Automatic broken peach kernel removing and dicing integrated device and using method thereof

Abstract

The invention relates to an automatic damage-removing, kernel-removing and dicing integrated device for peaches and a using method thereof.When surface shallow layer damage exists in peaches, surface shallow layer damage is removed through an arc-shaped sheet-shaped damage-removing cutter; when the peaches are damaged by insect holes, the insect hole damage is removed by using the conical hollow-out damage removing cutter; when the peaches have large-area deep damage, the third damage removing mechanism cutter is used for removing the large-area deep damage; and slicing after damage is removed. According to the device, clamping and rotating of peaches are achieved through the arranged inserting and taking mechanism, one-time identification of the damage types of the peaches is facilitated, one-time damage removal of different types of damage of the peaches is achieved through the arranged damage removal mechanism, and through the arranged clamping mechanism, not only are peach pits clamped, but also the damage types of the peaches are removed through the arranged clamping mechanism. The damage identification of the top of the peach is facilitated, the secondary damage removal is performed, and the slicing of the peach is realized through the arranged slicing mechanism, so that the integrated treatment of the damage removal, kernel removal and slicing of the peach is realized.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, in particular to the processing of peaches, and specifically refers to an integrated device for automatically removing rotten peaches, removing pits and cutting peaches, and a use method thereof. Background Art

[0002] Peach is a common fruit. Its fruit contains a variety of nutrients such as sugar, dietary fiber, vitamins, minerals and organic acids. The specific effects are as follows: Anti-oxidation and anti-aging: Peaches are high in vitamin C, which has an antioxidant effect, helps to remove excess free radicals in the body and delay the aging of the body; Moisturizing the intestines and promoting bowel movements: Peaches are rich in dietary fiber. On the one hand, it can absorb water and swell to soften the stool. On the other hand, it improves the peristaltic function of the gastrointestinal tract, promotes digestion, and has a laxative effect; Lowering blood pressure: Peaches are rich in potassium. For patients with hypertension whose blood pressure is proportional to sodium, less sodium intake can lower blood pressure.

[0003] The processing of peaches involves multiple links and operations, such as cleaning the peach skin to ensure that the surface of the peach is clean and free of dirt; removing the peach skin to make up for the bad taste of the peach due to the peach skin; removing the damaged part to improve the processing quality of peaches; removing the peach pits to facilitate the later processing of peaches; cutting peaches into pieces to make the processing of peaches more refined and detailed. With the improvement of the mechanization and intelligence level of facility agriculture, the various links of peach processing have gradually shifted from manual to self-propelled mechanical equipment. For example, the peeling, cutting, and pitting equipment have gradually matured, and machines have replaced manual labor. However, the removal of peach fruits still needs to rely on manual operation. The types of damage mainly include superficial surface damage, worm eye damage, and large-area deep damage, such as rust, cracked fruit, black spots, worm eyes, etc. The existing peach processing machinery and equipment lack the link of peach removal, and the types of peach defects are not unique, resulting in the task of peach removal relying on a large number of manual labor, which occupies a high labor cost. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an integrated device for automatically removing peach rot, pitting and dicing peaches and a use method thereof, which replaces manual removal of various types of defects and greatly reduces costs.

[0005] The present invention is realized through the following technical scheme, and provides an integrated device for automatically removing bad peaches, removing pits and cutting into pieces, comprising a conveying mechanism, a frame, and an insertion and extraction mechanism, a bad removal mechanism, a clamping mechanism and a cutting mechanism installed on the frame and arranged in sequence along the conveying direction of the conveying mechanism; the insertion and extraction mechanism comprises a first lead screw slide of the insertion and extraction mechanism, and a second lead screw slide of the insertion and extraction mechanism installed on a slider of the first lead screw slide of the insertion and extraction mechanism, the slider of the first lead screw slide of the insertion and extraction mechanism moves along the conveying direction of the conveying mechanism, the slider of the second lead screw slide of the insertion and extraction mechanism moves vertically, an insertion and extraction mechanism motor and an insertion and extraction mechanism cylinder are fixedly mounted on the slider of the second lead screw slide of the insertion and extraction mechanism, the output shaft of the insertion and extraction mechanism motor and the piston rod of the insertion and extraction mechanism cylinder are both arranged downward, an insertion and extraction claw located above the conveying mechanism is fixedly mounted at the lower end of the output shaft of the insertion and extraction mechanism motor, and a push plate extending to above the insertion and extraction claw is fixedly mounted on the piston rod of the insertion and extraction mechanism cylinder; The spoil removing mechanism comprises a first spoil removing device, the first spoil removing device comprises a first spoil removing mechanism lead screw slide mounted on a frame and extending toward the peaches to be spoiled, a first spoil removing mechanism servo motor is mounted on a slider of the first spoil removing mechanism lead screw slide, and an arc-shaped sheet-shaped spoil removing tool is fixed on an output shaft of the first spoil removing mechanism servo motor; The clamping mechanism includes a first clamping mechanism cylinder extending downward, and a clamping tool installed at the lower end of the first clamping mechanism cylinder, the clamping tool includes two clamping blades arranged on the same plane, and a blade driving mechanism driving the two clamping blades to move relative to each other, and arc grooves are respectively provided on opposite sides of the two clamping blades, and the two arc grooves form a clamping opening adapted to the peach pit; The block cutting mechanism comprises block cutting tools respectively arranged on both sides of the clamping opening, and a block cutting driving device driving the two block cutting tools to move toward the clamping opening.

[0006] In this scheme, peaches are transported by a conveying mechanism, and the peaches on the conveying mechanism are picked up by an insertion mechanism, and are sent to a first rot-removing device for superficial rot-removal. For peaches after rot-removal or peaches without damage, the push plate connected to the insertion cylinder is pushed down, so that the peaches return to the conveying mechanism and move to the clamping mechanism with the conveying mechanism. The clamping mechanism clamps the peaches, and the clamping blade clamps the peach pit after cutting the peach flesh. Then, the peaches are sent between two slicing knives by the clamping mechanism, and the peaches are diced by the relative movement of the two slicing knives. The peach flesh after slicing falls off, and the clamping mechanism removes the peach pit, thereby realizing rot-removal, slicing and separation of peach pits.

[0007] As an optimization, the frame is fixed with a first arc-shaped guide rod located in a vertical plane, the center of the first arc-shaped guide rod is located on the side where the peaches to be de-rotted are located, the first arc-shaped guide rod is slidably connected with a first de-rotting slider, the first de-rotting slider is connected to a first driving device that drives it to move along the first arc-shaped guide rod, and the first de-rotting mechanism lead screw slide is installed on the first de-rotting slider. The setting of this optimization scheme realizes the adjustment of the position of the first de-rotting mechanism lead screw slide by the first driving device driving the slider to move along the first arc-shaped guide rod, thereby facilitating the adjustment of the position of the arc-shaped sheet-shaped de-rotting tool and better de-rotting.

