Slicing and core removal device and fruit processing equipment

Abstract

The present invention provides a slicing and core-removing device and fruit processing equipment, and relates to the technical field of fruit processing. The slicing and core-removing device comprises a slicing mechanism, a mold circulation mechanism and a core-removing mechanism. The mold circulation mechanism comprises a mold circulation component and multiple molds arranged on the mold circulation component. Each mold is provided with two fruit slice pits. The slicing mechanism slices the cut fruit, and correspondingly flips the two fruit halves obtained by slicing and drops them into the two fruit slice pits in the target mold. The target mold carrying the fruit half is transferred to the position of the core-removing mechanism by the mold circulation component. The core-removing mechanism removes the fruit core from the fruit half. The mold circulation mechanism drives the multiple molds to move continuously through the circulation component, and cooperates with the rhythmic operation of the slicing mechanism and the core-removing mechanism to realize the full process automation from slicing to core removal after the fruit is cut into two halves. The fruit is suitable for large-scale processing of fruit.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit processing, in particular to a slicing and core-removing device and fruit processing equipment. Background Art

[0002] To facilitate fruit storage, packaging, and consumption, the core of the fruit must be removed. Because the core is often tightly wrapped in the flesh, the flesh must be cut to expose the core before it can be separated and removed. Currently, this separation of the core and flesh relies heavily on manual labor, which is not only extremely labor-intensive but also inefficient, severely restricting the large-scale development of the fruit processing industry. Summary of the Invention

[0003] The object of the present invention is to provide a fruit separation and core removal device and fruit processing equipment to realize automatic separation of pulp and core.

[0004] To achieve the above objectives, the technical solutions of the embodiments of the present invention are as follows:

[0005] A slicing and core-taking device, comprising a slicing mechanism, a die circulation mechanism, and a core-taking mechanism;

[0006] The mold circulation mechanism includes a mold circulation assembly and a plurality of molds arranged on the mold circulation assembly, wherein the mold circulation assembly is used to drive the molds to circulate along a set direction, and each mold is provided with two fruit slice pits for placing and positioning half of the fruit;

[0007] The slicing mechanism is provided on one side of the mold circulation assembly, and is used to slice the cut fruit, and flip the two fruit halves obtained by slicing and drop them into the two fruit slice pits in the target mold accordingly;

[0008] wherein the target mold carrying the fruit half is moved by the mold circulation assembly to the position of the core removal mechanism;

[0009] The core removal mechanism is used to remove the core from the fruit half.

[0010] Further,

[0011] The slicing mechanism includes a slicing reciprocating module, a slicing clamping member provided on the slicing reciprocating module, two slicing clamps provided on the slicing clamping member, two slicing driving members provided on the two slicing clamps and corresponding to the two slicing clamps, and two slicing pressing members provided on the two slicing driving members and corresponding to the two slicing driving members.

[0012] The slice reciprocating module is used to drive the slice clamping member to move along the X-axis direction;

[0013] The slicing clamp is used to drive the two slicing clamps to move relative to each other, so as to clamp or release the sliced fruit;

[0014] The slice driving member is used to drive the corresponding slice pressing member to rotate so that the two slice pressing members rotate toward or away from each other. When the two slice clamps release the cut fruit, the two slice pressing members rotate to split the cut fruit into two fruit halves, and flip the two split fruit halves accordingly and fall into the two fruit slice pits on the target mold.

[0015] Further,

[0016] The core removal mechanism further includes a first sub-tablet pressing and core removal mechanism and a second sub-tablet pressing and core removal mechanism, wherein the first sub-tablet pressing and core removal mechanism and the second sub-tablet pressing and core removal mechanism correspond to the two fruit halves in the target mold one-to-one and remove the core from the two fruit halves, and each of the first sub-tablet pressing and core removal mechanism and the second sub-tablet pressing and core removal mechanism includes a tablet pressing component and a core removal component;

[0017] The tablet pressing assembly includes a tablet pressing lift, a tablet pressing drive provided on the tablet pressing lift, and two tablet pressing members provided on the tablet pressing drive. The tablet pressing drive is used to adjust the relative distance between the two tablet pressing members. The tablet pressing lift is used to drive the tablet pressing members to move along the Z-axis direction. The two tablet pressing members press the half of the fruit to be cored into the fruit slice pit with the core exposed in the fruit slice pit.

[0018] The core removal assembly includes a core removal transverse movement module, a core removal lifting member arranged on the core removal transverse movement module, a core removal clamping member arranged on the core removal lifting member, and two core removal clamps arranged on the core removal clamping member. The core removal clamping member is used to drive the two core removal clamps to move relative to each other to clamp the fruit core, the core removal lifting member is used to drive the clamped fruit core to move along the Z-axis direction, and the core removal transverse movement module is used to drive the clamped fruit core to move along the X-axis direction.

[0019] A fruit processing device comprising a feeding mechanism, a clamping and transferring mechanism, a slicing mechanism, and any one of the aforementioned slicing and core removal devices;

[0020] The feeding mechanism is used to transport the fruit to the clamping and transferring mechanism for the clamping and transferring mechanism to clamp and transfer the fruit;

[0021] The clamping and transferring mechanism is used to clamp the fruit and drive the clamped fruit to rotate around the Z axis, move along the Y axis, and move along the X axis;

[0022] The slicing mechanism is used to cut the fruit along the Z-axis direction to obtain the cut fruit.

