Pineapple picking, peeling and core poking all-in-one machine

Abstract

A pineapple picking, peeling and core poking all-in-one machine comprises a rack, a picking device and a peeling and core poking device, and the picking device and the peeling and core poking device are arranged on the rack; a conveying mechanism is arranged on the rack and between the picking device and the peeling and core poking device; the picking device comprises a mechanical arm and a picking mechanism. The picking mechanism comprises a picking drive, a picking end cover, a picking drive ring, a picking sleeve, a connecting rod, a cutter drive, a cutter and an elastic piece. By means of the structure, on one hand, the picking mechanism can conveniently convey picked pineapples to the conveying mechanism, the pineapples are conveyed to the driving core poking mechanism through the conveying mechanism, and on the other hand, the picking mechanism can be suitable for picking pineapples of different sizes.

Description

Technical Field

[0001] The invention relates to agricultural mechanical equipment, in particular to an integrated machine for picking, peeling and coring pineapples. Background Art

[0002] Pineapples are loved by growers because of their good taste. When pineapples are ripe, growers also need to prepare picking tools, such as scissors or pickers to pick the pineapples. When picking, workers usually line up in a row and pick by hand along the pineapple field; they use scissors or pickers to cut the pineapple from the neck to ensure that the fruit can be picked intact from the plant; the picked pineapples will be immediately subjected to preliminary processing, such as removing the top leaves to expose the top of the fruit for easy transportation and further processing.

[0003] In the past, pineapples were usually picked manually, and the skin and core of the picked pineapples needed to be removed. Picking, peeling and core removal were divided into three steps, and picking, peeling and core removal could not be integrated.

[0004] For example, the patent document with the announcement number CN117769972A discloses a glass combined harvester with a directional flexible fruit puller and a vibrating conveying mechanism, which includes a vehicle body, a picking device and a conveying device; the picking device includes a frame and a picking mechanism; the picking mechanism includes a fruit receiving plate arranged on the frame and a directional flexible fruit puller, the directional flexible fruit puller includes a plurality of flexible fruit holding rod groups and a fruit pulling driving mechanism for driving the flexible fruit holding rod groups to maintain a vertical posture to perform fruit pulling movement; the conveying device includes a conveyor belt and a vibrating conveying mechanism; the vibrating conveying mechanism includes two rows of toothed screen groups arranged alternately and a vibrating conveying driving mechanism for driving the two rows of toothed screen groups to perform alternating reciprocating movement back and forth. The pineapple combined harvester can push the pineapple fruit backwards to pick the fruit, adapt to the harvesting of pineapple fruits in various postures, and can realize the low-loss transportation of pineapple fruits, and the transportation process will not be blocked, thereby increasing the efficiency of fruit batch harvesting.

[0005] However, the document only collects the fruits after picking by cutting, but cannot perform the operations of picking, peeling and coring at one time, which makes the whole picking process inefficient.

[0006] A pineapple picking end-effector is disclosed in the patent document with Chinese patent application number 202420214827.1, including: a fixed seat, a rotating mechanism, a clamping mechanism, a driving connecting rod, a mechanical finger, a holding hand and a supplementary cutting mechanism; the rotating mechanism is arranged on the fixed seat, the clamping mechanism is movably connected to the rotating mechanism, the rotating mechanism can drive the clamping mechanism to rotate, one end of the mechanical finger is movably connected to the clamping mechanism, and the other end is connected to the holding hand, one end of the driving connecting rod is movably connected to the driving seat of the clamping mechanism, and the other end is movably connected to the mechanical finger, and the clamping mechanism can drive the holding hand to clamp or loosen; the supplementary cutting mechanism is connected to the fixed seat, and the supplementary cutting mechanism can cut off the connection between the pineapple and the pineapple stem during the process of holding and twisting the pineapple. When the connection between the pineapple and the pineapple stem cannot be twisted off, the supplementary cutting mechanism can supplement the pineapple stem and cut off the connection between the pineapple and the pineapple stem without manual supplementary cutting, thereby improving the picking efficiency and further reducing the labor cost. However, on the one hand, the device is not convenient for transporting the picked pineapples to the next process, and on the other hand, when it is applicable to pineapples of different sizes, it needs to be completely realized by the swing of the driving connecting rod. Summary of the invention

[0007] The purpose of the present invention is to provide an all-in-one machine for picking, peeling and coring pineapples. By utilizing the structure of the present invention, on the one hand, it is convenient for the picking mechanism to transport the picked pineapples to the conveying mechanism, and to transport the pineapples to the driving coring mechanism through the conveying mechanism. On the other hand, the picking mechanism can be suitable for picking pineapples of different sizes.

