Full-automatic horse hoof peeling device

Abstract

The present application relates to a kind of full-automatic horse hoof peeling device, including rack, intermittent pushing mechanism, visual detection mechanism, horse hoof rotating lifting mechanism, horse hoof side cutting mechanism, horse hoof bottom peeling mechanism, horse hoof top peeling mechanism;Along the conveying direction of intermittent pushing mechanism from front to back, visual detection mechanism, horse hoof rotating lifting mechanism, horse hoof top peeling mechanism are sequentially arranged above intermittent pushing mechanism;Horse hoof rotating lifting mechanism, horse hoof side cutting mechanism, horse hoof bottom peeling mechanism are sequentially arranged from top to bottom.The present application can realize the lateral peeling of horse hoof, bottom tip, bottom cutting, top cutting, except that it needs artificial feeding at the beginning, other steps are automated operation, no longer need artificial transfer horse hoof in different processes, degree of automation is high, belong to horse hoof processing equipment technical field.

Description

Technical Field

[0001] This invention relates to water chestnut processing equipment, specifically to a fully automatic water chestnut peeling device. Background Technology

[0002] Water chestnuts are plants belonging to the Cyperaceae family and the genus *Cypripedium*. They are usually eaten for their enlarged underground bulbs, which can be eaten raw, cooked, or used in cooking.

[0003] Currently, the processing of water chestnuts is quite troublesome, and manual peeling is mostly used. During the peeling process, the peel at both ends of the water chestnut needs to be removed, and the peel on the side wall of the cylindrical shape also needs to be removed. The peeling efficiency is low, the loss of pulp is large, and the peeling rate is low.

[0004] A small number of mechanical peeling devices exist in the current technology, including household peelers and semi-automatic industrial peelers. The main problem with semi-automatic water chestnut peelers is:

[0005] (1) Incomplete removal of the skin: Some water chestnut peeling machines may not be able to completely remove the skin of the water chestnut during the peeling process, which requires users to do extra peeling work or use other methods to supplement the peeling.

[0006] (2) Low level of automation: Most existing hoof machines are semi-automatic, some processes require manual operation, and the hoofs need to be transferred between machines. As labor costs increase, the labor costs of merchants increase year by year.

[0007] (3) Fruit pulp damage: Although some models claim a peeling rate of over 98%, the actual yield may be affected by various factors, such as the size and variety of the water chestnut, machine adjustments, and usage methods. The peeling process can damage some of the fruit pulp, thus affecting the quality and appearance of the water chestnut. Summary of the Invention

[0008] In view of the technical problems existing in the prior art, the purpose of this invention is to provide a fully automatic water chestnut peeling device with a high degree of automation.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A fully automatic water chestnut peeling device includes a frame, an intermittent pushing mechanism, a vision inspection mechanism, a water chestnut rotation and lifting mechanism, a water chestnut side cutting mechanism, a water chestnut bottom peeling mechanism, and a water chestnut top peeling mechanism. Along the conveying direction of the intermittent pushing mechanism from front to back, the vision inspection mechanism, the water chestnut rotation and lifting mechanism, and the water chestnut top peeling mechanism are sequentially arranged above the intermittent pushing mechanism. The water chestnut rotation and lifting mechanism, the water chestnut side cutting mechanism, and the water chestnut bottom peeling mechanism are arranged sequentially from top to bottom.

[0011] As a preferred embodiment, the intermittent pushing mechanism includes a stepper electric cylinder, a pushing rod, a pushing rod fixing slot, a bottom flow strip, and side flow strips. The side flow strips and bottom flow strips on both sides form a trough structure. The pushing rod fixing slot, which supports the horseshoe, is positioned within the trough structure and moves back and forth along the trough structure. Multiple pushing rods are arranged sequentially from front to back and are rotatably mounted on the upper end of the pushing rod fixing slot. The extreme position of upward rotation is a position tilted from the lower front to the upper rear. The stepper electric cylinder drives the pushing rod fixing slot to reciprocate. A rectangular frame is provided in the middle of the pushing rod fixing slot, which is positioned directly opposite the horseshoe rotation and lifting mechanism for the horseshoe to move up and down.

[0012] As a preferred embodiment, the bottom flow strip and the side flow strip have the same structure, both including a plate and multiple rollers. The multiple rollers are arranged sequentially along the front-to-back direction and installed on the plate. The outer side of the push rod fixing groove is in contact with the roller, so that the push rod fixing groove slides along the roller.

