Papaya peeling machine and papaya peeling method

Abstract

The present application relates to the technical field of fruit and vegetable processing equipment, and particularly relates to a papaya peeling machine and a papaya peeling method, which comprise a rack, a pushing device, an end face peeling device, a clamping device and a side face peeling device, and the papaya can be pushed into the clamping area of the clamping device by the pushing device; when the clamping device clamps the papaya, the papaya can rotate along the axis of the papaya intermittently, so that the side face peeling device peels off the outer skin of the corresponding area of the papaya in the running interval of the papaya, and the beneficial effect is that the papaya peeling machine solves the core pain points that the traditional papaya peeling machine cannot remove all the skins of the papaya and cannot peel off the skins of special-shaped papayas through the cooperative work of the pushing device, the end face peeling device, the clamping device and the side face peeling device, and the papaya skins are completely removed adaptively.

Description

Technical Field

[0001] This 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 Technology

[0002] In the production of papaya products, the peeling process has strict requirements to ensure product quality. Peeling must be done along the papaya fiber direction, with a peel residue rate of less than 5% and a single piece of residual peel width of less than 2mm. Currently, there are two main types of peeling equipment on the market: turning-type and planing-type. Turning-type peelers have significant drawbacks; their peeling method cuts the papaya's surface fibers, making them unsuitable for certain papaya product peeling processes. Furthermore, turning-type peelers cannot automatically remove the peel from the head and tail of the papaya, requiring additional manual labor or other auxiliary processes. While planing-type peelers can peel along the fiber direction, they are not without limitations. This equipment also cannot automatically remove the peel from the head and tail of the papaya, and it has high requirements for the papaya's diameter and shape, making it only suitable for a few papayas that meet specific requirements. Its overall applicability to papayas of different sizes is poor, making it difficult to meet the needs of large-scale, diversified papaya processing. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a papaya peeling machine and a papaya peeling method, which solves the technical problems of existing turning-type peeling machines and planing-type peeling machines being unable to remove the end skin of papayas and having poor adaptability to different sizes of papayas, while maintaining peeling along the limiting direction of the papaya.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, 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 pushing device, an end-face peeling device, a clamping device, and a side-face peeling device; the pushing device and the clamping device are sequentially supported on the frame, the pushing part of the pushing device is adapted to push the papaya axially from the tail end to the clamping area of ​​the clamping device; the clamping device is capable of switching between a clamping state that circumferentially clamps the papaya and a releasing state that releases the papaya, and is capable of driving the papaya to rotate intermittently along its own axis when it is in the clamping state; the end-face peeling device is integrated on the pushing part of the pushing device, and is adapted to peel off the outer skin of the tail end area of ​​the papaya when the clamping device clamps the papaya; the side-face peeling device is capable of moving along the axial direction of the papaya, and when the clamping device is in the clamping state and the papaya rotates intermittently along its own axis, the side-face peeling device is capable of adaptively conforming to the surface of the papaya and moving to peel off the outer skin of the papaya except for the tail end area during the papaya's stop rotation period.

[0008] Secondly, the present invention provides a papaya peeling method, including the papaya peeling machine described in the above technical solution, the method comprising: S1: based on the support on the frame, the pushing part of the pushing device pushes the tail of the papaya to move the papaya axially; S2: switching the clamping device to the loose state, and pushing the papaya into the clamping area of ​​the clamping device by the pushing part of the pushing device; S3: switching the clamping device to the clamping state; S4: using the end peeling device to peel off the skin of the tail end area of ​​the papaya; S5: using the side peeling device to remove the skin of the papaya at the corresponding position; S6: rotating the papaya axially by a first angle; S7: repeating S5-S6; S8: based on the fact that the side skin of the papaya has been completely removed, switching the clamping device to the loose state.

[0009] (III) Beneficial Effects

[0010] The beneficial effects of this invention are as follows: The papaya peeling machine and method of this invention divide the papaya peel into four sections: the tail end section, the middle section, and the head section. After the clamping device clamps the papaya, the pushing device allows the end-face peeling device to approach the tail end section of the papaya to peel off the outer skin of the tail end section. Furthermore, after the papaya is circumferentially clamped by the clamping device, the intermittent rotation of the papaya and the axial movement of the side peeling device can remove the peel from the entire tail end, middle, and head sections. The axially moving side peeling device can better match the papaya's structural texture, ensuring peeling along the papaya's fiber direction and improving the peeling effect. The sections can also be designed to overlap to a certain extent to further ensure the peeling effect.

[0011] Meanwhile, the feeding device and end-face peeling device for papayas have been deeply integrated, reducing the cost of the papaya peeling machine and improving the efficiency of papaya peeling.

[0012] Because the clamping device in this invention clamps circumferentially, it can free up the positions of both ends of the papaya along the axis, thereby better removing the outer skin from both ends of the papaya and improving the peeling effect. Both ends of the papaya can be removed by the same peeling machine, so unlike the prior art, it is not necessary to remove the papaya skin separately, either earlier or later, from the peeling machine. Instead, the entire peeling process is integrated into one peeling machine, thereby further improving the peeling efficiency of the papaya.

[0013] Even if the papaya is irregularly shaped, such as pear-shaped, the peeling process can be completed efficiently because the tail blade, middle blade, and head blade correspond to different areas of the papaya and can adapt to the papaya skin. Therefore, the shape of the papaya can be ignored.

