Peeling device for mangoes

Abstract

The invention discloses a peeling device for mangoes. The peeling device comprises a frame, a positioning material table, a clamping mechanism, a lifting assembly, a driving assembly and a peeling knife mechanism. A platform is installed on the top of the frame, and a feeding mechanism and a collecting mechanism are installed on the two sides of the frame correspondingly. The positioning material table is mounted on the platform through a telescopic driving assembly, and a notch is formed in the positioning material table; the clamping mechanism is installed on the platform and used for clamping mangoes on the feeding mechanism to the positioning material table. The lifting assembly is installed at the bottom of the platform. A lifting seat is installed at the lifting end of the lifting assembly. A lower positioning rod is rotationally connected to the lifting seat, and the top of the lower positioning rod slidably extends out to the position above the platform; the driving assembly is mounted on the lifting seat and is used for driving the lower positioning rod to rotate; the paring knife mechanism is installed on the platform and located on one side of the lower positioning rod. According to the automatic mango peeling machine, feeding, positioning, peeling and automatic collecting of mangoes can be achieved, continuous mango peeling can be achieved, and the working efficiency is high.

Description

Technical Field

[0001] The invention relates to the technical field of fruit processing, in particular to a mango peeling device. Background Art

[0002] The mango peeling process has always been a key link that restricts its processing efficiency. Traditionally, mango peeling is mostly done manually, which is not only time-consuming and labor-intensive, but also difficult to ensure the uniformity and efficiency of peeling, while increasing labor costs and safety risks. With the development of automation technology, although mango peeling equipment has appeared on the market, existing equipment can usually only complete a single peeling function, lacking auxiliary functions such as automatic loading, positioning and receiving, and requiring manual participation in multiple links, making it difficult to achieve continuous peeling processing, limiting work efficiency.

[0003] Therefore, a mango peeling device is proposed. Summary of the invention

[0004] The object of the present invention is to provide a mango peeling device, aiming to solve or improve at least one of the above technical problems.

[0005] To achieve the above object, the present invention provides the following solution: The present invention provides a mango peeling device, comprising:

[0006] A frame, a platform is installed on the top of the frame, and a feeding mechanism and a receiving mechanism are installed on both sides of the frame respectively;

[0007] A positioning material table, the positioning material table is mounted on the platform through a telescopic drive assembly, and a slot is provided on the positioning material table;

[0008] A clamping mechanism, the clamping mechanism is mounted on the platform, and the clamping mechanism is used to clamp the mangoes on the feeding mechanism to the positioning material platform;

[0009] A lifting assembly, the lifting assembly is installed at the bottom of the platform, and a lifting seat is installed at the lifting end of the lifting assembly; a lower positioning rod is rotatably connected to the lifting seat, and the top of the lower positioning rod slides and extends above the platform;

[0010] A driving assembly, the driving assembly is mounted on the lifting seat, and the driving assembly is used to drive the lower positioning rod to rotate;

[0011] A peeling knife mechanism is installed on the platform and is located on one side of the lower positioning rod.

[0012] According to a mango peeling device provided by the present invention, the peeling knife mechanism comprises:

[0013] An upper positioning rod, the upper positioning rod being mounted on the top surface of the platform through a first electric push rod;

[0014] A positioning head, the positioning head is installed at the bottom of the upper positioning rod, and the positioning head is located directly above the lower positioning rod;

[0015] A first bracket, the first bracket is installed on the top surface of the platform, and the first bracket is located on one side of the lower positioning rod;

[0016] a first motor, wherein the first motor is mounted on the first bracket, and a connecting plate is mounted on an output shaft of the first motor;

[0017] A telescopic scraper assembly is mounted on the connecting plate.

[0018] According to a mango peeling device provided by the present invention, the telescopic scraper assembly comprises:

[0019] A cover shell, the cover shell is mounted on the first bracket, and a window is formed on the cover shell;

[0020] A second electric push rod, the second electric push rod is mounted on the connecting plate;

[0021] A driving block, the driving block being mounted on the telescopic end of the second electric push rod;

[0022] A scraper arm, the scraper arm is rotatably connected in the housing, the scraper arm extends out of the window, and the scraper arm is rotatably connected to the driving block;

[0023] The peeler body is mounted on an end of the scraper arm away from the first bracket.

