixing bar 436 and protrudes toward the peeling object (P). On the outer surface of the second forward and backward moving guide shaft 438, a second forward and backward moving body 440, which will be described later, is installed to be able to move forward and backward.

A second forward and backward moving body 440 is installed on the circumferential surface of the second forward and backward moving guide shaft 438. The second forward and backward moving body 440 is made of a cylindrical shape, is formed to be long forward and backward, and is installed to surround the outer surface of the second forward and backward moving guide shaft 438. The second forward and backward moving body 440 is installed to be movable back and forth on the outer surface of the second forward and backward moving shaft 438, and moves rearward when pressed against the peeling object (P) to absorb the shock generated during pressing. It plays a buffering role.

A second mounting groove 442 is formed at the rear center of the second forward and backward moving body 440. The second mounting groove 442 has a diameter larger than the outer diameter of the second forward and backward moving guide shaft 438, and is recessed toward the front side at the rear center of the second forward and backward moving body 440. The second mounting groove 442 is a portion into which the second forward/backward movement guide shaft 438 is inserted and coupled.

A second elastic member 444 is installed inside the second mounting groove 442. The second elastic member 444 is a general spring, so detailed description will be omitted. One end of the second elastic member 444 is in close contact with the front surface of the second forward and backward movement guide shaft 438, and the other end is in close contact with the front inner surface of the second mounting groove 442. The second elastic member 444 elastically supports the second forward and backward movable body 440 toward the front, so that when the second forward and backward movable body 440 is in close contact with the peeling object (P), the second forward and backward movable body 440 moves forward and backward. (440) It serves to absorb the shock.

A blade fixing part 430 is installed at the rear of the second forward and backward moving body 440. Since the blade fixing part 430 has the same structure as the blade fixing part 430 of the first position fixing member 416, detailed description is omitted. The blade fixing portion 430 is formed to protrude toward the peeling object (P), and is inserted into the inside of the peeling object (P) when the second forward and backward moving body 440 is in close contact with the peeling object (P), thereby forming the second It serves to firmly fix the peeling object (P) to the forward and backward moving body (248).

An object rotation member 446 is installed at the rear of the second position fixing bar 436. The object rotating member 446 is a general motor, so detailed description will be omitted. In addition to a motor, the object rotating member 446 can be applied to various devices and devices that can rotate the second position fixing bar 436, such as a rotating cylinder. Here, the description will be based on the motor applied to the object rotating member 446.

The object rotation member 446 is fixedly installed at the rear of the second position fixing bar 436 and is connected to a second forward and backward moving body rotation axis 447 passing through the center of the second position fixing bar 436. . The object rotation member 446 rotates while the second position fixing part 431 is in close contact with the rear center of the peeling object (P), and serves to rotate the peeling object (P) by 180 degrees.

That is, the object rotating member 446 rotates the peeling object (P) 180 degrees after the upper surface skin (shell) of the peeling object (P) is removed by the peeling removal module 500, which will be described later, thereby removing the outer skin. It serves to rotate the lower surface of the peeling object (P) from which the peel has not been removed toward the upper surface where the peeling removal module 500 is located.

Figure 18 shows an enlarged view showing the configuration of a skin removal module constituting an embodiment of the present invention, Figure 19 shows a left side view showing the structure of a skin removal module constituting an embodiment of the present invention, and Figure 20 There is a plan view showing the configuration of the peeling removal module constituting the embodiment of the present invention, Figure 21 shows an operation diagram showing the operation of the blade member constituting the embodiment of the present invention, and Figure 22 shows the implementation of the present invention. A front view showing the operation of the blade member constituting the example is shown, Figure 23 shows an enlarged view showing the configuration of the blade member constituting the embodiment of the present invention, and Figure 24 shows the blade member constituting the embodiment of the present invention. A layout diagram according to the installation angle of the member is shown.

Referring to FIGS. 18 to 24, a peeling removal module 500 is installed on the front side of the gripping module 300. The stripping removal module 500 consists of a plurality of stripping removal units 502 arranged at regular intervals along the upper surface of the support table 100.