[0023] Further,

[0024] The feeding mechanism comprises:

[0025] Conveyor belt for transporting fruits;

[0026] A material pressing assembly, the material pressing assembly includes a material pressing plate, a material pressing block, two supporting blocks and a material pressing driving member, the material pressing block is located on the lower surface of the material pressing plate, the two supporting blocks are used to support the two ends of the material pressing plate in a one-to-one correspondence, each of the supporting blocks is provided with a linear slide rail, each of the linear slide rails is used to guide the corresponding supporting block, and the material pressing driving member is used to drive the supporting block to move in a direction perpendicular to the conveyor belt under the guidance of the linear slide rail, so as to drive the material pressing plate to move in a direction perpendicular to the conveyor belt, thereby driving the material pressing block to press the fruit against the conveyor belt from above the fruit;

[0027] a height measuring member, the height measuring member including an inclined portion arranged at an angle to the conveyor belt, and the height measuring member moves along the direction perpendicular to the conveyor belt following the pressing plate;

[0028] A laser emitter is used to emit laser light to irradiate the inclined portion.

[0029] Further,

[0030] The clamping and transferring mechanism includes a transfer reciprocating module, a transfer transverse module arranged on the transfer reciprocating module, a transfer rotating module arranged on the transfer transverse module, a transfer clamping member arranged on the transfer rotating module, and two clamps arranged on the transfer clamping member. The transfer clamping member is used to clamp the fruit by driving the two clamps to move relative to each other, the transfer rotating module is used to drive the clamped fruit to rotate around the Z-axis direction, the transfer transverse module is used to drive the clamped fruit to move along the Y-axis direction, and the transfer reciprocating module is used to drive the clamped fruit to move along the X-axis direction.

[0031] Further,

[0032] The slicing mechanism includes a slicing drive member, a connecting seat, a tool assembly and a slicing platform;

[0033] One end of the connecting seat is connected to the slicing drive member, and the other end is connected to the tool assembly;

[0034] 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 being arranged between the first pressing member and the second pressing member, the first pressing member and the second pressing member being both slidably connected to the tool mounting member, and an elastic member being arranged between the first pressing member and the tool mounting member and between the second pressing member and the tool mounting member;

[0035] The slicing drive member is used to drive the connecting seat and the tool assembly connected to the connecting seat to move, thereby driving 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 fruit in a state to be cut.

[0036] Further,

[0037] The fruit processing equipment also includes a sorting mechanism, which includes a vibrating cylinder and a pressing plate arranged on the vibrating cylinder. The vibrating cylinder is used to drive the pressing plate, and then press the fruit half through the pressing plate to make the fruit half fit tightly with the corresponding fruit slice pit.

[0038] Further,

[0039] The fruit processing equipment further comprises a first visual mechanism, which is used to take pictures before the slicing mechanism cuts the fruit, so as to confirm the best cutting line according to the shape and size of the fruit.

[0040] Further,

[0041] The fruit processing equipment also includes a second visual mechanism and a third visual mechanism, both of which are used to photograph the two fruit halves so that the core removal mechanism can accurately remove the fruit core from the fruit halves.

[0042] Further,

[0043] The fruit processing equipment further comprises a first sheet rotating mechanism, a second sheet rotating mechanism, a detection mechanism and a fourth visual mechanism;

[0044] The first and second rotating mechanisms each include a rotating assembly, the rotating assembly including a rotating reciprocating module, a sheet-taking lifting member provided on the rotating reciprocating module, two sheet-taking clamping members provided on the sheet-taking lifting member, and two sheet-taking clamps provided on the sheet-taking clamping member, the sheet-taking clamping member being used to drive the two sheet-taking clamps to move toward or away from each other, thereby clamping or releasing the fruit halves, the sheet-taking lifting member being used to drive the sheet-taking clamping member and the fruit halves clamped by the sheet-taking clamping members to move along the Z-axis direction, and the rotating reciprocating module being used to drive the sheet-taking lifting member, the sheet-taking clamping member, and the fruit halves clamped by the sheet-taking clamping members to move along the X-axis direction;

[0045] The detection mechanism includes a rotating shaft, two detection components arranged on both sides of the rotating shaft, and a detection rotating member, wherein the detection rotating member is used to drive the rotating shaft to rotate around its own axis, thereby driving the two detection components to rotate around the axis of the rotating shaft, the detection component includes a detection base plate and two sub-detection components arranged on the detection base plate, the sub-detection component includes a detection clamping member and two detection clamps arranged on the detection clamping member, and the detection clamping member is used to drive the two detection clamps to move toward or away from each other when the fruit half is placed on the detection base plate, thereby clamping or loosening the fruit half;

[0046] The first transfer mechanism is used to transfer the half of the fruit in the mold whose core has been removed to the detection mechanism, the fourth visual mechanism is used to detect whether the half of the fruit in the detection mechanism has been cored, and the second transfer mechanism is used to transfer the half of the fruit that has been detected in the detection mechanism to the finished product warehouse.

