Slicing mechanism and fruit processing apparatus

Abstract

The application provides a slicing mechanism and fruit processing equipment, and relates to the technical field of fruit processing. The slicing mechanism comprises a slicing driving module and a cutter assembly. The slicing driving module comprises a driving member and a movement assembly connected with the driving member. The movement assembly comprises a first movement member and a second movement member which can move relative to each other under the action of the driving member. The cutter assembly comprises two blades connected with the first movement member and the second movement member. Each blade comprises a main cutting edge and a side cutting edge located on one side of the main cutting edge. The side cutting edge of each blade is bent relative to the main cutting edge and protrudes towards the direction of the opposite blade. The driving module drives the two movement members to move relative to each other, thereby driving the two side cutting edges of the two blades connected with the two movement members to move relative to each other. In the process of moving the fruit towards the two side cutting edges, the two side cutting edges can cut the fruit along the periphery of the fruit core, thereby cutting the fruit pulp without damaging the fruit core.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit processing, in particular to a slicing mechanism and a fruit processing device. BACKGROUND

[0002] In order to facilitate the storage, packaging and eating of fruits, the fruit pits in the fruits also need to be removed. Since the fruit pits are usually tightly wrapped by the flesh, the flesh needs to be cut before the fruit pits are removed, so that the fruit pits can be exposed and then separated and removed. At present, the separation of the flesh and the fruit pits is mostly completed by a large number of manual operations, which not only has a great labor intensity for the workers, but also has a low efficiency, and seriously restricts the large-scale development of the fruit processing industry. SUMMARY

[0003] The purpose of the present application is to provide a fruit processing device to automatically separate the flesh and the fruit pits.

[0004] To achieve the above purpose, the technical scheme of the embodiment of the present application is as follows:

[0005] A slicing mechanism, comprising:

[0006] A slicing driving module, comprising a slicing driving member and a movement assembly connected with the slicing driving member, the movement assembly comprising a first movement member and a second movement member relatively movable under the action of the slicing driving member;

[0007] A cutter assembly, comprising two blades connected with the first movement member and the second movement member, the blade comprising a main cutting edge and a side cutting edge located on one side of the main cutting edge, and the side cutting edge of each blade is bent relative to the main cutting edge and protrudes towards the direction of the opposite blade.

[0008] Further,

[0009] The first movement member comprises a first cross beam portion, the second movement member comprises a second cross beam portion, the cutter assembly further comprises two cutter mounting portions respectively arranged on the first cross beam portion and the second cross beam portion, and the blade is arranged on the corresponding cutter mounting portion through a blade pressing member.

[0010] A fruit processing device, comprising a feeding mechanism, a clamping and transferring mechanism, the slicing mechanism according to any one of the preceding embodiments, a slicing mechanism, a slicing mechanism, and a pit removing mechanism;

[0011] The feeding mechanism is used for conveying the fruits to the clamping and transferring mechanism;

[0012] The clamping and transferring mechanism is used for clamping the fruits and driving the fruits to move in a preset coordinate system, the preset coordinate system comprising Y-axis direction movement, X-axis direction movement and Z-axis direction rotation;

[0013] The slicing mechanism is configured to cooperate with the clamping and transferring mechanism, and the two side blades cut the fruit along the periphery of the core during the movement of the clamping and transferring mechanism towards the two side blades in the slicing mechanism.

[0014] The rotating mechanism is configured to transfer the fruit cut by the slicing mechanism to the slicing mechanism.

[0015] The slicing mechanism is configured to split the fruit cut by the slicing mechanism into two fruit halves.

[0016] The core taking mechanism is configured to take the core out of the fruit pulp.

[0017] Further,

[0018] The feeding mechanism comprises:

[0019] A conveying belt is configured to convey the fruit.

[0020] A pressing assembly comprises a pressing plate, a pressing block, two support blocks and a pressing driving member, the pressing block is located on the lower surface of the pressing plate, the two support blocks are configured to support the two ends of the pressing plate one by one, each support block is provided with a linear slide rail, each linear slide rail is configured to guide the corresponding support block, the pressing driving member is configured to drive the support blocks to move along the direction perpendicular to the conveying belt under the guidance of the linear slide rails, so as to drive the pressing plate to move along the direction perpendicular to the conveying belt, and the pressing block is configured to press the fruit on the conveying belt from above.

[0021] A height measuring member comprises an inclined surface part arranged at an angle with the conveying belt, and the height measuring member moves along with the pressing plate in the direction perpendicular to the conveying belt.

[0022] A laser emitter is configured to emit laser irradiation to the inclined surface part.