[0013] As a preferred embodiment, the visual inspection mechanism includes a visual camera that detects the position of the horseshoe axis; the visual camera is located directly above the intermittent pushing mechanism.

[0014] As a preferred embodiment, the horseshoe-shaped rotating lifting mechanism includes a main fixed plate, horseshoe-shaped limiting guide plates, a transverse cylinder, horseshoe-shaped support plates, a stepper electric cylinder, an electric cylinder mounting plate, a DC geared motor, a motor mounting bracket, a chuck, a pin, and an ejection structure for removing the horseshoe from the pin. Two horseshoe-shaped support plates are symmetrically arranged with a gap in the middle to accommodate the horseshoe tip. The horseshoe-shaped support plates are controlled by the transverse cylinder to open laterally or close inward. A rectangular frame is located below the two horseshoe-shaped support plates. Pairs of horseshoe-shaped limiting guide plates are provided on both the front and rear sides of the two horseshoe-shaped support plates. These guide plates are symmetrically arranged with a gap in the middle for the push rod to pass through. The horseshoe-shaped limiting guide plates are fixed to the frame by the main fixed plate. The stepper electric cylinder of the horseshoe-shaped rotating lifting mechanism is mounted on the frame via the electric cylinder mounting plate. The push rod of the stepper electric cylinder, the motor mounting bracket, and the DC geared motor are connected in sequence. The DC geared motor, the chuck, the ejection structure, and the pin are connected in sequence.

[0015] As a preferred embodiment, the main fixing plate and the horseshoe-shaped limiting guide plate are connected in an adjustable manner; the main fixing plate is provided with multiple mounting holes, and the horseshoe-shaped limiting guide plate is provided with two or more strip holes, the length direction of which is set along the left and right direction.

[0016] As a preferred embodiment, the horseshoe-shaped side cutting mechanism includes a cylinder mounting plate, a feed cylinder, a feed assembly, a cutting tool holder, a cutting blade, and a DC motor electric cylinder. The feed cylinder is mounted on the frame via the cylinder mounting plate, and its push rod connects to the feed assembly, driving the feed assembly to reciprocate. The feed assembly includes a tool holder connector, which is connected to the cutting tool holder via a first rotating part. One end of the cutting tool holder is connected to the DC motor electric cylinder via a second rotating part, and the other end of the DC motor electric cylinder is connected to the tool holder connector via a third rotating part. The extension and retraction of the DC motor electric cylinder causes the cutting tool holder to rotate around the first rotating part. The cutting blade is mounted on the cutting tool holder.

[0017] As a preferred embodiment, the feed assembly includes a slide rail fixing plate, a slide rail, a slider, and a plunger spring. The slide rail fixing plate is connected to the push rod of the feed cylinder. The slide rail is mounted on the slide rail fixing plate, and the slider cooperates with the slide rail, moving along the slide rail. The slide rail fixing plate is equipped with a plunger spring that pushes the slider in the feed direction. The tool holder connector is fixedly connected to the slider.

[0018] As a preferred embodiment, the water chestnut bottom peeling mechanism includes a cutting blade holder, a first cutting blade fixing plate, a first cutting blade, a second cutting blade fixing plate, and a second cutting blade. The cutting blade holder has a recessed portion in the middle. The first cutting blade is mounted on the cutting blade holder through the first cutting blade fixing plate, and the first cutting blade extends into the upper end of the recessed portion from one side. The second cutting blade is mounted on the cutting blade holder through the second cutting blade fixing plate, and the second cutting blade extends into the upper end of the recessed portion from the other side. The first cutting blade is flat and used to cut the bottom of the water chestnut. The second cutting blade is pointed and used to remove the tip of the water chestnut. The second cutting blade is higher than the first cutting blade. The bottom of the recessed portion includes two inclined surfaces that guide the peel outward.

[0019] As a preferred embodiment, the horseshoe-top peeling mechanism includes a displacement sensor, a tension spring, a horseshoe height measuring plate, a stepper motor, a lead screw and slider mechanism, a motor base, a high-speed cutter motor, and a disc cutter. The displacement sensor is mounted on the frame, and its lower end is connected to the horseshoe height measuring plate via a tension spring. The horseshoe height measuring plate triggers the displacement sensor to obtain the horseshoe height signal to control the lifting and lowering of the disc cutter. The stepper motor is mounted on the frame and drives the motor base to lift and lower via the lead screw and slider mechanism. The high-speed cutter motor is mounted on the motor base, and the disc cutter is connected to the high-speed cutter motor.

