A pineapple picking, peeling and core-removing integrated machine

Abstract

A pineapple picking, peeling and coring integrated 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; a conveying mechanism is arranged on the frame between the picking device and the peeling and coring device; the picking device comprises a robotic arm and a picking mechanism, and 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. With the structure of the present invention, on the one hand, it is convenient for the picking mechanism to convey the picked pineapples onto the conveying mechanism and convey the pineapples to the driving coring mechanism through the conveying mechanism, and on the other hand, the picking mechanism can be applicable to the picking of pineapples of different sizes.

Description

Technical Field

[0001] The present invention relates to agricultural machinery and equipment, and particularly to a pineapple picking, peeling and core-punching integrated machine. Background Art

[0002] Due to its good taste, pineapples are favored by growers. When pineapples are ripe, growers need to prepare picking tools such as scissors or pickers to pick the pineapples. During picking, workers usually line up and pick them by hand along the pineapple field; they cut the pineapples from the neck with scissors or pickers to ensure that the fruits can be picked from the plants intact; the picked pineapples will be immediately subjected to preliminary treatment, such as removing the leaves at the top to expose the top of the fruit, which is convenient for transportation and further processing.

[0003] In the past, pineapples were usually picked manually. After picking, the epidermis and core of the pineapples need to be removed. Picking, peeling and core-removing are carried out in three separate processes, and it is impossible to integrate picking, peeling and core-removing.

[0004] For example, the patent document with the publication number CN117769972A discloses a glass combined harvesting machine with a directional flexible fruit-pulling device and a vibration conveying mechanism, including 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-pulling device, and the directional flexible fruit-pulling device includes multiple groups of flexible fruit-raking rod groups and a fruit-pulling driving mechanism for driving the flexible fruit-raking rod groups to maintain a vertical posture for fruit-pulling movement; the conveying device includes a conveyor belt and a vibration conveying mechanism; the vibration conveying mechanism includes two rows of alternately arranged toothed sieve groups and a vibration conveying driving mechanism for driving the two rows of toothed sieve groups to perform forward and backward alternating reciprocating movements. This pineapple combined harvesting machine can push and pull the pineapple fruits backward, adapt to the harvesting of pineapple fruits in various postures, and can achieve low-loss conveying of pineapple fruits, and there will be no blockage during the conveying process, thereby increasing the efficiency of batch fruit harvesting.

[0005] However, this document only picks and then conveys and collects by cutting, but cannot perform the operations of picking, peeling and core-punching at one time, resulting in low efficiency of the entire picking process.

[0006] In the patent document with the Chinese patent application number 202420214827.1, a pineapple picking end effector is disclosed, which includes: a fixed seat, a rotating mechanism, a clamping mechanism, a driving link, mechanical fingers, 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 fingers is movably connected to the clamping mechanism, the other end is connected to the holding hand, one end of the driving link is movably connected to the driving seat of the clamping mechanism, the other end is movably connected to the mechanical fingers, and the clamping mechanism can drive the holding hand to clamp or release; 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 twisting the pineapple. When the connection between the pineapple and the pineapple stem cannot be twisted off, the supplementary cutting mechanism can perform supplementary cutting on the pineapple stem to cut off the connection between the pineapple and the pineapple stem, eliminating the need for manual supplementary cutting, improving the picking efficiency, and further reducing the labor cost. However, on the one hand, this 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 completely needs to be achieved by the swing of the driving link. Summary of the Invention

[0007] The purpose of the present invention is to provide a pineapple picking, peeling, and core-poking integrated machine. With 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 then transport the pineapples to the driving core-poking mechanism through the conveying mechanism, and on the other hand, the picking mechanism can be applicable to the picking of pineapples of different sizes.

[0008] To achieve the above purpose, a pineapple picking, peeling, and core-poking integrated machine includes a frame, a picking device, and a peeling and core-poking device. 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 includes a robotic arm and a picking mechanism. The robotic arm is arranged at one end of the frame, the picking mechanism is arranged on the robotic arm, and the free end of the robotic arm has a rotating head; the picking mechanism includes 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 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 respectively hinged on both sides of the picking end cover, connecting rods are hinged between both sides of the picking drive ring and the picking sleeves, 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 where the cutter drive is installed, and a spring piece with a middle protruding towards the center is arranged on the inner wall of the picking sleeve.

