Intelligent hawthorn positioning, kernel removing and discharging device

Abstract

The invention belongs to the technical field of kernel removing equipment, and particularly relates to an intelligent positioning, kernel removing and discharging device for hawthorn fruits. In order to solve the technical problems that an existing hawthorn kernel removing device is poor in slice thickness consistency and low in percent of pass, the invention provides an intelligent hawthorn positioning, kernel removing and discharging device, and according to the technical scheme, the device comprises a rack, a driving module, a trough module and a cutter module; a driving module is arranged in the rack; a trough module is arranged at the top of the rack, a cutter module is arranged above the trough module, and the cutter module comprises a plurality of pitting cutters capable of moving in the Z-axis direction; the driving module is in transmission connection with the trough module, and the driving module can drive the trough module to reciprocate; the trough module comprises a plurality of groups of positioning clamps, a clamping hole with a variable aperture is formed in the center of each positioning clamp, and the clamping holes are used for clamping haws; and the clamping hole and the pitting cutter above the clamping hole are positioned on the same central axis during working.

Description

Technical Field

[0001] This invention belongs to the field of pitting equipment technology, specifically relating to an intelligent positioning pitting and unloading device for hawthorn. Background Technology

[0002] Chinese Invention Publication No.: CN 113397178A A hawthorn pitting machine, which uses a pitting cylinder to remove the pits from hawthorns inside a silicone ring, and a fruit-pushing cylinder to push the pitted hawthorns out of the silicone ring, reducing labor intensity; the machine uses an air pump and a turntable to automatically remove pits, improving work efficiency; the machine uses a pressure detector to monitor the pressure inside the air tank to achieve automatic air supply; the machine can be easily moved by casters; and the machine can be easily inspected and maintained through a cabinet door.

[0003] The aforementioned prior art has the following drawbacks: 1. When the turntable rotates to the pitting positioning point, there may be a misalignment due to the use of a cylinder power device. If it is not detected and corrected in time, it will result in incomplete pitting (some pits remain inside the fruit pulp), uneven fruit pulp thickness (uneven fruit pulp), cracked fruit pulp, and a large amount of residual fruit pulp sticking to the inside of the storage tank. 4. Only one fruit can be processed per batch, making mass production impossible. Slicing efficiency is low, and finished products need to be collected manually. Summary of the Invention

[0004] To address the technical problem of "poor uniformity in slice thickness and low pass rate in existing hawthorn pitting devices," this invention provides an intelligent positioning pitting and unloading device for hawthorn, the technical solution of which is as follows: Firstly, This invention provides a hawthorn intelligent positioning pitting and unloading device, comprising: a frame, a drive module, a material trough module, and a cutting tool module; The rack is equipped with a drive module; A material trough module is provided on the top of the frame, and a tool module is provided above the material trough module. The tool module includes multiple core removal tools that can move in the Z-axis direction. The drive module is connected to the material trough module in a transmission manner, and the drive module can drive the material trough module to move back and forth. The material trough module includes several sets of positioning clamps, and each positioning clamp has a clamping hole with a variable diameter at its center, which is used to clamp hawthorns. The clamping hole and the core removal tool above it are located on the same central axis when they are working.

[0005] Furthermore, the drive module includes a servo motor, a flat belt, a gear shaft, a gear, and a rack; The frame includes a support frame in the middle, and the servo motor is mounted on the support frame. The servo motor is connected to the gear shaft via a flat belt. The gear shaft is arranged along the X-axis of the frame and connected above the support frame. Gears are respectively provided at both ends of the gear shaft, and the top of each gear is connected to the rack provided above it.

[0006] Furthermore, the drive module also includes two material trough transmission bearing assemblies disposed on the left and right sides of the top of the frame; The feed trough drive bearing assembly includes a Y-axis screw and movable nuts disposed at both ends of the Y-axis screw, with the Y-axis screw and movable nuts rotatably connected; the two Y-axis screws are disposed on the left and right sides of the top of the frame along the Y-axis direction.

[0007] Furthermore, the material trough module includes a material trough fixing plate and positioning clamps; the left and right sides of the bottom of the material trough fixing plate are connected to the movable nut and the top of the rack respectively, and multiple positioning clamps are provided on the upper surface of the material trough fixing plate.