[0020] The principle of this invention is as follows: A fully automated production line is designed, which connects a vision inspection mechanism, a horseshoe rotation and lifting mechanism, a horseshoe side cutting mechanism, a horseshoe bottom peeling mechanism, and a horseshoe top peeling mechanism in series via an intermittent pushing mechanism. Furthermore, the intermittent pushing mechanism, the horseshoe side cutting mechanism, the horseshoe bottom peeling mechanism, and the horseshoe top peeling mechanism are optimized to achieve better cutting results.

[0021] The present invention has the following advantages:

[0022] 1. It can achieve lateral peeling, bottom tip removal, bottom cutting, and top cutting of water chestnuts. Except for the initial manual feeding, all other steps are automated. There is no need for manual transfer of water chestnuts between different processes, and the degree of automation is high.

[0023] 2. An intermittent pushing mechanism is used to transport the horseshoes, ensuring that the horseshoes are transported one by one in an orderly manner, and the horseshoes can be efficiently connected between different processes.

[0024] 3. The roller-type flow bar structure ensures smooth and stable operation of the push rod fixing groove, while the side flow bar can also serve as the left and right side guard plates for the horseshoe transport.

[0025] 4. A vision camera is used to acquire the position and size information of the horseshoe shaft in a non-contact manner. The reciprocating stroke of the intermittent pushing mechanism is adjusted according to the shaft position, and the feed rate and cutting angle of the horseshoe side cutting mechanism are adjusted according to the size information to achieve precise cutting and ensure the quality of side peeling.

[0026] 5. The horseshoe-shaped rotating lifting mechanism is equipped with a horseshoe-shaped support plate for opening and closing the door, which is better integrated with the intermittent pushing mechanism.

[0027] 6. The horseshoe rotation and lifting mechanism is equipped with an adjustable horseshoe limit guide plate structure, which can be well connected with the intermittent pushing mechanism and can adapt to horseshoes of different sizes.

[0028] 7. The horseshoe side cutting mechanism controls the swing angle of the cutter through a DC motor electric cylinder, so that the cutter can adjust the angle in real time during side cutting to adapt to the side shape of the horseshoe, which can improve the peeling rate, speed up the operation and reduce the loss of fruit pulp.

[0029] 8. The buffered feed assembly is adopted. Under the action of the plunger spring, the cutter is kept pressed against the side of the horseshoe. At the same time, the spring has a buffering effect, so the position of the cutter can be finely adjusted within the buffer stroke of the spring. The cutter can be adaptively adjusted according to the size and diameter of the horseshoe. Horseshoes of different diameters in the same batch can be cut.

[0030] 9. The water chestnut bottom peeling mechanism has a double cutter. The first cutter is used to cut the bottom of the water chestnut, and the second cutter is used to remove the tip of the water chestnut. Compared with the method of cutting the bottom and tip in one cut, the loss of fruit pulp is small.

[0031] 10. The horseshoe top peeling mechanism can automatically detect the height of the horseshoe and adjust the position of the disc cutter for more precise cutting.

[0032] 11. The fully automatic water chestnut peeling device has efficient and fast peeling capabilities, which can significantly improve production efficiency and meet market demand for processed water chestnut products.

[0033] 12. By precisely controlling the peeling process, damage to the fruit pulp and peel residue are reduced, thus improving the yield rate, which can usually reach about 95-98%, meeting market demand.

[0034] 13. Through automated and intelligent design, the problems of high labor intensity, low production efficiency, large footprint, high power consumption, cumbersome operation, low yield, safety issues, and difficult cleaning that exist in traditional water chestnut peeling methods have been solved. Attached Figure Description

[0035] Figure 1 This is a 3D view of a fully automatic water chestnut peeling device.

[0036] Figure 2 It is a 3D diagram of an intermittent pushing mechanism.

[0037] Figure 3 This is a structural diagram of some parts of the intermittent pushing mechanism.

[0038] Figure 4 This is a magnified view of a portion of the intermittent pushing mechanism.

[0039] Figure 5 This is a 3D diagram of a horseshoe-shaped rotating lifting mechanism.

[0040] Figure 6 This is a three-dimensional diagram of the horseshoe-shaped side cutting mechanism.

[0041] Figure 7 This is a three-dimensional view of the horseshoe-shaped side cutting mechanism from another perspective.

[0042] Figure 8 This is a schematic diagram of the structure of some parts of the horseshoe-shaped side cutting mechanism.