[0014] In summary, this papaya peeling machine solves the core problems of traditional papaya peeling machines, such as the inability to remove all the papaya skin and the inability to peel papaya skin with large size differences, through the coordinated work of the pushing device, the end peeling device, the clamping device, and the side peeling device, and adaptively removes the papaya skin completely. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the partitioning of the papaya of the present invention;

[0016] Figures 2-4 These are schematic diagrams of the papaya peeling machine of the present invention, namely, diagram one, diagram two, and diagram three.

[0017] Figures 5-9 These are schematic diagrams of the clamping device and the side peeling device of the present invention, respectively.

[0018] Figure 10 This is a schematic diagram of the material unloading device and the end-face peeling device of the present invention;

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

[0020] [Explanation of Labels in the Attached Image]

[0021] 100. Papaya; D. Tail end area; B. Tail area; A. Middle area; C. Head area; 1: Frame; 2: Pushing device; 21. Push plate; 22. Pushing telescopic drive component; 3: End face peeling device; 4: Clamping device; 41. Upper roller; 42. Lower roller; 43. Rotation drive component; 44. Upper support; 45. Lower support; 46. Linkage assembly; 461. First connecting rod; 462. Second connecting rod; 463. Reset Components; 464, Third Link; 465, Fourth Link; 47, Clamping Telescopic Drive; 48, Sliding Seat; 5: Side Peeling Device; 51, Tail Planer; 52, Middle Planer; 53, Head Planer; 54, Sliding Drive; 55, Planer Telescopic Drive; E, Peeling Clearance Opening; 6, Lifting Frame; 7, Proportional Valve; 8, Force and Position Control System; 9, Distance Sensor; 10, Peel Outlet; 11, Papaya Outlet. Detailed Implementation

[0022] To better explain and facilitate understanding of this invention, the following description is provided in conjunction with the appendix. Figures 1-11 The present invention will be described in detail through specific embodiments. In this document, directional terms such as "upper" and "lower" are used interchangeably with other directional terms. Figure 1 The orientation is used as a reference.

[0023] Example 1:

[0024] Reference Figures 1-11 An embodiment of the present invention provides a papaya peeling machine. The papaya peel 100, from tail end to head end, sequentially includes a tail end area D, a tail section area B, a middle section area A, and a head section C. 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-face 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 push the papaya 100 axially from the tail end to the clamping area of ​​the clamping device 4. The clamping device 4 is capable of clamping the papaya 100 circumferentially and releasing the papaya 100. The device can switch between open and closed states and can drive the papaya 100 to rotate intermittently along its own axis when it is in the clamped state; the end peeling device 3 is integrated on the pushing part of the pushing device 2 and is suitable for peeling 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 of the papaya 100. When the clamping device 4 is in the clamped state and the papaya 100 rotates intermittently along its own axis, the side peeling device 5 can adaptively fit the surface of the papaya 100 and move to peel the outer skin of the papaya 100 except for the tail end area during the stopping period of the papaya 100.

[0025] The side peeling device 5 includes a tail blade 51, a middle blade 52 and a head blade 53 that can move along the axial direction of the papaya 100 and adaptively conform to the surface of the papaya 100.

[0026] During the period when the papaya 100 is not rotating, the tail blade 51, the middle blade 52, and the head blade 53 simultaneously or sequentially peel off the outer skin of the corresponding areas of the papaya 100.

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

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

[0029] Specifically, the support part can be set as a V-shaped groove to achieve the initial positioning of the papaya 100. A clamping area is formed in the clamping device 4. The papaya 100 can be pushed axially into the clamping area by the push plate 21. At this time, the clamping device 4 can switch to the clamping state to clamp the papaya 100.

[0030] More specifically, the V-groove can be designed as a 90° V-shape, which can quickly adjust the orientation of the papaya 100, enabling it to reach a stable state rapidly, thus facilitating the subsequent loading operation of the feeding device 2. This V-groove offers flexible feeding methods; the papaya 100 can be manually placed in, or it can be used in conjunction with a robotic arm or other automatic feeding devices to achieve fully automatic continuous feeding, greatly improving production efficiency and automation.

[0031] After the feeding device 2 pushes the papaya 100 into the clamping area and clamps it 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 pusher plate 21 is mainly responsible for accurately pushing the papaya 100 in the V-groove to the clamping device 4. The pushing device 2 also includes a pushing telescopic drive component 22, which is supported on the frame 1 and connected to the pusher plate 21 at the drive end. The pushing telescopic drive component 22 can receive displacement commands issued by the position control system, thereby ensuring the accuracy and high-speed response capability of the pushing device 2.

[0033] Specifically, the end-face peeling device 3 includes a rotating blade and a DC brushless geared motor. The DC brushless geared motor is supported on the push plate 21 and connected to the rotating blade. The push plate 21 has a clearance hole. The rotating blade can extend axially from the clearance hole toward the papaya 100. The start time of the DC brushless geared motor can be preset to a predetermined time. The start time is flexibly set based on the premise of being able to peel off the outer skin of the tail of the papaya 100 and removing as little papaya flesh as possible.

[0034] The clamping device 4 is supported on the frame 1 and can switch between a clamped state and a released state of the papaya 100. When the clamping device 4 clamps the papaya 100, the papaya 100 can rotate intermittently along its own axis. During the interval of rotation, the skin of the tail area B, middle area A, and head area C of the papaya 100 corresponding to the position of the side peeling device 5 can be removed by the side peeling device 5. After this part of the skin is removed, the papaya 100 rotates at an angle and continues to remove the skin of the tail area B, middle area A, and head area C of the papaya 100 corresponding to the position of the side peeling device 5 by the side peeling device 5. This process is repeated until the papaya 100 rotates one full turn, thus removing all the skin of the papaya 100.

