A fully automatic fruit peeling machine

Abstract

An automatic fruit peeling machine includes a frame, a feeding device, a fruit stem orientation adjustment device, a conveying device, a peeling device, a collecting device, a control system, and an air supply device. The feeding device takes a single fruit from a trough and feeds it into the fruit stem orientation adjustment device. The fruit stem orientation adjustment device is equipped with an image acquisition device that identifies the fruit stem orientation through image processing and adjusts it to a set direction. The conveying device includes a lifting conveyor that lifts and feeds the fruit into the peeling device. The peeling device consists of several peeling units with automatic positioning functions. The collecting device includes a peel collecting device and a fruit collecting device. The control system includes a computer and its embedded computing program, capable of processing fruit images and controlling the process according to a set program. The air supply device provides a high-pressure air source. This invention achieves integrated processing of automatic feeding, intelligent identification and adjustment of fruit orientation, automatic positioning peeling, and collection, exhibiting strong adaptability and high efficiency.

Description

Technical Field

[0001] This invention relates to the field of fruit processing machinery technology, specifically a fully automatic fruit peeling machine. Background Technology

[0002] Currently, the peeling and processing of fruits such as persimmons, pears, apples, and peaches is still mainly done manually. Harvest times are relatively concentrated, and existing peeling equipment, such as the peeling machine described in patent application number 2016100798862, while having automatic peeling functions, cannot automatically identify the direction of the fruit stem, still relying on manual placement of the fruit for feeding. This results in low processing efficiency and high labor intensity for operators. Due to the manual feeding and positioning, inaccurate fruit positioning often occurs, leading to uneven peeling or even fruit falling off the machine. Therefore, based on the technical solution described in patent application number 201811364592X, this invention provides a fully automatic fruit peeling machine with automatic feeding, intelligent identification of fruit stem direction, automatic positioning, and clamping, improving the automation level and working efficiency of fruit peeling equipment and reducing the labor intensity of workers. Summary of the Invention

[0003] The purpose of this invention is to solve the technical problems existing in the existing fruit peeling equipment and to provide a fully automatic peeling machine with automatic feeding, intelligent identification of fruit stems, and automatic positioning for peeling.

[0004] To solve the above problems, the technical solution adopted by the present invention is: a fully automatic fruit peeling machine, including a frame, a feeding device, a fruit stem orientation adjustment device, a conveying device, a peeling device, a collecting device, a control system, and an air supply device; the feeding device is installed at one end of the frame and is equipped with a lifting chain to take out individual fruits from the trough and send them to the fruit stem orientation adjustment device; the fruit stem orientation adjustment device is installed on the frame below the output end of the feeding device and is equipped with an image acquisition device to send the fruit image to a computer for processing, identify the orientation of the fruit stem, and adjust it to the set direction; the conveying device is installed between the fruit stem orientation adjustment device and the peeling device. On the frame between the machines, the conveying device is equipped with a lifting conveying device, which lifts and picks up the fruit and feeds it into the peeling device; the peeling device consists of several peeling units with automatic positioning function and is fixedly installed on the crossbeam of the frame in a certain order; the collecting device is equipped with a peel collecting device and a fruit collecting device; the control system includes a computer and its embedded computing program, which can process fruit images and control the feeding device, fruit stem orientation adjustment device, conveying device, peeling device, collecting device, and air supply device according to a set program; the air supply device can provide a high-pressure air source for the feeding device, fruit stem orientation adjustment device, conveying device, and peeling device.

[0005] The frame of this invention includes uprights, crossbeams, and longitudinal beams. There are four uprights distributed at the four corners of the frame; the crossbeams consist of a front crossbeam and several intermediate crossbeams, wherein the front crossbeams are mounted on two uprights on the same side, and the intermediate crossbeams are mounted at appropriate positions on the longitudinal beams as needed; there are at least two longitudinal beams, respectively mounted on the uprights at both ends of the frame, with longitudinal beams on the same layer having the same installation height.

[0006] The feeding device of this invention includes a feeding frame, a material trough, a lifting chain, a sprocket, a sprocket shaft, a large gear, a feeding motor, and cables. The feeding frame is fixedly installed at one end of the front crossbeam of the frame; the material trough is funnel-shaped with a discharge port, and is positioned at an appropriate location on the side of the frame closest to the feeding frame; there are two sprockets, respectively installed at both ends of the feeding frame, with the lower sprocket located at the lowest point of the material trough and the upper sprocket located at an appropriate position above the fruit stem-facing adjustment device; the lifting chain has a fruit tray, is mounted on the sprocket, and rotates with the sprocket; the large gear is mounted on the upper sprocket shaft and meshes with the gear in the motor; the feeding motor is installed at an appropriate position on the feeding frame and is electrically connected to the control system via cables.

[0007] The fruit stem orientation adjustment device of this invention includes an adjustment mounting plate, a steering shaft, a V-shaped box, a spring, a steering gear, a steering rack, a steering cylinder, an image acquisition device, a push cylinder, cables, and air pipes. The adjustment mounting plate is installed on the front crossbeam of the frame near a suitable position close to the feeding device, and the adjustment mounting plate has mounting holes. The steering shaft is a hollow shaft with a V-groove at its upper end, and is installed in the center hole of the adjustment mounting plate. The V-shaped box is placed in the V-groove of the steering shaft by spring tension, can rotate around the edge of the V-groove, and can automatically reset under the action of spring tension. The spring is installed inside the hollow of the steering shaft, with its upper end hinged to the middle position of the lowest end of the V-shaped box, and its lower section fixed to the lower end of the steering shaft. After the V-shaped box resets, the spring still maintains a certain tension. The steering gear is installed on the steering shaft below the adjustment mounting plate, and the steering rack is installed on the lower side of the adjustment mounting plate and meshes with the steering gear. The steering cylinder is installed on the adjustment mounting plate. On the lower side, the actuating rod of the steering cylinder is hinged to one end of the steering rack, and the extension and retraction direction of the actuating rod is consistent with the movement direction of the steering rack. The extension and retraction of the steering rack causes the steering shaft to rotate reciprocally, thereby driving the V-shaped box to rotate, thus adjusting the direction of the fruit in the V-shaped box. The image acquisition device is installed at an appropriate position on one side of the V-shaped box, which can acquire image information of the fruit stem end and transmit the image information to the control system for processing via cable. The pushing cylinder is installed on the adjustment mounting plate on the lower side of the V-shaped box near the feeding device. The actuating rod of the pushing cylinder is equipped with a pulley. When the actuating rod extends, it can push the V-shaped box to rotate around the V-groove, sending the fruit in the V-shaped box into the input end of the transmission device. There are several air pipes, which are used to transport high-pressure gas to the steering cylinder and the pushing cylinder.