[0008] Furthermore, the positioning fixture includes three small cylinders, three vertical screws, three grippers, and a gripper movable disc. The three small cylinders are connected to the upper surface of the material trough fixing plate, and the included angle between adjacent small cylinders is 120°. The piston rod of each small cylinder is connected to a vertical screw at its front end. The three grippers are slidably embedded in the top of the gripper movable disc, and the adjacent installation angle is 120°. The top of each vertical screw passes through the gripper movable disc and is connected to the corresponding gripper.

[0009] Furthermore, a circular hole is opened in the center of the movable jaw disc, and the ends of the three jaws near the circular hole can move in the circular hole, and the ends of the three jaws form a clamping hole with a variable diameter.

[0010] Furthermore, the material trough fixing plate has a number of through holes equal to the number of the positioning fixture, and the center of the three small cylinders of the positioning fixture is provided with a through hole corresponding to each other.

[0011] Furthermore, it also includes an unloading conveyor belt disposed below the support frame, the width of which is greater than the maximum spacing between the through holes in the Y-axis direction of the material trough fixing plate.

[0012] Furthermore, the tool module includes a support plate, a fixed support rod, a tool holder, multiple linear reciprocating drive structures, and multiple core removal tools; a support plate is provided on each of the left and right sides of the frame, and a fixed support rod is connected to the top of each support plate, with the tops of the two fixed support rods connected to the two ends of the tool holder; multiple linear reciprocating drive structures along the Z-axis are connected to the tool holder, and a core removal tool is connected to the bottom of each linear reciprocating drive structure.

[0013] Furthermore, the core removal tool includes multiple circumferentially spaced triangular cutting edges with a certain gap between adjacent cutting edges.

[0014] Furthermore, it also includes a PLC controller and a teach pendant, wherein the PLC controller is connected to the teach pendant.

[0015] Furthermore, it also includes a vision inspection system and a display screen. The vision inspection system consists of multiple vision cameras, with one vision camera mounted above each core removal tool and fixed to the tool holder. The PLC controller is communicatively connected to each vision camera and also communicatively connected to the display screen.

[0016] Secondly, This invention provides another intelligent positioning and pitting unloading device for hawthorn, including a frame, a material trough module, and a cutting tool module; A material trough module is provided on the top of the frame, and a tool module is provided above the material trough module; the tool module includes a core removal tool that can move in three-dimensional space above the material trough module; The material trough module includes several sets of positioning clamps, and each positioning clamp has a clamping hole with a variable diameter at its center, which is used to clamp hawthorns. The clamping hole and the core removal tool above it are located on the same central axis when they are working.

[0017] Furthermore, the cutting tool module includes two Y-axis ball screw mechanisms, two vertical support blocks, a cutting tool ball screw mechanism, a linear reciprocating drive structure, and a core removal tool, all disposed on the left and right sides of the top of the material trough fixing plate of the material trough module. Each Y-axis ball screw mechanism is movably connected to a vertical support block in the Z-axis direction. The top of the two vertical support blocks is connected to a cutting tool ball screw mechanism in the X-axis direction. The cutting tool ball screw mechanism is driven by a linear reciprocating drive structure movable in the Z-axis direction. The bottom of the linear reciprocating drive structure is connected to the core removal tool.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The drive module of this invention drives the feed trough module and adjusts the center distance between the cutter module and the hawthorn fruit to adapt to hawthorn fruits of different sizes. It also adjusts the pitting cutter to be perpendicular to the center line of the hawthorn fruit to ensure that the slices are not skewed, have uniform thickness, and do not crack. This solves the problems of poor pitting consistency and low pass rate.

[0019] After all the hawthorn pitting processes are completed, all positioning fixtures begin unloading into the unloading conveyor belt until all finished hawthorn slices are produced. This improves the production efficiency of hawthorn pitting and reduces the labor intensity and low production efficiency of manual hawthorn pitting operations.

[0020] The present invention is a hawthorn intelligent positioning pitting and unloading device, which solves the problems of high labor intensity, low production efficiency, poor slice thickness consistency, low qualification rate, high after-sales maintenance cost, and the need for manual collection of finished products in existing hawthorn pitting and unloading devices. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the core removal and unloading device according to Embodiment 1 of the present invention; Figure 2 For the present invention Figure 1 The main view; Figure 3 This is a schematic diagram of the structure of the core removal and unloading device according to Embodiment 1 of the present invention, omitting the material trough module; Figure 4 This is a schematic diagram of the positioning fixture according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the connection between the linear reciprocating drive structure and the core removal tool in Embodiment 1 of the present invention; Figure 6 As in Embodiment 1 of the present invention Figure 5 Enlarged view of the core removal tool at point A; Figure 7 This is a schematic diagram of the material trough fixing plate of Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the structure of the core removal and unloading device according to Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the structure of the core removal and unloading device in Embodiment 3 of the present invention.