[0047] Compared with the prior art, the embodiments of the present invention have at least the following technical effects:

[0048] The slicing and core removal device of the embodiment of the present invention includes a slicing mechanism, a mold circulation mechanism and a core removal 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 circulate along a set direction. Each mold is provided with two fruit slice pits for placing and positioning the fruit halves. The slicing mechanism slices the cut fruit and flips the two fruit halves obtained by slicing into the two fruit slice pits in the target mold accordingly. The target mold carrying the fruit halves is transferred to the position of the core removal mechanism by the mold circulation component. The core removal mechanism is used to remove the fruit core from the fruit halves. The mold circulation mechanism drives the multiple molds to move continuously through the circulation component, and cooperates with the rhythmic operation of the slicing mechanism and the core removal mechanism to realize the automation of the entire process from fruit slicing to core removal, greatly improving production efficiency and being suitable for large-scale processing of fruit.

[0049] The fruit processing equipment of the embodiment of the present invention includes the aforementioned slicing and core removal device, has the same technical concept as the aforementioned slicing and core removal device, and therefore has the same technical effect as the aforementioned slicing and core removal device, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a fruit processing device in one embodiment for processing fruit into a half fruit;

[0051] Figure 2 This is a structural diagram of a fruit processing device in one embodiment;

[0052] Figure 3 This is a structural diagram of a feeding mechanism in one embodiment;

[0053] Figure 4 This is a schematic structural diagram of a clamping and transferring mechanism in one embodiment;

[0054] Figure 5 This is a schematic structural diagram of a slicing mechanism in one embodiment;

[0055] Figure 6 This is a schematic structural diagram of a slicing mechanism in one embodiment;

[0056] Figure 7 A schematic structural diagram of the relative positions of the slicing mechanism and the slicing mechanism in one embodiment;

[0057] Figure 8 This is a schematic structural diagram of a medium mold in one embodiment;

[0058] Figure 9 This is a structural diagram of a finishing mechanism in one embodiment;

[0059] Figure 10 This is a structural diagram of a core extraction mechanism in one embodiment;

[0060] Figure 11 This is a schematic structural diagram of a tablet pressing assembly in one embodiment;

[0061] Figure 12 This is a schematic structural diagram of a core assembly in one embodiment;

[0062] Figure 13 Schematic diagram of the relative positions of the first rotating mechanism, the second rotating mechanism and the detection mechanism in one embodiment;

[0063] Figure 14 Schematic diagram of the structure of the detection mechanism in one embodiment.

[0064] Description of Figure Numbers:

[0065] 10. Clamping and transfer mechanism; 11. Transfer reciprocating module; 12. Transfer transverse module; 13. Transfer rotary module; 14. Transfer clamping member; 15. Chuck;

[0066] 20. Slicing mechanism; 21. Slicing drive 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;

[0067] 30. Feeding mechanism; 31. Conveyor belt; 32. Pressing assembly; 320. Pressing plate; 321. Pressing block; 322. Support block; 323. Pressing drive element; 33. Height measuring element; 330. Inclined portion; 34. Laser emitter;

[0068] 41. First rotating mechanism; 42. Second rotating mechanism; 43. Detection mechanism; 430. Rotating axis; 431. Detection assembly; 4310. Detection base plate; 4311. Sub-detection assembly; 4312. Detection clamp; 4313. Detection fixture; 432. Detection rotating member; 44. Rotating assembly; 440. Rotating reciprocating module; 441. Sheet removal lifting member; 442. Sheet removal clamp; 443. Sheet removal fixture;

[0069] 50. Slicing mechanism; 51. Slicing reciprocating module; 52. Slicing drive member; 53. Slicing clamping member; 54. Slicing fixture; 55. Slicing pressing member;

[0070] 60. Core removal mechanism; 61. First sub-tablet pressing and core removal mechanism; 62. Second sub-tablet pressing and core removal mechanism; 63. Tablet pressing assembly; 630. Tablet pressing lifter; 631. Tablet pressing drive; 632. Tablet pressing member; 64. Core removal assembly; 640. Core removal transverse movement module; 641. Core removal lifter; 642. Core removal clamp; 643. Core removal fixture;

[0071] 70. First visual organ; 71. Second visual organ; 72. Third visual organ; 73. Fourth visual organ;

[0072] 80. Mould circulation mechanism; 81. Mould circulation assembly; 82. Mould; 820. Fruit slice pit; 83. Arrangement mechanism; 830. Vibration cylinder; 831. Pressing plate;