[0008] As an optimization, the spoilage removal mechanism also includes a second spoilage removal device, which includes a second spoilage removal mechanism lead screw slide mounted on a frame and extending toward the peaches to be removed, a second spoilage removal mechanism servo mounted on a slider of the second spoilage removal mechanism lead screw slide, and a conical hollow spoilage removal tool fixed on the output shaft of the second spoilage removal mechanism servo; the tip of the conical hollow spoilage removal tool faces the peaches to be removed, and the conical hollow spoilage removal tool is located on one side of the axis of the output shaft of the second spoilage removal mechanism servo. The setting of this optimization scheme facilitates the removal of spoilage caused by insect eyes. After the conical hollow spoilage removal tool is inserted into the peach, the second spoilage removal mechanism servo drives it to rotate and cuts the circumference of the insect eye damage. When the conical hollow spoilage removal tool is pulled out, the cut damaged part is taken out by utilizing the effect of the cone angle to achieve separation from the peach.

[0009] As an optimization, the spoilage removal mechanism also includes a third spoilage removal device, which includes a third spoilage removal mechanism screw slide installed on the frame and extending toward the peaches to be removed from the rottenness, a third spoilage removal mechanism servo motor is installed on the slider of the third spoilage removal mechanism screw slide, the output shaft of the third spoilage removal mechanism servo motor extends toward the peaches to be removed from the rottenness, and a third spoilage removal mechanism tool is installed on the output shaft of the third spoilage removal mechanism servo motor; the third spoilage removal mechanism tool includes a constraint plate fixedly connected to the fixed part of the third spoilage removal mechanism servo motor, a rotating plate fixedly connected to the output shaft of the third spoilage removal mechanism servo motor, and a third spoilage removal mechanism tool located about 100 meters away from the rotating plate. The duckbill clamp on one side of the bundle sheet has a through hole on the constraint sheet for the output shaft of the third spoil removal mechanism servo to pass through; the tips of the two clamp bodies of the duckbill clamp face the peach to be de-corrupted, and the other ends of the two clamp bodies are respectively fixed with guide shafts that pass through the rotating sheet and the constraint sheet in sequence, and the constraint sheet is provided with two straight long holes that are respectively adapted to the two guide shafts and extend radially opposite to each other, and one end of the guide shaft passing through the constraint sheet is fixed with a support platform larger than the width of the straight long hole, and the rotating sheet is provided with two arc holes that are respectively adapted to the two guide shafts. When the rotating sheet rotates, the side walls of the arc holes push the guide shafts to move along the straight long holes. This optimization scheme can achieve the removal of large-area deep-seated damage through the third spoil removal mechanism tool, the third spoil removal mechanism servo drives the rotating sheet to rotate, and uses the coordination of the arc hole and the straight long hole to open the duckbill clamp, and then inserts the duckbill clamp into the peach, and the third spoil removal mechanism servo reverses to close the duckbill clamp, and wraps the damaged part in the duckbill clamp to achieve spoil removal.

[0010] As an optimization, the blade driving mechanism includes a second cylinder of the clamping mechanism located below the first cylinder of the clamping mechanism, the cylinder body of the second cylinder of the clamping mechanism is fixedly connected to the lower end of the piston rod of the first cylinder of the clamping mechanism, the piston rod of the second cylinder of the clamping mechanism extends downward and is fixedly connected to an upper wedge block, the bottom of the cylinder body of the second cylinder of the clamping mechanism is fixedly connected to a fixed frame, a through hole is provided on the fixed frame for the piston rod of the second cylinder of the clamping mechanism to pass through, two lower wedge blocks that slide relatively laterally are slidably connected in the fixed frame, the opposite sides of the two lower wedge blocks are inclined and form a wedge-shaped opening that is larger at the top and smaller at the bottom, the two side edges of the upper wedge block are respectively slidably connected to the opposite sides of the two lower wedge blocks, and the two clamping blades are respectively fixedly connected to the lower wedge blocks. The blade driving mechanism of this embodiment adopts the cooperation of the upper wedge block and the two lower wedge blocks to realize the opening and closing of the two clamping blades, thereby realizing the clamping and release of the peach pit, with high clamping reliability, to prevent the peach pit from falling with the flesh after cutting.

[0011] As an optimization, it also includes two fourth spoilage removal devices arranged opposite to each other on the left and right, the fourth spoilage removal device includes a fourth spoilage removal mechanism screw slide mounted on the frame, and a fourth spoilage removal mechanism cylinder mounted on a slider of the fourth spoilage removal mechanism screw slide, the slider of the fourth spoilage removal mechanism screw slide moves vertically, the piston rod of the fourth spoilage removal mechanism cylinder extends horizontally toward the peaches to be spoiled, and the fourth spoilage removal mechanism blade is mounted on the piston rod of the fourth spoilage removal mechanism cylinder; The clamping mechanism also includes a clamping mechanism lead screw slide extending along the conveying direction of the conveying mechanism, the slide of the clamping mechanism lead screw slide is fixedly connected to the cylinder body of the first cylinder of the clamping mechanism, and the slide of the clamping mechanism lead screw slide drives the clamping tool to move between the working position of the cutting tool and the working position of the blade of the fourth bad removal mechanism. This optimization scheme can remove bad parts from the top of the peach by setting the fourth bad removal device. When there is damage on the top of the peach, the blade of the fourth bad removal mechanism directly cuts off the damaged part, reducing the bad removal blind area.

[0012] As an optimization, the conveying mechanism includes a conveying chain extending in the front-to-back direction and a driving motor driving the conveying chain to rotate. The plane where the conveying chain is located extends vertically. Vertical baffles are respectively fixed on the left and right sides of the conveying chain. The outer side of the conveying chain is fixed with a plurality of upper baffles arranged in sequence along the circumferential direction. The upper baffle includes two inclined plates fixed as one, and one end connected to the two inclined plates is higher than the other end. The outer side of the upper baffle is fixed with a peach placement rack extending away from the side where the conveying chain is located. This optimization scheme prevents the cut pulp or the damaged part from falling into the conveying chain by setting the vertical baffle and the upper baffle, thereby ensuring the normal operation of the conveying chain. As an optimization, a first collection basket adapted to the bad part removal mechanism and a second collection basket adapted to the slicing mechanism are provided on the side of the vertical baffle away from the conveying chain. This optimization scheme uses the first collection basket to collect the removed bad parts, and uses the second collection basket to collect the slicing pulp, thereby improving the processing efficiency and preventing the bad parts from mixing with the pulp.

[0013] As an optimization, the block cutting tool includes a plurality of fan-shaped blades distributed along the circumference and fixed as one, one straight edge of each fan-shaped blade is in contact, and the inner arc edge of each fan-shaped blade forms a cut. The block cutting tool of this optimization scheme uses fan-shaped blades for block cutting, which has strong pressure and saves more effort.