[0008] In order to achieve the above-mentioned purpose, a pineapple picking, peeling and core-poking integrated machine is provided, comprising a frame, a picking device and a peeling and core-poking device, wherein the picking device and the peeling and core-poking device are arranged on the frame; a conveying mechanism is arranged on the frame between the picking device and the peeling and core-poking device; the picking device comprises a mechanical arm and a picking mechanism, wherein the mechanical arm is arranged at one end of the frame, the picking mechanism is arranged on the mechanical arm, and the free end of the mechanical arm has a rotating head; the picking mechanism comprises a picking drive, a picking end cover, a picking drive ring, a picking sleeve, a connecting rod, a cutter drive, a cutter and a spring, and the picking drive is arranged on the rotating head The axis of the picking drive is perpendicular to the axis of the rotating head, the axis of the picking drive is perpendicular to the axis of the rotating head, the picking end cover is installed on the picking drive, the output shaft of the picking drive passes through the picking end cover, the picking drive ring is threadedly connected to the output shaft of the picking drive, picking sleeves are hinged on both sides of the picking end cover, connecting rods are hinged between the two sides of the picking drive ring and the picking sleeve, the cutter drive is installed at the lower end of one of the picking sleeves, the cutter is connected to the output shaft of the cutter drive, the cutter radially passes through the picking sleeve on which the cutter drive is installed, and a spring sheet protruding toward the center is provided on the inner wall of the picking sleeve.

[0009] The above structure, in the process of picking pineapples, firstly drives the picking drive ring to move through the picking drive, opens the two picking sleeves through the connecting rod, then drives the picking mechanism to move to the position of the pineapple through the mechanical arm, and adjusts the angle of the picking sleeve through the picking mechanical arm according to the angle of the pineapple, then inserts the picking sleeve into the outside of the pineapple through the mechanical arm, then drives the picking ring to move through the picking drive, drives the two picking sleeves to close through the connecting rod, and clamps the pineapple in combination with the action of the spring sheet, then starts the cutter drive, drives the cutter drive to drive the cutter to move to cut off the connection between the pineapple neck and the pineapple, then drives the picking mechanism to rotate at an angle through the rotating head so that the axis of the pineapple has an angle with the horizontal plane, and the head of the pineapple is higher than the root of the pineapple, then the mechanical arm positions the picking mechanism above the conveying mechanism, opens the picking sleeve, and puts the pineapple horizontally into the conveying mechanism. This structure, due to the provision of the spring sheet, can be suitable for picking pineapples of different sizes and has good reliability in clamping the pineapples. On the other hand, the axis of the rotating head is vertically arranged to the axis of the picking drive, so that the picked pineapples can be swung at an angle, which makes it easy to place the pineapples horizontally into the conveying mechanism through the mechanical arm, thereby facilitating the subsequent processes.

[0010] Furthermore, the cross section of the two picking sleeves is circular after being closed.

[0011] Further, when the picking mechanism is driven to the top of the conveying mechanism by the mechanical arm, the gap between the two picking sleeves is vertically upwards. In this way, when the picking sleeves are opened, the pineapple can smoothly fall onto the conveying mechanism.

[0012] Furthermore, one or more axially extending mounting grooves are provided on the inner wall of the picking sleeve, the cross section of the mounting groove is T-shaped, the spring sheet includes an arc segment and a straight segment connected to both ends of the arc segment, the middle of the arc segment protrudes toward the center, and clamping parts are respectively provided on both sides of the straight segment, and a fastening bolt is installed between the straight segment at the lower end and the picking sleeve. In this structure, one end of the spring sheet is fixed by the fastening bolt, and when the pineapple enters the two picking sleeves, the spring sheet is squeezed to deform. During the deformation process, the spring sheet gives one end of the spring sheet a free movement space, so that on the one hand, the spring sheet can clamp the pineapple tightly, and on the other hand, the pineapple is less damaged.