[0035] Compared with existing technologies, this invention divides the papaya 100 peel into four sections: tail section D, tail section B, middle section A, and head section C. After the clamping device 4 clamps the papaya 100, the pushing device 2 allows the end-face peeling device 3 to approach the tail section of the papaya 100 to peel off the outer skin of the tail section. Furthermore, after the papaya 100 is circumferentially clamped by the clamping device 4, the intermittent rotation of the papaya 100 and the axial movement of the side peeling device 5 can remove the peel from the entire tail section B, middle section A, and head section C. The axially moving side peeling device 5 can better match the structural texture of the papaya 100, ensuring peeling along the fiber direction and improving the peeling effect. The sections can also be designed to overlap to a certain extent to further ensure the peeling effect.

[0036] Meanwhile, the feeding device 2 and the end-face peeling device 3 of the Papaya 100 have been deeply integrated, which reduces the cost of the Papaya Peeling Machine and improves the peeling efficiency of the Papaya 100.

[0037] Since the clamping device 4 in this invention clamps circumferentially, it can free up the positions of both ends of the papaya 100 along the axis, thereby better removing the outer skin of both ends of the papaya 100 and improving the peeling effect of the papaya 100. Both ends of the papaya 100 can be removed by the same peeling machine, so there is no need to remove the skin of the papaya 100 separately, either earlier or later, as in the prior art. Instead, the entire peeling process is integrated into one peeling machine, thereby further improving the peeling efficiency of the papaya 100.

[0038] Even if the papaya 100 is irregularly shaped, such as pear-shaped, the tail blade 51, middle blade 52 and head blade 53 correspond to different areas of the papaya 100 and can adaptively fit the surface of the papaya 100. Therefore, the change in the shape of the papaya 100 can be ignored, and the peeling of the papaya 100 can be completed efficiently.

[0039] In summary, this papaya peeling machine, through the coordinated operation of the pushing device 2, the end-face peeling device 3, the clamping device 4, and the side peeling device 5, solves the core pain points of traditional papaya peeling machines, such as the inability to remove all the skin of papaya 100 and the inability to peel the skin of irregularly shaped papaya 100, thus achieving efficient peeling of papaya 100.

[0040] This papaya peeler can not only be used to peel 100-inch papayas, but also to peel other fruits and vegetables of similar shape and hardness, 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 as a TOF laser distance sensor 9. With the help of the dynamic changes in the measured value of the TOF laser distance sensor 9, the system calculates the length parameter of the papaya 100. Then, the force and position control system 8 can determine the pushing length of the pushing telescopic drive 22 according to the length parameter to ensure that the papaya 100 can be correctly pushed to the correct position in the clamping area, thereby ensuring that the end peeling and side peeling work can be 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 possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0044] The clamping device 4 includes two upper rollers 41 and two lower rollers 42, which are all rotatably supported in a direction parallel to the axis 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 containing the axes of the two upper rollers 41 is a first plane, and the transverse plane containing the axes of the two lower rollers 42 is a second plane. The first plane and the second plane are parallel. 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 move closer to each other or further away from each other, so that the clamping device 4 can switch between an open state and a clamping state.

[0045] In this embodiment, the axial distance between the upper roller 41 and the lower roller 42 is equal, and their planes are parallel to each other. As a result, 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, which can move closer to each other and further away from each other, a clamping area that can match the papaya 100 with different outer diameters is formed, ensuring the stability and reliability of the papaya 100 during clamping.

[0046] Specifically, the upper roller 41 and the lower roller 42 can both be set as rubber-coated rollers with the same structure to ensure the predetermined shape of the clamping area and at the same time avoid damaging the papaya 100.

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

[0048] Specifically, the rotation drive 43 can be configured as two sets, which respectively drive an upper roller 41 and a lower roller 42 to rotate, and the upper and lower rollers 42 rotate in opposite directions, so that the papaya 100 can rotate stably and reliably.

[0049] The two upper rollers 41 and the two lower rollers 42 can move closer or further apart, allowing the clamping device 4 to switch between an open state and a clamped state. This adjustment mechanism allows the clamping device 4 to adapt to papayas 100 of different sizes.

[0050] Example 3:

[0051] Reference Figures 1-11 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0052] Two sets of peeling clearance openings E are formed between the upper roller 41 and the lower roller 42 on the same side, allowing the side peeling device 5 to pass through; the tail blade 51 and the head blade 53 are supported outside one side of the peeling clearance opening E, and the middle blade 52 is supported outside the other side of the peeling clearance opening E; the tail blade 51, the middle blade 52, and the head blade 53 can all switch between a contact state that adaptively fits with the papaya 100 and a discontinuation state that is not in contact with the papaya 100; when the tail blade 51 moves from the middle of the papaya 100 to the tail of the papaya 100, and when the head blade 53 moves from the middle of the papaya 100 to the head of the papaya 100, the corresponding tail blade 51 and head blade 53... The blade 53 can switch to a contact state to peel off the skin at the corresponding position; when the tail blade 51 moves from the tail of the papaya 100 to the middle of the papaya 100, and the head blade 53 moves from the head of the papaya 100 to the middle of the papaya 100, the corresponding tail blade 51 and head blade 53 can switch to a disengagement state to detach from the papaya 100; when the middle blade 52 moves along the axis of the papaya 100, the middle blade 52 can switch to a contact state to peel off the skin at the corresponding position; when the papaya 100 rotates axially, or when the clamping device 4 switches to a release state, the tail blade 51, the middle blade 52, and the head blade 53 all switch to a disengagement state.

