An integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches and its use method

Abstract

The present invention relates to an integrated device for automatically removing peaches, pitting, and dicing, and a method for using the device. When a peach has superficial surface damage, an arc-shaped, sheet-shaped peach removal tool is used to remove the superficial damage. When a peach has insect-like damage, a conical, hollow peach removal tool is used to remove the insect-like damage. When a peach has extensive, deep damage, a third peach removal tool is used to remove the extensive, deep damage. After the damage is removed, the peach is diced. The present invention utilizes an insertion mechanism to clamp and rotate the peach, facilitating a single-step identification of the damage type of the peach fruit. The peach removal mechanism allows for single-step removal of different types of peach damage. The clamping mechanism not only allows for clamping of the peach pit, but also facilitates identification of damage on the top of the peach for secondary peach removal. The dicing mechanism allows for dicing of the peach, thereby achieving an integrated process of removing peaches, pitting, and dicing.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, in particular to peach processing, and specifically to an integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches, and a method for using the device. 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 antioxidant effects, helping to remove excess free radicals in the body and delay body aging; 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 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 hypertensive patients whose blood pressure is proportional to sodium, less sodium intake can lower blood pressure.

[0003] Peach processing involves multiple steps and operations, such as cleaning the peach skin to ensure the surface is clean and free of dirt; peeling the peach skin to compensate for the poor taste caused by the skin; removing damaged parts to improve the processing quality of the peaches; removing the peach pits to facilitate later processing; and dicing the peaches to achieve more refined and detailed processing. With the advancement of mechanization and intelligentization in facility agriculture, various steps in peach processing are gradually shifting from manual labor to self-propelled machinery. For example, the maturity of equipment for peeling, dicing, and pitting has enabled machines to replace manual labor. However, the removal of peach rotten fruit still relies on manual labor. Damage types mainly include superficial surface damage, worm holes, and large-scale deep damage such as rust, cracking, black spots, and worm holes. Existing peach processing machinery lacks this step to remove rotten fruit. Furthermore, the variety of peach defect types means that the task of removing rotten fruit requires a large amount of manual labor, resulting in high labor costs. 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, and a method for using the device, which replaces manual processing for removing various types of defects and greatly reduces costs.

[0005] The present invention is achieved through the following technical solutions, and provides an integrated device for automatically removing bad peaches, removing pits and cutting peaches, comprising a conveying mechanism, a frame, and an inserting and removing mechanism, a bad removing mechanism, a clamping mechanism and a cutting mechanism installed on the frame and sequentially arranged along the conveying direction of the conveying mechanism; the inserting and removing mechanism comprises a first screw slide of the inserting and removing mechanism, and a second screw slide of the inserting and removing mechanism installed on a slider of the first screw slide of the inserting and removing mechanism, the slider of the first screw slide of the inserting and removing mechanism moves along the conveying direction of the conveying mechanism, the slider of the second screw slide of the inserting and removing mechanism moves vertically, an inserting and removing mechanism motor and an inserting and removing mechanism cylinder are fixedly mounted on the slider of the second screw slide of the inserting and removing mechanism, an output shaft of the inserting and removing mechanism motor and a piston rod of the inserting and removing mechanism cylinder are both arranged downward, an inserting and removing claw located above the conveying mechanism is fixedly mounted on the lower end of the output shaft of the inserting and removing mechanism motor, and a push plate extending above the inserting and removing claw is fixedly mounted on the piston rod of the inserting and removing mechanism cylinder;

[0006] The spoil removal mechanism includes a first spoil removal device, which includes a first spoil removal mechanism screw slide mounted on a frame and extending toward the peaches to be removed. A first spoil removal mechanism servo is mounted on a slider of the first spoil removal mechanism screw slide, and an arc-shaped sheet-shaped spoil removal tool is fixedly mounted on the output shaft of the first spoil removal mechanism servo.

[0007] 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 for driving the two clamping blades to move relative to each other. The two clamping blades are respectively provided with arc grooves on opposite sides, and the two arc grooves form a clamping opening adapted for the peach pit.

[0008] The cutting mechanism includes cutting tools respectively arranged on both sides of the clamping port, and a cutting drive device for driving the two cutting tools to move toward the clamping port.

[0009] This solution transports peaches through a conveying mechanism, picks up peaches on the conveying mechanism using an insertion mechanism, and sends them to a first rot-removing device for surface rot removal. For peaches after rot removal or peaches that are not damaged, a push plate connected to an insertion cylinder is pushed down, so that the peaches return to the conveying mechanism and move with the conveying mechanism to a clamping mechanism. The clamping mechanism clamps the peaches, and the clamping blades cut the peach flesh and clamp the peach pits. Then, the clamping mechanism sends the peaches between two cutting tools, and the peaches are cut into pieces by the relative movement of the two cutting tools. The cut peach flesh falls off, and the clamping mechanism removes the peach pits, thereby achieving rot removal, cutting and peach pit separation.