[0023] Further,

[0024] The clamping and transferring mechanism comprises a transferring reciprocating module, a transferring horizontal moving module arranged on the transferring reciprocating module, a transferring rotating module arranged on the transferring horizontal moving module, a transferring clamping member arranged on the transferring rotating module, and two clamping heads arranged on the transferring clamping member.

[0025] The transfer clamping member is used to clamp the fruit by driving the relative movement of the two clamps, the transfer rotation module is used to drive the fruit clamped by the transfer clamping member to rotate around the Z-axis direction, the transfer transverse module is used to drive the fruit clamped by the transfer clamping member to move along the Y-axis direction, and the transfer reciprocating module is used to drive the fruit clamped by the transfer clamping member to move along the X-axis direction.

[0026] Further,

[0027] The fruit processing equipment further comprises a first vision mechanism located on one side of the clamping and transferring mechanism, which is used to take pictures of the fruit before cutting, determine the shape and size of the fruit according to the fruit image, and determine the corresponding optimal cutting line according to the shape and size of the fruit.

[0028] Further,

[0029] The fruit processing equipment further comprises a first vision mechanism located on one side of the clamping and transferring mechanism, which is used to take pictures of the fruit before cutting, determine the shape and size of the fruit according to the fruit image, and determine the corresponding optimal cutting line according to the shape and size of the fruit.

[0030] Further,

[0031] The fruit processing equipment further comprises a second vision mechanism located on one side of the core taking mechanism, which is used to take pictures of the two fruit halves, and determine which fruit half the core is located in according to the fruit half image.

[0032] Further,

[0033] The fruit processing equipment further comprises a second vision mechanism located on one side of the core taking mechanism, which is used to take pictures of the two fruit halves, and determine which fruit half the core is located in according to the fruit half image.

[0034] Further,

[0035] The core taking mechanism comprises a core taking reciprocating module, a core taking transverse moving module arranged on the core taking reciprocating module, a core taking clamping piece arranged on the core taking transverse moving module, and two core taking clamps arranged on the core taking clamping piece, the core taking clamping piece is used for driving the two core taking clamps to move relative to each other to clamp the core, the core taking transverse moving module is used for driving the core clamped by the core taking clamping piece to move along the Y-axis direction, and the core taking reciprocating module is used for driving the core clamped by the core taking clamping piece to move along the X-axis direction.

[0036] Compared with the prior art, the embodiment of the present application has at least the following technical effects:

[0037] The slicing mechanism comprises a slicing driving module and a cutter assembly, the slicing driving module comprises a slicing driving piece and a movement assembly connected with the slicing driving piece, the movement assembly comprises a first movement piece and a second movement piece capable of moving relative to each other under the action of the slicing driving piece, the cutter assembly comprises two blades connected with the first movement piece and the second movement piece, the blade comprises a main cutting edge and a side cutting edge located on one side of the main cutting edge, the side cutting edge of each blade is bent relative to the main cutting edge and protrudes towards the direction of the opposite blade, the driving module drives the two movement pieces to move relative to each other, and then drives the two side cutting edges of the two blades connected with the two movement pieces to move relative to each other, in the process of the fruit moving towards the two side cutting edges, the two side cutting edges can cut the fruit along the periphery of the core, the fruit pulp is cut without damaging the core, and the fruit pulp is completely cut open while the core remains intact.

[0038] The fruit processing equipment comprises the aforementioned slicing mechanism, has the same technical concept as the aforementioned slicing mechanism, and has the same technical effects as the aforementioned slicing mechanism, and thus will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structural schematic view of the fruit processing equipment for processing the fruit into a fruit half in an embodiment;

[0040] Figure 2 It is a structural schematic view of the fruit processing equipment in an embodiment;

[0041] Figure 3 It is a structural schematic view of the feeding mechanism in an embodiment;

[0042] Figure 4 It is a structural schematic view of the clamping and transferring mechanism in an embodiment;

[0043] Figure 5 It is a structural schematic view of the slicing mechanism in an embodiment;

[0044] Figure 6 It is a structural schematic view of the slicing mechanism in an embodiment;

[0045] Figure 7 This is a schematic diagram of the segmentation mechanism in one embodiment;

[0046] Figure 8 This is a schematic diagram of the core-taking mechanism in one embodiment;

[0047] Figure 9 This is a schematic diagram of a fruit being cut by a blade mechanism in one embodiment;

[0048] Figure 10 This is a schematic diagram of the slicing mechanism in another embodiment.