[0024] According to a mango peeling device provided by the present invention, the lifting assembly includes two sliding bars arranged side by side, the two sliding bars are fixedly installed at the bottom of the platform, the lifting seat is slidably connected to the two sliding bars, a motor seat is fixedly installed at the bottom of the sliding bar, a second motor is installed on the motor seat, a crank is installed on the output shaft of the second motor, one end of the crank is rotatably connected to a rocker, and the top of the rocker is rotatably connected to the bottom of the lifting seat.

[0025] According to a mango peeling device provided by the present invention, the driving assembly comprises a third motor mounted on the lifting seat, and the output shaft of the third motor is drivingly connected to the lower positioning rod;

[0026] The bottom of the lower positioning rod is slidably connected to a limiting rod, the bottom of the limiting rod is fixedly connected to the frame, and a plurality of positioning teeth are installed on the top of the lower positioning rod.

[0027] According to a mango peeling device provided by the present invention, the telescopic drive assembly includes a third electric push rod installed on the top surface of the platform, the telescopic end of the third electric push rod is installed with a shell, the positioning material platform is installed on the outer side wall of the shell, and two fourth electric push rods arranged back to back are installed in the shell, the telescopic end of the fourth electric push rod is installed with a positioning plate, a plurality of positioning columns are installed on the top of the positioning plate, the positioning plate is slidably connected to the top surface of the positioning material platform, and the two positioning plates are located on both sides of the slot.

[0028] According to a mango peeling device provided by the present invention, the clamping mechanism includes a fourth motor installed on the top surface of the platform, a mechanical gripper is installed on the output shaft of the fourth motor, and the mechanical gripper is located between the feeding mechanism and the positioning material platform.

[0029] According to a mango peeling device provided by the present invention, the material collecting mechanism includes a scissor lift assembly, a plurality of universal wheels are installed at the bottom of the scissor lift assembly, a material frame is detachably connected to the top of the scissor lift assembly, and the material frame is arranged close to the lower positioning rod.

[0030] According to a mango peeling device provided by the present invention, the scissor lift assembly comprises a top plate, a bottom plate and two scissor links, the two scissor links are arranged side by side, the universal wheel is mounted on the bottom of the bottom plate, and the material frame is detachably connected to the top plate; one top end of the scissor link is hinged to the top plate, and the other top end is slidably connected to the top plate; one bottom end of the scissor link is hinged to the bottom plate, and the other bottom end is slidably connected to the bottom plate; a cross bar is installed between the two scissor links, and a fifth electric push rod is hinged between the cross bar and the bottom plate.

[0031] According to a mango peeling device provided by the present invention, the feeding mechanism includes a feeding frame, and the two sides of the feeding frame are rotatably connected with a driving roller and a driven roller respectively, and the outer shells of the driving roller and the driven roller are provided with a conveyor belt. A fifth motor is installed on the feeding frame, and the fifth motor is transmission-connected to the driving roller. The discharge end of the conveyor belt is located directly below the mechanical gripper.

[0032] The present invention discloses the following technical effects:

[0033] The present invention can accurately grab the mangoes on the feeding mechanism and place them on the positioning platform through the cooperation between the positioning platform and the clamping mechanism, which provides convenience for subsequent peeling operations and improves work efficiency; the positioning platform is driven to move by the telescopic driving component, so that the mangoes to be processed on the positioning platform are moved to the lower positioning rod; the lower positioning rod is height-adjustable by the lifting component and can rotate under the action of the driving component, and the mango is inserted into the mango for positioning through the lower positioning rod. As the lower positioning rod rotates, the mango rotates synchronously, and the peeling knife mechanism is used to peel the surface of the rotating mango, so that the mango skin can be continuously peeled; the feeding, positioning, peeling and automatic material collection of mangoes can be realized, which reduces manual intervention and improves the overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a front view of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the present invention;

[0037] Figure 3 for Figure 2 A partial enlarged view of middle A;

[0038] Figure 4 It is a structural schematic diagram of the telescopic scraper assembly in the present invention;

[0039] Figure 5 It is a schematic diagram of the installation of the lifting assembly and the driving assembly in the present invention;

[0040] Figure 6 It is a structural schematic diagram of the material receiving mechanism in the present invention;

[0041] Figure 7 It is a structural schematic diagram of the feeding mechanism in the present invention.

