Papaya peeling machine and papaya peeling method

Abstract

The invention relates to the technical field of fruit and vegetable processing equipment, in particular to a papaya peeling machine and a papaya peeling method.The papaya peeling machine comprises a rack, a pushing device, an end face peeling device, a clamping device and a side face peeling device, and papaya can be pushed into a clamping area of the clamping device by the pushing device; according to the papaya peeling machine, the end face peeling device is arranged on the side face peeling device, when the papaya is clamped by the clamping device, the papaya can intermittently rotate along the axis of the papaya so that the side face peeling device can peel the outer skin of the corresponding area of the papaya in the operation interval period of the papaya. The papaya peeling machine has the beneficial effects that through cooperative work of the material pushing device, the end face peeling device, the clamping device and the side face peeling device, the papaya peeling efficiency is improved; the papaya peeling machine solves the problems that a traditional papaya peeling machine cannot remove all papaya skins and cannot peel core papaya skins, and papaya skins are completely removed in a self-adaptive mode.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit and vegetable processing equipment, and in particular, to a papaya peeling machine and a papaya peeling method. Background Art

[0002] In the production process of papaya products, in order to ensure product quality, strict requirements are imposed on the peeling process. The peeling operation must be carried out along the direction of papaya fibers, and it is required that the residual rate of the epidermis is less than 5%, and the width of the residual epidermis of a single piece is less than 2 mm. Currently, there are mainly two types of peeling equipment on the market, namely, the turning type and the planing type. The turning type peeling machine has obvious defects. Its peeling method will cut off the surface fibers of the papaya, which makes the equipment inapplicable to the peeling process of a certain papaya product. Moreover, when the turning type peeling machine processes papayas, the skins at the head and tail cannot be automatically removed, and additional manual or other auxiliary processes are required. Although the planing type peeling machine can achieve peeling along the fiber direction, it is not perfect either. This equipment also cannot automatically remove the skins at the head and tail of the papaya, and has high requirements for the diameter and fruit shape of the papaya. It is only applicable to a few papayas that meet specific requirements, and has poor overall applicability to papayas of different sizes and specifications, making it difficult to meet the needs of large-scale and diversified papaya processing. Summary of the Invention

[0003] (1) Technical Problems to be Solved

[0004] In view of the above-mentioned disadvantages and deficiencies of the prior art, the present invention provides a papaya peeling machine and a papaya peeling method, which solve the technical problems existing in both the turning type peeling machine and the planing type peeling machine in the prior art, that is, the inability to remove the epidermis at the ends of the papayas and the poor adaptability to papayas of different sizes and specifications, while maintaining peeling along the limiting direction of the papayas.

[0005] (2) Technical Solutions

[0006] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0007] In a first aspect, the present invention provides a papaya peeling machine, comprising a frame, a feeding device, an end face peeling device, a clamping device and a side face peeling device; the feeding device and the clamping device are sequentially supported on the frame, and the feeding part of the feeding device is adapted to axially move the papaya from the tail of the papaya to the clamping area of the clamping device; the clamping device can switch between a clamping state of clamping the papaya in the circumferential direction and a releasing state of releasing the papaya, and can drive the papaya to intermittently rotate along its own axis when it is in the clamping state; the end face peeling device is integrated on the feeding part of the feeding device and is adapted to peel the skin of the tail end area of the papaya when the clamping device clamps the papaya; the side face peeling device can move along the axial direction of the papaya, and when the clamping device is in the clamping state and the papaya intermittently rotates along its own axis, the side face peeling device can adaptively fit the surface of the papaya during the stationary period of the papaya and move to peel the skin of the area of the papaya except the tail end area.

[0008] In a second aspect, the present invention provides a papaya peeling method, comprising the papaya peeling machine in the above technical solution, and the method comprises: S1: Based on being supported on the frame, the feeding part of the feeding device is used to push the tail of the papaya so that the papaya axially moves; S2: The clamping device is switched to the releasing state, and the papaya is pushed into the clamping area of the clamping device through the feeding part of the feeding device; S3: The clamping device is switched to the clamping state; S4: The end face peeling device is used to peel the epidermis of the tail end area of the papaya; S5: The side face peeling device is used to remove the epidermis of the papaya at the corresponding position; S6: The papaya is axially rotated by a first angle; S7: Steps S5-S6 are repeated; S8: Based on the fact that the side epidermis of the papaya is completely removed, the clamping device is switched to the releasing state.

[0009] (III) Beneficial effects

[0010] The beneficial effects of the present invention are as follows: For the papaya peeling machine and the papaya peeling method of the present invention, the present invention divides the papaya epidermis into zones, namely the tail end zone, the tail zone, the middle zone and the head zone. After the clamping device clamps the papaya, the feeding device can make the end face peeling device approach the tail end zone of the papaya to peel the skin of the tail end zone of the papaya; and after the papaya is circumferentially clamped by the clamping device, in cooperation with the intermittent rotation of the papaya and the axial movement of the side face peeling device, the epidermis of all the tail zone, the middle zone and the head zone can be removed, and the axially moving side face peeling device can better match the structural texture of the papaya, ensuring peeling along the fiber direction of the papaya and improving the peeling effect of the papaya. A certain degree of overlap can also be set between each zone to further ensure the peeling effect.

[0011] At the same time, the feeding device and the end face peeling device of the papaya are deeply integrated, reducing the cost of the papaya peeling machine and improving the papaya peeling efficiency.

[0012] Since the clamping device in the present invention is circumferentially clamped, it can make way for the positions at both axial ends of the papaya, and thus can better remove the outer skins at both ends of the papaya, improving the papaya skinning effect; the two ends of the papaya can be removed by the same peeling machine, so there is no need, as in the prior art, to independently remove the epidermis of the papaya in advance or lag behind the peeling machine, but to integrate the entire peeling process into one peeling machine, further improving the papaya peeling efficiency.

[0013] Even if the papaya is of abnormal shape, such as pear-shaped, since the tail planer, the middle planer and the head planer correspond to different regions of the papaya and can adaptively fit the papaya epidermis, the change in the shape of the papaya can be ignored, and the papaya skinning work can be efficiently completed.

[0014] In summary, through the coordinated work of the feeding device, the end face peeling device, the clamping device and the side peeling device, this papaya peeling machine solves the core pain points that the traditional papaya peeling machine cannot remove all the epidermis of the papaya and cannot peel the epidermis of papayas with large differences in specifications and sizes, and adaptively and completely removes the papaya epidermis. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the partition of the papaya of the present invention;

[0016] Figures 2 - 4 They are respectively the first, second and third structural schematic diagrams of the papaya peeling machine of the present invention;

[0017] Figures 5 - 9 They are respectively the first, second, third, fourth and fifth structural schematic diagrams of the clamping device and the side peeling device of the present invention;

[0018] Figure 10 It is a structural schematic diagram of the material discharging device and the end face peeling device of the present invention;

[0019] Figure 11 It is a system block diagram of the control mode of the force and position control system of the present invention.