[0049] Explanation of icon numbers:

[0050] 10. Clamping and transferring mechanism; 11. Transfer reciprocating module; 12. Transfer traversing module; 13. Transfer rotating module; 14. Transfer clamping component; 15. Chuck;

[0051] 20. Slicing mechanism; 21. Slicing drive module; 210. Slicing drive component; 2100. Stator; 2101. First mover; 2102. Second mover; 2103. Lead screw linear module; 211. First moving component; 2110. First crossbeam; 212. Second moving component; 2120. Second crossbeam; 2121. Cutter mounting part; 2122. Blade clamping component; 22. Cutter assembly; 220. Blade; 2201. Main cutting edge; 2202. Side cutting edge;

[0052] 30. Feeding mechanism; 31. Conveyor belt; 32. Pressing assembly; 320. Pressing plate; 321. Pressing block; 322. Support block; 323. Pressing drive component; 33. Height measuring component; 330. Inclined section; 34. Laser emitter;

[0053] 40. Plate transfer mechanism; 41. Plate transfer reciprocating module; 42. Plate transfer lifting component; 43. Plate transfer clamping component; 44. Plate transfer fixture;

[0054] 50. Segmentation mechanism; 51. Segmentation drive component; 52. Detection rotating component; 53. Segmentation clamping component; 54. Segmentation fixture;

[0055] 60. Core removal mechanism; 61. Core removal reciprocating module; 62. Core removal lateral movement module; 63. Core removal clamping component; 64. Core removal fixture;

[0056] 70. First-person vision agency;

[0057] 80. Second vision mechanism;

[0058] 90. Fruit; 91. Half of the fruit; 92. Fruit pit. Detailed Implementation

[0059] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. In the following description, the expression "some embodiments" refers to a subset of all possible embodiments; however, 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.

[0060] It should also be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening 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 possible implementation.

[0061] like Figure 5 As shown, in one embodiment of the present invention, a slicing mechanism 20 includes a slicing drive module 21 and a cutting assembly 22. The slicing drive module 21 includes a slicing drive member 210 and a motion assembly connected to the slicing drive member 210. The motion assembly includes a first motion member 211 and a second motion member 212 that can move relative to each other under the action of the slicing drive member 210. The cutting assembly 22 includes two blades 220 connected to the first motion member 211 and the second motion member 212. Each blade 220 includes a main blade 2201 and a side blade 2202 located on one side of the main blade 2201. The side blade 2202 of each blade 220 is bent relative to the main blade 2201 and protrudes in the direction of the opposite blade 220. The slicing drive module 21 drives two moving parts to move relative to each other, causing the two blades 220 to move synchronously relative to each other. This, in turn, causes the two side blades 2202 of the two blades 220 to move relative to each other. As the fruit 90 moves towards the two side blades 2202, the two side blades 2202 can cut the fruit 90 along the periphery of the pit 92, cutting the flesh of the fruit 90 without damaging the pit 92 (e.g., Figure 9 (As shown). More specifically, as Figure 5As shown, in one embodiment of the present invention, the slicing drive 210 includes a linear motor, the linear motor includes a stator 2100, and a first mover 2101 and a second mover 2102 respectively disposed on both sides of the stator 2100. The first mover 2101 and the second mover 2102 are respectively connected to the first moving member 211 and the second moving member 212. The first moving member 211 includes a first crossbeam portion 2110 connected to the first mover 2101, and the second moving member 212 includes a second crossbeam portion 2120 connected to the second mover 2102. The cutter assembly 22 further includes two cutter mounting portions 2121 respectively mounted on the first crossbeam portion 2110 and the second crossbeam portion 2120. Each blade 220 is mounted on the corresponding cutter mounting portion 2121 by a blade clamping member 2122. In this embodiment, the blade clamping member 2122 is clamped by a clamping bolt. In this embodiment, the slicing drive member 210 uses a linear motor with two movers and one stator to drive the two moving members. In other embodiments, such as... Figure 10 As shown, the slicing drive 210 can be configured as a drive mechanism with two lead screw linear modules 2103. The two lead screw linear modules 2103 drive the first moving part 211 and the second moving part 212 to move relative to each other, thereby driving the two blades 2202 on both sides of the two blades 220 connected to the two moving parts to move relative to each other. As the fruit 90 moves toward the two blades 2202, the two blades 2202 can cut the fruit 90 along the periphery of the pit 92. Of course, the slicing drive 210 is not limited to this. The slicing drive 210 can also select other linear drive mechanisms according to the actual situation, as long as it can drive the first moving part 211 and the second moving part 212 to move relative to each other.

