Fully automatic core drilling machine

Abstract

The present application relates to a full-automatic kernel digging machine, comprising a rack, further comprising the following components connected to the rack: a material taking mechanism; a clamping mechanism one; a visual assembly one for collecting and recording the shape and size of the material clamped by the clamping jaw two; a clamping mechanism two; a clamping mechanism three for clamping the single-petal material transferred by the clamping mechanism two; a visual assembly two which moves simultaneously with the clamping mechanism two and can collect and record the position coordinates of the inner kernel in the single-petal material on the clamping mechanism three; a kernel removing assembly which is fixedly connected with the visual assembly two and can adjust in multiple directions according to the position of the inner kernel in the single-petal material and clamp the inner kernel. The present application has compact and reasonable structure, and is convenient to operate. Through the combination of multiple structures, the size information of different betel nuts can be collected, and the clamping jaw and the kernel removing assembly can be adjusted adaptively for different betel nuts to realize a series of automatic operations from cutting the material to automatic positioning and kernel digging, thereby improving the work efficiency and kernel digging effect and having strong practicability.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, and in particular to a fully automatic pit-removing machine. Background Technology

[0002] In the processing of areca nuts, the kernels need to be removed. Currently, the kernel removal process is mostly done manually, which is labor-intensive for operators and has low processing capacity. Existing processing equipment also causes too much damage to the surface of the areca nuts, affecting product quality and thus the taste of the finished product.

[0003] Currently, in order to improve the efficiency of pit removal, some mechanical equipment has been developed. Most of these devices remove pits by inserting needles or blowing air. However, in actual use, inserting needles can damage the betel nuts and cause problems such as leakage of the syrup. The effect of blowing air varies depending on the shape of the betel nut, and often results in the inability to remove the kernel.

[0004] Therefore, there is an urgent need to develop a fully automated betel nut pitting equipment to solve the problems of damage to the surface of betel nuts caused by existing pitting processing equipment, as well as the high labor intensity and low production capacity of manual pitting.

[0005] Therefore, we propose a fully automated core excavation machine. Summary of the Invention

[0006] In response to the shortcomings of the existing production technology, the applicant provides a fully automatic core-digging machine that realizes a series of automated operations from cutting materials to automatically positioning and digging cores, thereby improving work efficiency and core-digging effect.

[0007] The technical solution adopted in this invention is as follows:

[0008] Includes the rack, and also includes what is attached to the rack:

[0009] The material handling mechanism is used to grip the two cut pieces of material in situ and transfer them to the next process.

[0010] Clamping mechanism one, there are two of them, and clamping mechanism one is equipped with rotatable gripper two, which are used to clamp the single piece of material on the material picking mechanism respectively;

[0011] Vision component one is used to collect and record the shape and size of the material after it has been gripped by gripper two.

[0012] Clamping mechanism two, which can move horizontally and is used to clamp and transfer single-petal material on clamping mechanism one;

[0013] Clamping mechanism three is used to clamp the single-petal material transferred from clamping mechanism two;

[0014] Vision component two moves simultaneously with clamping mechanism two and can collect and record the position coordinates of the kernel in the single-lobe material on clamping mechanism three.

[0015] The core removal component is fixedly connected to the vision component two, and can be adjusted in multiple directions according to the position of the core in the single-lobed material and can grasp the core.

[0016] Its further features are:

[0017] It also includes a core removal platform component, the structure of which includes a core removal platform and a lifting mechanism capable of driving the core removal platform to move vertically. The bearing surface of the core removal platform is V-shaped to bear the core removal material.

[0018] The clamping mechanism 1, vision component 1, clamping mechanism 2, clamping mechanism 3, vision component 2, core removal component, and core removal platform component are all divided into two, and the two structures are mirror-symmetrical, used to remove the core from single-petal materials individually.

[0019] The clamping mechanism includes a mounting plate with two rotary drive mechanisms sliding on the same translation guide rail. The two rotary drive mechanisms are connected by a lead screw and connected to a drive motor via a transmission belt. Driven by the drive motor, the two rotary drive mechanisms can move closer or further apart. The drive end of the rotary drive mechanism is connected to a clamping cylinder, and the output end of the clamping cylinder is connected to a gripper.

