Lossless orange flesh separator

Abstract

The invention discloses a lossless mandarin orange flesh separator which comprises a feeding mechanism, a posture adjusting mechanism, a peel scratching mechanism and a peeling mechanism. The feeding mechanism, the posture adjusting mechanism, the peel scratching mechanism and the peeling mechanism are sequentially arranged, the tangerine pith separating mechanism is installed above the posture adjusting mechanism, the first taking and feeding mechanism is installed between the posture adjusting mechanism and the peel scratching mechanism, and the second taking and feeding mechanism is installed between the peel scratching mechanism and the peeling mechanism. Citrus is conveyed to the posture adjusting mechanism through the feeding mechanism. The posture adjusting mechanism is used for adjusting the posture of the citrus to enable one end of the top of the adjusted citrus to be upward; the tangerine pith separation mechanism is used for separating tangerine pith of the citrus; the first taking and feeding mechanism is used for conveying the oranges to the peel scratching mechanism according to original postures; and the second taking and feeding mechanism conveys the oranges to the peeling mechanism according to the original postures. The peeling motion curve of the orange peeling machine can be adjusted according to needs, the orange peeling machine can adapt to oranges of different sizes, automatic feeding is achieved, efficiency is high, and peel and pulp cannot be damaged during peeling.

Description

Technical Field

[0001] This invention relates to a separation device, specifically a non-destructive citrus pulp separator. Background Technology

[0002] my country has a vast market for citrus processing. During the citrus processing, the pulp can be used to make canned fruit or fresh fruit juice, while the peel can be used to make essential oils or dried tangerine peel.

[0003] To separate the peel and pulp of citrus fruits during processing, the traditional method is to manually peel the peel from the pulp. Manual peeling is time-consuming and labor-intensive, and there are problems with efficiency and quality that cannot be guaranteed.

[0004] In recent years, some processing machinery has emerged to address this process. For example, patent (CN113386182A) discloses a fruit peel processing machine for citrus fruits. This machine first uses a cutter to cut the citrus fruit into three pieces, and then uses a pressing rod and pliers to remove the citrus pulp from the peel, essentially automating the peeling process. However, this method causes some damage to both the citrus pulp and the peel. The citrus pulp is cut open, resulting in some of the pulp being broken. The pressing rod and pliers further compress the broken fruit, causing juice loss. In addition to juice loss, some juice can also stain the citrus peel.

[0005] Patent (CN114403476A) discloses a method and equipment for peeling and extracting flesh from Xinhui tangerines. It basically automates the peeling process by using a peeling mechanism, a peeling machine, a longitudinal high-pressure air gun, a flexible mechanical claw, and a transverse high-pressure air gun set in the middle of the conveyor turntable, which are evenly distributed on the conveyor turntable. However, the peeling motion curve of the peeling machine cannot be adjusted, so it cannot adapt to tangerines with large size variations. At the same time, the feeding of the tangerines relies on manual adjustment of their posture, which is inefficient. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a non-destructive citrus pulp separator. The peeling motion curve of the machine can be adjusted as needed, it can adapt to citrus fruits of different sizes, and it is automatically fed, highly efficient, and the peeling process will not damage the peel or pulp.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical means: A non-destructive citrus pulp separator includes a feeding mechanism, a posture adjustment mechanism, a slicing mechanism, and a peeling mechanism; the feeding mechanism, posture adjustment mechanism, slicing mechanism, and peeling mechanism are arranged sequentially, wherein a pith separation mechanism is installed above the posture adjustment mechanism, a first feeding mechanism is installed between the posture adjustment mechanism and the slicing mechanism, and a second feeding mechanism is installed between the slicing mechanism and the peeling mechanism.

[0008] The feeding mechanism is the citrus input end. The citrus is transported to the posture adjustment mechanism through the feeding mechanism. The posture adjustment mechanism completes the posture adjustment of the citrus, so that the top of the adjusted citrus fruit is facing upward.

[0009] The orange pith separation mechanism completes the separation of orange pith from citrus fruits.

[0010] The first feeding mechanism delivers the citrus fruits to the peeling mechanism in their original position, and the peeling mechanism then peels the citrus fruits.

[0011] The second feeding mechanism delivers the citrus fruit to the peeling mechanism in its original position, whereby the peeling mechanism completes the peeling and separation of the citrus fruit from the pulp.

[0012] The peeling mechanism includes: a peeling linkage module and a fruit pushing module.

[0013] The peeling linkage module includes: a second top plate, a bottom plate, a fruit support plate, a pressure plate, a sleeve shaft, a rocker arm slider, a transmission screw, a rocker block, a support rod, a crank fixing block, a peeling suction cup, a tension spring, a suction cup seat, a contour rod, a contour groove, a rocker arm, a rocker arm groove, a crank rod, a rocker arm, an adjusting rod, a guide rod, an adjusting plate, a third slide rail, a second slider, a slide rail limiting plate, a guide plate, a guide groove, an adjusting groove, an adjusting shaft, a second gear, a first gear, and a fourth motor.

[0014] The fruit pushing module includes: a lead screw slide, a third dual-axis cylinder, a fruit pushing suction cup, a collection box, a peel holding area, and a meat holding area.

[0015] The second top plate is positioned above the third support; the fruit pushing module is installed on one side of the third support; three sets of peeling linkage modules are equidistantly distributed along the circumference; and the bottom plate is fixedly installed below the third support.

[0016] The fruit support plate is connected to the pressure plate. The fruit support plate has three equally spaced support arms along the center of the plate surface. The support arms are connected at one end lower and the other end higher to facilitate the support of peeled citrus fruits. A sleeve shaft is fixedly installed below the pressure plate. A rocker arm slider is slidably installed on the outside of the sleeve shaft. The rocker arm slider has three connecting holes that can be hinged at equal intervals around its circumference. A transmission screw is installed inside the sleeve shaft. The top end of the transmission screw is connected to the center of the pressure plate, and the bottom end of the transmission screw is connected to the motor.

[0017] A rocker block is threaded onto the transmission screw. The rocker block is located below the sleeve shaft and has three connecting holes that can be hinged distributed equidistantly around its circumference.

[0018] A support rod is provided between the base plate and the pressure plate, and three support rods are equally spaced along the circumference of the pressure plate; a crank fixing block is fixedly installed on each of the three support rods.

[0019] The peeling suction cup is connected to the suction cup base, and a tension spring is connected between the suction cup base and the swing rod; the suction cup base is hinged to one end of the swing rod, and the swing rod is slidably connected to the contouring groove provided on the contouring rod.

[0020] The rocker arm is an upwardly curved arc, and a rocker arm groove is provided along the rocker arm body. The crank arm is also an upwardly curved arc, with the top end of the crank arm slidably connected to the rocker arm groove; the bottom end of the crank arm is hinged to the crank fixing block.

[0021] The top of the rocker arm is hinged to the middle of the crank arm, and the bottom of the rocker arm is hinged to the rocker block.

[0022] The outer top of the contour rod is fixedly connected to one end of the adjusting rod, and the outer middle part of the contour rod is fixedly connected to the bottom end of the guide rod.

[0023] A guide plate is fixedly connected below the second top plate. A guide groove is machined on the plate body. The guide groove is a straight line from the center to the side. An adjustment plate is provided below the guide plate. The adjustment plate has a cavity structure. The guide plate is located in the cavity. An adjustment groove is provided on the plate body. The adjustment groove is arc-shaped. One end of the adjustment groove is at the center of the adjustment plate, and the other end is at the edge of the adjustment plate. Three adjustment grooves are arranged in an array on the adjustment plate.

[0024] The bottom end of the adjustment shaft is fixedly connected to the center of the adjustment disk, and the top end of the adjustment shaft passes upward through the guide disk and is fixedly connected to the second top plate. The adjustment shaft and the guide disk rotate in cooperation, and the top end of the adjustment shaft is connected to the fourth motor through the second gear and the first gear.

[0025] The top of the adjusting rod passes upward through the adjusting groove, and the adjusting plate is installed in the guide groove. The top of the adjusting rod slides in conjunction with the guide groove. The top of the guide rod is slidably connected to the third slide rail via the second slider. The third slide rail is connected to the second top plate.

[0026] The fourth motor drives the adjustment disc to rotate and adjust its position. Then, through the sliding of the adjustment rod and guide rod, the upper part of the contour rod moves away from or closer to the center of the guide disc.

