Slicing and kernel taking device and fruit processing equipment

Abstract

The invention provides a fragmented kernel taking device and fruit processing equipment, and relates to the technical field of fruit processing.The fragmented kernel taking device comprises a fragmented mechanism, a pattern mold circulating mechanism and a kernel taking mechanism, the pattern mold circulating mechanism comprises a pattern mold circulating assembly and a plurality of pattern molds arranged on the pattern mold circulating assembly, and each pattern mold is provided with two fruit slice pits; the slicing mechanism is used for slicing the cut fruits, the two half parts of the sliced fruits are correspondingly overturned and fall into two fruit slice pits in the target pattern mold, the target pattern mold carrying the half parts of the fruits is transferred to the position of the kernel taking mechanism by the pattern mold circulating assembly, and the kernel taking mechanism is used for taking out kernels from the half parts of the fruits; the pattern mold circulating mechanism drives multiple pattern molds to continuously move through a circulating assembly, and is matched with the rhythm operation of the slicing mechanism and the kernel taking mechanism, so that the full-process automation from slicing to kernel taking after the fruits are cut into two halves is realized, and the fruit kernel taking device is suitable for large-scale processing of the fruits.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit processing, and particularly to a slicing and pitting device and a fruit processing equipment. Background Art

[0002] In order to facilitate the storage, packaging and consumption of fruits, it is also necessary to remove the fruit cores inside the fruits. Since the fruit cores are usually tightly wrapped by the pulp, the pulp needs to be cut first before pitting to expose the fruit cores, and then they can be separated and removed. At present, this operation of separating the pulp and the fruit cores mostly relies on a large number of manual workers, which not only greatly increases the labor intensity of the workers, but also has low efficiency, seriously restricting the large-scale development of the fruit processing industry. Summary of the Invention

[0003] The purpose of the present invention is to provide a slicing and pitting device and a fruit processing equipment to realize the automatic separation of the pulp and the fruit cores.

[0004] To achieve the above object, the technical solution of the embodiment of the present invention is as follows: A slicing and pitting device includes a slicing mechanism, a mold circulating mechanism and a pitting mechanism; The mold circulating mechanism includes a mold circulating component and a plurality of molds arranged on the mold circulating component. The mold circulating component is used to drive the molds to move cyclically along a set direction, and each mold is provided with two fruit slice pits for placing and positioning the two halves of the fruit. The slicing mechanism is arranged on one side of the mold circulating component and is used for slicing the fruit to be cut and turning the two sliced fruit halves correspondingly and falling them into the two fruit slice pits in the target mold. Wherein, the target mold carrying the fruit half is transferred to the position of the pitting mechanism by the mold circulating component; The pitting mechanism is used to take out the fruit core from the fruit half.

[0005] Furthermore, The slicing mechanism includes a slicing reciprocating module, a slicing clamping member arranged on the slicing reciprocating module, two slicing jigs arranged on the slicing clamping member, two slicing driving members arranged on the two slicing jigs and corresponding to the two slicing jigs one by one, and two slicing pressing members arranged on the two slicing driving members and corresponding to the two slicing driving members one by one; The slicing reciprocating module is used to drive the slicing clamping member to move along the X-axis direction; The slicing clamping member is used to drive the two slicing jigs to move relatively to clamp or loosen the sliced fruit; The piece driving member is used to drive the corresponding piece pressing member to rotate, so that the two piece pressing members rotate towards or away from each other. When the two piece clamps release the cut fruit, the two piece pressing members split the cut fruit into two fruit halves by rotating, and turn the two split fruit halves over and drop them into the two fruit piece pits on the target mold correspondingly.

[0006] Furthermore, The pit removing mechanism further includes a first sub-piece pit removing mechanism and a second sub-piece pit removing mechanism. The first sub-piece pit removing mechanism and the second sub-piece pit removing mechanism correspond to the two fruit halves in the target mold one by one, and remove the fruit pits from the middle fruit halves. Both the first sub-piece pit removing mechanism and the second sub-piece pit removing mechanism include a pressing piece assembly and a pit removing assembly; The pressing piece assembly includes a pressing piece lifting member, a pressing piece driving member arranged on the pressing piece lifting member, and two pressing pieces arranged on the pressing piece driving member. The pressing piece driving member is used to adjust the relative distance between the two pressing pieces, and the pressing piece lifting member is used to drive the pressing pieces to move along the Z-axis direction. The two pressing pieces press the fruit half to be pit removed in the fruit piece pit with the fruit pit exposed in the fruit piece pit; The pit removing assembly includes a pit removing transverse movement module, a pit removing lifting member arranged on the pit removing transverse movement module, a pit removing clamping member arranged on the pit removing lifting member, and two pit removing clamps arranged on the pit removing clamping member. The pit removing clamping member is used to drive the two pit removing clamps to move relatively to clamp the fruit pit. The pit removing lifting member is used to drive the clamped fruit pit to move along the Z-axis direction, and the pit removing transverse movement module is used to drive the clamped fruit pit to move along the X-axis direction.

[0007] A fruit processing device includes a feeding mechanism, a clamping and transferring mechanism, a slicing mechanism, and the piece and pit removing device described in any one of the foregoing items; The feeding mechanism is used to convey the fruit to the clamping and transferring mechanism for the clamping and transferring mechanism to clamp and transfer; The clamping and transferring mechanism is used to clamp the fruit and drive the clamped fruit to rotate around the Z-axis direction, move along the Y-axis direction, and move along the X-axis direction; The slicing mechanism is used to cut the fruit along the Z-axis direction to obtain the cut fruit.