[0009] In the above structure, during the process of picking pineapples, first, the picking drive drives the picking drive ring to move, and the two picking sleeves are opened through the connecting rod. Then, the robotic arm drives the picking mechanism to move to the position of the pineapple, and adjusts the angle of the picking sleeves according to the angle of the pineapple through the picking robotic arm. Then, the picking sleeve is sleeved outside the pineapple through the robotic arm. Then, the picking drive drives the picking ring to move, and the two picking sleeves are driven to close through the connecting rod, and the pineapple is clamped by the combined action of the elastic pieces. Then, the cutter drive is started, and the cutter is driven to move by the cutter drive to cut off the connection between the neck of the pineapple and the pineapple. Then, the rotating head drives the picking mechanism to rotate by an angle so that the axis of the pineapple forms an angle with the horizontal plane, and the head of the pineapple is higher than the root of the pineapple. Then, the robotic arm places the picking mechanism above the conveying mechanism, opens the picking sleeve, and horizontally places the pineapple into the conveying mechanism. In this structure, due to the setting of the elastic pieces, it can be applied to pick pineapples of different sizes and has good clamping reliability for pineapples. On the other hand, since the axis of the rotating head is perpendicular to the axis of the picking drive, the picked pineapple can be swung by an angle, which is convenient for the robotic arm to horizontally place the pineapple into the conveying mechanism and facilitates the subsequent processes.

[0010] Further, the cross-section of the two picking sleeves is circular after closing.

[0011] Further, when the picking mechanism is driven above the conveying mechanism by the robotic arm, the gap between the two picking sleeves is vertically upward. In this way, when the picking sleeve is opened, the pineapple can smoothly fall onto the conveying mechanism.

[0012] Further, 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 elastic piece includes an arc section and straight sections connected to both ends of the arc section. The middle of the arc section protrudes towards the center. Clamping portions are respectively arranged on both sides of the straight sections. A fastening bolt is installed between the straight section at the lower end and the picking sleeve. In this structure, one end of the elastic piece is fixed by the fastening bolt. When the pineapple enters the two picking sleeves, it squeezes the elastic piece to deform the elastic piece. During the deformation process of the elastic piece, a free movement space is given to one end of the elastic piece. Therefore, on the one hand, the pineapple can be clamped tightly by the elastic piece, and on the other hand, the damage to the pineapple is small.

[0013] Furthermore, the conveying mechanism includes a first conveying component and a second conveying component; the first conveying component includes a fixed plate, a first driving roller, a first driven roller, a first driver, a first conveyor belt, and a first driving plate; the fixed plate is installed on the frame and there are two of them. The first driving roller is rotatably installed at one end of the fixed plate, the first driven roller is rotatably installed on the fixed plate, the first driver is installed on the fixed plate and drives the first driving roller to rotate. The first conveyor belt is sleeved between the first driving roller and the first driven roller. There are more than two first driving plates on the first conveyor belt, and a pineapple receiving groove is formed between adjacent first driving plates. In this structure, when the first driver works, the first driver drives the first driving roller to rotate, thereby driving the first conveyor belt to move. When the horizontal pineapples enter the pineapple receiving groove, the pineapples are conveyed into the second conveying component by the first driving plate, which is convenient for conveying the pineapples. The second conveying component is arranged at the output end of the first conveying component. The second conveying component is inclined from bottom to top towards one end of the frame. The second conveying component includes a support frame, a second driving roller, a second driven roller, a second driver, a second conveyor belt, and a second driving plate; the support frame is arranged on the frame, the second driving roller is rotatably installed on the fixed plate, the second driven roller is rotatably installed on the support frame, the second driver is installed on the fixed plate and drives the second driving roller to rotate. The second conveyor belt is sleeved between the second driving roller and the second driven roller. There are more than two second driving plates on the second conveyor belt, and a pineapple conveying groove is formed between adjacent second driving plates. In this structure, when the second driver works, the second driver drives the second driving roller to rotate, thereby driving the second conveyor belt to move. The pineapples entering the pineapple conveying groove are lifted to the peeling and core-removing mechanism by the second driving plate and conveyed, and the conveying reliability of the pineapples is better.

[0014] Furthermore, the peeling and core-removing mechanism is arranged at the output end of the conveying mechanism; the peeling and core-removing mechanism includes a first fixing 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-removing driver, a core-removing rod, a knife seat, a peeling driver, 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-removing driver is installed inside the second hollow support rod, one end of the core-removing rod is connected to the output end of the core-removing driver, and the core-removing rod is slidably arranged inside the second hollow support rod; the knife seat is installed on the frame, the peeling driver is installed on the knife seat, and the peeling knife is installed at the output end of the peeling driver.