[0027] The screw slide of the fruit pushing module is fixedly installed on the third bracket. A third dual-axis cylinder is fixedly installed on the screw slide. The drive end of the third dual-axis cylinder is positioned directly above the pressure plate. The drive end is equipped with a fruit pushing suction cup. The third dual-axis cylinder drives the fruit pushing suction cup to extend and retract back and forth to push the peeled citrus pulp into the pulp holding area of ​​the collection box. The screw slide can drive the third dual-axis cylinder to move up and down.

[0028] The advantages of this technical solution are: First, the contour rod simulates the movement trajectory of a human hand peeling citrus. The contour curve of the peeling linkage is set so that there will be no situation where peeling is impossible due to changes in the size of the citrus, which can meet the peeling needs of citrus of various sizes.

[0029] Secondly, by adjusting the position of the guide rod using the adjustment disc, the peeling trajectory can be shifted along its parallel direction, which can meet the peeling needs of citrus fruits of different sizes.

[0030] Third, the fruit-pushing module automatically pushes the peeled citrus pulp down the fruit support plate without human intervention. It should be noted here that simulating human hand peeling is not unique to our organization. Similar patents also use simulated human hand peeling, but other technologies lack a contour rod or similar part designed to mimic the curve of human hand peeling. Most other patents use connecting rods or other structures to make the end movement curve of the peeling part similar to the curve of human hand peeling.

[0031] As a further improvement to this technical solution: The feeding mechanism includes a first support, a funnel, a first rotating shaft, a second rotating shaft, a fruit conveying roller, an intermediate shell, a roller shaft connecting plate, a roller shaft, and a first conveyor chain. The first support has intermediate shells symmetrically fixedly installed front and rear. Funnels are fixedly installed on the upper left side of the two sets of intermediate shells. The first rotating shaft and the second rotating shaft are rotatably installed at the left and right ends of the intermediate shells, respectively. Both ends of the first and second rotating shafts are equipped with sprockets, which are driven by the first conveyor chain. Two first conveyor chains are respectively arranged within the cavities of the two intermediate shells, and fruit conveying rollers are evenly spaced between the two first conveyor chains. Roller shaft connecting plates are evenly fixedly installed on the inner side of the first conveyor chain. The two ends of the roller shaft are connected to the roller shaft connecting plates. Each roller shaft is fitted with a fruit conveying roller. The diameter of the middle part of the fruit conveying roller is smaller than the diameters at both ends, so that the transport of citrus fruits is maintained in the middle of the fruit conveying roller.

[0032] During operation, citrus fruits are stacked and placed inside the funnel. After processing begins, the first rotating shaft starts to rotate via a motor. The first rotating shaft drives the second rotating shaft to rotate via the first conveyor chain. The rotation of the first conveyor chain drives the fruit conveying roller to transport the citrus fruits from one end of the feeding mechanism to the first feeding mechanism at the other end.

[0033] As a further improvement to this technical solution: The first material feeding mechanism includes a second bracket, a first suspension, a guide plate, a brush holder, a brush, a first rodless cylinder, a first dual-axis cylinder, a first pneumatic suction cup, a camera, and a guide frame; The second support is provided with a guide plate and a guide frame at the end near the feeding mechanism; a brush frame and brushes are provided at the end of the guide plate near the feeding mechanism. The brush frame is circular and the brushes are evenly installed on the brush frame. The brushes are arranged radially at an angle along the direction of citrus conveying, and the brushes are close to the center of the brush frame so that the opening of the buffer cavity formed by the brushes and the brush frame is large and the outlet is small. The buffer cavity can slow down the falling citrus and prevent the citrus from being damaged. A first suspension is connected to one side of the second bracket. A first rodless cylinder is installed on the first suspension. The first rodless cylinder is arranged in a horizontal direction. A first dual-axis cylinder is installed on the first rodless cylinder. A first pneumatic suction cup is connected to the drive end of the first dual-axis cylinder. The first pneumatic suction cup is arranged above the attitude adjustment mechanism. A camera is also provided on the end of the first rodless cylinder. The camera is positioned above the posture adjustment mechanism. The camera acquires images of the citrus posture position on the posture adjustment mechanism in real time and transmits the images to the control system. The control system controls the posture adjustment mechanism to adjust the posture of the citrus according to the images. The first rodless cylinder slides in a direction parallel to the attitude adjustment mechanism, the first dual-axis cylinder can extend and retract vertically, and the first pneumatic suction cup can pick up and place citrus fruits. The first feeding mechanism receives and buffers the citrus fruits delivered by the feeding mechanism and then conveys them to the attitude adjustment mechanism.

[0034] A guide frame is provided at the end of the guide plate, and the citrus is guided into the posture adjustment mechanism through the guide frame.

[0035] The first rodless cylinder has two extreme positions in the parallel direction, located above the space formed by the stop and the omnidirectional ball in the attitude adjustment mechanism and above the fruit support frame in the peeling mechanism.

[0036] The guide frame can guide the citrus fruits to fall into the space formed by the baffle and the omnidirectional ball. A camera is also fixedly installed at the end of the first rodless cylinder and above the third belt.

[0037] As a further improvement to this technical solution: The attitude adjustment mechanism includes a first motor, a first pulley, a first belt, a second motor, a second pulley, a second belt, a third motor, a third pulley, a third belt, a second slide rail, a first slide rail, a first slider, a third pulley frame, a lead screw drive motor, a bidirectional lead screw, a lead screw connecting plate, a connecting plate, a stop, and a universal ball.

[0038] The first and second slide rails are arranged parallel to each other and spaced apart. Each of the first and second slide rails is slidably connected to two first sliders. The two ends of the connecting plate are slidably connected to the first and second slide rails respectively through the first sliders. Two first pulleys are connected to the two first sliders on the left side through brackets. One of the first pulleys is driven by a first motor. Two second pulleys are connected to the two first sliders on the right side through brackets. One of the second pulleys is driven by a second motor. A first belt is connected between the two first pulleys. A second belt is connected between the two second pulleys. The first and second belts are arranged vertically parallel and spaced apart, and the driving force on the citrus is in opposite directions. A horizontally arranged third belt is arranged directly below the first and second belts. The two ends of the third belt are connected to two third pulleys respectively. One of the third pulleys is driven by a third motor.

[0039] Four spaced omnidirectional balls are provided above the third belt to limit the movement of citrus fruits that fall onto the third belt; the omnidirectional balls can ensure that the citrus fruits will not deviate from their original positions when their posture is adjusted.

[0040] The third pulley is mounted on a third pulley frame, which has a stop bracket for connecting a swivel ball. The swivel ball is higher than the surface of the third belt but lower than the lower ends of the first and second belts. The bottom of the citrus fruit is supported by the third belt, and the rotation of the third belt causes the citrus fruit to flip longitudinally.

[0041] The lead screw drive motor drives the bidirectional lead screw, one end of which is fixedly connected to the lead screw drive motor. The bidirectional lead screw is threaded with two lead screw connecting plates, which are respectively located at the positive and negative threads of the bidirectional lead screw. Each lead screw connecting plate is connected to the two connecting plates. The lead screw drive motor drives the bidirectional lead screw to rotate in the forward or reverse direction, thereby causing the two connecting plates to move closer or further apart. The movement of the connecting plates drives the first slider to move, which in turn drives the first belt and the second belt to move, thereby causing the first belt and the second belt to move closer or further apart, thus enabling the clamping of citrus fruits of different sizes.

[0042] The first and second belts rotate in opposite directions simultaneously to adjust the lateral posture of the citrus fruit being held.

[0043] The third belt is used to support the citrus fruit that needs to be adjusted in posture. When the first and second belts hold the citrus fruit, the third belt rotates to achieve longitudinal posture adjustment of the citrus fruit.

[0044] The bidirectional lead screw is fixedly mounted on the second bracket via a bearing seat, and the lead screw drive motor is fixedly mounted on the right side of the second bracket via a bracket.

[0045] The two ends of the third pulley frame are connected at the middle of the first slide rail and the second slide rail.

[0046] The ultimate goal of adjusting the posture is to align the thin-skinned fruit top so that it faces directly upwards.