[0042] Among them, 1. frame; 2. platform; 3. feeding mechanism; 31. feeding rack; 32. conveyor belt; 33. fifth motor; 4. material receiving mechanism; 41. top plate; 42. bottom plate; 43. scissor-type connecting rod; 44. universal wheel; 45. material frame; 46. fifth electric push rod; 5. upper positioning rod; 6. first electric push rod; 7. positioning head; 8. first motor; 9. cover; 10. scraper arm; 11. peeler body; 12. slide bar; 13. lifting seat; 14. second motor; 15. crank; 16. rocker; 17. third motor; 18. lower positioning rod; 19. limit rod; 20. positioning tooth; 21. shell; 22. positioning material platform; 23. positioning column; 24. fourth motor; 25. mechanical clamp. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Reference Figure 1-Figure 7 The present invention provides a mango peeling device, comprising:

[0046] A frame 1, a platform 2 is installed on the top of the frame 1, and a feeding mechanism 3 and a receiving mechanism 4 are installed on both sides of the frame 1;

[0047] A positioning material platform 22, which is installed on the platform 2 through a telescopic drive assembly, and a slot is provided on the positioning material platform 22;

[0048] A clamping mechanism, which is installed on the platform 2 and is used to clamp the mangoes on the feeding mechanism 3 to the positioning material platform 22;

[0049] A lifting assembly is installed at the bottom of the platform 2, and a lifting seat 13 is installed at the lifting end of the lifting assembly; a lower positioning rod 18 is rotatably connected to the lifting seat 13, and the top of the lower positioning rod 18 slides and extends above the platform 2;

[0050] A driving assembly, which is mounted on the lifting seat 13 and is used to drive the lower positioning rod 18 to rotate;

[0051] The peeling knife mechanism is installed on the platform 2 and is located on one side of the lower positioning rod 18;

[0052] With such arrangement, the present invention can accurately grab and place the mangoes on the feeding mechanism 3 on the positioning material platform 22 through the cooperation between the positioning material platform 22 and the clamping mechanism, thereby facilitating the subsequent peeling operation and improving work efficiency; the positioning material platform 22 is driven to move by the telescopic driving component, thereby moving the mangoes to be processed on the positioning material platform to the lower positioning rod 18; the lower positioning rod 18 is height-adjustable through the lifting component, and can rotate under the action of the driving component, and the mango is inserted into the mango for positioning through the lower positioning rod 18. As the lower positioning rod 18 rotates, the mango rotates synchronously, and the surface of the rotating mango is peeled by the peeling knife mechanism, thereby realizing continuous peeling of the mango skin; the feeding, positioning, peeling and automatic material collection of mangoes can be realized, reducing manual intervention and improving the overall working efficiency.

[0053] Further optimization scheme, the peeling knife mechanism includes:

[0054] An upper positioning rod 5, the upper positioning rod 5 is installed on the top surface of the platform 2 through a first electric push rod 6;

[0055] The positioning head 7 is installed at the bottom of the upper positioning rod 5, and the positioning head 7 is located directly above the lower positioning rod 18;

[0056] A first bracket, which is mounted on the top surface of the platform 2 and is located on one side of the lower positioning rod 18;

[0057] A first motor 8, the first motor 8 is mounted on a first bracket, and a connecting plate is mounted on an output shaft of the first motor 8;

[0058] A telescopic scraper assembly is mounted on the connecting plate.

