An intelligent konjac peeling machine

Abstract

The present invention relates to a kind of intelligent konjac peeling machine, belong to the field of agricultural intelligent machinery.Comprise grabbing device, peeling device, pallet device, control center, pallet device is between grabbing device, peeling device, grabbing device comprises the grabbing mechanical arm base connected in sequence, grabbing mechanical arm rotating device, grabbing mechanical arm, hand rotating device, mechanical gripper, peeling device comprises the peeling mechanical arm base connected in sequence, peeling mechanical arm rotating device, peeling mechanical arm, peeling driving device, peeler, the peeling driving device outside is connected with camera, grabbing mechanical arm rotating device, grabbing mechanical arm, hand rotating device, mechanical gripper, peeling mechanical arm rotating device, peeling mechanical arm, peeling driving device, camera are all connected with control center.The present invention can well solve the irregular raw material peeling difficult problem of this class of konjac, for improving konjac peeling efficiency, konjac fine processing provide cleaner raw material.

Description

Technical Field

[0001] The invention relates to an intelligent konjac peeling machine and belongs to the field of agricultural intelligent equipment. Background Art

[0002] Konjac is a common root vegetable, widely distributed in China, with a long history of consumption. Konjac cannot be eaten raw and must be processed to make konjac products. Before processing, the skin must be cleaned. Common methods for peeling fruits and vegetables include manual peeling, mechanical peeling, chemical peeling, thermal peeling, enzymatic peeling, and frozen peeling. Manual peeling is labor-intensive and inefficient, and prolonged work can cause significant damage to the skin and hand joints. Mechanical peeling is primarily used for conventional fruits and vegetables, but it presents significant challenges with irregular surfaces and dents, making it difficult to clean these dents and irregularities. Chemical peeling, which often uses caustic soda solutions, requires extensive water rinsing after treatment. This can lead to chemical residues that can affect quality and pose a risk of environmental pollution. Thermal peeling can result in uneven heating of the skin, and condensate from the equipment cannot be effectively separated, compromising subsequent peeling. Enzymatic peeling requires strict control of the working environment because causticase is inactivated beyond certain temperature and HP ranges. Freeze peeling is more effective, but the cost is higher. In addition to manual peeling, the subsequent processing of the above peeling methods may still involve mechanical peeling, which inevitably makes it difficult to clean raw materials with irregular surfaces or concave holes.

[0003] Konjac tuber is oblate, and surface is uneven, and the mode that mechanical peeling is combined with manual peeling is adopted more at present, and namely konjac is after mechanical peeling, then adopts artificial holding tool to remove its concave eye and the epidermis that does not clean up.Because the manual peeling link efficiency is low, overall peeling efficiency is low, and the manual peeling link labor intensity is larger, long-term work inevitably damages human skin and hand joints etc. Therefore how to improve the manual peeling link efficiency in the konjac peeling mode, reducing konjac to human body injury problems is a problem demanding urgent solution of konjac peeler. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides an intelligent konjac peeling machine, which replaces the manual peeling process in mechanical peeling to solve the problems that the existing konjac mechanical peeling is overall inefficient and difficult to clean the concave eyes and irregular areas, thereby reducing the harm of konjac to the human body.

[0005] The technical solution adopted by the present invention is: an intelligent konjac peeling machine, including a grabbing device, a peeling device, a tray device 3, and a control center 4. The tray device 3 is located between the grabbing device and the peeling device. The grabbing device includes a grabbing mechanical arm base 14, a grabbing mechanical arm rotating device 13, a grabbing mechanical arm 1, a gripper rotating device 12, and a mechanical gripper 11 connected in sequence. The grabbing mechanical arm rotating device 13 is rotatably connected to the grabbing mechanical arm base 14, and the gripper rotating device 12 is rotatably connected to the grabbing mechanical arm 1. The peeling device includes The peeling robot arm base 21, the peeling robot arm rotating device 22, the peeling robot arm 2, the peeling drive device 23, and the peeler 231 are connected in sequence. The peeling drive device 23 is connected to the outside of the peeling robot arm. The peeling robot arm rotating device 22 is rotatably connected to the peeling robot arm base 21. The grasping robot arm rotating device 13, the grasping robot arm 1, the gripper rotating device 12, the mechanical gripper 11, the peeling robot arm rotating device 22, the peeling robot arm 2, the peeling drive device 23, and the camera 24 are all connected to the control center 4.

