Durian pulp conveying and mixing device for processing multi-layer durian

Abstract

The invention discloses a durian pulp conveying and mixing device for processing multi-layer durian. The durian pulp conveying and mixing device comprises a console, a sorting mechanism and a mixing and conveying mechanism, the sorting mechanism is arranged on the rear side of the control console, and the sorting mechanism is responsible for carrying, conveying, unloading and empty box recovery of materials and carrying, conveying, unloading and empty box recovery of the materials; and the mixing and conveying mechanism is arranged on the left side of the sorting mechanism and is responsible for storing, heating, stirring and conveying. According to the durian pulp conveying and mixing device for durian layer processing, through intelligent sorting, non-contact conveying and full-process automation technologies, the problems of low efficiency, poor precision and high manual dependence degree in traditional durian layer processing are solved, and the durian pulp conveying and mixing device has the advantages of being high in precision, high in efficiency, high in sanitary standard and high in flexibility; the quality stability and the production benefit of the durian multi-layer cake can be remarkably improved, and the method is suitable for large-scale food processing enterprises.

Description

Technical Field

[0001] The invention relates to the technical field of durian melaleuca processing, in particular to a durian flesh conveying and mixing device used for durian melaleuca processing. Background Art

[0002] Durian crepe cake is a dessert made with durian pulp, cream, and crepe crust as its main ingredients. The production process involves making the crust, whipping the cream, processing the durian pulp, and assembling the multiple layers. The crust requires preparing a batter (flour, eggs, milk, etc.), which is then pan-fried or baked to form a thin and even crust. For durian pulp processing, ripe durians are selected, pitted, and mashed into a puree or chunks, with the moisture and particle size controlled. For whipping and assembly, whipped cream (usually animal cream) is layered alternately with the durian pulp between the crusts before being refrigerated to set. In the existing technical field, the traditional durian crepe processing production line requires manual participation in sorting, handling, filling and other links. The labor intensity is high and the production efficiency is low, which makes it difficult to adapt to the needs of large-scale production. In addition, the existing conveying equipment has a complex spiral conveying rod and blade structure, which is easy to leave pulp residues. Incomplete cleaning may lead to the breeding of microorganisms, affecting food safety. This conveying method is prone to excessive crushing or uneven mixing of the pulp during the conveying process, affecting the taste and appearance of the crepe cake. Summary of the Invention

[0003] The object of the present invention is to provide a durian flesh conveying and mixing device for durian melaleuca processing, so as to at least solve the problems mentioned in the above background technology.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a durian flesh conveying and mixing device for durian melaleuca processing, comprising: console; A sorting mechanism is provided at the rear side of the console, and is responsible for the handling, transportation, unloading and empty box recovery of materials; The mixed conveying mechanism is arranged on the left side of the sorting mechanism, and is responsible for storage, heating, stirring and conveying.

[0005] Preferably, the sorting mechanism includes: a transport robot arm, a trough box shell, a horizontal conveyor belt, a lifting conveyor belt, a mobile robot arm and auxiliary components; the transport robot arm is located at the right rear of the sorting mechanism, and the transport robot arm is electrically connected to the control console; the trough box shell is arranged in the left front of the transport robot arm; the horizontal conveyor belt is installed on the right side of the inner top end of the transport robot arm along the left-right direction, and the horizontal conveyor belt is electrically connected to the control console; the lifting conveyor belt is installed on the left side of the inner top end of the transport robot arm along the left-right direction, and the lifting conveyor belt is electrically connected to the control console; the mobile robot arm is arranged at the left rear outside of the trough box shell, and the mobile robot arm is electrically connected to the control console; the auxiliary components are arranged on the inner side of the trough box shell.

[0006] Preferably, the mixing and conveying mechanism includes: a base frame, a unloading device, a heating and stirring device, a screw conveying device and a conveying component; the base frame is arranged at the lower left side of the lifting conveyor belt in the front-to-back direction; the unloading device is installed on the top of the base frame through a bracket and is located below the lifting conveyor belt, and the unloading device is electrically connected to the control console; the heating and stirring device is installed on the top of the base frame and is located below the unloading device, the feed port of the heating and stirring device is connected to the discharge port of the unloading device, and the heating and stirring device is electrically connected to the control console; the screw conveying device is installed on the inner top end of the base frame in the front-to-back direction, the feed port of the screw conveying device is connected to the discharge port of the heating and stirring device, and the screw conveying device is electrically connected to the control console; the conveying component is arranged on the inner side of the base frame.

[0007] Preferably, the auxiliary components include: a support frame, a bracket, a first motor, a transmission belt, a mounting frame, a first rotating seat, a first electric telescopic rod and a first electric suction cup; the number of the support frames is two, and the two support frames are fixedly mounted on the top rear side of the trough box shell in the up and down directions and are located on the left and right sides below the mobile robotic arm, and a driving unit is provided on the front side of the bottom ends of the left and right support frames; the number of the brackets is two, and the two brackets are rotatably connected to the front and back sides of the inner middle of the trough box shell through the rotating shaft seat; the first motor is mounted below the inner rear end of the trough box shell through the bracket, and the first motor and the control The control table is electrically connected; one end of the transmission belt is fixedly connected to the rear end of the axis of the bracket, and the other end of the transmission belt is connected to the rotating end of the first motor; the mounting bracket is arranged below the driving unit; the first rotating seat is rotatably connected to the inner side of the mounting bracket at the lower part via a rotating shaft; one end of the first electric telescopic rod is rotatably connected to the inner side of the mounting bracket at the upper part via a rotating shaft seat, and the other end of the first electric telescopic rod is rotatably connected to the inner right end of the first rotating seat via a rotating shaft, and the first electric telescopic rod is electrically connected to the control console; the first electric suction cup is installed on the left side of the first rotating seat in the up and down direction, and the first electric suction cup is electrically connected to the control console.