[0059] To further optimize the solution, the telescopic scraper assembly includes:

[0060] A cover shell 9 is mounted on the first bracket and has a window;

[0061] A second electric push rod, the second electric push rod is mounted on the connecting plate;

[0062] A driving block, the driving block is mounted on the telescopic end of the second electric push rod;

[0063] The scraper arm 10 is rotatably connected in the cover 9, the scraper arm 10 extends out of the window, and the scraper arm 10 is rotatably connected to the driving block;

[0064] The peeling knife body 11 is mounted on one end of the scraper arm 10 away from the first bracket;

[0065] In this arrangement, the positioning head 7 is installed at the bottom of the upper positioning rod 5, and is used to position the top of the mango before peeling, thereby ensuring the accuracy of the peeling process; when the mango is fixed by the lower positioning rod 18 and rotates, the first motor 8 is started, driving the connecting plate and the telescopic scraper assembly to rotate, thereby peeling the mango from top to bottom; the second electric push rod is retracted, and the scraper arm 10 is pushed to rotate in the cover 9 through the driving block, thereby adjusting the contact pressure and angle between the peeling knife body 11 and the surface of the mango, thereby achieving more precise peeling control.

[0066] A further optimized solution is that the lifting assembly includes two sliding bars 12 arranged side by side, the two sliding bars 12 are fixedly installed at the bottom of the platform 2, and a lifting seat 13 is slidably connected to the two sliding bars 12. A motor seat is fixedly installed at the bottom of the sliding bar 12, and a second motor 14 is installed on the motor seat. A crank 15 is installed on the output shaft of the second motor 14, and one end of the crank 15 is rotatably connected to a rocker 16, and the top of the rocker 16 is rotatably connected to the bottom of the lifting seat 13.

[0067] In a further optimized solution, the driving assembly includes a third motor 17 mounted on the lifting seat 13, and the output shaft of the third motor 17 is transmission-connected to the lower positioning rod 18;

[0068] The bottom of the lower positioning rod 18 is slidably connected to the limiting rod 19, the bottom of the limiting rod 19 is fixedly connected to the frame 1, and a plurality of positioning teeth 20 are installed on the top of the lower positioning rod 18;

[0069] With such arrangement, after the second motor 14 is started, the rotational motion is converted into the linear motion of the lifting seat 13 on the slide bar 12 through the connecting rod mechanism of the crank 15 and the rocker 16, thereby driving the lower positioning rod 18 and the mango to rise and fall, and the third motor 17 drives the lower positioning rod 18 to rotate, contacts the bottom of the mango through the positioning teeth 20, and drives the mango to rotate; the limiting rod 19 ensures that the lower positioning rod 18 remains stable during the rotation and lifting process without deviation.

[0070] A further optimized solution is that the telescopic drive assembly includes a third electric push rod installed on the top surface of the platform 2, the telescopic end of the third electric push rod is installed with a shell 21, the positioning material platform 22 is installed on the outer side wall of the shell 21, and two fourth electric push rods arranged back to back are installed in the shell 21, and the telescopic end of the fourth electric push rod is installed with a positioning plate, and a plurality of positioning columns 23 are installed on the top of the positioning plate, and the positioning plate is slidably connected to the top surface of the positioning material platform 22, and the two positioning plates are located on both sides of the slot;

[0071] The third electric push rod pushes the housing 21 and the positioning material platform 22 to move, and sends the mango to the peeling position. The fourth electric push rod is extended and retracted in the housing, and the mango is laterally positioned through the positioning plate and the positioning column 23 to ensure that the mango is stable and motionless in the groove.

[0072] Further optimizing the scheme, the clamping mechanism includes a fourth motor 24 installed on the top surface of the platform 2, and a mechanical gripper 25 is installed on the output shaft of the fourth motor 24, and the mechanical gripper 25 is located between the feeding mechanism 3 and the positioning material platform 22;

[0073] The mechanical gripper 25 grabs the mango from the conveyor belt 32 of the feeding mechanism 3, and then the fourth motor 24 drives the mechanical gripper 25 to rotate above the positioning material table 22, releases the mechanical gripper 25, and places the mango on the positioning material table 22.