[0053] In this embodiment, two sets of peeling clearance openings E allow the blades of the side peeling device 5 to pass through for peeling. The tail blade 51 and the head blade 53 are supported outside one side of the peeling clearance opening E, and the middle blade 52 is supported outside the other side of the peeling clearance opening E. This configuration ensures that the blades can cover the entire side of the papaya 100 for peeling and avoids the problem of interference between adjacent blades. Therefore, the tail blade 51, the middle blade 52 and the head blade 53 are less restricted in lateral movement, which is more conducive to improving the peeling effect.

[0054] The tail blade 51, the middle blade 52, and the head blade 53 can all switch between a contact state and a detached state. In the contact state, the blades are in close contact with the surface of the papaya 100, peeling off the skin. In the detached state, the blades are detached from the surface of the papaya 100, and no peeling is performed.

[0055] As the tail-end peeler 51 moves from the middle to the tail of the papaya 100, it switches to a close-fitting peeling state. At this time, the tail-end peeler 51 is equivalent to "going downhill" along the tail area B of the papaya 100, so it can maintain smooth sliding. Even if the tail area B has a large inclination relative to the axis of the papaya 100, there will be no blade problems, and the peeling work can be completed efficiently.

[0056] When moving in the reverse direction, if the blade does not switch to the disengaged state, the tail blade 51 moves uphill along the tail section B of the papaya 100. When the angle of the tail section B relative to the axis of the papaya 100 is large, blade collision is likely to occur, which can easily damage the blade head and the papaya 100. It is precisely because the tail blade 51 can switch to the disengaged state during reverse movement that the above-mentioned problems can be effectively avoided.

[0057] Similarly, the state switching mechanism of the head planer 53 is the same as that of the tail planer 51, and will not be described in detail here.

[0058] However, since the angle of inclination of the middle part of the papaya 100 relative to the axis of the papaya 100 is relatively gentle, even if the middle peeler 52 does not switch to the disengaged state when peeling in the axial direction but instead peels back and forth, it will not cause the blade to collide or damage the papaya 100, and can also improve the peeling efficiency.

[0059] When the papaya 100 rotates axially, or when the clamping device 4 is switched to the released state, all the planers are switched to the disengaged state to avoid interference between the planers and the papaya 100 when the papaya 100 rotates or the clamping device 4 is released, which would affect the rotation or axial movement of the papaya 100.

[0060] Example 4:

[0061] Reference Figures 1-11 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0062] The clamping device 4 also includes an upper support 44, a lower support 45, a linkage assembly 46, and a rotation drive 43; both upper rollers 41 are supported on the upper support 44, and both lower rollers 42 are supported on the lower support 45. The linkage assembly 46 connects the upper support 44 and the lower support 45 so that the upper support 44 and the lower support 45 can move closer and further away synchronously; the clamping device 4 also includes a clamping telescopic drive 47 and a sliding seat 48, the sliding seat 48 being supported on the frame 1, and both the lower support 45 and the upper support 44 being vertically slidably connected. The clamping telescopic drive 47 is attached to the sliding seat 48 and supported on the sliding seat 48 or the frame 1. It can drive the upper support 44 or the lower support 45 to slide vertically so that the two upper rollers 41 and the two lower rollers 42 can move closer to each other and further away from each other. The rotation drive 43 is configured as at least one set and supported on the upper support 44 or the lower support 45. It is drivenly 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 support 44 and the lower support 45 provide a stable support platform for the roller, ensuring that the roller can rotate along the axis of the papaya 100. The linkage assembly 46 connects the upper support 44 and the lower support 45, enabling them to move closer and further away synchronously, ensuring that the upper roller 41 and the lower roller 42 can be adjusted synchronously to accommodate papayas 100 of different sizes and to switch between clamping and releasing states.

[0064] The sliding seat 48, supported on the frame 1, provides vertical sliding support for the upper support 44 and the lower support 45. Both the upper support 44 and the lower support 45 are vertically slidably connected to the sliding seat 48, allowing them to move in the vertical direction.

[0065] Specifically, the sliding seat 48 is configured as multiple vertically extending rods, which pass through the upper bracket 44 and the lower bracket 45. The clamping telescopic drive member 47 can be supported on the sliding seat 48 or the bracket to drive the upper bracket 44 or the lower bracket 45 to slide vertically, and also to limit the position of the upper bracket 44 and the lower bracket 45 relative to the sliding seat 48. The clamping telescopic drive member 47 can be configured as a pressure-holding cylinder.

[0066] When the clamping telescopic drive 47 is in operation, it pushes the upper support 44 or the lower support 45 to move vertically, thereby causing the upper roller 41 and the lower roller 42 to move closer or further apart. This vertical sliding mechanism provides the clamping device 4 with adjustability, allowing 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 drive 47 operates, pushing the upper support 44 and the lower support 45 closer together, thereby causing the upper roller 41 and the lower roller 42 to clamp the papaya 100. When it is necessary to release the papaya 100, the clamping telescopic drive 47 operates in the opposite direction, pulling the upper support 44 and the lower support 45 away from each other, thereby causing the upper roller 41 and the lower roller 42 to release the papaya 100.

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

[0069] The TOF laser rangefinder 9 can also measure the diameter parameter of the papaya 100 and feed it back to the force and position control system 8. The force and position control system 8 then determines the extension length of the clamping telescopic drive 47 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 drive 43 based on the diameter parameter of the papaya 100, so that the side peeling device 5 can complete the indexing and peeling work of the papaya 100 stably, accurately and reliably.

[0070] Specifically, the two upper rollers 41 and the two lower rollers 42 are rotatably supported on the corresponding upper brackets 44 and lower brackets 55 by bearings. Furthermore, the upper brackets 44 and lower brackets 55 are each supported by a rotation drive component 43, such as a stepper motor. The stepper motor establishes a drive connection with the corresponding upper roller 41 and lower roller 42 through a synchronous belt assembly.