[0013] Further, the conveying mechanism includes a first conveying assembly and a second conveying assembly; the first conveying assembly includes a fixed plate, a first active roller, a first driven roller, a first drive, a first conveyor belt and a first drive plate; the fixed plate is installed on the frame and is provided with two, the first active roller is rotatably installed on one end of the fixed plate, the first driven roller is rotatably installed on the fixed plate, the first drive is installed on the fixed plate and drives the first active roller to rotate, the first conveyor belt is sleeved between the first active roller and the first driven roller, more than two first drive plates are provided on the first conveyor belt, and a pineapple receiving groove is formed between adjacent first drive plates. In this structure, when the first drive is working, the first drive drives the first active roller to rotate, thereby driving the first conveyor belt to move, and when the horizontal pineapple enters the pineapple receiving groove, the pineapple is transported to the second conveying assembly through the first drive plate, so as to facilitate the transportation of the pineapple. The second conveying assembly is arranged at the output end of the first conveying assembly, and the second conveying assembly is arranged tilted from bottom to top toward one end of the frame, and the second conveying assembly includes a support frame, a second active roller, a second driven roller, a second drive, a second conveyor belt, and a second drive plate; the support frame is arranged on the frame, the second active roller is rotatably mounted on the fixed plate, the second driven roller is rotatably mounted on the support frame, the second drive is mounted on the fixed plate and drives the second active roller to rotate, the second conveyor belt is sleeved between the second active roller and the second driven roller, and more than two second drive plates are arranged on the second conveyor belt, and a pineapple conveying groove is formed between adjacent second drive plates. In this structure, when the second drive works, the second drive drives the second active roller to rotate, thereby driving the second conveyor belt to move, and the pineapple entering the pineapple conveying groove is lifted to the peeling and core-poking mechanism by the second drive plate, and the pineapple is conveyed, so that the conveying reliability of the pineapple is better.

[0014] Furthermore, a peeling and coring mechanism is arranged at an output end of a conveying mechanism; the peeling and coring mechanism comprises a first fixed frame, a first electric push rod, a peeling rotary motor, a first hollow support rod, a second support frame, a second electric push rod, a mounting seat, a second hollow support rod, a coring drive, a coring rod, a knife seat, a peeling drive and a peeling knife; the first support frame is fixedly connected to one side of a frame, the first electric push rod is fixedly connected to the first support frame, the peeling rotary motor is mounted on the output end of the first electric push rod, and one end of the first hollow support rod is connected to the output end of the peeling rotary motor; the second support frame is fixedly connected to the other side of the frame, the second electric push rod is fixedly connected to the second support frame, the mounting seat is mounted on the output end of the second electric push rod, the second hollow support rod is rotatably mounted on the mounting seat, the core poking drive is mounted in the second hollow support rod, one end of the coring rod is connected to the output end of the core poking drive, and the coring rod is slidably arranged in the second hollow support rod; the knife seat is mounted on the frame, the peeling drive is mounted on the knife seat, and the peeling is mounted at the output end of the peeling drive.

[0015] According to the structure, when the pineapple is transported to the position of the peeling and coring mechanism by the conveying mechanism, the first electric push rod and the second electric push rod work simultaneously, and the first electric push rod drives the peeling rotary motor to move, and under the action of the first electric push rod, the peeling rotary motor drives the first hollow support rod to move axially toward one end of the pineapple, and at the same time the second electric push rod drives the mounting seat to move, and the mounting seat drives the second hollow support rod to move axially toward the other end of the pineapple under the action of the second electric push rod, and the pineapple is supported by the first hollow support rod and the second hollow support rod; then, the first electric push rod continues to move, and at the same time the second electric push rod moves in the opposite direction, The second hollow support rod takes the pineapple away from the conveying mechanism, and when one end of the pineapple moves to the position of the peeling knife, the peeling rotating motor is started, and the peeling rotating motor drives the first hollow support rod, the pineapple, and the second hollow support rod to rotate. When the pineapple continues to move in the direction of the second electric push rod, during the axial movement and rotational movement of the pineapple, the peeling knife cuts the skin of the pineapple to achieve the purpose of peeling the pineapple. During the peeling process, the core-poking drive drives the core-poking rod to move axially and extend into the pineapple, thereby removing the pineapple core, and the removed pineapple core enters the first hollow support rod. Therefore, peeling and core-poking can be performed simultaneously, thereby improving the efficiency of peeling and core-poking. When the peeling and coring work is completed, the peeling rotary motor stops working, and the second electric push rod drives the second hollow support rod to move in the direction of the first electric push rod, and the first electric push rod drives the first hollow support rod to move in the opposite direction. In this process, the movement speed of the first hollow support rod and the second hollow support rod is the same, and the pineapple is sent back to the conveying mechanism, and then the conveying mechanism is restarted, and the peeled and cored pineapple is driven by the conveying mechanism to move toward the output end of the conveying mechanism. In this process, the first electric push rod and the second electric push rod are reset, so that the first hollow support rod and the second hollow support rod are separated from the peeled and cored pineapple. This structure has high efficiency in peeling and coring, and is convenient for conveying the peeled and cored pineapple.