[0020]

Description of the Reference Numerals

[0021] 100, Papaya; D, Tail end area; B, Tail area; A, Middle area; C, Head area; 1: Frame; 2: Pushing device; 21, Pushing plate; 22, Pushing telescopic driving part; 3: End face peeling device; 4: Clamping device; 41, Upper roller; 42, Lower roller; 43, Rotating driving part; 44, Upper support; 45, Lower support; 46, Linkage assembly; 461, First link; 462, Second link; 463, Reset part; 464, Third link; 465, Fourth link; 47, Clamping telescopic driving part; 48, Sliding seat; 5: Side peeling device; 51, Tail planer; 52, Middle planer; 53, Head planer; 54, Sliding driving part; 55, Planer telescopic driving part; E, Peeling relief opening; 6, Lifting frame; 7, Proportional valve; 8, Force and position control system; 9, Distance measuring sensor; 10, Melon peel outlet; 11, Papaya outlet. Detailed implementation mode

[0022] To better explain the present invention for easy understanding, the following combines the attached Figures 1 - 11 , and through specific implementation modes, the present invention is described in detail. Among them, the orientation nouns such as "upper" and "lower" mentioned in this article are based on Figure 1 the orientation for reference.

[0023] Embodiment 1:

[0024] Referring to Figures 1 - 11 , an embodiment of the present invention provides a papaya peeling machine. The epidermis of the papaya 100 sequentially includes a tail end area D, a tail area B, a middle area A, and a head area C from the tail end to the head end. The papaya peeling machine includes a frame 1, a pushing device 2, an end face peeling device 3, a clamping device 4, and a side peeling device 5; the pushing device 2 and the clamping device 4 are sequentially supported on the frame 1. The pushing part of the pushing device 2 is adapted to axially move the papaya 100 from the tail of the papaya 100 to the clamping area of the clamping device 4; the clamping device 4 can switch between a clamping state of clamping the papaya 100 in the circumferential direction and a releasing state of releasing the papaya 100, and can drive the papaya 100 to intermittently rotate along its own axis when it is in the clamping state; the end face peeling device 3 is integrated on the pushing part of the pushing device 2 and is adapted to peel the outer skin of the tail end area of the papaya 100 when the clamping device 4 clamps the papaya; the side peeling device 5 can move along the axis direction of the papaya 100. When the clamping device 4 is in the clamping state and the papaya 100 intermittently rotates along its own axis, the side peeling device 5 can adaptively fit the surface of the papaya 100 during the stop period of the papaya 100 and move to peel the outer skin of the area of the papaya 100 except the tail end area.

[0025] The side peeling device 5 includes a tail planer 51, a middle planer 52, and a head planer 53 that can move along the axis direction of the papaya 100 and adaptively fit the surface of the papaya 100;

[0026] The tail planer 51 , the middle planer 52 and the head planer 53 simultaneously or successively peel the outer skin of the corresponding areas of the papaya 100 during the stop period of the papaya 100 .

[0027] In this embodiment, the frame 1 is the supporting structure of the entire peeling machine, providing a foundation for the installation and fixation of other components.

[0028] The pushing device 2 includes a pushing plate 21 supported on the frame 1. The pushing plate 21 forms the pushing part of the pushing device 2. A supporting part for carrying the papaya 100 is formed on the frame 1. The pushing plate 21 can push the tail of the papaya 100 to move axially in the supporting part, thereby sending the papaya 100 into the subsequent clamping device 4.

[0029] Specifically, the supporting portion can be configured as a V-shaped groove to achieve preliminary positioning of the papaya 100. A clamping area is formed in the clamping device 4, and the papaya 100 can be axially pushed into the clamping area by the push plate 21. At this time, the clamping device 4 can be switched to a clamping state to clamp the papaya 100.

[0030] More specifically, the V-shaped groove can be designed as a 90° V-shape, which can quickly adjust the orientation of the papaya 100, prompting the papaya 100 to quickly reach a stable state, thereby facilitating the subsequent loading operation of the pushing device 2. This V-shaped groove provides flexible loading methods. The papaya 100 can be placed manually, or it can be combined with a robot or other automatic feeding device to achieve fully automatic continuous loading, greatly improving production efficiency and the degree of automation.

[0031] After the pushing device 2 pushes the papaya 100 into the clamping area and is clamped by the clamping device, the end peeling device 3 can peel off the outer skin of the tail end area of the papaya 100.

[0032] Specifically, the push plate 21 is primarily responsible for precisely pushing the papaya 100 in the V-groove toward the clamping device 4. The pusher device 2 also includes a telescopic pusher driver 22, which is supported on the frame 1 and connected to the push plate 21 at its drive end. The telescopic pusher driver 22 is capable of receiving displacement commands from a position control system, thereby ensuring the accuracy and high-speed response of the pusher device 2.

[0033] Specifically, the end peeling device 3 includes a rotating blade and a DC brushless reduction motor. The DC brushless reduction motor is supported on the push plate 21 and connected to the rotating blade. A clearance hole is provided on the push plate 21. The rotating blade can extend axially from the clearance hole toward the papaya 100. The starting time of the DC brushless reduction motor can be preset to a predetermined time. The starting time is flexibly set based on the premise that the tail skin of the papaya 100 can be peeled off and the flesh of the papaya 100 is removed as little as possible.

[0034] The clamping device 4 is supported on the frame 1 and can be switched between a clamping state for clamping the papaya 100 circumferentially and a releasing state for releasing the papaya 100. When the clamping device 4 clamps the papaya 100, the papaya 100 can rotate intermittently along its own axis. During the rotation interval, the tail region B, middle region A, and head region C of the epidermis of the papaya 100 corresponding to the position of the side peeling device 5 can be removed by the side peeling device 5. After the epidermis of this part is removed, the papaya 100 rotates by an angle, and the side peeling device 5 continues to remove the tail region B, middle region A, and head region C of the epidermis of the papaya 100 corresponding to the position of the side peeling device 5. This process is repeated until the papaya 100 rotates one week, and then all the epidermis of the papaya 100 can be removed.

[0035] Compared with the prior art, the present invention divides the epidermis of the papaya 100 into the tail end region D, tail region B, middle region A, and head region C. After the clamping device 4 clamps the papaya 100, the feeding device 2 can move the end face peeling device 3 close to the tail end region of the papaya 100 to peel off the outer skin of the tail end region of the papaya 100. And after the papaya 100 is circumferentially clamped by the clamping device 4, in cooperation with the intermittent rotation of the papaya 100 and the axial movement of the side peeling device 5, the epidermis of all the tail region B, middle region A, and head region C can be removed, and the axially moving side peeling device 5 can better match the structural texture of the papaya 100, ensuring peeling along the fiber direction of the papaya 100 and improving the peeling effect of the papaya 100. There can also be a certain degree of overlap between each partition, further ensuring the peeling effect.

[0036] At the same time, the feeding device 2 and the end face peeling device 3 of the papaya 100 are deeply integrated, reducing the cost of the papaya peeling machine and improving the peeling efficiency of the papaya 100.