[0020] The second visual component and the first visual component have the same structure, both including a visual lens and a supplementary light. The visual lens is used for data acquisition and recording, and the supplementary light is used for supplementary lighting.

[0021] The clamping mechanism 2 includes a horizontally arranged movable cylinder 1, a connecting seat slidably connected to the movable cylinder 1, and a clamping cylinder 2 connected to the connecting seat. The output shaft of the clamping cylinder 2 is provided with a clamping jaw 3 for clamping. The clamping jaw 3 opens and closes in the material movement direction to clamp the material on the clamping mechanism 1 in the length direction.

[0022] The clamping mechanism three includes a gripper four and a clamping cylinder three for controlling the opening and closing of the gripper four along the width direction of the material. At the same time, a drive motor two is connected to the side wall of the clamping cylinder three via a movable screw assembly to adjust the front and rear position of the clamping cylinder three. The clamping mechanism three is electrically connected to the vision component one to receive visual information collected by the vision component one. The opening and closing distance of the gripper four is the same as the distance in the width direction of the material.

[0023] The core removal assembly includes a horizontally movable cylinder two, the output end of which is connected to a sliding seat. The sliding seat is slidably connected to a connecting rail via a slider. The connecting rail is fixed to the frame. The sliding seat is connected to a movable frame one via an adjusting slide rail. A drive motor four is connected to the sliding seat. The drive shaft of the drive motor four drives the movable frame one to move in a direction perpendicular to the material movement via a gear and rack assembly. A movable frame two that can slide up and down is provided on the inner wall of the movable frame one. A lifting mechanism two that drives the movable frame two to move up and down is connected to the upper end of the movable frame one. A drive motor three is provided inside the movable frame two. The drive shaft of the drive motor three passes through the bottom wall of the movable frame two and is connected to a gear assembly. The lower end of the gear assembly is connected to a clamping cylinder four via a connector. The output shaft of the clamping cylinder four is connected to a gripper five for core removal.

[0024] The de-kerneling component is electrically connected to the vision component two, and its position can be adjusted according to the kernel coordinate position acquired by the vision component two.

[0025] A telescopic cylinder is also connected to the side wall of the clamping cylinder four. The output axis of the telescopic cylinder extends downward and is connected to a material ejection rod. The material ejection rod is horizontally distributed and will eject the material on the core removal platform as the moving cylinder two moves. The clamping end of the gripper five is a pointed tip and is distributed in a "C" shape. It is used to store the material ejection rod in the middle position of the gripper five to avoid interference.

[0026] The beneficial effects of this invention are as follows:

[0027] This invention features a compact and rational structure, and is easy to operate. By combining components such as a cutting assembly, a material handling mechanism, a clamping mechanism I, a vision assembly I, a clamping mechanism II, a clamping mechanism III, a vision assembly II, a pitting assembly, and a pitting platform assembly, it can collect various size information of different areca nuts. At the same time, it can adaptively adjust the grippers and pitting assembly for different areca nuts, realizing a series of automated operations from cutting the material to automatically positioning and removing the pit, improving work efficiency and pitting effect, and has strong practicality.

[0028] In addition, the present invention also has the following advantages:

[0029] (1). By setting up vision component one, vision component one is mainly used to collect the cross-sectional position of the material. The dimensions collected by vision component one include the material's external dimensions and the wall thickness from the outer wall to the core. This facilitates adaptive clamping based on the material's shape and wall thickness when clamping the material, avoiding excessive force on the outer wall of the material that restricts the removal of the core.

[0030] (2). By setting up a clamping mechanism two, the clamping mechanism two can move horizontally and is used to clamp and transfer the single-petal material on the clamping mechanism one. The clamping mechanism two opens and closes in the direction of material movement to clamp the length direction of the material on the clamping mechanism one (that is, the longest segment of the material), which is convenient for subsequent clamping. Since it clamps the length direction of the material, the width direction of the material can be clamped for subsequent core-digging operations.

[0031] (3). By setting up vision component 2, which moves simultaneously with clamping mechanism 2 and can collect and record the position coordinates of the core in the single-petal material on clamping mechanism 3, vision component 2 collects and records the specific coordinate position of the core by establishing a coordinate system, which facilitates subsequent core removal.