[0043] Figure 9 This is a schematic diagram of the structure of some parts of the horseshoe-shaped side cutting mechanism.

[0044] Figure 10 This is a 3D diagram of the peeling mechanism at the bottom of a horseshoe.

[0045] Figure 11 This is a 3D diagram of the peeling mechanism at the top of a horseshoe.

[0046] Figure 12 This is a magnified view of a portion of the pin.

[0047] In the diagram, 1 is the frame, 2 is the intermittent pushing mechanism, 3 is the vision inspection mechanism, 4 is the horseshoe rotation and lifting mechanism, 5 is the horseshoe side cutting mechanism, 6 is the horseshoe bottom peeling mechanism, 7 is the horseshoe top peeling mechanism, and 8 is the horseshoe.

[0048] 2-1 is a stepper electric cylinder, 2-2 is a push rod, 2-3 is a push rod fixing groove, 2-4 is a bottom flow strip, 2-5 is a side flow strip, 2-6 is a rectangular frame, and 2-7 is a roller.

[0049] 4-1 is the main fixing plate, 4-2 is the horseshoe limit guide plate, 4-3 is the transverse cylinder, 4-4 is the horseshoe support plate, 4-5 is the stepper electric cylinder, 4-6 is the electric cylinder mounting plate, 4-7 is the DC geared motor, 4-8 is the motor mounting bracket, 4-9 is the chuck, 4-10 is the pin, and 4-11 is the ejection structure.

[0050] 5-1 is the cylinder mounting plate, 5-2 is the feed cylinder, 5-3 is the cutting tool holder, 5-4 is the cutting blade, 5-5 is the DC motor electric cylinder, 5-6 is the tool holder connector, 5-7 is the slide rail, 5-8 is the slider, 5-9 is the plunger spring, 5-10 is the L-shaped plate, 5-11 is the plunger spring mounting plate, 5-12 is the first rotating part, 5-13 is the second rotating part, 5-14 is the third rotating part, 5-15 is the first extension section, and 5-16 is the second extension section.

[0051] 6-1 is the cutting tool holder, 6-2 is the first cutting tool fixing plate, 6-3 is the first cutting tool, 6-4 is the second cutting tool fixing plate, 6-5 is the second cutting tool, 6-6 is the recessed part, and 6-7 is the inclined surface.

[0052] 7-1 is a displacement sensor, 7-2 is a tension spring, 7-3 is a horseshoe-shaped height measuring plate, 7-4 is a stepper motor, 7-5 is a lead screw and slider mechanism, 7-6 is a motor base, 7-7 is a high-speed cutter motor, and 7-8 is a disc cutter. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to specific embodiments.

[0054] A fully automatic water chestnut peeling device includes a frame, an intermittent pushing mechanism, a vision inspection mechanism, a water chestnut rotation and lifting mechanism, a water chestnut side cutting mechanism, a water chestnut bottom peeling mechanism, and a water chestnut top peeling mechanism. Along the conveying direction from front to back of the intermittent pushing mechanism, the vision inspection mechanism, the water chestnut rotation and lifting mechanism, and the water chestnut top peeling mechanism are sequentially arranged above the intermittent pushing mechanism. The water chestnut rotation and lifting mechanism, the water chestnut side cutting mechanism, and the water chestnut bottom peeling mechanism are arranged sequentially from top to bottom, wherein the water chestnut side cutting mechanism and the water chestnut bottom peeling mechanism are located below the intermittent pushing mechanism.

[0055] The following will provide a detailed introduction to each component.

[0056] (1) Frame

[0057] It is constructed using aluminum profiles, and various mechanisms are mounted on the frame.

[0058] (2) Intermittent pushing mechanism

[0059] The intermittent pushing mechanism includes a stepper electric cylinder, a pushing rod, a pushing rod fixing slot, a bottom flow strip, and side flow strips. The side flow strips and bottom flow strips form a trough structure. The pushing rod fixing slot, which supports the horseshoe, is positioned within the trough structure and moves back and forth along the trough structure. Multiple pushing rods are arranged sequentially from front to back and are rotatably mounted on the upper end of the pushing rod fixing slot. The extreme position of upward rotation is a position tilted from the lower front to the upper rear. The stepper electric cylinder drives the pushing rod fixing slot to reciprocate. A rectangular frame is provided in the middle of the pushing rod fixing slot, which is positioned opposite the horseshoe rotation and lifting mechanism for the horseshoe to move up and down.