[0016] Furthermore, the core-poking drive includes a core-poking motor, a screw connected to the output end of the core-poking motor, a threaded hole is provided in the core-removing rod, the screw is threadedly connected to the threaded hole, an axially extending guide bar is provided on the outer wall of the core-removing rod, and a guide groove for guiding the guide bar is provided on the inner wall of the second hollow support rod. In this structure, when the core-poking motor is working, the core-poking motor drives the screw to rotate, and since the guide sleeve and the guide groove are provided, the core-removing rod will not rotate, and under the action of the screw and the core-removing rod thread, the core-removing rod moves linearly, thereby realizing the core-poking work of the pineapple, and the structure works stably.

[0017] Furthermore, a waist-shaped groove is provided on the peeling knife, and the bolt passes through the waist-shaped groove and is connected to the knife holder. In this way, the peeling knife can play a guiding role during the movement of the peeling knife, so that the driven movement is more stable.

[0018] Furthermore, a slide groove is provided on the first support frame, and a slider that can slide in the slide groove is provided at the bottom of the peeling rotary motor. When the rotary motor is driven to move, the movement of the peeling rotary motor can be more stable through the guidance of the slide groove and the slider.

[0019] Further, a collecting trough mounted on the frame is provided at the output end of the conveying mechanism, which is convenient for collecting the peeled and cored pineapples. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional image of a pineapple picking, peeling and coring machine.

[0021] Figure 2 A stereoscopic image of the pineapple picking, peeling and corer machine from another perspective.

[0022] Figure 3 Exploded view of the all-in-one machine for picking, peeling and coring pineapples.

[0023] Figure 4 This is a disassembled diagram of the pineapple picking, peeling and corer machine from another perspective.

[0024] Figure 5 This is a third-person exploded view of the all-in-one pineapple picking, peeling and corer machine.

[0025] Figure 6 An overhead view of the all-in-one machine for picking, peeling and coring pineapples.

[0026] Figure 7 for Figure 6 Middle AA section view.

[0027] Figure 8 for Figure 6 Middle BB section view.

[0028] Fig. 9 Schematic diagram of the robotic arm.

[0029] Fig.10 It is a three-dimensional diagram of the picking mechanism.

[0030] Fig.11 This is a stereoscopic image from another perspective of the picking mechanism.

[0031] Fig.12 Exploded view of the picking mechanism.

[0032] Fig.13 This is an exploded view of the picking mechanism from another perspective.

[0033] Fig.14 for Figure 6 Enlarged view of C in the middle. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1 to 5 As shown, the pineapple picking, peeling and coring machine includes a frame 1, a picking device 2, a conveying mechanism 3 and a peeling and coring device 4.

[0036] A travel wheel 11 is provided at the bottom of the frame 1, and a travel drive device 12 is provided at one end of the frame 1. The travel drive device 12 includes a travel drive motor (not shown in the figure), a travel drive shaft 121, a connecting frame (not shown in the figure), a drive wheel 122, a first sprocket 123, a second sprocket 124 and a chain 125. The travel drive motor is installed on the frame 1, and the travel drive shaft 121 is installed on the frame through a bearing. The travel drive motor drives the travel drive shaft 121 to rotate, one end of the connecting frame is hinged on the frame, and the other end of the connecting frame is connected to the shaft of the drive wheel 122, the first sprocket 123 is installed on the travel drive 121, and the second sprocket 124 is installed on the drive On the shaft of the driving wheel 122, the chain 125 is sleeved between the first sprocket and the second sprocket. When the travel drive motor is working, it drives the travel drive shaft 121 to rotate, and then drives the second sprocket to rotate through the first sprocket and the chain, thereby driving the driving wheel 122 to rotate, thereby realizing the travel drive of the pineapple picking, peeling and coring all-in-one machine. On the outer ring of the driving wheel 122, L-shaped mounting seats 126 with different circumferences are arranged, and soil nails 127 are installed on the L-shaped mounting seats 126. In this way, when the pineapple picking, peeling and coring all-in-one machine is moving, the soil nails 127 can increase the force on the ground, thereby avoiding slipping. In order to achieve shock absorption, a shock absorber 128 is arranged between the frame 1 and the connecting frame.