[0037] Since the clamping device 4 in the present invention is circumferentially clamped, it can leave the positions at both axial ends of the papaya 100, and thus can better remove the outer skin at both ends of the papaya 100, improving the peeling effect of the papaya 100. The two ends of the papaya 100 can be removed by the same peeling machine, so there is no need to, as in the prior art, independently remove the epidermis of the papaya 100 in advance or lag behind the peeling machine, but all the peeling processes are integrated in one peeling machine, further improving the peeling efficiency of the papaya 100.

[0038] Even if the papaya 100 is of an irregular shape, such as a pear shape, since the tail planer 51, middle planer 52, and head planer 53 correspond to different regions of the papaya 100 and can adaptively fit the epidermis of the papaya 100, the change in the shape of the papaya 100 can be ignored, and the peeling work of the papaya 100 can be efficiently completed.

[0039] In summary, this papaya peeling machine solves the core pain points of the traditional papaya peeling machine being unable to remove the entire skin of the papaya 100 and being unable to peel the skin of the irregularly shaped papaya 100 through the coordinated work of the pushing device 2, the end peeling device 3, the clamping device 4 and the side peeling device 5, thereby achieving efficient peeling of the papaya 100.

[0040] This papaya peeling machine can not only be used to peel papaya 100, but also other fruits and vegetables of similar shape and hardness can be peeled by this peeling machine, ensuring good versatility.

[0041] Specifically, the papaya peeling machine also includes a distance sensor 9 and a force and position control system 8. The distance sensor 9 can be set to a TOF laser distance sensor 9. With the help of the dynamic changes in the measurement value of the TOF laser distance sensor 9, the length parameter of the papaya 100 is calculated by the system, and then the force and position control system 8 can determine the pushing length of the pushing telescopic drive member 22 according to the length parameter to ensure that the papaya 100 can be correctly pushed to the correct position of the clamping area, thereby ensuring that the end face peeling work and the side peeling work are carried out smoothly, and also ensuring that the clamping device 4 can achieve reliable and stable clamping.

[0042] Example 2:

[0043] Reference Figures 1 - 11 In addition to all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0044] The clamping device 4 includes two upper rollers 41 and two lower rollers 42, and the two upper rollers 41 and the two lower rollers 42 are both supported for rotation in a direction parallel to the axial direction of the papaya 100; the axial spacing of the two upper rollers 41 is equal to the axial spacing of the two lower rollers 42, the transverse plane where the axes of the two upper rollers 41 are located is the first plane, and the transverse plane where the axes of the two lower rollers 42 are located is the second plane, and the first plane is parallel to the second plane; a clamping area is formed between the two upper rollers 41 and the two lower rollers 42, and the first plane and the second plane can approach or move away from each other, so that the clamping device 4 can switch between a loose state and a clamped state.

[0045] In this embodiment, the axial spacing between the upper roller 41 and the lower roller 42 is equal, and the planes on which they are located are parallel to each other, so that the axial projection of the roller axis can form a rectangle. Combined with the action mechanism of the upper roller 41 and the lower roller 42 that can approach and move away from each other, a clamping area is formed that can match papayas 100 with different outer diameters, ensuring the stability and reliability of the papaya 100 when clamped.

[0046] Specifically, the upper roller 41 and the lower roller 42 can both be configured as rubber-coated rollers of the same structure to ensure a predetermined shape of the clamping area while avoiding damaging the papaya 100 .

[0047] The rotation driving member 43 is drivingly connected to at least one upper roller 41 or lower roller 42. The rotation driving member 43 enables the papaya 100 to intermittently rotate along its own axis after being clamped by the clamping device 4, facilitating side peeling.

[0048] Specifically, two sets of rotation driving members 43 can be provided to respectively drive one upper roller 41 and one lower roller 42 to rotate, and the rotation directions of the upper and lower rollers 42 are opposite, so that the papaya 100 can rotate stably and reliably.

[0049] The two upper rollers 41 and the two lower rollers 42 can approach or move away from each other, enabling the clamping device 4 to switch between a loosened state and a clamped state. This adjustment mechanism allows the clamping device 4 to adapt to papayas 100 of different sizes.

[0050] Embodiment 3:

[0051] Referring to Figures 1 - 11 , in addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0052] Two peeling relief openings E for the side peeling device 5 to pass through are formed between the upper and lower rollers 41 and 42 on the same side; the tail planer 51 and the head planer 53 are supported outside one side peeling relief opening E, and the middle planer 52 is supported outside the other side peeling relief opening E; the tail planer 51, the middle planer 52, and the head planer 53 can all switch between a fitting state in which they adaptively fit the papaya 100 and a disengaged state in which they are disengaged from contact with the papaya 100; when the tail planer 51 moves from the middle of the papaya 100 towards the tail of the papaya 100, and when the head planer 53 moves from the middle of the papaya 100 towards the head of the papaya 100, the corresponding tail planer 51 and head planer 53 can switch to the fitting state to peel off the epidermis at the corresponding positions; when the tail planer 51 moves from the tail of the papaya 100 towards the middle of the papaya 100, and when the head planer 53 moves from the head of the papaya 100 towards the middle of the papaya 100, the corresponding tail planer 51 and head planer 53 can switch to the disengaged state to disengage from the papaya 100; when the middle planer 52 moves along the axis of the papaya 100, the middle planer 52 can switch to the fitting state to peel off the epidermis at the corresponding position; when the papaya 100 rotates axially, or when the clamping device 4 switches to the loosened state, the tail planer 51, the middle planer 52, and the head planer 53 all switch to the disengaged state.

[0053] In this embodiment, the two groups of peeling relief openings E allow the planing knives of the side peeling device 5 to pass through for peeling. The tail planing knife 51 and the head planing knife 53 are supported outside one side peeling relief opening E, and the middle planing knife 52 is supported outside the other side peeling relief opening E. This configuration ensures that the planing knives can cover the entire side of the papaya 100 for peeling and avoids the problem of interference between adjacent planing knives. Therefore, the tail planing knife 51, the middle planing knife 52, and the head planing knife 53 have fewer restrictions during lateral movement, which is more conducive to improving the peeling effect.

[0054] The tail planing knife 51, the middle planing knife 52, and the head planing knife 53 can all switch between the fitting state and the disengaged state. In the fitting state, the planing knife is in close contact with the surface of the papaya 100 to shave off the epidermis. In the disengaged state, the planing knife is disengaged from the surface of the papaya 100 and does not perform peeling.

[0055] When the tail planing knife 51 moves from the middle of the papaya 100 to the tail, it switches to the fitting state for peeling. At this time, the tail planing knife 51 is equivalent to "going downhill" along the tail area B of the papaya 100. Therefore, it can maintain smooth sliding. Even if the slope of the tail area B relative to the axis of the papaya 100 is large, there will be no knife problems, and at the same time, efficient peeling work can be completed.

