Automatic fruit stoning machine

Abstract

The invention provides an automatic fruit stoning machine, and belongs to the technical field of fruit processing machinery. The automatic coring machine solves the problem that an existing automatic coring machine is large in pulp quantity on the periphery of a kernel. The automatic fruit coring machine comprises a rack, a conveying device, a fruit pressing device, a coring device and a control circuit, the tool apron and the lifting seat are connected through a third guide assembly and a third driving assembly with a horizontally-arranged guide rail, the kernel digging device can horizontally move left and right or front and back, and the third driving assembly comprises a third motor; the third motor is electrically connected with the control circuit, and the control circuit can control the third motor to operate according to the deviation distance value between the kernel of the fruit placed on the fruit carrying cup and the center position of the fruit carrying cup so that the kernel digging device can move horizontally. The position of the coring cutter in the automatic fruit coring machine can be adaptively adjusted according to the characteristics of fruits on the corresponding fruit carrying cup, the position consistency of the center face of the coring cutter and the long axis of a kernel fitting ellipse is improved, and the pulp amount of the outer ring of the kernel can be reduced under the condition that the kernel removing completeness is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of fruit processing machinery, and particularly relates to a fruit automatic pit-removing machine. Background Art

[0002] In the process of fruit can production, removing the fruit pit is a key process to ensure the product quality. The traditional manual pit-removing method has problems such as low efficiency and high hygienic risks; for this reason, a variety of mechanized pit-removing devices have been proposed. For example, an automatic pit-removing machine (application number 202111499505.3) recorded in Chinese patent literature, includes a frame, a conveying mechanism, a lower pressing mechanism, an upper pressing mechanism and a pit-removing mechanism; although using the above automatic pit-removing machine to process fruits improves the processing efficiency, there are also some deficiencies.

[0003] Fruits not only have individual size differences, but also have problems of low consistency in pit shape and low consistency in pit position. Taking halved apples and peaches as examples, the cut surface of half a fruit is fitted to a circle, and the fruit pit is fitted to an ellipse. It is an objective fact that the major axis of the ellipse deviates from the radial line of the circle. Usually, for fruits with one side larger than the other, the distance between the major axis of the ellipse and the radial line of the circle is greater. Due to problems such as inertia and rotational accuracy during the operation of the conveying mechanism, there are also errors in the pause position of the fruits.

[0004] In summary, in the actual production process, not only is it necessary to strictly classify halved fruits, but also in order to improve the integrity of pit removal, the semi-ellipsoidal or hemispherical size formed by the rotary cutting of the cutter is significantly larger than the above-mentioned fitted ellipse size, that is, there is more pulp left outside the fruit pit, thereby reducing the pulp weight and reducing the pulp thickness. Summary of the Invention

[0005] The present invention proposes a fruit automatic pit-removing machine. The technical problem to be solved by the present invention is how to propose a fruit automatic pit-removing machine that can reduce the amount of pulp outside the fruit pit while ensuring the integrity of pit removal.

[0006] The technical problem to be solved by the present invention can be achieved by the following technical solutions: An automatic fruit pitting machine includes a frame, a conveying device, a fruit pressing device, a pitting device, and a control circuit; the conveying device includes a conveying plate and a fruit-loading cup for placing fruits, the fruit-loading cup is installed on the conveying plate, and the conveying plate is connected to the frame through a first guiding component. The first guiding component includes a guide rail with a horizontal guiding section, and the conveying plate can move horizontally left and right. Moving the conveying plate can make the fruit-loading cup located directly below or on one side of the fruit pressing device; the fruit pressing device includes a lifting seat and a pressing plate. The pressing plate is located above the fruit-loading cup, and the pressing plate is installed on the lifting seat. The lifting seat is connected to the frame through a second guiding component and a first driving component. The second guiding component includes a vertically arranged guide post, and the lifting seat can move up and down. The first driving component includes a first motor or a cylinder; when the first driving component drives the lifting seat to move downward, the lower plate surface of the pressing plate can contact the cut surface of the fruit placed on the fruit-loading cup; the pitting device includes a tool holder and a pitting knife. A second driving component for driving the pitting knife to rotate is installed on the tool holder. The second driving component includes a second motor; the tool holder is connected to the lifting seat through a third guiding component and a third driving component. The third guiding component includes a horizontally arranged guide rail, and the pitting device can move horizontally left and right or back and forth. The third driving component includes a third motor; the third motor is electrically connected to the control circuit, and the control circuit can control the operation of the third motor according to the deviation distance value of the fruit pit from the center position of the fruit-loading cup to make the pitting device move horizontally.

