A multi-station coconut peeling equipment

Abstract

The present invention provides a multi-station coconut peeling equipment, comprising: a frame; a rotary feeding and discharging mechanism; a coconut top positioning mechanism; a coconut grabbing manipulator; a side cutting mechanism; a coconut top oblique cutting mechanism; a coconut top cross-cutting mechanism and a coconut bottom cross-cutting mechanism; the coconut top positioning mechanism, the coconut grabbing manipulator, the side cutting mechanism, the coconut top oblique cutting mechanism, the coconut top cross-cutting mechanism and the coconut bottom cross-cutting mechanism are all connected to the frame; the rotary feeding and discharging mechanism is arranged on the frame, and a feeding station, a peeling station and a discharging station are arranged; the coconut grabbing manipulator is located below the peeling station, the coconut top positioning mechanism is located above the peeling station, and the coconut top oblique cutting mechanism is obliquely arranged on one side of the coconut top positioning mechanism; the coconut top cross-cutting mechanism, the side cutting mechanism and the coconut bottom cross-cutting mechanism are located on the side of the peeling station. The multi-station coconut peeling equipment of the present invention has a high degree of automation, can realize automatic coconut peeling, thereby effectively reducing the workload of coconut peeling, and improving the work efficiency and productivity of coconut peeling.

Description

Technical Field

[0001] The invention relates to the technical field of coconut peeling, and more specifically to a multi-station coconut peeling device. Background Art

[0002] Coconut plants are plants of the genus Cocos in the palm family. The fruit is ovoid or nearly spherical. The growing fruit coconuts need to be peeled during the processing process to facilitate the subsequent separation of coconut milk and coconut meat. During the peeling process of coconuts, the upper end of the coconut needs to be cut into a truncated cone shape and the lower end into a cylindrical shape, which is not only beautiful but also convenient for placement and transportation.

[0003] However, the traditional coconut peeling work is mainly done by workers manually. This kind of work method has high labor intensity, low efficiency and high risk. At present, some processes use auxiliary devices to peel coconuts: the auxiliary device is often a metal structure fixed on the ground with a cone-shaped top. The worker manually pushes the coconut down frequently on the auxiliary device, so that the auxiliary device is inserted into the two sides of the coconut to peel the coconut. However, since the top of the auxiliary device is sharp, the worker's hand is easily scratched when pressing down on the coconut, and the manual peeling speed of the worker alone is slow.

[0004] With the rapid development of technology, many coconut peeling machines have appeared on the market, but they can only peel part of the coconut skin and cannot complete the peeling work. Workers are required to cut the upper end of the coconut into a truncated cone shape and the lower end of the coconut into a cylindrical shape. In addition, since coconuts need to be put in or taken out manually, the productivity is low. Summary of the invention

[0005] The object of the present invention is to overcome the shortcomings and deficiencies in the prior art and provide a multi-station coconut peeling device. The coconut peeling device has a high degree of automation and can realize automatic coconut peeling, thereby effectively reducing the workload of coconut peeling and improving the work efficiency and productivity of coconut peeling.

[0006] In order to achieve the above object, the present invention is implemented by the following technical scheme: a multi-station coconut peeling equipment, characterized in that it includes:

[0007] frame;

[0008] A rotary feeding and discharging mechanism for fixing the coconut and realizing feeding and discharging in a rotating manner;

[0009] A coconut top positioning mechanism for positioning the top of a coconut;

[0010] A coconut grabbing robot for locating the bottom of a coconut and driving the coconut to rotate;

[0011] Side cutting mechanism for peeling the coconut side;

[0012] A coconut top beveling mechanism for cutting the upper end of a coconut into a cone shape;

[0013] A coconut top cross-cutting mechanism for cutting the conical upper end of a coconut into a truncated cone;

[0014] and a coconut bottom cross-cutting mechanism for cutting the lower end of the coconut into a cylindrical shape;

[0015] The coconut top positioning mechanism, coconut grabbing manipulator, side cutting mechanism, coconut top oblique cutting mechanism, coconut top cross-cutting mechanism and coconut bottom cross-cutting mechanism are all connected to the frame; the rotary feeding and discharging mechanism is arranged on the frame, and is provided with a loading station, a peeling station and a discharging station, and the rotary feeding and discharging mechanism realizes the conversion of the loading station, the peeling station and the discharging station in a rotating manner; the coconut grabbing manipulator is located below the peeling station, the coconut top positioning mechanism is located above the peeling station, and the coconut top oblique cutting mechanism is obliquely arranged on one side of the coconut top positioning mechanism; the coconut top cross-cutting mechanism, the side cutting mechanism and the coconut bottom cross-cutting mechanism are located on the side of the peeling station.