[0073] 90. Fruit; 91. Half of the fruit; 92. Core. DETAILED DESCRIPTION

[0074] The technical solution of the present invention is further elaborated in detail below in conjunction with the drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art 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, reference is made to "some embodiments", which describes a subset of all possible embodiments, but it should be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0075] It should also be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "inner," "outer," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0076] like Figure 1-13As shown, in one embodiment of the present invention, a slicing and core-removing device includes a slicing mechanism 50, a mold circulation mechanism 80 and a core-removing mechanism 60, wherein the mold circulation mechanism 80 includes a mold circulation component 81 and a plurality of molds 82 arranged on the mold circulation component 81, the mold circulation component 81 drives the molds 82 to circulate along a set direction, and each of the molds 82 is provided with two fruit slice pits 820 for placing and positioning the fruit halves 91, and the slicing mechanism 50 is arranged on the mold circulation component 81. On one side of the ring assembly 81, the cut fruit 90 is sliced, and the two fruit halves 91 obtained by the slices (for the convenience of the full description, the two parts into which the fruit 90 is cut are referred to as two fruit halves 91) are correspondingly flipped and fall into the two fruit slice pits 820 in the target mold 82. The target mold 82 carrying the fruit halves 91 is transferred by the mold circulation assembly 81 to the position of the core removal mechanism 60, and the core removal mechanism 60 removes the fruit core 92 from the fruit halves 91. The die circulation mechanism 80, through the die circulation assembly 81 (the specific structure of the die circulation assembly is disclosed in detail in Chinese invention patent application publication number CN 115043219 A and will not be repeated here), drives the continuous movement of multiple dies 82. This, in conjunction with the rhythmic operation of the slicing mechanism 50 and the core removal mechanism 60, automates the entire process from slicing to core removal after the fruit 90 is cut into two halves, significantly improving production efficiency and making it suitable for large-scale processing of fruit 90. The die 82 is provided with two juxtaposed fruit slicing pits 820, into which the two halves 91 of the fruit are placed. Through assembly line operation, the cores of the two halves 91 are removed at different workstations, significantly improving production efficiency.

[0077] like Figure 6As shown, in one embodiment of the invention, the slice mechanism 50 includes a slice reciprocating module 51, a slice clamping member 53 provided on the slice reciprocating module 51, two slice clamps 54 provided on the slice clamping member 53, two slice driving members 52 provided on the two slice clamps 54 and corresponding to the two slice clamps 54, and two slice pressing members 55 provided on the two slice driving members 52 and corresponding to the two slice driving members 52. The slice reciprocating module 51 drives the slice clamping member 53 to move along the X-axis direction. The slicing clamping member 53 is used to drive the two slicing clamps 54 to move relative to each other 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 toward or away from each other. When the two slicing clamps 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 the two split fruit halves 91 are correspondingly flipped and fall into the two fruit slice pits 820 on the target mold 82. In this embodiment, the slice clamping member 53 adopts an electric clamping claw. In other embodiments, the slice clamping member 53 can also adopt a finger cylinder. The specific structure of the slice reciprocating module 51 is not particularly limited. It can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder or other linear drive methods. In this embodiment, the slice reciprocating module 51 adopts a linear module, and the slice driving member 52 can be a rotary cylinder. In this embodiment, the slice driving member 52 adopts a micro reduction motor with a small size and large torque, which is convenient for installation on the slice clamp 54.

[0078] like Figure 10-12As shown, in one embodiment of the present invention, the core removal mechanism 60 also includes a first sub-tablet pressing and core removal mechanism 61 and a second sub-tablet pressing and core removal mechanism 62. The first sub-tablet pressing and core removal mechanism 61 and the second sub-tablet pressing and core removal mechanism 62 correspond one-to-one to the two fruit halves 91 in the target mold 82, and remove the fruit core 92 from the corresponding fruit halves 91. The first sub-tablet pressing and core removal mechanism 61 and the second sub-tablet pressing and core removal mechanism 62 both include a tabletting assembly 63 and a core removal assembly 64. The tabletting assembly 63 includes a tabletting lifting member 630, a tabletting driving member 631 arranged on the tabletting lifting member 630, and two tabletting members 632 arranged on the tabletting driving member 631. The tabletting driving member 631 adjusts the relative distance between the two tabletting members 632, and the tabletting lifting member 630 drives The pressing piece 632 moves along the Z-axis direction, and the fruit half 91 to be cored is pressed into the fruit slice pit 820 by the two pressing pieces 632 with the core 92 exposed in the fruit slice pit 820. The core removal component 64 includes a core removal transverse movement module 640, a core removal lifting member 641 arranged on the core removal transverse movement module 640, a core removal clamping member 642 arranged on the core removal lifting member 641, and two core removal clamps 643 arranged on the core removal clamping member 642. The core removal clamping member 642 drives the two core removal clamps 643 to move relative to each other to clamp the fruit core 92. The core removal lifting member 641 drives the clamped fruit core 92 to move along the Z-axis direction to separate from the fruit half 91. The core removal transverse movement module 640 drives the clamped fruit core 92 to move along the X-axis direction. The specific structure of the pressing piece driving member 631 and the pressing piece lifting member 630 is not particularly limited. They can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or other linear driving methods. In this embodiment, the pressing piece driving member adopts a servo motor to simultaneously drive the two groups of pressing pieces 632 to move closer to or away from each other through the forward and reverse screws, and the pressing piece lifting member 630 adopts a cylinder. The core removal clamping member 642 can be a finger cylinder or an electric clamping claw, etc. In this embodiment, the core removal clamping member 642 adopts an electric clamping claw. The specific structure of the core removal lifting member 641 and the core removal transverse movement module 640 is not particularly limited. They can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or other linear driving methods. In this embodiment, the core removal lifting member 641 adopts an electric linear slide module, and the core removal transverse movement module 640 adopts an electric cylinder. More specifically, two sets of slag removal grooves are provided on the pressing piece 632, and the width of the slag removal grooves is slightly larger than the width of the core removal clamp 643, which are used to remove the fruit core 92 remaining on the core removal clamp 643. The pressing piece driving piece 631 can reduce the relative width of the two sets of pressing pieces 632 until the two sets of core removal clamps 643 are accommodated in the two sets of slag removal grooves. When the core removal lifting piece 641 drives the core removal clamping piece 642 to move upward, the fruit core 92 remaining on the core removal clamp 643 can be removed.