[0015] When the pineapple is conveyed by the conveying mechanism to the position of the peeling and coring mechanism, the first electric push rod and the second electric push rod work simultaneously. The first electric push rod drives the peeling rotating motor to move. Under the action of the first electric push rod, the peeling rotating motor drives the first hollow support rod to move axially towards one end of the pineapple. At the same time, the second electric push rod drives the mounting seat to move. Under the action of the second electric push rod, the mounting seat drives the second hollow support rod to move axially towards the other end of the pineapple, 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 reverse direction. The pineapple is taken away from the conveying mechanism through the first hollow support rod and the second hollow support rod. When one end of the pineapple moves to the position of the peeling knife, the peeling rotating motor is started. 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 towards 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 coring drive drives the coring rod to move axially and extend into the pineapple, thereby removing the pineapple core. The removed pineapple core enters the first hollow support rod. Therefore, peeling and coring can be carried out simultaneously, thus improving the efficiency of peeling and coring. When the peeling and coring work is completed, the peeling rotating motor stops working. Then, the second electric push rod drives the second hollow support rod to move towards the direction of the first electric push rod, and the first electric push rod drives the first hollow support rod to move in the reverse direction. During this process, the moving speeds of the first hollow support rod and the second hollow support rod are the same, and the pineapple is sent back into the conveying mechanism. Then, the conveying mechanism is restarted, and the peeled and cored pineapple is driven by the conveying mechanism to move towards the output end of the conveying mechanism. During 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 a high efficiency of peeling and coring and is convenient for conveying the peeled and cored pineapple.

[0016] Further, the coring drive includes a coring motor and a lead screw connected to the output end of the coring motor. A threaded hole is provided in the coring rod, and the lead screw is threadedly connected to the threaded hole. A guide strip extending axially is provided on the outer wall of the coring rod, and a guide groove for guiding the guide strip is provided on the inner wall of the second hollow support rod. In this structure, when the coring motor works, the coring motor drives the lead screw to rotate. Due to the setting of the guide sleeve and the guide groove, the coring rod will not rotate. Then, under the action of the thread between the lead screw and the coring rod, the coring rod moves linearly, thereby realizing the coring work of the pineapple. This structure works stably.

[0017] Further, a kidney-shaped groove is provided on the peeling knife, and a bolt passes through the kidney-shaped groove and is connected to the knife seat. In this way, during the movement of the peeling knife, it can play a guiding role for the peeling knife, making the movement of the drive more stable.

[0018] Further, a chute is provided on the first support frame, and a slider capable of sliding in the chute is provided at the bottom of the peeling rotary motor. When the driving rotary motor is in motion, the guiding of the chute and the slider can make the motion of the peeling rotary motor smoother.

[0019] Further, an aggregate chute installed on the frame is provided at the output end of the conveying mechanism. The aggregate chute facilitates the collection of pineapples after peeling and core removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a perspective view of the pineapple picking, peeling and core-removing machine.

[0021] Figure 2 is a perspective view of the pineapple picking, peeling and core-removing machine from another perspective.

[0022] Figure 3 is an exploded view of the pineapple picking, peeling and core-removing machine.

[0023] Figure 4 is an exploded view of the pineapple picking, peeling and core-removing machine from another perspective.

[0024] Figure 5 is an exploded view of the pineapple picking, peeling and core-removing machine from a third perspective.

[0025] Figure 6 is a top view of the pineapple picking, peeling and core-removing machine.

[0026] Figure 7 is Figure 6 the A-A cross-sectional view in

[0027] Figure 8 is Figure 6 the B-B cross-sectional view in

[0028] Figure 9 is a schematic diagram of the robotic arm.

[0029] Figure 10 is a perspective view of the picking mechanism.

[0030] Figure 11 is a perspective view of the picking mechanism from another perspective.

[0031] Figure 12 is an exploded view of the picking mechanism.

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

[0033] Figure 14 is Figure 6 the enlarged view of C in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

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

[0036] The bottom of the frame 1 is provided with traveling wheels 11, and a traveling driving device 12 is arranged at one end of the frame 1. The traveling driving device 12 includes a traveling driving motor (not shown in the figure), a traveling driving shaft 121, a connecting frame (not shown in the figure), a driving wheel 122, a first sprocket 123, a second sprocket 124 and a chain 125. The traveling driving motor is installed on the frame 1, the traveling driving shaft 121 is installed on the frame through bearings, the traveling driving motor drives the traveling driving shaft 121 to rotate, one end of the connecting frame is hinged to the frame, the other end of the connecting frame is connected to the shaft of the driving wheel 122, the first sprocket 123 is installed on the traveling driving shaft 121, the second sprocket 124 is installed on the shaft of the driving wheel 122, and the chain 125 is sleeved between the first sprocket and the second sprocket. When the traveling driving motor works, it drives the traveling driving shaft 121 to rotate, then drives the second sprocket to rotate through the first sprocket and the chain, thereby driving the driving wheel 122 to rotate, realizing the traveling drive of the pineapple picking, peeling and core-removing integrated machine. Circumferentially distributed L-shaped mounting seats 126 are arranged on the outer ring of the driving wheel 122, and soil nails 127 are installed on the L-shaped mounting seats 126. In this way, when the pineapple picking, peeling and core-removing integrated machine travels, the acting force with the ground can be increased through the soil nails 127, 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 robotic arm 21 and a picking mechanism 22.