[0032] (4). By setting up a core removal component, the core removal component receives the signal from vision component two and adjusts according to the position of the core, including adjustments in multiple directions such as up, down, left, right, forward, backward and rotation, and removes the areca kernel by clamping cylinder four and gripper five, while moving backward to remove the core.

[0033] (5) The entire device has a compact structure, with multiple devices integrated together. In particular, the core removal component integrates multi-directional movement to achieve multi-directional simultaneous operation and minimize the area occupied. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention.

[0035] Figure 2 This is a schematic diagram of the structure of the present invention (after removing the frame).

[0036] Figure 3 This is a schematic diagram of the clamping mechanism one in the present invention.

[0037] Figure 4 for Figure 2 A schematic diagram of a local part of the structure.

[0038] Figure 5 This is a schematic diagram of the clamping mechanism three in this invention.

[0039] Figure 6 This is a schematic diagram of the structure of the vision component in this invention.

[0040] Figure 7 This is a schematic diagram of the core removal component in this invention.

[0041] Figure 8 This is a schematic diagram of the three-dimensional structure of the core removal component, the core removal platform component, and the clamping mechanism in this invention.

[0042] in:

[0043] 100. Frame; 200. Cutter assembly; 300. Material handling mechanism; 400. Vision assembly 1; 500. Clamping mechanism 1; 600. Clamping mechanism 2; 700. Vision assembly 2; 800. Core removal platform assembly; 900. Clamping mechanism 3; 1000. Core removal assembly;

[0044] 101. Connect the tracks;

[0045] 201. Cutting mechanism; 202. Pad block;

[0046] 301. Gripper 1; 302. First drive mechanism;

[0047] 401 / 701, Visual lens; 402 / 702, Fill light;

[0048] 501. Mounting plate; 502. Rotary drive mechanism; 503. Clamping cylinder one; 504. Clamping jaw two; 505. Translation guide rail; 506. Lead screw; 507. Transmission belt; 508. Drive motor one;

[0049] 601. Moving cylinder one; 602. Connecting seat; 603. Clamping cylinder two; 604. Clamping jaw three;

[0050] 801. Core removal platform; 802. Lifting mechanism one; 803. Connecting plate; 804. Mounting base; 805. Sliding shaft;

[0051] 901. Gripper four; 902. Gripping cylinder three; 903. Moving lead screw assembly; 904. Drive motor two;

[0052] 1001. Moving cylinder two; 1002. Gripper five; 1003. Movable frame one; 1004. Movable frame two; 1005. Lifting mechanism two; 1006. Drive motor three; 1007. Gear assembly; 1008. Adjusting slide rail; 1009. Gear and rack assembly; 1010. Drive motor four; 1011. Telescopic cylinder; 1012. Unloading rod; 1013. Clamping cylinder four. Detailed Implementation

[0053] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0054] like Figures 1-8As shown in the figure, this embodiment discloses a fully automatic core-removing machine for removing cores from materials with cores. Its specific structure includes a frame 100, and connected to the frame 100 are: a cutting assembly 200, a material handling mechanism 300, a clamping mechanism 1 500, a vision assembly 1 400, a clamping mechanism 2 600, a clamping mechanism 3 900, a vision assembly 2 700, a core-removing assembly 1000, and a core-removing platform assembly 800. It can realize a series of automated operations from cutting materials to automatically positioning and removing cores, improving work efficiency and core-removing effect, and has strong practicality.

[0055] Its specific structure is as follows:

[0056] like Figures 1-2 As shown, the cutter assembly 200 includes a cutter mechanism 201 and a pad 202. The material handling mechanism 300 transfers the material to the pad 202, and the cutter assembly 200 drives the cutter to rise and fall, thereby cutting the material into two halves along the center line.

[0057] like Figures 1-2 As shown, the material handling mechanism 300 includes a gripper 301 and a first drive mechanism 302 that drives the gripper 301 to move and hold, which is used to grip the two cut pieces of material in situ and transfer them to the next process.