[0022] Figure label: 1. Rack, 1-1. Casters; 1-2. Leg tubes; 1-3. Front crossbeam; 1-4. Rear crossbeam; 1-5. Left crossbeam; 1-6. Right crossbeam; 1-7. Support frame. 2. Driver module, 2-1. Servo motor; 2-2. Flat belt; 2-3. Gear shaft; 2-4. Gear; 2-5. Rack. 2-6. Feed trough drive bearing assembly; 2-61. Y-axis screw; 2-62. Movable nut. 3. Material trough module, 3-1, Material trough fixing plate; 3-11, Through-core hole; 3-2. Positioning clamp; 3-21. Small cylinder; 3-22. Vertical screw; 3-24. Clamping jaws; 3-25. Clamping jaw movable plate; 3-26. Clamping hole; 3-27. Round hole. 4. Tool module 4-1. Fixed support rod; 4-2. Tool holder; 4-3. Linear reciprocating drive structure; 4-4. Core removal tool; 4-41. Cutting edge; 4-5. Support plate. 5. Visual camera, 6. Unloading conveyor belt, 7. Teaching box, 8. PLC controller 9-1. Y-axis ball screw mechanism; 9-2. Vertical support block; 9-3. Tool ball screw mechanism. 10. Power supply; 11. Display screen. Detailed Implementation

[0023] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0024] Example 1 Combination Figures 1-7 As shown, the present invention provides a hawthorn intelligent positioning pitting and unloading device, including: a frame 1, a drive module 2, a material trough module 3, a cutter module 4, a teach pendant 7, and a PLC controller 8.

[0025] The frame 1 is equipped with a drive module 2; the top of the frame 1 is equipped with a material trough module 3, and a tool module 4 is equipped above the material trough module 3. The tool module 4 includes multiple core removal tools 4-1 that can move in the Z-axis direction; the drive module 2 is connected to the material trough module 3 in a transmission manner, and the drive module 2 can drive the material trough module 3 to reciprocate.

[0026] The material trough module 3 includes several sets of positioning clamps 3-2. Each positioning clamp 3-2 has a clamping hole 3-26 with a variable diameter at its center. The clamping hole 3-26 is used to clamp hawthorns. The clamping hole 3-26 and the pitting tool 4-1 above it are located on the same central axis when working.

[0027] The frame 1 includes casters 1-1, leg tubes 1-2, a front crossbeam 1-3, a rear crossbeam 1-4, a left crossbeam 1-5, and a right crossbeam 1-6. The tops of the four leg tubes 1-2 are connected to the four crossbeams. The frame 1 also includes a support frame 1-7 located below the four crossbeams, and the support frame 1-7 is connected to the four leg tubes 1-2. Casters 1-1 are respectively installed at the bottom of the four leg tubes 1-2.

[0028] The drive module 2 includes a servo motor 2-1, a flat belt 2-2, a gear shaft 2-3, a gear 2-4, a rack 2-5, and a material trough transmission bearing assembly 2-6. The servo motor 2-1 is mounted on the support frame 1-7 and is connected to the gear shaft 2-3 via the flat belt 2-2. The gear shaft 2-3 is positioned along the X-axis of the frame 1 and connected above the support frame 1-7. Gears 2-4 are located at both ends of the gear shaft 2-3, and the tops of the gears 2-4 are connected to the rack 2-5. The top of the rack 2-5 is fixed to the lower surface of the material trough fixing plate 3-1 of the material trough module 3.

[0029] The tops of the left crossbeam 1-5 and the right crossbeam 1-6 are respectively equipped with the material trough drive bearing assembly 2-6. The material trough drive bearing assembly 2-6 includes a Y-axis screw 2-61 and two movable nuts 2-62 disposed at both ends of the Y-axis screw 2-61. The Y-axis screw 2-61 and the movable nuts 2-62 are rotatably connected, and the movable nuts 2-62 contain bearings. The two ends of the Y-axis screw 2-61 on each side of the frame 1 are connected to the two ends of the left and right sides of the top of the frame 1. The top of the movable nuts 2-62 is connected to the lower surface of the material trough fixing plate 3-1.