[0010] As an optimization, the frame is fixedly provided with a first curved guide rod located in a vertical plane, the center of which is located on the side of the peaches to be removed. A first spoilage removal slider is slidably connected to the first curved guide rod, and the first spoilage removal slider is connected to a first drive device that drives it to move along the first curved guide rod. The first spoilage removal mechanism's lead screw slide is mounted on the first spoilage removal slider. This optimization solution allows the first drive device to drive the slider to move along the first curved guide rod, thereby adjusting the position of the first spoilage removal mechanism's lead screw slide, thereby facilitating adjustment of the position of the curved, flaky spoilage removal tool, thereby achieving better spoilage removal.

[0011] As an optimization, the pest removal mechanism also includes a second pest removal device, which includes a second pest removal mechanism screw slide mounted on a frame and extending toward the peach to be removed. A second pest removal mechanism servo is mounted on the slider of the second pest removal mechanism screw slide, and a conical hollow pest removal tool is fixed to the output shaft of the second pest removal mechanism servo. The tip of the conical hollow pest removal tool faces the peach to be removed, and the conical hollow pest removal tool is located to one side of the axis of the output shaft of the second pest removal mechanism servo. This optimized arrangement facilitates the removal of pests damaged by insect holes. After the conical hollow pest removal tool penetrates the peach, the second pest removal mechanism servo drives it to rotate, cutting the circle of insect hole damage. When the conical hollow pest removal tool is withdrawn, the tapered angle is used to remove the damaged part, achieving separation from the peach.

[0012] 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 spoilage, a third spoilage removal mechanism servo is installed on the slider of the third spoilage removal mechanism screw slide, the output shaft of the third spoilage removal mechanism servo extends toward the peaches to be removed from the spoilage, and a third spoilage mechanism tool is installed on the output shaft of the third spoilage removal mechanism servo; the third spoilage mechanism tool includes a constraint plate fixed to the fixed part of the third spoilage removal mechanism servo, a rotating plate fixed to the output shaft of the third spoilage removal mechanism servo, and a portion located about 1 / 4" away from the rotating plate. The duckbill clamp on one side of the bundle plate has a through hole on the constraint plate for the output shaft of the third spoil removal mechanism servo to pass through. The tips of the two clamping bodies of the duckbill clamp face the peach to be de-spoiled. The other ends of the two clamping bodies are respectively fixed with guide shafts that pass through the rotating plate and the constraint plate in sequence. The constraint plate has 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 fixed with a support platform that is larger than the width of the straight long holes. The rotating plate has two arc holes that are respectively adapted to the two guide shafts. When the rotating plate rotates, the side walls of the arc holes push the guide shafts to move along the straight long holes. This optimized solution can achieve the removal of large-area deep-seated damage by using the third spoil removal mechanism tool. The third spoil removal mechanism servo drives the rotating plate to rotate, and uses the coordination of the arc hole and the straight long hole to open the duckbill clamp, and then the duckbill clamp is inserted into the peach. The third spoil removal mechanism servo is reversed to close the duckbill clamp, wrapping the damaged part inside the duckbill clamp to achieve spoil removal.

[0013] As an optimization, the blade drive mechanism includes a second clamping mechanism cylinder located below the first clamping mechanism cylinder, the cylinder body of the second clamping mechanism cylinder being fixedly connected to the lower end of the piston rod of the first clamping mechanism cylinder, the piston rod of the second clamping mechanism cylinder extending downward and fixedly connected to an upper wedge, the bottom of the cylinder body of the second clamping mechanism cylinder being fixedly connected to a fixed frame, the fixed frame being provided with a through hole for the piston rod of the second clamping mechanism cylinder to pass through, two lower wedges slidingly connected in the fixed frame, the opposite sides of the two lower wedges being inclined and forming a wedge-shaped opening with a larger upper portion and a smaller lower portion, the two sides of the upper wedge being respectively slidably connected to the opposite sides of the two lower wedges, and the two clamping blades being respectively fixedly connected to the lower wedges. The blade drive mechanism of this embodiment uses the upper wedge and the two lower wedges to achieve the opening and closing of the two clamping blades, thereby achieving the clamping and release of the peach pit, with high clamping reliability, preventing the peach pit from falling with the flesh after cutting.

[0014] 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 including 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 mechanism screw slide moves vertically, the piston rod of the fourth spoilage mechanism cylinder extends horizontally toward the peaches to be removed from the spoilage, and the piston rod of the fourth spoilage mechanism cylinder is mounted with a fourth spoilage mechanism blade;

[0015] 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 clamping mechanism's first cylinder. The slide of the clamping mechanism lead screw slide drives the clamping tool to move between the working position of the dicing tool and the working position of the blade of the fourth spoil removal mechanism. By providing the fourth spoil removal device, this optimized solution can remove spoiled peaches from the top. If the top of the peach is damaged, the blade of the fourth spoil removal mechanism directly cuts off the damaged portion, reducing the blind spot during spoil removal.