[0008] Furthermore, The feeding mechanism includes: A conveyor belt for conveying the fruit; The blanking component, the blanking component includes a blanking plate, a blanking block, two support blocks and a blanking driving member, the blanking block is located on the lower surface of the blanking plate, the two support blocks are used to support the two ends of the blanking plate correspondingly, each support block is provided with a linear slide rail, and each linear slide rail is used to guide the corresponding support block. The blanking driving member is used to drive the support block to move in a direction perpendicular to the conveyor belt under the guidance of the linear slide rail, so as to drive the blanking plate to move in a direction perpendicular to the conveyor belt, thereby driving the blanking block to press the fruit tightly against the conveyor belt from above the fruit. The height measuring member, the height measuring member includes an inclined surface portion arranged at an angle with the conveyor belt, and the height measuring member moves along a direction perpendicular to the conveyor belt following the blanking plate. The laser emitter, the laser emitter is used to emit laser light and irradiate it onto the inclined surface portion.

[0009] Furthermore, The clamping and transferring mechanism includes a transfer reciprocating module, a transfer transverse movement module arranged on the transfer reciprocating module, a transfer rotating module arranged on the transfer transverse movement module, a transfer clamping member arranged on the transfer rotating module, and two chucks arranged on the transfer clamping member. The transfer clamping member is used to drive the two chucks to move relative to each other to clamp the fruit. The transfer rotating module is used to drive the clamped fruit to rotate around the Z-axis direction. The transfer transverse movement module is used to drive the clamped fruit to move along the Y-axis direction. The transfer reciprocating module is used to drive the clamped fruit to move along the X-axis direction.

[0010] Furthermore, The slicing mechanism includes a slicing driving member, a connecting seat, a tool assembly and a slicing platform; One end of the connecting seat is connected to the slicing driving member, and the other end is connected to the tool assembly; The tool assembly includes a tool, a tool mounting member for mounting the tool, a first pressing member and a second pressing member. The tool is arranged between the first pressing member and the second pressing member. Both the first pressing member and the second pressing member are slidably connected to the tool mounting member. Elastic members are arranged between the first pressing member and the tool mounting member and between the second pressing member and the tool mounting member. The slicing driving member is used to drive the connecting seat and the tool assembly connected to the connecting seat to move, and further drive the first pressing member, the second pressing member and the tool in the tool assembly to move. The elastic member is used to push the first pressing member and the second pressing member to elastically press the fruit to be cut against the slicing platform before the tool cuts the fruit to fix the state of the fruit to be cut.

[0011] Furthermore, The fruit processing equipment further includes a sorting mechanism, which includes a vibration cylinder and a pressing plate arranged on the vibration cylinder. The vibration cylinder is used to drive the pressing plate, and then press the half of the fruit through the pressing plate so that the half of the fruit fits tightly with the corresponding fruit pit.

[0012] Furthermore, The fruit processing equipment further includes a first vision mechanism, which is used to take a picture before the slicing mechanism cuts the fruit, so as to confirm the best cutting line according to the shape and size of the fruit.

[0013] Furthermore, The fruit processing equipment further includes a second vision mechanism and a third vision mechanism. Both the second vision mechanism and the third vision mechanism are used to take pictures of the two halves of the fruit, so that the pitting mechanism can accurately take out the fruit pit from the half of the fruit.

[0014] Furthermore, The fruit processing equipment further includes a first turning plate mechanism, a second turning plate mechanism, a detection mechanism and a fourth vision mechanism; Both the first turning plate mechanism and the second turning plate mechanism include a turning plate assembly. The turning plate assembly includes a turning plate reciprocating module, a picking lifting member arranged on the turning plate reciprocating module, two picking clamping members arranged on the picking lifting member, and two picking jigs arranged on the picking clamping members. The picking clamping member is used to drive the two picking jigs to move towards or away from each other, so as to clamp or loosen the half of the fruit. The picking lifting member is used to drive the picking clamping member and the half of the fruit clamped by the picking clamping member to move along the Z-axis direction. The turning plate reciprocating module is used to drive the picking lifting member, the picking clamping member and the half of the fruit clamped by the picking clamping member to move along the X-axis direction; The detection mechanism includes a rotating shaft, two detection components arranged on both sides of the rotating shaft, and a detection rotating member. The detection rotating member is used to drive the rotating shaft to rotate around its own axis, and then drive the two detection components to rotate around the axis of the rotating shaft. The detection component includes a detection bottom plate and two sub-detection components arranged on the detection bottom plate. The sub-detection component includes a detection clamping member and two detection jigs arranged on the detection clamping member. The detection clamping member is used to drive the two detection jigs to move towards or away from each other when the half of the fruit is placed on the detection bottom plate, so as to clamp or loosen the half of the fruit; The first turning plate mechanism is used to transfer the half of the fruit with the pit removed in the mold to the detection mechanism. The fourth vision mechanism is used to detect whether the half of the fruit in the detection mechanism has been pitted. The second turning plate mechanism is used to transfer the half of the fruit that has been detected in the detection mechanism to the finished product bin.

[0015] Compared with the prior art, the embodiments of the present invention have at least the following technical effects: The sliced pit core device of the embodiments of the present invention includes a slicing mechanism, a mold circulation mechanism, and a pit core taking mechanism. The mold circulation mechanism includes a mold circulation component and a plurality of molds provided on the mold circulation component. The mold circulation component drives the molds to move cyclically in a set direction. Each mold is provided with two fruit slice pits for placing and positioning the halves of the fruit. The slicing mechanism slices the cut fruit and correspondingly flips the two obtained fruit halves into the two fruit slice pits in the target mold. The target mold carrying the fruit halves is transferred by the mold circulation component to the position of the pit core taking mechanism, and the pit core taking mechanism is used to take out the fruit pits from the fruit halves. The mold circulation mechanism drives the continuous movement of multiple molds through the circulation component, and cooperates with the rhythmic operations of the slicing mechanism and the pit core taking mechanism to realize the full-process automation of the fruit from slicing to pit core taking, greatly improving the production efficiency and being applicable to the large-scale processing of fruits.

