Lotus root cover grabbing and transferring device based on gravity effect

Abstract

The invention discloses a lotus root cover grabbing and transferring device based on the gravity effect. The lotus root cover grabbing and transferring device comprises a clamping type winding rotating mechanism, a gravity grabbing mechanism, a steel needle, a needle withdrawing stripping piece and a linear module. According to the device, a servo motor drives a winding mechanism to enable a gravity type gripper to freely fall before cutting, and a steel needle is inserted into a lotus root cover to be fixed; after cutting is completed, the motor rotates reversely to drive the gripper and the lotus root caps to ascend and horizontally move to the position above the collecting tray, and the lotus root caps are separated from the steel needles and fall into the tray through needle withdrawing stripping pieces. The lotus root cover grabbing and separating device utilizes gravity to realize rapid and reliable lotus root cover grabbing and separating, is simple in structure and stable in operation, effectively solves the problems that lotus roots are easy to incline and lotus root covers correspond to lotus root sections in original matching in the cutting process, and is suitable for a glutinous rice lotus root automatic production line.

Description

Technical Field

[0001] This invention belongs to the field of food processing machinery technology, specifically relating to an automated lotus root processing equipment, and in particular a special device for grabbing, transferring and collecting the cut lotus root caps during the production of Osmanthus glutinous rice lotus root. Background Technology

[0002] In the traditional and current workshop-based production of Osmanthus Glutinous Rice Lotus Root (OGRLR), "cap cutting" is a crucial process. This process requires cutting off one end of the lotus root to form "lotus root segments" for stuffing with rice and "lotus root caps" as a byproduct. However, existing production methods suffer from the following major technical problems: poor stability of the cutting process, difficulty in matching the "original" lotus root caps, and low levels of automation and efficiency. The lotus root is held in place by spring plates inside the lotus root cup, but when the slicing knife cuts, the blade exerts a huge impact on the lotus root. The clamping force of the spring plates alone is insufficient to resist this impact, easily causing the lotus root to tilt or shift during the cutting process, seriously affecting the cutting quality and even leading to cutting failure. In manual or semi-automated production, the cut lotus root caps are usually collected after separating from the lotus root segments. In the subsequent "cap joining" process, workers randomly select lotus root caps, making it difficult to ensure that they match the original lotus root segments. Due to individual variations in lotus root shape, non-original lotus root caps cannot fit tightly against the ends of the lotus root segments, causing glutinous rice to spill out during steaming or cooking, severely impacting the product's appearance and packaging quality. Existing cap-cutting equipment or manual operation lacks an integrated mechanism capable of reliably separating the cut caps from the lotus root segments and precisely transferring them to designated locations. This has become a key bottleneck in achieving a fully automated production line for glutinous rice lotus root, hindering improvements in production efficiency and standardization.

[0003] To address the aforementioned problems, particularly ensuring cutting stability and achieving "original pairing" management of lotus root caps and segments, there is an urgent need for an automated device capable of securing the lotus root during cutting and reliably grasping and precisely transferring the lotus root cap after cutting. This invention is proposed against this technical background. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the purpose of this invention is to provide a gravity-based lotus root cap gripping and transfer device, which solves the problems of cutting stability, improves automation, realizes the "original pairing" management of lotus root caps and lotus root segments, and provides a foundation for the automation process of glutinous rice lotus root production.

[0005] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is: a gravity-based lotus root cap gripping and transfer device, comprising a bearing seat (1), a clamping winding rotation mechanism (2), a gravity gripping mechanism (3), a needle-removing stripper (4), a rubber pad (5), a linear guide rail (6), a servo motor (7), a linear module (8), a mounting plate (9), a flexible steel wire (10), and a mounting bracket (11); the mounting plate (9) is placed vertically with the opposite side as the mounting surface, the top of the mounting plate (9) is connected to the slider of the linear module (8), and the clamping winding rotation mechanism (2) is mounted parallel to the ground on the upper part of the mounting surface of the mounting plate (9) through the bearing seat (1), and the extended part of the clamping winding rotation mechanism (2) is connected to the servo motor (7). The mounting plate (9) is symmetrically mounted with linear guide rails (6) sliders on both sides. The sliding direction of the rails is parallel to the ground and installed perpendicularly to the mounting surface of the mounting plate (9). The gravity gripping mechanism (3) is installed on the lower part of the mounting surface of the mounting plate (9) through the linear guide rails (6) sliders. The linear guide rails (6) are installed perpendicular to the ground movement direction. The gravity gripping mechanism (3) is connected to the clamping winding rotation mechanism (2) through the flexible steel wire (10). The needle stripper (4) is installed on the lower part of the mounting surface of the mounting plate (9), ensuring that its height is slightly higher than the lowest position of the gravity gripping mechanism (3) and distributed on the left and right sides of the gravity gripping mechanism (3). The rubber pad (5) is horizontally installed above the needle stripper (4) through the mounting bracket (11), and the height of the rubber pad (5) is uniform.