[0008] Preferably, the conveying component includes: a base platform, an outer shell, a storage device, a robotic arm, a loading unit, an electric control valve tube, a sleeve outer shell, a coil-type electromagnetic tube, a docking tube, a connecting tube, a rotating module, a cross-shaped mounting frame and a blocking seat; the base platform is arranged on the inner lower front side of the base frame in the left and right directions; the outer shell is fixedly installed on the top right side of the base platform; the storage device is installed on the right front of the bottom end of the inner cavity of the outer shell, and the storage device is electrically connected to the control console; the robotic arm is installed on the rear side of the bottom end of the inner cavity of the outer shell, and the robotic arm is electrically connected to the control console; the loading unit is installed on the moving end of the robotic arm; the electric control valve tube is installed at the top opening of the inner cavity of the outer shell, and the top feed port of the electric control valve tube is connected to the discharge port of the spiral conveying device, and the electric control valve tube is electrically connected to the control console; the sleeve outer shell is installed in the inner cavity of the outer shell in the left and right directions and is located below the electric control valve tube, and the discharge port of the electric control valve tube is connected to the top of the inner cavity of the sleeve outer shell. communicate with each other; the number of the coil-type electromagnetic tubes is several, and the several coil-type electromagnetic tubes are installed on the top of the base platform through the bracket, and the adjacent two coil-type electromagnetic tubes are communicated with each other, and the feed port of the coil-type electromagnetic tube at the starting end extends into the inner cavity of the shell and is connected to one end of the electric control valve tube, and the coil-type electromagnetic tube and the control console are electrically connected; the butt-joint tube is installed on the outside of the discharge port of the coil-type electromagnetic tube at the end and is communicated with it; the connecting pipe is installed on the outside of the butt-joint tube and is located outside the feed port of the external equipment, and is connected to the feed port of the external equipment; the rotating module is arranged on the outside of the connecting pipe and is fixedly connected to the external equipment, and the rotating module and the control console are electrically connected; the cross-shaped mounting bracket is installed at the rotating end of the rotating module; the number of the blocking seats is four, and the four blocking seats are respectively installed at the four ends of the cross-shaped mounting bracket, and the rear blocking seat is located on the inner side of the butt-joint tube and the connecting pipe and is communicated with the butt-joint tube and the connecting pipe.

[0009] Preferably, the loading unit includes: a mounting top plate, a third limiting assembly, a mounting bottom plate, a second electric telescopic rod, a fixing bracket, a second rotating seat, a third electric telescopic rod and a second electric suction cup; the mounting top plate is mounted on the bottom of the moving end of the robotic arm along the left-right direction; the third limiting assembly is mounted on the rear side of the bottom end of the mounting top plate along the left-right direction; the mounting bottom plate is mounted on the bottom of the limiting end of the third limiting assembly; the second electric telescopic rod is mounted on the right front of the bottom end of the mounting top plate through a bracket, and the telescopic end of the second electric telescopic rod is connected to the left front of the top end of the mounting bottom plate. The second electric telescopic rod is electrically connected to the control console; the fixing frame is installed at the bottom end of the mounting base in the up and down direction; the second rotating seat is rotatably connected to the left bottom end of the fixing frame through a rotating shaft seat; one end of the third electric telescopic rod is rotatably connected to the bottom end of the mounting base through a rotating shaft seat and is located on the inner side of the fixing frame, and the other end of the third electric telescopic rod is rotatably connected to the inner top end of the second rotating seat through a rotating shaft, and the third electric telescopic rod is electrically connected to the control console; the second electric suction cup is installed at the bottom end of the second rotating seat, and the second electric suction cup is electrically connected to the control console.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. The frozen durian meat and the outer container box are transported to the surface of the horizontal conveyor belt by the transporting robot arm. The horizontal conveyor belt transports the frozen durian meat from right to left to the surface of the bracket in the auxiliary component. The first motor drives the front and rear brackets to rotate under the drive of the transmission belt, so that the container box inside the bracket is flipped and moved to the surface of the lifting conveyor belt. The driving unit in the auxiliary component drives the mounting frame to pass through the inner sides of the left and right brackets, and makes the first electric suction cup adsorb and fix to the right side of the outer surface of the container box. The first electric telescopic rod is shortened to drive the lifting arm to rotate inside the trough frame, so that the first The rotating seat drives the first electric suction cup to flip downward to a horizontal state, and then with the cooperation of the first electric suction cup, the frozen durian meat in the container box is turned upside down on the surface of the lifting conveyor belt. The mobile robotic arm grabs the empty container box and moves it to the outside for centralized collection. The lifting conveyor belt lifts the frozen durian meat and transports it to the inside of the unloading equipment. The unloading equipment transfers the internal frozen durian meat to the inside of the heating and stirring equipment in a quantitative manner. The heating and stirring equipment heats and stirs the internal durian meat. The spiral conveying equipment transports the durian sauce raw materials in the heating and stirring equipment to the inside of the electric control valve tube.