The peeling removal unit 502 consists of a fixing block 504, a fixing plate 506, a blade member 510, etc. The fixing block 504 is made up of a “┛” or “┗” shaped block in cross section, and is installed on both sides of the upper surface of the support table 100, respectively. The fixing blocks 504 are fixedly installed on both sides of the upper surface of the support table 100, and serve to fix both lower ends of the fixing plate 506, which will be described later, to the upper side of the support table 100. (FIG. 18)

A fixing plate 506 is installed at the top of the fixing block 504. The fixing plate 506 is made of a plate material with a predetermined thickness and is formed in the shape of a semi-circular ring. The fixing plate 506 has an air injection channel (not shown) formed inside, and lower ends on both sides are fixed to the upper surface of the fixing block 504. The fixing plate 506 has both lower ends fixed to the top of different fixing blocks 504 and is fixedly installed on the front upper side of the gripping module 300. The front of the fixing plate 506 is supported by a plurality of blade members 510, which will be described later.

A blade member 510 is installed on the front of the fixing plate 506. A plurality of blade members 510 are installed between 0 degrees and 180 degrees with respect to the central axis of the fixing plate 506. The installation interval of the blade member 510 is installed at a different angle from the installation interval of the blade member 510 installed on different fixing plates 506 disposed on the front and rear sides.

That is, during the peeling removal operation of the blade member 510, as the blade member 510 rotates forward as shown in FIG. 22, the blade members 510 installed on different fixing plates 506 may collide with each other. , It is preferable that the blade members installed on different fixing plates 506 are installed at different angles.

The blade member 510 consists of a blade support block 512, a blade rotation bar 518, a rotation bar operating member 526, and a blade portion 528.

The blade support block 512 is made of a rectangular plate with a predetermined thickness and is installed at the lower front of the fixing plate 506. The blade support block 512 is installed to protrude in the direction of the central axis of the fixing plate 506, and serves to support the blade rotation bar 518 and the rotation bar operating member 526, which will be described later.

A cylinder rotation hole 514 is formed on the front of the blade support block 512. The cylinder rotation hole 514 has a long hole shape and is elongated vertically. Inside the cylinder rotation hole 514, a rotation bar operating member 526 is rotatably installed.

A pivoting groove 516 is formed at the lower end of the blade support block 512. The rotation groove 516 is recessed upwardly at the bottom center of the blade support block 512. Inside the rotation groove 516, the end of the blade rotation bar 518, which will be described later, is rotatably fixed.

A blade rotation bar 518 is installed inside the rotation groove 516. The blade rotation bar 518 is formed in the shape of a bar and is elongated up and down. The upper end of the blade rotation bar 518 is rotatably installed inside the rotation groove 516, and serves to rotate the blade portion 528, which will be described later, in the forward and upward direction.

A fixed blade portion 520 is formed at the lower end of the blade rotation bar 518. The fixed blade portion 520 is a portion in which the lower end of the blade rotating bar 518 is bent vertically downward. A blade portion 528, which will be described later, is fixed to the lower part of the fixed blade portion 520.

A rotating bar operating member 526 is installed on the upper surface of the blade rotating bar 518. The rotating bar operating member 526 is a general cylinder and detailed description will be omitted. One end of the rotating bar operating member 526 is rotatably mounted inside the cylinder rotating hole 514, and the other end is fixed to the front side of the upper surface of the blade rotating bar 518. The rotating bar operating member 526 serves to lift the blade rotating bar 518 upward.

A blade portion 528 is installed at the lower part of the blade rotation bar 518. The blade portion 528 is a general fillet-type blade and detailed description will be omitted. The blade portion 528 is in close contact with the outer peripheral surface of the object to be peeled (P), and serves to remove the outer skin (skin) of the object to be peeled (P).

Hereinafter, the arrangement of the stripping removal unit 502 and the installation position of the blade member 510 will be described in detail with reference to FIG. 23.