[0062] like Figures 1-9As shown in the embodiment of the present application, a fruit processing device comprises a feeding mechanism 30, a clamping and transferring mechanism 10, any one of the aforementioned slicing mechanisms 20, a rotating mechanism 40, a separating mechanism 50, and a kernel removing mechanism 60. The feeding mechanism 30 delivers a fruit 90 to the lower part of the clamping and transferring mechanism 10, i.e. to the fruit processing device's taking position, for clamping and transferring by the clamping and transferring mechanism 10, and the clamping and transferring mechanism 10 delivers the fruit 90 to the fruit processing device's slicing position for cutting by the slicing mechanism 20. The clamping and transferring mechanism 10 clamps the fruit 90 and drives it to move in a preset coordinate system, which includes Y-axis direction movement, X-axis direction movement, and rotation around the Z-axis. The slicing mechanism 20 cooperates with the clamping and transferring mechanism 10. During the process that the clamping and transferring mechanism 10 moves the clamped fruit 90 along the X-axis direction and towards the two-sided blade 2202 in the slicing mechanism 20, the two-sided blade 2202 can cut the fruit 90 along the periphery of the kernel 92 by moving along the Z-axis direction, so as to cut the pulp of the fruit 90 without damaging the kernel 92. The rotating mechanism 40 transfers the fruit 90 that has been cut by the slicing mechanism 20 to the separating mechanism 50, the separating mechanism 50 separates the fruit 90 that has been cut by the slicing mechanism 20 into two fruit halves 91 (for the convenience of description, the two parts of the fruit 90 after being cut are called two fruit halves 91), and the kernel removing mechanism 60 is used to remove the kernel 92 from the pulp. The fruit processing device further comprises a first visual mechanism 70 and a second visual mechanism 80. The first visual mechanism 70 takes a picture of the fruit 90 before cutting, so as to determine the optimal cutting line according to the shape and size of the fruit 90, and the second visual mechanism 80 takes a picture of the two fruit halves 91, so as to determine which fruit half 91 the kernel 92 is located in. Further description is as follows. When the fruit processing device cuts and processes the fruit 90, the feeding mechanism 30 delivers the fruit 90 to the lower part of the clamping and transferring mechanism 10, the first visual mechanism 70 takes a picture of the fruit 90, calculates the optimal cutting line according to the shape and size of the fruit 90, and after the clamping and transferring mechanism 10 clamps the fruit 90, moves it to the slicing position. Before cutting the fruit 90, the clamping and transferring mechanism 10 drives the fruit 90 to move in a preset coordinate system, which includes Y-axis direction, X-axis direction, and rotation direction around the Z-axis, so as to move the fruit 90 to the required position and rotate it to the required angle, so that the two blades 220 in the slicing mechanism 20 can be accurately aligned with the optimal cutting line of the fruit 90 to be cut. The slicing driving module 21 drives the two blades 220 to cut synchronously, so as to cut the fruit 90 according to the optimal cutting line, and obtain the cut fruit 90 (as shown in the third small figure in FIG. 8). Figure 1