[0079] like Figure 1-14 As shown, in one 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 any one of the aforementioned slicing and core removal devices. The feeding mechanism 30 transports the fruit 90 to the bottom of the clamping and transferring mechanism 10, that is, moves it to the material taking station of the fruit processing device for the clamping and transferring mechanism 10 to clamp and transfer it, and the clamping and transferring mechanism 10 transports the fruit 90 to the slicing station of the fruit processing device for the slicing mechanism 20 to cut it. The clamping and transferring mechanism 10 clamps the fruit 90 and drives the clamped fruit 90 to rotate around the Z axis, move along the Y axis, and move along the X axis. The slicing mechanism 20 cuts the fruit 90 along the Z axis to obtain the cut fruit 90. Figure 2 As shown, in one embodiment of the present invention, the fruit processing equipment further includes a first vision mechanism 70, which is configured to capture images of the fruit 90 before the slicing mechanism 20 cuts the fruit 90, thereby determining an optimal cutting line based on the shape and size of the fruit 90. The fruit processing equipment further includes a second vision mechanism 71 and a third vision mechanism 72, each configured to capture images of the two fruit halves 91, thereby facilitating the core removal mechanism 60 to accurately remove the core 92 from the fruit halves 91. Further described, when the fruit processing equipment cuts and processes the fruit 90, the feeding mechanism 30 transports the fruit 90 to the bottom of the clamping and transferring mechanism 10, and the first visual mechanism 70 photographs the fruit 90 and calculates the optimal cutting line based on the shape and size of the fruit 90. After the clamping and transferring mechanism 10 clamps the fruit 90, it is moved 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, which includes the Y-axis direction, the X-axis direction and the rotation direction around the Z-axis. The fruit 90 is moved to the desired position and rotated to the desired angle, so that the cutter in the slicing mechanism 20 is accurately aligned with the expected optimal cutting line of the fruit 90 to be cut, and the cutter in the slicing mechanism 20 can complete the cutting of the fruit 90 according to the optimal cutting line. The slicing mechanism 50 slices the cut fruit 90, and flips the two fruit halves 91 obtained by slicing into the two fruit slice pits 820 in the target mold 82 accordingly. The target mold 82 carrying the fruit halves 91 is transferred by the mold circulation component 81 to the position of the core removal mechanism 60, and the core removal mechanism 60 removes the fruit core 92 from the fruit halves 91.

[0080] like Figure 3As shown, in one embodiment of the present invention, it is characterized in that the feeding mechanism 30 includes a conveyor belt 31, a pressing assembly 32, a height measuring component 33 and a laser emitter 34, the conveyor belt 31 is used to convey the fruit 90 to the bottom of the clamping transfer mechanism 10, the pressing assembly 32 includes a pressing plate 320, a pressing block 321, two support blocks 322 and a pressing drive 323, the pressing block 321 is located on the lower surface of the pressing plate 320, the two support blocks 322 support the two ends of the pressing plate 320 in a one-to-one correspondence, each of the support blocks 322 is provided with a linear slide rail, each of the linear slide rails guides the corresponding support block 322, and the pressing drive 323 drives the support block 322 to move The linear slide rail moves downwardly in a direction perpendicular to the conveyor belt 31 under the guidance of the linear slide rail, so as to drive the pressing plate 320 to move in a direction perpendicular to the conveyor belt 31, thereby driving the 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 portion 330 arranged at an angle to the conveyor belt 31, and the height measuring member 33 moves along the direction perpendicular to the conveyor belt 31 following the pressing plate 320, and the laser emitter 34 emits laser light to irradiate the inclined portion 330. The pressing assembly 32 presses the fruit 90 against the conveyor belt 31 from above. After being flattened, the fruit 90 maintains a fixed position, which is also the position that the fruit 90 needs to maintain when it is subsequently sliced. The first visual mechanism 70 collects contour image information of the fruit 90 in a direction perpendicular to the conveyor belt 31, and obtains the contour shape and size of the fruit 90 in this state. Based on the contour shape and size, it can determine whether the fruit 90 is suitable for slicing and calculate the ideal cutting line. In this embodiment, the first visual mechanism 70 includes a machine vision lens, which captures the contour shape and size of the fruit 90 through the machine vision lens. The second visual mechanism 71 also uses a machine vision lens, which will not be repeated here. The height measuring member 33 follows the pressing plate 320 in a direction perpendicular to the conveyor belt 31. The laser emitter 34 emits laser light to illuminate the inclined portion 330. When the conveyor belt 31 transports the fruit 90 to the preset measuring station on the conveyor belt 31, the pressing drive 323 drives the pressing plate 320 downward, and the pressing block 321 flattens the fruit 90 at the measuring station on the conveyor belt 31. The first vision mechanism 70 captures the outline shape and size of the fruit 90. Simultaneously, the first vision mechanism 70 calculates the height of the fruit 90 based on the position of the laser irradiation point on the inclined surface 330, thereby further determining whether the fruit 90 is suitable for slicing. If so, slicing is performed; if not, the fruit 90 is rejected. The greater the height of the fruit 90, the closer the laser irradiation point is to the laser emitter 34. Conversely, the farther the laser irradiation point is from the laser emitter 34, the smaller the height of the fruit 90.In this embodiment, the height measuring member 33 and the supporting block 322 are integrally formed. In other embodiments, the height measuring member 33 may also be independently provided.