[0016] As an optimization, the conveyor mechanism includes a conveyor chain extending forward and backward and a drive motor that rotates the conveyor chain. The conveyor chain's plane extends vertically, with vertical baffles fixed to the left and right sides of the conveyor chain. Several upper baffles, arranged circumferentially, are fixed to the outer side of the conveyor chain. The upper baffles consist of two integrally connected inclined plates, with one end of the two inclined plates higher than the other. A peach rack extending away from the conveyor chain is fixed to the outer side of the upper baffle. This optimization solution, through the provision of vertical and upper baffles, prevents chopped fruit or damaged parts from falling into the conveyor chain, ensuring the normal operation of the conveyor chain.

[0017] As an optimization, a first collection basket compatible with the spoil removal mechanism and a second collection basket compatible with the dicing mechanism are provided on the side of the vertical baffle away from the conveyor chain. This optimization solution uses the first collection basket to collect the removed spoiled parts, and the second collection basket to collect the diced pulp, improving processing efficiency and preventing the spoiled parts from mixing with the pulp.

[0018] As an optimization, the dicing tool includes several circumferentially distributed and integrally connected fan-shaped blades, with one straight edge of each fan-shaped blade in contact, and the inner arc edge of each fan-shaped blade forming an incision. The dicing tool of this optimization solution uses fan-shaped blades for dicing, which provides high pressure and saves effort.

[0019] This solution also provides a method for using the above-mentioned integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches, comprising the following steps:

[0020] S1: placing peaches on the peach placement rack of the conveying mechanism, driving the conveying mechanism with a driving motor to rotate, so that the peaches move under the insertion claws;

[0021] 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 frame;

[0022] 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 screw slide of the insertion and extraction mechanism and the first screw slide of the insertion and extraction mechanism move to move the peach to the peach placement rack. 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;

[0023] When the peach has superficial damage, 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;

[0024] When the peaches are damaged by insect holes, the insertion mechanism moves the peaches to the conical hollowing out tool to remove the insect holes.

[0025] When the peach has large-area deep-seated damage, the insertion mechanism moves the peach to the third spoilage removal mechanism, and the third spoilage removal mechanism cutter is used to remove the large-area deep-seated damage;

[0026] 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 to the peach placement rack.

[0027] S4: The conveying mechanism conveys the peaches that are not detected to be damaged or have been cleaned once to the corresponding position of the clamping mechanism. The clamping mechanism clamps the peaches, and the clamping blades clamp the peach pits. The top of the peach is identified by a third camera installed on the clamping mechanism.

[0028] When damage is detected on the top of the peach, the clamping mechanism moves the peach to the blade of the fourth spoil removal mechanism, and the fourth spoil removal mechanism blade removes the damage on the top, completing the secondary spoil removal;

[0029] 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, thereby separating the peach pits from the peach flesh.

[0030] 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 peach pit removal mechanism can remove different types of damage to the peaches at one time; the clamping mechanism can not only clamp the peach pits, but also facilitate identification of damage on the top of the peaches and secondary removal of damage; the peaches can be cut into pieces by the provided cutting mechanism, thereby realizing the integrated processing of peach pit removal, pit removal and cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 It is a side view of the present invention;

[0033] Figure 3 This is the main view of the present invention

[0034] Figure 4 It is a schematic diagram of the structure of the conveying mechanism of the present invention;

[0035] Figure 5 This is a schematic diagram of the insertion and removal mechanism structure of the present invention;

[0036] Figure 6 This is a schematic structural diagram of the first bad removal device of the present invention;

[0037] Figure 7 This is a partial enlarged view of the first damage removal device of the present invention;

[0038] Figure 8 This is a schematic structural diagram of the second bad removal device of the present invention;

[0039] Figure 9 This is a partial enlarged view of the second damage removal device of the present invention;

[0040] Figure 10 This is a schematic structural diagram of the third bad removal device of the present invention;

[0041] Figure 11 This is a partial enlarged view of the third damage removal device of the invention;

[0042] Figure 12 This is a schematic diagram of the tool decomposition of the third damage removal mechanism;

[0043] Figure 13 Schematic diagram of the structure of the fourth bad removal device of the present invention;

[0044] Figure 14 This is a schematic structural diagram of the clamping mechanism of the present invention;

[0045] Figure 15 It is a partial enlarged view of the clamping mechanism;

[0046] Figure 16 Schematic diagram of the cutting mechanism structure;

[0047] Figure 17 Schematic diagram for the installation of the second camera;

[0048] Figure 18 This is a schematic diagram of the installation of the first camera;

[0049] Figure 19 Schematic diagram for the installation of the third camera;

[0050] Figure 20 This is a schematic diagram of the peach rack structure;

[0051] Figure 21 This is a schematic diagram of the relative positions of the components of the present invention;

[0052] As shown in the figure:

[0053] 1. Conveying mechanism, 2. Frame, 3. Inserting and removing mechanism, 4. Destroying 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 screw slide, 36. The insertion mechanism first 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 collecting basket, 46. The second collecting basket, 51. The lower wedge, 52. The fixed frame, 53. The fixed frame, 54. The second cylinder of the clamping mechanism, 55. The 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 debonding tool, 412, first debonding mechanism servo, 413, first debonding mechanism screw slide, 414, first arc-shaped guide rod, 421, conical hollow debonding tool, 422, second debonding mechanism servo, 423, second debonding mechanism screw slide, 424, second arc-shaped guide rod, 425, second debonding slide, 431, third debonding mechanism tool, 432, third debonding mechanism servo, 433, third debonding mechanism screw slide, 434, third debonding slide, 435, third connecting rod, 436, third electric cylinder, 437, third arc-shaped guide rod, 441, fourth debonding mechanism screw slide, 442, fourth debonding mechanism cylinder, 443, fourth debonding mechanism blade, 4311, constraint plate, 4312, rotating plate, 4313, duckbill clamp. DETAILED DESCRIPTION