[0063] As shown in the embodiment of the present application, a fruit processing device comprises a feeding mechanism 30, a clamping and transferring mechanism 10, any one of the aforementioned slicing mechanisms 20, a rotating mechanism 40, a separating mechanism 50, and a kernel removing mechanism 60. The feeding mechanism 30 delivers a fruit 90 to the lower part of the clamping and transferring mechanism 10, i.e. to the fruit processing device's taking position, for clamping and transferring by the clamping and transferring mechanism 10, and the clamping and transferring mechanism 10 delivers the fruit 90 to the fruit processing device's slicing position for cutting by the slicing mechanism 20. The clamping and transferring mechanism 10 clamps the fruit 90 and drives it to move in a preset coordinate system, which includes Y-axis direction movement, X-axis direction movement, and rotation around the Z-axis. The slicing mechanism 20 cooperates with the clamping and transferring mechanism 10. During the process that the clamping and transferring mechanism 10 moves the clamped fruit 90 along the X-axis direction and towards the two-sided blade 2202 in the slicing mechanism 20, the two-sided blade 2202 can cut the fruit 90 along the periphery of the kernel 92 by moving along the Z-axis direction, so as to cut the pulp of the fruit 90 without damaging the kernel 92. The rotating mechanism 40 transfers the fruit 90 that has been cut by the slicing mechanism 20 to the separating mechanism 50, the separating mechanism 50 separates the fruit 90 that has been cut by the slicing mechanism 20 into two fruit halves 91 (for the convenience of description, the two parts of the fruit 90 after being cut are called two fruit halves 91), and the kernel removing mechanism 60 is used to remove the kernel 92 from the pulp. The fruit processing device further comprises a first visual mechanism 70 and a second visual mechanism 80. The first visual mechanism 70 takes a picture of the fruit 90 before cutting, so as to determine the optimal cutting line according to the shape and size of the fruit 90, and the second visual mechanism 80 takes a picture of the two fruit halves 91, so as to determine which fruit half 91 the kernel 92 is located in. Further description is as follows. When the fruit processing device cuts and processes the fruit 90, the feeding mechanism 30 delivers the fruit 90 to the lower part of the clamping and transferring mechanism 10, the first visual mechanism 70 takes a picture of the fruit 90, calculates the optimal cutting line according to the shape and size of the fruit 90, and after the clamping and transferring mechanism 10 clamps the fruit 90, moves it to the slicing position. Before cutting the fruit 90, the clamping and transferring mechanism 10 drives the fruit 90 to move in a preset coordinate system, which includes Y-axis direction, X-axis direction, and rotation direction around the Z-axis, so as to move the fruit 90 to the required position and rotate it to the required angle, so that the two blades 220 in the slicing mechanism 20 can be accurately aligned with the optimal cutting line of the fruit 90 to be cut. The slicing driving module 21 drives the two blades 220 to cut synchronously, so as to cut the fruit 90 according to the optimal cutting line, and obtain the cut fruit 90 (as shown in the third small figure in FIG. 8). Figure 1Figure 3As shown, in an embodiment of the present application, the feeding mechanism 30 comprises a conveying belt 31, a pressing assembly 32, a height measuring member 33 and a laser emitter 34, the conveying belt 31 is used to convey the fruits 90 to the lower side of the clamping and transferring mechanism 10, the pressing assembly 32 comprises a pressing plate 320, pressing blocks 321, two support blocks 322 and a pressing driving member 323, the pressing blocks 321 are located on the lower surface of the pressing plate 320, the two support blocks 322 correspondingly support the two ends of the pressing plate 320, 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, the pressing driving member 323 drives the support blocks 322 to move along the direction perpendicular to the conveying belt 31 under the guidance of the linear slide rails, so as to drive the pressing plate 320 to move along the direction perpendicular to the conveying belt 31, thereby driving the pressing blocks 321 to press the fruits 90 on the conveying belt 31 from the upper side of the fruits 90, the height measuring member 33 comprises an inclined surface part 330 which is arranged at an angle with the conveying belt 31, and the height measuring member 33 moves along with the pressing plate 320 in the direction perpendicular to the conveying belt 31, the laser emitter 34 emits laser to the inclined surface part 330. The pressing assembly 32 presses the fruits 90 on the conveying belt 31 from the upper side of the fruits 90, and the fruits 90 are kept in a fixed placement posture after being pressed flat, and this posture is also the posture required to be kept when the subsequent fruits 90 are sliced, the first visual mechanism 70 collects the contour image information of the fruits 90 along the direction perpendicular to the conveying belt 31, and obtains the contour shape and size of the fruits 90 in this state, and whether the fruits 90 are suitable for slicing can be judged according to the contour shape and size, and the optimal cutting line is calculated, in this embodiment, the first visual mechanism 70 comprises a machine vision lens which captures the contour shape and size of the fruits 90, and the second visual mechanism 80 also adopts a machine vision lens, which will not be described here. The height measuring member 33 moves along with the pressing plate 320 in the direction perpendicular to the conveying belt 31, and the laser emitter 34 emits laser to the inclined surface part 330. When the conveying belt 31 conveys the fruits 90 to the preset measuring station of the conveying belt 31, the pressing driving member 323 drives the pressing plate 320 to move downward, and then the pressing blocks 321 press the fruits 90 flat on the measuring station of the conveying belt 31, and the first visual mechanism 70 captures the contour shape and size of the fruits 90, and the first visual mechanism 70 can further judge whether the fruits 90 are suitable for slicing according to the position of the laser irradiation point on the inclined surface part 330, if the fruits 90 are suitable for slicing, the slicing operation is performed, and if the fruits 90 are not suitable for slicing, the fruits 90 are rejected. The greater the height value of the fruits 90 is, the closer the position of the laser irradiation point to the laser emitter 34 is, and vice versa.In this embodiment, the height measuring element 33 and the support block 322 are integrally formed, while in other embodiments, the height measuring element 33 can also be set independently.