[0008] The transmission device of this invention includes a main transmission device and a distribution transmission device. The main transmission device consists of a main conveyor belt, a main transmission shaft, a transition shaft, and a main transmission motor. Several main transmission shafts are sequentially installed on the front crossbeam of the frame, several main conveyor belts are sequentially installed on the main transmission shafts, and several transition shafts are respectively installed on the front crossbeam of the frame at appropriate positions between two main conveyor belts. An appropriate gap is left between the transition shafts and the main conveyor belts. Several main transmission motors are installed at intervals on the main transmission shafts, with a one-to-one correspondence between the main conveyor belts and the main transmission motors. The distribution and transmission device consists of a lifting transmission device and a fixed transmission device. The lifting transmission device comprises a lifting frame, lifting cylinders, lifting wheels, a lifting transmission belt, and a lifting motor. The lifting frame is U-shaped, with two branches installed on either side of the transition shaft in the main transmission device, leaving a certain gap between them and the main conveyor belt. The other end of the lifting frame is hinged to the input end of the fixed transmission device. The lifting cylinders are installed at appropriate positions on the lower side of the lifting frame. Lifting wheels are installed at the front end of each branch of the lifting frame, and two lifting wheels are installed on each side of the rear end of each lifting frame. The lifting transmission belt is divided into... The fixed transmission device is installed on the front and rear lifting transmission wheels on the same side of the lifting frame. The lifting transmission motor is installed at the hinge between the lifting frame and the fixed transmission device. The lifting transmission motor can drive the lifting transmission wheel near the fixed transmission device to rotate. The fixed transmission device consists of a fixed transmission frame, fixed transmission wheels, and a fixed transmission belt. The fixed transmission frame is installed at an appropriate position on the middle crossbeam of the frame. Each fixed transmission frame is equipped with four fixed transmission wheels, two at each end of the fixed transmission frame. The fixed transmission wheels near the lifting transmission device cooperate with the lifting transmission wheels. The fixed transmission belt is installed on the two fixed transmission wheels on the same side of the fixed transmission frame.

[0009] The peeling device of this invention comprises several peeling units, each of which consists of a peeling frame, a clamping and positioning mechanism, and a peeling mechanism. The peeling frame is installed at an appropriate position on the central crossbeam of the frame; the clamping and positioning mechanism is provided with a positioning support and several positioning grips distributed along the circumference of the positioning support. Through the centripetal force generated by the rotation of the positioning support and the positioning grips, and the clamping force of the positioning grips tightening, the fruit is relatively fixed in a set position. The peeling mechanism realizes the automatic positioning and peeling function through the relative movement between the peeling blade and the fruit.

[0010] The collecting device of this invention includes a receiving plate, a collecting frame, a peel collecting device, and a fruit receiving device. The receiving plate is installed at an appropriate position below the clamping and positioning mechanism of the peeling device, with the receiving plate higher near the peeling device and lower near the peel collecting device, forming a certain angle with the horizontal plane. The collecting frame is installed on the uprights of the frame and has mounting holes. The peel collecting device is installed on the collecting frame below the receiving plate. The fruit collecting device is installed parallel to the outer collecting frame of the peel collecting device, with the uppermost side of the fruit collecting device lower than the uppermost side of the peel collecting device, so that the fruit can fall into the fruit collecting device by inertia when it rolls down.

[0011] The fruit peel collection device of this invention comprises a fruit peel transmission shaft, a fruit peel transmission belt, a fruit peel collection box, a collection driven gear, a collection motor, and cables. The fruit peel transmission shaft is installed at both ends of the collection frame, and a fruit peel transmission belt is mounted on the shaft. The upper surface of the fruit peel transmission belt is lower than the lowest point of the receiving plate. A fruit peel collection box is provided at the output end of the fruit peel transmission device. The collection driven gear is installed at the end of the fruit peel transmission shaft near the frame column and meshes with the collection drive gear. The cables electrically connect the collection motor and the control system.

[0012] The fruit collection device of the present invention comprises a fruit conveying shaft, a fruit conveyor belt, a collection drive gear, and a fruit collection box. The fruit conveying shaft is mounted on a collection frame on the same side as the peel conveying shaft and at a certain distance below the peel conveying shaft, and a fruit conveyor belt is mounted on the fruit conveying shaft; the collection drive gear is mounted on the fruit conveying shaft and meshes with the collection driven gear; the output end of the fruit collection device is provided with a fruit collection box or drying equipment or other subsequent processing equipment.