[0007] The conveying plate of the automatic fruit pitting machine can be moved manually or driven by a cylinder; the fruit placement direction is determined according to the horizontal movement direction of the pitting device. Taking the example that the pitting device can move horizontally left and right, the cut surface of the fruit placed on the fruit-loading cup faces upward and the long axis of the elliptical fit of the fruit pit is perpendicular to the horizontal movement direction of the pitting device; the deviation distance value of the fruit pit from the center of the fruit-loading cup can be determined according to the operator's experience or measurement. Preferably, the conveying plate is connected to a chain, and the chain is driven by a motor, and the deviation distance value of the fruit pit from the center of the fruit-loading cup is determined by analysis and measurement based on image recognition technology, and the upper computer inputs the value into the control circuit. Before the second motor drives the pitting knife to rotate, first control the third motor to operate to make the pitting device move horizontally. The moving stroke and direction of the pitting device are adapted to the deviation distance value and direction of the long axis of the elliptical fit of the fruit pit from the center of the fruit-loading cup, significantly reducing the deviation value between the center plane of the pitting knife and the long axis of the elliptical fit of the fruit pit, and improving the coincidence degree of the movement trajectory line of the pitting knife and the fruit pit.

[0008] Compared with the prior art, the positions of the pit-removing knives in the present fruit automatic pit-removing machine can be adaptively adjusted according to the characteristics of the fruits on the corresponding fruit-carrying cups, significantly improving the consistency of the central plane of the pit-removing knife with the major axis position of the pit-fitted ellipse. Furthermore, it is sufficient that the arc opening width of the pit-removing knife is adapted to the minor axis of the pit-fitted ellipse. On the other hand, compared with the prior art, the arc opening width of the pit-removing knife in the present fruit automatic pit-removing machine is smaller. The present fruit automatic pit-removing machine can reduce the amount of flesh around the pit while ensuring the integrity of pit removal, thereby increasing the flesh weight, flesh thickness, and flesh grade, and achieving the reduction of losses and the increase of the income of fruit processing enterprises.

[0009] In the above-mentioned fruit automatic pit-removing machine, the tool holder includes a translation tool holder and a lifting tool holder. The translation tool holder is connected to the lifting seat through a third guiding component and a third driving component; the lifting tool holder is connected to the translation tool holder through a fourth guiding component and a fourth driving component. The fourth guiding component includes a vertically arranged guide rail, and the fourth driving component includes a fourth motor. The fourth driving component can drive the lifting tool holder to move up and down; the second driving component is installed on the lifting tool holder.

[0010] Preferably, based on the analysis and measurement of graphic recognition technology, it is determined that the pit is fitted as an ellipse. The control circuit can control the operation of the fourth motor according to the major axis value of the fitted ellipse to make the pit-removing knife move up and down. That is, the larger the pit, the deeper the pit-removing knife cuts into the fruit, and the smaller the pit, the shallower the pit-removing knife cuts into the fruit, so as to reduce the amount of flesh around the pit.

[0011] In the above-mentioned fruit automatic pit-removing machine, the housing of the third motor is installed on the lifting seat, and the rotating shaft of the third motor is connected to the translation tool holder through a lead screw-nut assembly or a gear-rack assembly; the housing of the fourth motor is installed on the translation tool holder, and the rotating shaft of the fourth motor is connected to the lifting tool holder through a lead screw-nut assembly or a gear-rack assembly.

[0012] In the above-mentioned fruit automatic pit-removing machine, a tool shaft is rotatably connected to the lifting tool holder. The axis line of the tool shaft is arranged parallel to the guiding direction of the third guiding component, and the pit-removing knife is fixed to the tool shaft by bolts.

[0013] In the above-mentioned fruit automatic pit-removing machine, the cutting edge line of the pit-removing knife is semi-elliptical, and the minor axis of the semi-ellipse is arranged parallel to or coincides with the axis line of the tool shaft.