[0058] In this embodiment, both the cutting assembly 200 and the material handling mechanism 300 adopt known technologies. For specific technical solutions, please refer to patent number 2023109399232, "An Integrated Slicing System", which specifically describes the structural design of the cutting assembly 200 and the material handling mechanism 300. In this solution, the subsequent core excavation mainly follows the solution of the cutting assembly 200 and the material handling mechanism 300.

[0059] In this embodiment, as Figure 3 As shown, there are two clamping mechanisms 500, and the distance between the two clamping mechanisms 500 is adjustable. Each clamping mechanism 500 is equipped with a rotatable gripper 504, which is used to clamp the single piece of material on the material picking mechanism 300. After this device, the subsequent devices are divided into two mirror-symmetrical ones, which are used to perform separate core removal processing on each piece of material at the same time.

[0060] like Figure 3As shown, the specific structure of the clamping mechanism 500 includes a mounting plate 501. Two rotary drive mechanisms 502 are mounted on the mounting plate 501 and slide on the same translation guide rail 505. The two rotary drive mechanisms 502 are connected by a lead screw 506. The rotary drive mechanisms 502 are connected to a drive motor 508 via a transmission belt 507. Under the drive of the drive motor 508, the two rotary drive mechanisms 502 can move closer or further apart. A clamping cylinder 503 is connected to the drive end of the rotary drive mechanism 502, and the output end of the clamping cylinder 503 is connected to... Since the two pieces of material held by the material-grabbing mechanism 300 are very close, the two rotary drive mechanisms 502 controlled by the drive motor 508 need to pick up each piece of material separately when they are close to each other. Moreover, according to the gripping state of the material-grabbing mechanism 300, the gripper 504 can only pick up the material conveniently when it is distributed in an up-down opening and closing pattern. The gripping cylinder 503 can control the gripping of the gripper 504, the rotary drive mechanism 502 can control the rotation of the gripping cylinder 503, and the drive motor 508 can control the distance between the two rotary drive mechanisms 502.

[0061] In this embodiment, as Figure 2 and 6 As shown, vision component 400 includes vision lenses 401 / 701 and supplementary lights 402 / 702. Vision lenses 401 / 701 are used to collect and record the shape and size of the material after it has been clamped by gripper 504. Supplementary lights 402 / 702 are used to supplement light and improve the illumination of the material. Vision component 400 is mainly used to collect the cross-sectional position of the material. Therefore, the cross-sectional of the material needs to be turned upward by rotating the clamping mechanism 500. Specifically, the dimensions collected by vision component 400 mainly include the outer dimensions of the material and the wall thickness from the outer wall to the core. This facilitates adaptive clamping based on the shape and wall thickness of the material during subsequent clamping, avoiding excessive force on the outer wall of the material that restricts the removal of the core. At the same time, the signals collected by vision component 400 are stored.

[0062] In this embodiment, as Figures 1-2 as well as Figure 4 As shown, the clamping mechanism 2 600 can move horizontally and is used to clamp and transfer single-petal material on the clamping mechanism 1 500. Specifically, the clamping mechanism 2 600 includes a horizontally arranged moving cylinder 1 601, a connecting seat 602 is slidably connected to the moving cylinder 1 601, and a clamping cylinder 2 603 is connected to the connecting seat 602. The output shaft of the clamping cylinder 2 603 is provided with a clamping jaw 3 604 for clamping. The clamping jaw 3 604 opens and closes in the material movement direction to clamp the material on the clamping mechanism 1 500 in the length direction (that is, the longest segment of the material), which facilitates subsequent clamping. Since the material is clamped in the length direction, the material can be clamped in the width direction for core removal operations.

[0063] In this embodiment, as Figure 5 As shown, the clamping mechanism 3 900 is used to clamp the single-petal material transferred from the clamping mechanism 2 600. The structure of the clamping mechanism 3 900 includes a gripper 4 901 and a clamping cylinder 3 902 that controls the opening and closing of the gripper 4 901 along the width direction of the material. At the same time, the drive motor 2 904 is connected to the side wall of the clamping cylinder 3 902 through the movable screw assembly 903 to adjust the front and rear position of the clamping cylinder 3 902, so as to facilitate docking with the subsequent core removal component 1000. In this embodiment, the clamping mechanism 3 900 is electrically connected to the vision component 1 400 to receive the visual information collected by the vision component 1 400. The opening and closing distance of the gripper 4 901 is the same as the distance in the width direction of the material, so that the gripper 4 901 clamps the material almost solely through friction. After clamping in this way, the core of the material can be avoided from being squeezed, which would make it inconvenient to remove the core.