[0054] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0055] like Figure 1The device is an integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches, comprising a conveying mechanism 1, a frame 2, and an insertion mechanism 3, a spoil removing mechanism 4, a clamping mechanism 5, and a cutting mechanism 6 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 type of damage, and to send the peaches to the corresponding position of the spoil removing mechanism according to the damage type; the spoil removing mechanism is used to remove damage on the peaches; the clamping mechanism is used to clamp the peach pits to facilitate cutting and secondary spoil removal, and to achieve separation of the peach pits from the flesh; and the cutting mechanism is used to cut the peach flesh into pieces.

[0056] The conveying mechanism 1 includes a conveying chain 14 extending in the front-to-back direction, a drive motor 15 for driving the conveying chain to rotate, and a fixed bracket 12. A driving sprocket 16 and a driven sprocket adapted to the conveying chain are rotatably mounted on the bracket. The drive motor is fixedly connected to the bracket. The output shaft of the drive motor 15 is coaxially fixedly connected to the driving sprocket 16, and the conveying chain is driven to rotate by the drive motor. The drive motor 15 of this embodiment adopts a stepper 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 affixed to several circumferentially arranged upper baffles 13. These baffles comprise two integrally connected inclined plates, with one end of the two inclined plates higher than the other. These baffles shield the conveyor chain, preventing the chopped fruit and damaged parts from falling into the conveyor chain. A peach rack 11, extending away from the conveyor chain, is affixed to the outer side of the upper baffle. In this embodiment, the rack 11 comprises two opposing curved baffles, each with a support rod affixed to its bottom surface. The lower ends of the support rods are affixed to the upper baffles.

[0057] On the side of the vertical baffle away from the conveyor chain, a first collection basket for the spoil removal mechanism and a second collection basket for the slicing mechanism are provided. The damaged fruit removed by the spoil removal mechanism falls onto the upper baffle, then along the upper baffle's ramp to the first collection basket 45. The fruit pieces cut by the slicing mechanism fall down along the upper baffle's ramp below to the second collection basket 46. To improve collection efficiency, this embodiment provides both the first and second collection baskets on either side of the upper baffle's ramp.

[0058] The insertion and removal mechanism includes a first lead screw slide 36 and a second lead screw slide 35 mounted on the slider of the first lead screw slide. The slider of the first lead screw slide moves along the conveying direction of the conveyor mechanism, while the slider of the second lead screw slide 35 moves vertically. The slider of the second lead screw slide 35 is fixedly mounted with an insertion and removal mechanism motor 33 and an insertion and removal mechanism cylinder 34. The output shaft of the insertion and removal mechanism motor and the piston rod of the insertion and removal mechanism cylinder are both positioned downward. The lower end of the output shaft of the insertion and removal mechanism motor is fixedly mounted with an insertion and removal claw 31 located above the conveyor mechanism. The insertion claw has three claws to facilitate insertion of peaches and prevent them from falling. The slider of the second lead screw slide 35 moves downward, allowing the insertion claw to insert into the peach. After the slider of the second lead screw slide 35 moves upward, the insertion and removal mechanism motor 33 drives the peach to rotate. The piston rod of the inserting mechanism cylinder is fixed with a push plate 32 extending to above the described inserting claws 31. After removing the damaged portion, the inserting mechanism cylinder is utilized to drive the push plate action, and the peach on the inserting claw is pushed off, and the peach is dropped into the peach placement rack 11 below.

[0059] 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 type of damage on 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 type of damage on the bottom of the peach.

[0060] The spoil removal mechanism 4 includes a first spoil removal device 41, a second spoil removal device 42, and a third spoil removal device 43. To save space, the first and third spoil removal devices are positioned opposite each other, with the second spoil removal device located upstream of the third spoil removal device along the conveying direction of the conveyor mechanism. The first spoil removal device is used to remove superficial spoilage, the second spoil removal device is used to remove insect-induced spoilage, and the third spoil removal device is used to remove large-scale, deep-seated spoilage. Together, the first, second, and third spoil removal devices complete a single peach spoil removal process.

[0061] Specifically, the first spoilage removal device includes a first spoilage removal mechanism screw slide 413 mounted on a frame and extending toward the peaches to be removed. This embodiment also includes a first spoilage removal slider mounted on the frame, and the first spoilage removal mechanism screw slide 413 is mounted on the first spoilage removal slider. A first spoilage removal mechanism servo 412 is mounted on the slider of the first spoilage removal mechanism screw slide 413, and an arc-shaped, flaky spoilage removal tool 411 is fixedly mounted on the output shaft of the first spoilage removal mechanism servo 412. The output shaft of the first spoilage removal mechanism servo 412 is arranged horizontally and perpendicular to the movement direction of the slider of the first spoilage removal mechanism screw slide 413. When the first spoilage removal mechanism servo 412 drives the arc-shaped, flaky spoilage removal tool 411 to rotate, the arc-shaped, flaky spoilage removal tool 411 is used to scrape off shallow surface damage. The arc-shaped, flaky spoilage removal tool 411 can be a peeling knife.