[0056] When moving in the reverse direction, if the disengaged state is not switched, the tail planing knife 51 is equivalent to "going uphill" along the tail area B of the papaya 100. When the slope of the tail area B relative to the axis of the papaya 100 is large, there is an easy problem of knife collision, which is likely to damage the knife head and the papaya 100. It is precisely because the tail planing knife 51 can switch to the disengaged state when moving in the reverse direction that the above problems can be well avoided.

[0057] Similarly, the state switching mechanism of the head planing knife 53 is the same as that of the tail planing knife 51 and will not be elaborated here.

[0058] However, since the inclination angle of the middle part of the papaya 100 relative to the axis of the papaya 100 is relatively gentle, even if the middle planing knife 52 does not switch to the disengaged state but reciprocates for peeling when moving axially for peeling, it will not cause the problem of knife collision or damage to the papaya 100, and can also improve the peeling efficiency.

[0059] When the papaya 100 rotates axially or the clamping device 4 switches to the loosened state, all the planing knives switch to the disengaged state to avoid interference between the planing knives and the papaya 100 when the papaya 100 rotates or the clamping device 4 is loosened, which affects the rotation or axial movement of the papaya 100.

[0060] Embodiment 4:

[0061] Refer to Figures 1 - 11 In addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0062] The clamping device 4 further includes an upper bracket 44, a lower bracket 45, a linkage assembly 46 and a rotation driving member 43; both upper rollers 41 are supported on the upper bracket 44, both lower rollers 42 are supported on the lower bracket 45, and the linkage assembly 46 connects the upper bracket 44 and the lower bracket 45 so that the upper bracket 44 and the lower bracket 45 can approach and move away synchronously; the clamping device 4 further includes a clamping telescopic driving member 47 and a sliding base 48, the sliding base 48 is supported on the frame 1, the lower bracket 45 and the upper bracket 44 are both vertically slidably connected to the sliding base 48, the clamping telescopic driving member 47 is supported on the sliding base 48 or the frame 1 and can drive the upper bracket 44 or the lower bracket 45 to slide vertically so that the two upper rollers 4E1 and the two lower rollers 42 can approach and move away from each other; the rotation driving member 43 is provided with at least one set and supported on the upper bracket 44 or the lower bracket 45 and is drivingly connected to at least one upper roller 41 or at least one lower roller 42 so that the papaya 100 can rotate intermittently along its own axis after being clamped by the clamping device 4.

[0063] In this embodiment, the upper bracket 44 and the lower bracket 45 provide a stable support platform for the rollers, ensuring that the rollers can rotate along the axis direction of the papaya 100. The linkage assembly 46 connects the upper bracket 44 and the lower bracket 45, enabling them to approach and move away synchronously, ensuring that the upper rollers 41 and the lower rollers 42 can be adjusted synchronously, so as to adapt to papayas 100 of different sizes and to realize the switching between the clamping and loosening states.

[0064] The sliding base 48 is supported on the frame 1 to provide vertical sliding support for the upper bracket 44 and the lower bracket 45. The upper bracket 44 and the lower bracket 45 are both vertically slidably connected to the sliding base 48, enabling them to move in the vertical direction

[0065] Specifically, the sliding base 48 is provided as a plurality of vertically extending rods that penetrate through the upper bracket 44 and the lower bracket 45, and the clamping telescopic driving member 47 can be supported on the sliding base 48 or the bracket to drive the upper bracket 44 or the lower bracket 45 to slide vertically, and can also realize the limitation of the positions of the upper bracket 44 and the lower bracket 45 relative to the sliding base 48. The clamping telescopic driving member 47 can be provided as a pressure-holding cylinder.

[0066] When the clamping telescopic driving member 47 works, it will push the upper bracket 44 or the lower bracket 45 to move in the vertical direction, so that the upper rollers 41 and the lower rollers 42 approach or move away from each other. This vertical sliding mechanism provides the clamping device 4 with adjustment ability, enabling it to more flexibly adapt to papayas 100 of different sizes.

[0067] Specifically, when it is necessary to clamp the papaya 100, the clamping telescopic driving member 47 works to push the upper bracket 44 and the lower bracket 45 closer to each other, so that the upper roller 41 and the lower roller 42 clamp the papaya 100. When it is necessary to loosen the papaya 100, the clamping telescopic driving member 47 works in the reverse direction to pull the upper bracket 44 and the lower bracket 45 away from each other, so that the upper roller 41 and the lower roller 42 loosen the papaya 100.

[0068] The linkage assembly 46 ensures the synchronous movement of the upper bracket 44 and the lower bracket 45, and also maintains the stability of the clamping device 4.

[0069] The TOF laser distance sensor 9 can also measure the diameter parameter of the papaya 100 and then feedback it to the force and position control system 8. Furthermore, through the force and position control system 8, the elongation length of the clamping telescopic driving member 47 is determined to ensure that the papaya 100 can be stably clamped; the force and position control system 8 can also determine the rotation step distance of the rotation driving member 43 through the diameter parameter of the papaya 100, so that the side peeling device 5 can complete the indexing peeling work of the papaya 100 stably, accurately and reliably.

[0070] Specifically, the two upper rollers 41 and the two lower rollers 42 are both rotatably supported on the corresponding upper bracket 44 and lower bracket 55 through bearings. Moreover, the upper bracket 44 and the lower bracket 55 are both supported with a rotation driving member 43, such as a stepping motor. The stepping motor is drivingly connected to a corresponding upper roller 41 and a lower roller 42 through a synchronous belt assembly.

[0071] Embodiment 5:

[0072] Referring to Figures 1 - 11 , in addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0073] The linkage assembly 46 includes a first connecting rod 461 and a second connecting rod 462. The first end of the first connecting rod 461 and the second connecting rod 462 is hinged along the axis of the papaya 100. The second ends of the first connecting rod 461 and the second connecting rod 462 are respectively hinged to the upper bracket 44 and the lower bracket 45 along the axis of the papaya 100; the transverse plane where all the hinge points of the first ends of the first connecting rods 461 and the second connecting rods 462 are located is the third plane. The first plane and the second plane are symmetric about the third plane so that the third plane can pass through the axis of the papaya 100, and the peeling ends of the side peeling device 5 are all kept in the third plane;

[0074] The linkage assembly 46 further includes a reset member 463 which is adapted to provide an elastic force for the second ends of the first link 461 and the second link 462 to move away from each other; the reset member 463 is provided as a spring, and both ends thereof abut between the third ends of the first link 461 and the second link 462, and can store elastic potential energy when the second ends of the first link 461 and the second link 462 approach each other.

[0075] In this embodiment, the first link 461 and the second link 462 enable the upper bracket 44 and the lower bracket 45 to operate in a linkage manner, and the operating directions are opposite, so that they can approach or move away from each other under the drive of the clamping telescopic drive member 47, preventing the upper bracket 44 and the lower bracket 45 from being misaligned or tilted, and ensuring the controllability of the shapes and positions of the upper roller 41 and the lower roller 42.