[0074] According to a further optimization scheme, the material collecting mechanism 4 includes a scissor-type lifting assembly, a plurality of universal wheels 44 are installed at the bottom of the scissor-type lifting assembly, and a material frame 45 is detachably connected to the top of the scissor-type lifting assembly, and the material frame 45 is arranged close to the lower positioning rod 18.

[0075] Further optimized solution, the scissor lift assembly includes a top plate 41, a bottom plate 42 and two scissor links 43, the two scissor links 43 are arranged side by side, the universal wheel 44 is installed at the bottom of the bottom plate 42, and the material frame 45 is detachably connected to the top plate 41; one end of the top of the scissor link 43 is hinged to the top plate 41, and the other end of the top is slidably connected to the top plate 41; one end of the bottom of the scissor link 43 is hinged to the bottom plate 42, and the other end of the bottom is slidably connected to the bottom plate 42; a cross bar is installed between the two scissor links 43, and a fifth electric push rod 46 is hinged between the cross bar and the bottom plate 42;

[0076] When the fifth electric push rod 46 is extended or retracted, the top plate 41 and the material frame 45 are lifted or lowered through the connecting rod mechanism of the scissor-type connecting rod 43; the material frame 45 is arranged close to the lower positioning rod 18 to facilitate receiving the peeled mangoes, and the universal wheel 44 enables the material receiving mechanism 4 to move flexibly to facilitate transfer between different working areas.

[0077] Further optimized solution, the feeding mechanism 3 includes a feeding frame 31, and the two sides of the feeding frame 31 are rotatably connected with a driving roller and a driven roller respectively, and the outer shells of the driving roller and the driven roller are provided with a conveyor belt 32, and the feeding frame 31 is installed with a fifth motor 33, and the fifth motor 33 is connected to the driving roller by transmission, and the discharge end of the conveyor belt 32 is located directly below the mechanical gripper 25;

[0078] After the fifth motor 33 is started, the conveyor belt 32 is driven to circulate through the active roller to transport the mangoes from one end to the other end.

[0079] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0080] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For ordinary technical users in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A mango peeling device, characterized in that: include: A frame (1), wherein a platform (2) is installed on the top of the frame (1), and a loading mechanism (3) and a receiving mechanism (4) are respectively installed on both sides of the frame (1); A positioning material platform (22), wherein the positioning material platform (22) is installed on the platform (2) via a telescopic drive assembly, and a slot is provided on the positioning material platform (22); A clamping mechanism, the clamping mechanism being installed on the platform (2), and the clamping mechanism being used to clamp the mangoes on the feeding mechanism (3) to the positioning material platform (22); A lifting assembly, the lifting assembly being installed at the bottom of the platform (2), and a lifting seat (13) being installed at the lifting end of the lifting assembly; a lower positioning rod (18) being rotatably connected to the lifting seat (13), and the top of the lower positioning rod (18) slidingly extending to the top of the platform (2); A driving assembly, the driving assembly being mounted on the lifting seat (13), and the driving assembly being used to drive the lower positioning rod (18) to rotate; A peeling knife mechanism is installed on the platform (2) and is located on one side of the lower positioning rod (18).

2. The mango peeling device according to claim 1, characterized in that: The peeling knife mechanism comprises: An upper positioning rod (5), the upper positioning rod (5) being mounted on the top surface of the platform (2) via a first electric push rod (6); A positioning head (7), the positioning head (7) being mounted at the bottom of the upper positioning rod (5), the positioning head (7) being located directly above the lower positioning rod (18); A first bracket, the first bracket being mounted on the top surface of the platform (2), and the first bracket being located on one side of the lower positioning rod (18); A first motor (8), the first motor (8) being mounted on the first bracket, and a connecting plate being mounted on an output shaft of the first motor (8); A telescopic scraper assembly is mounted on the connecting plate.