[0013] The control system of this invention includes sensors, solenoid valves, a computer and its embedded computing program, and cables. The sensors include a V-shaped box occupancy sensor, a transition shaft occupancy sensor, and a positioning tray occupancy sensor. The V-shaped box occupancy sensor is installed at an appropriate position near the V-shaped box to detect whether there is fruit inside. When the V-shaped box is empty, the feeding motor starts to feed a single piece of fruit into the V-shaped box; when there is fruit in the V-shaped box, the feeding motor stops. The transition shaft occupancy sensor is installed on the frame at the transition shaft of the main transmission device, with one sensor at each transition shaft, to detect whether there is fruit at the transition shaft. The positioning tray occupancy sensor is installed on the frame at an appropriate position at the positioning tray of the peeling unit, with one sensor at each peeling unit, to detect whether there is fruit on the positioning tray. The solenoid valves include a steering solenoid valve, a pushing solenoid valve, a lifting solenoid valve, and a peeling solenoid valve. The steering solenoid valve changes the direction of the high-pressure air flow, causing the steering cylinder to extend and retract, thereby changing the orientation of the fruit stem in the V-shaped box. The pushing solenoid valve changes the direction of the high-pressure air flow, causing the pushing cylinder to extend and retract, so that the fruit in the V-shaped box is fed into the main conveying device as needed. The lifting solenoid valve is installed on the frame at the lifting and conveying device, and changes the direction of the high-pressure air flow to cause the lifting and conveying cylinder to extend and retract. Each peeling unit is equipped with a peeling solenoid valve, which supplies compressed air to the peeling unit as needed.

[0014] Specifically, from the perspective of the feeding device, when there is no fruit to peel at the peeling unit at the very end of the main transmission device, that is, when the positioning tray occupancy sensor does not detect the presence of fruit on the positioning tray, the transition shaft occupancy sensor at the end of the main transmission device is activated and detects whether there is fruit at the corresponding transition shaft. If there is no fruit, the main transmission motor before the transition shaft at the end of the main transmission device is activated until fruit is fed in. At this time, the lifting solenoid valve at the transition shaft at the very end is activated, causing the lifting frame to rise and start the lifting transmission motor, thereby sending the fruit into the positioning tray for positioning and peeling. When there is no fruit in a certain peeling unit of the peeling device, that is, the positioning tray occupancy sensor corresponding to that peeling unit does not detect the presence of fruit on the positioning tray, the transition shaft occupancy sensor corresponding to that intermediate peeling unit is activated to detect whether there is fruit at the transition shaft. If there is fruit, the solenoid valve is raised, causing the lifting transmission cylinder to extend, the lifting frame to rise, and the lifting transmission motor to start. The distribution transmission device then sends the fruit into the corresponding intermediate peeling unit for peeling. If there is no fruit at the transition shaft, the main transmission device before this transition shaft is activated until fruit is sent to the transition shaft. All fruit sent into the main transmission device has been adjusted by the fruit stem orientation adjustment device to ensure that the fruit stems are facing the same direction. The computer is installed in an appropriate position on the intermediate frame, and the program embedded in the computer has the above-mentioned control functions.

[0015] The air supply device of this invention includes an air compressor, pipes, and cables. The air compressor is a device capable of providing a set pressure. The solenoid valve is a valve capable of controlling the air flow in each pipe. There are several pipes, which are connected to corresponding cylinders as needed. The cables are electrical cables connecting the air compressor, the solenoid valve, and the control system.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This invention utilizes a feeding device to automatically feed individual fruits, reducing labor intensity and improving the automation level of the fruit peeling machine. A fruit stem orientation adjustment device enables automatic fruit orientation adjustment, effectively solving the problem of manual fruit placement. A lifting and conveying device in the transmission system automatically distributes fruits to each peeling unit as needed, improving peeling efficiency. A clamping and positioning device in the peeling unit enables self-positioning of the peeling process. The peeling unit uses relatively independent peeling units, which can be combined as needed for industrialized and integrated processing. It is adaptable to both small-batch processing by farmers and centralized peeling processing by large enterprises. The fruit collection device is equipped with a conveyor belt, providing a convenient interface for subsequent processing equipment such as drying equipment. Attached Figure Description

[0018] Figure 1 Overall drawing of a fruit peeler.

[0019] Figure 2 Another perspective view of the fruit peeler.

[0020] Figure 3 Bottom view of a fruit peeler.

[0021] Figure 4 View of the fruit stem facing the adjustment device.

[0022] Figure 5 Peeling unit view.

[0023] The components include: 1. Frame, 2. Feeding device, 3. Fruit stem orientation adjustment device, 4. Conveying device, 5. Peeling device, 6. Collecting device, 7. Control system, 8. Air supply device; 1-1. Column, 1-2. Crossbeam, 1-21. Front crossbeam, 1-22. Middle crossbeam, 1-3. Longitudinal beam; 2-1. Feeding frame, 2-2. Material trough, 2-3. Lifting chain, 2-4. Sprocket, 2-5. Sprocket shaft, 2-6. Large gear, 2-7. Feeding motor, 2-8. Cable; 3-1. Adjustment mounting plate, 3-2. Steering shaft, 3-3. V-shaped box, 3-4. Spring, 3-5. Steering gear. 3-6 Wheel, 3-7 Steering rack, 3-8 Steering cylinder, 3-9 Image acquisition unit, 3-10 Push cylinder, 3-11 Cable, 3-11 Air pipe, 4-1 Main transmission device, 4-11 Main conveyor belt, 4-12 Main transmission shaft, 4-13 Transition shaft, 4-14 Main transmission motor, 4-2 Distribution transmission device, 4-21 Lifting transmission device, 4-211 Lifting frame, 4-212 Lifting transmission cylinder, 4-213 Lifting transmission wheel, 4-214 Lifting transmission belt, 4-215 Lifting transmission motor, 4-22 Fixed transmission device 4-221 Fixed transmission frame, 4-222 Fixed transmission wheel, 4-223 Fixed transmission belt, 5a Peeling unit, 5-1 Peeling frame, 5-2 Clamping and positioning mechanism, 5-21 Positioning support, 5-22 Positioning gripper, 5-3 Peeling mechanism, 6-1 Receiving plate, 6-2 Collecting frame, 6-3 Fruit peel collecting device, 6-31 Fruit peel transmission shaft, 6-32 Fruit peel transmission belt, 6-33 Fruit peel collecting box, 6-34 Collecting driven gear, 6-35 Collecting motor, 6-36 Cable, 6-4 Fruit receiving device, 6-4 1. Fruit conveyor shaft; 6-42. Fruit conveyor belt; 6-43. Collection drive gear; 6-44. Fruit collection and subsequent processing device; 7-1. Sensor; 7-11. V-shaped box occupancy sensor; 7-12. Transition shaft occupancy sensor; 7-13. Positioning tray occupancy sensor; 7-2. Solenoid valve; 7-21. Steering solenoid valve; 7-22. Push solenoid valve; 7-23. Lifting solenoid valve; 7-24. Peeling solenoid valve; 7-3. Computer and its embedded computing program; 7-4. Cable; 8-1. Air compressor; 8-2. Pipeline; 8-3. Cable. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings.