[0060] The bottom flow strip and the side flow strip have the same structure, both including a plate and multiple rollers. The multiple rollers are arranged in sequence along the front and back direction and installed on the plate. The outer side of the push rod fixing groove is in contact with the roller, so that the push rod fixing groove slides along the roller.

[0061] In this embodiment, a stepper electric cylinder is positioned in front of the push rod fixing slot, driving the push rod fixing slot to reciprocate back and forth. As the driving device for the push rod fixing slot, the stepper electric cylinder features fast response speed and high control precision. With the cooperation of both, the mechanism employs a precise guiding and positioning device to ensure that the push rod fixing slot maintains a stable position and posture throughout the pushing process, preventing the horseshoe from tilting or falling off during the pushing process.

[0062] In use, place the horseshoes sequentially at the top of the push rod fixing slots, with one horseshoe positioned between two adjacent push rods. For example... Figure 4 As shown, assuming the horseshoe is placed in interval c between push rods a and b, the stepper electric cylinder quickly pulls the push rod fixing slot forward. Since push rod b can rotate backward from its extreme position to a horizontal position, the horseshoe pushes push rod b down, passes over push rod b, and reaches the next interval d. After the horseshoe passes push rod b, push rod b returns to its extreme position. The stepper electric cylinder then quickly pushes the push rod fixing slot backward, and the horseshoe, under the action of push rod b, moves backward synchronously with the push rod fixing slot. Repeating the above steps achieves intermittent forward conveying of the horseshoe.

[0063] During the feeding stage, a trough mechanism formed by flow strips ensures that the horseshoe-shaped part will not fall off. In subsequent workstations, a main fixing plate and a horseshoe-limiting guide plate are used to support the horseshoe and prevent it from falling. For details on the structure of the main fixing plate and the horseshoe-limiting guide plate, please refer to the section on horseshoe rotation and lifting mechanism.

[0064] This embodiment can hold more than 15 water chestnuts at the same time, realizing the full automation of the water chestnut peeling machine. The equipment can operate independently without long-term human intervention.

[0065] Thanks to its assembly line design, the water chestnuts spend less than 5 seconds at different workstations, ensuring a machine productivity of 720 pieces / hour, which is higher than the average productivity of semi-automatic water chestnut peeling machines on the market.

[0066] (3) Visual inspection agency

[0067] The visual inspection mechanism includes a visual camera that detects the position of the horseshoe axis; the visual camera is located directly above the intermittent pushing mechanism.

[0068] A machine vision system is used to identify the axis of the hoof: During the hoof transportation process, images of the hoof are collected and processed to identify its axis position. Then, a push rod is used to push the hoof directly under the pin, thereby ensuring that the pin is inserted into the center position of the hoof in the front-to-back direction, ensuring the peeling quality.

[0069] Using machine vision for non-contact measurement of hooves improves peeling accuracy and efficiency without damaging the hooves.

[0070] (4) Horseshoe-shaped rotating lifting mechanism

[0071] The horseshoe-shaped rotating and lifting mechanism includes a main fixed plate, horseshoe-shaped limiting guide plates, a transverse cylinder, horseshoe-shaped support plates, a stepper electric cylinder, an electric cylinder mounting plate, a DC geared motor, a motor mounting bracket, a chuck, a pin, and an ejector structure for removing the horseshoe from the pin. Two horseshoe-shaped support plates are symmetrically arranged with a gap in the middle to accommodate the horseshoe tip. The horseshoe-shaped support plates are controlled by the transverse cylinder to open laterally or close inward. A rectangular frame is located below the two horseshoe-shaped support plates. Pairs of horseshoe-shaped limiting guide plates are provided on both the front and rear sides of the two horseshoe-shaped support plates. These guide plates are symmetrically arranged with a gap in the middle for the push rod to pass through. The horseshoe-shaped limiting guide plates are fixed to the frame by the main fixed plate. The stepper electric cylinder of the horseshoe-shaped rotating and lifting mechanism is mounted on the frame via the electric cylinder mounting plate. The push rod of the stepper electric cylinder, the motor mounting bracket, and the DC geared motor are connected in sequence. The DC geared motor, chuck, ejector structure, and pin are connected in sequence.

[0072] The main fixing plate and the horseshoe-shaped limiting guide plate are connected in an adjustable manner. The main fixing plate has multiple mounting holes, and the horseshoe-shaped limiting guide plate has two or more strip holes, with the length of the strip holes arranged along the left-right direction. The mounting holes and strip holes determine the installation position of the horseshoe-shaped limiting guide plate, making it suitable for horseshoes of different sizes.