[0047] When the citrus fruits are conveyed to the inlet of the posture adjustment mechanism by the feeding mechanism, they first roll down along the guide plate. As they pass the brush frame and brushes, they are slowed down by the resistance of the brushes and then roll to the guide frame. Guided by the guide frame, they fall into the space formed by the universal ball at the third belt, where they are supported by the third belt and limited by the universal ball. At this time, the camera detects the image of the citrus fruits and transmits it to the control system. The control system controls the motor to work according to the image. At this time, the lead screw drive motor starts to rotate, thereby driving the bidirectional lead screw to rotate. The rotation of the bidirectional lead screw causes the two lead screw connecting plates to move closer to each other. Through the transmission of the connecting plates and the first slider, the first belt and the second belt are finally driven to move towards the citrus fruits and press against the side surface of the citrus fruits. When the camera detects that the first belt and the second belt have approached and contacted the citrus fruits, it feeds back to the control system, and the lead screw drive motor stops rotating. At the same time, the camera starts to detect the position of the top of the citrus fruits in real time, while driving the first motor, the second motor, and the third motor to rotate. The first belt, the second belt, and the third belt adjust the posture of the citrus fruits. The first belt and the second belt clamp and drive the citrus fruits in opposite directions.

[0048] Specifically, when the camera detects an image of the top of a citrus fruit, the first and second belts are driven to rotate and adjust the citrus. At this time, the citrus rotates in place under pressure. When the two belts adjust the top of the citrus fruit to the Y-axis direction, the first and second motors stop rotating, and the citrus's lateral posture adjustment is complete. Then, the third motor starts rotating, driving the third belt to rotate and adjust the citrus. At this time, the citrus is subjected to longitudinal tumbling and rotation. When the third belt adjusts the top of the citrus fruit to face upwards perpendicular to the plane containing the X and Y axes (the bottom of the fruit is at position 309 on the third belt), the third motor stops rotating, and the citrus... After the longitudinal posture adjustment is completed, the lead screw drive motor reverses to drive the first and second belts away from the citrus fruit. At this point, the citrus fruit posture adjustment is complete, and the citrus fruit is in a fruit-top-up position. The citrus fruit then enters the next working step. It should be noted that during the posture adjustment of the citrus fruit, due to the limiting effect of the omnidirectional ball, the citrus fruit always rotates in the same position or slightly deviates from the original position, and there will be no problem of it deviating greatly from the original position or falling. At the same time, due to the flexibility of the belt itself, the surface of the citrus fruit will not be damaged during the entire posture adjustment process, and it can passively retract according to the size of the citrus fruit to adapt to the posture adjustment of citrus fruits of different sizes.

[0049] As a further improvement to this technical solution: The orange peel separation mechanism includes: a second suspension, a first rotary cylinder, a right-angle plate, a second dual-axis cylinder, a needle suction cup, an airtight suction cup, and a needle.

[0050] The second suspension is connected to the first rotary cylinder, which is connected to the second dual-axis cylinder via a right-angle plate. The second dual-axis cylinder is vertically arranged and connected to drive the needle suction cup to lift and lower. The needle suction cup is equipped with an airtight suction cup and a needle. The needle is located at the center of the airtight suction cup, and the end of the needle extends outward from the airtight suction cup. The airtight suction cup is made of elastic rubber. The needle is connected to the air delivery mechanism via a connecting pipe.

[0051] After the needle suction cup is placed against the top of the citrus fruit, the needle works to inject gas into the citrus fruit, using the injected gas to separate the pith from the peel; the airtight suction cup ensures that the needle area is sealed during the gas injection process, ensuring that the gas is injected into the citrus fruit, thereby achieving the separation of the citrus pith.

[0052] The first rotary cylinder drives the right-angle plate, which in turn drives the second dual-axis cylinder and the needle suction cup to rotate horizontally.

[0053] At this point, the pith separation mechanism is positioned directly above the citrus fruit whose posture has been adjusted. After the posture adjustment is complete, the second dual-axis cylinder extends downwards, causing the needle suction cup to move downwards. The needle of the moving needle suction cup pierces the citrus peel, while the airtight suction cup is pressed tightly against the citrus peel surface. Then, the needle begins to inject gas into the citrus fruit, separating the pith between the peel and the pulp, thus facilitating the subsequent peeling process. After the gas injection is complete, the second dual-axis cylinder retracts, causing the needle suction cup to retract as well. Then, the first rotary cylinder rotates 90 degrees counterclockwise to reset, ready for the next operation.

[0054] It should be noted that the needle pierces the top of the citrus fruit. The lower part of the top of the citrus fruit is mostly hollow and has no pulp, so the needle will not pierce the pulp.

[0055] During operation, after the orange pith separation mechanism completes the orange pith separation and rotates 90 degrees counterclockwise, the first feeding mechanism starts working. The first rodless cylinder is positioned at its extreme position close to the attitude adjustment mechanism, and the first pneumatic suction cup is positioned directly above the orange. The first dual-axis cylinder extends downward, driving the first pneumatic suction cup to move downward. The first pneumatic suction cup contacts the orange and sucks up the top of the fruit. The first dual-axis cylinder drives the first pneumatic suction cup carrying the orange to retract. The first rodless cylinder moves to its extreme position away from the attitude adjustment mechanism, so that the first pneumatic suction cup carrying the orange is positioned directly above the peeling mechanism. The first feeding mechanism then transports the orange from the orange pith separation mechanism to the peeling mechanism.

[0056] As a further improvement to this technical solution: The slicing mechanism includes a cutting module and a transport module; The transport module includes a third rotating shaft, a fourth rotating shaft, a second conveyor chain, a fruit transport connecting plate, a fruit transport plate, and a fruit support frame. The third rotating shaft and the fourth rotating shaft are connected by a sprocket and the second conveyor chain is mounted on it. Two second conveyor chains are arranged in parallel at intervals. The two second conveyor chains are connected by the fruit transport connecting plate and the fruit transport plate is mounted on it. Each fruit transport plate is fixedly mounted with a fruit support frame. The fruit support frames are arranged in an equilateral triangle and three pillars are used to accommodate and limit the position of the citrus fruits.

[0057] The cutting module includes a first top plate, a cylinder plate, a pressing cylinder, a coupling, a tool holder shaft, a disc tool holder, a support arm, a limiting rod, a second tool rod, a first connecting rod, a second connecting rod, a first tool rod, a first blade, a second blade, a first torsion spring, a second torsion spring, a second slide groove, a first slide groove, and a third torsion spring. The pressing cylinder is vertically connected to the top of the first top plate via the cylinder plate. The bottom of the pressing cylinder is connected to the tool holder shaft via a coupling. A disc tool holder is fixedly installed at the end of the tool holder shaft. The disc tool holder is hinged at equal intervals to three sets of cutting blades. Each set of cutting blades has the same structure, including a support arm. The support arm is arc-shaped and protrudes outwards in the middle. A first slide groove is provided in the middle of the support arm along the direction of the rod body. One end of the second connecting rod is hinged to the lower part of the support arm near the bottom of the first slide groove. One end of the second tool rod is hinged to the lower end of the support arm. The other end of the second tool rod is connected to the second connecting rod. The other end of the rod is hinged to the first connecting rod; the second cutter rod is also hinged to one end of the first cutter rod at the hinge point with the first connecting rod, and the middle part of the first cutter rod is hinged to one end of the limiting rod. The other end of the limiting rod is provided with a second sliding groove along the direction of the rod body. The limiting rod and the support arm are connected by a pin in the second sliding groove and the first sliding groove. The pin is slidably engaged with both the second sliding groove and the first sliding groove. The bottom side of the first cutter rod is connected to the first blade along the length of the cutter rod, and the bottom side of the second cutter rod is connected to the second blade along the length of the cutter rod. A second torsion spring is installed at the hinge point between the support arm and the second cutter rod. A first torsion spring is installed at the hinge point between the second cutter rod and the first cutter rod. A third torsion spring is installed at the hinge point between the support arm and the disc cutter holder. The first torsion spring, the second torsion spring, and the third torsion spring can realize the reset of each rod after peeling, and at the same time control the force of the first blade and the second blade when cutting into the citrus.

[0058] The three sets of cutting blades are combined above to form a space, and the citrus fruit is placed below the space. When the three sets of cutting blades are driven, they complete the work of making three cuts on the peel of the citrus fruit. The first blade is processed with a tip away from the end of the first blade bar, and the tip can easily cut into the peel of the citrus fruit when making the cuts.

[0059] The second feeding mechanism delivers the citrus fruit to the peeling mechanism in its original position, whereby the peeling mechanism completes the peeling and separation of the citrus fruit from the pulp.

[0060] The first top plate is connected to the second bracket.

[0061] The top of the fruit support frame is sloping, with the inner side lower and the outer side higher. This design helps to stably support and hold the citrus fruits.