[0030] Driven by servo motor 2-1, flat belt 2-2 drives gear shaft 2-3, which in turn drives two gears 2-4 and two racks 2-5 to mesh. The racks 2-5 move, which in turn drives the trough module 3 to move along the Y-axis of the trough transmission bearing assembly 2-6 to the screw 2-61, so that the entire trough module 3 can move in the Y-axis direction.

[0031] The bearings of the feed trough drive bearing assemblies 2-6 are made of high-carbon chromium bearing steel (grade: GCr15), which has advantages such as high hardness (bare stone hardness ≥62), good wear resistance and dimensional stability, and small deformation after heat treatment. The bearing surface is machined using CNC machining technology, with a surface roughness Ra≤0.5μm, resulting in low friction and operating noise of less than 50dB during normal operation.

[0032] The feed trough module 3 is connected to the top of the movable nut 2-62 of the rack 2-5 and the feed trough transmission bearing assembly 2-6.

[0033] The feed trough module 3 includes a feed trough fixing plate 3-1 and positioning clamps 3-2. The left and right sides of the bottom of the feed trough fixing plate 3-1 are connected to the feed trough transmission bearing assembly 2-6, which provides the main support and movable fixation to the feed trough fixing plate 3-1. The feed trough fixing plate 3-1 is bolted to the four movable nuts 2-62 of the feed trough transmission bearing assembly 2-6. Twelve positioning clamps 3-2 are provided on the upper surface of the feed trough fixing plate 3-1.

[0034] The positioning clamp 3-2 is designed to be movable. The positioning clamp 3-2 includes three small cylinders 3-21, three vertical screws 3-22, three grippers 3-24, and a gripper movable disc 3-25. The three small cylinders 3-21 are connected to the upper surface of the material trough fixing plate 3-1, and the included angle between adjacent small cylinders 3-21 is 120°. A vertical screw 3-22 is connected to the front end of the piston rod of each small cylinder 3-21. The three grippers 3-24 are slidably embedded in the top of the gripper movable disc 3-25, and the installation angle between adjacent grippers 3-24 is 120°. The top of each vertical screw 3-22 passes through the gripper movable disc 3-25 and connects to the corresponding gripper 3-24. A circular hole 3-27 is provided in the center of the movable jaw disk 3-25. The ends of the three jaws 3-24 near the circular hole 3-27 can move in the circular hole 3-27, and the ends of the three jaws 3-24 form a clamping hole 3-26 with a variable diameter.

[0035] The variable-diameter clamping hole 3-26 can meet the pitting processing of various hawthorn varieties, with the main specifications of the hawthorn varieties being (longitudinal diameter: 16.8 mm~21.6 mm, transverse diameter 20~23.7 mm). The material trough fixing plate 3-1 is 2.6 meters long and 2.1 meters wide, and the hawthorn fruits are placed longitudinally, coaxial with the axis of the positioning clamp 3-2.

[0036] The inner wall of the clamping hole 3-26 of the positioning clamp 3-2 (the part that directly contacts the surface of the hawthorn fruit) is sprayed with a Teflon anti-stick coating to improve the wear resistance and service life of the positioning clamp 3-2, while reducing fruit pulp adhesion, reducing the frequency of downtime to replace vulnerable parts and cleaning and maintenance, and reducing after-sales maintenance costs.

[0037] Driven by a small cylinder 3-21, the vertical screw 3-22 moves, causing the gripper 3-24 to move within the gripper movable disc 3-25, thereby changing the size of the clamping hole 3-26 to accommodate hawthorn varieties of different sizes.

[0038] The feed trough fixing plate 3-1 has 12 through holes 3-11. The center of each of the three small cylinders 3-21 of the positioning fixture 3-2 is provided with a through hole 3-11.

[0039] The tool module 4 is located above the material trough module 3 and is used for core removal. The tool module 4 includes a support plate 4-5, a fixed support rod 4-1, a tool holder 4-2, multiple linear reciprocating drive structures, and multiple core removal tools 4-4. The fixed support rod 4-1 can be a lead screw or bolt, and the linear reciprocating drive structure can be an electric push rod 4-3 (or a cylinder).