[0062] A first curved guide rod 414, located in a vertical plane, is fixed to the frame. This first curved guide rod 414 is located to the side of the conveying mechanism's conveying direction, with its center located on the side where the peaches to be removed are located. A first spoilage removal slider 23 is slidably connected to the first curved guide rod. This first spoilage removal slider 23 is connected to a first drive device that drives it along the first curved guide rod. The first spoilage removal mechanism's lead screw slide 413 is mounted on this first spoilage removal slider. The first drive device includes a first electric cylinder 21 and a first connecting rod 22. The axis of the first electric cylinder extends vertically, and its push rod extends upward. One end of the first connecting rod is hinged to the push rod of the first electric cylinder via a transverse axis, and the other end is hinged to the first spoilage removal slider 23 via 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 badness removal tool 411 for better badness removal.

[0063] The second spoil removal device includes a second spoil removal mechanism screw slide 423 mounted on a frame and extending toward the peaches to be removed. This embodiment further includes a second spoil removal slider mounted on the frame. The second spoil removal mechanism screw slide 423 is mounted on the second spoil removal slider. A second spoil removal mechanism servo 422 is mounted on the slider of the second spoil removal mechanism screw slide 423. A conical hollow spoil removal tool 421 is fixedly mounted on the output shaft of the second spoil removal mechanism servo 422. The axis of the output shaft of the second spoil removal mechanism servo 422 is parallel to the direction of movement of the slider of the second spoil removal mechanism screw slide 423. The tip of the conical hollow spoil removal tool 421 faces the peaches to be removed, and the conical hollow spoil removal tool is located lateral to the axis of the output shaft of the second spoil removal mechanism servo 422. The conical hollow spoil removal tool rotates around the axis of the output shaft of the second spoil removal mechanism servo 422. The conical hollow spoil removal tool is formed by cutting a conical cylinder. 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 the 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 out of the peach.

[0064] A second curved guide rod 424, located in a vertical plane, is fixed to the frame. This second curved guide rod 424 is located on the side of the conveying mechanism away from the first curved guide rod. The center of the second curved guide rod is located on the side where the peaches to be removed are located. A second spoilage removal slider 425 is slidably connected to the second curved guide rod 424. This second spoilage removal slider is connected to a second drive device that drives it along the second curved guide rod. The second spoilage removal mechanism's lead screw slide 423 is mounted on this second spoilage removal slider. The second drive 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 second electric cylinder's push rod extends upward. One end of the second connecting rod 426 is hinged to the second electric cylinder's push rod via a transverse axis, and the other end is hinged to the second spoilage removal slider via 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 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.

[0065] The third spoil removal device includes a third spoil removal mechanism screw slide 433 mounted on a frame and extending toward the peaches to be removed. This embodiment also includes a third spoil removal slider mounted on the frame, on which the third spoil removal mechanism screw slide 433 is mounted. A third spoil removal mechanism servo 432 is mounted on the slider of the third spoil removal mechanism screw slide 433. The output shaft of the third spoil removal mechanism servo 432 extends toward the peaches to be removed, and a third spoil removal mechanism tool 431 is mounted on the output shaft of the third spoil removal mechanism servo 432.

[0066] The third spoil removal mechanism tool 431 includes a restraining plate 4311 fixed to the fixed portion of the third spoil removal mechanism servo, a rotating plate 4312 fixed 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 restraining plate. The restraining plate 4311 has a through hole for the output shaft of the third spoil removal mechanism servo. The duckbill clamp comprises two opposing clamping bodies, forming a cavity between the two clamping bodies. The tips of the two clamping bodies of the duckbill clamp face the peach to be removed. The other ends of the two clamping bodies are respectively fixed to guide shafts that pass through the rotating plate and the restraining plate in sequence. The restraining plate has two straight elongated holes that respectively adapt to the two guide shafts and extend radially opposite to each other. The end of the guide shaft that passes through the restraining plate is fixed to a support platform that is larger than the width of the straight elongated hole. The support platform supports the clamping body to prevent it from falling. The rotating plate is provided with two arc-shaped holes, each adapted to fit the two guide shafts. The arc-shaped holes are configured such that when the rotating plate rotates, the sidewalls of the arc-shaped holes push the guide shafts along the straight elongated holes. During use, the third spoilage removal mechanism's servo rotates forward, driving the rotating plate to rotate. The arc-shaped holes act to move the two guide shafts away from each other along the straight elongated holes, thereby opening the duckbill clamp. The duckbill clamp is then inserted into the peach, with the damaged portion located between the two clamps. The third spoilage removal mechanism's servo rotates backward, closing the duckbill clamp. The slider of the third spoilage removal mechanism's lead screw slide 433 drives the duckbill clamp away from the peach, separating the damaged portion from the peach.