[0014] The present invention also provides a method for using the above-mentioned integrated device for automatically removing rotten peaches, removing pits and cutting peaches, comprising the following steps: S1: placing peaches on the peach placing rack of the conveying mechanism, driving the conveying mechanism to rotate with a driving motor, so that the peaches move under the insertion claws; S2: The slider of the second lead screw slide of the insertion mechanism moves downward, so that the insertion claw is inserted into the peach, the slider of the second lead screw slide of the insertion mechanism moves upward, so that the peach is separated from the peach placement rack, and the slider of the first lead screw slide of the insertion mechanism moves so that the peach is located at a position corresponding to the second camera installed on the rack; S3: The motor of the insertion and extraction mechanism starts to drive the peach to rotate, the second camera identifies the bottom surface of the peach, and the first camera installed on the push plate identifies the side surface of the peach. After identification, if the peach is not damaged, the sliders of the second lead screw slide of the insertion and extraction mechanism and the first lead screw slide of the insertion and extraction mechanism move to move the peach to the peach placement rack, and the cylinder of the insertion and extraction mechanism drives the push plate to move the peach from the insertion and extraction claw to the peach placement rack; When the peach has superficial damage on the surface, the insertion mechanism moves the peach to the arc-shaped flaky damage removal tool, and uses the arc-shaped flaky damage removal tool to remove the superficial damage on the surface; When the peaches are damaged by insect eyes, the insertion mechanism moves the peaches to the conical hollow damage removal tool, and uses the conical hollow damage removal tool to remove the insect eyes; When peaches have large-area deep-layer damage, the insertion mechanism moves the peaches to the cutter of the third bad-removing mechanism, and the cutter of the third bad-removing mechanism is used to remove the large-area deep-layer damage; After superficial damage, insect-eye damage and large-area deep damage are removed, the peaches are de-damaged once, and the insertion and removal mechanism moves the peaches that have been de-damaged once to the peach placement rack; S4: The conveying mechanism conveys the peaches that are not detected to be damaged or have been de-damaged once to the corresponding position of the clamping mechanism, the clamping mechanism clamps the peaches, and the clamping blade clamps the peach pit, and the top of the peach is identified by the third camera installed on the clamping mechanism; When it is identified that there is damage on the top of the peach, the clamping mechanism moves the peach to the blade of the fourth bad removing mechanism, and the blade of the fourth bad removing mechanism removes the damage on the top, completing the secondary bad removing; S5: The clamping mechanism moves the undamaged or secondarily de-damaged peaches between the two cutting knives, and cuts the peaches into pieces by the relative movement and rotation of the two cutting knives. The cut peaches fall into the second collecting basket. Then the clamping mechanism moves the peach pits out of the collecting range of the second collecting basket to separate the peach pits from the peach flesh.

[0015] The beneficial effects of the present invention are as follows: the peaches can be transported by the provided conveying mechanism; the peaches can be clamped and rotated by the provided inserting mechanism, which facilitates one-time identification of the damage type of the peach fruit; the peaches with different types of damage can be removed once by the provided bad removing mechanism; the peach pits can be clamped by the provided clamping mechanism, and the damage on the top of the peaches can be identified and removed for a second time; the peaches can be cut into pieces by the provided cutting mechanism, thereby realizing the integrated processing of removing the bad, removing the pit and cutting the peaches. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a side view of the present invention; Figure 3 The main view of the present invention Figure 4 It is a schematic diagram of the structure of the conveying mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the insertion and removal mechanism of the present invention; Figure 6 This is a schematic structural diagram of the first bad removal device of the present invention; Figure 7 It is a partial enlarged view of the first bad removal device of the present invention; Figure 8 This is a schematic structural diagram of a second bad removal device of the present invention; Fig. 9 It is a partial enlarged view of the second bad removal device of the present invention; Fig.10 This is a schematic structural diagram of a third bad removal device of the present invention; Fig.11 This is a partial enlarged view of the third bad removal device of the invention; Fig.12 This is a schematic diagram of the tool decomposition of the third bad removal mechanism; Fig.13 It is a schematic structural diagram of a fourth bad removal device of the present invention; Fig.14 It is a schematic diagram of the structure of the clamping mechanism of the present invention; Fig.15 It is a partial enlarged view of the clamping mechanism; Fig.16 It is a schematic diagram of the cutting mechanism structure; Fig.17 A schematic diagram for installing the second camera; Fig.18 This is a schematic diagram of the installation of the first camera; Fig.19 Schematic diagram for the installation of the third camera; Fig. 20 This is a schematic diagram of the peach placement rack structure; Fig.21 It is a schematic diagram of the relative positions of the components of the present invention; As shown in the figure: 1. Conveying mechanism, 2. Rack, 3. Inserting and removing mechanism, 4. Defect removal mechanism, 5. Clamping mechanism, 6. Cutting mechanism, 7. Second camera, 8. First camera, 9. The third camera, 11. The peach placement rack, 12. The bracket, 13. The upper baffle, 14. The conveyor chain, 15. The driving motor, 16. The driving sprocket, 21. The first electric cylinder, 22. The first connecting rod, 23. The first bad removal slider, 31. The insertion claw, 32. The push plate, 33. The insertion mechanism motor, 34. The insertion mechanism cylinder, 35. The insertion mechanism second lead screw slide, 36. The insertion mechanism first lead screw slide, 41. The first bad removal device, 42. The second bad removal device, 43. The third bad removal device, 44. The fourth bad removal device, 45. The first collection basket, 46. The second collection basket, 51. The lower wedge, 52. The fixed frame, 53. The fixed frame, 54. The second cylinder of the clamping mechanism, 55. The lead screw slide of the clamping mechanism, 56. The first cylinder of the clamping mechanism, 57. The clamping blade, 61. The cutting mechanism electric cylinder, 62. The cutting Block mechanism motor, 63, cutting tool, 411, arc-shaped sheet-shaped de-damping tool, 412, first de-damping mechanism servo, 413, first de-damping mechanism lead screw slide, 414, first arc-shaped guide rod, 421, conical hollow de-damping tool, 422, second de-damping mechanism servo, 423, second de-damping mechanism lead screw slide, 424, second arc-shaped guide rod, 425, second de-damping slide, 431, third de-damping mechanism tool, 432, third de-damping mechanism servo, 433, third de-damping mechanism lead screw slide, 434, third de-damping slide, 435, third connecting rod, 436, third electric cylinder, 437, third arc-shaped guide rod, 441, fourth de-damping mechanism lead screw slide, 442, fourth de-damping mechanism cylinder, 443, fourth de-damping mechanism blade, 4311, constraint plate, 4312, rotating plate, 4313, duckbill clamp. DETAILED DESCRIPTION

[0017] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0018] like Figure 1 The invention discloses an integrated device for automatically removing rotten peaches, removing pits and cutting peaches, comprising a conveying mechanism 1, a frame 2, and an insertion mechanism 3, a rotten peach removal mechanism 4, a clamping mechanism 5 and a cutting mechanism 6 which are installed on the frame and arranged in sequence along the conveying direction of the conveying mechanism. The conveying mechanism is used to convey peaches from front to back; the insertion mechanism is used to insert and rotate the peaches conveyed by the conveying mechanism for a camera to identify the damage type, and to send the peaches to the corresponding position of the rotten peach removal mechanism according to the damage type; the rotten peach removal mechanism is used to remove the damage on the peaches; the clamping mechanism is used to clamp the peach pits to facilitate cutting and secondary rotten peach removal, and to separate the peach pits from the flesh; the cutting mechanism is used to cut the peach flesh into pieces.