[0025] As shown in the figure, the fully automatic fruit peeling machine of the present invention mainly includes: a frame 1, a feeding device 2, a fruit stem orientation adjustment device 3, a conveying device 4, a peeling device 5, a collecting device 6, a control system 7, and an air supply device 8. The feeding device 2 is installed at one end of the frame 1, and can automatically lift individual fruits and feed them into the fruit stem orientation adjustment device 3. The fruit stem orientation adjustment device 3 is installed on the frame 1 below the output end of the feeding device 2, and is equipped with an image acquisition device 3-8, which can automatically identify the orientation of the fruit stem and adjust it to a set direction using computer vision technology. The conveying device 4 is installed on the frame 1 between the fruit stem orientation adjustment device 3 and the peeling device 5, and is equipped with a lifting conveying device 4-21, which lifts and collects fruits and feeds them into the peeling device 5. The peeling device 5 consists of several peeling units 5a with automatic positioning function, which are installed on the crossbeams 1-2 of the frame 1 in a certain order; the collecting device 6 is installed at the output end of the peeling device 5; the control system 7 includes a computer and its embedded computing program 7-3, which can control the feeding device 2, the fruit stem orientation adjustment device 3, the conveying device 4, the peeling device 5, the collecting device 6, and the air supply device 8 according to the set program; the air supply device 8 can provide a high-pressure air source for the feeding device 2, the fruit stem orientation adjustment device 3, the conveying device 4, and the peeling device 5.

[0026] The frame 1 of this invention includes uprights 1-1, crossbeams 1-2, and longitudinal beams 1-3. There are four uprights 1-1, distributed at the four corners of the frame 1; the crossbeams 1-2 consist of a front crossbeam 1-21 and several intermediate crossbeams 1-22, wherein the front crossbeams 1-21 are installed on two uprights 1-1 on the same side, and the intermediate crossbeams 1-22 are installed at appropriate positions on the longitudinal beams 1-3 as needed; there are at least two longitudinal beams 1-3, respectively installed on the uprights 1-1 at both ends of the frame 1, and the longitudinal beams 1-3 on the same layer are installed at the same height.

[0027] The feeding device 2 of the present invention includes a feeding frame 2-1, a material trough 2-2, a lifting chain 2-3, a sprocket 2-4, a sprocket shaft 2-5, a large gear 2-6, a feeding motor 2-7, and a cable 2-8. The feeding frame 2-1 is fixedly installed at one end of the front crossbeam 1-21 of the frame 1; the material trough 2-2 is funnel-shaped and has a discharge port, and the material trough 2-2 is placed at an appropriate position on the side of the frame 1 near the feeding frame 2-1; there are two sprockets 2-4, which are respectively installed at both ends of the feeding frame 2-1, with the lower sprocket 2-4 located at the lowest point of the material trough 2-2 and the upper sprocket 2-4 located at an appropriate position above the fruit stem facing adjustment device 3; the lifting chain 2-3 is equipped with a fruit tray, and the lifting chain 2-3 is installed on the sprocket 2-4 and rotates together with the sprocket 2-4; the large gear 2-6 is installed on the upper sprocket shaft 2-5 and meshes with the gear in the feeding motor 2-7; the feeding motor 2-7 is installed at an appropriate position on the feeding frame 2-1, and the motor is electrically connected to the control system 7 through the cable 2-8.

[0028] The fruit stem orientation adjustment device 3 of this invention includes an adjustment mounting plate 3-1, a steering shaft 3-2, a V-shaped box 3-3, a spring 3-4, a steering gear 3-5, a steering rack 3-6, a steering cylinder 3-7, an image acquisition device 3-8, a pushing cylinder 3-9, a cable 3-10, and an air pipe 3-11. The adjustment mounting plate 3-1 is installed on the front crossbeam 1-21 of the frame 1 at a suitable position near the feeding device 2, and the adjustment mounting plate 3-1 has mounting holes. The steering shaft 3-2 is a hollow shaft with a V-shaped groove at its upper end, and is installed in the center hole of the adjustment mounting plate 3-1. The V-shaped box 3-3 is placed in the V-shaped groove of the steering shaft 3-2 by the tension of the spring 3-4, can rotate around the edge of the V-shaped groove, and can automatically reset under the tension of the spring 3-4. Spring 3-4 is installed inside the hollow of steering shaft 3-2. The upper end of spring 3-4 is hinged to the middle position of the lowest end of V-shaped box 3-3. The lower section of spring 3-4 is fixed to the lower end of steering shaft 3-2. After V-shaped box 3-3 is reset, spring 3-4 still maintains a certain tension. Steering gear 3-5 is installed on steering shaft 3-2 on the lower side of adjustment mounting plate 3-1. Steering rack 3-6 is installed on the lower side of adjustment mounting plate 3-1 and meshes with steering gear 3-5. Steering cylinder 3-7 is installed... Mounted on the lower side of the adjustment mounting plate 3-1, the actuating rod of the steering cylinder 3-7 is hinged to one end of the steering rack 3-6, and the extension and retraction direction of the actuating rod is consistent with the movement direction of the steering rack 3-6. The extension and retraction of the steering rack 3-6 causes the steering shaft 3-2 to reciprocate, thereby driving the V-shaped box 3-3 to rotate, thus adjusting the direction of the fruit in the V-shaped box 3-3. The image acquisition device 3-8 is installed at an appropriate position on the V-shaped box 3-3, which can acquire image information of the fruit stem end and transmit the image information to the control system 7 for processing via cable 3-10. The pushing cylinder 3-9 is installed on the adjustment mounting plate 3-1 on the lower side of the V-shaped box 3-3 near the feeding device 2. The actuating rod of the pushing cylinder 3-9 is equipped with a pulley. When the actuating rod extends, it can push the V-shaped box 3-3 to rotate around the V-groove, sending the fruit in the V-shaped box 3-3 into the input end of the transmission device 4. There are several air pipes 3-11, which respectively transport high-pressure gas to the steering cylinder 3-7 and the pushing cylinder 3-9.