[0067] A third curved guide rod 437, located in a vertical plane, is fixed to the frame. This third curved guide rod 437 is located on the side of the conveying mechanism away from the first curved guide rod. It is positioned opposite the first curved guide rod, with its center located on the side where the peaches to be removed are located. A third spoilage removal slider 434 is slidably connected to the third curved guide rod. This third spoilage removal slider 434 is connected to a third drive device that drives it along the third curved guide rod. The third spoilage removal mechanism's lead screw slide 433 is mounted on this third spoilage removal slider 434. The third drive device includes a third electric cylinder 436 and a third connecting rod 435. The axis of the third electric cylinder extends vertically, and its push rod extends upward. One end of the third connecting rod is hinged to the push rod of the third electric cylinder via a transverse axis, and the other end is hinged to the third spoilage removal slider via a transverse axis. When the push rod of the third electric cylinder is extended and retracted, it drives the third badging removal slider 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 to better remove badging.

[0068] The clamping mechanism includes a downwardly extending first cylinder 56 and a clamping tool mounted at the lower end of the first cylinder 56. The clamping tool comprises two coplanar clamping blades 57 and a blade drive mechanism that drives the two clamping blades in a forward and backward direction relative to each other. The two clamping blades are each provided with an arc groove on their opposing sides, forming a clamping opening that fits the peach pit. The clamping mechanism also includes a third camera 9 located above the clamping opening, which is used to identify damage to the top of the peach held by the clamping opening.

[0069] 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. The bottom of the cylinder body of the second cylinder 54 of the clamping mechanism is fixedly connected to a fixed frame 52. The third camera 9 is installed at the bottom of the fixed frame. The fixed frame is also 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 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 fixed to the lower wedge blocks. Guide slots extending in the inclined direction are provided on the opposite oblique sides of the two lower wedge blocks, and guide blocks adapted to the guide slots are fixed on both sides of the upper wedge block. 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.

[0070] In order to realize the movement of the clamping tool in 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 fourth debonding mechanism blade 443.

[0071] The dicing mechanism includes dicing tools 63, one positioned on either side of the clamping opening, and a dicing drive device that drives the two dicing tools toward the clamping opening. The two dicing tools 63 are positioned opposite each other. The dicing tools include a plurality of circumferentially distributed and integrally connected fan-shaped blades. The fan-shaped blades have corresponding central angles of 90 degrees, and one straight edge of each fan-shaped blade contacts each other, with the inner arc edge of each fan-shaped blade forming a cut. To facilitate connection and ensure the connection strength of the fan-shaped blades, in this embodiment, the contacting ends of the fan-shaped blades are fixed to the same fixed block, and the other ends are fixed to the same fixed ring. The dicing drive device includes two dicing mechanism electric cylinders 61 extending in a left-right direction relative to each other. The cylinder bodies of the dicing mechanism electric cylinders 61 are fixed to the frame. The protruding ends of the lead screws of the dicing mechanism electric cylinders 61 are fixedly connected to the dicing mechanism motor 62 via flanges. The dicing tools 63 are fixed to the output shaft of the dicing mechanism motor 62. In this embodiment, the output shaft of the dicing mechanism motor 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, and the rotation of the cutting mechanism motor 62 drives the rotation of the cutting tool 63 to complete the peach cutting and pitting operation.

[0072] In order to facilitate the removal of the damage identified by the third camera, this embodiment also includes two fourth bad-removal devices 44 arranged opposite to each other on the left and right sides. Along the conveying direction of the conveying mechanism, the fourth bad-removal device 44 is located on the downstream side of the clamping 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, and the piston rod of the fourth bad-removal mechanism cylinder 442 extends horizontally toward the peach to be removed. 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-like structure, and is provided with a plurality of hollow barbs on the fourth bad-removal mechanism blade 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 cutting off the damaged part.

[0073] Each screw slide in this embodiment utilizes existing technology. A motor drives the screw, and the screw thread causes the slide to move axially along the screw. The cameras used to identify the damage type and the control program for controlling the peach's position based on the identified damage type also utilize existing technology and will not be further described here.

[0074] The present embodiment provides a method for using an integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches, comprising the following steps:

[0075] 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, driving the conveying chain 14 to rotate, realizing the rotation of the conveying mechanism 1, and moving the peaches to the bottom of the insertion claw of the insertion mechanism.

[0076] S2: The slider of the second screw slide 35 of the insertion mechanism moves downward, so that the insertion claw 31 is inserted into the peach from top to bottom. Then, the slider of the second screw slide 35 of the insertion mechanism moves upward, so that the peach is separated from the peach placement rack. The slider of the first 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;

[0077] S3: The insertion and extraction 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 insertion and extraction mechanism and the slider of the first screw slide of the insertion and extraction mechanism move to move the peach to the top of the peach placement rack, and the insertion and extraction mechanism cylinder drives the push plate to move the peach from the insertion and extraction claw to the peach placement rack;

[0078] When a peach has superficial surface damage, the insertion mechanism moves the peach to the curved, flaky scraper removal tool, where it is used to remove the superficial surface damage. Specifically, the slider of the first scraper removal mechanism's lead screw slide 413 and the first scraper removal slider 23 move the curved, flaky scraper removal tool 411 to the damaged area. The first scraper removal mechanism's servo 412 drives the curved, flaky scraper removal tool 411 to rotate, scraping away the superficial surface damage. The scraped damaged area falls, and the upper baffle plate causes it to fall into the first collection basket.