3. The mango peeling device according to claim 2, characterized in that: The telescopic scraper assembly comprises: A cover shell (9), the cover shell (9) is mounted on the first bracket, and a window is formed on the cover shell (9); A second electric push rod, the second electric push rod is mounted on the connecting plate; A driving block, the driving block being mounted on the telescopic end of the second electric push rod; A scraper arm (10), the scraper arm (10) is rotatably connected in the housing (9), the scraper arm (10) extends out of the window, and the scraper arm (10) is rotatably connected to the driving block; A peeling knife body (11), wherein the peeling knife body (11) is mounted on an end of the scraper arm (10) away from the first bracket.

4. The mango peeling device according to claim 1, characterized in that: The lifting assembly comprises two sliding bars (12) arranged side by side, the two sliding bars (12) are fixedly mounted on the bottom of the platform (2), the lifting seat (13) is slidably connected to the two sliding bars (12), a motor seat is fixedly mounted on the bottom of the sliding bars (12), a second motor (14) is mounted on the motor seat, a crank (15) is mounted on the output shaft of the second motor (14), one end of the crank (15) is rotatably connected to a rocker (16), and the top of the rocker (16) is rotatably connected to the bottom of the lifting seat (13).

5. The mango peeling device according to claim 1, characterized in that: The driving assembly comprises a third motor (17) mounted on the lifting seat (13), and the output shaft of the third motor (17) is drivingly connected to the lower positioning rod (18); The bottom of the lower positioning rod (18) is slidably connected to a limiting rod (19), the bottom of the limiting rod (19) is fixedly connected to the frame (1), and a plurality of positioning teeth (20) are installed on the top of the lower positioning rod (18).

6. The mango peeling device according to claim 1, characterized in that: The telescopic drive assembly comprises a third electric push rod mounted on the top surface of the platform (2), the telescopic end of the third electric push rod being mounted with a shell (21), the positioning platform (22) being mounted on the outer side wall of the shell (21), two fourth electric push rods being mounted in back-to-back orientation in the shell (21), the telescopic end of the fourth electric push rod being mounted with a positioning plate, the top of the positioning plate being mounted with a plurality of positioning columns (23), the positioning plate being slidably connected to the top surface of the positioning platform (22), and the two positioning plates being located on both sides of the slot.

7. The mango peeling device according to claim 1, characterized in that: The clamping mechanism comprises a fourth motor (24) mounted on the top surface of the platform (2), a mechanical gripper (25) being mounted on the output shaft of the fourth motor (24), and the mechanical gripper (25) being located between the feeding mechanism (3) and the positioning platform (22).

8. The mango peeling device according to claim 1, characterized in that: The material receiving mechanism (4) comprises a scissor lift assembly, a plurality of universal wheels (44) are installed at the bottom of the scissor lift assembly, and a material frame (45) is detachably connected to the top of the scissor lift assembly, and the material frame (45) is arranged close to the lower positioning rod (18).

9. The mango peeling device according to claim 8, characterized in that: The scissor lift assembly comprises a top plate (41), a bottom plate (42) and two scissor links (43), wherein the two scissor links (43) are arranged side by side, the universal wheel (44) is mounted at the bottom of the bottom plate (42), and the material frame (45) is detachably connected to the top plate (41); one end of the top of the scissor link (43) is hinged to the top plate (41), and the other end of the top is slidably connected to the top plate (41); one end of the bottom of the scissor link (43) is hinged to the bottom plate (42), and the other end of the bottom is slidably connected to the bottom plate (42); a cross bar is installed between the two scissor links (43), and a fifth electric push rod (46) is hinged between the cross bar and the bottom plate (42).

10. The mango peeling device according to claim 7, characterized in that: The feeding mechanism (3) comprises a feeding frame (31), and a driving roller and a driven roller are rotatably connected on both sides of the feeding frame (31), and a conveyor belt (32) is provided on the outer shell of the driving roller and the driven roller. A fifth motor (33) is installed on the feeding frame (31), and the fifth motor (33) is transmission-connected to the driving roller. The discharge end of the conveyor belt (32) is located directly below the mechanical gripper (25).

Images