[0062] During operation, after the first feeding mechanism places the citrus on the fruit support frame, the peeling mechanism starts working. The motor drives the third rotating shaft to rotate, which in turn moves the fruit transport plate, causing the citrus placed on the fruit support frame to be transported backward. When the citrus is transported to the point directly below the cutting module, the motor stops working. At this time, the citrus on the fruit support frame is located directly below the three sets of cutting blades.

[0063] The downward-pressing cylinder extends downward, driving the disc cutter holder and three sets of cutters to move downward. Once the three sets of cutters are driven downward and come into contact with the citrus, they move in two ways depending on the size of the citrus: When the citrus fruit is small, its radius should be less than or close to the length of the first cutter bar. During the continuous downward movement of the three sets of cutting modules, the first blade mounted on the first cutter bar begins and continues to contact the surface of the citrus fruit. When it descends to a certain extent, a cut is made in the surface of the citrus peel. Then, the reaction force on the first cutter bar exceeds the bearing limit of the first torsion spring mounted at the hinge point between the first cutter bar and the second cutter bar. The first cutter bar begins to move upward, away from the citrus fruit. At the same time, the limiting rod hinged in the middle of the first cutter bar is pushed to slide upward along the first groove. At this time, the first blade begins to cut the peel along the outer surface of the citrus fruit from the initial cut. Then, when the first blade passes the point with the largest transverse diameter of the citrus peel, the reaction force on the first cutter bar begins to decrease rapidly until it disappears. Then, the first torsion spring drives the first cutter bar, the first blade, and the limiting rod back to their original positions. At the same time, the pressing cylinder moves to its lowest limit position. The first blade and the first handle of the three sets of cutters move to the bottom of the fruit support frame. At this point, the outer peel of the citrus is cut with three 120° arrayed cuts. The cuts end below the point where the transverse diameter of the citrus peel is greatest. The citrus is now surrounded by the three sets of cutters, and the peeling of the citrus is complete.

[0064] It should be noted that during the movement of the first blade, the first blade, and the limiting rod, the second blade, the first connecting rod, the second connecting rod, and the support rod do not produce or only produce very small displacements under the action of the second and third torsion springs. At the same time, the citrus peel formed three 120° array of cuts on its outer peel after being cut, but the bottom of the citrus peel was not cut and remained connected. In addition, during the peeling process, the three sets of cutters were always staggered from the three 120° equidistant support pillars on the fruit support frame.

[0065] When the citrus fruit is large, meaning its radius is greater than the length of the first cutting bar, during the continuous downward movement of the three sets of cutting blades, the first blade mounted on the first cutting bar begins and continuously contacts the surface of the citrus fruit. When it descends to a certain point, a cut is made in the citrus peel. Then, the reaction force on the first cutting bar exceeds the bearing limit of the first torsion spring mounted at the hinge point between the first and second cutting bars. The first cutting bar begins to move upward, away from the citrus fruit. Simultaneously, the limiting rod hinged in the middle of the first cutting bar is pushed upward along the first groove. When the first blade continues to move downward and approaches the point of maximum lateral dimension of the citrus fruit (at which point the lateral radius of the citrus fruit is greater than the length of the first cutting bar), the second blade mounted on the second cutting bar begins to contact the outer peel of the citrus fruit. At the same time, the reaction force on the second cutting bar exceeds the bearing limit of the second torsion spring. The second cutting bar begins to move upward, away from the citrus fruit. The first and second connecting rods move synchronously with the movement of the second cutting bar, causing them to shift. At this point, the second blade continues to cut along the path already made by the first blade in the citrus peel. Simultaneously, the limiting rod is continuously pushed upwards along the first groove. When the second blade passes the point of maximum lateral dimension of the citrus, the radius of the citrus begins to gradually decrease. When the radius of the citrus is again smaller than the length of the first blade, the second blade no longer contacts the citrus peel, and the reaction force on the second blade gradually disappears. Under the restoring force of the second torsion spring, the second blade gradually returns to its initial position. At this point, the first blade contacts the citrus peel again and continues to cut along the path opened by the second blade. Then, as the citrus half... As the diameter gradually decreases, the reaction force on the first cutter bar begins to decrease rapidly and eventually disappears. Then, the first torsion spring drives the first cutter bar, the first blade, and the limit rod back to their original positions. At the same time, the pressing cylinder moves to its limit position, and the first cutter bar and the first blade of the three sets of cutters move to the bottom of the fruit support frame. The outer peel of the citrus is cut with three 120° arrayed cuts. The cut ends below the point where the transverse diameter of the citrus outer peel is the largest. At this time, the citrus is in the space formed by the combination of the three sets of cutters. At this time, the peeling of the citrus is completed.

[0066] It is important to note that during the aforementioned force-induced movement of the rods, the limiting rod continuously slides within the first groove. When the limiting rod reaches the top end of the first groove but the movement has not yet ended, the limiting rod begins to slide outward along its own second groove until it reaches the end of the second groove. At this point, if the force on each rod has not yet ended and the movement is still ongoing, the support arm begins to bear force and quickly exceeds the bearing limit of the third torsion spring. The support arm begins to be pushed outward. When the force on each rod is no longer present, the support arm is driven back to its initial position by the third torsion spring. Simultaneously, during the entire movement, the first, second, and third torsion springs are triggered sequentially in segments. This multi-segment structure effectively prevents excessive torsion of one torsion spring, which could cause excessive restoring force and lead to the blade cutting into the fruit pulp and causing damage. It also allows the peeling mechanism to adapt to peeling various sizes of citrus fruits.

[0067] As a further improvement to this technical solution: The second feeding mechanism includes a third bracket, a third suspension, a second rodless cylinder, a second rotary cylinder, a thin cylinder, and a second pneumatic suction cup.

[0068] A third suspension is connected to the third bracket, and a second rodless cylinder is fixedly installed on the third suspension. The second rodless cylinder is horizontally positioned, and a second rotary cylinder is fixedly installed on the second rodless cylinder. The second rotary cylinder can rotate 180 degrees, and a thin cylinder is fixedly installed on the second rotary cylinder. A second pneumatic suction cup is fixedly installed at the end of the thin cylinder. The thin cylinder can drive the second pneumatic suction cup to extend and retract back and forth. The second pneumatic suction cup is used to pick up the citrus fruit after it has been peeled by the peeling mechanism and then drive it to the peeling mechanism for release.

[0069] During operation, after the peeling mechanism completes the cutting of the citrus peel, the second feeding mechanism starts working. The second rodless cylinder is located at the extreme position near the peeling mechanism. The thin cylinder extends outward, driving the second pneumatic suction cup to extend outward as well. The second pneumatic suction cup contacts the outer surface of the citrus and then works to pick up the citrus. At this time, the thin cylinder drives the second pneumatic suction cup and the citrus adsorbed on it to retract. The second rodless cylinder begins to move to the extreme position at the other end. At the same time, the second rotary cylinder rotates 180 degrees clockwise to adjust the orientation of the citrus. The second rodless cylinder moves to the extreme position near the peeling mechanism. At this time, the thin cylinder extends again, and then the adsorbed citrus moves to directly above the fruit support plate of the peeling mechanism. The suction force of the second pneumatic suction cup disappears, and the citrus is placed on the fruit support plate. Then, the citrus enters the next working step.

[0070] It should be noted that after the second feeding mechanism transports the citrus fruit from the peeling mechanism to the peeling mechanism, the fruit's top-up orientation remains unchanged, so there is no need for a second orientation adjustment.

[0071] As a further improvement to this technical solution: The collection box is set on the bottom plate, and a round hole is opened at the center of the bottom of the bottom plate to accommodate the motor shaft. There is a U-shaped opening in the middle of the collection box to accommodate the motor shaft. The collection box is provided with a skin collection area and a meat collection area.

[0072] The third slide rail is equipped with a slide rail limiting plate to limit the second slider; the width of the guide groove at the bottom is smaller than the width at the top, which facilitates the sliding connection of the adjustment rod.

[0073] The adjustment disc has a through hole machined in the middle to accommodate the adjustment shaft.

[0074] The pressure plate has three notches machined along its circumference to provide space for the peeling of the connecting rod module and to prevent interference between components.

[0075] The sleeve shaft is provided with a limiting rib ring at its bottom to prevent the rocker arm slider from slipping off the sleeve shaft.