[0016] In the above scheme, the coconut peeling equipment of the present invention is provided with a loading station, a peeling station and a discharging station, so that the coconut loading process, the coconut peeling process and the coconut discharging process can be carried out simultaneously, thereby effectively reducing the workload of coconut peeling and improving the working efficiency and productivity of coconut peeling. In addition, the coconut peeling equipment has a high degree of automation and can realize full automation - coconut positioning, coconut side peeling, coconut upper end cutting into a cone, coconut cone upper end cutting into a truncated cone, coconut lower end cutting into a cylindrical shape and coconut discharging after processing, so that the processed coconut is convenient to place and transport.

[0017] The rotary feeding and discharging mechanism comprises a rotating disk, a reduction servo motor, a coconut positioning platform, an adaptive clamping module for clamping and fixing coconuts, and a discharging slideway; the reduction servo motor is arranged on a frame and connected to the rotating disk; the loading station, peeling station and discharging station are evenly arranged on the rotating disk, and the adaptive clamping modules are respectively arranged at the loading station, peeling station and discharging station; the coconut positioning platform is arranged below the adaptive clamping module of the loading station to realize the placement of coconuts; the discharging slideway is arranged below the adaptive clamping module on the discharging station to realize the reception of coconuts in the adaptive clamping module. The present invention is provided with an adaptive clamping module at each station, thereby ensuring the accurate positioning of coconuts during the station exchange process.

[0018] The adaptive clamping module includes a clamping cylinder fixing seat, a clamping cylinder 1, a clamping cylinder 2, a clamping fixing frame 1, a clamping fixing frame 2, a lower sliding rail and an adaptive device arranged on a rotating disk; the lower sliding rail is arranged on the rotating disk, and the bottoms of the clamping fixing frame 1 and the clamping fixing frame 2 are both provided with a lower sliding block slidably connected to the lower sliding rail; the clamping cylinder 1 and the clamping cylinder 2 are both arranged on the clamping cylinder fixing seat, and are respectively connected to the clamping fixing frame 1 and the clamping fixing frame 2 to drive the clamping fixing frame 1 and the clamping fixing frame 2 to clamp or open; the clamping fixing frame 1 and the clamping fixing frame 2 are respectively slidably connected to the adaptive device.

[0019] The adaptive device includes a clamping horizontal plate, a clamping vertical plate, an upper slider, an upper slide rail, a travel switch and a travel switch block; the upper slide rails are respectively arranged on the top of the clamping and fixing frame 1 and the clamping and fixing frame 2, and the clamping horizontal plate is slidably connected with the clamping and fixing frame 1 and the clamping and fixing frame 2 by sliding with the upper slider and the upper slide rail; the clamping vertical plate is arranged on the clamping surface of the clamping and fixing frame 1 and the clamping and fixing frame 2 and is connected to the clamping horizontal plate; the travel switch is connected to the clamping horizontal plate, and the travel switch block is arranged on the top of the clamping and fixing frame 1 and the clamping and fixing frame 2.

[0020] The coconut top positioning mechanism comprises a positioning cylinder fixing seat connected to the frame, a single-rod cylinder, a floating joint, a guide rod connecting seat, a guide rod, a compression spring, a guide rod sleeve, a connecting pin, an ejector pin, a slider, a slide rail and a slide rail fixing block connected to the frame; the single-rod cylinder is installed on the positioning cylinder fixing seat and is connected to the guide rod connecting seat through a floating joint; the slide rail is arranged on the slide rail fixing block, and the guide rod connecting seat is slidably connected to the slide rail through a slider; one end of the guide rod is connected to the guide rod connecting seat, and the other end extends into the guide rod sleeve and is connected to the guide rod sleeve through a connecting pin, and the guide rod sleeve and the guide rod can move relative to each other; the compression spring is sleeved on the guide rod; the ejector pin is fixedly connected to one end of the guide rod sleeve away from the guide rod.

[0021] The coconut grabbing manipulator includes a manipulator fixing plate connected to the frame, a screw hoist connected to the frame, a connecting block, a lower bearing seat, an upper bearing seat, a spline shaft, a spline, a spline connecting block, a driving device for driving the spline shaft to rotate, a pin fixing seat and a pin; the upper bearing seat is arranged on the manipulator fixing plate, one end of the spline shaft is connected to the pin through the pin fixing seat, and the other end passes through the upper bearing seat and is connected to the spline through the spline connecting block; the spline is connected to the connecting block through the lower bearing seat, and the connecting block is sleeved on the screw hoist to realize the lifting and lowering of the pin on the spline shaft; the driving device is connected to the spline shaft.

[0022] The driving device includes a driven sprocket, a driving sprocket, a reduction motor and a chain; the reduction motor is arranged on a fixed plate of the manipulator and connected to the driving sprocket; the driven sprocket is connected to the spline shaft and connected to the driving sprocket through a chain, so that the reduction motor drives the driving sprocket to rotate to drive the spline shaft to rotate.

[0023] The side cutting mechanism includes a side cutting cylinder, a fixed plate connected to the frame, a side cutting cutter, a guide shaft, a side cutting cylinder connecting plate and a linear bearing seat; the guide shaft is installed on the fixed plate through the linear bearing seat and is connected to the side cutting cutter; the side cutting cylinder is connected to the fixed plate and is connected to the guide shaft through the side cutting cylinder connecting plate, so that the side cutting cylinder drives the side cutting cutter to extend or retract; the side cutting cutter is arranged parallel to the fixed plate.