[0011] 2. The durian sauce raw materials inside the sleeve shell are made to enter into the sleeve shell in batches through the electric control valve tube. The robotic arm drives the second electric suction cup in the loading unit to absorb and grab the launch push plate stored in the storage device, and move it to the corresponding position at the starting end of the sleeve shell. The third electric telescopic rod drives the second rotating seat to drive the second electric suction cup to flip upward. The second electric telescopic rod drives the mounting base plate, so that the mounting base plate drives the second electric suction cup below to load the launch push plate into the sleeve shell under the limiting action of the third limiting component, and pushes the durian sauce raw materials inside the sleeve shell into the coil-type electromagnetic pipe at the starting end through the launch push plate. Inside, the coil-type electromagnetic tube is energized to generate a magnetic field inside its own coil and drive the launch push plate to push the durian jam raw material to move along the inside of the coil-type electromagnetic tube, and move from the external docking tube of the end coil-type electromagnetic tube to the inner cavity of the blocking seat. The launch push plate is stuck in the inner cavity of the blocking seat, and the durian jam raw material passes through the blocking seat and enters the inner cavity of the connecting pipe, and enters the external processing equipment through the connecting pipe. The rotating module drives the cross-shaped mounting frame to rotate, so that the cross-shaped mounting frame moves the blocking seat equipped with the launch push plate to the outside of the docking pipe and the connecting pipe for processing, and moves the empty blocking seat again to the inside of the docking pipe and the connecting pipe for docking.

[0012] Through intelligent sorting, contactless transportation and full-process automation technology, the problems of low efficiency, poor precision and high dependence on manual labor in traditional durian mille-feuille processing have been solved. It has the advantages of high precision, high efficiency, high hygiene standards and high flexibility, which can significantly improve the quality stability and production efficiency of durian mille-feuille cakes, and is suitable for use by large-scale food processing companies. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Exploded diagram of the sorting mechanism; Figure 3 for Figure 2 Exploded view of auxiliary components; Figure 4 for Figure 3 A magnified view of point A; Figure 5 for Figure 3 Enlarged view of point B; Figure 6 for Figure 2 Exploded diagram of the mixing conveying mechanism; Figure 7 for Figure 6 Exploded diagram of the conveying components; Figure 8 for Figure 7 Enlarged view of point C; Figure 9 for Figure 7 Exploded view of the filling unit.

[0014] In the figure: 1. control console, 2. sorting mechanism, 21. handling robot arm, 22. trough box shell, 23. horizontal conveyor belt, 24. lifting conveyor belt, 25. mobile robot arm, 3. mixing conveying mechanism, 31. base frame, 32. unloading equipment, 33. heating and stirring equipment, 34. spiral conveying equipment, 4. auxiliary components, 41. support frame, 42. bracket, 43. first motor, 44. transmission belt, 45. mounting frame, 46. first rotating seat, 47. first electric telescopic rod, 48. first electric suction cup, 49. truss, 410. first limit assembly, 411. first rack, 412. moving frame, 413. second motor, 414. first gear, 415. trough Body frame, 416, lifting arm, 417, second limiting assembly, 418, second rack, 419, third motor, 420, second gear, 5, conveying component, 51, base platform, 52, shell, 53, storage equipment, 54, robotic arm, 55, electric control valve tube, 56, sleeve shell, 57, coil-type electromagnetic tube, 58, docking tube, 59, connecting pipe, 510, rotating module, 511, cross-shaped mounting frame, 512, blocking seat, 6, loading unit, 61, installation top plate, 62, third limiting assembly, 63, installation bottom plate, 64, second electric telescopic rod, 65, fixed frame, 66, second rotating seat, 67, third electric telescopic rod, 68, second electric suction cup. DETAILED DESCRIPTION

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0016] See also Figures 1-9 The present invention provides a technical solution: a durian meat conveying and mixing device for durian melaleuca processing, comprising: a control console 1, a sorting mechanism 2 and a mixing and conveying mechanism 3. The control console 1 has a built-in PLC control system, which controls the start and stop and operating parameters of the executive electrical components inside the sorting mechanism 2 and the mixing and conveying mechanism 3 through electrical connection. The control console 1 is equipped with a human-computer interaction interface, which supports manual or automatic mode switching, process parameter setting and real-time monitoring of the equipment operation status; the sorting mechanism 2 is arranged on the rear side of the control console 1, and the sorting mechanism 2 is responsible for material handling, conveying, unloading and empty box recycling; the mixing and conveying mechanism 3 is arranged on the left side of the sorting mechanism 2, and is responsible for storage, heating, stirring and conveying.