[0076] The sleeve has three equidistant notches distributed along the circumference, which allow the rocker block to pass through without interference. Attached Figure Description

[0077] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0078] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the feeding mechanism of the present invention; Figure 3 This is a schematic diagram of the feeding mechanism of the present invention with some parts hidden. Figure 4 This is a schematic diagram of the first feeding mechanism of the present invention; Figure 5 This is a schematic diagram of the attitude adjustment mechanism of the present invention; Figure 6 This is a schematic diagram of the posture adjustment mechanism of the present invention with some parts hidden. Figure 7 This is a schematic diagram of the orange pith separation mechanism of the present invention; Figure 8 This is a schematic diagram of the needle suction cup structure of the present invention; Figure 9 This is a schematic diagram of the skin-slicing mechanism of the present invention; Figure 10 for Figure 9 A schematic diagram of the structure after the second support is hidden; Figure 11 for Figure 10 A structural diagram showing the hidden transport module; Figure 12 This is a schematic diagram of the slicing mechanism cutting module of the present invention; Figure 13 This is a schematic diagram of the default posture of the slicing mechanism cutting module of the present invention; Figure 14 This is a schematic diagram of the second support structure of the present invention; Figure 15 This is a schematic diagram of the second feeding mechanism of the present invention; Figure 16 This is a schematic diagram of the third support structure of the present invention; Figure 17 This is a schematic diagram of the peeling mechanism of the present invention; Figure 18 This is a schematic diagram of the feeding posture of the second feeding mechanism of the present invention; Figure 19 This is a schematic diagram of the fruit-supporting disc of the peeling mechanism of the present invention; Figure 20 This is a schematic diagram of the structure of the peeling mechanism adjustment disc of the present invention; Figure 21 This is a schematic diagram showing the connection between the adjusting plate and the guide plate of the present invention; Figure 22 This is a schematic diagram of the structure of the drive section above the adjustment disc of the present invention; Figure 23 This is a schematic diagram showing the orientation of the peeling connecting rod module of the present invention; Figure 24 This is a schematic diagram of the specific structure of the peeling connecting rod module of the present invention; Figure 25 This is a schematic diagram of the fruit-pushing module structure of the present invention; Figure 26 This is a schematic diagram of the collection box of the present invention; Figure 27 This is a schematic diagram of the attitude adjustment of the present invention.

[0079] Explanation of reference numerals in the attached figures: 1-Feeding mechanism, 2-First feeding mechanism, 3-Attitude adjustment mechanism, 4-Orange pith separation mechanism, 5-Peeling mechanism, 6-Second feeding mechanism, 7-Peeling mechanism; 101-First support, 102-Funnel, 103-First rotating shaft, 104-Second rotating shaft, 105-Fruit conveying roller, 106-Intermediate shell, 107-Roller connecting plate, 108-Roller, 109-First conveyor chain; 201-Second bracket, 202-First suspension, 203-Guide plate, 204-Brush holder, 205-Brush, 206-First rodless cylinder, 207-First dual-axis cylinder, 208-First pneumatic suction cup, 209-Camera, 210-Guide frame; 301-First motor, 302-First pulley, 303-First belt, 304-Second motor, 305-Second pulley, 306-Second belt, 307-Third motor, 308-Third pulley, 309-Third belt, 310-Second slide rail, 311-First slide rail, 312-First slider, 313-Third pulley frame, 314-Screw drive motor, 315-Double-acting screw, 316-Screw connecting plate, 317-Connecting plate, 318-Stop bracket, 319-Universal ball; 401-Second suspension, 402-First rotary cylinder, 403-Right angle plate, 404-Second dual-axis cylinder, 405-Needle suction cup, 406-Airtight suction cup, 407-Needle; 500-Cutter module, 501-Transport module, 502-First top plate, 503-Cylinder plate, 504-Pressing cylinder, 505-Third rotating shaft, 506-Fourth rotating shaft, 507-Conveyor chain, 508-Fruit transport connecting plate, 509-Fruit transport plate, 510-Fruit support frame, 511-Coupling, 514-Knife holder shaft, 515-Disc knife holder, 516-Support arm, 517-Limiting rod, 518-Second knife bar, 519-First connecting rod, 520-Second connecting rod, 521-First knife bar, 522-First blade, 523-Second blade, 524-First torsion spring, 525-Second torsion spring, 526-Second slide groove, 527-First slide groove, 528-Third torsion spring; 601-Third bracket, 602-Third suspension, 603-Second rodless cylinder, 604-Second rotary cylinder, 605-Thin cylinder, 606-Second pneumatic suction cup; 700-Second top plate, 701-Peeling connecting rod module, 702-Pushing fruit module, 703-Base plate, 704-Fruit support plate, 705-Pressure plate, 706-Sleeve shaft, 707-Swing rod slider, 708-Transmission screw, 709-Rock arm block, 710-Support rod, 711-Crank fixing block, 712-Peeling suction cup, 713-Tension spring, 714-Suction cup seat, 715-Shaping rod, 716-Shaping groove, 717-Swing rod, 718-Swing rod groove, 719-Crank rod, 72 0-Joystick, 721-Adjusting lever, 722-Guide lever, 723-Adjusting disc, 724-Third slide rail, 725-Second slider, 726-Slide rail limit plate, 727-Guide disc, 728-Guide groove, 729-Adjusting groove, 730-Adjusting shaft, 731-Second gear, 732-First gear, 733-Fourth motor, 734-Lead screw slide, 735-Third dual-axis cylinder, 736-Fruit pusher suction cup, 737-Collection box, 738-Peel collection area, 739-Meat collection area. Detailed Implementation

[0080] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. For ease of description, the terms "upper," "lower," "left," and "right" appearing below only indicate that they correspond to the upper, lower, left, and right directions in the accompanying drawings and do not limit the structure.

[0081] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0082] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0083] See Figure 1-26 It is understood that the non-destructive citrus pulp separator of the present invention consists of a feeding mechanism 1, a posture adjustment mechanism 3, a peeling mechanism 5, and a peeling mechanism 7 arranged in sequence. The posture adjustment mechanism 3 is equipped with a pith separation mechanism 4, a first feeding mechanism 2 is installed between the posture adjustment mechanism 3 and the peeling mechanism 5, and a second feeding mechanism 6 is installed between the peeling mechanism 5 and the peeling mechanism 7.

[0084] Working process: The feeding mechanism 1 is the input end of the citrus. The citrus is transported to the posture adjustment mechanism 3 through the feeding mechanism 1. The posture adjustment mechanism 3 completes the posture adjustment of the citrus. At this time, the citrus with the posture adjusted passes through the orange pith separation mechanism 4 to complete the separation of the orange pith. Then, the first feeding mechanism 2 sends the citrus to the peeling mechanism 5 according to its original posture. The peeling mechanism 5 completes the peeling of the citrus. At this time, the second feeding mechanism 6 sends the citrus to the peeling mechanism 7 according to its original posture. Then, the peeling mechanism 7 completes the peeling and separation of the citrus pulp. At this time, the citrus pulp is separated.

[0085] The feeding mechanism 1 is mounted on the first support 101, the posture adjustment mechanism 3, the orange pith separation mechanism 4, the first feeding mechanism 2, and the peeling mechanism 5 are all mounted on the second support 201, and the second feeding mechanism 6 and the peeling mechanism 7 are all mounted on the third support 601.

[0086] See Figures 2-3 It can be seen that the feeding mechanism 1 consists of a first support 101, a funnel 102, a first rotating shaft 103, a second rotating shaft 104, a fruit conveying roller 105, an intermediate shell 106, a roller connecting plate 107, a roller 108, and a first conveyor chain 109.

[0087] The first support 101 is symmetrically fixed with intermediate shells 106. Funnels 102 are fixedly installed on the upper left side of the two sets of intermediate shells 106. The left and right ends of the intermediate shells 106 are respectively rotatably mounted with a first rotating shaft 103 and a second rotating shaft 104. Both ends of the first rotating shaft 103 and the second rotating shaft 104 are provided with sprockets. The sprockets are driven by the first conveyor chain 109. The two first conveyor chains 109 are respectively set in the shell cavities of the two intermediate shells 106. Fruit conveying rollers 105 are equally spaced between the two first conveyor chains 109.

[0088] Roller connecting plates 107 are fixedly installed at equal intervals on the inner side of the first conveyor chain 109. The two ends of the roller 108 are connected to the roller connecting plates 107. Each roller 108 is fitted with a fruit transport roller 105. The diameter of the middle part of the fruit transport roller 105 is smaller than the diameter of the two ends, so that the transport of citrus is kept in the middle of the fruit transport roller 105.