[0019] The conveying mechanism 1 includes a conveying chain 14 extending in the front-to-back direction, a driving motor 15 driving the conveying chain to rotate, and a fixed bracket 12, on which a driving sprocket 16 and a driven sprocket adapted to the conveying chain are rotatably mounted, the driving motor is fixedly connected to the bracket, and the output shaft of the driving motor 15 is coaxially fixedly connected to the driving sprocket 16, and the conveying chain is driven to rotate by the driving motor. The driving motor 15 of this embodiment adopts a stepping motor. The plane where the conveying chain 14 is located extends vertically, and the length direction of the conveying chain extends in the front-to-back direction. Vertical baffles are respectively fixed on the left and right sides of the conveying chain, and the vertical baffles are fixedly connected to the frame. The bracket 12 is located at the front and rear ends of the vertical baffles, and the bracket 12 is fixedly connected to the vertical baffles. The outer side of the conveyor chain is fixedly connected with a plurality of upper baffles 13 arranged in sequence along the circumferential direction. The upper baffle includes two inclined plates fixedly connected as one, and one end of the two inclined plates connected is higher than the other end. The upper baffle is used to form a shield above the conveyor chain to prevent the cut pulp and the removed damaged parts from falling into the conveyor chain. The outer side of the upper baffle is fixedly connected with a peach placement rack 11 extending away from the side where the conveyor chain is located. The peach placement rack 11 of this embodiment includes two left and right opposite arc-shaped baffles, and the bottom surface of the arc-shaped baffle is fixedly connected with a support rod, and the lower end of the support rod is fixedly connected to the upper baffle.

[0020] A first collection basket adapted to the bad part removal mechanism and a second collection basket adapted to the slicing mechanism are provided on one side of the vertical baffle away from the conveying chain. The bad part removed by the bad part removal mechanism falls to the upper baffle, and then falls to the first collection basket 45 along the inclined plate of the upper baffle. The pulp pieces cut by the slicing mechanism fall to the second collection basket 46 along the inclined plate of the upper baffle below. In order to improve the collection efficiency, the first collection basket and the second collection basket are provided on both sides of the inclined plate of the upper baffle in this embodiment.

[0021] The plug-in mechanism comprises a first screw slide 36 of the plug-in mechanism, and a second screw slide 35 of the plug-in mechanism installed on the slider of the first screw slide of the plug-in mechanism. The slider of the first screw slide of the plug-in mechanism moves along the conveying direction of the conveying mechanism, and the slider of the second screw slide 35 of the plug-in mechanism moves vertically. The slider of the second screw slide 35 of the plug-in mechanism is fixed with a plug-in mechanism motor 33 and a plug-in mechanism cylinder 34. The output shaft of the plug-in mechanism motor and the piston rod of the plug-in mechanism cylinder are both arranged downward, and the lower end of the output shaft of the plug-in mechanism motor is fixed with an insertion claw 31 located above the conveying mechanism. The insertion claw is provided with three claw bodies, which is convenient for inserting peaches and preventing peaches from falling. The slider of the second screw slide 35 of the plug-in mechanism moves downward, so that the insertion claw is inserted into the peach. After the slider of the second screw slide 35 of the plug-in mechanism moves upward, the peach is driven to rotate by the plug-in mechanism motor 33. The piston rod of the inserting and taking mechanism cylinder is fixed with a push plate 32 extending to the above the described inserting and taking claws 31. After removing the damaged part, the inserting and taking mechanism cylinder is utilized to drive the push plate action, and the peaches on the inserting and taking claws are pushed off, so that the peaches fall into the peach placing rack 11 below.

[0022] The push plate 32 is provided with a first camera 8 facing the side of the peach inserted by the insertion claw, for identifying the damage type of the side of the peach. The frame is provided with a second camera 7 facing the bottom of the peach inserted by the insertion claw, for identifying the damage type of the bottom of the peach.

[0023] The spoil removing mechanism 4 includes a first spoil removing device 41, a second spoil removing device 42 and a third spoil removing device 43. In order to save space, the first spoil removing device and the third spoil removing device of this embodiment are arranged opposite to each other on the left and right sides, and the second spoil removing device is located at the upstream side of the third spoil removing device along the conveying direction of the conveying mechanism. The first spoil removing device is used to remove superficial damage, the second spoil removing device is used to remove damage caused by insect eyes, and the third spoil removing device is used to remove large-area deep damage. The first spoil removing device, the second spoil removing device and the third spoil removing device form a one-time spoil removal process for peaches.

[0024] Specifically, the first spoilage removal device includes a first spoilage removal mechanism lead screw slide 413 installed on a frame and extending toward the peaches to be removed from spoilage. This embodiment is also provided with a first spoilage removal slider installed on the frame, and the first spoilage removal mechanism lead screw slide 413 is installed on the first spoilage removal slider. A first spoilage removal mechanism servo 412 is installed on the slider of the first spoilage removal mechanism lead screw slide 413, and an arc-shaped sheet-shaped spoilage removal tool 411 is fixedly installed on the output shaft of the first spoilage removal mechanism servo 412. The output shaft of the first spoilage removal mechanism servo 412 is horizontally arranged and perpendicular to the moving direction of the slider of the first spoilage removal mechanism lead screw slide 413. When the first spoilage removal mechanism servo 412 drives the arc-shaped sheet-shaped spoilage removal tool 411 to rotate, the arc-shaped sheet-shaped spoilage removal tool 411 is used to scrape off the shallow damage on the surface, and the arc-shaped sheet-shaped spoilage removal tool 411 can be a peeling knife.

[0025] The frame is fixed with a first arc-shaped guide rod 414 located in a vertical plane. The first arc-shaped guide rod 414 is located on the side of the conveying direction of the conveying mechanism. The center of the first arc-shaped guide rod is located on the side where the peaches to be removed are located. The first arc-shaped guide rod is slidably connected with a first rot-removing slider 23. The first rot-removing slider 23 is connected to a first driving device that drives it to move along the first arc-shaped guide rod. The first rot-removing mechanism lead screw slide 413 is installed on the first rot-removing slider. The first driving device includes a first electric cylinder 21 and a first connecting rod 22. The axis of the first electric cylinder extends vertically, and the push rod of the first electric cylinder extends upward. One end of the first connecting rod is hinged to the push rod of the first electric cylinder through a transverse axis, and the other end is hinged to the first rot-removing slider 23 through a transverse axis. When the push rod of the first electric cylinder is extended and retracted, the first badness removal slider 23 is driven to move along the first arc-shaped guide rod, and the slider of the first badness removal mechanism lead screw slide 413 moves radially along the first arc-shaped guide rod, thereby adjusting the position of the arc-shaped sheet-shaped badness removal tool 411 for better badness removal.

[0026] The second spoilage removal device includes a second spoilage removal mechanism lead screw slide 423 installed on the frame and extending toward the peaches to be removed from spoilage. In this embodiment, a second spoilage removal slider is also installed on the frame. The second spoilage removal mechanism lead screw slide 423 is installed on the second spoilage removal slider. The slider of the second spoilage removal mechanism lead screw slide 423 is installed with a second spoilage removal mechanism servo 422. A conical hollow spoilage removal tool 421 is fixed on the output shaft of the second spoilage removal mechanism servo 422. The output shaft axis of the second spoilage removal mechanism servo 422 is parallel to the moving direction of the slider of the second spoilage removal mechanism lead screw slide 423. The tip of the conical hollow spoilage removal tool 421 faces the peaches to be removed from spoilage, and the conical hollow spoilage removal tool is located on the side of the output shaft axis of the second spoilage removal mechanism servo 422. The conical hollow spoilage removal tool rotates around the output shaft axis of the second spoilage removal mechanism servo 422. The conical hollow spoil removal tool is formed by cutting a conical cylinder, and the angle between the conical hollow spoil removal tool and the output shaft axis of the second spoil removal mechanism servo 422 is greater than 0 degree, and the distance between one end of the conical hollow spoil removal tool away from the second spoil removal mechanism servo and the output shaft axis of the second spoil removal mechanism servo 422 is smaller than the distance between the other end of the conical hollow spoil removal tool and the output shaft axis of the second spoil removal mechanism servo 422. After the rotary cutting is completed, while the conical hollow spoil removal tool is pulling out the peach, the taper of the conical hollow spoil removal tool is used to bring the damaged part cut out of the peach.