[0073] In use, the horseshoe is pushed to the position directly below the insert pin by the push rod. The stepper electric cylinder drives the insert pin to descend and insert it into the horseshoe. After insertion, the horizontal cylinder is activated, separating the two horseshoe support plates and opening the downward channel for the horseshoe. The stepper electric cylinder descends further, and the horseshoe passes through the rectangular frame, successively reaching the side cutting mechanism and the bottom peeling mechanism. After cutting, it moves upward, passes through the rectangular frame, and the two horseshoe support plates close. During the upward movement of the insert pin, the ejector mechanism is activated, separating the insert pin and the horseshoe. The horseshoe is then placed on the two horseshoe support plates and pushed backward by the push rod.

[0074] The chuck, ejector mechanism, and pins rotate synchronously via a DC geared motor.

[0075] (5) Horseshoe side cutting mechanism

[0076] The horseshoe-shaped side cutting mechanism includes a cylinder mounting plate, a feed cylinder, a feed assembly, a cutting tool holder, a cutting blade, and a DC motor electric cylinder. The feed cylinder is mounted on the frame via the cylinder mounting plate. The push rod of the feed cylinder is connected to the feed assembly, which drives the feed assembly to reciprocate. The feed assembly includes a tool holder connector, which is connected to the cutting tool holder via a first rotating part. One end of the cutting tool holder is connected to the DC motor electric cylinder via a second rotating part, and the other end of the DC motor electric cylinder is connected to the tool holder connector via a third rotating part. The extension and retraction of the DC motor electric cylinder drives the cutting tool holder to rotate around the first rotating part. The cutting blade is mounted on the cutting tool holder.

[0077] The feed assembly includes a slide rail fixing plate, a slide rail, a slider, and a plunger spring. The slide rail fixing plate is connected to the push rod of the feed cylinder. The slide rail is mounted on the slide rail fixing plate, and the slider cooperates with the slide rail, moving horizontally along the slide rail. The slide rail fixing plate is equipped with a plunger spring that pushes the slider in the feed direction. The tool holder connector is fixedly connected to the slider.

[0078] The slide rail fixing plate includes an L-shaped plate and a plunger spring fixing plate; the push rod end of the feed cylinder, the plunger spring fixing plate, and one section of the L-shaped plate are connected in sequence; the slide rail is installed on the other section of the L-shaped plate.

[0079] The tool holder connector includes a main body, a first extension section, and a second extension section; the first extension section extends from the upper end of the main body toward the extension direction of the push rod, and a first rotating part is disposed in the first extension section; the second extension section extends from the lower end of the main body toward the retraction direction of the push rod, and a third rotating part is disposed in the second extension section.

[0080] The cutting tool holder includes a U-shaped cutting tool mounting part, and the cutting tool is mounted in the recess of the cutting tool mounting part.

[0081] The cylinder mounting plate is an inverted "L" shaped plate, and the feed cylinder is installed on the vertical section of the inverted "L" shaped plate. The cylinder mounting plate is connected to the machine frame.

[0082] The cutter is long and narrow.

[0083] There are two plunger springs, which are parallel to each other and set one above the other.

[0084] In operation, the horseshoe reaches the side cutting mechanism and rotates at high speed under the action of a DC geared motor. During side peeling, the feed cylinder is activated, the push rod extends, and the feed assembly, cutting tool holder, and cutter move backward to feed the material. The cutter peels the skin. As the horseshoe moves downward, the DC motor electric cylinder extends to adjust the cutter's swing angle so that the cutter angle corresponds to the shape of the horseshoe's side, thus completing the side peeling.

[0085] During the feeding process, the cutter is kept pressed against the side of the hoof by the action of the plunger spring for peeling. Because the compressed plunger spring has a certain amount of buffering, the slider, cutter holder connector, cutting cutter holder, cutter, and DC motor electric cylinder as a whole can make small adjustments to their positions relative to the slide rail fixed plate over a short distance. This allows for adaptive adjustments based on the size and diameter of the hoof, ensuring that the peeling machine can peel all types of hoofs.

[0086] The DC motor electric cylinder can be pre-adjusted according to the horseshoe diameter to ensure the cutting quality of horseshoes in different batches.