[0037] The picking device 2 includes a mechanical arm 21 and a picking mechanism 22 .

[0038] In this embodiment, the mechanical arm adopts a three-section arm structure, and the mechanical arm 21 is arranged at one end of the frame 1. The mechanical arm 21 can realize rotation, and the rotation structure adopts the existing structure. The free end of the mechanical arm has a rotating head 211, such as Fig. 9 As shown, the rotating head drives the shaft to rotate through the motor 212, and then drives the rotating head 211 to rotate through gear transmission.

[0039] like Figures 11 to 14The picking mechanism 22 includes a picking drive 221, a picking end cover 222, a picking drive ring 223, a picking sleeve 224, a connecting rod 225, a cutter drive 226, a cutter 227 and a spring 228. The picking drive is a motor, which is installed on the rotating head, and the axis of the picking drive is perpendicular to the axis of the rotating head. The picking end cover 222 is installed on the picking drive, and the output shaft of the picking drive passes through the picking end cover 222. The picking drive ring 223 is threadedly connected to the output shaft of the picking drive. Picking sleeves 224 are hinged on both sides of the picking end cover 222, and connecting rods 225 are hinged between the two sides of the picking drive ring 223 and the picking sleeve. The cutter drive 226 is a linear cylinder, which is installed at the lower end of one of the picking sleeves. The cutter 227 is connected to the output shaft of the cutter drive, and the cutter 227 radially passes through the through groove 2241 of the picking sleeve on which the cutter drive is installed. A spring 228 protruding from the middle to the center is provided on the inner wall of the picking sleeve. The cross section of the two picking sleeves is circular after the two picking sleeves are closed, which is convenient for holding the picked pineapples.

[0040] When the picking mechanism is driven to the top of the conveying mechanism by the mechanical arm, the gap between the two picking sleeves is vertically upwards. In this way, when the picking sleeves are opened, the pineapple can fall smoothly onto the conveying mechanism.

[0041] One or more axially extending mounting grooves 2242 are provided on the inner wall of the picking sleeve, and the cross section of the mounting groove is T-shaped. The spring piece 228 includes an arc segment 2281 and a straight segment 2282 connected to both ends of the arc segment. The middle part of the arc segment 2281 protrudes toward the center, and a clamping part is provided on both sides of the straight segment, which is clamped into the mounting groove 2242. A fastening bolt is installed between the straight segment at the lower end and the picking sleeve. In this structure, one end of the spring piece is fixed by the fastening bolt. When the pineapple enters the two picking sleeves, the spring piece is squeezed to deform. During the deformation process, the spring piece is given a free movement space at one end of the spring piece. Therefore, on the one hand, the spring piece can clamp the pineapple tightly, and on the other hand, the pineapple is less damaged.

[0042] The structure, in the process of picking pineapples, firstly drives the picking drive ring to move through the picking drive, opens the two picking sleeves through the connecting rod, then drives the picking mechanism to move to the position of the pineapple through the mechanical arm, adjusts the angle of the picking sleeve through the picking mechanical arm according to the angle of the pineapple, then inserts the picking sleeve outside the pineapple through the mechanical arm, then drives the picking ring to move through the picking drive, drives the two picking sleeves to close through the connecting rod, and clamps the pineapple in combination with the action of the spring sheet, then starts the cutter drive, drives the cutter drive to drive the cutter to move to cut off the connection between the pineapple neck and the pineapple, then drives the picking mechanism to rotate at an angle through the rotating head so that the axis of the pineapple has an angle with the horizontal plane, and the head of the pineapple is higher than the root of the pineapple, then the mechanical arm positions the picking mechanism above the conveying mechanism, opens the picking sleeve, and puts the pineapple into the conveying mechanism horizontally. This structure, due to the provision of the spring sheet, can be suitable for picking pineapples of different sizes and has good reliability in clamping the pineapples. On the other hand, the axis of the rotating head is vertically arranged to the axis of the picking drive, so that the picked pineapples can be swung at an angle, which makes it easy to place the pineapples horizontally into the conveying mechanism through the mechanical arm, thereby facilitating the subsequent processes.

[0043] The conveying mechanism 3 includes a first conveying component 31 and a second conveying component 32. The first conveying component 31 and the second conveying component 32 cooperate to realize the conveyance of pineapples.