[0027] A second arc-shaped guide rod 424 located in a vertical plane is fixedly provided on the frame. The second arc-shaped guide rod 424 is located on the side of the conveying mechanism away from the first arc-shaped guide rod. The center of the second arc-shaped guide rod is located on the side where the peaches to be de-rotted are located. A second de-rotted slide block 425 is slidably connected to the second arc-shaped guide rod 424. The second de-rotted slide block is connected to a second driving device that drives it to move along the second arc-shaped guide rod. The second de-rotted mechanism lead screw slide 423 is installed on the second de-rotted slide block. The second driving device includes a second electric cylinder 427 and a second connecting rod 426. The axis of the second electric cylinder 427 extends vertically, and the push rod of the second electric cylinder extends upward. One end of the second connecting rod 426 is hinged to the push rod of the second electric cylinder through a transverse axis, and the other end is hinged to the second de-rotted slide block through a transverse axis. When the push rod of the second electric cylinder is extended and retracted, it drives the second bad removal slider 425 to move along the second arc-shaped guide rod 424, and the slider of the second bad removal mechanism lead screw slide 423 moves radially along the second arc-shaped guide rod, thereby adjusting the position of the conical hollow bad removal tool to better remove bad parts.

[0028] The third spoilage removal device includes a third spoilage removal mechanism lead screw slide 433 mounted on the frame and extending toward the peaches to be removed. This embodiment is further provided with a third spoilage removal slider mounted on the frame, and the third spoilage removal mechanism lead screw slide 433 is mounted on the third spoilage removal slider. A third spoilage removal mechanism servo 432 is mounted on the slider of the third spoilage removal mechanism lead screw slide 433, and the output shaft of the third spoilage removal mechanism servo 432 extends toward the peaches to be removed. A third spoilage removal mechanism cutter 431 is mounted on the output shaft of the third spoilage removal mechanism servo 432.

[0029] The third spoil removal mechanism cutter 431 includes a constraint sheet 4311 fixedly connected to the fixed part of the third spoil removal mechanism servo, a rotating sheet 4312 fixedly connected to the output shaft of the third spoil removal mechanism servo, and a duckbill clamp 4313 located on the side of the rotating sheet away from the constraint sheet, and a through hole is provided on the constraint sheet 4311 for the output shaft of the third spoil removal mechanism servo to pass through. The duckbill clamp includes two clamping bodies arranged opposite to each other, a cavity is formed between the two clamping bodies, the tips of the two clamping bodies of the duckbill clamp face the peaches to be spoiled, the other ends of the two clamping bodies are respectively fixedly connected to guide shafts that pass through the rotating sheet and the constraint sheet in sequence, the constraint sheet is provided with two straight long holes that are respectively adapted to the two guide shafts and extend radially opposite to each other, one end of the guide shaft passing through the constraint sheet is fixedly connected to a support platform that is larger than the width of the straight long hole, and the support platform is used to support the clamping body to prevent it from falling. The rotating plate is provided with two arc holes respectively adapted to the two guide shafts, and the arc holes are arranged such that when the rotating plate rotates, the side walls of the arc holes push the guide shafts to move along the straight long holes. When in use, the third bad removing mechanism steering gear rotates forward, driving the rotating plate to rotate, and utilizing the arc holes to make the two guide shafts move away from each other along the straight long holes, so as to realize the opening of the duckbill clamp, and then the duckbill clamp is inserted into the peach, and the damaged part is located between the two clamp bodies, and the third bad removing mechanism steering gear is reversed to close the duckbill clamp, and the slider of the third bad removing mechanism lead screw slide 433 drives the duckbill clamp to leave the peach, so as to realize the separation of the damaged part from the peach.

[0030] A third arc-shaped guide rod 437 located in a vertical plane is fixedly arranged on the frame. The third arc-shaped guide rod 437 is located on the side of the conveying mechanism away from the first arc-shaped guide rod, and the third arc-shaped guide rod is arranged opposite to the first arc-shaped guide rod. The center of the third arc-shaped guide rod is located on the side where the peaches to be removed from the rot are located. A third rot-removing slider 434 is slidably connected to the third arc-shaped guide rod. The third rot-removing slider 434 is connected to a third driving device for driving it to move along the third arc-shaped guide rod. The third rot-removing mechanism lead screw slide 433 is installed on the third rot-removing slider 434. The third driving device includes a third electric cylinder 436 and a third connecting rod 435. The axis of the third electric cylinder extends vertically, and the push rod of the third electric cylinder extends upward. One end of the third connecting rod is hinged to the push rod of the third electric cylinder through a transverse axis, and the other end is hinged to the third rot-removing slider through a transverse axis. When the push rod of the third electric cylinder is extended or retracted, the third badging removal slider is driven to move along the third arc-shaped guide rod, and the slider of the third badging removal mechanism lead screw slide 433 moves radially along the third arc-shaped guide rod, thereby adjusting the position of the tool of the third badging removal mechanism for better badging removal.

[0031] The clamping mechanism includes a first clamping mechanism cylinder 56 extending downward, and a clamping tool installed at the lower end of the first clamping mechanism cylinder 56, the clamping tool includes two clamping blades 57 arranged on the same plane, and a blade driving mechanism driving the two clamping blades to move relative to each other in the front-rear direction, arc grooves are respectively provided on the opposite sides of the two clamping blades, and the two arc grooves form a clamping opening adapted to the peach pit. The clamping mechanism is also equipped with a third camera 9 located above the clamping opening, and the third camera 9 is used to identify damage to the top of the peach clamped by the clamping opening.

[0032] The blade driving mechanism of this embodiment includes a second cylinder 54 of the clamping mechanism located below the first cylinder 56 of the clamping mechanism, the cylinder body of the second cylinder 54 of the clamping mechanism is fixedly connected to the lower end of the piston rod of the first cylinder 56 of the clamping mechanism, the piston rod of the second cylinder 54 of the clamping mechanism extends downward and is fixedly connected to an upper wedge block 53, a fixed frame 52 is fixedly connected to the bottom of the cylinder body of the second cylinder 54 of the clamping mechanism, the third camera 9 is installed at the bottom of the fixed frame, and a through hole is also provided on the fixed frame for the piston rod of the second cylinder 54 of the clamping mechanism to pass through, two lower wedge blocks 51 that slide relative to each other in the horizontal direction are slidably connected in the fixed frame, the opposite sides of the two lower wedge blocks 51 are inclined to form a wedge-shaped opening with a larger upper part and a smaller lower part, the two side edges of the upper wedge block 53 are respectively slidably connected to the opposite sides of the two lower wedge blocks, and the two clamping blades 57 are respectively fixedly connected to the lower wedge blocks. The two opposite oblique sides of the two lower wedge blocks are provided with guide slots extending in the inclined direction, and the two side edges of the upper wedge block are fixed with guide blocks adapted to the guide slots. When the upper wedge block moves upward, it drives the two lower wedge blocks to move closer together, and when the upper wedge block moves downward, it drives the two lower wedge blocks to move away from each other, thereby realizing the movement of the two clamping blades closer together or away from each other.