[0087] (6) Horseshoe bottom peeling mechanism

[0088] The water chestnut peeling mechanism includes a cutting blade holder, a first cutting blade fixing plate, a first cutting blade, a second cutting blade fixing plate, and a second cutting blade. The cutting blade holder has a recessed area in the middle. The first cutting blade is mounted on the cutting blade holder via the first cutting blade fixing plate, and extends into the upper end of the recessed area from one side. The second cutting blade is mounted on the cutting blade holder via the second cutting blade fixing plate, and extends into the upper end of the recessed area from the other side. The first cutting blade is flat and used to cut the bottom of the water chestnut. The second cutting blade is pointed and used to remove the tip of the water chestnut; the second cutting blade is higher than the first cutting blade. The bottom of the recessed area includes two inclined surfaces that guide the peel outwards.

[0089] During operation, the water chestnut reaches the peeling mechanism at its base, where it rotates at high speed under the action of a DC geared motor. First, the tip of the water chestnut is removed by the second cutter. Then, as the water chestnut descends further, the lower end is cut off by the first cutter. The peel is discharged through an inclined plane, preventing accumulation.

[0090] (7) Horseshoe-top peeling mechanism

[0091] The horseshoe-shaped top peeling mechanism includes a displacement sensor, a tension spring, a horseshoe height measuring plate, a stepper motor, a lead screw and slider mechanism, a motor base, a high-speed cutter motor, and a disc cutter. The displacement sensor is mounted on the frame, and its lower end is connected to the horseshoe height measuring plate via a tension spring. The horseshoe height measuring plate triggers the displacement sensor to obtain the horseshoe height signal to control the lifting and lowering of the disc cutter. The stepper motor is mounted on the frame and drives the motor base to lift and lower via the lead screw and slider mechanism. The high-speed cutter motor is mounted on the motor base, and the disc cutter is connected to the high-speed cutter motor.

[0092] In use, the horseshoe is fed through a horseshoe height measuring plate. Under the action of the horseshoe height measuring plate, the displacement sensor obtains the height signal of the horseshoe. The control system starts the stepper motor according to the height signal, and adjusts the height of the motor base through the lead screw slider mechanism, thereby adjusting the height of the high-speed cutter motor and the disc cutter mounted on the motor base. The horseshoe is conveyed backward under the action of the intermittent pushing mechanism. After passing through the high-speed cutting motor and the high-speed rotating disc cutter, the top cutting is completed.

[0093] The processed horseshoes are further conveyed backward by an intermittent pushing mechanism and collected at the terminal.