[0081] like Figure 4 As shown, in one embodiment of the present invention, the clamping and transferring mechanism 10 includes a transfer reciprocating module 11, a transfer transverse module 12 arranged on the transfer reciprocating module 11, a transfer rotating module 13 arranged on the transfer transverse module 12, a transfer clamping member 14 arranged on the transfer rotating module 13, and two clamps 15 arranged on the transfer clamping member 14. The transfer clamping member 14 clamps the fruit 90 by driving the two clamps 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 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 is an electric clamping jaw, which drives the two clamping heads 15 to move relative to each other to clamp the fruit 90. In other embodiments, the transfer clamping member 14 can also be a clamping cylinder, which is not limited here. The specific structure of the transfer reciprocating module 11 is not limited and can be driven by a ball screw, a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or other linear drive methods. The specific structure of the transfer transverse module 12 is also not specifically limited and can be driven by a ball screw, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or other linear drive methods. In this embodiment, the transfer transverse module 12 uses a linear motor for linear motion, while the transfer rotation module 13 uses a combination of a motor and a reducer to drive the electric clamping jaw to rotate about the Z axis. Further described, the transfer reciprocating module 11 drives the electric clamp serving as the transfer clamping member 14 to move along the X-axis direction. The electric clamp can be driven to the material picking station first. After the electric clamp clamps the fruit 90, the transfer reciprocating module 11 drives the electric clamp to move to the slicing station. The transfer reciprocating module 11 drives the electric clamp to reciprocate between the material picking station and the slicing station. Before cutting the fruit 90, the fruit 90 clamped by the electric clamp can be moved to the desired position and rotated to the desired angle by the coordinated driving of the transfer reciprocating module 11, the transfer transverse movement module 12 and the transfer rotation module 13, so that the cutter in the slicing mechanism 20 can be accurately aligned with the optimal cutting line of the fruit 90 to be cut, providing position conditions for the cutter to cut the fruit 90.

[0082] like Figure 5As shown, in one embodiment of the present invention, the slicing mechanism 20 includes a slicing drive 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 drive 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 arranged between the first pressing member 232 and the second pressing member 233, the first pressing member 232 and the second pressing member 233 are both slidably connected to the tool mounting member 231, and the first pressing member 232 and the second pressing member 233 are slidably connected to the tool mounting member 231. An elastic member 234 is provided between the connecting seat 22 and the cutter mounting member 231, and between the second pressing member 233 and the cutter mounting member 231. The slicing drive 21 is used to drive the connecting seat 22 and the cutter assembly 23 connected thereto to move, thereby driving the first pressing member 232, the second pressing member 233, and the cutter 230 in the cutter 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 before the cutter 230 cuts the fruit 90, thereby securing the fruit 90 in a cut state. Driven by the slicing drive 21, the cutter 230 cuts the fruit 90 into two halves 91 that can be split into two fruit halves.

[0083] like Figure 9 As shown, in one embodiment of the present invention, the fruit processing equipment further includes an arranging mechanism 83, which includes a vibrating cylinder 830 and a pressing plate 831 disposed on the vibrating cylinder 830. The vibrating cylinder 830 is used to drive the pressing plate 831, which in turn presses the fruit halves 91 via the pressing plate 831 so that the fruit halves 91 are tightly fitted into the corresponding fruit slice pits 820. The arranging mechanism 83 is disposed between the slicing station and the core removal station, and arranges the fruit slices in the fruit slice pits 820 so that the cross-section of the fruit halves 91 faces upward more evenly. Further described, when the mold 82 is driven and moved to the bottom of the sorting 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, so that the appearance of the fruit half 91 better fits the fruit slice pit 820, and the cut surface of the fruit half 91 is completely facing upward, which is more convenient for core removal.