[0006] Specifically, the grasping parts on both sides of the front end of the mechanical gripper 11 are symmetrically provided with a rotating drive device 111, a fixed needle 112, and a gripper 113. The rotating drive device 111 is fixedly connected to the front end of the mechanical gripper 11, and the gripper 113 is rotatably connected to the rotating drive device 111. A fixed needle 112 is provided in the center of the gripper 113.

[0007] Preferably, the fixed needle 112 has a diameter of 0.1 cm to 0.3 cm and a length of 0.5 cm to 3 cm.

[0008] Preferably, the tray device 3 includes a tray 31 and a tray support rod 32. The tray support rod 32 is fixed on the plane between the gripping device and the peeling device. The tray 31 is fixed on the upper end of the tray support rod 32. The tray 31 is a disc-shaped tray that is larger at the top and smaller at the bottom and has an open bottom. An opening is provided on one side of the tray 31.

[0009] Preferably, the top circle diameter of the tray 31 is 10 cm to 35 cm, the bottom circle diameter is 5 cm to 20 cm, and the opening size is 3 cm to 10 cm.

[0010] Preferably, the peeling drive device 23 is a grinding drive device.

[0011] Preferably, the peeler 231 includes a main shaft and a head sphere connected to the bottom of the main shaft, a transition section is provided at the connection between the head sphere and the main shaft, the main shaft is connected to the peeling drive device 23, and the spherical surface of the sphere is provided with triangular teeth.

[0012] Preferably, the pitch of the triangular teeth is 0.25mm~0.42mm, the diameter of the head sphere is 2.0cm~4.5cm, the main axis is a cylinder with a length of 3cm~15cm and a diameter of 0.5cm~2.0cm, the transition section is a cylinder with a diameter of 0.8cm~2.8cm and a height of 0.2cm~0.5cm, and the distance between the transition section and the center of the head sphere is 15 / 19r~17 / 19r, where r is the radius of the head sphere.

[0013] The beneficial effects of the present invention are:

[0014] 1. The present invention is simple to operate and can achieve all-round cleaning of konjac without dead angles, and can truly achieve clean peeling, with high mechanization and intelligence;

[0015] 2. The peeling is efficient and clean, which ensures that the raw materials for konjac processing are clean and free of impurities, thereby greatly improving the quality of related konjac products;

[0016] 3. Intelligent operation is conducive to standardized production, while effectively reducing manual participation and avoiding harm to the human body caused by manual cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a konjac peeling machine overall effect diagram of the present invention;

[0018] Figure 2 This is the overall structure diagram of the grabbing device;

[0019] Figure 3 This is a detailed diagram of the mechanical gripper;

[0020] Figure 4 This is the overall structure diagram of the peeling device;

[0021] Figure 5 This is the overall structure diagram of the peeling device;

[0022] Figure 6 This is the overall structure diagram of the tray device.

[0023] The numbers in the figure are: grabbing robot arm-1, peeling robot arm-2, tray device-3, control center-4, robot gripper-11, rotation drive device-111, fixed needle-112, grabbing device-113, gripper rotation device-12, robot arm rotation device-13, robot arm base-14, peeling robot arm base-21, peeling robot arm rotation device-22, peeling drive device-23, peeler-231, camera-24, tray-31, tray support rod-32. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1: Figure 1-6 As shown, an intelligent konjac peeling machine includes a grasping device, a peeling device, a tray device 3, and a control center 4. The tray device 3 is located between the grasping device and the peeling device. The grasping device includes a grasping robot arm base 14, a grasping robot arm rotating device 13, a grasping robot arm 1, a gripper rotating device 12, and a mechanical gripper 11 connected in sequence. The grasping robot arm rotating device 13 is rotatably connected to the grasping robot arm base 14. The rotation of the grasping robot arm rotating device 13 drives the grasping robot arm 1 to rotate 360 ​​degrees. The gripper rotating device 12 is rotatably connected to the grasping robot arm 1. The rotation of the gripper rotating device 12 drives the mechanical gripper 11 to rotate 360 ​​degrees. Rotation, the peeling device includes a peeling robot arm base 21, a peeling robot arm rotating device 22, a peeling robot arm 2, a peeling drive device 23, and a peeler 231 connected in sequence. A camera 24 is connected to the outside of the peeling drive device 23. The peeling robot arm rotating device 22 is rotatably connected to the peeling robot arm base 21. The rotation of the peeling robot arm rotating device 22 drives the peeling robot arm 2 to rotate 360°. The grasping robot arm rotating device 13, the grasping robot arm 1, the gripper rotating device 12, the mechanical gripper 11, the peeling robot arm rotating device 22, the peeling robot arm 2, the peeling drive device 23, and the camera 24 are all connected to the control center 4.