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

[0039] As Figures 11 to 14As described above, the picking mechanism 22 includes a picking drive 221, a picking end cap 222, a picking drive ring 223, a picking sleeve 224, a connecting rod 225, a cutter drive 226, a cutter 227 and a spring piece 228. The picking drive is a motor, which is installed on the rotating head. The axis of the picking drive is perpendicular to the axis of the rotating head. The picking end cap 222 is installed on the picking drive, and the output shaft of the picking drive passes through the picking end cap 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 cap 222 respectively. Connecting rods 225 are hinged between both sides of the picking drive ring 223 and the picking sleeves. 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. The cutter 227 radially passes through a through slot 2241 of the picking sleeve where the cutter drive is installed. A spring piece 228 with a middle part protruding towards the center is arranged on the inner wall of the picking sleeve. After the two picking sleeves are closed, the cross section is circular, which is convenient for holding the picked pineapple.

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

[0041] One or more axially extending mounting grooves 2242 are provided on the inner wall of the picking sleeve. The cross section of the mounting groove is T-shaped. The spring piece 228 includes an arc segment 2281 and linear segments 2282 connected to both ends of the arc segment. The middle part of the arc segment 2281 protrudes towards the center. Clamping parts are respectively arranged on both sides of the linear segment, and the clamping parts are clamped into the mounting grooves 2242. A fastening bolt is installed between the linear 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, it squeezes the spring piece to make the spring piece deform. During the deformation process of the spring piece, a free movement space is given to one end of the spring piece. Therefore, on the one hand, the pineapple can be clamped tightly by the spring piece, and on the other hand, the damage to the pineapple is small.

[0042] In the process of picking pineapples, this structure first drives the picking drive ring to move through the picking drive, makes the two picking sleeves open through the connecting rod, then drives the picking mechanism to move to the position of the pineapple by the robotic arm, adjusts the angle of the picking sleeve according to the angle of the pineapple through the picking robotic arm, then sleevs the picking sleeve onto the outside of the pineapple by the robotic arm, then drives the picking ring to move through the picking drive, drives the two picking sleeves to close through the connecting rod, and then clamps the pineapple under the action of the elastic sheet. Then, the cutter drive is started, and the cutter is driven to move through the cutter drive to cut off the connection between the pineapple neck and the pineapple. Then, the rotating head drives the picking mechanism to rotate by an angle 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 robotic arm positions the picking mechanism above the conveying mechanism, opens the picking sleeve, and horizontally places the pineapple into the conveying mechanism. In this structure, due to the setting of the elastic sheet, it can be applied to pick pineapples of different sizes and has good clamping reliability for pineapples. On the other hand, since the axis of the rotating head is perpendicular to the axis of the picking drive, the picked pineapple can be swung by an angle, which is convenient for the robotic arm to horizontally place the pineapple into the conveying mechanism and facilitates the subsequent processes.

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

[0044] As Figures 1 to 7 shown, the first conveying component 31 includes a fixing plate 310, a first driving roller 312, a first driven roller 313, a first drive 311, a first conveyor belt 314 and a first drive plate 315; the fixing plate 310 is installed on the frame 1 and there are two of them. The first driving roller 312 is rotatably installed at one end of the fixing plate 310 through a bearing, the first driven roller 313 is rotatably installed on the fixing plate 310 through a bearing, the first drive 311 is a motor, the first drive 311 is installed on the fixing plate 310 and drives the first driving roller to rotate. The first conveyor belt 314 is sleeved between the first driving roller 312 and the first driven roller 313. There are more than two first drive plates 315 on the first conveyor belt 314, and pineapple receiving grooves 316 are formed between adjacent first drive plates. In this structure, when the first drive works, the first drive drives the first driving roller to rotate, thereby driving the first conveyor belt to move. When the horizontal pineapple enters the pineapple receiving groove, the pineapple is conveyed into the second conveying component through the first drive plate, which is convenient for conveying the pineapple.