[0029] The transmission device 4 of this invention includes a main transmission device 4-1 and a distribution transmission device 4-2. The main transmission device 4-1 consists of a main conveyor belt 4-11, a main transmission shaft 4-12, a transition shaft 4-13, and a main transmission motor 4-14. Several main transmission shafts 4-12 are sequentially mounted on the front crossbeam 1-21 of the frame 1, several main conveyor belts 4-11 are sequentially mounted on the main transmission shafts 4-12, and several transition shafts 4-13 are respectively mounted on the front crossbeam 1-21 of the frame 1 at appropriate positions between two main conveyor belts 4-11. An appropriate gap is left between the transition shafts 4-13 and the main conveyor belts 4-11, and several main transmission motors 4-14 are spaced apart on the main transmission shafts 4-12. The main conveyor belts 4-11 and the main transmission motors 4-14 correspond one-to-one. The distribution and transmission device 4-2 consists of a lifting transmission device 4-21 and a fixed transmission device 4-22. The lifting transmission device 4-21 comprises a lifting frame 4-211, a lifting cylinder 4-212, lifting wheels 4-213, a lifting belt 4-214, and a lifting motor 4-215. The lifting frame 4-211 is U-shaped, with two branches installed on either side of the transition shaft 4-13 in the main transmission device 4-1, leaving a certain gap between them and the main conveyor belt 4-11. The other end of the lifting frame 4-211 is hinged to the input end of the fixed transmission device 4-22. The lifting cylinder 4-212 is installed at an appropriate position on the lower side of the lifting frame 4-211. Lifting wheels 4-213 are installed at the front end of each branch of the lifting frame 4-211, and two lifting wheels 4-213 are installed on each side of the rear end of each lifting frame 4-211. The lifting belt 4-214 is respectively installed with... On the same side of the lifting frame 4-211, on the two front and rear lifting transmission wheels 4-213, the lifting transmission motor 4-215 is installed at the hinge between the lifting frame 4-211 and the fixed transmission device 4-22. The lifting transmission motor 4-215 can drive the lifting transmission wheel 4-211 near the fixed transmission device 4-22 to rotate. The fixed transmission device 4-22 consists of a fixed transmission frame 4-221, fixed transmission wheels 4-222, and a fixed transmission belt 4-223. The fixed transmission frame 4-221 is installed at an appropriate position on the middle crossbeam 1-22 of the frame. Each fixed transmission frame 4-221 is equipped with four fixed transmission wheels 4-222, two at each end of the fixed transmission frame 4-221. The fixed transmission wheels 4-222 near the lifting transmission device 4-21 cooperate with the lifting transmission wheel 4-213. The fixed transmission belt 4-223 is installed on the two fixed transmission wheels 4-222 on the same side of the fixed transmission frame 4-221.

[0030] The peeling device 5 of the present invention includes several peeling units 5a, each peeling unit 5a consisting of a peeling frame 5-1, a clamping and positioning mechanism 5-2, and a peeling mechanism 5-3. The peeling frame 5-1 is installed at an appropriate position on the middle crossbeam 1-22 of the frame; the clamping and positioning mechanism 5-2 is provided with a positioning support 5-21 and several positioning grips 5-22 distributed along the circumference of the positioning support. Through the centripetal force generated by the rotation of the positioning support 5-21 and the positioning grips 5-22, and the clamping force of the positioning grips 5-22 tightening, the fruit is relatively fixed in a set position. The peeling mechanism 5-3 realizes the automatic positioning and peeling function through the relative movement between the peeling blade and the fruit.

[0031] The collecting device 6 of this invention includes a receiving plate 6-1, a collecting frame 6-2, a peel collecting device 6-3, and a fruit collecting device 6-4. The receiving plate 6-1 is installed at an appropriate position below the clamping and positioning mechanism 5-2 of the peeling device 5. The receiving plate 6-1 is higher near the peeling device 5 than near the peel collecting device 6-3, and forms a certain angle with the horizontal plane. The collecting frame 6-2 is mounted on the column 1-1 of the frame 1, and the collecting frame 6-2 has mounting holes. The peel collecting device 6-3 is installed on the collecting frame 6-2 below the receiving plate 6-1. The fruit collecting device 6-4 is installed parallel to the outer side of the peel collecting device 6-3 on the collecting frame 6-2, with the uppermost part of the fruit collecting device 6-4 lower than the uppermost part of the peel collecting device 6-3, so that the fruit can fall into the fruit collecting device 6-4 by inertia when it rolls down.