[0089] During operation, the citrus fruits are stacked and placed inside the funnel 102. After processing begins, the first rotating shaft 103 starts to rotate via a motor. The first rotating shaft 103 drives the second rotating shaft 104 to rotate via the first conveyor chain 109. The rotation of the first conveyor chain 109 drives the fruit conveying roller 105 to move and transport the citrus fruits from one end of the feeding mechanism 1 to the first feeding mechanism 2 at the other end.

[0090] The first feeding mechanism 2 includes: a second bracket 201, a first suspension 202, a guide plate 203, a brush holder 204, a brush 205, a first rodless cylinder 206, a first dual-axis cylinder 207, a first pneumatic suction cup 208, a camera 209, and a guide frame 210.

[0091] The second support 201 is provided with a guide plate 203 and a guide frame 210 at the discharge end near the feeding mechanism 1. The guide plate 203 is provided with a brush frame 204 and a brush 205 at the end near the feeding mechanism 1. The brush frame 204 is ring-shaped and the brushes 205 are evenly installed on the brush frame 204. The brushes 205 are arranged radially at an angle along the direction of citrus conveying, and the brushes 205 are close to the center of the brush frame 204 so that the buffer cavity formed by the brushes 205 and the brush frame 204 has a large opening and a small outlet. The buffer cavity can slow down the falling citrus and prevent the citrus from being damaged.

[0092] A first suspension 202 is connected to one side of the second bracket 201. A first rodless cylinder 206 is installed on the first suspension 202. The first rodless cylinder 206 is arranged in a horizontal direction. A first dual-axis cylinder 207 is installed on the first rodless cylinder 206. A first pneumatic suction cup 208 is connected to the drive end of the first dual-axis cylinder 207. The first pneumatic suction cup 208 is arranged above the attitude adjustment mechanism 3.

[0093] A camera 209 is also provided at the end of the first rodless cylinder 206. The camera 209 is positioned above the attitude adjustment mechanism 3. The camera 209 acquires images of the citrus posture position on the attitude adjustment mechanism 3 in real time and transmits the images to the control system. The control system controls the attitude adjustment mechanism 3 to adjust the posture of the citrus according to the images.

[0094] The first rodless cylinder 206 slides in a direction parallel to the attitude adjustment mechanism 3, the first dual-axis cylinder 207 can extend and retract vertically, and the first pneumatic suction cup 208 can pick up and place citrus fruits.

[0095] The first feeding mechanism 2 receives and buffers the citrus fruits delivered by the feeding mechanism 1 and then conveys them to the attitude adjustment mechanism 3.

[0096] The guide plate 203 is provided with a guide frame 210 at its end, and the citrus is guided into the posture adjustment mechanism 3 through the guide frame 210.

[0097] The first rodless cylinder 206 has two extreme positions in the parallel direction, located above the space formed by the stop 318 and the universal ball 319 in the attitude adjustment mechanism 3, and above the fruit support 510 in the peeling mechanism 5.

[0098] The guide frame 210 can guide the citrus to fall into the space formed by the baffle 318 and the omnidirectional ball 319. A camera 209 is also fixedly installed at the end of the first rodless cylinder 206 and above the third belt 309.

[0099] See Figures 4-6 It can be seen that the attitude adjustment mechanism 3 includes: a first motor 301, a first pulley 302, a first belt 303, a second motor 304, a second pulley 305, a second belt 306, a third motor 307, a third pulley 308, a third belt 309, a second slide rail 310, a first slide rail 311, a first slider 312, a third pulley frame 313, a lead screw drive motor 314, a bidirectional lead screw 315, a lead screw connecting plate 316, a connecting plate 317, a stop 318, and a universal ball 319.

[0100] The first slide rail 311 and the second slide rail 310 are arranged in parallel and spaced apart. Each of the first slide rail 311 and the second slide rail 310 is slidably connected to two first sliders 312. The two ends of the connecting plate 317 are slidably connected to the first slide rail 311 and the second slide rail 310 respectively through the first sliders 312. Two first pulleys 302 are connected to the two first sliders 312 on the left side through brackets. One of the first pulleys 302 is driven by a first motor 301. Two second pulleys 305 are connected to the two first sliders 312 on the right side through brackets. One of the first pulleys 302 is driven by a first motor 301. The two pulleys 305 are driven by the second motor 304; the two first pulleys 302 are connected by a first belt 303; the two second pulleys 305 are connected by a second belt 306. The first belt 303 and the second belt 306 are vertically parallel and spaced apart, and the driving force on the citrus is in opposite directions. A third belt 309 is horizontally arranged directly below the first belt 303 and the second belt 306. The two ends of the third belt 309 are respectively connected to two third pulleys 308, one of which is driven by the third motor 307.

[0101] Four spaced omnidirectional balls 319 are provided above the third belt 309 to limit the oranges falling onto the third belt; the omnidirectional balls 319 can ensure that the oranges will not deviate from their original positions when the posture of the oranges is adjusted.

[0102] The third pulley 308 is mounted on the third pulley frame 313, which is equipped with a stop 318 for connecting and mounting a universal ball 319. The universal ball 319 is higher than the surface of the third belt 309 but lower than the lower ends of the first belt 303 and the second belt 306. The bottom of the citrus fruit is supported by the third belt 309, and the rotation of the third belt 309 causes the citrus fruit to flip longitudinally.

[0103] The first belt 303 and the second belt 306 rotate in opposite directions simultaneously to adjust the lateral posture of the citrus fruit being held.

[0104] The third belt 309 is used to support the citrus fruit that needs to be adjusted in posture. When the first belt 303 and the second belt 306 hold the citrus fruit, the third belt 309 rotates to achieve longitudinal posture adjustment of the citrus fruit.

[0105] The ultimate goal of adjusting the posture is to align the thin-skinned fruit top so that it faces directly upwards.

[0106] A lead screw drive motor 314 drives a bidirectional lead screw 315. One end of the bidirectional lead screw 315 is fixedly connected to the lead screw drive motor 314. The bidirectional lead screw 315 is threadedly connected to two lead screw connecting plates 316. The two lead screw connecting plates 316 are respectively set at the positive and negative threads of the bidirectional lead screw 315. Each lead screw connecting plate 316 is connected to two connecting plates 317. The lead screw drive motor 314 drives the bidirectional lead screw 315 to rotate in the forward or reverse direction, thereby causing the two connecting plates 317 to move closer or further apart. The movement of the connecting plates 317 drives the first slider 312 to move. The movement of the first slider 312 drives the first belt 303 and the second belt 306 to move, thereby causing the first belt 303 and the second belt 306 to move closer or further apart, which can clamp oranges of different sizes.

[0107] The bidirectional lead screw 315 is fixedly mounted on the second bracket 201 via a bearing seat, and the lead screw drive motor 314 is fixedly mounted on the right side of the second bracket 201 via a bracket.

[0108] The two ends of the third pulley frame 313 are connected and disposed in the middle of the first slide rail 311 and the second slide rail 310.

[0109] When the citrus fruits are conveyed to the inlet of the posture adjustment mechanism 3 by the feeding mechanism 1, they first roll down along the guide plate 203. As they pass the brush holder 204 and the brush 205, they are slowed down by the resistance of the brush 205, and then tumble to the guide frame 210. Guided by the guide frame 210, they fall into the space formed by the universal ball 319 at the third belt 309, where they are supported by the third belt 309 and limited by the universal ball 319. At this time, the camera 209 detects the image of the citrus fruits and transmits it to the control system. The control system controls the motor to work based on the image. The lead screw drive motor 314 starts to rotate clockwise, thereby driving the bidirectional lead screw 315 to rotate. The rotation of the bidirectional lead screw 315 drives the two lead screw connecting plates 316 to rotate. The two belts move closer together, and through the connecting plate 317 and the first slider 312, the first belt 303 and the second belt 306 are driven to move towards the citrus and press against the side surface of the citrus. When the camera 209 detects that the first belt 303 and the second belt 306 are close to and in contact with the citrus, it feeds back to the control system, and the lead screw drive motor 314 is controlled to stop rotating. While the camera 209 starts to detect the position of the top of the citrus fruit in real time, it drives the first motor 301, the second motor 304, and the third motor 307 to rotate. The first belt 303, the second belt 306, and the third belt 309 adjust the posture of the citrus fruit. The first belt 303 and the second belt 306 clamp and drive the citrus fruit in opposite directions.