[0040] A support plate 4-5 is connected to the outer middle portion of the left crossbeam 1-5 and the right crossbeam 1-6, respectively. A fixed support rod 4-1 is connected to the top of each support plate 4-5. The tops of the two fixed support rods 4-1 are fixedly connected to both ends of the tool holder 4-2. The support plates 4-5, fixed support rods 4-1, and tool holder 4-2 are located on the bisectors of the Y-axis of the frame 1. Four linear reciprocating drive structures 4-3 along the Z-axis are connected to the tool holder 4-2, and a core removal tool 4-4 is threaded to the bottom of each linear reciprocating drive structure 4-3.

[0041] The pitting cutter 4-4 includes multiple triangular blades 4-41 arranged circumferentially at intervals. A certain gap is left between adjacent blades so that when the pitting cutter 4-4 is removing the pit, the pulp will not block the pitting cutter 4-4 and can be discharged through the gap.

[0042] Four linear reciprocating drive structures 4-3 drive their respective pitting tools 4-4 to move in the Z-axis direction to perform the pitting process of hawthorn.

[0043] A PLC controller 8 and a power supply 10 are installed on the support frame 1-7 inside the frame 1. The output terminal of the PLC controller 8 is communicatively connected to the servo motor 2-1, all the electric push rods 4-3, and all the small cylinders 3-21. The power supply provides power to the entire hawthorn intelligent positioning, pitting, and unloading device. The PLC controller 8 is connected to the teach pendant 7.

[0044] The teach pendant 7 employs a motion control system with Modbus-RTU communication protocol. It features graphical elements such as point drawing, line drawing, and polyline drawing, along with rich manual teaching functions and graphical preview capabilities. It includes conditional jump, dual MARK point rotation alignment, instruction movement, breakpoint execution, area array copying, offset operation, batch editing, single-step operation, I / O input / output, automatic execution, automatic reset, production output, and a machining timer. It supports importing DXF and PLT files. After editing the motion parameters, they can be downloaded to the controller via serial port (for offline independent operation). The teach pendant 7 can save the motion parameters of the tool module 4 set in the PLC controller 8 to the tool module 7, with a storage capacity of up to 100 machining files, each supporting 8000 instructions. The teach pendant 7's hardware features 4 gun path controls, 4 general-purpose outputs, 8 inputs, 12 high-speed pulse outputs, and a 1ms accuracy for core removal machining time. Each motion instruction has independent core removal machining delay and tool retraction delay functions.

[0045] A discharge conveyor belt 6 is provided below the support frame 1-7. The width of the discharge conveyor belt 6 is greater than the maximum spacing between the core holes 3-11 in the Y-axis direction of the material trough fixing plate 3-1.

[0046] Working principle: Drive module 2 controls the material tray module 3 to begin extending along the Y-axis (direction forward of the machine). After 5 seconds, the material tray module 3 pauses. At this point, all the positioning clamps 3-2 of the material tray module 3 are no longer below the pitting cutter 4-4, making room for the robotic arm to pick up the hawthorn fruits. The robotic arm's suction cups begin to pick up the hawthorn fruits, or the hawthorn fruits are manually placed from left to right into the clamping holes of each of the hawthorn positioning clamps 3-2 in the material tray module 3, until all 12 fruits are picked up. Drive module 2 then drives the material tray module 3 to reset.

[0047] Start the teach box 7, select the saved hawthorn pitting processing program, load the hawthorn pitting processing program retrieved from the database of the teach box 7 into the PLC controller 8, and the PLC controller 8 outputs the pitting distance (the standard pitting position is: the point where the pitting tool is perpendicular to the center axis of the hawthorn fruit) adjustment command to the drive module 2. The drive module 2 adjusts the distance of the material trough module 3 in the Y-axis direction to the standard set value.

[0048] The pitting blade 4-4 and the material trough module 3 automatically adjust the pitting distance according to the preset program (the size and specifications of the fruit diameter) to adapt to hawthorn fruits of different sizes. The pitting blade 4-4 is perpendicular to the center line of the hawthorn fruit to ensure that the slices are not skewed, the thickness is uniform, and the flesh does not crack.