[0032] The collection device 6 of this invention comprises a fruit peel collection device 6-3 consisting of a fruit peel transmission shaft 6-31, a fruit peel transmission belt 6-32, a fruit peel collection box 6-33, a collection driven gear 6-34, a collection motor 6-35, and a cable 6-36. The fruit peel transmission shaft 6-31 is installed at both ends of the collection frame 6-2, and the fruit peel transmission belt 6-32 is mounted on the fruit peel transmission shaft 6-31. The upper surface of the fruit peel transmission belt 6-32 is lower than the lowest point of the receiving plate 6-1. The output end of the fruit peel transmission device 6-3 is equipped with a fruit peel collection box 6-33. The collection driven gear is installed at one end of the fruit peel transmission shaft 6-31 near the frame column 1-1. The collection motor 6-35 is installed at an appropriate position on the collection frame 6-2 and cooperates with the collection drive gear 6-43. The cable 6-36 electrically connects the collection motor 6-35 and the control system 7.

[0033] The fruit collection device 6 of the present invention comprises a fruit collection device 6-4 consisting of a fruit conveyor shaft 6-41, a fruit conveyor belt 6-42, a collection drive gear 6-43, and a fruit collection post-processing device 6-44. The fruit conveyor shaft 6-41 is mounted on a collection frame 6-2 on the same side as the peel conveyor shaft 6-31, and is positioned a certain distance below the peel conveyor shaft 6-31. The fruit conveyor belt 6-42 is mounted on the fruit conveyor shaft 6-41. The collection drive gear 6-43 is mounted on the fruit conveyor shaft 6-41 and meshes with the collection driven gear 6-34. The fruit collection device 6-44 is located at the output end of the fruit collection device 6-4.

[0034] The control system 7 of the present invention includes a sensor 7-1, a solenoid valve 7-2, a computer and its embedded computing program 7-3, and a cable 7-4. The sensor 7-1 includes a V-shaped box occupancy sensor 7-11, a transition shaft occupancy sensor 7-12, and a positioning tray occupancy sensor 7-13. The V-shaped box occupancy sensor 7-11 is installed at an appropriate position near the V-shaped box 3-3 to detect whether there is fruit inside the V-shaped box 3-3. When the V-shaped box 3-3 is empty, the feeding motor 2-7 starts to feed a single piece of fruit into the V-shaped box 3-3. When there is fruit in the V-shaped box 3-3, the feeding motor 2-7 stops. The transition shaft occupancy sensor 7-12 is installed on the frame 1 at the transition shaft 4-13 of the main transmission device 4-1. One sensor is installed at each transition shaft 4-13 to detect whether there is fruit at that location. The positioning tray occupancy sensor 7-13 is installed at an appropriate position on the peeling frame 5-1 at the positioning tray 5-21 of the peeling unit 5a. One sensor is installed in each peeling unit 5a to detect whether there is fruit on the positioning tray 5-21. The solenoid valve 7-2 includes a steering solenoid valve 7-21, a pushing solenoid valve 7-22, a lifting solenoid valve 7-23, and a peeling solenoid valve 7-24. The steering solenoid valve 7-21 changes the direction of the high-pressure air flow, causing the steering cylinder 3-7 to extend and retract, thereby changing the orientation of the fruit stem in the V-shaped box 3-3. The pushing solenoid valve 7-22 changes the direction of the high-pressure air flow, causing the pushing cylinder 3-9 to extend and retract, so that the fruit in the V-shaped box 3-3 is sent into the main transmission device 4-1 as needed. The lifting solenoid valve 7-23 is installed on the frame at the lifting transmission device 4-21 and changes the direction of the high-pressure air flow to cause the lifting transmission cylinder 4-212 to extend and retract. Each peeling unit 5a is equipped with a peeling solenoid valve 7-24, which supplies compressed air to the peeling unit 5a as needed.

[0035] Specifically, from the direction of the feeding device 2, when there is no fruit to peel in the peeling unit 5a at the very end of the main transmission device 4-1, that is, when the positioning tray occupancy sensor 7-13 does not detect the presence of fruit on the positioning tray 5-21, the transition shaft occupancy sensor 7-12 at the end of the main transmission device 4-1 is activated and detects whether there is fruit at the corresponding transition shaft 4-13. If there is no fruit, the main transmission motor 4-14 before the transition shaft 4-13 at the end of the main transmission device 4-1 is activated until fruit is fed in. At this time, the lifting solenoid valve 7-23 at the transition shaft 4-13 at the very end is activated, causing the lifting frame 4-211 to rise and start the lifting transmission motor 4-215, thereby sending the fruit into the positioning tray 5-21 for positioning and peeling. When there is no fruit in a peeling unit 5a of the peeling device 5, that is, when the positioning tray occupancy sensor 7-13 corresponding to the peeling unit 5a does not detect the presence of fruit on the positioning tray 5-21, the transition shaft occupancy sensor 7-12 corresponding to the peeling unit 5a is activated to detect whether there is fruit at the transition shaft 4-13. If there is fruit, the solenoid valve 7-23 is raised, causing the lifting transmission cylinder 4-212 to extend, the lifting frame 4-211 is raised, and the lifting transmission motor 4-215 is activated. The distribution transmission device 4-2 then sends the fruit into the corresponding peeling unit 5a for peeling. If there is no fruit at the transition shaft 4-13, the main transmission motor 4-14 before this transition shaft 4-13 is activated until fruit is sent into the transition shaft 4-13. All fruits sent into the main transmission device 4-1 are adjusted by the fruit stem orientation adjustment device 3, ensuring that the fruit stems are all facing the same direction. The computer is installed at an appropriate position on the intermediate frame, and the program embedded in the computer has the above-mentioned control functions.