[0044] like Figures 1 to 7 As shown, the first conveying assembly 31 includes a fixed plate 310, a first active roller 312, a first driven roller 313, a first drive 311, a first conveyor belt 314 and a first drive plate 315; the fixed plate 310 is mounted on the frame 1 and is provided with two, the first active roller 312 is rotatably mounted on one end of the fixed plate 310 through a bearing, the first driven roller 313 is rotatably mounted on the fixed plate 310 through a bearing, the first drive 311 is a motor, the first drive 311 is mounted on the fixed plate 310 and drives the first active roller to rotate, the first conveyor belt 314 is sleeved between the first active roller 312 and the first driven roller 313, more than two first drive plates 315 are provided on the first conveyor belt 314, and a pineapple receiving groove 316 is formed between adjacent first drive plates. In this structure, when the first drive is working, the first drive drives the first active roller to rotate, thereby driving the first conveyor belt to move, and when the horizontal pineapple enters the pineapple receiving groove, the pineapple is transported to the second conveying assembly through the first drive plate, so as to facilitate the transportation of the pineapple.

[0045] The second conveying assembly 32 is arranged at the output end of the first conveying assembly, and the second conveying assembly is inclined from bottom to top toward one end of the frame, and the second conveying assembly includes a support frame 310, a second active roller 311, a second driven roller 312, a second drive 313, a second conveyor belt 314 and a second drive plate 315; the support frame is arranged on the frame, the second active roller is rotatably mounted on the fixed plate, the second driven roller is rotatably mounted on the support frame, the second drive is mounted on the fixed plate and drives the second active roller to rotate, the second conveyor belt is sleeved between the second active roller and the second driven roller, and more than two second drive plates are arranged on the second conveyor belt, and a pineapple conveying groove 316 is formed between adjacent second drive plates. In this structure, when the second drive works, the second drive drives the second active roller to rotate, thereby driving the second conveyor belt to move, and the pineapple entering the pineapple conveying groove is lifted to the peeling and core-poking mechanism through the second drive plate, and the pineapple is conveyed, so that the conveying reliability of the pineapple is better.

[0046] like Figures 1 to 8 As shown, the peeling and coring mechanism is arranged at the rear end of the frame and at the output end of the second conveying assembly, and is used for peeling and coring the pineapple.

[0047] The peeling and coring mechanism 4 includes a first support frame 801, a first electric push rod 802, a peeling rotating motor 803, a first hollow support rod 804, a second support frame 805, a second electric push rod 806, a mounting seat 807, a second hollow support rod 808, a coring drive 809, a coring rod 8010, a knife seat 91 and a peeling knife 92.

[0048] The first support frame 801 is fixedly connected to one side of the frame 1, the first electric push rod 802 is fixedly connected to the first support frame 801, a slide groove 8011 is arranged on the first support frame 801, the peeling rotation motor 803 is installed at the output end of the first electric push rod 802, one end of the first hollow support rod 804 is connected to the output end of the peeling motor 803, the first hollow support rod 804 has a first hollow cavity, the axis of the first hollow cavity extends, the first hollow cavity is used to receive the pineapple core, and a drop hole 8041 is arranged at one end of the first hollow support rod 804 close to the peeling motor 803. When the pineapple cores entering the first hollow cavity 8042 are full, the pineapple cores close to the drop hole 8041 fall from the drop hole 8041 under the pushing action of the pineapple cores newly entering the first hollow cavity 8042, so as to discharge the pineapple cores in time; the second support frame 805 is fixedly connected to the machine On the other side of frame 1, the second electric push rod 806 is fixedly connected to the second support frame 805, and the mounting seat 807 is installed at the output end of the second electric push rod 806. The second hollow support rod 808 is rotatably mounted on the mounting seat 807 through a bearing. An axially extending second hollow cavity is provided in the second hollow support rod 808. The second hollow support rod 808 is coaxial with the first hollow support rod 804. The core-poking drive 809 is installed in the second hollow cavity of the second hollow support rod 808. The core-poking drive is a motor. A screw is provided on the output shaft of the motor. A threaded hole is provided in the core-removing rod. The core-removing rod 8010 is threadedly connected to the screw. The core-removing rod 8010 is slidably arranged in the second hollow cavity of the second hollow support rod 808. In order to prevent the core-removing rod from rotating, an axially extending guide strip is provided on the outer wall of the core-removing rod, and a guide groove for guiding the guide strip is provided on the inner wall of the second hollow support rod. A collection trough 11 is provided at the rear end of the frame 1 and at the output end of the second conveying assembly, and the collection trough 11 is used to store peeled and cored pineapples. A knife holder 91 is mounted on the frame 1, and a peeling drive 93 is mounted on the knife holder. In this embodiment, the peeling drive is a linear motor, and a peeling knife 92 is mounted on the knife holder 91 and located on one side of the second conveying assembly. The peeling knife is connected to the output end of the peeling drive, and the peeling knife can be driven to move by the peeling drive, so that it can adapt to the peeling of pineapples with different contours and different sizes.