[0016] The fruit processing equipment of the embodiments of the present invention includes the foregoing sliced pit core device, has the same technical concept as the foregoing sliced pit core device, and thus has the same technical effects as the foregoing sliced pit core device, which will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the fruit processing equipment processing the fruit into fruit halves in an embodiment; Figure 2 It is a schematic structural diagram of the fruit processing equipment in an embodiment; Figure 3 It is a schematic structural diagram of the feeding mechanism in an embodiment; Figure 4 It is a schematic structural diagram of the clamping and transferring mechanism in an embodiment; Figure 5 It is a schematic structural diagram of the slicing mechanism in an embodiment; Figure 6 It is a schematic structural diagram of the slicing mechanism in an embodiment; Figure 7 It is a schematic structural diagram of the relative position between the slicing mechanism and the slicing mechanism in an embodiment; Figure 8 It is a schematic structural diagram of the mold in an embodiment; Figure 9 It is a schematic structural diagram of the sorting mechanism in an embodiment; Figure 10 It is a schematic structural diagram of the pit core taking mechanism in an embodiment; Figure 11 It is a schematic structural diagram of the pressing plate component in an embodiment; Figure 12 It is a schematic structural diagram of the pit core taking component in an embodiment; Figure 13 Schematic diagram of the relative positions of the first rotating sheet mechanism, the second rotating sheet mechanism and the detection mechanism in an embodiment; Figure 14 Schematic diagram of the structure of the detection mechanism in an embodiment.

[0018] Explanation of the reference numerals in the drawings: 10. Clamping and transfer mechanism; 11. Transfer reciprocating module; 12. Transfer transverse movement module; 13. Transfer rotating module; 14. Transfer clamping member; 15. Chuck; 20. Slicing mechanism; 21. Slicing driving member; 22. Connecting seat; 23. Tool assembly; 230. Tool; 231. Tool mounting member; 232. First pressing member; 233. Second pressing member; 234. Elastic member; 24. Slicing platform; 30. Feeding mechanism; 31. Conveyor belt; 32. Pressing component; 320. Pressing plate; 321. Pressing block; 322. Support block; 323. Pressing driving member; 33. Height measuring member; 330. Inclined surface portion; 34. Laser emitter; 41. First rotating sheet mechanism; 42. Second rotating sheet mechanism; 43. Detection mechanism; 430. Rotating shaft; 431. Detection component; 4310. Detection bottom plate; 4311. Sub-detection component; 4312. Detection clamping member; 4313. Detection fixture; 432. Detection rotating member; 44. Rotating sheet component; 440. Rotating sheet reciprocating module; 441. Sheet taking lifting member; 442. Sheet taking clamping member; 443. Sheet taking fixture; 50. Sharding mechanism; 51. Sharding reciprocating module; 52. Sharding driving member; 53. Sharding clamping member; 54. Sharding fixture; 55. Sharding pressing member; 60. Kernel taking mechanism; 61. First sub-pressing sheet and kernel taking mechanism; 62. Second sub-pressing sheet and kernel taking mechanism; 63. Pressing sheet component; 630. Pressing sheet lifting member; 631. Pressing sheet driving member; 632. Pressing sheet member; 64. Kernel taking component; 640. Kernel taking transverse movement module; 641. Kernel taking lifting member; 642. Kernel taking clamping member; 643. Kernel taking fixture; 70. First vision mechanism; 71. Second vision mechanism; 72. Third vision mechanism; 73. Fourth vision mechanism; 80. Mold recycling mechanism; 81. Mold recycling component; 82. Mold; 820. Fruit slice pit; 83. Sorting mechanism; 830. Vibration cylinder; 831. Pressing plate; 90. Fruit; 91. Fruit half; 92. Fruit kernel. Detailed implementation manners

[0019] The technical solution of the present invention will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. In the following description, the expression "some embodiments" describes a subset of all possible embodiments. However, it should be understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0020] It should be noted that when an element is referred to as being "fixed to" 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", "inner", "outer", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0021] Such as Figure 1-13As shown, in an embodiment of the present invention, a fruit half-core taking device includes a slicing mechanism 50, a mold circulating mechanism 80, and a core taking mechanism 60. The mold circulating mechanism 80 includes a mold circulating component 81 and a plurality of molds 82 provided on the mold circulating component 81. The mold circulating component 81 drives the mold 82 to move cyclically along a set direction. Each mold 82 is provided with two fruit slice pits 820 for placing and positioning the fruit halves 91. The slicing mechanism 50 is arranged on one side of the mold circulating component 81 to slice the fruit 90 to be cut, and the two fruit halves 91 obtained by slicing (for the convenience of description throughout the text, the two parts after the fruit 90 is cut are called two fruit halves 91) are correspondingly flipped and dropped into the two fruit slice pits 820 in the target mold 82. The target mold 82 carrying the fruit half 91 is transferred by the mold circulating component 81 to the position of the core taking mechanism 60, and the core taking mechanism 60 takes out the fruit core 92 from the fruit half 91. The mold circulating mechanism 80 drives the multi-molds 82 to move continuously through the mold circulating component 81 (the specific structure of the mold circulating component has been detailedly disclosed in the Chinese patent application with the application publication number CN 115043219 A and will not be elaborated here), and cooperates with the rhythmic operations of the slicing mechanism 50 and the core taking mechanism 60 to realize the full-process automation of the fruit 90 from slicing to core taking after being cut in half, greatly improving the production efficiency and being applicable to the large-scale processing of the fruit 90. Two fruit slice pits 820 are arranged side by side on the mold 82, and the two cut fruit halves 91 are respectively placed in the two fruit slice pits 820. Through the assembly line operation, the core taking operation is respectively carried out on the two fruit halves 91 at different workstations, greatly improving the production efficiency.