[0024] The coconut top cross-cutting mechanism comprises a coconut top cross-cutting cylinder, a coconut top cross-cutting cylinder fixing seat, a coconut top cross-cutting cutter pressing block, a coconut top cross-cutting cutter and a coconut top cross-cutting cutter mounting seat; the coconut top cross-cutting cylinder fixing seat is connected to a fixing plate and is located above the side-cutting cylinder; the coconut top cross-cutting cutter is mounted on the coconut top cross-cutting cutter mounting seat; the coconut top cross-cutting cylinder is arranged on the coconut top cross-cutting cylinder fixing seat, the coconut top cross-cutting cutter pressing block is penetrated on the fixing plate and one end is connected to the coconut top cross-cutting cutter mounting seat, and the other end is connected to the coconut top cross-cutting cylinder, so that the coconut top cross-cutting cylinder drives the coconut top cross-cutting cutter to extend or retract.

[0025] The coconut bottom cross-cutting mechanism comprises a coconut bottom cross-cutting cylinder, a coconut bottom cross-cutting cylinder fixing seat, a coconut bottom cross-cutting cutter pressing block, a coconut bottom cross-cutting cutter and a coconut bottom cross-cutting cutter mounting seat; the coconut bottom cross-cutting cylinder fixing seat is connected to a fixing plate and is located below the side-cutting cylinder; the coconut bottom cross-cutting cutter is mounted on the coconut bottom cross-cutting cutter mounting seat; the coconut bottom cross-cutting cylinder is arranged on the coconut bottom cross-cutting cylinder fixing seat, the coconut bottom cross-cutting cutter pressing block is passed through the fixing plate and one end is connected to the coconut bottom cross-cutting cutter mounting seat, and the other end is connected to the coconut bottom cross-cutting cylinder, so that the coconut bottom cross-cutting cylinder drives the coconut bottom cross-cutting cutter to extend or retract.

[0026] The working process of the multi-station coconut peeling equipment of the present invention is as follows:

[0027] (1) The coconut is manually placed on the coconut positioning platform, and the adaptive clamping module at the loading station clamps the coconut.

[0028] (2) The rotating disk rotates 120°, the adaptive clamping module where the coconut is located reaches the peeling station, and the ejector pin of the coconut top positioning mechanism extends out and inserts into the top of the coconut.

[0029] (3) The coconut gripping manipulator rises to allow the pin to be inserted into the bottom of the coconut. The pin rises after being inserted into the bottom of the coconut. At this time, the adaptive clamping module releases the coconut, and the reduction motor drives the active sprocket to rotate, which in turn drives the spline shaft to rotate through the driven sprocket, thereby causing the coconut to rotate at high speed. At this time, the side cutting knife of the side cutting mechanism extends to peel the side of the coconut.

[0030] (4) The coconut grasping manipulator continues to drive the coconut to rotate and rise, and stops rising when the coconut reaches the coconut top beveling mechanism. At this time, the coconut top beveling mechanism cuts the top of the rotating coconut into a cone shape.

[0031] (5) The coconut grasping manipulator drives the coconut to descend, and the ejector pin of the coconut top positioning mechanism retracts. At this time, the coconut top cross-cutting knife of the coconut top cross-cutting mechanism extends out to cut off the top of the coconut, and the conical upper end of the coconut is cut into a truncated cone shape.

[0032] (6) The coconut bottom cross-cutting cutter of the coconut bottom cross-cutting mechanism extends out to cut the lower end of the coconut into a cylindrical shape.

[0033] (7) After the cutting is completed, the adaptive clamping module clamps the cut coconut again and rotates 120° through the rotating disk to reach the discharging station, and the cut coconut is discharged through the discharging chute.

[0034] In the invention, the three processes of coconut feeding process, coconut peeling process and coconut discharging process can be carried out simultaneously. In addition, when the adaptive clamping module is working, due to the irregularity of the coconut's own shape, the coconut axis and the adaptive clamping module can be ensured to have relative coaxiality by manually placing the coconut at the feeding station, so the coconut is manually placed on the coconut positioning platform and clamped and positioned by the adaptive clamping module. During the positioning process, the clamping cylinder 1 and the clamping cylinder 2 drive the clamping plate 1 and the clamping plate 2 to clamp the coconut placed on the coconut positioning platform, respectively, the clamping plate 1 and the clamping plate 2, when the clamping plate 1 or the clamping plate 2 contacts the coconut, the coconut clamping vertical plate arranged on the clamping surface of the clamping plate 1 or the clamping plate 2 moves relative to the clamping plate 1 or the clamping plate 2 under the action of the upper slide block and the upper slide rail, at this time, the travel switch arranged on the clamping horizontal plate moves with the coconut clamping vertical plate, when the travel switch touches the travel switch block, the clamping cylinder 1 and the clamping cylinder 2 are controlled to stop working, and at this time, the state of the adaptive clamping module clamping the coconut. Therefore, the adaptive clamping module is equivalent to a flexible manipulator, which can effectively clamp irregular coconuts, and ensures that the placement form of the coconut will not change after the hands leave the coconut. After the adaptive clamping module clamps the coconut, the rotating disk can drive the clamped coconut to perform station transposition.