[0064] In this embodiment, as Figure 2 and Figure 6 As shown, vision component 2 700 and vision component 1 400 have the same structure. They move simultaneously with clamping mechanism 2 600 and can collect and record the position coordinates of the kernel in the single-lobed material on clamping mechanism 3 900. Vision lenses 401 / 701 on vision component 2 700 collect and record the specific coordinate position of the kernel by establishing a coordinate system.

[0065] In this embodiment, as Figure 2 , Figure 4 and Figures 7-8 As shown, the core removal component 1000 is fixedly connected to the vision component 2 700 and electrically connected to the vision component 2 700. It is used to receive visual information collected by the vision component 2 700, and to perform multi-directional adjustment according to the position of the core in the single-lobed material and to grasp the core.

[0066] The specific structure of the core removal component 1000 includes a horizontally moving cylinder 1001. The output end of the cylinder 1001 is connected to a sliding seat. The sliding seat is slidably connected to the connecting rail 101 via a slider. The connecting rail 101 is fixed to the frame 100, which can improve the stability of the sliding seat. The sliding seat is connected to the movable frame 1003 via an adjusting slide rail 1008. At the same time, a drive motor 1010 is connected to the sliding seat. The drive shaft of the drive motor 1010 drives the movable frame 1003 to move in a direction perpendicular to the material movement via a gear and rack assembly 1009.

[0067] The inner wall of the first movable frame 1003 is provided with a second movable frame 1004 that can slide up and down. The upper end of the first movable frame 1003 is connected to a second lifting mechanism 1005 that drives the second movable frame 1004 to move up and down. The second movable frame 1004 is provided with a third drive motor 1006. The drive shaft of the third drive motor 1006 passes through the bottom wall of the second movable frame 1004 and is connected to a gear assembly 1007. The lower end of the gear assembly 1007 is connected to a fourth clamping cylinder 1013 through a connector. The output shaft of the fourth clamping cylinder 1013 is connected to a fifth gripper 1002 for core excavation.

[0068] The core removal component 1000 can adjust the left and right sides according to the core coordinate position collected by the vision component 2 700, adjust the height through the lifting mechanism 2 1005, adjust the rotation angle through the drive motor 3 1006, and finally remove the core by the gripper holding cylinder 4 1013.

[0069] like Figure 8 As shown, it also includes a core removal platform assembly 800, the structure of which includes a core removal platform 801 and a lifting mechanism 802 that can drive the core removal platform 801 to move vertically. The bearing surface of the core removal platform 801 is V-shaped to carry the cored material. The core removal platform 801 is fixed on a connecting plate 803, and the lifting mechanism 802 is fixed on a mounting base 804. The mounting base 804 is mounted on the frame 100. The connecting plate 803 is slidably connected to the mounting base 804 through a sliding shaft 805. The lifting mechanism 802 can drive the core removal platform 801 to move up and down stably to carry the material.

[0070] A telescopic cylinder 1011 is also connected to the side wall of the clamping cylinder 1013. The output shaft of the telescopic cylinder 1011 extends downward and is connected to a material ejector rod 1012. The material ejector rod 1012 is horizontally distributed and will eject the material located on the core removal platform 801 as the moving cylinder 1001 moves.

[0071] In this embodiment, as Figure 8 As shown, the gripping end of the five jaws 1002 is a pointed tip, and the five jaws 1002 are distributed in a "C" shape to store the ejector rod 1012 in the middle position of the five jaws 1002 to avoid interference.

[0072] The materials in the above embodiments include betel nuts, preserved plums, etc. The specific working principle is explained using betel nuts as an example:

[0073] After being cut by the cutting component 200, the raw areca nuts are moved to the position of the clamping mechanism 500 while maintaining their original posture by the material handling mechanism 300.