[0036] The air supply device 8 of the present invention includes an air compressor 8-1, a pipeline 8-2, and a cable 8-3. The air compressor 8-1 is a device capable of providing a set pressure. Under the control of the solenoid valve 7-2, it supplies air through the cylinders of each pipeline 8-2. The cable 8-3 electrically connects the air compressor 8-1, the solenoid valve 7-2, and the computer.

[0037] The above examples are only used to illustrate the claims of this invention, and are not intended to limit the scope of protection of this invention. Any changes made by those skilled in the art to the positions of the components in the above examples are within the scope of protection of this invention; any improvements and substitutions made by those skilled in the art within the scope of this invention are also within the scope of protection of this invention.

Claims

1. A fully automatic fruit peeling machine, characterized in that... include: Frame, feeding device, fruit stem orientation adjustment device, conveying device, peeling device, collecting device, control system, and air supply device; The feeding device is installed at one end of the frame and is equipped with a lifting chain to remove individual fruits from the trough and feed them into the fruit stem orientation adjustment device. The fruit stem orientation adjustment device is installed on the frame below the output end of the feeding device and is equipped with an image acquisition device that sends fruit images to a computer for processing, identifies the fruit stem orientation, and adjusts it to a set direction. The transmission device is installed on the frame between the fruit stem orientation adjustment device and the peeling device and is equipped with a lifting transmission device that lifts and feeds the fruit into the peeling device. The peeling device consists of several peeling units with automatic positioning functions and is fixedly installed on the crossbeam of the frame in a certain order. The collection device includes a peel collection device and a fruit collection device. The control system includes a computer and its embedded computing program, which can process fruit images and control the system according to a set program.

2. The fully automatic fruit peeling machine according to claim 1, characterized in that... The frame consists of uprights, crossbeams, and longitudinal beams. There are four uprights, distributed at the four corners of the frame. The crossbeams consist of a front crossbeam and several intermediate crossbeams. The front crossbeams are installed on two uprights on the same side. The intermediate crossbeams are installed at appropriate positions on the longitudinal beams as needed. There are at least two longitudinal beams, which are installed on the uprights at both ends of the frame. The longitudinal beams on the same layer are installed at the same height.

3. The fully automatic fruit peeling machine according to claim 1, characterized in that... The feeding device includes a feeding frame, a material trough, a lifting chain, a sprocket, a sprocket shaft, a large gear, a feeding motor, and cables. The feeding frame is fixedly installed at one end of the front crossbeam of the frame. The material trough is funnel-shaped and has a discharge port. The material trough is placed at an appropriate position on the side of the frame closest to the feeding frame. There are two sprockets, which are installed at both ends of the feeding frame. The lower sprocket is located at the lowest point of the material trough, and the upper sprocket is located at an appropriate position above the fruit stem facing the adjustment device. The lifting chain has a fruit tray and is installed on the sprocket, rotating together with it. The large gear is installed on the upper sprocket shaft and meshes with the gear in the motor. The feeding motor is installed at an appropriate position on the feeding frame and is electrically connected to the control system via cables.

4. The fully automatic fruit peeling machine according to claim 1, characterized in that... The fruit stem orientation adjustment device includes an adjustment mounting plate, a steering shaft, a V-shaped box, a spring, a steering gear, a steering rack, a steering cylinder, an image acquisition unit, a push cylinder, cables, and air pipes. The adjustment mounting plate is installed on the front crossbeam of the frame at a suitable position near the feeding device, and the adjustment mounting plate has mounting holes. The steering shaft is a hollow shaft with a V-groove at its upper end, and the steering shaft is installed in the center hole of the adjustment mounting plate. The V-shaped box is placed in the V-groove of the steering shaft by spring tension, can rotate around the edge of the V-groove, and can automatically reset under the action of spring tension. The spring is installed in the hollow of the steering shaft, with the upper end of the spring hinged to the middle position of the lowest end of the V-shaped box, and the lower part of the spring fixed to the lower end of the steering shaft. After the V-shaped box resets, the spring still maintains a certain tension. The steering gear is installed on the steering shaft on the lower side of the adjustment mounting plate, and the steering rack is installed on... The lower side of the adjustment mounting plate is engaged with the steering gear; the steering cylinder is installed on the lower side of the adjustment mounting plate, the actuating rod of the steering cylinder is hinged to one end of the steering rack, and the extension and retraction direction of the actuating rod is consistent with the movement direction of the steering rack. The extension and retraction of the steering rack causes the steering shaft to rotate reciprocally, thereby driving the V-shaped box to rotate, thus adjusting the direction of the fruit in the V-shaped box; the image acquisition device is installed at an appropriate position on one side of the V-shaped box, which can acquire image information of the fruit stem end and transmit the image information to the control system for processing via cable; the pushing cylinder is installed on the adjustment mounting plate on the lower side of the V-shaped box near the feeding device, and the actuating rod of the pushing cylinder is equipped with a pulley. When the actuating rod extends, it can push the V-shaped box to rotate around the V-groove, sending the fruit in the V-shaped box into the input end of the transmission device; there are several air pipes, which are used to transport high-pressure gas to the steering cylinder and the pushing cylinder.