[0014] In the above-mentioned fruit automatic pit-removing machine, the pressing plate is fixedly installed on the translation tool holder, or the pressing plate is directly fixed on the lifting seat. Description of the Drawings

[0015] Figure 1 is a schematic three-dimensional structure diagram of the fruit automatic pit-removing machine.

[0016] Figure 2It is a schematic diagram of the partial structure of a fruit automatic pitting machine loaded with fruits.

[0017] Figure 3 It is Figure 2 the schematic diagram of the partial structure in

[0018] Figure 4 and Figure 5 is the schematic diagram of the positional relationship structure among the pitting knife, the fruit pit and the fruit-loading cup.

[0019] In the figure, 1 is the frame; 2 is the conveying device; 2a is the conveying plate; 2b is the fruit-loading cup; 3 is the fruit pressing device; 3a is the lifting seat; 3b is the pressing plate; 4 is the pitting device; 4a is the translating tool holder; 4b is the lifting tool holder; 4c is the pitting knife; 4d is the fourth guiding component; 4e is the fourth driving component; 4f is the tool shaft; 4g is the second motor; 5 is the first guiding component; 6 is the chain driving component; 7 is the second guiding component; 8 is the first driving component; 9 is the third guiding component; 10 is the third driving component; 11 is the fitted ellipse; 101 is the pulp; 102 is the fruit pit. Detailed implementation manners

[0020] The following are specific embodiments of the present invention and, in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 construed as a limitation to the present invention.

[0022] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0023] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0025] As Figures 1 to 3 shown, a fruit automatic pitting machine includes a frame 1, a conveying device 2, a fruit pressing device 3, a pitting device 4 and a control circuit.

[0026] The conveying device 2 includes a conveying plate 2a and a fruit-carrying cup 2b for placing fruits, and the fruit-carrying cup 2b is installed on the conveying plate 2a; the conveying plate 2a is connected to the frame 1 through a first guiding assembly 5, and the first guiding assembly 5 includes a guide rail having a horizontal guiding section. The conveying plate 2a can move horizontally to the left and right, and moving the conveying plate 2a can make the fruit-carrying cup 2b located directly below or on one side of the fruit pressing device 3. The accompanying drawings of the specification show that the number of the conveying plates 2a is multiple, and a plurality of fruit-carrying cups 2b are installed on each conveying plate 2a, and the plurality of fruit-carrying cups 2b are arranged in an orderly manner along the longitudinal line of the conveying plate 2a. A chain driving assembly 6 is installed on the frame 1, and the multiple conveying plates 2a are arranged in an orderly manner along the chain.

[0027] The fruit pressing device 3 includes a lifting seat 3a and a pressing plate 3b. The lifting seat 3a is strip-shaped. The pressing plate 3b is located above the fruit-carrying cup 2b and below the lifting seat 3a, and the pressing plate 3b is installed on the lifting seat 3a. The lifting seat 3a is connected to the machine frame 1 through a second guiding component 7 and a first driving component 8. The second guiding component 7 includes vertically arranged guide columns. The number of guide columns given in the specification drawings is 4, and the number of guide columns can be adaptively adjusted according to the actual situation. The first driving component 8 includes a first motor. The housing of the first motor is installed on the machine frame 1, and the rotating shaft of the first motor is connected to the lifting seat 3a through a cam-linkage structure. The lifting seat 3a is guided by the second guiding component 7 and driven by the first driving component 8 to achieve flexible and stable lifting movement. When the first driving component 8 drives the lifting seat 3a to move downward, the lower plate surface of the pressing plate 3b can contact the cut surface of the fruit placed on the fruit-carrying cup 2b, thereby correcting the horizontal degree of the cut surface of the fruit and significantly reducing the possibility of fruit movement during the subsequent pit-digging operation.

[0028] According to the actual situation, the above cam-linkage structure can be replaced by a gear-rack structure, and the above first driving component 8 can also be replaced by a cylinder.