[0074] After confirming that the material handling mechanism 300 has moved into place, the two clamping mechanisms 500 will move to the cut seam position through the translation guide rail 505 and the lead screw 506 to clamp the two areca nut slices respectively. After clamping, they will rotate 90° to ensure that the inner cavity of the areca nut faces upward.

[0075] After the above rotation is completed, the upper vision component 400 will take a picture of the cut surface. The purpose of taking the picture is to confirm the actual size of the width of the areca nut cut surface after clamping, which will serve as the standard for subsequent clamping by the mechanism to maintain final consistency.

[0076] After the photo is taken, a horizontally moving clamping mechanism 2600 will move from the back of the equipment to above the clamping mechanism 1500, clamp the betel nut that has been photographed and move it to the subsequent kernel-digging station.

[0077] There is a clamping mechanism 3900 on the side of the core-digging station, which is used to connect with the clamping mechanism 2600 mentioned above. After it is confirmed that the clamping mechanism 3900 of the core-digging station has clamped the areca nut, the upper transverse mechanism moves to remove the next set of areca nut slices. At the same time, the vision component 2700 moves to the top of the core-digging station to take a picture of the clamped areca nut to confirm the coordinate size information of the areca nut kernel.

[0078] Below the pitting station is a pitting platform component 800, which serves as the leverage point for pitting. The platform is mounted on the lifting mechanism 802. Through the previous slicing process, the system can obtain the size information of the areca nut slices. After the clamping mechanism 900 clamps the areca nut, the lifting mechanism 802 adjusts the height of the pitting platform 801 to ensure that the cut surface of the areca nut slice is horizontally clamped at the pitting station.

[0079] The kernel removal component 1000 receives signals from the vision component 2 700 and adjusts according to the position of the kernel. It then removes the areca kernel through the clamping cylinder 4 1013 and the gripper 5 1002, while simultaneously moving backward to remove the kernel, thus completing the entire kernel removal process.

[0080] This invention features a compact and rational structure, and is easy to operate. By combining components such as the cutting assembly 200, the material handling mechanism 300, the first clamping mechanism 500, the first vision assembly 400, the second clamping mechanism 600, the third clamping mechanism 900, the second vision assembly 700, the pitting assembly 1000, and the pitting platform assembly 800, it can collect various size information of different areca nuts. Furthermore, it can adaptively adjust the grippers and pitting assembly for different areca nuts, achieving a series of automated operations from cutting the material to automatically positioning and removing the pit. This improves work efficiency and pitting effect, making it highly practical. The entire device is compact, integrating multiple devices together. In particular, the pitting assembly 1000 integrates multi-directional movement, enabling simultaneous multi-directional operation and minimizing the occupied area.

[0081] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A fully automatic core-digging machine, including a frame (100), characterized in that, Also includes those connected to the rack (100): Material handling mechanism (300) is used to grip and transfer materials before and after cutting; There are two clamping mechanisms (500), each with a rotatable gripper (504) for gripping single pieces of material from the material handling mechanism (300). Vision component one (400) is used to collect and record the shape and size of the material after it has been gripped by gripper two (504); Clamping mechanism two (600) is capable of horizontal movement and is used to clamp and transfer single-petal material on clamping mechanism one (500); Clamping mechanism three (900) is used to clamp the single-petal material transferred from clamping mechanism two (600); Vision component two (700) moves simultaneously with clamping mechanism two (600) and can collect and record the position coordinates of the core in the single-lobed material on clamping mechanism three (900); The core removal component (1000) is fixedly connected to the vision component (700) and can be multi-directionally adjusted according to the position of the core in the single-lobe material and can grasp the core. The core removal component (1000) includes a horizontally movable cylinder two (1001). The output end of the movable cylinder two (1001) is connected to a sliding seat. The sliding seat is slidably connected to a connecting rail (101) via a slider. The connecting rail (101) is fixed to the frame (100). The sliding seat is connected to a movable frame one (1003) via an adjusting slide rail (1008). At the same time, a drive motor four (1010) is connected to the sliding seat. The drive shaft of the drive motor four (1010) drives the movable frame one (1003) to move in a direction perpendicular to the material movement via a gear and rack assembly (1009). The movable frame one (1003)... 03) has a movable frame 2 (1004) that can slide up and down on its inner wall. The upper end of the movable frame 1 (1003) is connected to a lifting mechanism 2 (1005) that drives the movable frame 2 (1004) to move up and down. The movable frame 2 (1004) has a drive motor 3 (1006) inside. The drive shaft of the drive motor 3 (1006) passes through the bottom wall of the movable frame 2 (1004) and is connected to a gear assembly (1007). The lower end of the gear assembly (1007) is connected to a clamping cylinder 4 (1013) through a connector. The output shaft of the clamping cylinder 4 (1013) is connected to a jaw 5 (1002) for core excavation. The de-kerneling component (1000) is electrically connected to the vision component two (700) and can adjust its position according to the kernel coordinate position collected by the vision component two (700); The clamping mechanism three (900) includes a gripper four (901) and a clamping cylinder three (902) that controls the gripper four (901) to open and close along the width direction of the material. At the same time, a drive motor two (904) is connected to the side wall of the clamping cylinder three (902) through a movable lead screw assembly (903) to adjust the front and rear positions of the clamping cylinder three (902). The clamping mechanism three (900) is electrically connected to the vision component one (400) to receive the visual information collected by the vision component one (400). The opening and closing distance of the gripper four (901) is the same as the distance in the width direction of the material.

