Manipulator for shelling walnuts

Abstract

The invention discloses a manipulator for shelling walnuts. The manipulator comprises a machine frame assembly, a transporting mechanism, a clamping mechanism, two cutting mechanisms and a rotating jimmying mechanism, wherein the transporting mechanism comprises a vertical reciprocating driver and a walnut fixer; the vertical reciprocating driver is used for driving a walnut placer to be in vertical reciprocating motion; the clamping mechanism is located above the walnut placer; each cutting mechanism comprises a swinging reciprocating driving mechanism, a cutting arm and a cutting machine; each swinging reciprocating driving mechanism is used for driving a corresponding linkage mechanism to rotate; each cutting arm is fixedly connected with the corresponding cutting machine; each cuttingmachine comprises a saw piece; the rotating jimmying mechanism comprises a rotating jimmying machine, a rotating driving mechanism and a horizontal reciprocating driving mechanism; the rotating jimmying machine comprises a long-handle blade and a rotating jimmying arm; the tail of the long-handle blade is mounted on the rotating jimmying arm through a bearing; the rotating jimmying arm is fixed tothe horizontal reciprocating driving mechanism; and the rotating driving mechanism is mounted on the rotating jimmying arm, and is used for driving the long-handle blade to rotate. The manipulator disclosed by the invention is used for circularly cutting a kernel crack of each walnut, so that the integrity of taken kernels can be improved.

Description

technical field [0001] The invention relates to the technical field of walnut processing, in particular to a manipulator for shelling walnuts. Background technique [0002] The shelling of walnuts is an important and difficult process, because the weight of the shell of this kind of nut accounts for a large proportion, and the shell of this kind of fruit is mainly composed of lignin, cellulose and hemicellulose, and the shape is irregular. Hard and difficult to peel, coupled with irregular shape, large size differences, small gaps between shells and kernels, and a large amount of deformation required for complete cracking of the shell, it is difficult to achieve precise shelling. [0003] Nowadays, there are several methods for cracking walnut shells at home and abroad: 1. Centrifugal impact shell breaking method; 2. Chemical corrosion method; 3. Vacuum shell breaking method; 4. Ultrasonic shell breaking method; shell method. [0004] The first method has too many broken k...

AI Technical Summary

Problems solved by technology

[0006] (1) The versatility of the equipment is poor, the performance of the machine tool is unstable, and the adaptability is poor;

[0007] (2) Due to the variety of walnut varieties, large differences in size, irregular shapes, and small gaps between the shells and kernels, it is difficult to take out relatively complete kernels after breaking the shells. After breaking the shells, the shells and kernels need to be separated. The density of shell kernels is not much different, and there are many burrs on the broken shells and kernels, so it is quite difficult to separate the shell kernels.

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