[0033] In order to realize the movement of the clamping tool along the front and rear directions, the clamping mechanism of this embodiment also includes a clamping mechanism screw slide 55 extending along the conveying direction of the conveying mechanism. The slide of the clamping mechanism screw slide 55 is fixedly connected to the cylinder body of the first cylinder 56 of the clamping mechanism. The slide of the clamping mechanism screw slide 55 drives the clamping tool to move between the working position of the cutting tool and the working position of the blade 443 of the fourth debonding mechanism.

[0034] The dicing mechanism comprises dicing tools 63 respectively arranged on both sides of the clamping port, and a dicing driving device driving the two dicing tools to move toward the clamping port, and the two dicing tools 63 are arranged opposite to each other on the left and right sides. The dicing tool comprises a plurality of fan-shaped blades distributed along the circumference and fixed as one, the corresponding central angle of the fan-shaped blade is 90 degrees, one straight edge of each fan-shaped blade is in contact, and the inner arc edge of each fan-shaped blade forms an incision. In order to facilitate the connection and ensure the connection strength of the fan-shaped blade, one end of each fan-shaped blade in contact is fixed to the same fixed block, and the other end is fixed to the same fixed ring in this embodiment. The dicing driving device comprises two dicing mechanism electric cylinders 61 extending relatively in the left and right directions, the cylinder body of the dicing mechanism electric cylinder 61 is fixed to the frame, the screw rod extending end of the dicing mechanism electric cylinder 61 is fixed to the dicing mechanism motor 62 through a flange, and the dicing tool 63 is fixed on the output shaft of the dicing mechanism motor 62, and the output shaft of the dicing mechanism motor in this embodiment is fixed to the fixed block, and the fixed ring faces the peaches to be cut. When in use, the clamping tool clamps the peach pit, and the cutting tool 63 is embedded in the peach flesh through the extension and contraction of the cutting mechanism electric cylinder 61. The rotation of the cutting mechanism motor 62 drives the cutting tool 63 to rotate to complete the peach cutting and pitting operation.

[0035] In order to facilitate the removal of the damage identified by the third camera, the present embodiment further includes two fourth bad removal devices 44 arranged opposite to each other on the left and right sides, and the fourth bad removal device 44 is located on the downstream side of the clamping mechanism along the conveying direction of the conveying mechanism. Specifically, the fourth bad removal device 44 includes a fourth bad removal mechanism screw slide 441 installed on the frame, and a fourth bad removal mechanism cylinder 442 installed on the slider of the fourth bad removal mechanism screw slide 441, the slider of the fourth bad removal mechanism screw slide 441 moves vertically, the piston rod of the fourth bad removal mechanism cylinder 442 extends horizontally toward the peach to be removed, and the piston rod of the fourth bad removal mechanism cylinder 442 is installed with a fourth bad removal mechanism blade 443, the fourth bad removal mechanism blade 443 is a sheet structure, and a plurality of hollow barbs are provided on the fourth bad removal mechanism blade, so as to facilitate the separation of the cut damaged part from the peach by the barbs during the return movement of the fourth bad removal mechanism blade 443 after the damaged part is cut.

[0036] Each lead screw slide in this embodiment can be made of existing technology, the lead screw is driven to rotate by a motor, and the slider is moved along the axial direction of the lead screw by the action of the thread. Each camera recognizes the damage type, and the control program for controlling the moving position of the peach according to the recognized damage type also adopts existing technology, which will not be repeated here.

[0037] The present embodiment provides a method for using a device for automatically removing spoiled peaches, removing pits, and cutting peaches, comprising the following steps: S1: peaches are placed on the peach placement rack of the conveying mechanism, and the driving motor 15 drives the active sprocket 16 to rotate a certain angle every certain period of time, drives the conveying chain 14 to rotate, realizes the rotation of the conveying mechanism 1, and moves the peaches to below the insertion claws of the insertion mechanism.

[0038] S2: The slider of the second lead screw slide 35 of the insertion mechanism moves downward, so that the insertion claw 31 is inserted into the peach from top to bottom, and then the slider of the second lead screw slide 35 of the insertion mechanism moves upward, so that the peach is separated from the peach placement rack, and the slider of the first lead screw slide 36 of the insertion mechanism moves, so that the peach is located at a position corresponding to the second camera 7 installed on the frame; S3: The plug-in mechanism motor 33 starts to drive the peach to rotate, the second camera 7 identifies the bottom surface of the peach, and the first camera 8 installed on the push plate 32 identifies the side surface of the peach. After identification, if the peach is not damaged, the second screw slide 35 of the plug-in mechanism and the slider of the first screw slide of the plug-in mechanism move to move the peach to the top of the peach placement rack, and the plug-in mechanism cylinder drives the push plate to move, pushing the peach from the plug-in claw to the peach placement rack; When the peach has shallow surface damage, the insertion mechanism moves the peach to the arc-shaped sheet-shaped damage removal tool, and uses the arc-shaped sheet-shaped damage removal tool to remove the shallow surface damage. Specifically, the arc-shaped sheet-shaped damage removal tool 411 is moved to the damaged part by moving the slider of the first damage removal mechanism lead screw slide 413 and the first damage removal slider 23, and the arc-shaped sheet-shaped damage removal tool 411 is driven to rotate by the first damage removal mechanism steering gear 412 to scrape off the shallow surface damage of the peach, and when the scraped damaged part falls, it falls into the first collection basket through the action of the upper baffle.

[0039] When the peaches are damaged by insect eyes, the insertion mechanism moves the peaches to the conical hollow bad removal tool 421, and uses the conical hollow bad removal tool 421 to remove the damage by insect eyes. Specifically, the conical hollow bad removal tool is moved to the damaged part by the movement of the slider of the second bad removal mechanism lead screw slide 423 and the second bad removal slider, and the conical hollow bad removal tool is inserted into the peach by the movement of the slider of the second bad removal mechanism lead screw slide 423, and the conical hollow bad removal tool is located on one side of the damaged part, and then the second bad removal mechanism steering engine 422 is used to drive the conical hollow bad removal tool to rotate and cut the damaged part. After the rotation and cutting is completed, the slider of the second bad removal mechanism lead screw slide 423 drives the conical hollow bad removal tool to extract the peach, and while the conical hollow bad removal tool is extracted, the taper of the conical hollow bad removal tool is used to take the cut damaged part out of the peach. When the damaged part falls, it falls to the first collection basket through the action of the upper baffle.

[0040] When peaches have large-area deep-layer damage, the insertion mechanism moves the peaches to the third bad-removing mechanism tool, and the third bad-removing mechanism tool is used to remove large-area deep-layer damage. Specifically, the third bad-removing mechanism tool is moved to the damaged part by moving the slider of the third bad-removing mechanism lead screw slide 433 and the third bad-removing slider, and the third bad-removing mechanism steering gear is used to rotate forward to drive the rotating plate to rotate, and the two guide shafts are moved away from each other along the straight long hole through the arc hole to open the duckbill clamp, and then the slider of the third bad-removing mechanism lead screw slide 433 is moved to insert the duckbill clamp into the peach, so that the damaged part is located between the two clamps, and then the third bad-removing mechanism steering gear is reversed to close the duckbill clamp, and the slider of the third bad-removing mechanism lead screw slide 433 drives the duckbill clamp to leave the peach, so as to separate the damaged part from the peach. When the damaged part falls, it falls to the first collection basket through the action of the upper baffle.