[0022] As Figure 6As shown, in an embodiment of the invention, the slicing mechanism 50 includes a slicing reciprocating module 51, a slicing clamping member 53 disposed on the slicing reciprocating module 51, two slicing jigs 54 disposed on the slicing clamping member 53, two slicing driving members 52 disposed on the two slicing jigs 54 and corresponding to the two slicing jigs 54 one by one, and two slicing pressing members 55 disposed on the two slicing driving members 52 and corresponding to the two slicing driving members 52 one by one. The slicing reciprocating module 51 drives the slicing clamping member 53 to move along the X-axis direction. The slicing clamping member 53 is used to drive the two slicing jigs 54 to move relatively to clamp or release the sliced fruit 90. The slicing driving member 52 drives the corresponding slicing pressing member 55 to rotate, so that the two slicing pressing members 55 rotate towards or away from each other. When the two slicing jigs 54 release the cut fruit 90, the two slicing pressing members 55 split the cut fruit 90 into two fruit halves 91 by rotating, and turn the two split fruit halves 91 correspondingly and drop them into the two fruit piece pits 820 on the target mold 82. In this embodiment, the slicing clamping member 53 adopts an electric gripper. In other embodiments, the slicing clamping member 53 can also adopt a finger cylinder. The specific structure of the slicing reciprocating module 51 is not particularly limited. It can adopt a ball screw drive, or can adopt linear drive methods such as a linear motor, an electric slide table, a pneumatic cylinder, a hydraulic cylinder, etc. In this embodiment, the slicing reciprocating module 51 adopts a linear module. The slicing driving member 52 can be a rotary cylinder. In this embodiment, the slicing driving member 52 adopts a micro reduction motor, which has a small volume and a large torque and is convenient to install on the slicing jig 54.

[0023] As Figures 10-12As shown, in an embodiment of the present invention, the pit-taking mechanism 60 further includes a first sub-tablet pit-taking mechanism 61 and a second sub-tablet pit-taking mechanism 62. The first sub-tablet pit-taking mechanism 61 and the second sub-tablet pit-taking mechanism 62 correspond one by one to two fruit halves 91 in the target mold 82, and take out the fruit pits 92 from the corresponding fruit halves 91. Both the first sub-tablet pit-taking mechanism 61 and the second sub-tablet pit-taking mechanism 62 include a tablet pressing assembly 63 and a pit-taking assembly 64. The tablet pressing assembly 63 includes a tablet pressing lifting member 630, a tablet pressing driving member 631 disposed on the tablet pressing lifting member 630, and two tablet pressing members 632 disposed on the tablet pressing driving member 631. The tablet pressing driving member 631 adjusts the relative distance between the two tablet pressing members 632, and the tablet pressing lifting member 630 drives the tablet pressing members 632 to move along the Z-axis direction. The fruit half 91 to be pitted is pressed into the fruit slice pit 820 in a posture where the fruit pit 92 is exposed in the fruit slice pit 820 by the two tablet pressing members 632. The pit-taking assembly 64 includes a pit-taking transverse movement module 640, a pit-taking lifting member 641 disposed on the pit-taking transverse movement module 640, a pit-taking clamping member 642 disposed on the pit-taking lifting member 641, and two pit-taking jigs 643 disposed on the pit-taking clamping member 642. The pit-taking clamping member 642 drives the two pit-taking jigs 643 to move relatively to clamp the fruit pit 92, and the pit-taking lifting member 641 drives the clamped fruit pit 92 to move along the Z-axis direction to separate from the fruit half 91. The pit-taking transverse movement module 640 drives the clamped fruit pit 92 to move along the X-axis direction. The specific structures of the tablet pressing driving member 631 and the tablet pressing lifting member 630 are not particularly limited. It can adopt ball screw drive, or linear drive methods such as linear motor, electric slide table, pneumatic cylinder, and hydraulic cylinder. In this embodiment, the pressing driving member uses a servo motor to drive two groups of tablet pressing members 632 to approach or move away from each other through a positive and negative screw rod, and the tablet pressing lifting member 630 uses a cylinder. The pit-taking clamping member 642 can be a finger cylinder or an electric gripper, etc. In this embodiment, the pit-taking clamping member 642 uses an electric gripper. The specific structures of the pit-taking lifting member 641 and the pit-taking transverse movement module 640 are not particularly limited. It can adopt ball screw drive, or linear drive methods such as linear motor, electric slide table, pneumatic cylinder, and hydraulic cylinder. In this embodiment, the pit-taking lifting member 641 uses an electric linear slide table module, and the pit-taking transverse movement module 640 uses an electric cylinder. More specifically, two groups of slag removal grooves are further provided on the tablet pressing member 632. The width of the slag removal grooves is slightly larger than the width of the pit-taking jig 643, and is used to remove the residual fruit pits 92 on the pit-taking jig 643. The tablet pressing driving member 631 can reduce the relative width of the two groups of tablet pressing members 632 until the two groups of pit-taking jigs 643 are received in the two groups of slag removal grooves. When the pit-taking lifting member 641 drives the pit-taking clamping member 642 to move upward, the residual fruit pits 92 on the pit-taking jig 643 can be removed.

[0024] As shown Figures 1-14 In an embodiment of the present invention, a fruit processing device includes a feeding mechanism 30, a clamping and transferring mechanism 10, a slicing mechanism 20, and the slicing and pitting device described in any one of the foregoing. The feeding mechanism 30 conveys the fruit 90 to the lower part of the clamping and transferring mechanism 10, that is, moves to the feeding station of the fruit processing device for the clamping and transferring mechanism 10 to clamp and transfer. The clamping and transferring mechanism 10 conveys the fruit 90 to the slicing station of the fruit processing device for the slicing mechanism 20 to cut. The clamping and transferring mechanism 10 clamps the fruit 90 and drives the clamped fruit 90 to rotate around the Z-axis direction, move along the Y-axis direction, and move along the X-axis direction. The slicing mechanism 20 cuts the fruit 90 along the Z-axis direction to obtain the cut fruit 90. As shown Figure 2 In an embodiment of the present invention, the fruit processing device further includes a first vision mechanism 70. The first vision mechanism 70 is used to take a picture before the slicing mechanism 20 cuts the fruit 90 to confirm the best cutting line according to the shape and size of the fruit 90. The fruit processing device further includes a second vision mechanism 71 and a third vision mechanism 72. Both the second vision mechanism 71 and the third vision mechanism 72 are used to take pictures of the two fruit halves 91 to facilitate the pitting mechanism 60 to accurately take out the fruit pit 92 from the fruit half 91. Further described, when the fruit processing device cuts and processes the fruit 90, the feeding mechanism 30 conveys the fruit 90 to the lower part of the clamping and transferring mechanism 10. The first vision mechanism 70 takes a picture of the fruit 90, calculates the best cutting line according to the shape and size of the fruit 90. After the clamping and transferring mechanism 10 clamps the fruit 90, it moves it to the slicing station. Before cutting the fruit 90, the clamping and transferring mechanism 10 drives the fruit 90 to move within a preset coordinate system. The preset coordinate system includes the Y-axis direction, the X-axis direction, and the rotation direction around the Z-axis, moves the fruit 90 to the required position and rotates it to the required angle to facilitate the cutting knife in the slicing mechanism 20 to be accurately aligned with the expected best cutting line of the fruit 90 to be cut. The cutting knife in the slicing mechanism 20 can complete the cutting of the fruit 90 according to the best cutting line. The slicing mechanism 50 slices the cut fruit 90 and correspondingly flips the two fruit halves 91 obtained by slicing into the two fruit slice pits 820 in the target mold 82. The target mold 82 carrying the fruit half 91 is transferred to the position of the pitting mechanism 60 by the mold circulation assembly 81. The pitting mechanism 60 takes out the fruit pit 92 from the fruit half 91.