[0029] The number of pit-digging devices 4 is the same as and corresponds one-to-one to the number of fruit-carrying cups 2b installed on a conveying plate 2a. The pit-digging device 4 includes a tool holder and a pit-digging knife 4c. The tool holder further includes a translational tool holder 4a and a lifting tool holder 4b. The translational tool holder 4a is connected to the lifting seat 3a through a third guiding component 9 and a third driving component 10. The third driving component 10 includes a third motor. The housing of the third motor is installed on the lifting seat 3a, and the rotating shaft of the third motor is connected to the translational tool holder 4a through a lead screw-nut assembly or a gear-rack assembly. The third guiding component 9 includes horizontally arranged guide rails. The number of guide rails given in the specification drawings is four, and the number of guide rails can be adaptively reduced or increased according to the actual situation. The specification drawings show that the guide rails are arranged in the left-right direction. Thus, the guiding direction of the third guiding component 9 is the same as the horizontal movement of the conveying plate 2a. This layout can improve the space utilization rate, that is, more pit-digging devices 4 can be arranged on the machine frame 1 with the same width. Of course, according to the actual situation, the guide rails can also be adjusted to be arranged in the front-back direction.

[0030] The pressing plate 3b is fixedly installed on the translational tool holder 4a, that is, the pressing plate 3b is installed on the lifting seat 3a through the translational tool holder 4a and the third guiding component 9. Of course, according to the actual situation, the pressing plate 3b can also be directly fixed on the lifting seat 3a.

[0031] The lifting tool block 4b and the translational tool block 4a are connected by a fourth guiding component 4d and a fourth driving component 4e. The fourth driving component 4e includes a fourth motor. The housing of the fourth motor is mounted on the translational tool block 4a, and the rotating shaft of the fourth motor is connected to the lifting tool block 4b through a lead screw and nut assembly or a gear and rack assembly. The fourth guiding component 4d includes vertically arranged guide rails. The number of guide rails given in the specification drawings is two, and the number of guide rails can be adaptively reduced or increased according to the actual situation.

[0032] A tool shaft 4f is rotatably connected to the lifting tool block 4b. The axis line of the tool shaft 4f is arranged parallel to the guiding direction of the third guiding component 9. The pit-removing knife 4c is fixed on the tool shaft 4f by bolts. The cutting edge line of the pit-removing knife 4c is semi-elliptical, and the minor axis of the semi-elliptical shape is arranged parallel to or coincides with the axis line of the tool shaft 4f. A second driving component connected to the tool shaft 4f is mounted on the lifting tool block 4b. The second driving component includes a second motor 4g. Thus, the rotation of the rotating shaft of the second motor 4g can drive the pit-removing knife 4c to rotate.

[0033] The automatic fruit pit-removing machine further includes a host computer with an image recognition system. The image recognition system includes an industrial camera and an image processing unit. The number of industrial cameras is the same as and corresponds one-to-one to the number of fruit-carrying cups 2b mounted on a conveying plate 2a. The industrial camera is located on the front side of the pit-removing device 4, and the industrial camera is mounted on the frame 1.

[0034] The image processing unit is used for processing the cross-sectional image of the fruit placed on the fruit-carrying cup 2b captured by the industrial camera and extracting the boundary feature between the fruit pit 102 and the pulp 101 in the cross-section of the fruit. The host computer can perform elliptical fitting based on the above-mentioned extracted boundary feature data between the fruit pit and the pulp. The host computer transmits the fitted elliptical characteristic values to the control circuit. The elliptical characteristic values include the major axis value of the fitted ellipse, the deviation distance value between the major axis of the fitted ellipse and the center position of the fruit-carrying cup 2b. For example, when the deviation value is 0, it means coincidence. For another example, when the deviation value is +1, it means that the major axis of the fitted ellipse is located in front of the reference major axis of the set ellipse and the deviation value between the two is 1 mm. For another example, when the deviation value is -1, it means that the major axis of the fitted ellipse is located behind the reference major axis of the set ellipse and the deviation value between the two is 1 mm.

[0035] The second motor 4g, the third motor, and the fourth motor are all electrically connected to the control circuit. The control circuit can control the operation of the third motor to horizontally move the pit-removing device 4 according to the deviation distance value between the fruit pit on the fruit placed on the fruit-carrying cup 2b and the center position of the fruit-carrying cup 2b. The control circuit can also control the operation of the third motor to move the pit-removing knife 4c up and down according to the major axis value of the fitted ellipse of the fruit pit on the fruit placed on the fruit-carrying cup 2b.