[0049] After all the hawthorn pitting and processing steps are completed, the unloading action will be performed. At this time, all positioning clamps will open under the drive of their respective three small cylinders, the clamping holes will release, and unloading will begin into the unloading conveyor belt 6. The unloading time is about 3-5 minutes (the unloading time can be set in the program) until all finished hawthorn slices are produced. At the same time, the teaching pendant will detect the operating status of each module of the intelligent hawthorn positioning pitting and unloading device and record the data (including processing count data). The teaching pendant greatly reduces the frequency of manual intervention and improves the stability of equipment operation and food safety.

[0050] The above technical features constitute the preferred embodiment of the present invention, which has strong adaptability and optimal implementation effect. Non-essential technical features can be added or removed according to actual needs to meet the needs of different situations.

[0051] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

[0052] Example 2 like Figure 8 As shown, this embodiment provides a hawthorn intelligent positioning depitting and unloading device. Based on embodiment 1, the hawthorn intelligent positioning depitting and unloading device in this embodiment further includes a vision detection system and a display screen 11. The vision detection system consists of multiple vision cameras 5. Each depitting cutter 4-4 is equipped with a vision camera 5 above it, and the vision camera 5 is fixed on the cutter fixing frame 4-2.

[0053] The PLC controller 8 is communicatively connected to each vision camera 5, and the PLC controller 8 is also communicatively connected to the display screen 11.

[0054] Working principle: Drive module 2 controls the material tray module 3 to begin extending along the Y-axis (direction forward of the machine). After 5 seconds, the material tray module 3 pauses. At this point, all the positioning clamps 3-2 of the material tray module 3 are no longer below the pitting cutter 4-4, making room for the robotic arm to pick up the hawthorn fruits. The robotic arm's suction cups begin to pick up the hawthorn fruits, or the hawthorn fruits are manually placed from left to right into the clamping holes of each of the hawthorn positioning clamps 3-2 in the material tray module 3, until all 12 fruits are picked up. Drive module 2 then drives the material tray module 3 to reset.

[0055] Start the teach pendant and select the saved pitting process program. Before pitting, the vision inspection system starts working simultaneously. When the pitting cutter 4-4 reaches the central axis of the material trough fixing plate 3-1, the vision camera 5 will begin to measure the vertical coaxiality of the pitting cutter 4-4 and the central axis of the hawthorn pit, detecting any abnormality in the alignment between the pitting cutter 4-4 and the central axis of the hawthorn pit. If a deviation of 0.5mm or more is found between the pitting cutter 4-4 and the central axis of the hawthorn pit (the standard pitting position is: the point where the pitting cutter 4-4 is perpendicular to the central axis of the hawthorn pit), the vision camera 5 will quickly (within 1.5 seconds) feed the abnormality signal to the PLC controller 8. After receiving the abnormality signal, the PLC controller 8 will output an adjustment action signal, which will be executed by the drive module 2 to control the movement of the material trough module 3. If the vision inspection system detects no misalignment, the next pitting action will be executed.

[0056] The PLC controller 8 outputs movement control commands and adjustment commands to the drive module 2 for the pitting cutter 4-4. The drive module 2 drives the material trough module 3 to readjust the center distance between the pitting cutter 4-4 and the hawthorn fruit (the distance in the Y-axis direction is adjusted to the standard setting value).

[0057] The pitting blade 4-4 and the trough module 3 automatically adjust the pitting distance according to the preset program (the size and specifications of the fruit diameter) to adapt to hawthorn fruits of different sizes. The pitting blade 4-4 is perpendicular to the center line of the hawthorn fruit to ensure that the slices made by the pitting blade 4-4 are not skewed, the thickness of the hawthorn flesh is uniform, and there is no cracking of the flesh.

[0058] After all the hawthorn pitting and processing steps are completed, the unloading action will be performed. At this time, all positioning clamps will open under the drive of their respective three small cylinders, the clamping holes will release, and unloading will begin into the unloading conveyor belt 6. The unloading time is about 3-5 minutes (the unloading time can be set in the program) until all finished hawthorn slices are produced. At the same time, the teaching pendant will detect the operating status of each module of the intelligent hawthorn positioning pitting and unloading device and record the data (including processing count data). The teaching pendant greatly reduces the frequency of manual intervention and improves the stability of equipment operation and food safety.