[0035] Compared with the prior art, the present invention has the following advantages and beneficial effects: the multi-station coconut peeling equipment of the present invention has a high degree of automation, can realize automatic coconut peeling, thereby effectively reducing the workload of coconut peeling, and at the same time, adopts a multi-station assembly line structure, can complete the peeling work of one coconut in 20-30 seconds, and improves the work efficiency and productivity of coconut peeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the multi-station coconut peeling equipment of the present invention. Figure 1 ;

[0037] Figure 2 It is a schematic diagram of the multi-station coconut peeling equipment of the present invention. Figure 2 ;

[0038] Figure 3 It is a schematic diagram of a rotary feeding and discharging mechanism in the coconut peeling equipment of the present invention;

[0039] Figure 4 Schematic diagram of an adaptive clamping module in a coconut peeling device of the present invention;

[0040] Figure 5 It is a schematic diagram of a coconut top positioning mechanism in a coconut peeling device of the present invention;

[0041] Figure 6 It is a schematic diagram of a coconut grasping manipulator in a coconut peeling device of the present invention;

[0042] Figure 7 It is a schematic diagram of a side cutting mechanism, a coconut top oblique cutting mechanism and a coconut bottom cross-cutting mechanism in the coconut peeling device of the present invention;

[0043] Among them, 1 is the frame, 2 is the coconut top positioning mechanism, 2.1 is the positioning cylinder fixing seat, 2.2 is the single-rod cylinder, 2.3 is the floating joint, 2.4 is the guide rod connecting seat, 2.5 is the guide rod, 2.6 is the compression spring, 2.7 is the guide rod outer sleeve, 2.8 is the connecting pin, 2.9 is the ejector, 2.10 is the slider, 2.11 is the slide rail, 2.12 is the slide rail fixing block, 3 is the coconut grabbing manipulator, 3.1 is the manipulator fixing plate, 3.2 is the screw lifter, 3.3 is the connecting block, 3.4 is the lower shaft The bearing seat, 3.5 is the upper bearing seat, 3.6 is the spline shaft, 3.7 is the spline, 3.8 is the spline connection block, 3.9 is the pin fixing seat, 3.10 is the pin, 3.11 is the driven sprocket, 3.12 is the driving sprocket, 3.13 is the reduction motor, 3.14 is the chain, 4 is the side cutting mechanism, 4.1 is the side cutting cylinder, 4.2 is the fixing plate, 4.3 is the side cutting cutter, 4.4 is the guide shaft, 4.5 is the side cutting cylinder connection plate, 4.6 is the linear bearing seat, 5 is the coconut top bevel cutting mechanism, 6 6.1 is the coconut top cross-cutting cylinder, 6.2 is the coconut top cross-cutting cylinder fixing seat, 6.3 is the coconut top cross-cutting cutter block, 6.4 is the coconut top cross-cutting cutter, 6.5 is the coconut top cross-cutting cutter mounting seat, 7 is the coconut bottom cross-cutting mechanism, 7.1 is the coconut bottom cross-cutting cylinder, 7.2 is the coconut bottom cross-cutting cylinder fixing seat, 7.3 is the coconut bottom cross-cutting cutter block, 7.4 is the coconut bottom cross-cutting cutter, 7.5 is the coconut bottom cross-cutting cutter mounting seat, 8 is the rotating disk, 9 is the reduction servo motor, 10 is the coconut placement position Platform, 11 is the discharge slide, 12 is the adaptive clamping module, 12.1 is the clamping cylinder fixing seat, 12.2 is the clamping cylinder one, 12.3 is the clamping cylinder two, 12.4 is the clamping fixing frame one, 12.5 is the clamping fixing frame two, 12.6 is the lower slide rail, 12.7 is the lower slide block, 12.8 is the clamping horizontal plate, 12.9 is the clamping vertical plate, 12.10 is the upper slide block, 12.11 is the upper slide rail, 12.12 is the travel switch, and 12.13 is the travel switch block. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0045] Example

[0046] like Figures 1 to 7 As shown, the multi-station coconut peeling equipment of the present invention comprises:

[0047] Rack 1;

[0048] A rotary feeding and discharging mechanism for fixing the coconut and realizing feeding and discharging in a rotating manner;

[0049] A coconut top positioning mechanism 2 for positioning the coconut top;

[0050] A coconut grabbing manipulator 3 for locating the bottom of the coconut and driving the coconut to rotate;

[0051] A side cutting mechanism 4 for peeling the coconut side;

[0052] A coconut top beveling mechanism 5 for cutting the upper end of the coconut into a cone;