[0036] By elaborating on the process of processing fruits using a fruit automatic pitting machine, the functions and advantages of each component are further illustrated: First, the halved fruit is placed on the fruit carrier cup 2b with the cut surface of the fruit facing upward, and the major axis of the elliptical fitting of the fruit pit is perpendicular to the horizontal movement direction of the pitting device 4.

[0037] Secondly, the chain drive assembly 6 drives the conveying plate 2a, the fruit carrier cup 2b, and the fruit to move successively under the industrial camera and directly below the pitting device 4; the industrial camera takes images, and then obtains the cut surface image of the fruit placed on the fruit carrier cup 2b; the image processing unit processes the above cut surface image and extracts the characteristics of the boundary between the fruit pit and the pulp in the cut surface of the fruit. The upper computer can perform elliptical fitting based on the above extracted characteristic data of the boundary between the fruit pit and the pulp. For example, the major axis of the elliptical fitting of Fruit No. 1 is 45 mm, the minor axis is 25 mm, and the deviation distance value of the major axis from the center position of the fruit carrier cup 2b is +1; the major axis of the elliptical fitting of Fruit No. 2 is 50 mm, the minor axis is 30 mm, and the deviation distance value of the major axis from the center position of the fruit carrier cup 2b is -1.

[0038] Then, as Figure 4 and Figure 5 shown, the control circuit controls the operation of the third motor of the corresponding pitting device 4 to make the pitting device 4 move horizontally according to the deviation distance value between the fruit pit on the fruit placed on the fruit carrier cup 2b and the center position of the fruit carrier cup 2b. For example, the pitting device 4 corresponding to Fruit No. 1 is moved 1 mm forward, that is, the pitting device 4 is moved 1 mm in the opposite direction to the fruit movement; for example, the pitting device 4 corresponding to Fruit No. 2 is moved 1 mm backward, that is, the pitting device 4 is moved 1 mm in the same direction as the fruit movement. Figure 4 and Figure 5 The center dash line X indicates the center line of the fruit carrier cup 2b, and the dash line Y indicates the major axis line of the elliptical fitting of the fruit pit.

[0039] The control circuit controls the fourth motor to adaptively change the distance between the minor axis of the pitting knife 4c and the lower plate surface of the pressing plate 3b according to the major axis value of the elliptical fitting. For example, the initial position of the pitting knife 4c in the pitting device 4 corresponding to Fruit No. 1 is suitable for digging fruits with a major axis of 55 mm, then the control circuit controls the fourth motor in the pitting device 4 corresponding to Fruit No. 1 to drive the lifting knife seat 4b to move upward by the required distance, such as 5 mm; another example is that the initial position of the pitting knife 4c in the pitting device 4 corresponding to Fruit No. 2 is suitable for digging fruits with a major axis of 45 mm, then the control circuit controls the fourth motor in the pitting device 4 corresponding to Fruit No. 2 to drive the lifting knife seat 4b to move downward by the required distance, such as 3 mm.

[0040] Next, the first drive assembly 8 is controlled to drive the lifting seat 3a and all the pitting devices 4 to move downward until the lower plate surface of the pressing plate 3b contacts the cut surface of the fruit.

[0041] Immediately afterwards, control the second motor 4g to drive the pit cutter 4c to rotate, so as to separate the fruit pit from the pulp.

[0042] Finally, control the first drive assembly 8, the second motor 4g, the third motor and the fourth motor to reset the corresponding components.