[0079] When a peach has worm-like damage, the insertion mechanism moves the peach to the conical hollowed-out worm removal tool 421, where it removes the worm-like damage. Specifically, the slider of the second worm removal mechanism's lead screw slide 423 and the second worm removal slider move the conical hollowed-out worm removal tool to the damaged area. The slider of the second worm removal mechanism's lead screw slide 423 moves, causing the conical hollowed-out worm removal tool to penetrate the peach, positioned to one side of the damaged area. The second worm removal mechanism's servo 422 then rotates the conical hollowed-out worm removal tool to cut the damaged area. After the rotational cutting is complete, the slider of the second worm removal mechanism's lead screw slide 423 drives the conical hollowed-out worm removal tool to remove the peach. As the conical hollowed-out worm removal tool removes the peach, the tapered shape of the conical hollowed-out worm removal tool removes the damaged area. As the damaged area falls, it is driven into the first collection basket by the upper baffle.

[0080] When a peach has extensive, deep-seated damage, the insertion mechanism moves the peach to the third spoil removal mechanism's cutting tool, where it is removed. Specifically, the third spoil removal mechanism's cutting tool is moved to the damaged area by the movement of the slider and slider of the third spoil removal mechanism's lead screw slide 433. The third spoil removal mechanism's servo motor rotates forward, driving the rotating plate. The arc-shaped hole causes the two guide shafts to move away from each other along the straight elongated hole, opening the duckbill clamp. The slider of the third spoil removal mechanism's lead screw slide 433 then moves, inserting the duckbill clamp into the peach, positioning the damaged portion between the two clamps. The third spoil removal mechanism's servo motor then reverses, closing the duckbill clamp. The slider of the third spoil removal mechanism's lead screw slide 433 then drives the duckbill clamp away from the peach, separating the damaged portion from the peach. As the damaged portion falls, it is driven by the upper baffle into the first collection basket.

[0081] After superficial surface 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.

[0082] 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 to move the two clamping blades 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 blades clamp to the peach pit. The top of the peach is identified by the third camera installed on the clamping mechanism.

[0083] When damage is detected on the top of the peach, the slider of the clamping mechanism screw slide 55 moves, moving the peach to the blade 443 of the fourth spoil removal mechanism. The fourth spoil removal mechanism cylinder 442 extends, driving the fourth spoil removal mechanism blade 443 to cut below the damaged part. The fourth spoil removal mechanism cylinder 442 retracts, driving the fourth spoil removal mechanism blade 443 to leave the peach, and using the barbs to remove the cut damaged part from the peach, thereby removing the top damage by the fourth spoil removal mechanism blade 443, completing the secondary spoil removal. A first collection basket corresponding to the fourth spoil removal device is also provided on the frame. When the damaged part falls, it falls into the first collection basket due to the action of the upper baffle.

[0084] S5: The clamping mechanism moves the undamaged or secondarily de-corrupted peaches between the two cutting tools. The cutting mechanism electric cylinder 61 drives the cutting tool to move toward the peaches, so that the cutting tool 63 is embedded in the peach flesh. The rotation of the cutting mechanism motor 62 drives the rotation of the cutting tool 63 to complete the peach cutting and pitting. The cut peaches fall into the second collection basket. Then the clamping mechanism moves the peach pit out of the collection range of the second collection basket. In this embodiment, the peach pit is moved to the corresponding position of the first collection basket, so that the peach pit falls into the first collection basket, thereby realizing the separation of the peach pit and the peach flesh.

[0085] The present invention uses a conveying mechanism to transport peaches a certain distance. An insertion mechanism then moves the peaches up and down, as well as back and forth, after insertion. A camera identifies the corresponding type of damage, and the insertion mechanism again moves the peaches back and forth, moving them to the corresponding damage removal mechanism for removal. A clamping mechanism secures the peach pit and cuts it in half from the center. A dicing mechanism then completes the dicing and separation of the peach pulp from the pit, thus completing the peach removal, pitting, and dicing operations. The system utilizes a multi-mechanism integrated design, utilizing multiple mechanisms for peach removal, dicing, clamping, and insertion, improving operational efficiency and significantly reducing labor costs. This system fills a technological gap in the field of peach removal and dicing, offering high scalability and technical adaptability.