[0025] As shown Figure 3As shown, in an embodiment of the present invention, it is characterized in that the feeding mechanism 30 includes a conveyor belt 31, a material pressing assembly 32, a height measuring member 33 and a laser emitter 34. The conveyor belt 31 is used to convey the fruit 90 below the clamping and transferring mechanism 10. The material pressing assembly 32 includes a material pressing plate 320, a material pressing block 321, two support blocks 322 and a material pressing driving member 323. The material pressing block 321 is located on the lower surface of the material pressing plate 320. The two support blocks 322 support the two ends of the material pressing plate 320 in a one-to-one correspondence. Each support block 322 is provided with a linear slide rail, and each linear slide rail guides the corresponding support block 322. The material pressing driving member 323 drives the support blocks 322 to move in a direction perpendicular to the conveyor belt 31 under the guidance of the linear slide rails, so as to drive the material pressing plate 320 to move in a direction perpendicular to the conveyor belt 31, thereby driving the material pressing block 321 to press the fruit 90 against the conveyor belt 31 from above the fruit 90. The height measuring member 33 includes an inclined surface portion 330 arranged at an angle with the conveyor belt 31, and the height measuring member 33 moves in a direction perpendicular to the conveyor belt 31 following the material pressing plate 320. The laser emitter 34 emits laser light that irradiates the inclined surface portion 330. The material pressing assembly 32 presses the fruit 90 against the conveyor belt 31 from above the fruit 90. After the fruit 90 is flattened, it maintains a fixed placement posture, which is also the posture that the fruit 90 needs to maintain when being sliced subsequently. The first vision mechanism 70 acquires the contour image information of the fruit 90 in a direction perpendicular to the conveyor belt 31, obtains the contour shape and contour size of the fruit 90 in this state, can judge whether the fruit 90 is suitable for slicing according to the contour shape and size, and calculates an ideal cutting line. In this embodiment, the first vision mechanism 70 includes a machine vision lens, and captures the contour shape and contour size of the fruit 90 through the machine vision lens. The second vision mechanism 71 also uses a machine vision lens, which will not be elaborated here. The height measuring member 33 moves in a direction perpendicular to the conveyor belt 31 following the material pressing plate 320. The laser emitter 34 emits laser light that irradiates the inclined surface portion 330. When the conveyor belt 31 conveys the fruit 90 to a preset measuring station of the conveyor belt 31, the material pressing driving member 323 drives the material pressing plate 320 to move downward, and then the material pressing block 321 flattens the fruit 90 at the measuring station of the conveyor belt 31. The first vision mechanism 70 captures the contour shape and size of the fruit 90. At the same time, the first vision mechanism 70 can calculate the height dimension of the fruit 90 according to the position of the laser irradiation point on the inclined surface portion 330, so as to further judge whether the fruit 90 is suitable for slicing processing. If it is suitable for slicing processing, slicing operation is performed. If it is not suitable for slicing processing, it needs to be removed. The larger the height value of the fruit 90, the closer the position of the laser irradiation point is to the laser emitter 34. On the contrary, the smaller the height value of the fruit 90, the farther the position of the laser irradiation point is from the laser emitter 34.In this embodiment, the height measuring member 33 and the support block 322 are integrally formed. In other embodiments, the height measuring member 33 may also be independently provided.

[0026] As Figure 4 shown, in an embodiment of the present invention, the clamping and transferring mechanism 10 includes a transfer reciprocating module 11, a transfer transverse movement module 12 disposed on the transfer reciprocating module 11, a transfer rotating module 13 disposed on the transfer transverse movement module 12, a transfer clamping member 14 disposed on the transfer rotating module 13, and two chucks 15 disposed on the transfer clamping member 14. The transfer clamping member 14 clamps the fruit 90 by driving the two chucks 15 to move relative to each other. The transfer rotating module 13 drives the clamped fruit 90 to rotate around the Z-axis direction. The transfer transverse movement module 12 is used to drive the clamped fruit 90 to move along the Y-axis direction. The transfer reciprocating module 11 is used to drive the clamped fruit 90 to move along the X-axis direction. In this embodiment, the transfer clamping member 14 adopts an electric gripper, and the electric gripper clamps the fruit 90 by driving the two chucks 15 to move relative to each other. In other embodiments, the transfer clamping member 14 may also adopt a clamping cylinder, which is not limited herein. The specific structure of the transfer reciprocating module 11 is not limited, and it can adopt a ball screw drive, or a linear drive method such as a linear motor, an electric slide table, a pneumatic cylinder, or a hydraulic cylinder. The specific structure of the transfer transverse movement module 12 is also not specifically limited, and it can adopt a ball screw drive, or a linear drive method such as an electric slide table, a pneumatic cylinder, or a hydraulic cylinder. In this embodiment, the transfer transverse movement module 12 adopts a linear motor for linear movement, and the transfer rotating module 13 adopts a drive method combining a motor and a speed reducer to drive the electric gripper to rotate around the Z-axis. Further described, the transfer reciprocating module 11 drives the electric gripper, which is the transfer clamping member 14, to move along the X-axis direction. The electric gripper can be first driven to the material taking station. After the electric gripper clamps the fruit 90, the transfer reciprocating module 11 drives the electric gripper to move to the slicing station. The transfer reciprocating module 11 drives the electric gripper to reciprocate between the material taking station and the slicing station. Before cutting the fruit 90, through the combined drive of the transfer reciprocating module 11, the transfer transverse movement module 12, and the transfer rotating module 13, the fruit 90 clamped by the electric gripper can be moved to the required position and rotated to the required angle, so as to accurately align the best cutting line of the cutter in the slicing mechanism 20 with the fruit 90 to be cut, providing position conditions for the cutter to cut the fruit 90.