[0006] Furthermore, the clamping winding rotation mechanism (2) includes a rotating shaft (201), a circular baffle (202), and a winding groove (203); the winding shaft in the clamping winding rotation mechanism (2) is a rotating shaft (201), and the rotating shaft (201) is provided with at least one winding groove (203) for winding and locking the end of the flexible steel wire (10); the rotating shaft (201) is provided with a circular baffle (202) located on both sides of the winding groove (203) to restrict the axial movement of the flexible steel wire (10).

[0007] Furthermore, the aforementioned gravity gripping mechanism (3) includes a hammer (301), a steel needle (302), a gripper baffle (303), a contour cover (304), and a hammer cover plate (305). The hammer (301) is connected to the slider of the linear guide rail (6) through the hammer cover plate (305). The gripper baffle (303) is fixedly connected to the hammer cover plate (305) and ensured to be above the hammer (301). The extended part of the gripper baffle (303) can contact the rubber pad (5). The bottom of the hammer (301) is connected to the contour cover (304) to ensure that the arc surface is facing downward. The steel needle (302) is located at the center of the contour cover (304) and is fixedly connected to the bottom of the hammer (301) to ensure that the steel needle (302) is perpendicular to the ground.

[0008] Furthermore, the above-mentioned device is implemented based on the following method, including the following steps: Step 1: Drive the linear module (8) to move horizontally, so that the steel needle (302) of the gravity gripping mechanism (3) is aligned with the lotus root cap at the top of the lotus root; Step 2: The clamping winding rotation mechanism (2) is started, and the gravity gripping mechanism (3) is released, so that it relies on gravity to make free fall motion along the linear guide rail (6), and uses the obtained kinetic energy to insert the steel needle (302) into the lotus root cap; Step 3: After the lotus root capping process is completed, the clamping winding rotating mechanism (2) reverses and pulls the gravity gripping mechanism (3) and the lotus root cap upward through the flexible steel wire (10); Step 4: The linear module (8) moves in the negative direction, driving the gravity gripping mechanism (3) to reach above the collection position; at this time, the motor continues to rotate, and the lotus root cap that rises with the gravity gripping mechanism (3) collides with the fixed needle peeling piece (4), causing the lotus root cap to detach from the steel needle (302) and fall to the fixed position. Step 5: After completing one task, the mechanism returns to its initial position and waits for the next task.

[0009] Furthermore, the working process of the above-mentioned clamping winding rotation mechanism (2) includes: the servo motor (7) drives the rotating shaft (201) to rotate rapidly, the rotating shaft (201) drives the flexible steel wire (10) to extend and retract through the winding groove (203) on the shaft, the flexible steel wire (10) drives the gravity gripping mechanism (3) to move up and down, since the steel needle (302) is still inserted into the lotus root cover at this time, the friction between the two causes the lotus root cover to separate from the lotus root segment, and after a certain height of separation, the clamping winding rotation mechanism (2) stops rotating.

[0010] Furthermore, the working process of the above-mentioned gravity gripping mechanism (3) includes: the clamping winding rotation mechanism (2) rotates rapidly, causing the hammer head (301) to accelerate in the opposite direction along the linear guide rail (6) by relying on its gravitational potential energy. After the hammer head (301) obtains a certain speed by relying on its gravitational potential energy, it drives the bottom steel needle (302) to insert into the lotus root cap at the top of the lotus root. When the gripper baffle (303) falls to the bottom, it collides with the rubber pad (5) to generate a buffer.

[0011] Furthermore, the steel needle (302) structure is made of high-hardness wear-resistant material and has a threaded structure on the surface. After the steel needle (302) is inserted into the target lotus cap to a certain depth, the gravity gripping mechanism (3) rises. During the process, the steel needle (302) drives the cut lotus cap to rise through the friction between the steel needle (302) and the lotus cap. After the lotus cap and the lotus body are separated to a certain height, the clamping winding rotation mechanism (2) stops rotating.