[0017] As a preferred solution, further, Figure 2As shown, the sorting mechanism 2 includes: a handling robot arm 21, a trough box shell 22, a horizontal conveyor belt 23, a lifting conveyor belt 24, a mobile robot arm 25 and an auxiliary component 4; the handling robot arm 21 is located at the right rear of the sorting mechanism 2, and the handling robot arm 21 is electrically connected to the console 1. The handling robot arm 21 adopts a multi-axis collaborative robot design and is installed on an independent ground rail platform. The end is equipped with a clamping robot equipped with a force control sensor, which automatically detects the weight of the container and adjusts the grasping force when grabbing. The operating range covers the material picking area and the horizontal conveyor belt 23 loading area. The handling robot arm 21 grabs the boxed frozen durian meat from the material picking area according to the instructions of the console 1, and then picks up the frozen durian meat. The container 21 is placed at the designated position on the right end of the horizontal conveyor belt 23; the trough box shell 22 is arranged in the left front of the handling robot arm 21. The trough box shell 22 is a rectangular parallelepiped structure with a smooth inner wall for easy cleaning. The trough box shell 22 serves as a mounting carrier for the auxiliary component 4. A closed container flipping and unloading space is formed inside to prevent the pulp from being scattered to the outside; the horizontal conveyor belt 23 is installed on the right side of the inner top of the handling robot arm 21 along the left and right directions. The horizontal conveyor belt 23 is electrically connected to the console 1 and is installed on the right side of the inner top of the handling robot arm 21 along the left and right directions. The horizontal conveyor belt 23 is driven by a variable frequency motor controlled by the console 1 and the conveying speed is adjustable. The horizontal conveyor belt 23 The lifting conveyor belt 24 is installed on the left side of the inner top of the handling mechanical arm 21, and the lifting conveyor belt 24 is electrically connected to the console 1 and is installed on the left side of the inner top of the handling mechanical arm 21. The lifting conveyor belt 24 is connected with the horizontal conveyor belt 23 in the horizontal direction, and the overall layout is Z-shaped. The lifting conveyor belt 24 adopts a chain plate design to receive the frozen durian meat after the auxiliary component 4 unloads, lifts it upward and transports it to the entrance of the unloading device 32 of the mixing conveying mechanism 3; the mobile mechanical arm 25 is arranged at the outer left rear of the tank box shell 22, and the mobile mechanical arm 25 is electrically connected to the console 1. The mobile mechanical arm 25 adopts a multi-axis coordinate robot, and the end is equipped with a clamping manipulator equipped with a visual recognition system. The mobile mechanical arm 25 takes out the empty box after the auxiliary component 4 completes unloading; the auxiliary component 4 is arranged on the inner side of the tank box shell 22, and is arranged at the outer left rear of the tank box shell 22; As a preferred solution, further, Figure 6As shown, the mixing and conveying mechanism 3 includes: a base frame 31, a feeding device 32, a heating and stirring device 33, a spiral conveying device 34 and a conveying component 5; the base frame 31 is arranged at the left side and lower part of the lifting conveyor belt 24 in the front-to-back direction, and the base frame 31 adopts a steel structure frame to support the feeding device 32, the heating and stirring device 33, the spiral conveying device 34 and the conveying component 5 to ensure the stability of the overall structure; the feeding device 32 is installed on the top of the base frame 31 through a bracket and is located below the lifting conveyor belt 24, the feeding device 32 and the console 1 are electrically connected, the feeding port of the feeding device 32 is flush with the bottom end of the lifting conveyor belt 24, the feeding device 32 is a volumetric quantitative feeding hopper, equipped with a weighing sensor and a pneumatic butterfly valve, the feeding device 32 receives the frozen durian meat conveyed by the lifting conveyor belt 24, and controls the feeding amount through the pneumatic butterfly valve according to the weight set by the console 1; the heating and stirring device 33 is installed on the top of the base frame 31 and is located below the feeding device 32, and the feeding port of the heating and stirring device 33 is connected to the feeding device 32 The heating and stirring device 33 is electrically connected to the console 1. The heating and stirring device 33 is connected to the discharge port of the feeding device through a pipeline. The main body of the heating and stirring device 33 is a double-layer stainless steel tank with hot water circulation in the interlayer. The heating and stirring device 33 adopts a double-axis stirring paddle and is equipped with a scraper to prevent the sauce from sticking to the wall. The heating and stirring device 33 heats the frozen durian meat at a low temperature and achieves uniform melting with low-speed stirring. After melting, it switches to high-speed stirring; the spiral conveying device 34 is installed at the top inner side of the base frame 31 along the front-to-back direction, and the feed port of the spiral conveying device 34 is connected to the discharge port of the heating and stirring device 33. The spiral conveying device 34 is electrically connected to the console 1 and is installed at the top inner side of the base frame 31 along the front-to-back direction. The feed port of the spiral conveying device 34 is connected to the discharge port at the bottom of the tank body of the heating and stirring device 33. The spiral conveying device 34 adopts the volumetric conveying principle to pump the evenly stirred durian sauce to the electric control valve pipe 55 of the conveying component 5 to prevent the sauce from being deformed due to shear force; the conveying component 5 is arranged on the inner side of the base frame 31.