[0076] The first plane and the second plane are symmetrically arranged along the third plane, and the axial spacings of the two upper roller rolls and the two lower rollers 42 are equal. Therefore, the upper roller 41 and the lower roller 42 are also symmetrically arranged along the third plane. Thus, when the clamping device 4 clamps the papaya 100, it can ensure that the third plane passes through the axis of the papaya 100, forming a reference plane on the linkage assembly 46 that can refer to the axis position of the papaya 100, thereby facilitating the peeling operation. By keeping the peeling ends of the side peeling device 5 in the third plane, the reliability and accuracy of the peeling operation can be ensured.

[0077] When the force of the clamping telescopic drive member 47 disappears, under the action of the reset member 463, the clamping device 4 can automatically return to the original state, that is, the state where the upper bracket 44 and the lower bracket 45 are away from each other.

[0078] The reset member 463 is provided as a spring, and both ends thereof abut between the third ends of the first link 461 and the second link 462, such as abutting on the upper bracket 44 and the lower bracket 45.

[0079] Specifically, when the clamping telescopic drive member 47 works, it will push the upper bracket 44 or the lower bracket 45 to move, so that the upper roller 41 and the lower roller 42 approach or move away from each other through the rotation of the first link 461 and the second link 462. In this process, the reset member 463 will be compressed or stretched to store elastic potential energy.

[0080] When the clamping telescopic drive member 47 stops and the external force applied to the first bracket or the second bracket is not sufficient to overcome the elastic force of the spring, the spring will release the elastic potential energy, pushing the first link 461 and the second link 462 back to the original position, so that the upper bracket 44 and the lower bracket 45 move away from each other. This automatic reset function enables the clamping device 4 to conveniently switch to the loosening state, preparing for the peeling work of the next papaya 100.

[0081] In summary, through the cooperation of the first link 461, the second link 462 and the reset member 463, the linkage assembly 46 realizes the synchronous movement and automatic reset function of the upper bracket 44 and the lower bracket 45, providing stable support and adjustment capabilities for the clamping device 4.

[0082] Embodiment 5:

[0083] Referring to Figures 1 - 11 , in addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0084] The linkage assembly 46 further includes a third link 464 and a fourth link 465. The first ends of the third link 464 and the fourth link 465 are hinged along the axis of the papaya 100, and the second ends of the third link 464 and the fourth link 465 are respectively hinged to the first link 461 and the second link 462 along the axis of the papaya 100; the transverse plane where the hinge point of the first ends of the third link 464 and the fourth link 465 is located is the third plane.

[0085] In this embodiment, the linkage assembly 46 further includes a third link 464 and a fourth link 465. The transverse plane where the hinge point of the first ends of the third link 464 and the fourth link 465 is located is also the third plane. Therefore, the cooperation of the two with the first link 461 and the second link 462 forms a planar four-bar mechanism, enabling the linkage assembly 46 to maintain consistency with the axis of the papaya 100 during operation, thereby ensuring the accuracy and stability of the peeling operation. It also enables the linkage assembly 46 to have a stable structure when assembled with the upper bracket 44 and the lower bracket 45, facilitating the assembly work.

[0086] Embodiment 6:

[0087] Referring to Figures 1 - 11 , in addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0088] The papaya peeling machine further includes two sets of lifting frames 6. The two sets of lifting frames 6 are correspondingly supported outside the two peeling relief openings E. The tail planer 51 and the head planer 53 are supported on one set of lifting frames 6, and the middle peeling assembly is supported on the other set of lifting frames 6;

[0089] The two sets of lifting frames 6 can be lifted and lowered synchronously with the third plane, so that the peeling ends of the side peeling device 5 are all kept within the third plane.

[0090] In this embodiment, the two sets of lifting frames 6 are correspondingly supported outside the two peeling relief openings E. This layout ensures that when the side peeling device 5 is working, the lifting frames 6 can provide stable support without interfering with the peeling operation.

[0091] The two sets of lifting frames 6 can be raised and lowered synchronously with the third plane. When the position of the third plane changes, the lifting frames 6 will adjust their height accordingly to keep the peeling ends of the peeling devices within the third plane, ensuring the accuracy and consistency of peeling, especially when processing papayas 100 of different sizes.

[0092] Example 7:

[0093] Reference Figures 1 - 11 In addition to all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0094] The linkage components 46 are set into two groups, one group of linkage components 46 corresponds to the peeling and making way opening E on one side, and the other group of linkage components 46 corresponds to the peeling and making way opening E on the other side; the two groups of lifting frames 6 are correspondingly supported on the two groups of linkage components 46; the two groups of lifting frames 6 are correspondingly supported on the first ends of the first connecting rods 461 and the second connecting rods 462 corresponding to the two groups of linkage components 46, and / or correspondingly supported on the first ends of the third connecting rods 464 and the fourth connecting rods 465 corresponding to the two groups of linkage components 46.

[0095] In this embodiment, the linkage components 46 are arranged into two groups, corresponding to the peeling openings E on both sides respectively. This arrangement ensures that the linkage components 46 can provide stable linkage and support on both sides, thereby improving the stability and reliability of the clamping device 4 when switching states.

[0096] The two groups of lifting frames 6 are correspondingly supported on the two groups of linkage components 46, ensuring that the lifting frames 6 can move synchronously with the action of the linkage components 46, thereby enabling the side peeling device 5 to be more stably and easily maintained in the third plane, which is beneficial to reducing the height control cost of the side peeling device 5 and improving the peeling reliability of the side peeling device 5.

[0097] Specifically, the lifting frame 6 is supported on the first ends of the first link 461 and the second link 462 corresponding to the linkage assembly 46, and / or, the lifting frame 6 is supported on the first ends of the third link 464 and the fourth link 465 corresponding to the linkage assembly 46. Preferably, the lifting frame 6 is supported on the first ends of the first link 461 and the second link 462, and on the first end of the fourth link 465 of the third link 464, so as to utilize the hinge axis of the hinge point to achieve stable support of the lifting frame 6.

[0098] When the linkage assembly 46 and the lifting frame 6 on one side move, the linkage assembly 46 and the lifting frame 6 on the other side will also move accordingly, maintaining the consistency of the entire clamping device 4.

[0099] Example 8:

[0100] Reference Figures 1 - 11, In addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0101] The side peeling device 5 further includes a sliding driving member 54 and three groups of cutter telescopic driving members 55; the telescopic ends of the three groups of cutter telescopic driving members 55 are respectively connected to the tail cutter 51, the middle cutter 52, and the head cutter 53 in one-to-one correspondence, so that the side peeling device 5 can slide along the radial direction of the papaya 100; the sliding driving member 54 is adapted to drive the body of the corresponding cutter telescopic driving member 55 to move along the axial direction of the papaya 100;

[0102] The sliding driving member 54 is arranged as two groups of lead screw modules, and the two groups of lead screw modules are respectively supported on two lifting frames 6. One group of lead screw modules can drive the middle cutter 52 to move along the axis of the papaya 100, and the other group of left-right hand lead screw modules can drive the tail cutter 51 and the head cutter 53 to move along the axial direction of the papaya 100; the feeding device 2 further includes a feeding telescopic driving member 22, and the feeding telescopic driving member 22 is supported on the frame 1, and the driving end is connected to the push plate 21;

[0103] The papaya peeling machine further includes multiple groups of proportional valves 7;

[0104] The ranging sensor 9 is also adapted to identify whether there is a papaya 100;

[0105] The proportional valves 7 are connected to the clamping telescopic driving member 47 and the cutter telescopic driving member 55 in one-to-one correspondence through air circuits, and the proportional valves 7 are connected to the force and position control system 8 for control;

[0106] The force and position control system 8 is connected to the cutter telescopic driving member 55 and the sliding driving member 54 for control.