[0086] 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 adopting existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical solutions 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 spoiled peaches, removing pits, and cutting peaches, characterized by: It includes 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 screw slide (36) of the plug-in mechanism, and a second screw slide (35) of the plug-in mechanism mounted on a 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 of the plug-in mechanism moves vertically, an plug-in mechanism motor (33) and a plug-in mechanism cylinder (34) are fixedly mounted on the slider of the second screw slide of the plug-in mechanism, 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 removal mechanism comprises a first spoil removal device, the first spoil removal device comprising a first spoil removal mechanism screw slide (413) mounted on a frame and extending toward the peaches to be spoiled, a first spoil removal mechanism servo (412) mounted on a slider of the first spoil removal mechanism screw slide (413), and an arc-shaped sheet-shaped spoil removal tool (411) fixedly mounted on an output shaft of the first spoil removal mechanism servo (412); 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 including two clamping blades arranged on the same plane, and a blade driving mechanism for driving the two clamping blades to move relative to each other, and 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 cutting mechanism includes cutting tools respectively arranged on both sides of the clamping port, and a cutting drive device for driving the two cutting tools to move toward the clamping port.

2. The integrated device for automatically removing spoiled 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 being located on the side where the peaches to be removed are located, a first spoilage removal slider is slidably connected to the first arc-shaped guide rod, the first spoilage removal slider is connected to a first driving device that drives it to move along the first arc-shaped guide rod, and the first spoilage removal mechanism lead screw slide (413) is mounted on the first spoilage removal slider.

3. The integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches according to claim 1, characterized in that: The spoil removal mechanism further includes a second spoil removal device, the second spoil removal device including a second spoil removal mechanism screw slide (423) mounted on a frame and extending toward the peaches to be spoiled, a second spoil removal mechanism servo (422) mounted on a slider of the second spoil removal mechanism screw slide (423), and a conical hollow spoil removal tool (421) fixedly mounted on an output shaft of the second spoil removal mechanism servo (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 output shaft axis of the second spoil removal mechanism steering gear (422).

4. The integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches according to claim 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 screw slide (433) mounted on a frame and extending toward the peaches to be spoiled, a third spoil removing mechanism servo (432) mounted on a slider of the third spoil removing mechanism screw slide (433), an output shaft of the third spoil removing mechanism servo (432) extending toward the peaches to be spoiled, and a third spoil removing mechanism cutter mounted on the output shaft of the third spoil removing mechanism servo (432); The third spoil removal mechanism tool includes 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 two clamping bodies of the duckbill clamp are pointed toward the peaches to be de-spoiled, 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 spoiled peaches, removing pits, and cutting peaches according to claim 1, characterized in that: The blade driving mechanism 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), 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) sliding relative to each other in the horizontal direction are slidably connected in the fixed frame, the opposite side edges of the two lower wedge blocks (51) are inclined and 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 spoiled peaches, removing pits, and cutting peaches according to claim 4, characterized in that: The machine also includes two fourth spoil removal devices (44) arranged opposite to each other on the left and right sides, wherein the fourth spoil removal device (44) includes a fourth spoil removal mechanism 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 screw slide (441), wherein the slider of the fourth spoil removal mechanism screw slide (441) moves vertically, and the piston rod of the fourth spoil removal mechanism cylinder (442) extends horizontally toward the peach to be 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, wherein the slide of the clamping mechanism lead screw slide (55) is 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 to move between the working position of the cutting tool and the working position of the blade (443) of the fourth debonding mechanism.

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

8. The integrated device for automatically removing spoiled 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 provided on one side of the vertical baffle away from the conveying chain.

9. The integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches according to claim 1, characterized in that: The cutting tool comprises a plurality of sector-shaped blades distributed along the circumference and fixed together as a whole, wherein one straight edge of each sector-shaped blade is in contact with each other, and an inner arc edge of each sector-shaped blade forms an incision.

10. A method for using the integrated device for automatically removing spoiled peaches, removing pits, and cutting peaches according to claim 6, characterized in that: The following steps are involved: S1: placing peaches on the peach placement rack of the conveying mechanism, driving the motor (15) to drive the conveying mechanism (1) to rotate, so that the peaches move to the bottom of the insertion claw; S2: The slider of the second 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 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 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 insertion 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 insertion mechanism and the slider of the first screw slide of the insertion mechanism move to move the peach to the peach placement rack, and the cylinder of the insertion mechanism drives the push plate to move the peach from the insertion claw to the peach placement rack; When the peach has superficial damage, 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; When the peach has insect-like damage, the insertion mechanism moves the peach to the conical hollow damage removal tool (421), and the conical hollow damage removal tool (421) is used to remove the insect-like damage; When the peach has large-area deep-seated damage, the insertion mechanism moves the peach to the third spoilage removal mechanism, and the third spoilage removal mechanism cutter is used to remove the large-area deep-seated 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 to the peach placement rack. S4: The conveying mechanism conveys the peaches that are not detected to be damaged or have been cleaned once to the corresponding position of the clamping mechanism. The clamping mechanism clamps the peaches, and the clamping blades clamp the peach pits. The top of the peach is identified by a third camera installed on the clamping mechanism. When damage is detected on the top of the peach, the clamping mechanism moves the peach to the blade (443) of the fourth spoil removal mechanism, and the fourth spoil removal mechanism blade (443) removes the damage on the top, completing secondary spoil 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, thereby separating the peach pits from the peach flesh.

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