[0094] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A fully automatic horse hoof peeling device, characterized in that, It includes a frame, an intermittent pushing mechanism, a vision inspection mechanism, a horseshoe rotating and lifting mechanism, a horseshoe side cutting mechanism, a horseshoe bottom peeling mechanism, and a horseshoe top peeling mechanism; along the conveying direction of the intermittent pushing mechanism from front to back, the vision inspection mechanism, the horseshoe rotating and lifting mechanism, and the horseshoe top peeling mechanism are sequentially arranged above the intermittent pushing mechanism; the horseshoe rotating and lifting mechanism, the horseshoe side cutting mechanism, and the horseshoe bottom peeling mechanism are arranged sequentially from top to bottom; The intermittent pushing mechanism includes a stepper electric cylinder, a pushing rod, a pushing rod fixing slot, a bottom flow strip, and side flow strips. The side flow strips and bottom flow strips form a trough structure. The pushing rod fixing slot, which supports the horseshoe, is positioned within the trough structure and moves back and forth along it. Multiple pushing rods are arranged sequentially from front to back and are rotatably mounted on the upper end of the pushing rod fixing slot. The maximum upward rotation position is an inclined position from the lower front to the upper rear. The stepper electric cylinder drives the pushing rod fixing slot to reciprocate. A rectangular frame is provided in the middle of the pushing rod fixing slot, which is positioned opposite the horseshoe rotation and lifting mechanism for the horseshoe to move up and down. The horseshoe-shaped rotating lifting mechanism includes a main fixed plate, horseshoe-shaped limiting guide plates, a transverse cylinder, horseshoe-shaped support plates, a stepper electric cylinder, an electric cylinder mounting plate, a DC geared motor, a motor mounting bracket, a chuck, a pin, and an ejector structure for removing the horseshoe from the pin. Two horseshoe-shaped support plates are symmetrically arranged with a gap in the middle to accommodate the horseshoe tip. The horseshoe-shaped support plates are controlled by the transverse cylinder to open laterally or close inward. A rectangular frame is located below the two horseshoe-shaped support plates. Pairs of horseshoe-shaped limiting guide plates are provided on both the front and rear sides of the two horseshoe-shaped support plates. These guide plates are symmetrically arranged with a gap in the middle for the push rod to pass through. The horseshoe-shaped limiting guide plates are fixed to the frame by the main fixed plate. The stepper electric cylinder of the horseshoe-shaped rotating lifting mechanism is mounted on the frame via the electric cylinder mounting plate. The push rod of the stepper electric cylinder, the motor mounting bracket, and the DC geared motor are connected in sequence. The DC geared motor, chuck, ejector structure, and pin are connected in sequence. The horseshoe-shaped side cutting mechanism includes a cylinder mounting plate, a feed cylinder, a feed assembly, a cutting tool holder, a cutting tool, and a DC motor electric cylinder. The feed cylinder is mounted on the frame via the cylinder mounting plate. The push rod of the feed cylinder is connected to the feed assembly, which drives the feed assembly to reciprocate. The feed assembly includes a tool holder connector, which is connected to the cutting tool holder via a first rotating part. One end of the cutting tool holder is connected to the DC motor electric cylinder via a second rotating part, and the other end of the DC motor electric cylinder is connected to the tool holder connector via a third rotating part. The extension and retraction of the DC motor electric cylinder drives the cutting tool holder to rotate around the first rotating part. The cutter is mounted on the cutting tool holder; The water chestnut peeling mechanism includes a cutting blade holder, a first cutting blade fixing plate, a first cutting blade, a second cutting blade fixing plate, and a second cutting blade. The cutting blade holder of the water chestnut peeling mechanism has a recessed area in the middle. The first cutting blade is mounted on the cutting blade holder of the water chestnut peeling mechanism via the first cutting blade fixing plate, and the first cutting blade extends into the upper end of the recessed area from one side. The second cutting blade is mounted on the cutting blade holder of the water chestnut peeling mechanism via the second cutting blade fixing plate, and the second cutting blade extends into the upper end of the recessed area from the other side. The first cutting blade is flat and used to cut the bottom of the water chestnut. The second cutting blade is pointed and used to remove the tip of the water chestnut, and the second cutting blade is higher than the first cutting blade. The bottom of the recessed area includes two inclined surfaces that guide the peel outwards.

2. The fully automatic water chestnut peeling device according to claim 1, characterized in that: The bottom flow strip and the side flow strip have the same structure, both including a plate and multiple rollers. The multiple rollers are arranged in sequence along the front and back direction and installed on the plate. The outer side of the push rod fixing groove is in contact with the roller, so that the push rod fixing groove slides along the roller.

3. The fully automatic water chestnut peeling device according to claim 1, characterized in that: The visual inspection mechanism includes a visual camera that detects the position of the horseshoe axis; the visual camera is located directly above the intermittent pushing mechanism.

4. The fully automatic water chestnut peeling device according to claim 1, characterized in that: The main fixing plate and the horseshoe-shaped limiting guide plate are connected in an adjustable position; the main fixing plate has multiple mounting holes, and the horseshoe-shaped limiting guide plate has two or more strip holes, with the length of the strip holes set along the left and right direction.

5. A fully automatic water chestnut peeling device according to claim 1, characterized in that: The feed assembly includes a slide rail fixing plate, a slide rail, a slider, and a plunger spring. The slide rail fixing plate is connected to the push rod of the feed cylinder. The slide rail is mounted on the slide rail fixing plate, and the slider cooperates with the slide rail, moving horizontally along the slide rail. The slide rail fixing plate is equipped with a plunger spring that pushes the slider in the feed direction. The tool holder connector is fixedly connected to the slider.

6. A fully automatic water chestnut peeling device according to claim 1, characterized in that: The horseshoe-shaped top peeling mechanism includes a displacement sensor, a tension spring, a horseshoe height measuring plate, a stepper motor, a lead screw and slider mechanism, a motor base, a high-speed cutter motor, and a disc cutter. The displacement sensor is mounted on the frame, and its lower end is connected to the horseshoe height measuring plate via a tension spring. The horseshoe height measuring plate triggers the displacement sensor to obtain the horseshoe height signal to control the lifting and lowering of the disc cutter. The stepper motor is mounted on the frame and drives the motor base to lift and lower via the lead screw and slider mechanism. The high-speed cutter motor is mounted on the motor base, and the disc cutter is connected to the high-speed cutter motor.

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