Automatic profiling walnut shell breaking device and method

Abstract

The application discloses an automatic profiling walnut shell breaking device and a shell breaking method, and relates to the walnut processing field.The device comprises a supporting mechanism, a spherical shell, a controller and a plurality of extrusion mechanisms.The extrusion mechanism comprises a linear telescopic component, an extrusion rod and a force sensing component.The spherical shell is arranged on the supporting mechanism, and the spherical shell is provided with a feeding port.A plurality of linear telescopic components are arranged on the spherical shell.The telescopic rods of the linear telescopic components are located in the interior of the spherical shell and have the same axial direction as the radial direction of the spherical shell.The end of the telescopic rod of each linear telescopic component is connected with an extrusion rod through a force sensing component.All the linear telescopic components and the force sensing components are connected with the controller.In the application, the walnut shell is broken by profiling the envelope of the walnut shape and directional extrusion, so that the precision of the shell breaking is improved, and the walnut fruit is not easily damaged or broken.

Description

An automatic walnut shell-cracking device and method Technical Field

[0001] This invention relates to the field of walnut processing, and in particular to an automatic walnut shell-breaking device and method that mimics the shape of the walnut. Background Technology

[0002] Because walnuts have hard shells, they need to be cracked during processing. Currently, most cracking is done manually, with some mechanical assistance. Existing cracking technology is relatively crude, unable to precisely control the optimal cracking position or the cracking force. Its cracking accuracy is low, easily damaging and crushing the walnut kernels, which increases labor costs and reduces the edible value of walnuts. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides an automatic walnut shell-breaking device and method that improves the accuracy of shell breaking and makes it less likely to damage or crush the walnut kernel.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides an automatic contour-following walnut shell-cracking device, comprising a support mechanism, a spherical shell, a controller, and multiple extrusion mechanisms. Each extrusion mechanism includes a linear telescopic component, an extrusion rod, and a force-sensing component. The spherical shell is mounted on the support mechanism and has an inlet. Multiple linear telescopic components are mounted on the spherical shell, with the telescopic rod of each component located inside the spherical shell and its axial direction aligned with the radial direction of the shell. The end of the telescopic rod of each component is connected to an extrusion rod via a force-sensing component. All linear telescopic components and all force-sensing components are connected to the controller.

[0006] Preferably, the outer shell of each linear telescopic component is fixed to the outer surface of the spherical shell, and the telescopic rod of each linear telescopic component can extend into the interior of the spherical shell.

[0007] Preferably, the linear telescopic component is a linear push rod motor or a hydraulic push rod.

[0008] Preferably, the force sensing component is a force sensor.

[0009] Preferably, the support mechanism includes a base plate and a support frame disposed on the upper part of the base plate, and the spherical shell is disposed on the support frame.

[0010] Preferably, the support frame includes a plurality of support columns, one end of each support column is connected to the base plate, and the other end of each support column is connected to the spherical shell.

[0011] Preferably, the controller is mounted on the base plate.

[0012] Preferably, the inlet is located at the upper end of the spherical shell.

[0013] This invention also provides a shell-breaking method based on an automatic contour-following walnut shell-breaking device, comprising the following steps:

[0014] Step 1: Place the walnut into the spherical shell through the feed port. After placement, the controller controls the telescopic rods of multiple linear telescopic components to begin extending and retracting. The squeezing rod corresponding to the linear telescopic component contacts the surface of the walnut. When the force value measured by the force sensing component corresponding to the linear telescopic component reaches the preset force value, the loading of the telescopic rod of the linear telescopic component is stopped.

[0015] Step 2: The controller performs envelope fitting based on the extension distance of the telescopic rod of the linear telescopic component to determine the position of the walnut's center seam.

[0016] Step 3: The controller controls the telescopic rod of the linear telescopic component corresponding to the center seam of the walnut to continue loading, so that the walnut cracks open from the center seam.

[0017] The present invention achieves the following technical effects compared to the prior art:

[0018] This invention relates to an automatic walnut shell-breaking device that employs biomimetic principles and methods. It constructs a multi-angle, all-space compression mechanism to fit the surface contour of the walnut. The device automatically determines the position of the walnut's symmetrical midline by adjusting the extension distance of each telescopic rod. A controller then autonomously extends the telescopic rod at the midline to compress the walnut, thus breaking the shell. This invention utilizes an envelope-like contouring technique and directional compression to apply precise force to the walnut's midline, achieving accurate shell breaking. This allows for precise control of the optimal shell-breaking position and force, improving accuracy, minimizing damage to the walnut kernel, reducing operating costs, and enhancing the edible value of the walnut. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a schematic diagram of the automatic contour-following walnut shell-breaking device provided by the present invention;

[0021] Figure 2 is a schematic diagram of the internal structure of the automatic contour-following walnut shell-breaking device provided by the present invention.