[0084] like Figure 13As shown, in one embodiment of the present invention, the fruit processing equipment further includes a first rotating mechanism 41, a second rotating mechanism 42, a detection mechanism 43 and a fourth visual mechanism 73. The first rotating mechanism 41 and the second rotating mechanism 42 both include a rotating assembly 44, and the rotating assembly 44 includes a rotating reciprocating module 440, a sheet-taking lifting member 441 provided on the rotating reciprocating module 440, two sheet-taking clamping members 442 provided on the sheet-taking lifting member 441, and two sheet-taking clamps 443 provided on the sheet-taking clamping member 442. The holding member 442 drives the two slice-taking clamps 443 to move toward or away from each other, thereby clamping or releasing the fruit half 91. The slice-taking lifting member 441 drives the slice-taking clamping member 442 and the fruit half 91 held by the slice-taking clamping member 442 to move along the Z-axis direction. The rotating reciprocating module 440 drives the slice-taking lifting member 441, the slice-taking clamping member 442 and the fruit half 91 clamped by the slice-taking clamping member 442 to move along the X-axis direction. The detection mechanism 43 includes a rotating shaft 430, a The two detection components 431 and the detection rotating member 432 on both sides drive 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 base plate 4310 and two sub-detection components 4311 arranged on the detection base plate 4310. The sub-detection component 4311 includes a detection clamping member 4312 and two detection fixtures 4313 arranged on the detection clamping member 4312. The detection clamping member 4312 is used to drive the two detection clamps 4313 to move toward or away from each other when the fruit half 91 is placed on the detection base plate 4310, thereby clamping or loosening the fruit half 91. The first rotating 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 visual mechanism 73 is used to detect whether the fruit half 91 in the detection mechanism 43 has been pitted. The second rotating mechanism 42 is used to transfer the fruit half 91 that has been inspected in the detection mechanism 43 to the finished product warehouse. The sheet-taking clamp 442 can be a finger cylinder, an electric clamp, etc. In this embodiment, the sheet-taking clamp 442 adopts a finger cylinder. The specific structure of the rotating reciprocating module 440 and the sheet-taking lifting member 441 is not particularly limited. It can be driven by a ball screw, or by a linear drive method such as a linear motor, an electric slide, a pneumatic cylinder, or a hydraulic cylinder. In this embodiment, the rotating reciprocating module 440 adopts a linear module, the film taking lifting member 441 adopts a cylinder, and the specific structure of the detection rotating member 432 is not particularly limited, and can be driven by a rotating cylinder, motor, etc.In this embodiment, the detection rotating member 432 adopts a servo motor, and the detection clamping member 4312 can be a finger cylinder, an electric clamp, etc. In this embodiment, the detection clamping member 4312 adopts 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 group of detection components 431 rotates downward, the fruit core 92 or other impurities remaining in the fruit half 91 in the group fall under the action of gravity. In order to make the removal effect better, a high-pressure gas nozzle can also be set below. When the fruit half 91 is facing downward, the high-pressure gas is turned on to blow towards the fruit half 91 to completely remove the fruit core 92 or other impurities remaining in the fruit half 91. Then, the detection rotating member 432 continues to drive the group of detection components 431 to rotate, and then rotates the fruit half 91 in the group upward. The fourth visual mechanism 73 continues to detect the fruit half 91 to determine whether it has been processed in place, and can also classify the quality grade of the pulp.

[0085] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this invention should be included in the scope of protection of the present invention. The scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A device for removing cores by slicing, characterized in that: It includes a slicing mechanism (50), a mold circulation mechanism (80) and a core taking mechanism (60); The mold circulation mechanism (80) comprises a mold circulation assembly (81) and a plurality of molds (82) arranged on the mold circulation assembly (81), wherein the mold circulation assembly (81) is used to drive the molds (82) to circulate along a set direction, and each mold (82) is provided with two fruit slice pits (820) for placing and positioning a fruit half (91); The slicing mechanism (50) is provided on one side of the mold circulation assembly (81) and is used to slice the cut fruit (90), and to flip the two fruit halves (91) obtained by slicing and drop them into the two fruit slice pits (820) in the target mold (82); wherein the target mold (82) carrying the fruit half (91) is transferred from the mold circulation component (81) to the position of the core removal mechanism (60); The core removal mechanism (60) is used to remove the fruit core (92) from the fruit half (91); The slicing mechanism (50) comprises a slicing reciprocating module (51), a slicing clamping member (53) provided on the slicing reciprocating module (51), two slicing clamps (54) provided on the slicing clamping member (53), two slicing driving members (52) provided on the two slicing clamps (54) and corresponding to the two slicing clamps (54) one-to-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-to-one; The slice reciprocating module (51) is used to drive the slice clamping member (53) to move along the X-axis direction; The slicing clamp (53) is used to drive the two slicing clamps (54) to move relative to each other, so as to clamp or release the cut fruit (90); The slice driving member (52) is used to drive the corresponding slice pressing member (55) to rotate so that the two slice pressing members (55) rotate toward or away from each other. When the two slice clamps (54) release the cut fruit (90), the two slice pressing members (55) rotate to split the cut fruit (90) into two fruit halves (91), and the two split fruit halves (91) are correspondingly flipped and fall into the two fruit slice pits (820) on the target mold (82).

2. The device for extracting cores by slicing according to claim 1, characterized in that: The core removal mechanism (60) further includes a first sub-tablet pressing and core removal mechanism (61) and a second sub-tablet pressing and core removal mechanism (62). The first sub-tablet pressing and core removal mechanism (61) and the second sub-tablet pressing and core removal mechanism (62) correspond to the two fruit halves (91) in the target mold (82) one by one, and remove the fruit core (92) from the corresponding fruit halves (91). The first sub-tablet pressing and core removal mechanism (61) and the second sub-tablet pressing and core removal mechanism (62) both include a tablet pressing component (63) and a core removal component (64). The pressing assembly (63) includes a pressing lifting member (630), a pressing driving member (631) arranged on the pressing lifting member (630), and two pressing members (632) arranged on the pressing driving member (631), wherein the pressing driving member (631) is used to adjust the relative distance between the two pressing members (632), and the pressing lifting member (630) is used to drive the pressing member (632) to move along the Z-axis direction, so that the half part (91) of the fruit to be cored (92) is pressed tightly into the fruit slice pit (820) through the two pressing members (632) in a posture where the fruit core (92) is exposed in the fruit slice pit (820); The core removal assembly (64) includes a core removal transverse movement module (640), a core removal lifting member (641) arranged on the core removal transverse movement module (640), a core removal clamping member (642) arranged on the core removal lifting member (641), and two core removal clamps (643) arranged on the core removal clamping member (642), the core removal clamping member (642) is used to drive the two core removal clamps (643) to move relative to each other to clamp the fruit core (92), the core removal lifting member (641) is used to drive the clamped fruit core (92) to move along the Z-axis direction, and the core removal transverse movement module (640) is used to drive the clamped fruit core (92) to move along the X-axis direction.