[0059] Example 3 like Figure 9 As shown, this embodiment provides a hawthorn intelligent positioning pitting and unloading device, including a frame 1, a material trough module 3, a cutter module 4, a teach pendant 7, and a PLC controller 8.

[0060] The top of the frame 1 is provided with a material trough module 3, and a tool module 4 is provided above the material trough module 3. The tool module 4 includes a core removal tool 4-1 that can move in three-dimensional space above the material trough module 3.

[0061] The frame 1, trough module 3, teach box 7, and PLC controller 8 are the same as those in Embodiment 1.

[0062] Unlike Embodiment 1, the intelligent positioning and pitting unloading device for hawthorn described in this embodiment does not include the drive module 2 of Embodiment 1. Furthermore, the support structure of the cutter module 4 in this embodiment differs from that of the cutter module 4 in Embodiment 1 (the support plate 4-5, fixed support rod 4-1, and cutter fixing frame 4-2 constitute the support structure of the cutter module 4 in Embodiment 1), where the support structure of the cutter module 4 in Embodiment 1 is fixed. In this embodiment, the cutter module 4 has only one pitting cutter 4-4 capable of three-dimensional spatial movement above the material trough module 3.

[0063] Specifically, the cutting tool module 4 includes two Y-axis ball screw mechanisms 9-1 disposed on the top left and right sides of the material trough fixing plate 3-1 of the material trough module 3, two vertical support blocks 9-2, a cutting tool ball screw mechanism 9-3, a linear reciprocating drive structure, and a core removal cutting tool 4-4. The Y-axis ball screw mechanism 9-1 is arranged along the Y-axis direction.

[0064] Each Y-axis ball screw mechanism 9-1 is movably connected to a vertical support block 9-2 in the Z-axis direction. The tops of the two vertical support blocks 9-2 are connected to a tool ball screw mechanism 9-3 along the X-axis direction. The tool ball screw mechanism 9-3 is driven by a linear reciprocating drive structure movable along the Z-axis direction. The bottom end of the linear reciprocating drive structure is connected to a core removal tool 4-4. The Y-axis ball screw mechanism 9-1, the vertical support blocks 9-2, and the tool ball screw mechanism 9-3 constitute the support structure of the tool module 4 in this embodiment. This support structure of the tool module 4 in this embodiment can drive the core removal tool 4-4 to move in the XY-axis plane.

[0065] The PLC controller 8 is connected to the Y-axis ball screw mechanism 9-1, the tool ball screw mechanism 9-3, the linear reciprocating drive structure, and the teach pendant 7. The PLC controller 8 is connected to the teach pendant 7.

[0066] The rotation of the Y-axis ball screw mechanism 9-1 on the left and right sides of the material trough module 3 drives the vertical support block 9-2 to move along the Y-axis, which in turn drives the tool ball screw mechanism 9-3 to move along the Y-axis, and drives the core removal tool 4-4 to move along the Y-axis; the rotation of the tool ball screw mechanism 9-3 drives the core removal tool 4-4 to move along the X-axis; the linear reciprocating drive structure moves the core removal tool 4-4 along the Z-axis.

[0067] The Y-axis ball screw mechanism 9-1 uses high-carbon chromium bearing steel (grade: GCr15) for its screw and balls. It has advantages such as high hardness (bare stone hardness ≥62), good wear resistance and dimensional stability, and small deformation after heat treatment.

[0068] The above technical features constitute the preferred embodiment of the present invention, which has strong adaptability and optimal implementation effect. Non-essential technical features can be added or removed according to actual needs to meet the needs of different situations.

[0069] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A smart positioning and pitting unloading device for hawthorn, characterized in that, include: The frame, drive module, feed trough module, and tool module; The rack is equipped with a drive module; A material trough module is provided on the top of the frame, and a tool module is provided above the material trough module. The tool module includes multiple core removal tools that can move in the Z-axis direction. The drive module is connected to the material trough module in a transmission manner, and the drive module can drive the material trough module to move back and forth. The material trough module includes several sets of positioning clamps, and each positioning clamp has a clamping hole with a variable diameter at its center, which is used to clamp hawthorns. The clamping hole and the core removal tool above it are located on the same central axis when they are working.

2. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 1, characterized in that, The drive module includes a servo motor, a flat belt, a gear shaft, a gear, and a rack; The frame includes a support frame in the middle, and the servo motor is mounted on the support frame. The servo motor is connected to the gear shaft via a flat belt. The gear shaft is arranged along the X-axis of the frame and connected above the support frame. Gears are respectively provided at both ends of the gear shaft, and the top of each gear is connected to the rack provided above it.

3. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 2, characterized in that, The drive module also includes two material trough transmission bearing assemblies disposed on the left and right sides of the top of the frame; The feed trough drive bearing assembly includes a Y-axis screw and movable nuts disposed at both ends of the Y-axis screw, with the Y-axis screw and movable nuts rotatably connected; the two Y-axis screws are disposed on the left and right sides of the top of the frame along the Y-axis direction.

4. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 3, characterized in that, The material trough module includes a material trough fixing plate and positioning clamps; the left and right sides of the bottom of the material trough fixing plate are connected to the movable nut and the top of the rack respectively, and multiple positioning clamps are provided on the upper surface of the material trough fixing plate.

5. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 4, characterized in that, The positioning fixture includes three small cylinders, three vertical screws, three grippers, and a gripper movable plate. The three small cylinders are connected to the upper surface of the material trough fixing plate, and the included angle between adjacent small cylinders is 120°. The piston rod of each small cylinder is connected to a vertical screw at its front end. The three grippers are slidably embedded in the top of the gripper movable plate, and the adjacent installation angle is 120°. The top of each vertical screw passes through the gripper movable plate and is connected to the corresponding gripper.

6. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 5, characterized in that, A circular hole is opened in the center of the movable jaw disc. The ends of the three jaws near the circular hole can move in the circular hole, and the ends of the three jaws form a clamping hole with a variable diameter.

7. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 6, characterized in that, The feed trough fixing plate has a number of through holes equal to the number of the positioning fixtures, and the center of each of the three small cylinders of the positioning fixtures is provided with a through hole.

8. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 7, characterized in that, It also includes an unloading conveyor belt located below the support frame, the width of which is greater than the maximum spacing between the through holes in the Y-axis direction of the trough fixing plate.

9. A hawthorn intelligent positioning pitting and unloading device according to any one of claims 1-8, characterized in that, The tool module includes a support plate, a fixed support rod, a tool holder, multiple linear reciprocating drive structures, and multiple core removal tools. A support plate is provided on each of the left and right sides of the frame, and a fixed support rod is connected to the top of each support plate. The tops of the two fixed support rods are connected to the two ends of the tool holder. Multiple linear reciprocating drive structures along the Z-axis are connected to the tool holder, and a core removal tool is connected to the bottom of each linear reciprocating drive structure.

10. A hawthorn intelligent positioning and pitting unloading device according to claim 9, characterized in that, The core removal tool consists of multiple circumferentially spaced triangular cutting edges with a certain gap between adjacent cutting edges.

11. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 9, characterized in that, It also includes a PLC controller and a teach pendant, with the PLC controller connected to the teach pendant.

12. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 11, characterized in that, It also includes a vision inspection system and a display screen. The vision inspection system consists of multiple vision cameras, with a vision camera mounted above each core removal tool and fixed to the tool holder. The PLC controller is communicatively connected to each vision camera and also communicatively connected to the display screen.

13. A smart positioning and pitting unloading device for hawthorn, characterized in that, It includes a frame, a feed trough module, and a cutting tool module; A material trough module is provided on the top of the frame, and a tool module is provided above the material trough module; the tool module includes a core removal tool that can move in three-dimensional space above the material trough module; The material trough module includes several sets of positioning clamps, and each positioning clamp has a clamping hole with a variable diameter at its center, which is used to clamp hawthorns. The clamping hole and the core removal tool above it are located on the same central axis when they are working.

14. The intelligent positioning, pitting, and unloading device for hawthorn according to claim 13, characterized in that, The cutting tool module includes two Y-axis ball screw mechanisms, two vertical support blocks, a cutting tool ball screw mechanism, a linear reciprocating drive structure, and a core removal tool, all disposed on the left and right sides of the top of the material trough fixing plate of the material trough module. Each Y-axis ball screw mechanism is movably connected to a vertical support block in the Z-axis direction. The top of the two vertical support blocks is connected to a cutting tool ball screw mechanism along the X-axis direction. The cutting tool ball screw mechanism is driven by a linear reciprocating drive structure movable in the Z-axis direction. The bottom of the linear reciprocating drive structure is connected to the core removal tool.

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