[0049] In this example, a waist-shaped groove 921 is provided on the peeling knife 92, and a bolt passes through the waist-shaped groove 921 and is connected to the knife holder 91. In this way, the position of the peeling knife 92 is conveniently adjusted to be suitable for peeling pineapples of different sizes.

[0050] The above-mentioned peeling and coring mechanism, when the pineapple is transported to the position of the peeling and coring mechanism by the conveying mechanism, the first electric push rod and the second electric push rod work simultaneously, the first electric push rod drives the peeling rotary motor to move, and under the action of the first electric push rod, the peeling rotary motor drives the first hollow support rod to move axially toward one end of the pineapple, and at the same time the second electric push rod drives the mounting seat to move, and the mounting seat drives the second hollow support rod to move axially toward the other end of the pineapple under the action of the second electric push rod, and the pineapple is supported by the first hollow support rod and the second hollow support rod; then, the first electric push rod continues to move, and at the same time the second electric push rod moves in the opposite direction, through the first hollow support rod The first electric push rod and the second hollow support rod bring the pineapple away from the conveying mechanism, when one end of the pineapple moves to the position of the peeling knife, the peeling rotating motor is started, and the peeling rotating motor drives the first hollow support rod, the pineapple, and the second hollow support rod to rotate, and when the pineapple continues to move in the direction of the second electric push rod, during the axial movement and rotational movement of the pineapple, the peeling knife cuts the skin of the pineapple to achieve the purpose of peeling the pineapple, and during the peeling process, the core poking drive drives the core removing rod to move axially and extend into the pineapple, thereby removing the pineapple core, and the removed pineapple core enters the first hollow support rod. Therefore, peeling and coring can be carried out simultaneously, thereby improving the efficiency of peeling and coring. When the peeling and coring work is completed, the peeling rotary motor stops working, and the second electric push rod drives the second hollow support rod to move in the direction of the first electric push rod, and the first electric push rod drives the first hollow support rod to move in the opposite direction. In this process, the movement speed of the first hollow support rod and the second hollow support rod is the same, and the pineapple is sent back to the conveying mechanism, and then the conveying mechanism is restarted, and the peeled and cored pineapple is driven by the conveying mechanism to move toward the output end of the conveying mechanism. In this process, the first electric push rod and the second electric push rod are reset, so that the first hollow support rod and the second hollow support rod are separated from the peeled and cored pineapple. This structure has high efficiency in peeling and coring, and is convenient for conveying the peeled and cored pineapple.

Claims

1. A pineapple picking, peeling and coring machine, comprising a frame, a picking device and a peeling and coring device, wherein the picking device and the peeling and coring device are arranged on the frame; characterized in that: A conveying mechanism is arranged on the frame between the picking device and the peeling and coring device; the picking device comprises a mechanical arm and a picking mechanism, the mechanical arm is arranged at one end of the frame, the picking mechanism is arranged on the mechanical arm, and the free end of the mechanical arm has a rotating head; the picking mechanism comprises a picking drive, a picking end cover, a picking drive ring, a picking sleeve, a connecting rod, a cutter drive, a cutter and a spring piece, the picking drive is installed on the rotating head, the axis of the picking drive is perpendicular to the axis of the rotating head, the picking end cover is installed on the picking drive, the output shaft of the picking drive passes through the picking end cover, the picking drive ring is threadedly connected to the output shaft of the picking drive, the picking sleeves are hinged on both sides of the picking end cover respectively, the connecting rods are hinged between the picking sleeves on both sides of the picking drive ring, the cutter drive is installed at the lower end of one of the picking sleeves, the cutter is connected to the output shaft of the cutter drive, the cutter radially passes through the picking sleeve on which the cutter drive is installed, and a spring piece protruding from the middle toward the center is arranged on the inner wall of the picking sleeve.