[0018] As a preferred solution, further, Figure 3 、 Figure 4 and Figure 5As shown, the auxiliary component 4 includes: a support frame 41, a bracket 42, a first motor 43, a transmission belt 44, a mounting frame 45, a first rotating seat 46, a first electric telescopic rod 47 and a first electric suction cup 48; the number of the support frames 41 is two, and the two support frames 41 are respectively fixedly mounted on the top rear side of the trough box shell 22 in the up and down directions and are located on the left and right sides below the mobile robotic arm 25. A driving unit is provided on the front side of the bottom end of the left and right support frames 41. The support frame 41 is made of L-shaped steel plate welded, and the bottom is fixed to the trough box shell 22 by M12 bolts; the number of the brackets 42 is two, and the two brackets 42 are respectively rotatably connected to the front and back sides of the inner middle part of the trough box shell 22 through the rotating shaft seat. The bracket 42 adopts L-shaped It is made of welded steel plates; the first motor 43 is installed at the lower inner rear end of the tank box shell 22 through a bracket, the first motor 43 and the console 1 are electrically connected, and the first motor 43 adopts a servo motor and is installed inside the tank box shell 22 through a channel steel bracket. The console 1 sends a control signal to control the rotation angle of the first motor 43; one end of the transmission belt 44 is fixedly connected to the rear end of the axis of the bracket 42, and the other end of the transmission belt 44 is connected to the rotating end of the first motor 43. The transmission belt 44 adopts a synchronous belt with a transmission ratio of 1:1, which can transmit the rotational motion of the first motor 43 to the bracket 42 to achieve a 90° flip; the mounting bracket 45 is arranged below the drive unit; the first rotating seat 46 is rotatably connected to the lower inner side of the mounting bracket 45 through a rotating shaft. One end of the first electric telescopic rod 47 is rotatably connected to the upper inner side of the mounting frame 45 through a rotating shaft seat, and the other end of the first electric telescopic rod 47 is rotatably connected to the inner right end of the first rotating seat 46 through a rotating shaft. The first electric telescopic rod 47 is electrically connected to the console 1, and the telescopic length of the first electric telescopic rod is controllable, and a sensor is provided to feedback the telescopic length in real time; the first electric suction cup 48 is installed on the left side of the first rotating seat 46 in the up and down direction, and the first electric suction cup 48 is electrically connected to the console 1. The first electric suction cup 48 is an electrically controlled suction cup with a contact surface of food-grade silicone that adapts to the surface roughness of the container box; the driving unit includes: a truss 49, a first limiting assembly 410, a first rack 411, a movable frame 412, a second motor 413, a first A gear 414, a trough frame 415, a lifting arm 416, a second limiting assembly 417, a second rack 418, a third motor 419 and a second gear 420; the truss 49 is installed on the front side of the bottom end of the left and right support frames 41 in the left-right direction; there are two first limiting assemblies 410, and the two first limiting assemblies 410 are installed on the bottom end and the front side of the truss 49 in the left-right direction respectively. The first limiting assembly 410 is a linear guide rail, and the outer portion of the guide rail is sleeved with a limiting slider as a limiting end; the first rack 411 is installed on the front side of the bottom end of the truss 49 in the left-right direction; the moving frame 412 is installed on the outer side of the limiting ends of the upper and lower first limiting assemblies 410. The moving frame 412 is connected to the guide rail through a slider and is equipped with a second motor 413;The second motor 413 is installed at the bottom end of the mobile frame 412, and the rotating end of the second motor 413 extends out of the upper surface of the mobile frame 412. The second motor 413 is electrically connected to the control console 1, and the second motor 413 uses a servo motor to drive the first gear 414 to rotate; the first gear 414 is installed at the rotating end of the second motor 413 and meshes with the first rack 411; the trough frame 415 is installed on the front side of the mobile frame 412, and the trough frame 415 is welded into a U shape with steel plates; the lifting arm 416 is inserted into the inner side of the trough frame 415 in the up and down directions, and the bottom end of the lifting arm 416 is fixedly connected to the upper surface of the mounting frame 45. The lifting arm 416 is a square tube profile inserted into the inner side of the trough frame 415 and cooperates with the second limiting assembly 417; the number of the second limiting assemblies 417 is two, and the two second limiting assemblies Components 417 are mounted on the left and right sides of the rear end of the inner side of the trough frame 415. The limiting ends of the two second limiting components 417 are connected to the left and right sides of the rear side of the lifting arm 416 respectively. The second limiting component 417 is a linear guide rail, and the slider is fixedly mounted on the inner side of the trough frame 415. The second limiting component 417 guide rail serves as a limiting end to cooperate with the lifting arm 416. A second rack 418 is mounted on the left side of the lifting arm 416 in the vertical direction. A third motor 419 is mounted on the outside of the trough frame 415. The rotating end of the third motor 419 extends into the inner side of the trough frame 415. The third motor 419 is electrically connected to the control console 1. The third motor 419 uses a servo motor to drive the second gear 420 to rotate. The second gear 420 is mounted on the rotating end of the third motor 419 and meshes with the second rack 418.

[0019] As a preferred solution, further, Figure 7 and Figure 8As shown, the conveying component 5 includes: a base platform 51, a shell 52, a storage device 53, a robotic arm 54, a filling unit 6, an electric control valve tube 55, a sleeve shell 56, a coil-type electromagnetic tube 57, a docking tube 58, a connecting tube 59, a rotating module 510, a cross-shaped mounting frame 511 and a blocking seat 512; the base platform 51 is arranged on the inner lower front side of the base frame 31 along the left and right directions; the shell 52 is fixedly installed on the top right side of the base platform 51, and the shell 52 forms a closed sauce filling space, and the storage device 53, the robotic arm 54 and the electric control valve tube 55 are installed inside to prevent external pollution. A sealing door is provided on the outside of the shell 52; the storage device 53 is installed on the right front bottom end of the inner cavity of the shell 52, and the storage device 53 is electrically connected to the console 1. The storage device 53 adopts a turntable storage library, which can accommodate multiple launch push plates. The turntable is driven to rotate by an internal motor to ensure continuous feeding. The robotic arm 54 is installed on the rear side of the bottom end of the inner cavity of the shell 52. The robotic arm 54 is electrically connected to the console 1. The robotic arm 54 adopts a multi-axis industrial robot. The operating range covers the storage device 53 and the sleeve shell 56. The launch push plate is grasped, turned over and loaded through the end loading unit 6. The loading unit 6 is installed at the moving end of the robotic arm 54. The electric control valve tube 55 is installed at the top opening of the inner cavity of the shell 52. The top feed port of the electric control valve tube 55 is connected to the discharge port of the spiral conveying device 34. The electric control valve tube 55 is electrically connected to the console 1. The control valve tube 55 adopts a normally closed solenoid valve, and the console 1 controls the opening time through a control signal; the sleeve shell 56 is installed in the inner cavity of the shell 52 along the left and right directions and is located below the electric control valve tube 55, and the discharge port of the electric control valve tube 55 is communicated with the top of the inner cavity of the sleeve shell 56. The sleeve shell 56 serves as a temporary storage cavity for the launch push plate and the sauce to ensure sufficient single filling volume; the number of coil-type electromagnetic pipes 57 is several, and several coil-type electromagnetic pipes 57 are installed at the top of the base platform 51 through a bracket. The adjacent two coil-type electromagnetic pipes 57 are connected to each other, and the feed port of the coil-type electromagnetic pipe 57 at the starting end extends into the inner cavity of the shell 52 and is connected to one end of the electric control valve tube 55. The coil-type electromagnetic pipe 57 and the control valve tube 55 are connected. The platform 1 is electrically connected, and the adjacent sections of the coil-type electromagnetic pipe 57 are connected by flanges. The outer side of the pipe in the coil-type electromagnetic pipe 57 is wrapped with a water-cooling jacket to ensure the coil temperature during continuous operation; the docking pipe 58 is installed outside the discharge port of the end coil-type electromagnetic pipe 57 and communicates with it; the connecting pipe 59 is installed outside the docking pipe 58 and is located outside the feed port of the external equipment, and is connected to the feed port of the external equipment; the rotating module 510 is arranged on the outside of the connecting pipe 59 and is fixedly connected to the external equipment. The rotating module 510 is electrically connected to the control console 1, and the rotating module 510 uses an intermittent divider to ensure that the blocking seat 512 is accurately docked with the docking pipe 58; the cross-shaped mounting bracket 511 is installed at the rotating end of the rotating module 510;There are four blocking seats 512, mounted at the four ends of the cross-shaped mounting frame 511. The rear blocking seat 512 is located inside the butt joint 58 and the connecting tube 59 and is connected to these two tubes. The blocking seat 512 has a cylindrical body with a central opening. The end connected to the butt joint 58 has an annular recess for retaining the launch push plate. The inner wall of the blocking seat 512 has an axial guide groove to guide the sauce through the gap between the push plate and the hole wall. The outer ends of the blocking seat 512 are sealed to prevent leakage at the connection with the butt joint 58 and the connecting tube 59.