[0053] A coconut top cross-cutting mechanism 6 for cutting the conical upper end of the coconut into a truncated cone shape;

[0054] and a coconut bottom cross-cutting mechanism 7 for cutting the lower end of the coconut into a cylindrical shape;

[0055] Among them, the coconut top positioning mechanism 2, the coconut grasping manipulator 3, the side cutting mechanism 4, the coconut top beveling mechanism 5, the coconut top cross-cutting mechanism 6 and the coconut bottom cross-cutting mechanism 7 are all connected to the frame 1, the rotary feeding and discharging mechanism is arranged on the frame 1, and is provided with a loading station, a peeling station and a discharging station, the rotary feeding and discharging mechanism realizes the conversion of the loading station, the peeling station and the discharging station in a rotating manner, and the coconut grasping manipulator 3 is located below the peeling station, the coconut top positioning mechanism 2 is located above the peeling station, and the coconut top beveling mechanism 5 is tilted on one side of the coconut top positioning mechanism; the coconut top cross-cutting mechanism, the side cutting mechanism, and the coconut bottom cross-cutting mechanism are located on the side of the peeling station.

[0056] Specifically, the rotary feeding and discharging mechanism includes a rotating disk 8, a reduction servo motor 9, a coconut positioning platform 10, an adaptive clamping module 12 for clamping and fixing coconuts, and a discharging chute 11, wherein the reduction servo motor 9 is arranged on the frame 1 and connected to the rotating disk 8, the loading station, peeling station and discharging station are evenly distributed on the rotating disk 8, the adaptive clamping module 12 is respectively arranged at the loading station, peeling station and discharging station, the coconut positioning platform 10 is arranged below the adaptive clamping module 12 of the loading station to realize the placement of coconuts, and the discharging chute 11 is arranged below the adaptive clamping module 12 on the discharging station to realize the reception of coconuts in the adaptive clamping module 12.

[0057] The adaptive clamping module 12 comprises a clamping cylinder fixing seat 12.1, a clamping cylinder 1 12.2, a clamping cylinder 2 12.3, a clamping frame 1 12.4, a clamping frame 2 12.5, a lower sliding rail 12.6 and an adaptive device arranged on the rotating disk 8. The lower sliding rail 12.6 is arranged on the rotating disk 8. The bottoms of the clamping frame 1 12.4 and the clamping frame 2 12.5 are both provided with a lower slider 12.7 slidably connected to the lower sliding rail 12.6. The clamping cylinder 1 12.2 and the clamping cylinder 2 12.3 are both arranged on the clamping cylinder fixing seat 12.1 and are respectively connected to the clamping frame 1 12.4 and the clamping frame 2 12.5 to drive the clamping frame 1 12.4 and the clamping frame 2 12.5 to clamp or open. The adaptive device of the present invention comprises a clamping horizontal plate 12.8, a clamping vertical plate 12.9, an upper slider 12.10, an upper slide rail 12.11, a travel switch 12.12 and a travel switch block 12.13, wherein the upper slide rail 12.11 is respectively arranged on the top of the clamping fixed frame 12.4 and the clamping fixed frame 2 12.5, the clamping horizontal plate 12.8 is slidably connected with the clamping fixed frame 12.4 and the clamping fixed frame 2 12.5 through the upper slider 12.10 and the upper slide rail 12.11, the clamping vertical plate 12.9 is arranged on the clamping surface of the clamping fixed frame 12.4 and the clamping fixed frame 2 12.5 and is connected to the clamping horizontal plate 12.8, and the travel switch 12.12 is connected to the clamping horizontal plate 12.8, and the travel switch block 12.13 is arranged on the top of the clamping fixed frame 12.4 and the clamping fixed frame 2 12.5.

[0058] The coconut top positioning mechanism 2 of the present invention comprises a positioning cylinder fixing seat 2.1 connected to the frame 1, a single-rod cylinder 2.2, a floating joint 2.3, a guide rod connecting seat 2.4, a guide rod 2.5, a compression spring 2.6, a guide rod sleeve 2.7, a connecting pin 2.8, a thimble 2.9, a slider 2.10, a slide rail 2.11 and a slide rail fixing block 2.12 connected to the frame 1, wherein the single-rod cylinder 2.2 is installed on the positioning cylinder fixing seat 2.1 and is connected to the guide rod connecting seat 2.4 through the floating joint 2.3. Then, the slide rail 2.11 is set on the slide rail fixing block 2.12, the guide rod connecting seat 2.4 is slidably connected to the slide rail 2.11 through the slider 2.10, and one end of the guide rod 2.5 is connected to the guide rod connecting seat 2.4, and the other end extends into the guide rod sleeve 2.7 and is connected to the guide rod sleeve 2.7 through the connecting pin 2.8. The guide rod sleeve 2.7 and the guide rod 2.5 can move relative to each other, the compression spring 2.6 is sleeved on the guide rod 2.5, and the ejector pin 2.9 is fixedly connected to the end of the guide rod sleeve 2.7 away from the guide rod 2.5.