[0012] The beneficial effects of this invention are: 1) This invention adopts a self-locking structure, which uses gravity to drive the steel needle to penetrate the lotus root cap, forming a coordinated fixation from top to bottom, effectively resisting cutting impact, preventing the lotus root from tilting, and ensuring a flat cut surface.

[0013] 2) This invention uses fixed-position precise grabbing and delivery to achieve "one-to-one" tracking management of lotus root caps and lotus root segments. It can accurately deliver to the associated tray, solve the problem of non-original matching caps, prevent glutinous rice leakage, and ensure product quality.

[0014] 3) The device structure of the present invention adopts seamless automated connection. As the core processing module, it works with the production line to realize unmanned operation of the entire process from fixing the lotus root cap, grabbing, separating to delivery, thereby improving the production cycle.

[0015] 4) The device of the present invention has a simple and reliable structure and is economical. Gravity drive eliminates complex mechanisms, reducing power requirements and costs. Combined with servo motor precision control, it operates stably and is easy to maintain. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the clamping winding rotation mechanism (2) of the present invention.

[0018] Figure 3 This is a schematic diagram of the gravity-type gripping structure (3) of the present invention.

[0019] Figure 4 This is a schematic diagram of the movement of the gravity gripping mechanism (3) during the processing of the present invention.

[0020] Figure 5 This is a flowchart of the workflow of the present invention. Detailed Implementation

[0021] The structural and working principles of the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] This invention provides a gravity-based device for grasping and transferring lotus root caps, such as... Figure 1As shown, the system includes a bearing housing (1), a clamping winding rotation mechanism (2), a gravity gripping mechanism (3), a needle removal stripper (4), a rubber pad (5), a linear guide rail (6), a servo motor (7), a linear module (8), a mounting plate (9), a flexible steel wire (10), and a mounting bracket (11). The mounting plate (9) is placed vertically with its opposite side as the mounting surface. The top of the mounting plate (9) is connected to the slider of the linear module (8). The clamping winding rotation mechanism (2) is mounted parallel to the ground on the upper part of the mounting surface of the mounting plate (9) through the bearing housing (1), and the extended part of the clamping winding rotation mechanism (2) is connected to the servo motor (7). Linear guide rails (6) are symmetrically mounted on both sides of the mounting plate (9). The slider and track sliding direction are ensured to be parallel to the ground and installed perpendicularly on the mounting surface of the mounting plate (9); the gravity gripping mechanism (3) is installed on the lower part of the mounting surface of the mounting plate (9) through the slider of the linear guide rail (6), and the linear guide rail (6) is installed perpendicular to the ground movement direction. The gravity gripping mechanism (3) is connected to the clamping winding rotation mechanism (2) through the flexible steel wire (10); the needle stripper (4) is installed on the lower part of the mounting surface of the mounting plate (9), ensuring that its height is slightly higher than the lowest position of the gravity gripping mechanism (3), and is distributed on the left and right sides of the gravity gripping mechanism (3); the rubber pad (5) is installed horizontally above the needle stripper (4) through the mounting bracket (11), and the height of the rubber pad (5) is uniform.

[0023] like Figure 2 As shown, the clamping winding rotation mechanism (2) includes a rotating shaft (201), a circular baffle (202), and a winding groove (203); the winding shaft in the clamping winding rotation mechanism (2) is a rotating shaft (201), and the rotating shaft (201) is provided with at least one winding groove (203) for winding and locking the end of the flexible steel wire (10); the rotating shaft (201) is provided with a circular baffle (202) located on both sides of the winding groove (203) to restrict the axial movement of the flexible steel wire (10).

[0024] like Figure 3As shown, the gravity gripping mechanism (3) includes a hammer (301), a steel needle (302), a gripper baffle (303), a contour cover (304), and a hammer cover plate (305). The hammer (301) is connected to the slider of the linear guide rail (6) through the hammer cover plate (305). The gripper baffle (303) is fixed to the hammer cover plate (305) and ensures that it is above the hammer (301). The extended part of the gripper baffle (303) can contact the rubber pad (5). The bottom of the hammer (301) is connected to the contour cover (304) to ensure that the arc surface is facing downward. The steel needle (302) is located at the center of the contour cover (304) and is fixed to the bottom of the hammer (301) to ensure that the steel needle (302) is perpendicular to the ground. The working process of a fiber optic patch cord stripping device and method for free state is described below with reference to the pictures.