[0110] When the camera 209 detects an image of the top of the citrus fruit, it drives the first belt 303 and the second belt 306 to rotate and adjust the citrus fruit. At this time, the citrus fruit rotates in place under the force. When the two belts adjust the top of the citrus fruit to the desired position... Figure 27When the citrus fruit is aligned with the Y-axis, the first motor 301 and the second motor 304 stop rotating, and the lateral posture adjustment is complete. At this time, the third motor 307 starts rotating under control, thereby driving the third belt 309 to rotate and adjust the citrus fruit. At this time, the citrus fruit is subjected to force and rolls and rotates longitudinally. When the third belt 309 adjusts the top of the citrus fruit to be perpendicular to the plane containing the X and Y axes and pointing upwards, the bottom of the fruit is at the third belt 309, the third motor 307 stops rotating, and the longitudinal posture adjustment of the citrus fruit is complete. Then, the lead screw drive motor 314 reverses and drives the first belt 303. The second belt 306 moves away from the citrus fruit. At this point, the citrus fruit's posture adjustment is complete, and the citrus fruit is in a fruit-top-up position. The citrus fruit then enters the next working step. It should be noted that during the posture adjustment of the citrus fruit, due to the limiting effect of the universal ball 319, the citrus fruit always rotates in the same position or slightly deviates from the original position, and there will be no problem of it deviating greatly from the original position or falling. At the same time, due to the flexibility of the belt itself, the surface of the citrus fruit will not be damaged during the entire posture adjustment process, and it can passively retract as the size of the citrus fruit changes to adapt to the posture adjustment of citrus fruits of different sizes.

[0111] See Figures 7-8 It can be seen that the orange peel separation mechanism 4 includes: a second suspension 401, a first rotary cylinder 402, a right-angle plate 403, a second dual-axis cylinder 404, a needle suction cup 405, an airtight suction cup 406, and a needle 407.

[0112] The second suspension 401 is connected to the first rotary cylinder 402. The first rotary cylinder 402 is connected to the second dual-axis cylinder 404 through the right-angle plate 403. The second dual-axis cylinder 404 is vertically arranged and is connected to drive the needle suction cup 405 to lift. The needle suction cup 405 is provided with an airtight suction cup 406 and a needle 407. The needle 407 is located at the center of the airtight suction cup 406, and the end of the needle 407 extends outward from the airtight suction cup 406. The airtight suction cup 406 is made of elastic rubber. The needle 407 is connected to the air supply mechanism through a connecting pipe.

[0113] After the needle suction cup 405 is placed against the top of the citrus fruit, the needle 407 works to inject gas into the citrus fruit, using the injected gas to separate the pith from the peel; the airtight suction cup 406 ensures that the area of ​​the needle 407 is sealed during the gas injection process, ensuring that the gas is injected into the citrus fruit, thereby achieving the separation of the citrus pith.

[0114] The first rotary cylinder 402 drives the right-angle plate 403 to drive the second dual-axis cylinder 404 and the needle suction cup 405 to rotate in the horizontal direction.

[0115] At this time, the position of the orange peel separation mechanism 4 is as follows: Figure 7As shown, located directly above the citrus fruit whose posture adjustment has been completed, after the posture adjustment is finished, the second dual-axis cylinder 404 extends downward, driving the needle suction cup 405 to move downward. The needle 407 of the needle suction cup 405 pierces the citrus peel, while the airtight suction cup 406 is pressed tightly against the surface of the citrus peel. Then, the needle 407 begins to inject gas into the citrus fruit, separating the pith between the peel and the pulp, thus facilitating the subsequent peeling work of the peeling mechanism 7. After the gas injection is completed, the second dual-axis cylinder 404 retracts, driving the needle suction cup 405 to retract as well. Then, the first rotary cylinder 402 rotates 90 degrees counterclockwise to reset, ready for the next operation.

[0116] It should be noted that the 407 needle pierces the top of the citrus fruit. The lower part of the top of the citrus fruit is mostly hollow and has no pulp, so the 407 needle will not pierce the pulp.

[0117] During operation, after the orange pith separation mechanism 4 completes the orange pith separation and rotates 90 degrees counterclockwise, the first feeding mechanism 2 starts working. The first rodless cylinder 206 is located at its extreme position close to the attitude adjustment mechanism 3, and the first pneumatic suction cup 208 is located directly above the orange. The first dual-axis cylinder 207 extends downward to drive the first pneumatic suction cup 208 to move downward. The first pneumatic suction cup 208 contacts the orange and sucks up the top of the fruit. The first dual-axis cylinder 207 drives the first pneumatic suction cup 208 carrying the orange to retract. The first rodless cylinder 206 moves to its extreme position away from the attitude adjustment mechanism 3, so that the first pneumatic suction cup 208 carrying the orange is located directly above the peeling mechanism 5. The first feeding mechanism 2 then transports the orange from the orange pith separation mechanism 4 to the peeling mechanism 5.

[0118] See Figures 9-14 It can be seen that the slicing mechanism 5 includes: a cutting module 500 and a transport module 501.

[0119] The transport module 501 includes: a third rotating shaft 505, a fourth rotating shaft 506, a second conveyor chain 507, a fruit transport connecting plate 508, a fruit transport plate 509, and a fruit support frame 510.

[0120] A second conveyor chain 507 is mounted between the third rotating shaft 505 and the fourth rotating shaft 506 via a sprocket set. Two second conveyor chains 507 are arranged in parallel at intervals. The two second conveyor chains 507 are connected to a fruit transport plate 509 via a fruit transport connecting plate 508. A fruit support frame 510 is fixedly installed on each fruit transport plate 509. The fruit support frames 510 are arranged in an equilateral triangle. Three support columns are used to accommodate and limit the position of citrus fruits.

[0121] The cutting module 500 includes: a first top plate 502, a cylinder plate 503, a pressing cylinder 504, a coupling 511, a tool holder shaft 514, a disc tool holder 515, a support arm 516, a limit rod 517, a second tool holder 518, a first connecting rod 519, a second connecting rod 520, a first tool holder 521, a first blade 522, a second blade 523, a first torsion spring 524, a second torsion spring 525, a second slide groove 526, a first slide groove 527, and a third torsion spring 528.

[0122] Above the first top plate 502, a downward pressing cylinder 504 is vertically connected via a cylinder plate 503. The bottom of the downward pressing cylinder 504 is connected to the tool holder shaft 514 via a coupling 511. A disc tool holder 515 is fixedly installed at the end of the tool holder shaft 514. The disc tool holder 515 is hinged at equal intervals to three sets of cutters. Each set of cutters has the same structure, including a support arm 516. The support arm 516 is arc-shaped and protrudes outward in the middle. The middle of the support arm 516 has a first sliding groove 527 along the direction of the rod body. The lower part of the support arm 516 is hinged to one end of a second connecting rod 520 near the bottom of the first sliding groove 527. The lower end of the support arm 516 is hinged to one end of a second tool bar 518. The other end is hinged to the other end of the second connecting rod 520 via the first connecting rod 519; the second cutter bar 518 is also hinged to one end of the first cutter bar 521 at the hinge point with the first connecting rod 519, the middle part of the first cutter bar 521 is hinged to one end of the limiting rod 517, the other end of the limiting rod 517 is provided with a second sliding groove 526 along the direction of the rod body, the limiting rod 517 and the support arm 516 are connected by a pin in the second sliding groove 526 and the first sliding groove 527, the pin is slidably engaged with the second sliding groove 526 and the first sliding groove 527; the bottom side of the first cutter bar 521 is connected to the first blade 522 along the length of the cutter bar, and the bottom side of the second cutter bar 518 is connected to the second blade 523 along the length of the cutter bar.

[0123] A second torsion spring 525 is installed at the hinge joint between the support arm 516 and the second cutter bar 518; a first torsion spring 524 is installed at the hinge joint between the second cutter bar 518 and the first cutter bar 521; a third torsion spring 528 is installed at the hinge joint between the support arm 516 and the disc cutter holder 515; the first torsion spring 524, the second torsion spring 525, and the third torsion spring 528 can realize the reset of each rod after slicing, and at the same time control the force of the first blade 522 and the second blade 523 when cutting into the citrus.

[0124] The three sets of cutting blades combine to form a space above, with the citrus fruit placed below. When driven, the three sets of cutting blades make three cuts on the peel of the citrus fruit.

[0125] The first blade 522 has a pointed tip machined at the end away from the first blade shank 521, which facilitates cutting into the citrus peel when slicing.

[0126] The first top plate 502 is connected to the second bracket 201.

[0127] The top of the fruit support 510 is sloping, with the inner side lower and the outer side higher. This design helps to stably support and hold the citrus fruits.