2. The fully automatic core-digging machine as described in claim 1, characterized in that: It also includes a core removal platform component (800), the structure of which includes a core removal platform (801) and a lifting mechanism (802) capable of driving the core removal platform (801) to move vertically. The bearing surface of the core removal platform (801) is V-shaped to bear the core removal material.

3. The fully automatic core-digging machine as described in claim 1, characterized in that: The number of each of the clamping mechanism 1 (500), vision component 1 (400), clamping mechanism 2 (600), clamping mechanism 3 (900), vision component 2 (700), core removal component (1000), and core removal platform component (800) is two, and the two structures are mirror-symmetrical, used to remove the core from single-petal materials individually.

4. The fully automatic core-digging machine as described in claim 3, characterized in that: The clamping mechanism 1 (500) includes a mounting plate (501). The mounting plate (501) is provided with two rotary drive mechanisms (502) that slide on the same translation guide rail (505). The two rotary drive mechanisms (502) are connected by a lead screw (506). The rotary drive mechanism (502) is connected to the drive motor 1 (508) through a transmission belt (507). Under the drive of the drive motor 1 (508), the two rotary drive mechanisms (502) can move closer or further apart. The drive end of the rotary drive mechanism (502) is connected to a clamping cylinder 1 (503), and the output end of the clamping cylinder 1 (503) is connected to a gripper 2 (504).

5. The fully automatic core-digging machine as described in claim 1, characterized in that: The visual component 2 (700) and visual component 1 (400) have the same structure, both including a visual lens (401 / 701) and a supplementary light (402 / 702). The visual lens (401 / 701) is used for acquisition and recording, and the supplementary light (402 / 702) is used for supplementary lighting.

6. The fully automatic core-digging machine as described in claim 4, characterized in that: The clamping mechanism two (600) includes a horizontally arranged movable cylinder one (601), a connecting seat (602) is slidably connected to the movable cylinder one (601), and a clamping cylinder two (603) is connected to the connecting seat (602). A clamping jaw three (604) for clamping is provided on the output shaft of the clamping cylinder two (603). The clamping jaw three (604) opens and closes in the material movement direction to clamp the material on the clamping mechanism one (500) in the length direction.

7. The fully automatic core-digging machine as described in claim 1, characterized in that: A telescopic cylinder (1011) is also connected to the side wall of the clamping cylinder four (1013), and the output axis of the telescopic cylinder (1011) extends downward and is connected to a material ejection rod (1012). The material ejection rod (1012) is horizontally distributed and will remove the material on the core removal platform (801) as the moving cylinder two (1001) moves. The clamping end of the gripper five (1002) is a pointed tip, and the gripper five (1002) is distributed in a "C" shape, which is used to store the material ejection rod (1012) in the middle position of the gripper five (1002) to avoid interference.

Images