[0022] Figure 3 is a schematic diagram of the extrusion mechanism in the automatic contour-following walnut shell-breaking device provided by the present invention.

[0023] Explanation of reference numerals in the attached drawings: 100, Automatic contour-following walnut shell-cracking device; 1, Base plate; 2, Support column; 3, Controller; 4, Spherical shell; 5, Feed inlet; 6, Linear telescopic component; 61, Outer shell; 62, Telescopic rod; 7, Force sensing component; 8, Extrusion rod. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The purpose of this invention is to provide an automatic walnut shell-breaking device and method that improves the accuracy of shell breaking and reduces the risk of damaging or crushing the walnut kernel.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] As shown in Figures 1-3, this embodiment provides an automatic contour-following walnut shell-breaking device 100, including a support mechanism, a spherical shell 4, a controller 3, and multiple extrusion mechanisms. Each extrusion mechanism includes a linear telescopic component 6, an extrusion rod 8, and a force sensing component 7. The spherical shell 4 is mounted on the support mechanism and has an inlet 5. Multiple linear telescopic components 6 are mounted on the spherical shell 4. The telescopic rod 62 of each linear telescopic component 6 is located inside the spherical shell 4, and its axial direction is consistent with the radial direction of the spherical shell 4. The end of the telescopic rod 62 of each linear telescopic component 6 is connected to an extrusion rod 8 via a force sensing component 7. The central axis of each extrusion rod 8 is collinear with the central axis of the telescopic rod 62 of a linear telescopic component 6. All linear telescopic components 6 and all force sensing components 7 are connected to the controller 3, which controls the extension and retraction of the telescopic rod 62 of the linear telescopic components 6.

[0028] Specifically, the outer shell 61 of each linear telescopic component 6 is fixed to the outer surface of the spherical shell 4. The spherical shell 4 is provided with a circular hole through which the telescopic rod 62 of the linear telescopic component 6 passes. The telescopic rod 62 of each linear telescopic component 6 can pass through a circular hole and extend into the interior of the spherical shell 4.

[0029] In this specific embodiment, the outer shell 61 of the linear telescopic component 6 is fixed to the outer surface of the spherical shell 4 by a plurality of bolts.

[0030] In this embodiment, multiple linear telescopic components 6 are evenly distributed along the spherical surface of the spherical shell 4.

[0031] In this specific embodiment, the linear telescopic component 6 is a linear push rod motor or a hydraulic push rod.

[0032] In this specific embodiment, the force sensing component 7 is a force sensor.

[0033] Specifically, the support mechanism includes a base plate 1 and a support frame disposed on the upper part of the base plate 1, with a spherical shell 4 disposed on the support frame. In this embodiment, the spherical shell 4 is fixed to the upper end of the support frame.

[0034] The support frame includes multiple support columns 2, one end of each support column 2 is connected to the base plate 1, and the other end of each support column 2 is connected to the spherical shell 4. The multiple support columns 2 achieve stable support for the spherical shell 4.

[0035] In this specific embodiment, the support frame includes four inclined support columns 2. The support columns 2 in this embodiment are hollow structures.

[0036] Specifically, the controller 3 is mounted on the base plate 1.

[0037] Specifically, the feed inlet 5 is located at the upper end of the spherical shell 4, and the feed inlet 5 is a circular opening.

[0038] This embodiment also provides a shell-breaking method based on an automatic contour-following walnut shell-breaking device 100, including the following steps:

[0039] Step 1: Place the walnuts into the spherical shell 4 through the inlet 5. After placement, the controller 3 controls the telescopic rods 62 of multiple linear telescopic components 6 to extend and retract. The pressing rods 8 corresponding to the linear telescopic components 6 contact the surface of the walnuts. When the force value measured by the force sensing component 7 corresponding to the linear telescopic components 6 reaches the preset force value, the loading of the telescopic rods 62 of the linear telescopic components 6 stops. Specifically, the walnuts can be placed into the spherical shell 4 manually or by an automated device through the inlet 5. After placement, the telescopic rods 62 of the linear telescopic components 6 located at the bottom of the spherical shell 4 support the walnuts.

[0040] Step 2: The controller 3 performs envelope fitting based on the extension distance of the telescopic rod 62 of the linear telescopic component 6 to determine the position of the walnut's center seam. Specifically, the initial extension distance of the telescopic rod 62 of the linear telescopic component 6 is known, that is, the initial position of the end of the extrusion rod 8 is known. After the telescopic rod 62 of the linear telescopic component 6 has extended and stopped loading, the extension distance of the telescopic rod 62 of the linear telescopic component 6 is known, that is, the stopping position of the end of the extrusion rod 8 is also known. Envelope fitting is performed based on the contact positions of multiple extrusion rods 8 with the surface of the walnut to simulate the shape of the walnut and determine the position of the walnut's center seam.