[0059] The coconut grabbing manipulator 3 of the present invention comprises a manipulator fixing plate 3.1 connected to the frame 1, a screw hoist 3.2 connected to the frame 1, a connecting block 3.3, a lower bearing seat 3.4, an upper bearing seat 3.5, a spline shaft 3.6, a spline 3.7, a spline connecting block 3.8, a driving device for driving the spline shaft 3.6 to rotate, a pin fixing seat 3.9 and a pin 3.10, wherein the upper bearing seat 3.5 is arranged on the manipulator fixing plate 3.1, one end of the spline shaft 3.6 is connected to the pin 3.10 through the pin fixing seat 3.9, and the other end passes through the upper bearing seat 3.5 and is connected to the spline 3.7 through the spline connecting block 3.8, the spline 3.7 is connected to the connecting block 3.3 through the lower bearing seat 3.4, and the connecting block 3.3 is sleeved on the screw hoist 3.2 to realize the lifting and lowering of the pin 3.10 on the spline shaft 3.6. The driving device includes a driven sprocket 3.11, a driving sprocket 3.12, a reduction motor 3.13 and a chain 3.14, wherein the reduction motor 3.13 is arranged on the manipulator fixing plate 3.1 and connected to the driving sprocket 3.12, the driven sprocket 3.11 is connected to the spline shaft 3.6 and connected to the driving sprocket 3.12 through the chain 3.14, so that the reduction motor 3.13 drives the driving sprocket 3.12 to rotate to drive the spline shaft 3.6 to rotate.

[0060] The side cutting mechanism 4 of the present invention includes a side cutting cylinder 4.1, a fixed plate 4.2 connected to the frame 1, a side cutting cutter 4.3, a guide shaft 4.4, a side cutting cylinder connecting plate 4.5 and a linear bearing seat 4.6, wherein the guide shaft 4.4 is installed on the fixed plate 4.2 through the linear bearing seat 4.6 and is connected to the side cutting cutter 4.3, the side cutting cylinder 4.3 is connected to the fixed plate 4.2, and is connected to the guide shaft 4.4 through the side cutting cylinder connecting plate 4.5, so that the side cutting cylinder 4.1 drives the side cutting cutter 4.3 to extend or retract, and the side cutting cutter 4.3 is arranged parallel to the fixed plate 4.2.

[0061] The coconut top cross-cutting mechanism 6 of the present invention comprises a coconut top cross-cutting cylinder 6.1, a coconut top cross-cutting cylinder fixing seat 6.2, a coconut top cross-cutting cutter pressing block 6.3, a coconut top cross-cutting cutter 6.4 and a coconut top cross-cutting cutter mounting seat 6.5, wherein the coconut top cross-cutting cylinder fixing seat 6.2 is connected to a fixing plate 4.2 and is located above the side-cutting cylinder 4.1, the coconut top cross-cutting cutter 6.4 is mounted on the coconut top cross-cutting cutter mounting seat 6.5, the coconut top cross-cutting cylinder 6.1 is arranged on the coconut top cross-cutting cylinder fixing seat 6.2, the coconut top cross-cutting cutter pressing block 6.3 is penetrated on the fixing plate 4.2 and one end is connected to the coconut top cross-cutting cutter mounting seat 6.5, and the other end is connected to the coconut top cross-cutting cylinder 6.1, so that the coconut top cross-cutting cylinder 6.1 drives the coconut top cross-cutting cutter 6.4 to extend or retract.

[0062] The coconut bottom cross-cutting mechanism 7 of the present invention comprises a coconut bottom cross-cutting cylinder 7.1, a coconut bottom cross-cutting cylinder fixing seat 7.2, a coconut bottom cross-cutting cutter pressing block 7.3, a coconut bottom cross-cutting cutter 7.4 and a coconut bottom cross-cutting cutter mounting seat 7.5, wherein the coconut bottom cross-cutting cylinder fixing seat 7.2 is connected to a fixing plate 4.2 and is located below the side-cutting cylinder 4.1, the coconut bottom cross-cutting cutter 7.4 is mounted on the coconut bottom cross-cutting cutter mounting seat 7.5, the coconut bottom cross-cutting cylinder 7.1 is arranged on the coconut bottom cross-cutting cylinder fixing seat 7.2, the coconut bottom cross-cutting cutter pressing block 7.3 is penetrated on the fixing plate 4.2 and one end is connected to the coconut bottom cross-cutting cutter mounting seat 7.5, and the other end is connected to the coconut bottom cross-cutting cylinder 7.1, so that the coconut bottom cross-cutting cylinder 7.1 drives the coconut bottom cross-cutting cutter 7.4 to extend or retract.

[0063] The working process of the multi-station coconut peeling equipment of the present invention is as follows:

[0064] (1) The coconut is manually placed on the coconut positioning platform 10, and the adaptive clamping module 12 of the loading station clamps the coconut.