[0071] Example 5:

[0072] Reference Figures 1-11 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0073] The linkage assembly 46 includes a first link 461 and a second link 462. The first end of the second link 462 of the first link 461 is hinged along the axis of the papaya 100. The second end of the second link 462 of the first link 461 is hinged to the upper support 44 and the lower support 45 along the axis of the papaya 100, respectively. The transverse plane where all the hinge points of the first ends of the first links 461 and the second links 462 are located is the third plane. The first plane and the second plane are symmetrical along the third plane so that the third plane can pass through the axis of the papaya 100. The peeling end of the side peeling device 5 is kept within the third plane.

[0074] The linkage assembly 46 also includes a reset member 463, which is adapted to provide a resilient force to the second ends of the first link 461 and the second link 462 to move away from each other. The reset member 463 is configured as a spring, with both ends abutting between the third ends of the first link 461 and the second link 462, and is capable of accumulating 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 support 44 and the lower support 45 to operate in a coordinated manner and in opposite directions. This allows them to move closer or further apart under the action of the clamping telescopic drive 47, preventing misalignment or tilting of the upper support 44 and the lower support 45 and ensuring the controllability of the shape and position of the upper roller 41 and the lower roller 42.

[0076] The first and second planes are symmetrically arranged along the third plane, and the axial distance between the two upper rollers and the two lower rollers 42 is equal. Therefore, the upper rollers 41 and lower rollers 42 are also symmetrically arranged along the third plane. Thus, when the clamping device 4 clamps the papaya 100, it ensures that the third plane passes through the axis of the papaya 100, forming a reference plane on the linkage assembly 46 that can reference the position of the axis of the papaya 100, thereby facilitating the peeling process. By keeping the peeling end of the side peeling device 5 within the third plane, the reliability and accuracy of the peeling operation are guaranteed.

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

[0078] The reset element 463 is configured as a spring, and its two ends abut against the third end of the first link 461 and the second link 462, such as abutting against the upper bracket 44 and the lower bracket 45.

[0079] Specifically, when the clamping telescopic drive 47 is working, it pushes the upper bracket 44 or the lower bracket 45 to move, thereby causing the upper roller 41 and the lower roller 42 to move closer or further apart through the rotation of the first link 461 and the second link 462. During this process, the reset member 463 is compressed or stretched, accumulating elastic potential energy.

[0080] When the clamping telescopic drive 47 stops, and the external force applied to the first or second bracket is insufficient to overcome the spring force, the spring releases its elastic potential energy, pushing the first link 461 and the second link 462 back to their original positions, thereby causing the upper bracket 44 and the lower bracket 45 to move away from each other. This automatic reset function allows the clamping device 4 to easily switch to the released state, preparing for the next papaya 100 peeling operation.

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

[0082] Example 5:

[0083] Reference Figures 1-11 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0084] The linkage assembly 46 also 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 end 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 end of the third link 464 and the fourth link 465 is located is also the third plane. Therefore, the two, together with the first link 461 and the second link 462, form a planar four-bar linkage, which enables 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 support 44 and the lower support 45, which is beneficial to the assembly work.

[0086] Example 6:

[0087] Reference Figures 1-11 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0088] The papaya peeling machine also includes two sets of lifting frames 6, which are supported on the outside of two sets of peeling clearance openings E. The tail blade 51 and the head blade 53 are supported on one set of lifting frames 6, and the middle peeling component is supported on the other set of lifting frames 6.

[0089] The two sets of lifting frames 6 can rise and fall synchronously with the third plane so that the peeling end of the side peeling device 5 is kept within the third plane.

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

[0091] The two sets of lifting frames 6 can rise and fall synchronously with the third plane. When the position of the third plane changes, the lifting frame 6 will adjust its height accordingly to keep the peeling end of the peeling device 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 possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0094] The linkage components 46 are configured in two sets. One set of linkage components 46 corresponds to the peeling clearance opening E on one side, and the other set of linkage components 46 corresponds to the peeling clearance opening E on the other side. The two sets of lifting frames 6 are supported on the two sets of linkage components 46. The two sets of lifting frames 6 are supported on the first ends of the first connecting rod 461 and the second connecting rod 462 corresponding to the two sets of linkage components 46, and / or supported on the first ends of the third connecting rod 464 and the fourth connecting rod 465 corresponding to the two sets of linkage components 46.

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

[0096] Two sets of lifting frames 6 are supported on two sets of linkage components 46, ensuring that the lifting frames 6 can move synchronously with the movement of the linkage components 46, thereby making the side peeling device 5 more stable and easier to maintain in the third plane, which helps to reduce the height adjustment cost of the side peeling device 5 and improve the peeling reliability of the side peeling device 5.

[0097] Specifically, the lifting frame 6 is supported at the first end of the first link 461 and the second link 462 corresponding to the linkage component 46, and / or the lifting frame 6 is supported at the first end of the third link 464 and the fourth link 465 corresponding to the linkage component 46. Preferably, the lifting frame 6 is supported at the first end of the first link 461 and the second link 462, and also at the first end of the fourth link 465 of the third link 464, so as to achieve stable support of the lifting frame 6 by utilizing the hinge shaft of the hinge point.

[0098] When the linkage component 46 and the lifting frame 6 on one side move, the linkage component 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 1-11In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0101] The side peeling device 5 also includes a sliding drive 54 and three sets of planer telescopic drive 55; the telescopic ends of the three sets of planer telescopic drive 55 are connected one-to-one with the tail planer 51, the middle planer 52 and the head planer 53, so that the side peeling device 5 can slide along the radial direction of the papaya 100; the sliding drive 54 is adapted to drive the body of the corresponding planer telescopic drive 55 to move along the axial direction of the papaya 100.