[0025] like Figure 4 and Figure 5 As shown, the device achieves lotus root cap grabbing through the following method: Step 1: The linear module (8) drives the device to move horizontally, so that the steel needle (302) of the gravity grabbing mechanism (3) is aligned with the lotus root cap at the top of the lotus root. Step 2: The clamping winding rotation mechanism (2) is activated, releasing the gravity grabbing mechanism (3), allowing it to fall freely along the linear guide rail (6) by gravity, and using the obtained kinetic energy to insert the steel needle (302) into the lotus root cap. Step 3: After the lotus root cap cutting process is completed, the clamping winding rotation mechanism (2) reverses, and the gravity grabbing mechanism (3) and the lotus root cap are pulled up by the flexible steel wire (10). Step 4: The linear module (8) moves in the negative direction, driving the gravity grabbing mechanism (3) to reach above the collection position; at this time, the motor continues to rotate, and the lotus root cap rising with the gravity grabbing mechanism (3) collides with the fixed needle-removing peeling piece (4), causing the lotus root cap to detach from the steel needle (302) and fall to the fixed position. Step 5: After completing one task, the mechanism returns to its initial position and waits for the next task.

[0026] like Figure 2 and Figure 5 As shown, the working mode of the clamping winding rotation mechanism (2) is as follows: the servo motor (7) drives the rotating shaft (201) to rotate rapidly. The rotating shaft (201) drives the flexible steel wire (10) to extend and retract through the winding groove (203) on the shaft. The flexible steel wire (10) drives the gravity gripping mechanism (3) to move up and down. Since the steel needle (302) is still inserted into the lotus root cover at this time, the friction between the two causes the lotus root cover to separate from the lotus root segment. After a certain height of separation, the clamping winding rotation mechanism (2) stops rotating.

[0027] like Figure 3 and Figure 5As shown, the gravity gripping mechanism (3) works as follows: the clamping winding rotation mechanism (2) rotates rapidly, causing the hammer (301) to accelerate in the opposite direction along the linear guide rail (6) by relying on its gravitational potential energy. After the hammer (301) obtains a certain speed by relying on its gravitational potential energy, it drives the bottom steel needle (302) to insert into the lotus root cap at the top of the lotus root. When the gripper baffle (303) falls to the bottom, it collides with the rubber pad (5) to generate a buffer.

[0028] like Figure 3 , Figure 4 and Figure 5 As shown, the steel needle (302) structure is made of high hardness wear-resistant material and the surface is threaded. After the steel needle (302) is inserted into the target lotus cap to a certain depth, the gravity gripping mechanism (3) rises. During the process, the steel needle (302) drives the cut lotus cap to rise through the friction between the steel needle (302) and the lotus cap. After the lotus cap and the lotus body are separated to a certain height, the clamping winding rotation mechanism (2) stops rotating.

[0029] The present invention and its embodiments have been described above, but are not intended to limit the present invention. For those skilled in the art, any design, modification, substitution, etc., made within the spirit and principles of the present invention shall be within the protection scope of the present invention.

Claims

1. A lily pad gripping and transferring device based on gravity action, characterized in that, The device comprises a bearing seat (1), a clamping type winding rotating mechanism (2), a gravity grabbing mechanism (3), a needle stripping device (4), a rubber pad (5), a linear guide rail (6), a servo motor (7), a linear module (8), a mounting main plate (9), a flexible steel wire (10), and a mounting support (11). The mounting main plate (9) is vertically placed, and the opposite surface is the mounting surface. The top of the mounting main plate (9) is connected with the slider of the linear module (8). The clamping type winding rotating mechanism (2) is installed on the upper part of the mounting surface of the mounting main plate (9) in parallel to the ground through the bearing seat (1), and the protruding part of the clamping type winding rotating mechanism (2) is connected with the servo motor (7). The linear guide rail (6) sliders are symmetrically installed on the two sides of the mounting main plate (9), and the sliding direction of the track is guaranteed to be parallel to the ground and perpendicular to the mounting surface of the mounting main plate (9). The gravity grabbing mechanism (3) is installed on the lower part of the mounting surface of the mounting main plate (9) through the linear guide rail (6) slider, and the linear guide rail (6) is guaranteed to be installed in the direction perpendicular to the ground. The gravity grabbing mechanism (3) is connected with the clamping type winding rotating mechanism (2) through the flexible steel wire (10). The needle stripping device (4) is installed on the lower part of the mounting surface of the mounting main plate (9), and the height thereof is slightly higher than the lowest position of the gravity grabbing mechanism (3), and the needle stripping device (4) is distributed on the left and right sides of the gravity grabbing mechanism (3). The rubber pad (5) is horizontally installed above the needle stripping device (4) through the mounting support (11), and the height of the rubber pad (5) is uniform.