Claims

1. An automatic fruit pitting machine, comprising a frame (1), a conveying device (2), a fruit pressing device (3), a pitting device (4) and a control circuit; the conveying device (2) includes a conveying plate (2a) and a fruit-carrying cup (2b) for placing fruits, the fruit-carrying cup (2b) is installed on the conveying plate (2a), the conveying plate (2a) is connected to the frame (1) through a first guiding component (5), the first guiding component (5) includes a guide rail with a horizontal guiding section, the conveying plate (2a) can move horizontally left and right, and moving the conveying plate (2a) can make the fruit-carrying cup (2b) located directly below or on one side of the fruit pressing device (3); the fruit pressing device (3) includes a lifting seat (3a) and a pressing plate (3b), the pressing plate (3b) is located above the fruit-carrying cup (2b), the pressing plate (3b) is installed on the lifting seat (3a), the lifting seat (3a) is connected to the frame (1) through a second guiding component (7) and a first driving component (8), the second guiding component (7) includes a vertically arranged guide post, the lifting seat (3a) can move up and down, the first driving component (8) includes a first motor or a cylinder; when the first driving component (8) drives the lifting seat (3a) to move downward, the lower surface of the pressing plate (3b) can contact the cut surface of the fruit placed on the fruit-carrying cup (2b); the pitting device (4) includes a tool holder and a pitting knife (4c), a second driving component connected to the pitting knife (4c) and used for driving the pitting knife (4c) to rotate is installed on the tool holder, and the second driving component includes a second motor (4g); it is characterized in that, The tool holder is connected to the lifting seat (3a) through a third guiding component (9) and a third driving component (10). The third guiding component (9) includes a horizontally arranged guide rail, and the pit removal device (4) can move horizontally left and right or front and back. The third driving component (10) includes a third motor; the third motor is electrically connected to the control circuit, and the control circuit can control the operation of the third motor according to the deviation distance value between the fruit pit on the fruit placed in the fruit cup (2b) and the center position of the fruit cup (2b) to make the pit removal device (4) move horizontally.

2. The automatic fruit pitting machine according to claim 1, wherein The automatic fruit pit removal machine further includes a host computer with an image recognition system. The image recognition system includes an industrial camera and an image processing unit. The industrial camera is located on the front side of the pit removal device (4) and is installed on the frame (1); the image processing unit is used to process the cross-sectional image of the fruit placed in the fruit cup (2b) captured by the industrial camera and extract the characteristics of the boundary line between the fruit pit and the pulp in the cross-section of the fruit; the host computer can perform elliptical fitting based on the above-mentioned extracted characteristic data of the boundary line between the fruit pit and the pulp, and the host computer transmits the deviation distance value between the major axis of the fitted ellipse and the center position of the fruit cup (2b) to the control circuit.

3. The automatic fruit pitting machine according to claim 2, characterized in that, The tool holder includes a translation tool holder (4a) and a lifting tool holder (4b). The translation tool holder (4a) is connected to the lifting seat (3a) through a third guiding component (9) and a third driving component (10); the lifting tool holder (4b) is connected to the translation tool holder (4a) through a fourth guiding component (4d) and a fourth driving component (4e). The fourth guiding component (4d) includes a vertically arranged guide rail, and the fourth driving component (4e) includes a fourth motor. The fourth driving component (4e) can drive the lifting tool holder (4b) to move up and down; the second driving component is installed on the lifting tool holder (4b).

4. The automatic fruit pitting machine according to claim 3, characterized in that, The host computer transmits the major axis value of the fitted ellipse to the control circuit; the fourth motor is electrically connected to the control circuit, and the control circuit can control the operation of the fourth motor according to the major axis value of the fitted ellipse to make the pit removal knife (4c) move up and down.

5. The automatic fruit pitting machine according to claim 3, wherein The housing of the third motor is installed on the lifting seat (3a), and the rotating shaft of the third motor is connected to the translation tool holder (4a) through a lead screw and nut assembly or a gear and rack assembly; the housing of the fourth motor is installed on the translation tool holder (4a), and the rotating shaft of the fourth motor is connected to the lifting tool holder (4b) through a lead screw and nut assembly or a gear and rack assembly.

6. The automatic fruit pitting machine according to claim 3, characterized in that, A tool shaft (4f) is rotatably connected to the lifting tool holder (4b). The axis line of the tool shaft (4f) is arranged parallel to the guiding direction of the third guiding component (9), and the pit removal knife (4c) is fixed to the tool shaft (4f) by bolts.

7. The automatic fruit pitting machine according to claim 6, characterized in that, The cutting edge line of the pit removal knife (4c) is in a semi-elliptical shape, and the minor axis of the semi-elliptical shape is arranged parallel to or coincides with the axis line of the tool shaft (4f).

8. The automatic fruit pitting machine according to any one of claims 3 to 7, characterized in that The pressing plate (3b) is fixedly installed on the translation tool holder (4a), or the pressing plate (3b) is directly fixed on the lifting seat (3a).

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