[0027] As Figure 5As shown, in an embodiment of the present invention, the slicing mechanism 20 includes a slicing driving member 21, a connecting seat 22, a tool assembly 23, and a slicing platform 24. One end of the connecting seat 22 is connected to the slicing driving member 21, and the other end is connected to the tool assembly 23. The tool assembly 23 includes a tool 230, a tool mounting member 231 for mounting the tool 230, a first pressing member 232, and a second pressing member 233. The tool 230 is disposed between the first pressing member 232 and the second pressing member 233. Both the first pressing member 232 and the second pressing member 233 are slidably connected to the tool mounting member 231. Elastic members 234 are provided between the first pressing member 232 and the tool mounting member 231, and between the second pressing member 233 and the tool mounting member 231. The slicing driving member 21 is configured to drive the connecting seat 22 and the tool assembly 23 connected to the connecting seat 22 to move, and further drive the first pressing member 232, the second pressing member 233, and the tool 230 in the tool assembly 23 to move. The elastic member 234 pushes the first pressing member 232 and the second pressing member 233 to elastically press the fruit 90 to be cut against the slicing platform 24 to fix the state of the fruit 90 to be cut before the tool 230 cuts the fruit 90. Driven by the slicing driving member 21, the tool 230 divides the fruit 90 into two halves, cutting the fruit 90 into a state where it can be split into two fruit halves 91.

[0028] As Figure 9 shown, in an embodiment of the present invention, the fruit processing device further includes a finishing mechanism 83. The finishing mechanism 83 includes a vibration cylinder 830 and a pressing plate 831 disposed on the vibration cylinder 830. The vibration cylinder 830 is configured to drive the pressing plate 831, and further press the fruit half 91 through the pressing plate 831 so that the fruit half 91 fits tightly with the corresponding fruit slice pit 820. The finishing mechanism 83 is disposed between the slicing station and the pit-taking station to finish the fruit slices in the fruit slice pits 820, making the cut surface of the fruit half 91 face upward more flatly. Further described, when the mold 82 is driven and moves below the finishing mechanism 83, the high-frequency vibration cylinder 830 pushes the pressing plate 831 to contact the fruit half 91 in the fruit slice pit 820. At the same time, the high-frequency vibration cylinder 830 generates high-frequency vibration with adjustable frequency, making the outer surface of the fruit half 91 fit better with the fruit slice pit 820, and the cut surface of the fruit half 91 faces completely upward, which is more convenient for the pit-taking operation.

[0029] As Figure 13As shown, in an embodiment of the present invention, the fruit processing device further includes a first rotating blade mechanism 41, a second rotating blade mechanism 42, a detection mechanism 43, and a fourth vision mechanism 73. Both the first rotating blade mechanism 41 and the second rotating blade mechanism 42 include a rotating blade assembly 44. The rotating blade assembly 44 includes a rotating blade reciprocating module 440, a picking lifting member 441 provided on the rotating blade reciprocating module 440, two picking clamping members 442 provided on the picking lifting member 441, and two picking jigs 443 provided on the picking clamping members 442. The picking clamping member 442 drives the two picking jigs 443 to move towards or away from each other, thereby clamping or loosening the fruit half 91. The picking lifting member 441 drives the picking clamping member 442 and the fruit half 91 held by the picking clamping member 442 to move in the Z-axis direction. The rotating blade reciprocating module 440 drives the picking lifting member 441, the picking clamping member 442, and the fruit half 91 clamped by the picking clamping member 442 to move in the X-axis direction. The detection mechanism 43 includes a rotating shaft 430, two detection components 431 provided on both sides of the rotating shaft 430, and a detection rotating member 432. The detection rotating member 432 drives the rotating shaft 430 to rotate around its own axis, thereby driving the two detection components 431 to rotate around the axis of the rotating shaft 430. The detection component 431 includes a detection bottom plate 4310 and two sub-detection components 4311 provided on the detection bottom plate 4310. The sub-detection component 4311 includes a detection clamping member 4312 and two detection jigs 4313 provided on the detection clamping member 4312. The detection clamping member 4312 is used to drive the two detection jigs 4313 to move towards or away from each other when the fruit half 91 is placed on the detection bottom plate 4310, thereby realizing clamping or loosening of the fruit half 91. The first rotating blade mechanism 41 is used to transfer the fruit half 91 that has been pitted in the mold 82 to the detection mechanism 43. The fourth vision mechanism 73 is used to detect whether the fruit half 91 in the detection mechanism 43 has been pitted. The second rotating blade mechanism 42 is used to transfer the fruit half 91 that has been detected in the detection mechanism 43 to the finished product bin. The picking clamping member 442 can be a finger cylinder, an electric gripper, etc. In this embodiment, the picking clamping member 442 adopts a finger cylinder. The specific structures of the rotating blade reciprocating module 440 and the picking lifting member 441 are not particularly limited. It can adopt a ball screw drive, or a linear drive method such as a linear motor, an electric slide table, a pneumatic cylinder, a hydraulic cylinder, etc. In this embodiment, the rotating blade reciprocating module 440 adopts a linear module, and the picking lifting member 441 adopts a cylinder. The specific structure of the detection rotating member 432 is not particularly limited. It can adopt a driving method such as a rotary cylinder, a motor, etc.In this embodiment, the detection rotating member 432 uses a servo motor, and the detection clamping member 4312 can be a finger cylinder, an electric gripper, etc. In this embodiment, the detection clamping member 4312 uses a finger cylinder. Further described, the detection rotating member 432 drives the rotating shaft 430 to rotate around its own axis, thereby driving the two detection components 431 to rotate around the axis of the rotating shaft 430. When one of the detection components 431 rotates downward, the residual fruit cores 92 or other impurities in the fruit half 91 of this group fall under the action of gravity. In order to make the removal effect better, a high-pressure gas nozzle can also be arranged below. When the fruit half 91 faces downward, the high-pressure gas is turned on and blown towards the fruit half 91 to completely remove the residual fruit cores 92 or other impurities in the fruit half 91. Then, the detection rotating member 432 continues to drive the detection component 431 of this group to rotate, and then rotates the fruit half 91 of this group upward. The fourth vision mechanism 73 continues to detect the fruit half 91 to judge whether it is processed in place, and at the same time, the quality grade of the pulp can also be classified.