The stripping removal module 500 installed on the front side of the gripping module 300 consists of a plurality of stripping removal units 502. As shown in FIG. 22, five peeling removal units 502 are disposed on the front upper side of the gripping module 300 at regular intervals.

Here, five peeling removal units 502 are applied, but the number of installed peeling removal modules 500 can be increased or decreased depending on the size and shape of the peeling object (P).

In addition, the number and installation angle of the blade members 510 installed in each stripping removal unit 502 are plural, and the installation angles of the blade members 510 in the adjacent stripping removal units 502 are installed at different angles. desirable.

This is because the outer skin (skin) of the peeling object (P) is removed in the process of moving the peeling object (P) to the front side by the movement module 400, so the blade member 510 installed on the different fixing plates 506 This is to prevent collisions that may occur as the blade member 510 rotates up and down when installed at the same angle.

Hereinafter, the operation of the stripping device of the present invention having the above configuration will be examined with reference to FIGS. 1 to 25.

First, the operator supplies the peeling target (bulb vegetables, etc.) to the supply module 200 automatically or manually. The peeling object (P) is seated on the upper surface of the seating table 204 of the supply module 200.

When the peeling object (P) is seated on the upper surface of the seating table 204, the seating rotation member 118 is activated to rotate the seating table 204, and this causes the peeling object (P) to roll and move. It is seated on the upper surface of the mounting plate 210.

The gripping module 300 is operated while the peeling object (P) is placed on the mounting plate 210. Pressure rollers 328 are disposed on the upper and lower sides of the mounting plate 210, and the first and second rail bars 308 and 314 are moved upward or downward according to the operation of the raising and lowering member 316.

As the first and second rail bars 308 and 314 move upward or downward, the pressure roller 328 comes into close contact with the outer peripheral surface of the peeling object P, and the peeling object P moves upward to press the pressure roller 328. It is located on the molting central axis (C) in the gripped state.

The moving module 400 is operated while the peeling object (P) is positioned on the peeling center axis (C) by the gripping module (300). A first position fixing part 408 and a second position fixing part 431 are installed on the front and rear sides of the gripping module 300, respectively, and the first position fixing part ( 408) is in close contact with the front center portion of the peeling object (P).

When the first position fixing part 408 is completely attached to the front center of the peeling object (P), the second position fixing part 431 is moved to the front along the fixing part moving rail 410 to remove the peeling object (P). ) is tightly fixed to the center of the back.

In addition, a blade fixing part 430 is installed on one side of the first and second position fixing parts 408 and 431, and is inserted into both sides of the peeling object P, respectively, so that the peeling object P can be firmly fixed. .

As the blade fixing part 430 is inserted and fixed in a cross shape in the front and rear central portions of the peeling object (P), it can not only support the pressing pressure applied to the peeling object (P) in the horizontal and vertical directions. In addition, the object to be peeled (P) is fixed more firmly, so that it can be prevented from breaking away due to a decrease in the fixing force of the object to be peeled (P) during the peeling operation.

When the fixation of the peeling object (P) is completed by the first and second position fixing parts (408, 431), the forward and backward moving member (206) is activated to move the peeling object (P) to the front side along the front and rear guide rail (202). do.

A cutting member 214 is installed on the front side of the mounting plate 210. The cutting member 214 is formed in the form of a blade bent in a semicircular shape, and can cut a portion of the object P moved forward by the movement module 400.

In other words, if the size of the peeling object (P) is larger than the stripping work range of the stripping removal module 500, breakdown or damage to the device may occur due to a collision between the stripping removal module 500 and the peeling object (P), which will be described later. To prevent this, part of the object to be peeled (P) can be cut.

The outer skin (skin) located on the upper surface of the peeling object (P), which is moved forward by the moving module 400, is removed by the peeling removal module 500 located on the upper front side of the gripping module 300.

When removal of the outer skin (skin) located on the upper surface of the peeling object (P) is completed, the moving module 400 is moved rearward and returned to its original position.