[0041] After superficial damage, insect-eye damage and large-area deep damage are removed, the peaches are de-damaged once, and the insertion and removal mechanism moves the peaches that have been de-damaged once to the peach placement rack. S4: The conveying mechanism conveys the peaches that are not detected to be damaged or have been de-damaged once to the corresponding position of the clamping mechanism, the second cylinder 54 of the clamping mechanism extends to open the clamping port, the first cylinder 56 of the clamping mechanism extends downward, so that the two clamping blades move down to the position opposite to the clamping port and the peach, the second cylinder 54 of the clamping mechanism contracts to close the clamping port, so that the clamping mechanism clamps the peach, and the clamping blade clamps the peach pit, and the top of the peach is identified by the third camera installed on the clamping mechanism.

[0042] When the top of the peach is identified to be damaged, the slider of the clamping mechanism lead screw slide 55 moves to move the peach to the fourth bad removal mechanism blade 443, the fourth bad removal mechanism cylinder 442 extends, driving the fourth bad removal mechanism blade 443 to cut below the damaged part, the fourth bad removal mechanism cylinder 442 retracts, driving the fourth bad removal mechanism blade 443 to leave the peach, and using the barbs to take the cut damaged part away from the peach, so that the fourth bad removal mechanism blade 443 can remove the top damage and complete the secondary bad removal. The frame is also provided with a first collection basket corresponding to the fourth bad removal device, and when the damaged part falls, it falls into the first collection basket through the action of the upper baffle.

[0043] S5: The clamping mechanism moves the undamaged or secondarily de-corrupted peaches between the two dicing cutters. The dicing mechanism electric cylinder 61 drives the dicing cutter to move toward the peaches, so that the dicing cutter 63 is embedded in the peach flesh. The dicing and pitting of the peaches is completed by the rotation of the dicing mechanism motor 62, and the dicing cutter 63 is driven to rotate. The diced peaches fall into the second collecting basket. Then the clamping mechanism moves the peach pits out of the collecting range of the second collecting basket. In this embodiment, the peach pits are moved to the corresponding position of the first collecting basket, so that the peach pits fall into the first collecting basket, thereby achieving the separation of the peach pits from the peach flesh.

[0044] The present invention transports peaches for a certain distance through a conveying mechanism, moves the peaches up and down and forward and backward after insertion through an insertion mechanism, identifies the corresponding type of damage through camera recognition, moves the insertion mechanism forward and backward again, moves the peaches to the corresponding bad removal mechanism according to the different damage types of the peaches for bad removal, fixes the peach pit through a clamping mechanism and cuts the peach in half from the middle of the peach, and completes the peach cutting and separation of peach pulp and peach pit through a dicing mechanism, thereby realizing the peach removal, pit removal and dicing operations, and performing corresponding bad removal and automatic pit removal and dicing of peaches according to different types of damage. The invention adopts a multi-mechanism integrated design concept, utilizes a variety of bad removal mechanisms, dicing mechanisms, clamping mechanisms, and insertion mechanisms to cooperate in operation, improves operating efficiency, and reduces a large amount of labor costs. The invention fills the technical gap in the field of peach bad removal and dicing, and has high scalability and technical adaptability.

[0045] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. An integrated device for automatically removing rotten peaches, removing pits and cutting peaches, characterized in that: It comprises a conveying mechanism, a frame, and an inserting and removing mechanism, a bad removing mechanism, a clamping mechanism and a cutting mechanism which are installed on the frame and arranged in sequence along the conveying direction of the conveying mechanism; The plug-in mechanism comprises a first plug-in mechanism lead screw slide (36), and a second plug-in mechanism lead screw slide (35) mounted on a slide block of the first plug-in mechanism lead screw slide, the slide block of the first plug-in mechanism lead screw slide moves along the conveying direction of the conveying mechanism, the slide block of the second plug-in mechanism lead screw slide moves vertically, an plug-in mechanism motor (33) and a plug-in mechanism cylinder (34) are fixedly mounted on the slide block of the second plug-in mechanism lead screw slide, the output shaft of the plug-in mechanism motor and the piston rod of the plug-in mechanism cylinder are both arranged downward, an plug-in claw located above the conveying mechanism is fixedly mounted on the lower end of the output shaft of the plug-in mechanism motor, and a push plate (32) extending to above the plug-in claw is fixedly mounted on the piston rod of the plug-in mechanism cylinder; The spoil removing mechanism comprises a first spoil removing device, the first spoil removing device comprises a first spoil removing mechanism lead screw slide (413) mounted on a frame and extending toward the peaches to be spoiled, a first spoil removing mechanism steering gear (412) being mounted on a slider of the first spoil removing mechanism lead screw slide (413), and an arc-shaped sheet-shaped spoil removing tool (411) being fixedly mounted on an output shaft of the first spoil removing mechanism steering gear (412); The clamping mechanism comprises a first clamping mechanism cylinder (56) extending downward, and a clamping tool installed at the lower end of the first clamping mechanism cylinder (56), the clamping tool comprising two clamping blades arranged on the same plane, and a blade driving mechanism driving the two clamping blades to move relative to each other, arc grooves are respectively formed on opposite sides of the two clamping blades, and the two arc grooves form a clamping opening adapted to the peach pit; The block cutting mechanism comprises block cutting tools respectively arranged on both sides of the clamping opening, and a block cutting driving device driving the two block cutting tools to move toward the clamping opening.

2. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 1, characterized in that: The frame is fixedly provided with a first arc-shaped guide rod located in a vertical plane, the center of the first arc-shaped guide rod is located on the side where the peaches to be de-rotted are located, a first de-rotted slider is slidably connected to the first arc-shaped guide rod, the first de-rotted slider is connected to a first driving device that drives it to move along the first arc-shaped guide rod, and the first de-rotted mechanism lead screw slide (413) is mounted on the first de-rotted slider.

3. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 1, characterized in that: The spoil removing mechanism further comprises a second spoil removing device, the second spoil removing device comprising a second spoil removing mechanism lead screw slide (423) mounted on a frame and extending towards the peaches to be spoiled, a second spoil removing mechanism steering gear (422) being mounted on a slider of the second spoil removing mechanism lead screw slide (423), and a conical hollow spoil removing tool (421) being fixedly mounted on an output shaft of the second spoil removing mechanism steering gear (422); The tip of the conical hollow spoil removal tool (421) faces the peaches to be spoiled, and the conical hollow spoil removal tool is located on one side of the axis of the output shaft of the second spoil removal mechanism steering gear (422).

4. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 1 or 3, characterized in that: The spoil removing mechanism further comprises a third spoil removing device, the third spoil removing device comprising a third spoil removing mechanism lead screw slide (433) mounted on a frame and extending towards the peaches to be removed from spoilage, a third spoil removing mechanism steering gear (432) being mounted on a slider of the third spoil removing mechanism lead screw slide (433), an output shaft of the third spoil removing mechanism steering gear (432) extending towards the peaches to be removed from spoilage, and a third spoil removing mechanism cutter being mounted on the output shaft of the third spoil removing mechanism steering gear (432); The third spoil removal mechanism tool comprises a constraint plate (4311) fixedly connected to the fixed part of the third spoil removal mechanism servo, a rotating plate (4312) fixedly connected to the output shaft of the third spoil removal mechanism servo, and a duckbill clamp (4313) located on the side of the rotating plate away from the constraint plate, the constraint plate (4311) is provided with a through hole for the output shaft of the third spoil removal mechanism servo to pass through; the tip ends of the two clamping bodies of the duckbill clamp face the peaches to be removed from the spoil, and the other ends of the two clamping bodies are respectively fixedly connected to guide shafts that pass through the rotating plate and the constraint plate in sequence, the constraint plate is provided with two straight long holes that are respectively adapted to the two guide shafts and extend radially opposite to each other, one end of the guide shaft passing through the constraint plate is fixedly connected to a support platform larger than the width of the straight long hole, the rotating plate is provided with two arc holes that are respectively adapted to the two guide shafts, and when the rotating plate rotates, the side walls of the arc holes push the guide shafts to move along the straight long holes.

5. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 1, characterized in that: The blade driving mechanism comprises a second cylinder (54) of the clamping mechanism located below the first cylinder (56) of the clamping mechanism, the cylinder body of the second cylinder (54) of the clamping mechanism is fixedly connected to the lower end of the piston rod of the first cylinder (56) of the clamping mechanism, the piston rod of the second cylinder (54) of the clamping mechanism extends downward and is fixedly connected to an upper wedge block (53), the bottom of the cylinder body of the second cylinder (54) of the clamping mechanism is fixedly connected to a fixed frame (52), the fixed frame is provided with a through hole for the piston rod of the second cylinder (54) of the clamping mechanism to pass through, two lower wedge blocks (51) slidingly connected in the fixed frame and sliding relative to each other in the transverse direction, the opposite side edges of the two lower wedge blocks (51) are inclinedly arranged to form a wedge-shaped opening with a larger upper portion and a smaller lower portion, the two side edges of the upper wedge block (53) are respectively slidably connected to the opposite side edges of the two lower wedge blocks, and the two clamping blades are respectively fixedly connected to the lower wedge blocks.

6. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 4, characterized in that: It also includes two fourth spoil removal devices (44) arranged opposite to each other on the left and right, the fourth spoil removal device (44) including a fourth spoil removal mechanism lead screw slide (441) mounted on a frame, and a fourth spoil removal mechanism cylinder (442) mounted on a slider of the fourth spoil removal mechanism lead screw slide (441), the slider of the fourth spoil removal mechanism lead screw slide (441) moves vertically, the piston rod of the fourth spoil removal mechanism cylinder (442) extends horizontally toward the peach to be de-spoiled, and a fourth spoil removal mechanism blade (443) is mounted on the piston rod of the fourth spoil removal mechanism cylinder (442); The clamping mechanism further comprises a clamping mechanism lead screw slide (55) extending along the conveying direction of the conveying mechanism, the slide of the clamping mechanism lead screw slide (55) being fixedly connected to the cylinder body of the first cylinder (56) of the clamping mechanism, and the slide of the clamping mechanism lead screw slide (55) drives the clamping tool (51) to move between a cutting tool working position and a fourth debonding mechanism blade (443) working position.

7. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 1, characterized in that: The conveying mechanism comprises a conveying chain (14) extending in the front-rear direction and a driving motor driving the conveying chain to rotate. The plane where the conveying chain (14) is located extends vertically. Vertical baffles are respectively fixed on the left and right sides of the conveying chain. The outer side surface of the conveying chain is fixedly connected to a plurality of upper baffles (13) arranged in sequence along the circumferential direction. The upper baffle comprises two inclined plates fixedly connected as one body, and one end connected to the two inclined plates is higher than the other end. The outer side surface of the upper baffle is fixedly connected to a peach placement rack (11) extending away from the side where the conveying chain is located.

8. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 7, characterized in that: A first collecting basket adapted to the bad removing mechanism and a second collecting basket adapted to the cutting mechanism are arranged on one side of the vertical baffle away from the conveying chain.

9. The integrated device for automatically removing rotten peaches, removing pits and cutting peaches according to claim 1, characterized in that: The block cutting tool comprises a plurality of fan-shaped blades which are distributed along the circumferential direction and fixedly connected as a whole, wherein one straight edge of each fan-shaped blade is in contact with each other, and an inner arc edge of each fan-shaped blade forms an incision.

10. A method for using the integrated device for automatically removing peach rot, pitting and cutting peaches according to claim 6, characterized in that: The following steps are involved: S1: placing peaches on a peach placement rack of a conveying mechanism, and driving a motor (15) to drive the conveying mechanism (1) to rotate, so that the peaches move to below the insertion claws; S2: the slider of the second lead screw slide (35) of the insertion mechanism moves downward, so that the insertion claw (31) is inserted into the peach, the slider of the second lead screw slide (35) of the insertion mechanism moves upward, so that the peach is separated from the peach placement rack, and the slider of the first lead screw slide (36) of the insertion mechanism moves, so that the peach is located at a position corresponding to the second camera (7) installed on the frame; S3: the plug-in mechanism motor (33) starts to drive the peach to rotate, the second camera (7) identifies the bottom surface of the peach, and the first camera (8) installed on the push plate (32) identifies the side surface of the peach. After identification, if the peach is not damaged, the second screw slide (35) of the plug-in mechanism and the slider of the first screw slide of the plug-in mechanism move to move the peach to the peach placement rack, and the plug-in mechanism cylinder drives the push plate to move, pushing the peach from the plug-in claw to the peach placement rack; When the peach has superficial damage on the surface, the insertion mechanism moves the peach to the arc-shaped flaky damage removal tool, and uses the arc-shaped flaky damage removal tool to remove the superficial damage on the surface; When the peaches are damaged by insect holes, the insertion mechanism moves the peaches to the conical hollow damage removal tool (421), and the conical hollow damage removal tool (421) is used to remove the damage by insect holes; When peaches have large-area deep-layer damage, the insertion mechanism moves the peaches to the cutter of the third bad-removing mechanism, and the cutter of the third bad-removing mechanism is used to remove the large-area deep-layer damage; After superficial damage, insect-eye damage and large-area deep damage are removed, the peaches are de-damaged once, and the insertion and removal mechanism moves the peaches that have been de-damaged once to the peach placement rack; S4: The conveying mechanism conveys the peaches that are not detected to be damaged or have been de-damaged once to the corresponding position of the clamping mechanism, the clamping mechanism clamps the peaches, and the clamping blade clamps the peach pit, and the top of the peach is identified by the third camera installed on the clamping mechanism; When it is identified that there is damage on the top of the peach, the clamping mechanism moves the peach to the blade (443) of the fourth bad-removing mechanism, and the fourth bad-removing mechanism blade (443) is used to remove the damage on the top, thereby completing secondary bad-removal; S5: The clamping mechanism moves the undamaged or secondarily de-damaged peaches between the two cutting knives, and cuts the peaches into pieces by the relative movement and rotation of the two cutting knives. The cut peaches fall into the second collecting basket. Then the clamping mechanism moves the peach pits out of the collecting range of the second collecting basket to separate the peach pits from the peach flesh.

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