2. The pineapple picking, peeling and coring machine according to claim 1, characterized in that: The cross section of the two picking sleeves is circular after being closed.

3. The pineapple picking, peeling and coring machine according to claim 1, characterized in that: When the picking mechanism is driven to the top of the conveying mechanism by the mechanical arm, the gap between the two picking sleeves is vertically upward.

4. The pineapple picking, peeling and coring machine according to claim 1, characterized in that: One or more axially extending mounting grooves are provided on the inner wall of the picking sleeve, and the cross-section of the mounting grooves is T-shaped. The spring piece includes an arc segment and a straight segment connected to both ends of the arc segment. The middle part of the arc segment protrudes toward the center, and clamping parts are respectively provided on both sides of the straight segment. A fastening bolt is installed between the straight segment at the lower end and the picking sleeve.

5. The pineapple picking, peeling and coring machine according to claim 1, characterized in that: The conveying mechanism comprises a first conveying assembly and a second conveying assembly; The first conveying assembly includes a fixed plate, a first active roller, a first driven roller, a first drive, a first conveyor belt and a first drive plate; the fixed plate is mounted on the frame and is provided with two, the first active roller is rotatably mounted on one end of the fixed plate, the first driven roller is rotatably mounted on the fixed plate, the first drive is mounted on the fixed plate and drives the first active roller to rotate, the first conveyor belt is sleeved between the first active roller and the first driven roller, more than two first drive plates are provided on the first conveyor belt, and a pineapple receiving groove is formed between adjacent first drive plates; The second conveying assembly is arranged at the output end of the first conveying assembly, and the second conveying assembly is inclined from bottom to top toward one end of the frame. The second conveying assembly includes a support frame, a second active roller, a second driven roller, a second drive, a second conveyor belt and a second drive plate; the support frame is arranged on the frame, the second active roller is rotatably installed on the fixed plate, the second driven roller is rotatably installed on the support frame, the second drive is installed on the fixed plate and drives the second active roller to rotate, the second conveyor belt is sleeved between the second active roller and the second driven roller, and more than two second drive plates are arranged on the second conveyor belt, and a pineapple conveying groove is formed between adjacent second drive plates.

6. The pineapple picking, peeling and coring machine according to claim 1, characterized in that: The peeling and coring mechanism is arranged at the output end of the conveying mechanism; the peeling and coring mechanism comprises a first fixed frame, a first electric push rod, a peeling rotating motor, a first hollow support rod, a second support frame, a second electric push rod, a mounting seat, a second hollow support rod, a core poking drive, a core removing rod, a knife seat, a peeling drive and a peeling knife; the first support frame is fixedly connected to one side of the frame, the first electric push rod is fixedly connected to the first support frame, the peeling rotating motor is installed at the output end of the first electric push rod, and one end of the first hollow support rod is connected to the output end of the peeling rotating motor; the second support frame is fixedly connected to the other side of the frame, the second electric push rod is fixedly connected to the second support frame, the mounting seat is installed at the output end of the second electric push rod, the second hollow support rod is rotatably installed on the mounting seat, the core poking drive is installed in the second hollow support rod, one end of the core removing rod is connected to the output end of the core poking drive, and the core removing rod is slidably arranged in the second hollow support rod; the knife seat is installed on the frame, the peeling drive is installed on the knife seat, and the peeling is installed at the output end of the peeling drive.

7. The pineapple picking, peeling and coring machine according to claim 6, characterized in that: The core-poking drive includes a core-poking motor and a screw connected to the output end of the core-poking motor. A threaded hole is arranged in the core-removing rod, and the screw is threadedly connected to the threaded hole. An axially extending guide strip is arranged on the outer wall of the core-removing rod, and a guide groove for guiding the guide strip is arranged on the inner wall of the second hollow support rod.

8. The pineapple picking, peeling and coring machine according to claim 6, characterized in that: A waist-shaped groove is arranged on the peeling knife, and a bolt passes through the waist-shaped groove and is connected with the knife seat.

9. The pineapple picking, peeling and coring machine according to claim 6, characterized in that: A slide groove is arranged on the first supporting frame, and a sliding block which can slide in the slide groove is arranged at the bottom of the peeling rotating motor.

10. The pineapple picking, peeling and coring machine according to claim 1, characterized in that: A material collecting trough mounted on the frame is arranged at the output end of the conveying mechanism.

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