[0102] The sliding drive component 54 is configured with two sets of lead screw modules, which are respectively supported on two lifting frames 6. One set of lead screw modules can drive the middle planer 52 to move along the axis of the papaya 100, and the other set of positive and negative thread lead screw modules can drive the tail planer 51 and the head planer 53 to move along the axis of the papaya 100. The pushing device 2 also includes a pushing telescopic drive component 22, which is supported on the frame 1 and the driving end is connected to the push plate 21.

[0103] The papaya peeling machine also includes multiple sets of proportional valves 7;

[0104] The ranging sensor 9 is also suitable for identifying whether or not the papaya 100 is present;

[0105] The proportional valve 7 is connected to the clamping telescopic drive 47 and the planer telescopic drive 55 in a one-to-one correspondence via air circuits, and the proportional valve 7 is connected to the force and position control system 8 for control.

[0106] The force and position control system 8 is connected to the planer blade extension and retraction drive 55 and the sliding drive 54.

[0107] In this embodiment, when the planer extension drive 55 extends or retracts, it will drive the corresponding planer to slide along the radial direction of the papaya 100, so that the corresponding planer can switch between the attached state and the disengaged state.

[0108] The telescopic end of the sliding drive 54 is connected to the body of the planer telescopic drive 55. When the sliding drive 54 is working, it will drive the planer telescopic drive 55 to slide along the axis of the papaya 100 to achieve the peeling work.

[0109] Multiple proportional valves 7 are connected one-to-one with the clamping telescopic drive component 47 and the planer telescopic drive component 55. Each telescopic drive component can be configured 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 drive component.

[0110] The TOF laser rangefinder 9 can also measure the diameter and length parameters of the papaya 100 and feed them back to the force and position control system 8. The force and position control system 8 then determines the running length of the planer extension drive 55 and the sliding drive 54, thereby improving the compatibility and automation of the side peeling device 5 for the papaya 100 and increasing the peeling efficiency of the papaya 100.

[0111] Specifically, once the papaya 100 is stably positioned in the support area, the pushing device 2 is activated, pushing the papaya 100 to the entrance position of the clamping area. During the pushing process, the TOF laser rangefinder 9 starts working simultaneously. When the pushing operation is completed, the TOF laser rangefinder 9 has also successfully completed the task of measuring the dimensional parameters of the papaya 100. Subsequently, based on the measured length value of the papaya 100, the pushing device 2 is driven again to finely adjust the position of the papaya 100 until it is precisely adjusted to the center position of the clamping area, while simultaneously controlling the clamping force of the papaya 100. Then, the outer skin of the tail end area D of the papaya 100 can be peeled off by the end peeling device 3. Next, the rotation step of the papaya 100 is adjusted according to the measured diameter of the papaya 100, that is, the angle and time interval of the intermittent operation. While controlling the rotation of the papaya 100, the peeling operation is carried out in an orderly manner. During the peeling process, the force adhering to the papaya 100 is controlled by constant force, and the running length of the side peeling device 5 along the axis of the papaya 100 is matched with 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 drive component 54 can be configured as two sets of servo-driven lead screw modules. One set corresponds to the middle position of the papaya 100 and is specifically used to drive the middle planer 52 for peeling the middle part of the papaya 100. The other set is a dual-blade system, which uses a lead screw with positive and negative screws. By rotating, it drives the tail planer 51 and the head planer 53 to move along the axis of the papaya 100. The tail planer 51 and the head planer 53 move in opposite directions, which improves driving efficiency, reduces driving cost, and achieves comprehensive and precise peeling of the entire surface of the papaya 100.

[0113] With the help of the proportional signal from the proportional valve 7, stepless and precise control of air pressure can be achieved, thereby enabling precise control of the thrust of the three types of planers. At the moment the three planers contact the surface of the papaya 100 and throughout the entire operation, the force and position control system 8 adopts a flexible floating mechanism, actively and sensitively adapting to the wavy size changes of the papaya 100 surface, always precisely controlling the force within the required range, unaffected by factors such as angle and component force, allowing for stable cutting of the papaya 100's three-dimensional shape at any angle. Simply pre-setting the operating path, the contact pressure between the planer and the papaya 100 surface is automatically controlled by the force and position control system 8, requiring no manual intervention and significantly improving production efficiency. Based on the shape characteristics and skin hardness distribution of the papaya 100, the papaya 100 is divided into sections, and the force required for the peeling path of the corresponding planer is set for each section. This segmented force control strategy better adapts to complex changes in fruit shape, completing the peeling task more efficiently and with higher quality.

[0114] In summary, the force and position control system 8 controls the axial length and diameter parameters of the papaya 100, which can be measured by the distance sensor 9, and controls the extension length of the pusher telescopic drive 22 so that the papaya 100 is pushed into the corresponding position of the clamping area by the pusher device 2.

[0115] The force and position control system 8 can also control the extension length of the clamping telescopic drive 47 and the planer telescopic drive 55 according to the diameter parameters of the papaya 100 and in conjunction 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 adapts to 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 distance of the rotating drive 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] Reference Figures 1-11 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0119] The papaya peeling machine also includes a peel outlet 10 and a papaya outlet 11 set on the frame 1. The peel outlet 10 is suitable for discharging the peel, and the papaya outlet 11 is suitable for discharging the peeled papaya 100, so as to achieve efficient separation of the papaya 100 and the peel.