[0065] (2) The rotating disk 8 rotates 120°, the adaptive clamping module 12 where the coconut is located reaches the peeling station, and the ejector pin 2.9 of the coconut top positioning mechanism 2 extends out and inserts into the top of the coconut.

[0066] (3) The coconut gripping manipulator 3 rises to insert the pin 3.10 into the bottom of the coconut. The pin 3.10 rises after being inserted into the bottom of the coconut. At this time, the adaptive clamping module 12 releases the coconut, and the reduction motor 3.13 drives the driving sprocket 3.12 to rotate, and then drives the spline shaft 3.6 to rotate through the driven sprocket 3.11, so that the coconut rotates at high speed. At this time, the side cutting knife 4.3 of the side cutting mechanism 4 extends to peel the side of the coconut.

[0067] (4) The coconut grasping manipulator 3 continues to drive the coconut to rotate and rise, and stops rising when the coconut reaches the coconut top beveling mechanism 5. At this time, the coconut top beveling mechanism 5 cuts the top of the rotating coconut into a cone shape.

[0068] (5) The coconut grasping manipulator 3 drives the coconut to descend, and the ejector pin 2.9 of the coconut top positioning mechanism 2 retracts. At this time, the coconut top cross-cutting knife 6.4 of the coconut top cross-cutting mechanism 6 extends to cut off the top of the coconut, and the conical upper end of the coconut is cut into a truncated cone shape.

[0069] (6) The coconut bottom cross-cutting cutter 7.4 of the coconut bottom cross-cutting mechanism 7 extends out to cut the lower end of the coconut into a cylindrical shape.

[0070] (7) After the cutting is completed, the adaptive clamping module 12 clamps the cut coconut again, and rotates 120° through the rotating disk 8 to reach the discharging station, and the cut coconut is discharged through the discharging chute 11.

[0071] In the invention, the three processes of coconut loading process, coconut peeling process and coconut discharging process can be carried out simultaneously.

[0072] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A multi-station coconut peeling equipment, characterized in that: include: frame; A rotary feeding and discharging mechanism for fixing the coconut and realizing feeding and discharging in a rotating manner; A coconut top positioning mechanism for positioning the top of a coconut; A coconut grabbing robot for locating the bottom of a coconut and driving the coconut to rotate; Side cutting mechanism for peeling the coconut side; A coconut top beveling mechanism for cutting the upper end of a coconut into a cone shape; A coconut top cross-cutting mechanism for cutting the conical upper end of a coconut into a truncated cone; and a coconut bottom cross-cutting mechanism for cutting the lower end of the coconut into a cylindrical shape; The coconut top positioning mechanism, coconut grabbing manipulator, side cutting mechanism, coconut top beveling mechanism, coconut top cross-cutting mechanism and coconut bottom cross-cutting mechanism are all connected to the frame; the rotary feeding and discharging mechanism is arranged on the frame, and is provided with a loading station, a peeling station and a discharging station, and the rotary feeding and discharging mechanism realizes the conversion of the loading station, the peeling station and the discharging station in a rotating manner; the coconut grabbing manipulator is located below the peeling station, the coconut top positioning mechanism is located above the peeling station, and the coconut top beveling mechanism is obliquely arranged on one side of the coconut top positioning mechanism; the coconut top cross-cutting mechanism, the side cutting mechanism and the coconut bottom cross-cutting mechanism are located on the side of the peeling station; The rotary feeding and discharging mechanism comprises a rotating disk, a reduction servo motor, a coconut positioning platform, an adaptive clamping module for clamping and fixing coconuts, and a discharging slideway; the reduction servo motor is arranged on a frame and connected to the rotating disk; the loading station, peeling station and discharging station are evenly arranged on the rotating disk, and the adaptive clamping modules are respectively arranged at the loading station, peeling station and discharging station; the coconut positioning platform is arranged below the adaptive clamping module at the loading station to realize the placement of coconuts; the discharging slideway is arranged below the adaptive clamping module at the discharging station to realize the reception of coconuts in the adaptive clamping module; The adaptive clamping module comprises a clamping cylinder fixing seat, a clamping cylinder 1, a clamping cylinder 2, a clamping fixing frame 1, a clamping fixing frame 2, a lower slide rail and an adaptive device arranged on a rotating disk; the lower slide rail is arranged on the rotating disk, and the bottoms of the clamping fixing frame 1 and the clamping fixing frame 2 are both provided with a lower slider slidably connected to the lower slide rail; the clamping cylinder 1 and the clamping cylinder 2 are both arranged on the clamping cylinder fixing seat, and are respectively connected to the clamping fixing frame 1 and the clamping fixing frame 2 to drive the clamping fixing frame 1 and the clamping fixing frame 2 to clamp or open; the clamping fixing frame 1 and the clamping fixing frame 2 are respectively slidably connected to the adaptive device; The adaptive device comprises a clamping horizontal plate, a clamping vertical plate, an upper slider, an upper slide rail, a travel switch and a travel switch block; the upper slide rails are respectively arranged on the top of the clamping fixing frame 1 and the clamping fixing frame 2, and the clamping horizontal plate is slidably connected with the clamping fixing frame 1 and the clamping fixing frame 2 through the upper slider and the upper slide rail; the clamping vertical plate is arranged on the clamping surface of the clamping fixing frame 1 and the clamping fixing frame 2 and connected to the clamping horizontal plate; the travel switch is connected to the clamping horizontal plate, and the travel switch block is arranged on the top of the clamping fixing frame 1 and the clamping fixing frame 2; The side cutting mechanism comprises a side cutting cylinder, a fixed plate connected to the frame, a side cutting cutter, a guide shaft, a side cutting cylinder connecting plate and a linear bearing seat; the guide shaft is mounted on the fixed plate through the linear bearing seat and connected to the side cutting cutter; the side cutting cylinder is connected to the fixed plate and connected to the guide shaft through the side cutting cylinder connecting plate, so that the side cutting cylinder drives the side cutting cutter to extend or retract; the side cutting cutter is arranged parallel to the fixed plate; The coconut top cross-cutting mechanism comprises a coconut top cross-cutting cylinder, a coconut top cross-cutting cylinder fixing seat, a coconut top cross-cutting cutter pressing block, a coconut top cross-cutting cutter and a coconut top cross-cutting cutter mounting seat; the coconut top cross-cutting cylinder fixing seat is connected to a fixing plate and is located above the side-cutting cylinder; the coconut top cross-cutting cutter is mounted on a coconut top cross-cutting cutter mounting seat; the coconut top cross-cutting cylinder is arranged on a coconut top cross-cutting cylinder fixing seat, and a coconut top cross-cutting cutter pressing block is arranged on a fixing plate and one end is connected to the coconut top cross-cutting cutter mounting seat, and the other end is connected to the coconut top cross-cutting cylinder, so that the coconut top cross-cutting cylinder drives the coconut top cross-cutting cutter to extend or retract; The coconut bottom cross-cutting mechanism comprises a coconut bottom cross-cutting cylinder, a coconut bottom cross-cutting cylinder fixing seat, a coconut bottom cross-cutting cutter pressing block, a coconut bottom cross-cutting cutter and a coconut bottom cross-cutting cutter mounting seat; the coconut bottom cross-cutting cylinder fixing seat is connected to a fixing plate and is located below the side-cutting cylinder; the coconut bottom cross-cutting cutter is mounted on the coconut bottom cross-cutting cutter mounting seat; the coconut bottom cross-cutting cylinder is arranged on the coconut bottom cross-cutting cylinder fixing seat, the coconut bottom cross-cutting cutter pressing block is passed through the fixing plate and one end is connected to the coconut bottom cross-cutting cutter mounting seat, and the other end is connected to the coconut bottom cross-cutting cylinder, so that the coconut bottom cross-cutting cylinder drives the coconut bottom cross-cutting cutter to extend or retract.