[0041] Step 3: The controller 3 controls the extension rod 62 of the linear extension component 6 corresponding to the center seam of the walnut to continue loading, so that the walnut can crack open from the center seam. The controller 3 immediately stops squeezing after the walnut is cracked according to the mechanical signal transmitted by the force sensing component 7, that is, immediately stops loading the extension rod 62 of the linear extension component 6 corresponding to the center seam of the walnut, so as to achieve the maximum efficiency of cracking with minimal damage to the walnut kernel.

[0042] During the compression process in step three, all linear telescopic components 6 except for the one corresponding to the center seam of the walnut maintain their current force value, thus ensuring that other parts of the walnut are not damaged. It should be noted that in this embodiment, the walnut is not completely shattered, but rather broken open and cracked.

[0043] In this embodiment, a biomimetic approach is adopted to construct a multi-angle, full-space extrusion mechanism to fit the surface contour of the walnut. The position of the symmetrical seam of the walnut is automatically determined by the extension distance of each telescopic rod 62. Then, the controller 3 autonomously drives the telescopic rod 62 at the seam position to extend so that the extrusion rod 8 can squeeze the walnut and break the shell.

[0044] As can be seen, this embodiment uses the shape-enveloping contour of the walnut and directional extrusion to apply precise force to the walnut at its center line to achieve the purpose of cracking the shell. It can accurately control the optimal cracking position of the walnut and accurately control the cracking force, thereby improving the cracking accuracy and reducing the risk of damaging or crushing the walnut kernel. It can carry out cracking with maximum efficiency while minimizing damage to the walnut kernel, reducing labor costs and improving the edible value of the walnut. It solves the problems of existing cracking methods that easily damage the walnut kernel and cause breakage or damage to the kernel due to random extrusion.

[0045] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic contour-following walnut shell-cracking device, characterized in that, The device includes a support mechanism, a spherical shell, a controller, and multiple extrusion mechanisms. Each extrusion mechanism includes linear telescopic components, extrusion rods, and force sensing components. The spherical shell is mounted on the support mechanism and has an inlet. Multiple linear telescopic components are mounted on the spherical shell, with the telescopic rods of each component located inside the spherical shell and their axial directions aligned with the radial direction of the shell. The ends of the telescopic rods of each component are connected to an extrusion rod via a force sensing component. All linear telescopic components and all force sensing components are connected to the controller. This creates a multi-angle, full-space extrusion mechanism to fit the surface contour of a walnut. The controller automatically determines the position of the symmetry plane's center seam of the walnut by measuring the telescopic distance of each rod. Then, the controller autonomously drives the telescopic rod at the center seam to extend, causing the extrusion rod to press the walnut and break its shell.

2. The automatic contour-following walnut shell-cracking device according to claim 1, characterized in that, The outer shell of each linear telescopic component is fixed to the outer surface of the spherical shell, and the telescopic rod of each linear telescopic component can extend into the interior of the spherical shell.

3. The automatic contour-following walnut shell-cracking device according to claim 1, characterized in that, The linear telescopic component is a linear push rod motor or a hydraulic push rod.

4. The automatic contour-following walnut shell-cracking device according to claim 1, characterized in that, The force sensing component is a force sensor.

5. The automatic contour-following walnut shell-cracking device according to claim 1, characterized in that, The support mechanism includes a base plate and a support frame disposed on the upper part of the base plate, and the spherical shell is disposed on the support frame.

6. The automatic contour-following walnut shell-cracking device according to claim 5, characterized in that, The support frame includes multiple support columns, one end of each support column is connected to the base plate, and the other end of each support column is connected to the spherical shell.

7. The automatic contour-following walnut shell-cracking device according to claim 5, characterized in that, The controller is mounted on the base plate.

8. The automatic contour-following walnut shell-cracking device according to claim 1, characterized in that, The feed inlet is located at the upper end of the spherical shell.

9. A method for cracking walnuts based on the automatic contour-following walnut cracking device according to any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Place the walnut into the spherical shell through the inlet. After placement, the controller controls the telescopic rods of multiple linear telescopic components to extend and retract. The pressing rod corresponding to each linear telescopic component contacts the surface of the walnut. When the force value measured by the force sensing component corresponding to each linear telescopic component reaches a preset force value, the loading of the telescopic rods of the linear telescopic components stops. Step 2: The controller performs envelope fitting based on the extension distance of the telescopic rods of the linear telescopic components to determine the center seam position of the walnut. Step 3: The controller controls the telescopic rods of the linear telescopic components corresponding to the center seam position of the walnut to continue loading, so that the walnut cracks open from the center seam position.

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