[0120] Specifically, papaya outlet 11 and rind outlet 10 are two discharge sections, respectively outputting peeled papaya 100 and rind. For the peeled papaya 100, a ramp conveyor can be used. This non-powered discharge method allows for seamless integration with subsequent papaya 100 processing steps, facilitating continuous operation of the entire production process. For the rind, a herringbone ramp bidirectional discharge method can be used, effectively and quickly removing the papaya 100 rind from the equipment, avoiding interference with equipment operation and subsequent processes.

[0121] Example 10:

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

[0123] S1: Based on the support on the frame 1, the pushing part of the pushing device 2 pushes the tail of the papaya 100 so that the papaya 100 moves axially.

[0124] S2: Switch the clamping device 4 to the released 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: The end-face peeling device 3 peels off the skin of the tail end area D of the papaya 100;

[0127] S5: The side peeling device 5 removes the skin of the papaya 100 at the corresponding position;

[0128] S6: Rotate the papaya 100 axis by the first angle;

[0129] S7: Repeat S5-S6;

[0130] S8: The side skin of the papaya 100 is completely removed, so that the clamping device 4 is switched to the released 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: Positioning and initial movement of papaya 100: Place papaya 100 on the support. Use push plate 21 to push the tail of papaya 100, so that papaya 100 begins to move axially.

[0135] S2: Papaya 100 is fed into clamping device 4: clamping device 4 is switched to the released state. Papaya 100 is pushed into clamping device 4 by push plate 21, ready for side peeling.

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

[0137] S4: Peeling the tail end area D: The end peeling device 3 is used to peel the skin of the tail end area D of the papaya 100. Specifically, the push plate 21, under the action of the pusher extension drive 22, drives the end peeling device 3 to fit against the tail end area D of the papaya, and then the end peeling device 3 is activated to peel off the outer skin of this area.

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

[0139] S6: Papaya 100 Rotation: Rotate papaya 100 axially by a first angle to remove the unpeeled portion of the skin.

[0140] S7 is a repetition of S5-S6: Repeat steps S5 and S6 until all the lateral skin of papaya 100 has been removed.

[0141] S8: Release clamping: Based on the fact that the side skin of the papaya 100 has been completely removed, the clamping device 4 is switched to the released 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 the previous peeled papaya 100 out of the clamping device 4 and into the papaya outlet 11.

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

[0144] This method enables continuous and efficient peeling of multiple papayas, improving production efficiency and making it suitable for large-scale papaya processing scenarios.

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

[0146] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0147] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0148] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

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

[0150] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A papaya peeling machine, characterized in that, It includes a frame (1), a feeding device (2), an end-face peeling device (3), a clamping device (4), and a side-face peeling device (5). The pushing device (2) and the clamping device (4) are supported on the frame (1) in sequence. The pushing part of the pushing device (2) is adapted to push the papaya (100) axially from the tail end of the papaya (100) to the clamping area of ​​the clamping device (4). The clamping device (4) can switch between a clamping state that clamps the papaya (100) in the circumferential direction and a loosening state that releases the papaya (100), and can drive the papaya (100) to rotate intermittently along its own axis when it is in the clamping state. The end peeling device (3) is integrated on the pushing part of the pushing device (2) and is adapted to peel off 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 of the papaya (100). When the clamping device (4) is in the clamping state and the papaya (100) rotates intermittently along its own axis, the side peeling device (5) can adaptively fit the surface of the papaya (100) and move to peel off the outer skin of the papaya (100) except for the tail end area during the stopping period of the papaya (100). The clamping device (4) includes two upper rollers (41) and two lower rollers (42), both of which are rotatably supported in a direction parallel to the axis 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 containing the axes of the two upper rollers (41) is the first plane, and the transverse plane containing the axes of the two lower rollers (42) is the second plane. The first plane is parallel to the second plane. The 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 move closer to each other or further away from each other so that the clamping device (4) can switch between the loose state and the clamping state; The side-peeling device (5) includes a tail blade (51), a middle blade (52), and a head blade (53) that can move along the axial direction of the papaya (100) and adaptively conform to the surface of the papaya (100). The tail blade (51), the middle blade (52), and the head blade (53) simultaneously or sequentially peel off the outer skin of the corresponding area of ​​the papaya (100) during the period when the papaya (100) is not rotating. Two sets of peeling clearance openings (E) are formed between the upper roller (41) and the lower roller (42) on the same side to allow the side peeling device (5) to pass through. The clamping device (4) also includes an upper bracket (44), a lower bracket (45), a linkage assembly (46), and a rotation drive (43). Both upper rollers (41) are supported on the upper bracket (44), and both lower rollers (42) are supported on the lower bracket (45). 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 move closer and further away synchronously. The rotation drive (43) is configured as at least one set and supported on the upper bracket (44) or the lower bracket (45), and is drivenly 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); The clamping device (4) further includes a clamping telescopic drive (47) and a sliding seat (48). The sliding seat (48) is supported on the frame (1). The lower support (45) and the upper support (44) are both vertically slidably connected to the sliding seat (48). The clamping telescopic drive (47) is supported on the sliding seat (48) or the frame (1) and can drive the upper support (44) or the lower support (45) to slide vertically so that the two upper rollers (41) and the two lower rollers (42) can move closer to each other and further away from each other. It also includes two sets of lifting frames (6); The side peeling device (5) also includes a sliding drive (54) and three sets of blade telescopic drive (55). The telescopic ends of the three sets of the planer telescopic drive components (55) are connected one-to-one with the tail planer (51), the middle planer (52) and the head planer (53) so that the side peeling device (5) can slide along the radial direction of the papaya (100). The sliding drive (54) is adapted to drive the body of the corresponding planer telescopic drive (55) to move along the axial direction of the papaya (100); the sliding drive (54) is supported on the corresponding lifting frame (6).