2. The multi-station coconut peeling equipment according to claim 1, characterized in that: The coconut top positioning mechanism comprises a positioning cylinder fixing seat connected to the frame, a single-rod cylinder, a floating joint, a guide rod connecting seat, a guide rod, a compression spring, a guide rod sleeve, a connecting pin, an ejector pin, a slider, a slide rail and a slide rail fixing block connected to the frame; the single-rod cylinder is installed on the positioning cylinder fixing seat and is connected to the guide rod connecting seat through a floating joint; the slide rail is arranged on the slide rail fixing block, and the guide rod connecting seat is slidably connected to the slide rail through a slider; one end of the guide rod is connected to the guide rod connecting seat, and the other end extends into the guide rod sleeve and is connected to the guide rod sleeve through a connecting pin, and the guide rod sleeve and the guide rod can move relative to each other; the compression spring is sleeved on the guide rod; the ejector pin is fixedly connected to one end of the guide rod sleeve away from the guide rod.

3. The multi-station coconut peeling equipment according to claim 1 is characterized in that: The coconut grabbing manipulator includes a manipulator fixing plate connected to the frame, a screw hoist connected to the frame, a connecting block, a lower bearing seat, an upper bearing seat, a spline shaft, a spline, a spline connecting block, a driving device for driving the spline shaft to rotate, a pin fixing seat and a pin; the upper bearing seat is arranged on the manipulator fixing plate, one end of the spline shaft is connected to the pin through the pin fixing seat, and the other end passes through the upper bearing seat and is connected to the spline through the spline connecting block; the spline is connected to the connecting block through the lower bearing seat, and the connecting block is sleeved on the screw hoist to realize the lifting and lowering of the pin on the spline shaft; the driving device is connected to the spline shaft.

4. The multi-station coconut peeling equipment according to claim 3 is characterized in that: The driving device includes a driven sprocket, a driving sprocket, a reduction motor and a chain; the reduction motor is arranged on a fixed plate of the manipulator and connected to the driving sprocket; the driven sprocket is connected to the spline shaft and connected to the driving sprocket through a chain, so that the reduction motor drives the driving sprocket to rotate to drive the spline shaft to rotate.

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