[0045] The second conveying component 32 is arranged at the output end of the first conveying component. The second conveying component is inclined from bottom to top towards one end of the rack. The second conveying component includes a support frame 310, a second driving 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 rack. The second driving 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 driving roller to rotate. The second conveyor belt is sleeved between the second driving roller and the second driven roller. Two or more second drive plates are arranged on the second conveyor belt. A pineapple conveying groove 316 is formed between adjacent second drive plates. With this structure, when the second drive works, the second drive drives the second driving roller to rotate, thereby driving the second conveyor belt to move. The pineapples entering the pineapple conveying groove are lifted to the peeling and core-removing mechanism by the second drive plates, and the pineapples are conveyed, and the conveying reliability of the pineapples is better.

[0046] As Figures 1 to 8 shown, the peeling and core-removing mechanism is arranged at the rear end of the rack and at the output end of the second conveying component, and is used for peeling and core-removing pineapples.

[0047] The peeling and core-removing mechanism 4 includes a first support frame 801, a first electric push rod 802, a peeling rotary 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 core-removing drive 809, a core-removing rod 8010, a tool holder 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 chute 8011 is provided on the first support frame 801. The peeling rotary 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 inside. The axis of the first hollow cavity extends. The first hollow cavity is used to receive the pineapple core. A blanking hole 8041 is provided 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, under the pushing action of the newly entered pineapple cores in the first hollow cavity 8042, the pineapple cores close to the blanking hole 8041 fall from the blanking hole 8041, facilitating the timely discharge of the pineapple cores. The second support frame 805 is fixedly connected to the other side of the frame 1. The second electric push rod 806 is fixedly connected to the second support frame 805. 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 installed on the mounting seat 807 through a bearing. An axially extending second hollow cavity is provided inside 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 lead screw is provided on the output shaft of the motor. The core-removing rod has a threaded hole inside. The core-removing rod 8010 is threadedly connected to the lead 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, axially extending guide strips are provided on the outer wall of the core-removing rod, and guide grooves for guiding the guide strips are provided on the inner wall of the second hollow support rod. An aggregate chute 11 is provided at the rear end of the frame 1 and at the output end of the second conveying assembly. The aggregate chute 11 is used to store the peeled and cored pineapples. The knife holder 91 is installed on the frame 1. A peeling drive 93 is installed on the knife holder. In this embodiment, the peeling drive is a linear motor. The peeling knife 92 is installed on the knife holder 91 and is located on one side of the second conveying assembly. The peeling knife is connected to the output end of the peeling drive. The peeling knife can be driven to move through the peeling drive, so as to 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. Bolts pass through the waist-shaped groove 921 and are connected to the knife holder 91. In this way, it is convenient to adjust the position of the peeling knife 92 to be suitable for the peeling of pineapples of different sizes.

[0050] For the above-mentioned peeling and coring mechanism, when the pineapple is conveyed by the conveying mechanism to the position of the peeling and coring mechanism, the first electric push rod and the second electric push rod work simultaneously. The first electric push rod drives the peeling rotating motor to move. Under the action of the first electric push rod, the peeling rotating motor drives the first hollow support rod to move axially towards one end of the pineapple. At the same time, the second electric push rod drives the mounting seat to move. Under the action of the second electric push rod, the mounting seat drives the second hollow support rod to move axially towards the other end of the pineapple, 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 reverse direction. The pineapple is lifted off the conveying mechanism through the first hollow support rod and the second hollow support rod. When one end of the pineapple moves to the position of the peeling knife, the peeling rotating motor is started. 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 towards 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 coring drive drives the coring rod to move axially and extend into the pineapple, thereby removing the pineapple core. The removed pineapple core enters the first hollow support rod. Therefore, peeling and coring can be carried out simultaneously, thus improving the efficiency of peeling and coring. When the peeling and coring work is completed, the peeling rotating motor stops working. Then, the second electric push rod drives the second hollow support rod to move towards the first electric push rod, and the first electric push rod drives the first hollow support rod to move in the reverse direction. During this process, the moving speeds of the first hollow support rod and the second hollow support rod are the same, and the pineapple is sent back into the conveying mechanism. Then, the conveying mechanism is restarted, and the conveying mechanism drives the peeled and cored pineapple to move towards the output end of the conveying mechanism. During this process, the first electric push rod and the second electric push rod are reset, allowing the first hollow support rod and the second hollow support rod to disengage from the peeled and cored pineapple. This structure has a high efficiency of 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 respectively hinged on both sides of the picking end cover, 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; the peeling and coring mechanism is arranged on the output of the conveying mechanism end; the peeling and coring mechanism includes 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 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 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 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 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.

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 they are 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 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.

7. The pineapple picking, peeling and coring machine according to claim 1, 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.

8. The pineapple picking, peeling and coring machine according to claim 1, 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.

9. 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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