[0064] 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 lateral moving module 12 disposed on the transfer reciprocating module 11, a transfer rotating module 13 disposed on the transfer lateral moving module 12, a transfer clamping member 14 disposed on the transfer rotating module 13, and two clamps 15 disposed 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 fruit 90 clamped by the transfer clamping member 14 to rotate around the Z-axis. The transfer lateral moving module 12 drives the fruit 90 clamped by the transfer clamping member 14 to move along the Y-axis. The transfer reciprocating module 11 drives the fruit 90 clamped by the transfer clamping member 14 to move along the X-axis. In this embodiment, the transfer clamping member 14 is an electric gripper. 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 can also be a clamping cylinder. It is not limited here. The specific structure of the transfer reciprocating module 11 is not limited. It can be driven by a ball screw, or by a linear motor, electric slide, pneumatic cylinder, hydraulic cylinder, or other linear drive methods. The specific structure of the transfer transverse module 12 is also not specifically limited. It can be driven by a ball screw, or by an electric slide, pneumatic cylinder, 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 motor and reducer to drive the electric gripper to rotate around the Z-axis. Further, the transfer reciprocating module 11 drives the electric gripper, which acts as the transfer clamping member 14, to move along the X-axis. The electric gripper can be driven to the material handling station first. After the electric gripper clamps the fruit 90, the transfer reciprocating module 11 drives the electric gripper to the slicing station. The transfer reciprocating module 11 drives the electric gripper to reciprocate between the material handling station and the slicing station. Before cutting the fruit 90, through the coordinated drive of the transfer reciprocating module 11, the transfer transverse module 12, and the transfer rotation module 13, the fruit 90 held by the electric gripper can be moved to the desired position and rotated to the desired angle. This ensures that the two blades 220 in the slicing mechanism 20 are precisely aligned with the expected optimal cutting line of the fruit 90, providing the positional conditions for the two blades 220 to cut the fruit 90.

[0065] like Figure 6As shown, in an embodiment of the present application, the fruit slice transferring mechanism 40 comprises a fruit slice reciprocating module 41, a fruit slice lifting device 42 arranged on the fruit slice reciprocating module 41, a fruit slice clamping device 43 arranged on the fruit slice lifting device 42, and two fruit slice clamps 44 arranged on the fruit slice clamping device 43. The fruit slice clamping device 43 drives the two fruit slice clamps 44 to move relative to each other to clamp the cut fruit 90. The fruit slice lifting device 42 drives the cut fruit 90 to move along the Z-axis direction. The fruit slice reciprocating module 41 drives the cut fruit 90 to move along the X-axis direction. In this embodiment, the fruit slice reciprocating module 41 is a linear linear module, and the fruit slice lifting device 42 is a lifting cylinder. In other embodiments, the specific structure of the fruit slice reciprocating module 41 and the fruit slice lifting device 42 is not particularly limited, and can be a ball screw drive, a linear motor, an electric sliding table, a pneumatic cylinder, a hydraulic cylinder, or other linear driving modes. After the slicing mechanism 20 completes slicing, the fruit slice reciprocating module 41 drives the fruit slice clamping device 43 to reach the slicing station, the fruit slice lifting device 42 drives the fruit slice clamping device 43 to move along the Z-axis direction, and after the fruit slice clamping device 43 drives the two fruit slice clamps 44 to move close to each other to clamp the cut fruit 90, the electric clamping jaw of the clamping and transferring mechanism 10 releases the cut fruit 90. After the fruit slice lifting device 42 drives the fruit slice clamping device 43 to move away from the clamping and transferring mechanism 10, the fruit slice reciprocating module 41 drives the fruit slice clamping device 43 to move the clamped fruit from the slicing station to the core removing station.

[0066] As Figure 7As shown, in an embodiment of the present application, the slicing mechanism 50 comprises a slicing drive 51, two detection rotating members 52 and two slicing clamping members 53, the two detection rotating members 52 are arranged on the slicing drive 51, the slicing drive 51 drives the two detection rotating members 52 to move relatively, the two slicing clamping members 53 are arranged correspondingly on the two detection rotating members 52, each slicing clamping member 53 is provided with two slicing clamps 54, each slicing clamping member 53 drives the two slicing clamps 54 to clamp the cut fruit, the slicing drive 51 drives the two slicing clamping members 53 to move relatively to split the cut fruit 90 into two fruit halves 91, and the detection rotating member 52 drives the fruit half 91 to rotate. When the fruit half 91 is rotated to a preset angle, the second vision mechanism 80 located above the kernel removing station acquires the image information of each angle of the fruit half 91, so as to determine whether the fruit 90 is cut in place, and also can classify the quality grade of the pulp, and the second vision mechanism 80 photographs the two fruit halves 91, and also can confirm which fruit half 91 the kernel 92 is located in, so as to facilitate the kernel removing mechanism 60 to remove the kernel, in the embodiment, the slicing drive 51 adopts a double-head air cylinder, in other embodiments, the slicing drive 51 can be a ball screw drive, or can adopt a linear motor, an electric sliding table and a hydraulic cylinder and other linear driving modes, the detection rotating member 52 adopts a servo motor in the embodiment, in other embodiments, a rotary air cylinder can also be adopted, and the slicing clamping member 53 adopts an electric clamping jaw in the embodiment, in other embodiments, a finger air cylinder can also be adopted.