When the movement module 400 moves backward, the rotation bar operating member 526 of the blade member 510 is activated and the blade member 510 is rotated forward and upward, so that the peeling object (P) is placed on the blade member 510. ) can be returned to its original position without colliding.

After the moving module 400 returns to its original position, the object rotation member 446 of the second position fixing part 431 operates, and the peeling object P is rotated 180 degrees. As the object to be peeled (P) is rotated 180 degrees by the object rotation member 446, the lower surface of the object to be peeled (P) from which the outer skin (skin) has not been removed is positioned on the upper side.

When the rotation of the peeling object (P) is completed, the moving module 400 moves forward, and the peeling removal module 500 performs the peeling operation on the upper surface of the peeling object (P) once more. .

When the operation of removing the outer skin (shell) of the peeling object (P) is completed, the first and second position fixing parts (408, 431) are moved forward and backward to release the fixation of the peeling object (P), and the peeling object (P) is moved forward and backward. It falls toward the bottom and is discharged to the outside.

The scope of the present invention is not limited to the embodiments illustrated above, and many other modifications based on the present invention will be possible to those skilled in the art within the above technical scope.

100. Support table 200. Supply module
202. Blocking plate 204. Seating base
208. Breakaway prevention plate 210. Mounting plate
214. Cutting member 300. Gripping module
400. Movement module 500. Stripping removal module

Claims (5)

A support table in the form of a table on which a number of parts are installed;
a supply module installed on the upper side of the support table and selectively supplying the peeling object (P) depending on whether the peeling object (P) is seated;
A mounting plate installed on one side of the supply module, bent in a semicircular shape, and on which the peeling object (P) rolled by the supply module is seated;
A gripping module is installed on the upper and lower sides of the mounting plate, and moves in the upper or lower direction to respectively grip the upper and lower surfaces of the peeling object (P) and simultaneously positions the peeling object (P) on the peeling central axis. class;
A moving module installed on the front and rear sides of the gripping module, respectively, is inserted and fixed to the front and rear centers of the peeling object (P), and moves the peeling object (P) in the front and rear directions;
It is installed on the front side of the gripping module, and a plurality of blade members are disposed on the side of the peeling object (P), and are in close contact with the outer peripheral surface of the peeling object (P), which is moved to the front side by the movement module, to cover the outer surface of the peeling object (P). It includes a stripping removal module that removes;
The supply module is,
A blocking plate that has a predetermined thickness and is shaped like a square plate and is installed perpendicularly on the front and rear sides of the peeling object (P) to prevent the peeling object (P) from leaving the front and rear;
The cross-section is shaped like a "┛" shape, is elongated back and forth, and is rotatably installed between the blocking plates to selectively move the peeling object (P) seated on the upper surface toward the gripping module, including:
It is made of a plate having a "┏" shape, and is installed on the front and rear sides of the inside of the mounting plate, respectively, and selectively closes the front and rear sides of the mounting plate according to the rotational motion of the mounting plate, and the front and rear of the object to be peeled off (P). ,Includes a separation prevention plate to prevent subsequent separation;
Between the mounting plate and the peeling removal module,
A cutting member is further provided to prevent collision between the stripping removal module and the stripping object (P) by cutting a portion of the stripping object (P) moved toward the stripping removal module by the moving module;
The cutting member is,
A cutting frame that is banded into a semicircular shape;
A peeling device comprising a cutting blade portion that protrudes toward the rear along the rear edge of the cutting frame and cuts a portion of the peeling object (P). delete delete The method of claim 1, wherein on both sides of the cutting member,
A stripping device, characterized in that one side is further provided with a fixing bracket fixed to the blocking plate and supporting both sides of the cutting member. According to claim 1, on the front and rear sides of the movement module,
A peeling device comprising a cross-shaped blade shape, inserted and fixed into the front center and rear center of the peeling object (P), respectively, and further provided with a blade fixing part that firmly fixes the peeling object (P) to the moving module. .