2. The papaya peeling machine as described in claim 1, characterized in that, The tail blade (51) and the head blade (53) are supported outside the peeling relief opening (E) on one side, and the middle blade (52) is supported outside the peeling relief opening (E) on the other side. The tail blade (51), the middle blade (52) and the head blade (53) can all switch between a contact state that adaptively fits the papaya (100) and a disengagement state that is no longer in contact with the papaya (100). When the tail blade (51) moves from the middle of the papaya (100) to the tail of the papaya (100), and when the head blade (53) moves from the middle of the papaya (100) to the head of the papaya (100), the corresponding tail blade (51) and head blade (53) can switch to the contact state to remove the skin at the corresponding position. When the tail blade (51) moves from the tail of the papaya (100) to the middle of the papaya (100), and when the head blade (53) moves from the head of the papaya (100) to the middle of the papaya (100), the corresponding tail blade (51) and head blade (53) can switch to the disengaged state to disengage from the papaya (100). When the central planer (52) moves along the axis of the papaya (100), the central planer (52) can switch to the contact state to remove the skin at the corresponding position. 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.

3. The papaya peeling machine as described in claim 2, characterized in that, The linkage assembly (46) includes a first link (461) and a second link (462). The first end of the second link (462) of the first link (461) is hinged along the axis of the papaya (100). The second end of the second link (462) of the first link (461) is respectively hinged to the upper support (44) and the lower support (45) along the axis of the papaya (100). The transverse plane where the first end hinge points 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 symmetrical along the third plane so that the third plane can pass through the axis of the papaya (100). The peeling end of the side peeling device (5) is kept in the third plane. The linkage assembly (46) further includes a reset member (463) adapted to provide a resilient force to the second ends of the first link (461) and the second link (462) to move away from each other; The reset member (463) is configured as a spring, and its two ends abut against the third ends of the first link (461) and the second link (462), and it is able to accumulate elastic potential energy when the second ends of the first link (461) and the second link (462) approach each other; 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) being hinged along the axis of the papaya (100), and the second ends of the third link (464) and the fourth link (465) being hinged to the first link (461) and the second link (462) respectively along the axis of the papaya (100); The transverse plane where the hinge point of the first end of the third link (464) and the fourth link (465) is located is the third plane.

4. The papaya peeling machine as described in claim 3, characterized in that, The two sets of lifting frames (6) are supported on the outside of the two sets of 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 planer (52) is supported on the other set of lifting frames (6). The two sets of lifting frames (6) can be raised and lowered synchronously with the third plane so that the peeling end of the side peeling device (5) is kept within the third plane; The linkage component (46) is configured in two sets. One set of the linkage component (46) corresponds to the peeling clearance opening (E) on one side, and the other set of the linkage component (46) corresponds to the peeling clearance opening (E) on the other side. The two sets of lifting frames (6) are respectively supported on the two sets of linkage components (46); The two sets of lifting frames (6) are respectively supported on the first ends of the first link (461) and the second link (462) corresponding to the two sets of linkage components (46), and / or respectively supported on the first ends of the third link (464) and the fourth link (465) corresponding to the two sets of linkage components (46).

5. The papaya peeling machine as described in claim 4, characterized in that, The sliding drive component (54) is configured as two sets of lead screw modules, which are respectively supported on two lifting frames (6). One set of lead screw modules can drive the middle planer (52) to move along the axis of the papaya (100), and the other set of lead screw modules can drive the tail planer (51) and the head planer (53) to move along the axis of the papaya (100).

6. The papaya peeling machine as described in claim 5, characterized in that, The pushing device (2) includes a push plate (21) supported on the frame (1), the push plate (21) forming the pushing part of the pushing device (2), and a support 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 support part. The feeding device (2) further includes a feeding telescopic drive (22), which is supported on the frame (1) and the drive end is connected to the push plate (21).

7. The papaya peeling machine as described in claim 6, characterized in that, The papaya peeling machine also includes a distance sensor (9), a force and position control system (8), and multiple proportional valves (7). The ranging sensor (9) is adapted to identify whether the papaya (100) is present, measure the length and diameter of the papaya (100), and communicate with the force and position control system (8); The proportional valve (7) is connected to the clamping telescopic drive (47) and the planer telescopic drive (55) in a one-to-one correspondence via air circuits, and the proportional valve (7) is connected to the force and position control system (8). The force and position control system (8) is controlled to be connected to the clamping telescopic drive (47), the planer telescopic drive (55), the pusher telescopic drive (22), the rotation drive (43), and the sliding drive (54).

8. A method for peeling papaya, characterized in that, The method of using the papaya peeling machine as described in any one of claims 1-7 includes: S1: Based on the support on the frame (1), the pushing part of the pushing device (2) pushes the tail of the papaya (100) so that the papaya (100) moves axially; S2: Switch the clamping device (4) to the released state, and push the papaya (100) into the clamping area of ​​the clamping device (4) through the pushing part of the pushing device (2); S3: Switch the clamping device (4) to the clamping state; S4: The end-face peeling device (3) peels off the skin of the tail end area (D) of the papaya (100); S5: The side peeling device (5) removes the skin of the papaya (100) at the corresponding position; S6: Rotate the papaya (100) axially by a first angle; S7: Repeat S5-S6; S8: Based on the fact that the side skin of the papaya (100) has been completely removed, the clamping device (4) is switched to the released state.

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