[0026] Furthermore, the gripping parts on both sides of the front end of the mechanical gripper 11 are symmetrically provided with a rotation drive device 111, a fixed needle 112, and a gripper 113. The rotation drive device 111 is fixedly connected to the front end of the mechanical gripper 11, and the gripper 113 is rotatably connected to the rotation drive device 111. The rotation drive device 111 drives the gripper 113 to rotate 360°, and a fixed needle 112 is provided at the center of the gripper 113.

[0027] Furthermore, the fixed needle 112 has a diameter of 0.1 cm to 0.3 cm and a length of 0.5 cm to 3 cm.

[0028] Furthermore, the tray device 3 includes a tray 31 and a tray support rod 32. The tray support rod 32 is fixed on the plane between the gripping device and the peeling device. The tray 31 is fixed on the upper end of the tray support rod 32. The tray 31 is a disc-shaped tray that is larger at the top and smaller at the bottom and has an open bottom. An opening is provided on one side of the tray 31.

[0029] Furthermore, the top circle diameter of the tray 31 is 10 cm to 35 cm, the bottom circle diameter is 5 cm to 20 cm, and the opening size is 3 cm to 10 cm.

[0030] Furthermore, the peeling drive device is a common grinding drive device (such as a drive motor or a pneumatic device).

[0031] Furthermore, the peeler 231 is similar to a grinding device, including a main shaft and a head sphere connected to the bottom of the main shaft, a transition section is provided at the connection between the head sphere and the main shaft, the main shaft is connected to the peeling drive device 23, and the spherical surface of the sphere is provided with triangular teeth.

[0032] Furthermore, the pitch of the triangular teeth is 0.25mm~0.42mm, the diameter of the head sphere is 2.0cm~4.5cm, the main axis is a cylinder with a length of 3cm~15cm and a diameter of 0.5cm~2.0cm, the transition section is a cylinder with a diameter of 0.8cm~2.8cm and a height of 0.2cm~0.5cm, and the distance between the transition section and the center of the head sphere is 15 / 19r~17 / 19r, where r is the radius of the head sphere.

[0033] It should be noted that the grasping robot arm 1 and the peeling robot arm 2 are common robot arms, and their specific structures will not be described in detail.

[0034] The working principle of the present invention is as follows: when performing konjac peeling operation, workers arrange konjac at a position marked in advance on the conveyor belt (unified with the konjac sockets facing downwards), when the konjac on the conveyor belt moves to a designated position, the control center 4 controls the conveyor belt to stop moving, the grabbing robot arm 1 drives the mechanical gripper 11 to grab a konjac on the conveyor belt, and then the grabbing robot arm 1 drives the konjac on the mechanical gripper 11 to move to the bottom of the camera 24, the camera 24 takes a picture, and transmits the picture to the control center 4 to determine the position where the konjac is not cleaned up, and the control center 4 controls the peeling drive device 23 to drive the konjac according to the position where the konjac is not cleaned up. The peeler 231 cleans the konjac. After cleaning, the rotating device 111 provided on the grasping device 113 of the mechanical gripper 11 starts to rotate, driving the konjac to rotate together (the rotation angle can be pre-set, generally set to 15 ° ~ 90 °). After the rotation is completed, the camera 24 moves to the top of the konjac to take pictures. After the camera 24 takes pictures, the pictures are transmitted to the control center 4 to determine the position where the konjac is not cleaned up. The control center 4 controls the peeling drive device 23 to drive the peeler 231 to clean up according to the position coordinates that are not cleaned up. After cleaning, the above operation is repeated until the konjac is rotated for one circle. After one rotation, control center 4 controls grabbing mechanical arm 1 and moves to pallet 31 tops, make grabbing mechanical arm 1 and pallet 31 openings vertical, gripper rotating device 12 drives mechanical gripper 11 to rotate 90 °, then grabbing mechanical arm 1 drives mechanical gripper 11 to move down along pallet 31 openings until konjac is parked on pallet 31 completely, mechanical gripper 11 opens, konjac is placed on pallet 31, then grabbing mechanical arm 1 drives mechanical gripper 11 to move to pallet 31 tops, grab konjac, then repeat aforesaid operation the another side of konjac is cleaned up, after whole konjac is cleaned up, grabbing mechanical arm 1 places konjac back to conveyor belt (position when grabbing konjac before), control center 4 controls conveyor belt to move forward and makes back a konjac arrive designated position, then repeat aforesaid operation second konjac is cleaned up.Konjac after cleaning enters next step finishing link after water cleaning.