[0030] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A chip-taking core device, characterized in that, It includes a slicing mechanism (50), a mold cycling mechanism (80), and a pit removing mechanism (60); The mold cycling mechanism (80) includes a mold cycling component (81) and a plurality of molds (82) provided on the mold cycling component (81). The mold cycling component (81) is used to drive the molds (82) to move cyclically along a set direction. Each mold (82) is provided with two fruit slice pits (820) for placing and positioning the fruit halves (91); The slicing mechanism (50) is arranged on one side of the mold cycling component (81) and is used to slice the fruit (90) to be cut, and turn the two sliced fruit halves (91) correspondingly and drop them into the two fruit slice pits (820) in the target mold (82); Among them, the target mold (82) carrying the fruit half (91) is transferred by the mold cycling component (81) to the position of the pit removing mechanism (60); The pit removing mechanism (60) is used to take out the fruit pit (92) from the fruit half (91); The slicing mechanism (50) includes a slicing reciprocating module (51), a slicing clamping member (53) provided on the slicing reciprocating module (51), two slicing jigs (54) provided on the slicing clamping member (53), two slicing driving members (52) provided on the two slicing jigs (54) and corresponding to the two slicing jigs (54) one by one, and two slicing pressing members (55) provided on the two slicing driving members (52) and corresponding to the two slicing driving members (52) one by one; The slicing reciprocating module (51) is used to drive the slicing clamping member (53) to move along the X-axis direction; The slicing clamping member (53) is used to drive the two slicing jigs (54) to move relatively to clamp or release the cut fruit (90); The slicing driving member (52) is used to drive the corresponding slicing pressing member (55) to rotate. When the two slicing jigs (54) release the cut fruit (90), the two slicing pressing members (55) rotate to split the cut fruit (90) into two fruit halves (91), and turn the two split fruit halves (91) correspondingly and drop them into the two fruit slice pits (820) on the target mold (82).

2. The sliced core taking device according to claim 1, wherein The pit removing mechanism (60) further includes a first sub-pressing and pit removing mechanism (61) and a second sub-pressing and pit removing mechanism (62). The first sub-pressing and pit removing mechanism (61) and the second sub-pressing and pit removing mechanism (62) correspond to the two fruit halves (91) in the target mold (82) one by one, and take out the fruit pit (92) from the corresponding fruit half (91). Both the first sub-pressing and pit removing mechanism (61) and the second sub-pressing and pit removing mechanism (62) include a pressing component (63) and a pit removing component (64); The tablet pressing assembly (63) includes a tablet pressing lifting member (630), a tablet pressing driving member (631) provided on the tablet pressing lifting member (630), and two tablet pressing members (632) provided on the tablet pressing driving member (631). The tablet pressing driving member (631) is used to adjust the relative distance between the two tablet pressing members (632), and the tablet pressing lifting member (630) is used to drive the tablet pressing members (632) to move along the Z-axis direction. The two tablet pressing members (632) press the half of the fruit (91) to be pitted with the fruit core (92) exposed in the fruit slice pit (820) in the fruit slice pit (820) in a pressed state; The pitting assembly (64) includes a pitting transverse movement module (640), a pitting lifting member (641) provided on the pitting transverse movement module (640), a pitting clamping member (642) provided on the pitting lifting member (641), and two pitting jigs (643) provided on the pitting clamping member (642). The pitting clamping member (642) is used to drive the two pitting jigs (643) to move relatively to clamp the fruit core (92), the pitting lifting member (641) is used to drive the clamped fruit core (92) to move along the Z-axis direction, and the pitting transverse movement module (640) is used to drive the clamped fruit core (92) to move along the X-axis direction.

3. A fruit processing device, characterized in that, It includes a feeding mechanism (30), a clamping and transferring mechanism (10), a slicing mechanism (20), and the slicing and pitting device according to any one of the preceding claims 1-2; The feeding mechanism (30) is used to convey the fruit (90) to the clamping and transferring mechanism (10) for the clamping and transferring mechanism (10) to clamp and transfer; The clamping and transferring mechanism (10) is used to clamp the fruit (90) and drive the clamped fruit (90) to rotate around the Z-axis direction, move along the Y-axis direction, and move along the X-axis direction; The slicing mechanism (20) is used to cut the fruit (90) along the Z-axis direction to obtain the cut fruit (90).