[0107] In this embodiment, when the cutter telescopic driving member 55 expands and contracts, it will drive the corresponding cutter to slide along the radial direction of the papaya 100, so that the corresponding cutter can switch between the fitting state and the disengaged state.

[0108] The telescopic end of the sliding driving member 54 is connected to the body of the cutter telescopic driving member 55. When the sliding driving member 54 works, it will drive the cutter telescopic driving member 55 to slide along the axial direction of the papaya 100 to achieve the peeling work.

[0109] Multiple groups of proportional valves 7 are respectively connected to the clamping telescopic driving member 47 and the cutter telescopic driving member 55 in one-to-one correspondence. Each telescopic driving member can be set as a cylinder, and the proportional valve 7 is a pneumatic proportional valve 7 to precisely control the telescopic speed, telescopic length, and telescopic force of the telescopic driving member.

[0110] The TOF laser distance sensor 9 can also measure the diameter and length parameters of the papaya 100 and then feedback them to the force and position control system 8. Furthermore, the operation lengths of the planer cutter telescopic driving member 55 and the sliding driving member 54 are determined through the force and position control system 8, improving the compatibility and automation degree of the side peeling device 5 when peeling the papaya 100 and enhancing the papaya 100 peeling efficiency.

[0111] Specifically, when the papaya 100 is stably placed on the supporting portion, the feeding device 2 is activated to push the papaya 100 to the entrance position of the clamping area. During the pushing process, the TOF laser distance sensor 9 starts working synchronously. When the pushing operation is completed, the TOF laser distance sensor 9 has also successfully completed the measurement task of the size parameters of the papaya 100. Subsequently, according to the measured length value of the papaya 100, the feeding device 2 is driven again to finely adjust the position of the papaya 100 until the papaya 100 is accurately adjusted to the center position of the clamping area, and at the same time, the clamping force of the papaya 100 is controlled. Then, the outer skin of the tail end area D of the papaya 100 can be peeled off by the end face peeling device 3. Next, the step distance of the papaya 100 rotation is adjusted according to the measured diameter of the papaya 100, that is, the intermittent rotation angle and time interval. While controlling the rotation of the papaya 100, the peeling operation is carried out in an orderly manner, and the force applied to the papaya 100 is controlled with a constant force during the peeling process. At the same time, the running length of the side peeling device 5 along the axial direction of the papaya 100 is also controlled to match the axial length of the papaya 100 until the entire peeling process is completed, ensuring the accuracy, stability and efficiency of the entire peeling process.

[0112] The sliding driving member 54 can be set as two sets of servo-driven lead screw modules, and specifically two sets of servo lead screw modules. One set corresponds to the middle position of the papaya 100 and is specifically used to drive the middle planer cutter 52 for the peeling operation of the middle part of the papaya 100; the other set is a double-knife system, which uses a lead screw with reverse threads and drives the tail planer cutter 51 and the head planer cutter 53 to move along the axial direction of the papaya 100 by rotation. Moreover, the tail planer cutter 51 and the head planer cutter 53 move in opposite directions when moving, improving the driving efficiency, reducing the driving cost, and realizing the comprehensive and accurate peeling of the entire surface of the papaya 100.

[0113] With the proportional signal of the proportional valve 7, stepless and precise control of the air pressure can be achieved, and then precise control of the thrust of the three planing knives can be achieved. At the moment when the three planing knives contact the surface of the papaya 100 and during the entire operation process, the force and position control system 8 adopts a flexible floating method, which can actively and sensitively adapt to the wavy size changes of the surface of the papaya 100, always precisely control the magnitude of the force within the required range, without being interfered by factors such as angles and component forces, and can stably cut the three-dimensional shape of the papaya 100 at any angle. Just preset the operation path in advance, and the contact pressure between the planing knife and the surface of the papaya 100 will be automatically controlled by the force and position control system 8 without manual intervention, significantly improving the production efficiency. According to the fruit shape characteristics of the papaya 100 and the hardness distribution of the epidermis, the papaya 100 is divided into zones, and the magnitude of the force required for the peeling path of the corresponding planing knife is set for each section. Adopting this segmented force control strategy can better adapt to the complex changes of the fruit shape and complete the peeling task more efficiently and with higher quality.

[0114] In summary, the force and position control system 8 can control the elongation length of the pusher telescopic drive member 22 according to the axial length and diameter parameters of the papaya 100 measured by the distance measuring sensor 9, so that the papaya 100 is pushed into the corresponding position in the clamping area by the pusher device 2;

[0115] The force and position control system 8 can also control the elongation lengths of the clamping telescopic drive member 47 and the planing knife telescopic drive member 55 according to the diameter parameter of the papaya 100, in cooperation with the proportional valve 7. On the one hand, the clamping device 4 clamps the papaya 100 with a clamping force within a constant range, and on the other hand, the side peeling device 5 adaptively fits the surface of the papaya 100 with a cutting force within a constant range to complete efficient cutting;

[0116] The force and position control system 8 can also control the rotation step of the rotation drive member 43 according to the diameter parameter of the papaya 100 and cooperate with the side peeling device 5 to achieve efficient peeling operation.

[0117] Example 9:

[0118] Refer to Figures 1 - 11 , in addition to having all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0119] The papaya peeling machine further includes a melon skin outlet 10 and a papaya outlet 11 provided on the frame 1. The melon skin outlet 10 is suitable for discharging the melon skin, and the papaya outlet 11 is suitable for discharging the peeled papaya 100 to achieve efficient separation of the papaya 100 and the melon skin.

[0120] Specifically, the papaya outlet 11 and the melon peel outlet 10 are two discharging parts, which respectively output the peeled papaya 100 and the melon peel. For the discharging of the peeled papaya 100, a slope can be used for conveying. This unpowered discharging method can achieve seamless connection with the subsequent papaya 100 processing procedures, facilitating the continuous operation of the entire production process. For the discharging of the melon peel, a herringbone slope two-way discharging can be adopted, which can effectively and quickly discharge the papaya 100 peel from the equipment, avoiding interference with the equipment operation and subsequent processes.