[0020] As a preferred solution, further, Figure 9 As shown, the loading unit 6 includes: a mounting top plate 61, a third limiting assembly 62, a mounting bottom plate 63, a second electric telescopic rod 64, a fixing frame 65, a second rotating seat 66, a third electric telescopic rod 67 and a second electric suction cup 68; the mounting top plate 61 is mounted on the bottom of the moving end of the robotic arm 54 in the left-right direction; the third limiting assembly 62 is mounted on the rear side of the bottom end of the mounting top plate 61 in the left-right direction, and the third limiting assembly 62 adopts a linear guide pair, which includes a guide rail and a slider; the mounting bottom plate 63 is mounted on the bottom of the limiting end of the third limiting assembly 62; the second electric telescopic rod 64 is mounted on the right front of the bottom end of the mounting top plate 61 through a bracket, the telescopic end of the second electric telescopic rod 64 is connected to the left front of the top end of the mounting bottom plate 63, the second electric telescopic rod 64 is electrically connected to the console 1, and the second electric telescopic rod 64 is fixed to the bottom end of the mounting top plate 61 through a triangular bracket, and the axis is parallel to the guide rail in the third limiting assembly 62. The console 1 controls the extension and retraction of the second electric telescopic rod 64 through a control signal; The fixing frame 65 is installed at the bottom end of the mounting base 63 in the up and down direction; the second rotating seat 66 is rotatably connected to the left bottom end of the fixing frame 65 through the rotating shaft seat; one end of the third electric telescopic rod 67 is rotatably connected to the bottom end of the mounting base 63 through the rotating shaft seat and is located on the inner side of the fixing frame 65, and the other end of the third electric telescopic rod 67 is rotatably connected to the inner top end of the second rotating seat 66 through the rotating shaft. The third electric telescopic rod 67 is electrically connected to the console 1, and the console 1 controls the extension and contraction amount of the third electric telescopic rod 67 through a control signal to push the second rotating seat 66 to rotate around the rotating shaft to achieve flipping from vertical to horizontal; the second electric suction cup 68 is installed at the bottom end of the second rotating seat 66, and the second electric suction cup 68 is electrically connected to the console 1. The second electric suction cup 68 is vertically installed at the bottom end of the second rotating seat 66. In the initial state, the adsorption surface faces downward. The second electric suction cup 68 is equipped with a pressure sensor to monitor the adsorption state in real time. The surface of the second electric suction cup 68 is food-grade silicone, which is adapted to the structure on the upper surface of the launch push plate.