[0035] The present invention adopts the mode that grabbing device, peeling device, tray device 3, control center 4 are combined to remove konjac peel, can well solve the irregular raw material peeling problem of konjac class, for improving konjac peeling efficiency, for konjac fine processing provides cleaner raw material.Meanwhile, the present invention is highly mechanized operation, simple to operate, and peeling is accurate, efficient, is beneficial to standardized production, and can effectively avoid the damage caused to human body by manual cleaning;

[0036] The above describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. An intelligent konjac peeling machine, characterized in that: The invention comprises a grasping device, a peeling device, a tray device (3), and a control center (4). The tray device (3) is located between the grasping device and the peeling device. The grasping device comprises a grasping robot arm base (14), a grasping robot arm rotating device (13), a grasping robot arm (1), a gripper rotating device (12), and a mechanical gripper (11) which are connected in sequence. The grasping robot arm rotating device (13) is rotationally connected to the grasping robot arm base (14). The gripper rotating device (12) is rotationally connected to the grasping robot arm (1). The peeling device comprises a peeling robot arm base (21), A peeling robot arm rotating device (22), a peeling robot arm (2), a peeling drive device (23), a peeler (231), a camera (24) is connected to the outside of the peeling drive device (23), the peeling robot arm rotating device (22) is rotatably connected to the peeling robot arm base (21), the grasping robot arm rotating device (13), the grasping robot arm (1), the gripper rotating device (12), the mechanical gripper (11), the peeling robot arm rotating device (22), the peeling robot arm (2), the peeling drive device (23), and the camera (24) are all connected to the control center (4); The gripping parts on both sides of the front end of the mechanical gripper (11) are symmetrically provided with a rotary drive device (111), a fixed needle (112), and a gripper (113); the rotary drive device (111) is fixedly connected to the front end of the mechanical gripper (11); the gripper (113) is rotatably connected to the rotary drive device (111); and a fixed needle (112) is provided at the center of the gripper (113); The tray device (3) includes a tray (31) and a tray support rod (32). The tray support rod (32) is fixed on a plane between the grabbing device and the peeling device. The tray (31) is fixed to the upper end of the tray support rod (32). The tray (31) is in the shape of a disk that is larger at the top and smaller at the bottom and has an open bottom. One side of the tray (31) is provided with an opening. The fixed needle (112) has a diameter of 0.1 cm to 0.3 cm and a length of 0.5 cm to 3 cm; The tray (31) has a top circular diameter of 10 cm to 35 cm, a bottom circular diameter of 5 cm to 20 cm, and an opening size of 3 cm to 10 cm; The peeling drive device (23) is a grinding drive device; The peeler (231) includes a main shaft and a head sphere connected to the bottom of the main shaft, a transition section is provided at the connection between the head sphere and the main shaft, the main shaft is connected to the peeling drive device (23), and triangular teeth are provided on the spherical surface of the sphere; The pitch of the triangular teeth is 0.25mm~0.42mm, the diameter of the head sphere is 2.0cm~4.5cm, the main axis is a cylinder with a length of 3cm~15cm and a diameter of 0.5cm~2.0cm, the transition section is a cylinder with a diameter of 0.8cm~2.8cm and a height of 0.2cm~0.5cm, and the distance between the transition section and the center of the head sphere is 15 / 19r~17 / 19r, where r is the radius of the head sphere.

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