[0121] Example 10:

[0122] Figures 1 - 11 , in addition to providing a papaya peeling method, the embodiments of the present invention include the papaya peeling machine in any of the above embodiments. The method includes:

[0123] S1: Based on being supported on the frame 1, the pushing part of the pushing device 2 pushes the tail of the papaya 100 to make the papaya 100 move axially;

[0124] S2: Switch the clamping device 4 to the loosening state, and push the papaya 100 into the clamping area of the clamping device 4 through the pushing part of the pushing device 2;

[0125] S3: Switch the clamping device 4 to the clamping state;

[0126] S4: Make the end face peeling device 3 peel off the epidermis of the tail end area D of the papaya 100;

[0127] S5: Make the side peeling device 5 remove the epidermis of the corresponding position of the papaya 100;

[0128] S6: Make the papaya 100 rotate axially by a first angle;

[0129] S7: Repeat S5 - S6;

[0130] S8: Based on the fact that the side epidermis of the papaya 100 has been completely removed, switch the clamping device 4 to the loosening state;

[0131] S9: Repeat S1 - S2 to push the previous papaya 100 out of the clamping device 4 by the next papaya 100;

[0132] S10: Repeat S3 - S9.

[0133] In this embodiment, the papaya peeling method is as follows:

[0134] S1: Papaya 100 positioning and preliminary movement: Place the papaya 100 on the supporting part. Use the push plate 21 to push the tail of the papaya 100 to make the papaya 100 start to move axially.

[0135] S2: Feed the papaya 100 into the clamping device 4: Switch the clamping device 4 to the loosened state. Push the papaya 100 into the clamping device 4 through the push plate 21, and prepare for side peeling.

[0136] S3: Clamp the papaya 100: Switch the clamping device 4 to the clamped state to ensure that the papaya 100 remains stable during the peeling process.

[0137] S4: Peel the tail end area D: Use the end face peeling device 3 to peel the epidermis of the tail end area D of the papaya 100. Specifically, under the action of the pushing telescopic driving member 22 of the push plate 21, drive the end face peeling device 3 to fit the tail end area D of the papaya, and then start the end face peeling device 3 to peel the outer skin of this area.

[0138] S5: Side peeling: Use the side peeling device 5 to remove the epidermis of the papaya 100 at the current position.

[0139] S6: Rotate the papaya 100: Rotate the papaya 100 axially by a first angle to peel the unpeeled part of the epidermis.

[0140] S7 is a repetition of S5 - S6: Repeat steps S5 and S6 until the side epidermis of the papaya 100 is completely removed.

[0141] S8: Loosen the clamping: Based on the fact that the side epidermis of the papaya 100 has been completely removed, switch the clamping device 4 to the loosened state.

[0142] S9 is a repetition of S1 - S2: Repeat steps S1 to S2 to process the next papaya 100. The next papaya 100 will push out the previously peeled papaya 100 from the clamping device 4 and enter the papaya outlet 11.

[0143] S10 is a repetition of S3 - S9: Repeat steps S4 to S9 for the newly entered papaya 100 until all the papayas 100 are peeled.

[0144] Through this method, the peeling work of multiple papayas 100 can be continuously and efficiently achieved, improving the production efficiency and being applicable to large-scale papaya 100 processing scenarios.

[0145] It can be understood that in the above-mentioned Embodiments 1 - 9, except for the conflicting parts, they can be freely combined to form other embodiments of the present invention.

[0146] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0147] In the present invention, unless otherwise clearly defined or limited, terms such as "install", "connect", "link", "fix", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0148] In the present invention, unless otherwise clearly defined or limited, when the first feature is "on" or "under" the second feature, it can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, when the first feature is "above", "over" and "on top of" the second feature, it can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. When the first feature is "under", "beneath" and "underneath" the second feature, it can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0149] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, so that a process, article or device / equipment comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in these processes, articles or devices / equipment.

[0150] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A papaya peeling machine, characterized in that, It includes a frame (1), a pusher device (2), an end peeling device (3), a clamping device (4), and a side peeling device (5); The pusher device (2) and the clamping device (4) are sequentially supported on the frame (1). The pusher part of the pusher device (2) is adapted to axially push the papaya (100) from the tail of the papaya (100) to the clamping area of the clamping device (4). The clamping device (4) can switch between a clamping state of clamping the papaya (100) in the circumferential direction and a releasing state of releasing the papaya (100), and can drive the papaya (100) to intermittently rotate along its own axis when it is in the clamping state. The end peeling device (3) is integrated on the pusher part of the pusher device (2) and is adapted to peel the outer skin of the tail end area of the papaya (100) when the clamping device (4) clamps the papaya; The side peeling device (5) can move along the axis direction of the papaya (100). When the clamping device (4) is in the clamping state and the papaya (100) intermittently rotates along its own axis, the side peeling device (5) can adaptively fit the surface of the papaya (100) during the stop period of the papaya (100) and move to peel the outer skin of the area of the papaya (100) except the tail end area.

2. The papaya peeling machine according to claim 1, wherein The clamping device (4) includes two upper rollers (41) and two lower rollers (42). The two upper rollers (41) and the two lower rollers (42) are both rotatably supported in a direction parallel to the axis direction of the papaya (100); The axial distance between the two upper rollers (41) is equal to the axial distance between the two lower rollers (42). The transverse plane where the axes of the two upper rollers (41) are located is the first plane, and the transverse plane where the axes of the two lower rollers (42) are located is the second plane. The first plane is parallel to the second plane; A clamping area is formed between the two upper rollers (41) and the two lower rollers (42). The first plane and the second plane can approach each other or move away from each other, so that the clamping device (4) can switch between the releasing state and the clamping state; The side peeling device (5) includes a tail planer (51), a middle planer (52), and a head planer (53) that can move along the axis direction of the papaya (100) and adaptively fit the surface of the papaya (100); The tail planer (51), the middle planer (52), and the head planer (53) simultaneously or successively peel the outer skin of the corresponding area of the papaya (100) during the stop period of the papaya (100).

3. The papaya peeling machine according to claim 2, characterized in that, Two peeling relief openings (E) for the side peeling device (5) to pass through are formed between the upper roller (41) and the lower roller (42) on the same side. The tail planer (51) and the head planer (53) are supported outside one of the peeling relief openings (E), and the middle planer (52) is supported outside the other peeling relief opening (E); The tail planer (51), the middle planer (52) and the head planer (53) can all switch between a fitting state of adaptively fitting to the papaya (100) and a disengaged state of disengaging from contact with the papaya (100); When the tail planer (51) moves from the middle of the papaya (100) towards the tail of the papaya (100), and the head planer (53) moves from the middle of the papaya (100) towards the head of the papaya (100), the corresponding tail planer (51) and head planer (53) can switch to the fitting state to shave off the epidermis at the corresponding positions; When the tail planer (51) moves from the tail of the papaya (100) towards the middle of the papaya (100), and the head planer (53) moves from the head of the papaya (100) towards the middle of the papaya (100), the corresponding tail planer (51) and head planer (53) can switch to the disengaged state to disengage from the papaya (100); When the middle planer (52) moves along the axis of the papaya (100), the middle planer (52) can switch to the fitting state to shave off the epidermis at the corresponding positions; When the papaya (100) rotates axially, or when the clamping device (4) switches to the released state, the tail planer (51), the middle planer (52) and the head planer (53) all switch to the disengaged state.