[0021] The detailed connection means are well-known in the art. The following mainly introduces the working principle and process. The specific operation is as follows: Step 1: The staff takes out the boxed frozen durian meat from the cold storage and places it at a designated position below the transport robot arm 21. The staff controls the console 1 to start. The internal program of the console 1 controls the transport robot arm 21, the horizontal conveyor belt 23, the second motor 413, the third motor 419, the first electric suction cup 48, the first electric telescopic rod 47, the mobile robot arm 25 and the lifting conveyor belt 24 to start. The transport robot arm 21 transports the frozen durian meat and the external container box to the surface of the horizontal conveyor belt 23. The horizontal conveyor belt 23 transports the frozen durian meat from right to left to the surface of the bracket 42 in the auxiliary component 4. The first motor 43 drives the front and rear brackets 42 to rotate counterclockwise under the drive of the transmission belt 44. The transmission belt 44 drives the bracket 42 to rotate counterclockwise 90° to make the container box stand sideways. The second motor 413 drives the first gear 414 to rotate, so that the first gear 414 moves along the first rack 411, and drives the movable frame 412 to limit the first limiting component 410. The trough frame 415 is driven to move horizontally in the left and right directions, and the third motor 419 drives the second gear 420 to rotate, so that the second rack 418 drives the lifting arm 416 under the action of the rotational force of the second gear 420. The lifting arm 416 passes the mounting frame 45 through the inner sides of the left and right brackets 42 under the limiting action of the second limiting assembly 417, and makes the first electric suction cup 48 adsorbed and fixed to the right side of the outer surface of the container box. The first electric telescopic rod 47 shortens and drives the lifting arm 416 to rotate inside the trough frame 415, so that the first rotating seat 46 drives the first electric suction cup 48 to flip downward to a horizontal state so that the container box opening faces downward, and then, with the cooperation of the first electric suction cup 48, the frozen durian meat inside the container box is turned upside down on the surface of the lifting conveyor belt 24 to ensure that the empty box is completely separated from the pulp. The mobile mechanical arm 25 grabs the empty container box and moves it to the outside for centralized collection. The lifting conveyor belt 24 lifts the frozen durian meat and transports it to the inside of the blanking equipment 32 in the mixed conveying mechanism 3 for storage; Step 2: The program inside the console 1 controls the starting of the feeding device 32, the heating and stirring device 33, and the spiral conveying device 34. The feeding device 32 transfers the internal frozen durian flesh into the heating and stirring device 33 in a quantitative manner. The heating and stirring device 33 heats the internal durian flesh and starts stirring at a low speed to melt the flesh evenly. After the flesh is completely melted into a paste, the stirring speed is increased and stirred until it becomes a fine and uniform paste. The spiral conveying device 34 is started to transport the durian paste raw materials inside the heating and stirring device 33 to the inside of the electric control valve tube 55. Step 3: The internal program of the console 1 controls the electric control valve tube 55, the storage device 53, the robotic arm 54, the third electric telescopic rod 67, the second electric telescopic rod 64, the coil type electromagnetic tube 57 and the rotation module 510 to start. The electric control valve tube 55 is opened intermittently to allow the durian paste raw materials inside to enter the sleeve shell 56 in batches. The storage device 53 rotates the launch push plate stored inside to the corresponding position of the robotic arm 54 in turn. The robotic arm 54 drives the loading unit 6 to move in multiple angles, so that the second electric suction cup 68 in the loading unit 6 is pressed against the storage. The launch push plate stored inside the device 53 is adsorbed and grasped, and moved to the corresponding position of the starting end of the sleeve shell 56 with the cooperation of the mechanical arm 54. The third electric telescopic rod 67 extends to drive the second rotating seat 66 to rotate, so that the second rotating seat 66 drives the second electric suction cup 68 to flip upward to a horizontal state. The second electric telescopic rod 64 extends to drive the mounting base 63, so that the mounting base 63 drives the second electric suction cup 68 below under the limiting action of the third limiting component 62 to load the launch push plate into the sleeve shell 56, and the sleeve shell 56 is lifted by the launch push plate. 6 The durian paste raw materials are pushed into the coil-type electromagnetic tube 57 at the starting end. The coil-type electromagnetic tube 57 is energized to generate a magnetic field inside its own coil. The launch push plate enters the magnetic field area inside the coil-type electromagnetic tube 57. Due to the change in the magnetic field, an eddy current magnetic field is generated in the opposite direction to the magnetic field inside the coil-type electromagnetic tube 57. Under the interaction of the two magnetic fields, an axial thrust is generated, which drives the launch push plate to push the durian paste raw materials along the inside of the coil-type electromagnetic tube 57 and move to the inner cavity of the blocking seat 512 through the external docking tube 58 of the end coil-type electromagnetic tube 57. The push plate is stuck in the inner cavity of the blocking seat 512, and the durian paste raw materials pass through the blocking seat 512 into the inner cavity of the connecting pipe 59, and enter the external processing equipment through the connecting pipe 59. The rotating module 510 drives the cross-shaped mounting frame 511 to rotate, so that the cross-shaped mounting frame 511 moves the blocking seat 512 equipped with the launch push plate to the outside of the docking pipe 58 and the connecting pipe 59 for processing, and moves the empty blocking seat 512 again to the inside of the docking pipe 58 and the connecting pipe 59 for docking, thereby realizing the recovery of the launch push plate and the station switching of the blocking seat 512, thereby achieving continuous operation capability.

[0022] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A durian meat conveying and mixing device for durian melaleuca processing, characterized in that: include: console (1); A sorting mechanism (2) is provided at the rear side of the control console (1), and the sorting mechanism (2) is responsible for the handling, transportation, unloading and empty box recovery of materials; The mixing and conveying mechanism (3) is arranged on the left side of the sorting mechanism (2), and the mixing and conveying mechanism (3) is responsible for storage, heating, stirring and conveying.

2. A durian meat conveying and mixing device for durian melaleuca processing according to claim 1, characterized in that: The sorting mechanism (2) comprises: A transporting mechanical arm (21) is located at the right rear of the sorting mechanism (2), and the transporting mechanical arm (21) is electrically connected to the control console (1); A tank box housing (22) is provided at the left front of the transport robot arm (21); A horizontal conveyor belt (23) is installed on the right side of the inner top end of the transport robot arm (21) along the left-right direction, and the horizontal conveyor belt (23) is electrically connected to the control console (1); A lifting conveyor belt (24) is installed on the left side of the inner top end of the transport robot arm (21) along the left-right direction, and the lifting conveyor belt (24) is electrically connected to the control console (1); A mobile mechanical arm (25) is arranged at the left rear of the exterior of the tank housing (22), and the mobile mechanical arm (25) is electrically connected to the console (1); The auxiliary component (4) is arranged on the inner side of the tank box shell (22).

3. A durian meat conveying and mixing device for durian melaleuca processing according to claim 2, characterized in that: The mixing and conveying mechanism (3) comprises: A base frame (31) is arranged below the left side of the lifting conveyor belt (24) in the front-to-back direction; A material unloading device (32) is mounted on the top of the base frame (31) via a bracket and is located below the lifting conveyor belt (24), and the material unloading device (32) is electrically connected to the control console (1); A heating and stirring device (33) is installed on the top of the base frame (31) and is located below the feeding device (32). The feeding port of the heating and stirring device (33) is connected to the discharging port of the feeding device (32). The heating and stirring device (33) is electrically connected to the control console (1). A screw conveying device (34) is installed at the inner top end of the base frame (31) in the front-to-back direction, the feed port of the screw conveying device (34) is connected to the discharge port of the heating and stirring device (33), and the screw conveying device (34) is electrically connected to the control console (1); The conveying component (5) is arranged on the inner side of the base frame (31).