[0067] As Figure 8As shown, in an embodiment of the present application, the kernel taking mechanism 60 comprises a kernel taking reciprocating module 61, a kernel taking transverse moving module 62 arranged on the kernel taking reciprocating module 61, a kernel taking clamping member 63 arranged on the kernel taking transverse moving module 62, and two kernel taking clamps 64 arranged on the kernel taking clamping member 63, the kernel taking clamping member 63 is used to drive the two kernel taking clamps 64 to move relative to each other to clamp the kernel 92, the kernel taking transverse moving module 62 is used to drive the kernel 92 clamped by the kernel taking clamping member 63 to move along the Y-axis direction, and the kernel taking reciprocating module 61 is used to drive the kernel 92 clamped by the kernel taking clamping member 63 to move along the X-axis direction. In this embodiment, the kernel taking clamping member 63 adopts an electric clamping jaw, and in other embodiments, the kernel taking clamping member 63 can also adopt other forms such as a finger air cylinder, which is not limited here, and the specific structures of the kernel taking reciprocating module 61 and the kernel taking transverse moving module 62 are not particularly limited, and can adopt a ball screw drive, or a linear motor, an electric sliding table, an air cylinder, a hydraulic cylinder, etc. In this embodiment, the kernel taking reciprocating module 61 adopts a servo motor driven by a synchronous belt, and the kernel taking transverse moving module 62 adopts a linear motor, for the convenience of understanding, further description is made as follows: when the second visual mechanism 80 takes a photo of the two fruit halves 91 to obtain the information that the kernel 92 is in which fruit half 91 and the specific position of the kernel 92 in the fruit half 91, the kernel taking reciprocating module 61 drives the kernel taking clamping member 63 to the kernel taking station, the kernel taking transverse moving module 62 drives the kernel taking clamping member 63 to be close to the fruit half 91 with the kernel 92, the kernel taking clamping member 63 drives the two kernel taking clamps 64 to be close to each other to clamp the kernel 92, the kernel taking transverse moving module 62 drives the kernel taking clamping member 63 to pull out the kernel 92 from the fruit half 91, the kernel taking reciprocating module 61 drives the kernel taking clamping member 63 to be away from the kernel taking station, and the kernel taking operation is completed.

[0068] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which shall be covered within the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A fruit processing device, characterized in that, It includes a feeding mechanism (30), a clamping and transferring mechanism (10), a slicing mechanism (20), a slicing transfer mechanism (40), a slicing separation mechanism (50), and a core removal mechanism (60); The feeding mechanism (30) is used to transport the fruit (90) to the clamping and transferring mechanism (10); The clamping and transferring mechanism (10) is used to clamp the fruit (90) and drive it to move the fruit (90) within a preset coordinate system, which includes movement in the Y-axis direction, movement in the X-axis direction and rotation around the Z-axis direction. The slicing mechanism (20) includes a slicing drive module (21), which includes a slicing drive component (210) and a motion component connected to the slicing drive component (210). The motion component includes a first motion component (211) and a second motion component (212) that can move relative to each other under the action of the slicing drive component (210). The cutting assembly (22) includes two blades (220) connected to the first moving member (211) and the second moving member (212) respectively. Each blade (220) includes a main cutting edge (2201) and a side cutting edge (2202) located on one side of the main cutting edge (2201). The side cutting edge (2202) of each blade (220) is bent relative to the main cutting edge (2201) and protrudes in the direction of the opposite blade (220). The slicing mechanism (20) is used to cooperate with the clamping and transferring mechanism (10). During the process of the clamping and transferring mechanism (10) moving the clamped fruit (90) toward the two blades (2202) in the slicing mechanism (20), the two blades (2202) move relative to each other along the Z-axis and then cut the fruit (90) along the periphery of the pit. The slicing mechanism (40) is used to transfer the fruit (90) that has been cut by the slicing mechanism (20) to the slicing mechanism (50); The slicing mechanism (50) is used to split the fruit (90) that has been cut by the slicing mechanism (20) into two fruit halves (91); The pit removal mechanism (60) is used to remove the pit (92) from the pulp.