3. A fruit processing equipment, characterized in that, It comprises a feeding mechanism (30), a clamping and transferring mechanism (10), a slicing mechanism (20), and the slicing and core-taking device according to any one of claims 1 to 2; The feeding mechanism (30) is used to transport the fruit (90) to the clamping and transferring mechanism (10) for clamping and transferring by the clamping and transferring mechanism (10); 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, move along the Y axis, and move along the X axis; 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) comprises: A conveyor belt (31) for conveying fruits (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 of the support blocks (322) is provided with a linear slide rail, each of the linear slide rails 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 in a 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 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); a height measuring member (33), the height measuring member (33) comprising an inclined portion (330) arranged at an angle to the conveyor belt (31), and the height measuring member (33) moves along the direction perpendicular to the conveyor belt (31) following the pressing plate (320); A laser emitter (34) is used to emit laser light to irradiate the inclined 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 module (12) arranged on the transfer reciprocating module (11), a transfer rotating module (13) arranged on the transfer transverse module (12), a transfer clamping member (14) arranged on the transfer rotating module (13), and two clamps (15) arranged on the transfer clamping member (14), wherein the transfer clamping member (14) is used to clamp the fruit (90) by driving the two clamps (15) to move relative to each other, the transfer rotating module (13) is used to drive the clamped fruit (90) to rotate around the Z-axis direction, the transfer transverse module (12) is used to drive the clamped fruit (90) to move along the Y-axis direction, and 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) comprises a slicing drive 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 drive member (21), and the other end is connected to the tool assembly (23); The tool assembly (23) comprises 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 arranged between the first pressing member (232) and the second pressing member (233); the first pressing member (232) and the second pressing member (233) are both slidably connected to the tool mounting member (231); and an elastic member (234) is 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 drive 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, and 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) before the tool (230) cuts the fruit (90) to fix the fruit (90) in a state to be cut.

7. The fruit processing equipment according to claim 3, characterized in that The fruit processing equipment further comprises a arranging mechanism (83), wherein the arranging mechanism (83) comprises a vibrating cylinder (830) and a pressing plate (831) arranged on the vibrating cylinder (830), wherein the vibrating cylinder (830) is used to drive the pressing plate (831), thereby pressing the fruit half (91) through the pressing plate (831) so that the fruit half (91) is tightly fitted with the corresponding fruit slice pit (820).

8. The fruit processing equipment according to claim 3, characterized in that: The fruit processing equipment further comprises a first visual mechanism (70) for photographing the fruit (90) before the slicing mechanism (20) cuts the fruit (90) so as to identify the best cutting line according to the shape and size of the fruit (90).

9. The fruit processing equipment according to claim 3, characterized in that: The fruit (90) processing equipment further comprises a second visual mechanism (71) and a third visual mechanism (72), wherein the second visual mechanism (71) and the third visual mechanism (72) are both used to photograph the two fruit halves (91), so that the core removal mechanism (60) can accurately remove the fruit core (92) from the fruit halves (91).

10. The fruit processing equipment according to claim 3, characterized in that: The fruit processing equipment further comprises a first rotating mechanism (41), a second rotating mechanism (42), a detection mechanism (43) and a fourth visual mechanism (73); The first rotating mechanism (41) and the second rotating mechanism (42) both include a rotating assembly (44), the rotating assembly (44) including a rotating reciprocating module (440), a film-taking lifting member (441) provided on the rotating reciprocating module (440), two film-taking clamping members (442) provided on the film-taking lifting member (441), and two film-taking clamps (443) provided on the film-taking clamping member (442), the film-taking clamping member (442) being used to drive the two film-taking clamps (443). 3) moving toward or away from each other, thereby clamping or releasing the fruit half (91), the slice taking lifting member (441) is used to drive the slice taking clamping member (442) and the fruit half (91) clamped by the slice taking clamping member (442) to move along the Z-axis direction, and the slice rotating reciprocating module (440) is used to drive the slice taking lifting member (441), the slice taking clamping member (442) and the fruit half (91) clamped by the slice taking clamping member (442) to move along the X-axis direction; The detection mechanism (43) comprises a rotating shaft (430), two detection components (431) arranged on both sides of the rotating shaft (430), and a detection rotating member (432). The detection rotating member (432) is used to drive 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) comprises a detection base plate (4310) and two sub-detection components (4311) arranged on the detection base plate (4310). The sub-detection component (4311) comprises a detection clamping member (4312) and two detection clamps (4313) arranged on the detection clamping member (4312). The detection clamping member (4312) is used to drive the two detection clamps (4313) to move toward or away from each other when the fruit half (91) is placed on the detection base plate (4310), thereby clamping or releasing the fruit half (91). The first transfer mechanism (41) is used to transfer the fruit half (91) whose core has been removed from the mold (82) to the detection mechanism (43); the fourth visual mechanism (73) is used to detect whether the fruit half (91) in the detection mechanism (43) has been cored; and the second transfer mechanism (42) is used to transfer the fruit half (91) that has been detected in the detection mechanism (43) to the finished product warehouse.

Images