2. A lily pad gripping and transferring device based on gravity action according to claim 1, characterized in that: The clamping type winding rotating mechanism (2) comprises a rotating shaft (201) and a circular baffle (202). The winding shaft in the clamping type winding rotating mechanism (2) is the rotating shaft (201), and at least one winding groove (203) for winding and locking the end of the flexible steel wire (10) is arranged on the rotating shaft (201). The circular baffle (202) is arranged on the rotating shaft (201) and located on the two sides of the axial direction of the winding groove (203), and is used for limiting the axial movement of the flexible steel wire (10).

3. A gravity-based lotus leaf picking and transferring device according to claim 1, characterized in that: The gravity grabbing mechanism (3) comprises a hammer head (301), a steel needle (302), a gripper baffle (303), a profiling cover (304), and a hammer head cover plate (305). The hammer head (301) is connected with the slider of the linear guide rail (6) through the hammer head cover plate (305), the gripper baffle (303) is fixedly connected with the hammer head cover plate (305) and is guaranteed to be above the hammer head (301), and the extended part of the gripper baffle (303) can contact the rubber pad (5). The hammer head (301) is connected with the profiling cover (304) at the bottom, and the arc surface direction is guaranteed to be downward. The steel needle (302) is located at the center of the profiling cover (304) and is fixedly connected at the bottom of the hammer head (301), and the steel needle (302) is guaranteed to be perpendicular to the ground.

4. A device for picking and transferring lotus leaves based on gravity, according to any one of claims 1-3, characterized in that, The device is realized based on the following method, which comprises the following steps: Step 1: The steel needle (302) of the gravity grabbing mechanism (3) is aligned with the lotus head of the lotus stem through the horizontal movement of the linear module (8) driving device. Step 2: the clamping type winding rotary mechanism (2) is started, the gravity grabbing mechanism (3) is released, and the gravity grabbing mechanism (3) is made to make free fall along the linear guide rail (6) by relying on gravity, and the steel needle (302) is inserted into the cover of the lotus root by using the kinetic energy obtained; Step 3: after the lotus root cover cutting process is completed, the clamping type winding rotary mechanism (2) is reversed, and the gravity grabbing mechanism (3) and the lotus root cover are pulled up through the flexible steel wire (10); Step 4: the linear module (8) moves in the negative direction, drives the gravity grabbing mechanism (3) to reach above the collection position; at this time, the lotus root cover rising with the gravity grabbing mechanism (3) collides with the fixed needle stripping piece (4), so that the lotus root cover is separated from the steel needle (302) and falls to the fixed position; Step 5: after the mechanism completes one operation, it returns to the initial position and waits for the next operation.

5. A lily pad gripping and transferring device based on gravity action as claimed in claim 4, wherein, The working process of the clamping type winding rotary mechanism (2) includes: the servo motor (7) drives the rotating shaft (201) to rotate rapidly, the rotating shaft (201) drives the flexible steel wire (10) to stretch and contract through the winding groove (203) on the shaft, the flexible steel wire (10) drives the gravity grabbing mechanism (3) to move up and down, and since the steel needle (302) is still inserted into the lotus root cover, the lotus root cover is separated from the lotus root section through the friction between them, and the clamping type winding rotary mechanism (2) stops rotating after a certain height is separated.

6. A gravity based lotus leaf picking and transferring device as claimed in claim 4 wherein, The working process of the gravity grabbing mechanism (3) includes: the clamping type winding rotary mechanism (2) rotates rapidly, so that the hammer head (301) relies on its gravitational potential energy to move in the opposite direction along the linear guide rail (6) at a high speed, the hammer head (301) relies on the gravitational potential energy to obtain a certain speed, and drives the bottom steel needle (302) to be inserted into the lotus root cover at the top of the lotus root, and the gripper blocking piece (303) falls to the bottom and collides with the rubber pad (5), and the buffer is generated.

7. A lily pad gripping and transferring device based on gravity action as claimed in claim 3 wherein, The steel needle (302) structure adopts high-hardness wear-resistant material and the surface adopts a threaded structure, the steel needle (302) is inserted into the target lotus root cover to a certain depth, the gravity grabbing mechanism (3) is raised, and in the process, the steel needle (302) drives the cut lotus root cover to rise through the friction between the steel needle (302) and the lotus root cover, so that the lotus root cover and the lotus root body are separated to a certain height, and the clamping type winding rotary mechanism (2) stops rotating.

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