5. The fully automatic fruit peeling machine according to claim 1, characterized in that... The transmission device includes a main transmission device and a distribution transmission device. The main transmission device consists of a main conveyor belt, a main conveyor shaft, a transition shaft, and a main transmission motor. Several main conveyor shafts are sequentially installed on the front crossbeam of the frame, several main conveyor belts are sequentially installed on the main conveyor shafts, and several transition shafts are respectively installed on the front crossbeam of the frame at appropriate positions between two main conveyor belts. Appropriate gaps are left between the transition shafts and the main conveyor belts. Several main transmission motors are installed at intervals on the main conveyor shafts, with a one-to-one correspondence between the main conveyor belts and the main transmission motors. The distribution transmission device consists of a lifting transmission device and a fixed transmission device. The lifting transmission device consists of a lifting frame, a lifting transmission cylinder, lifting transmission wheels, a lifting transmission belt, and a lifting transmission motor. The lifting frame is U-shaped, with two branches installed on both sides of the transition shaft in the main transmission device, leaving a certain gap between them and the main conveyor belt. The other end of the lifting frame... The fixed transmission device is hinged to the input end. The lifting transmission cylinder is installed at an appropriate position on the lower side of the lifting frame. Lifting transmission wheels are installed at the front end of each branch of the lifting frame, and two lifting transmission wheels are installed on both sides of the rear end of each lifting frame. The lifting transmission belt is installed on the front and rear lifting transmission wheels on the same side of the lifting frame. The lifting transmission motor is installed at the hinge between the lifting frame and the fixed transmission device. The lifting transmission motor can drive the lifting transmission wheel near the fixed transmission device to rotate. The fixed transmission device consists of a fixed transmission frame, fixed transmission wheels, and a fixed transmission belt. The fixed transmission frame is installed at an appropriate position on the middle crossbeam of the frame. Each fixed transmission frame is equipped with four fixed transmission wheels, two at each end of the fixed transmission frame. The fixed transmission wheels near the lifting transmission device cooperate with the lifting transmission wheels. The fixed transmission belt is installed on the two fixed transmission wheels on the same side of the fixed transmission frame.

6. The fully automatic fruit peeling machine according to claim 1, characterized in that... The peeling device includes several peeling units, each of which consists of a peeling frame, a clamping and positioning mechanism, and a peeling mechanism. The peeling frame is installed at an appropriate position on the middle crossbeam of the frame. The clamping and positioning mechanism is provided with a positioning support and several positioning grips distributed along the circumference of the positioning support. Through the centripetal force generated by the rotation of the positioning support and the positioning grips, as well as the clamping force of the positioning grips tightening, the fruit is relatively fixed in a set position. The peeling mechanism realizes the automatic positioning and peeling function through the relative movement between the peeling blade and the fruit.

7. The fully automatic fruit peeling machine according to claim 1, characterized in that... The collecting device includes a receiving plate, a collecting frame, a peel collecting device, and a fruit receiving device. The receiving plate is installed at an appropriate position below the clamping and positioning mechanism of the peeling device. The receiving plate is higher near the peeling device and lower near the peel collecting device, forming a certain angle with the horizontal plane. The collecting frame is installed on the uprights of the frame and has mounting holes. The peel collecting device is installed on the collecting frame below the receiving plate. The fruit collecting device is installed parallel to the outer collecting frame of the peel collecting device. The uppermost part of the fruit collecting device is lower than the uppermost part of the peel collecting device so that the fruit can fall into the fruit collecting device by inertia when it rolls down. The collection device comprises a peel conveyor shaft, a peel conveyor belt, a peel collection box, a collection driven gear, a collection motor, and cables. The peel conveyor shaft is installed at both ends of the collection frame, and a peel conveyor belt is mounted on the peel conveyor shaft. The upper surface of the peel conveyor belt is lower than the lowest point of the receiving plate. A peel collection box is provided at the output end of the peel conveyor device. The collection driven gear is installed at the end of the peel conveyor shaft near the frame column and cooperates with the collection drive gear. The cables electrically connect the collection motor and the control system. The collection device consists of a fruit conveyor shaft, a fruit conveyor belt, a collection drive gear, and a fruit collection post-processing device. The fruit conveyor shaft is installed on the collection frame on the same side as the peel conveyor shaft and at a certain distance below the peel conveyor shaft. The fruit conveyor belt is mounted on the fruit conveyor shaft. The collection drive gear is installed on the fruit conveyor shaft and meshes with the collection driven gear. The fruit collection post-processing device is provided at the output end of the fruit collection device.

8. The fully automatic fruit peeling machine according to claim 1, characterized in that... The control system includes sensors, solenoid valves, a computer and its embedded computing program, and cables. The sensors include a V-box positioning sensor, a transition shaft positioning sensor, and a positioning tray positioning sensor. The V-box positioning sensor is installed at an appropriate location near the V-box to detect the presence of fruit inside. When the V-box is empty, the feeding motor starts to feed a single piece of fruit into the V-box; when the V-box contains fruit, the feeding motor stops. The transition shaft positioning sensor is installed on the frame at the transition shaft of the main transmission device, with one sensor corresponding to one transition shaft, to detect the presence of fruit at that location. The positioning tray positioning sensor is installed on the frame at an appropriate location on the positioning tray of the peeling unit, with one sensor per peeling unit, to detect whether there is fruit on the positioning tray. Fruit is present; the solenoid valves are valves that control the airflow in each pipeline, including a directional solenoid valve, a push solenoid valve, a lift solenoid valve, and a peeling solenoid valve. The directional solenoid valve changes the direction of the high-pressure airflow, causing the directional cylinder to extend and retract, thereby changing the orientation of the fruit stem in the V-shaped box. The push solenoid valve changes the direction of the high-pressure airflow, causing the push cylinder to extend and retract, so that the fruit in the V-shaped box is sent into the main conveying device as needed. The lift solenoid valve is installed on the frame at the lifting and conveying device, and changes the direction of the high-pressure airflow to cause the lifting and conveying cylinder to extend and retract. Each peeling unit is equipped with a peeling solenoid valve, which supplies compressed air to the peeling unit as needed. The computer is installed in an appropriate position on the intermediate frame, and the program embedded in the computer controls the process according to the set control flow.

9. The fully automatic fruit peeling machine according to claim 1, characterized in that... The air supply device includes an air compressor, pipes, and cables. The air compressor is a device capable of providing a set pressure. There are several pipes, which are connected to the corresponding cylinders as needed. The cables are electrical cables that connect the air compressor, solenoid valve, and control system.

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