2. The fruit processing equipment according to claim 1, characterized in that, The feeding mechanism (30) includes: Conveyor belt (31) for transporting fruit (90); 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) are used to support the two ends of the pressing plate (320) in a corresponding manner. Each support block (322) is provided with a linear slide rail. Each linear slide rail is used to guide the corresponding support block (322). The pressing drive (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 pressing plate (320) to move in a direction perpendicular to the conveyor belt (31). The pressing block (321) presses the fruit (90) onto the conveyor belt (31) from above. The height measuring element (33) includes an inclined portion (330) arranged at an angle to the conveyor belt (31), and the height measuring element (33) moves along the pressure plate (320) in a direction perpendicular to the conveyor belt (31); A laser emitter (34) is used to emit a laser beam to irradiate the beveled surface (330).

3. The fruit processing equipment according to claim 1, characterized in that, The clamping and transfer mechanism (10) includes a transfer reciprocating module (11), a transfer lateral moving module (12) disposed on the transfer reciprocating module (11), a transfer rotating module (13) disposed on the transfer lateral moving module (12), a transfer clamping member (14) disposed on the transfer rotating module (13), and two clamps (15) disposed on the transfer clamping member (14); 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 rotation module (13) is used to drive the fruit (90) clamped by the transfer clamping member (14) to rotate around the Z-axis. The transfer lateral movement module (12) is used to drive the fruit (90) clamped by the transfer clamping member (14) to move along the Y-axis. The transfer reciprocating module (11) is used to drive the fruit (90) clamped by the transfer clamping member (14) to move along the X-axis.

4. The fruit processing equipment according to claim 1, characterized in that, The fruit processing equipment also includes a first vision mechanism (70), which is located on one side of the clamping and transferring mechanism (10) and is used to take pictures of the fruit (90) before cutting, determine the shape and size of the fruit (90) based on the fruit image, and then determine the corresponding optimal cutting line based on the shape and size of the fruit (90).

5. The fruit processing equipment according to claim 1, characterized in that, The rotating plate mechanism (40) includes a rotating plate reciprocating module (41), a rotating plate lifting member (42) disposed on the rotating plate reciprocating module (41), a rotating plate clamping member (43) disposed on the rotating plate lifting member (42), and two rotating plate clamps (44) disposed on the rotating plate clamping member (43). The rotating plate clamping member (43) is used to drive the two rotating plate clamps (44) to move relative to each other to clamp the cut fruit (90). The rotating plate lifting member (42) is used to drive the cut fruit (90) to move along the Z-axis direction. The rotating plate reciprocating module (41) is used to drive the cut fruit (90) to move along the X-axis direction.

6. The fruit processing equipment according to claim 1, characterized in that, The fruit processing equipment also includes a second vision mechanism (80), which is located on one side of the pit-removing mechanism (60) and is used to photograph the two fruit halves (91) and determine which fruit half (92) the pit (92) is located in based on the image of the fruit half (91).

7. The fruit processing equipment according to claim 1, characterized in that, The slicing mechanism (50) includes a slicing drive (51), two detection rotating parts (52), and two slicing clamping parts (53). The two detection rotating parts (52) are disposed on the slicing drive (51). The slicing drive (51) is used to drive the two detection rotating parts (52) to move relative to each other. The two slicing clamping parts (53) are disposed on the two detection rotating parts (52) in a one-to-one correspondence. Each slicing clamping part (53) is provided with two slicing clamps (54). Each slicing clamping part (53) is used to drive the two slicing clamps (54) to clamp the cut fruit (90). The slicing drive (51) is used to drive the two slicing clamping parts (53) to move relative to each other, so as to split the cut fruit (90) into two fruit halves (91). The detection rotating parts (52) are used to drive the fruit halves (91) to rotate.

8. The fruit processing equipment according to claim 1, characterized in that, The pit-removing mechanism (60) includes a pit-removing reciprocating module (61), a pit-removing lateral movement module (62) disposed on the pit-removing reciprocating module (61), a pit-removing clamping member (63) disposed on the pit-removing lateral movement module (62), and two pit-removing clamps (64) disposed on the pit-removing clamping member (63). The pit-removing clamping member (63) is used to drive the two pit-removing clamps (64) to move relative to each other to clamp the pit (92). The pit-removing lateral movement module (62) is used to drive the pit (92) clamped by the pit-removing clamping member (63) to move along the Y-axis direction. The pit-removing reciprocating module (61) is used to drive the pit (92) clamped by the pit-removing clamping member (63) to move along the X-axis direction.

9. The fruit processing equipment according to claim 1, characterized in that, The first moving member (211) includes a first crossbeam portion (2110), the second moving member (212) includes a second crossbeam portion (2120), and the cutter assembly (22) further includes two cutter mounting portions (2121) respectively mounted on the first crossbeam portion (2110) and the second crossbeam portion (2120). Each blade (220) is mounted on the corresponding cutter mounting portion (2121) by a blade clamping member (2122).

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