4. A durian meat conveying and mixing device for durian melaleuca processing according to claim 3, characterized in that: The auxiliary component (4) includes: Support frames (41), the number of the support frames (41) is two, and the two support frames (41) are respectively fixedly mounted on the rear side of the top end of the tank box shell (22) in the up-down direction and located on the left and right sides below the mobile mechanical arm (25), and the front sides of the bottom ends of the left and right support frames (41) are provided with a driving unit; Brackets (42), the number of the brackets (42) is two, and the two brackets (42) are rotatably connected to the front and rear sides of the inner middle part of the tank box shell (22) through a rotating shaft seat; A first motor (43) is mounted below the inner rear end of the tank housing (22) via a bracket, and the first motor (43) is electrically connected to the console (1); A transmission belt (44), one end of which is fixedly connected to the rear end of the axis of the bracket (42), and the other end of which is connected to the rotating end of the first motor (43); A mounting frame (45) disposed below the drive unit; A first rotating seat (46) is rotatably connected to the inner lower side of the mounting frame (45) via a rotating shaft; A first electric telescopic rod (47), one end of which is rotatably connected to the upper inner side of the mounting frame (45) via a rotating shaft seat, the other end of the first electric telescopic rod (47) is rotatably connected to the inner right end of the first rotating seat (46) via a rotating shaft, and the first electric telescopic rod (47) is electrically connected to the console (1); The first electric suction cup (48) is installed on the left side of the first rotating seat (46) in the up-down direction, and the first electric suction cup (48) is electrically connected to the control console (1).

5. A durian meat conveying and mixing device for durian melaleuca processing according to claim 4, characterized in that: The conveying component (5) comprises: A base platform (51) is arranged on the lower front side of the inner side of the base frame (31) along the left-right direction; A housing (52) is fixedly mounted on the top right side of the base platform (51); A storage device (53) is installed at the front right end of the bottom end of the inner cavity of the housing (52), and the storage device (53) is electrically connected to the console (1); A mechanical arm (54) is mounted on the rear side of the bottom end of the inner cavity of the housing (52), and the mechanical arm (54) is electrically connected to the console (1); A loading unit (6) mounted on the moving end of the robotic arm (54); An electric control valve tube (55) is installed at the top opening of the inner cavity of the housing (52), the top feed port of the electric control valve tube (55) is connected to the discharge port of the screw conveying device (34), and the electric control valve tube (55) is electrically connected to the control console (1); A sleeve housing (56) is installed in the inner cavity of the housing (52) along the left-right direction and is located below the electric control valve tube (55), and the discharge port of the electric control valve tube (55) is communicated with the top end of the inner cavity of the sleeve housing (56); Coil-type electromagnetic pipes (57), the number of the coil-type electromagnetic pipes (57) is several, the several coil-type electromagnetic pipes (57) are installed on the top of the base platform (51) through a bracket, two adjacent coil-type electromagnetic pipes (57) are connected to each other, the feed port of the coil-type electromagnetic pipe (57) at the starting end extends into the inner cavity of the shell (52) and is connected to one end of the electric control valve pipe (55), and the coil-type electromagnetic pipe (57) is electrically connected to the control console (1); A butt-joint pipe (58) is installed outside the discharge port of the coil-type electromagnetic pipe (57) at the end and communicates with the same; A connecting pipe (59) is installed outside the butt-jointing pipe (58) and is located outside the feed port of the external device, and is connected to the feed port of the external device; A rotation module (510) is arranged outside the connecting tube (59) and fixedly connected to an external device, and the rotation module (510) is electrically connected to the console (1); A cross-shaped mounting frame (511) is mounted on the rotating end of the rotating module (510); The blocking seats (512) are four in number, and the four blocking seats (512) are respectively mounted on the four ends of the cross-shaped mounting frame (511).

6. A durian meat conveying and mixing device for durian melaleuca processing according to claim 5, characterized in that: The blocking seat (512) on the rear side is located inside the butt-jointing pipe (58) and the connecting pipe (59) and is in communication with the butt-jointing pipe (58) and the connecting pipe (59).

7. A durian meat conveying and mixing device for durian melaleuca processing according to claim 6, characterized in that: The filling unit (6) comprises: Installing a top plate (61) installed on the bottom of the moving end of the robotic arm (54) in the left-right direction; A third limiting assembly (62) is mounted on the rear side of the bottom end of the mounting top plate (61) in the left-right direction; A mounting base plate (63) mounted on the bottom of the limiting end of the third limiting assembly (62); A second electric telescopic rod (64) is mounted on the right front of the bottom end of the mounting top plate (61) via a bracket, the telescopic end of the second electric telescopic rod (64) is connected to the left front of the top end of the mounting bottom plate (63), and the second electric telescopic rod (64) is electrically connected to the console (1); A fixing frame (65) is mounted on the bottom end of the mounting base plate (63) in the up-down direction; A second rotating seat (66) is rotatably connected to the left bottom end of the fixed frame (65) via a rotating shaft seat; A third electric telescopic rod (67) has one end rotatably connected to the bottom end of the mounting base (63) via a rotating shaft seat and is located on the inner side of the fixing frame (65); the other end of the third electric telescopic rod (67) is rotatably connected to the inner top end of the second rotating seat (66) via a rotating shaft; and the third electric telescopic rod (67) is electrically connected to the console (1); The second electric suction cup (68) is installed at the bottom end of the second rotating seat (66), and the second electric suction cup (68) is electrically connected to the control console (1).

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