4. The papaya peeling machine according to claim 3, wherein, The clamping device (4) further includes an upper bracket (44), a lower bracket (45), a linkage assembly (46) and a rotation driving member (43); Both of the upper rollers (41) are supported on the upper bracket (44), both of the lower rollers (42) are supported on the lower bracket (45), and the linkage assembly (46) connects the upper bracket (44) and the lower bracket (45) so that the upper bracket (44) and the lower bracket (45) can approach and move away synchronously; The rotation driving member (43) is provided with at least one group and is supported on the upper bracket (44) or the lower bracket (45), and is drivingly connected to at least one of the upper rollers (41) or at least one of the lower rollers (42) so that the papaya (100) can intermittently rotate along its own axis after being clamped by the clamping device (4); The clamping device (4) further includes a clamping telescopic driving member (47) and a sliding seat (48), the sliding seat (48) is supported on the frame (1), the lower bracket (45) and the upper bracket (44) are both vertically slidably connected to the sliding seat (48), the clamping telescopic driving member (47) is supported on the sliding seat (48) or the frame (1), and can drive the upper bracket (44) or the lower bracket (45) to slide vertically so that the two upper rollers (41) and the two lower rollers (42) can approach and move away from each other.

5. The papaya peeling machine according to claim 4, wherein The linkage assembly (46) includes a first connecting rod (461) and a second connecting rod (462). The first ends of the first connecting rod (461) and the second connecting rod (462) are hinged along the axis of the papaya (100). The second ends of the first connecting rod (461) and the second connecting rod (462) are respectively hinged to the upper bracket (44) and the lower bracket (45) along the axis of the papaya (100). The transverse plane where the hinge points of the first ends of all the first connecting rods (461) and the second connecting rods (462) are located is the third plane. The first plane and the second plane are symmetric about the third plane so that the third plane can pass through the axis of the papaya (100), and the peeling ends of the side peeling devices (5) are all kept in the third plane. The linkage assembly (46) further includes a reset member (463). The reset member (463) is adapted to provide an elastic force for the second ends of the first connecting rod (461) and the second connecting rod (462) to move away from each other. The reset member (463) is arranged as a spring, and both ends thereof abut between the third ends of the first connecting rod (461) and the second connecting rod (462), and can store elastic potential energy when the second ends of the first connecting rod (461) and the second connecting rod (462) approach each other. The linkage assembly (46) further includes a third connecting rod (464) and a fourth connecting rod (465). The first ends of the third connecting rod (464) and the fourth connecting rod (465) are hinged along the axis of the papaya (100). The second ends of the third connecting rod (464) and the fourth connecting rod (465) are respectively hinged to the first connecting rod (461) and the second connecting rod (462) along the axis of the papaya (100). The transverse plane where the hinge point of the first ends of the third connecting rod (464) and the fourth connecting rod (465) is located is the third plane.

6. The papaya peeling machine according to claim 5, wherein, It further includes two sets of lifting frames (6). The two sets of lifting frames (6) are correspondingly supported outside the two peeling relief openings (E). The tail planer (51) and the head planer (53) are supported on one set of lifting frames (6), and the middle peeling assembly is supported on the other set of lifting frames (6). The two sets of lifting frames (6) can be lifted and lowered synchronously with the third plane so that the peeling ends of the side peeling devices (5) are all kept in the third plane. Two sets of the linkage assemblies (46) are provided. One set of the linkage assemblies (46) corresponds to one side of the peeling relief opening (E), and the other set of the linkage assemblies (46) corresponds to the other side of the peeling relief opening (E). The two sets of lifting frames (6) are correspondingly supported on the two sets of linkage assemblies (46). The two sets of lifting frames (6) are correspondingly supported at the first ends of the first connecting rod (461) and the second connecting rod (462) corresponding to the two sets of linkage assemblies (46), and / or correspondingly supported at the first ends of the third connecting rod (464) and the fourth connecting rod (465) corresponding to the two sets of linkage assemblies (46).

7. The papaya peeling machine according to claim 6, characterized in that, The side peeling device (5) further includes a sliding driving member (54) and three groups of cutter telescopic driving members (55); The telescopic ends of the three groups of cutter telescopic driving members (55) are respectively and correspondingly connected to the tail cutter (51), the middle cutter (52) and the head cutter (53), so that the side peeling device (5) can slide along the radial direction of the papaya (100); The sliding driving member (54) is adapted to drive the body of the corresponding cutter telescopic driving member (55) to move axially along the papaya (100); The sliding driving member (54) is provided as two groups of lead screw modules, and the two groups of lead screw modules are respectively supported on the two lifting frames (6). One group of lead screw modules can drive the middle cutter (52) to move along the axis of the papaya (100), and the other group of lead screw modules can drive the tail cutter (51) and the head cutter (53) to move along the axis of the papaya (100).

8. The papaya peeling machine according to claim 7, wherein, The feeding device (2) includes a push plate (21) supported on the frame (1). The push plate (21) forms the feeding part of the feeding device (2). A supporting part for carrying the papaya (100) is formed on the frame (1). The push plate (21) can push the tail of the papaya (100) to move axially within the supporting part; The feeding device (2) further includes a feeding telescopic driving member (22). The feeding telescopic driving member (22) is supported on the frame (1), and the driving end is connected to the push plate (21).

9. The papaya peeling machine according to claim 8, characterized in that, The papaya peeling machine further includes a ranging sensor (9), a force and position control system (8) and multiple groups of proportional valves (7); The ranging sensor (9) is adapted to identify whether there is a papaya (100), measure the length and diameter of the papaya (100), and is communicatively connected to the force and position control system (8); The proportional valves (7) are connected to the clamping telescopic driving member (47) and the cutter telescopic driving members (55) respectively through air circuits, and the proportional valves (7) are controlled and connected to the force and position control system (8); The force and position control system (8) is controlled and connected to the clamping telescopic driving member (47), the cutter telescopic driving members (55), the feeding telescopic driving member (22), the rotation driving member (43) and the sliding driving member (54).

10. A method for peeling papayas, characterized in that, Applying the papaya peeling machine according to any one of claims 1-9, the method includes: S1: Based on being supported on the frame (1), the feeding part of the feeding device (2) pushes the tail of the papaya (100) so that the papaya (100) moves axially; S2: Switch the clamping device (4) to the loosening state, and push the papaya (100) into the clamping area of the clamping device (4) through the feeding part of the feeding device (2); S3: Switch the clamping device (4) to the clamping state; S4: Make the end face peeling device (3) peel off the epidermis of the tail end area (D) of the papaya (100); S5: Cause the side peeling device (5) to remove the epidermis of the papaya (100) at the corresponding position; S6: Cause the papaya (100) to rotate axially by a first angle; S7: Repeat S5 - S6; S8: Based on the fact that the side epidermis of the papaya (100) has been completely removed, cause the clamping device (4) to switch to the released state.

Images