4. The fruit processing equipment according to claim 3, characterized in that, The feeding mechanism (30) includes: A conveyor belt (31) for conveying the fruit (90); A material pressing assembly (32). The material pressing assembly (32) includes a material pressing plate (320), a material pressing block (321), two support blocks (322), and a material pressing driving member (323). The material pressing block (321) is located on the lower surface of the material pressing plate (320). The two support blocks (322) are used to support the two ends of the material pressing plate (320) in a one-to-one correspondence. Each support block (322) is provided with a linear slide rail, and each linear slide rail is used to guide the corresponding support block (322). The material pressing driving member (323) is used to drive the support block (322) to move along the direction perpendicular to the conveyor belt (31) under the guidance of the linear slide rail, so as to drive the material pressing plate (320) to move along the direction perpendicular to the conveyor belt (31), thereby driving the material pressing block (321) to press the fruit (90) onto the conveyor belt (31) from above the fruit (90); Height measuring member (33), the height measuring member (33) includes an inclined surface portion (330) disposed at an angle with the conveyor belt (31), and the height measuring member (33) moves along a direction perpendicular to the conveyor belt (31) following the pressing plate (320); Laser emitter (34), the laser emitter (34) is used to emit laser light and irradiate the inclined surface portion (330).

5. The fruit processing equipment according to claim 3, characterized in that, The clamping and transferring mechanism (10) includes a transfer reciprocating module (11), a transfer transverse movement module (12) disposed on the transfer reciprocating module (11), a transfer rotating module (13) disposed on the transfer transverse movement module (12), a transfer clamping member (14) disposed on the transfer rotating module (13), and two chucks (15) disposed on the transfer clamping member (14). The transfer clamping member (14) is used to clamp the fruit (90) by driving the relative movement of the two chucks (15). The transfer rotating module (13) is used to drive the clamped fruit (90) to rotate around the Z-axis direction. The transfer transverse movement module (12) is used to drive the clamped fruit (90) to move along the Y-axis direction. The transfer reciprocating module (11) is used to drive the clamped fruit (90) to move along the X-axis direction.

6. The fruit processing equipment according to claim 3, characterized in that, The slicing mechanism (20) includes a slicing driving member (21), a connecting seat (22), a tool assembly (23) and a slicing platform (24); One end of the connecting seat (22) is connected to the slicing driving member (21), and the other end is connected to the tool assembly (23); The tool assembly (23) includes a tool (230), a tool mounting member (231) for mounting the tool (230), a first pressing member (232) and a second pressing member (233). The tool (230) is disposed between the first pressing member (232) and the second pressing member (233). Both the first pressing member (232) and the second pressing member (233) are slidably connected to the tool mounting member (231). Elastic members (234) are disposed between the first pressing member (232) and the tool mounting member (231) and between the second pressing member (233) and the tool mounting member (231); The slicing driving member (21) is used to drive the connecting seat (22) and the tool assembly (23) connected to the connecting seat (22) to move, thereby driving the first pressing member (232), the second pressing member (233) and the tool (230) in the tool assembly (23) to move. The elastic member (234) is used to push the first pressing member (232) and the second pressing member (233) to elastically press the fruit (90) to be cut against the slicing platform (24) to fix the fruit (90) in a state to be cut before the tool (230) cuts the fruit (90).

7. The fruit processing equipment according to claim 3, characterized in that, The fruit processing equipment further includes a sorting mechanism (83). The sorting mechanism (83) includes a vibration cylinder (830) and a pressing plate (831) provided on the vibration cylinder (830). The vibration cylinder (830) is used to drive the pressing plate (831), and then press the half fruit (91) through the pressing plate (831) so that the half fruit (91) is closely attached to the corresponding fruit slice pit (820).

8. The fruit processing equipment according to claim 3, characterized in that The fruit processing equipment further includes a first vision mechanism (70). The first vision mechanism (70) is used to take a picture before the slicing mechanism (20) cuts the fruit (90), so as to confirm the best cutting line according to the shape and size of the fruit (90).

9. The fruit processing equipment according to claim 3, wherein, The fruit (90) processing equipment further includes a second vision mechanism (71) and a third vision mechanism (72). Both the second vision mechanism (71) and the third vision mechanism (72) are used to take pictures of the two half fruits (91), so that the pit removing mechanism (60) can accurately remove the fruit pit (92) from the half fruit (91).

10. The fruit processing equipment according to claim 3, characterized in that, The fruit processing equipment further includes a first rotating slice mechanism (41), a second rotating slice mechanism (42), a detection mechanism (43) and a fourth vision mechanism (73); Both the first rotating slice mechanism (41) and the second rotating slice mechanism (42) include a rotating slice assembly (44). The rotating slice assembly (44) includes a rotating slice reciprocating module (440), a slice taking lifting member (441) provided on the rotating slice reciprocating module (440), two slice taking clamping members (442) provided on the slice taking lifting member (441), and two slice taking jigs (443) provided on the slice taking clamping members (442). The slice taking clamping members (442) are used to drive the two slice taking jigs (443) to move towards or away from each other, and then clamp or loosen the half fruit (91). The slice taking lifting member (441) is used to drive the slice taking clamping members (442) and the half fruit (91) clamped by the slice taking clamping members (442) to move along the Z-axis direction. The rotating slice reciprocating module (440) is used to drive the slice taking lifting member (441), the slice taking clamping members (442) and the half fruit (91) clamped by the slice taking clamping members (442) to move along the X-axis direction; The detection mechanism (43) includes a rotating shaft (430), two detection components (431) arranged on both sides of the rotating shaft (430), and a detection rotating part (432). The detection rotating part (432) is used to drive the rotating shaft (430) to rotate around its own axis, and further drive the two detection components (431) to rotate around the axis of the rotating shaft (430). The detection component (431) includes a detection bottom plate (4310) and two sub-detection components (4311) arranged on the detection bottom plate (4310). The sub-detection component (4311) includes a detection clamping part (4312) and two detection jigs (4313) arranged on the detection clamping part (4312). The detection clamping part (4312) is used to drive the two detection jigs (4313) to move towards or away from each other when the fruit half (91) is placed on the detection bottom plate (4310), so as to clamp or release the fruit half (91). The first rotating piece mechanism (41) is used to transfer the fruit half (91) with the pit removed in the mold (82) to the detection mechanism (43). The fourth vision mechanism (73) is used to detect whether the fruit half (91) in the detection mechanism (43) has had the pit removed. The second rotating piece mechanism (42) is used to transfer the fruit half (91) that has been detected in the detection mechanism (43) to the finished product bin.

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