[0128] During operation, after the first feeding mechanism 2 places the citrus fruits onto the fruit support frame 510, the peeling mechanism 5 starts working. The motor drives the third rotating shaft 505 to rotate, causing the fruit conveying plate 509 to move, thus transporting the citrus fruits placed on the fruit support frame 510 backward. When the citrus fruits are transported to directly below the cutting module 500, the motor stops working. At this time, the citrus fruits on the fruit support frame 510 are directly below the three sets of cutting blades, and the posture of the three sets of cutting modules 500 is as follows: Figure 13 As shown.

[0129] The downward pressure cylinder 504 extends downward, driving the disc cutter holder 515 and the three sets of cutters to move downward. When the three sets of cutters are driven downward and come into contact with the citrus, the three sets of cutters have two movement modes depending on the size of the citrus.

[0130] When the citrus fruit is small, its radius should be less than or close to the length of the first cutter bar 521. During the continuous downward movement of the three sets of cutting modules 500, the first blade 522 mounted on the first cutter bar 521 begins and continues to contact the surface of the citrus fruit. When it descends to a certain extent, a cut is made in the surface of the citrus peel. Then, the reaction force on the first cutter bar 521 exceeds the bearing limit of the first torsion spring 524 mounted on the hinge of the first cutter bar 521 and the second cutter bar 518. The first cutter bar 521 begins to move upward, away from the position of the citrus fruit. At the same time, the limiting rod 517 hinged in the middle of the first cutter bar 521 is pushed to slide upward along the first slide groove 527. At this time, the first blade 522 begins to move from the initial position... The cut is made along the outer surface of the citrus peel. Then, when the first blade 522 passes the point of maximum transverse diameter of the citrus peel, the reaction force on the first blade 521 begins to decrease rapidly and eventually disappears. Then, the first torsion spring 524 drives the first blade 521, the first blade 522, and the limit rod 517 back to their original positions. At the same time, the pressing cylinder 504 moves to its lowest limit position. The first blade 521 and the first blade 522 of the three sets of cutters move to the bottom of the fruit support frame 510. At this time, the outer peel of the citrus is cut with three 120° arrayed cuts. The cut ends below the point of maximum transverse diameter of the citrus peel. At this time, the citrus is in the space surrounded by the three sets of cutters, and the peeling of the citrus is completed.

[0131] It should be noted that during the movement of the first blade 521, the first blade 522, and the limiting rod 517, the second blade 518, the first connecting rod 519, the second connecting rod 520, and the support rod 516 do not produce or only produce very small displacements under the action of the second torsion spring 525 and the third torsion spring 528. At the same time, the citrus peel formed three 120° array of cuts on its outer peel, but the bottom of the citrus peel was not cut and remained connected. In addition, during the peeling process, the three sets of cuts were always staggered from the three 120° equidistant support pillars on the fruit support frame 510.

[0132] When the citrus fruit is large, meaning its radius is greater than the length of the first cutter bar 521, during the continuous downward movement of the three sets of cutters, the first blade 522 mounted on the first cutter bar 521 begins and continues to contact the surface of the citrus fruit. When it descends to a certain point, a cut is made in the citrus peel. Then, the reaction force on the first cutter bar 521 exceeds the bearing limit of the first torsion spring 524 mounted at the hinge point between the first cutter bar 521 and the second cutter bar 518. The first cutter bar 521 then begins to move upwards, away from the citrus fruit. Simultaneously, the limiting rod 517 hinged in the middle of the first cutter bar 521 is pushed along the first groove 5. 27. As the first blade 522 continues to move downwards and approaches the point of maximum lateral dimension of the citrus fruit, the lateral radius of the citrus fruit is greater than the length of the first blade shank 521. The second blade 523, mounted on the second blade shank 518, begins to contact the outer skin of the citrus fruit. Simultaneously, the reaction force on the second blade shank 518 exceeds the bearing limit of the second torsion spring 525, causing the second blade shank 518 to begin to move upwards, moving away from the citrus fruit. The first connecting rod 519 and the second connecting rod 520 move synchronously with the movement of the second blade shank 518, causing them to shift. At this point, the second blade 523 continues to cut along the path already cut by the first blade 522. The citrus peel is continuously pushed upward along the first groove 527 while the limiting rod 517 slides upward. When the second blade 523 passes the point of maximum lateral dimension of the citrus, the radius of the citrus begins to gradually decrease. When the radius of the citrus is again smaller than the length of the first blade 521, the second blade 523 no longer contacts the citrus peel, and the reaction force on the second blade 518 gradually disappears. Under the restoring force of the second torsion spring 525, the second blade 518 gradually returns to its initial position. At this time, the first blade 522 contacts the citrus peel again and continues to cut along the cutting path opened by the second blade 523. As the radius of the citrus fruit gradually decreases, the reaction force on the first blade 521 begins to decrease rapidly and eventually disappears. Then, the first torsion spring 524 drives the first blade 521, the first blade 522, and the limit rod 517 back to their original positions. At the same time, the pressing cylinder 504 moves to its limit position. The first blade 521 and the first blade 522 of the three sets of cutters move to the bottom of the fruit support frame 510. The outer skin of the citrus fruit is cut with three 120° arrayed cuts. The cut ends below the point where the transverse diameter of the outer skin of the citrus fruit is the largest. At this time, the citrus fruit is in the space formed by the combination of the three sets of cutters. At this time, the peeling of the citrus fruit is completed.

[0133] It should be noted that during the movement of the rods under the aforementioned force, the limiting rod 517 continues to slide in the first slide groove 527. When the limiting rod 517 slides to the top end of the first slide groove 527 but the movement has not ended, the limiting rod 517 begins to slide outward along its own second slide groove 526 until it reaches the end of the second slide groove 526. At this time, if the force on each rod has not ended and the movement is still in progress, the support arm 516 begins to be stressed and quickly exceeds the bearing limit of the third torsion spring 528. The support arm 516 begins to be pushed to move in the outward direction. When the force on each rod is no longer applied, the support arm 516 is driven back to the initial position by the third torsion spring 528. At the same time, during the entire movement, the first torsion spring 524, the second torsion spring 525, and the third torsion spring 528 are triggered in segments in sequence. The multi-segment structure can effectively prevent the blade from cutting into the pulp and causing damage due to excessive restoring force caused by excessive torsion of one of the torsion springs. At the same time, it can make the peeling mechanism 5 adapt to peeling work of citrus fruits of various sizes.

[0134] See Figures 15-16 It is known that the second feeding mechanism 6 includes: a third support 601, a third suspension 602, a second rodless cylinder 603, a second rotary cylinder 604, a thin cylinder 605, and a second pneumatic suction cup 606.

[0135] A third suspension 602 is connected to the third bracket 601. A second rodless cylinder 603 is fixedly installed on the third suspension 602. The second rodless cylinder 603 is horizontally positioned. A second rotary cylinder 604 is fixedly installed on the second rodless cylinder 603. The second rotary cylinder 604 can rotate 180 degrees. A thin cylinder 605 is fixedly installed on the second rotary cylinder 604. A second pneumatic suction cup 606 is fixedly installed at the end of the thin cylinder 605. The thin cylinder 605 can drive the second pneumatic suction cup 606 to extend and retract back and forth. The second pneumatic suction cup 606 is used to pick up the citrus fruit after it has been peeled by the peeling mechanism 5 and then driven to the peeling mechanism 7 for release.

[0136] During operation, after the peeling mechanism 5 completes the peeling of the citrus, the second feeding mechanism 6 begins to work. The second rodless cylinder 603 is positioned near the limit of the peeling mechanism 5, the thin cylinder 605 extends outward, and drives the second pneumatic suction cup 606 to extend outward. The second pneumatic suction cup 606 contacts the outer surface of the citrus, and then the second pneumatic suction cup 606 works to adsorb the citrus. At this time, the thin cylinder 605 drives the second pneumatic suction cup 606 and the citrus adsorbed on it to retract. The second rodless cylinder 603 begins to move to its extreme position at the other end, while the second rotary cylinder 604 rotates 180 degrees clockwise to adjust the orientation of the citrus. The second rodless cylinder 603 moves to its extreme position near the end of the peeling mechanism 7. At this time, the thin cylinder 605 extends again, and then the citrus that has been sucked up moves to directly above the fruit support plate 704 of the peeling mechanism 7. The suction of the second pneumatic suction cup 606 disappears, and the citrus is placed on the fruit support plate 704. Then the citrus enters the next working step.

[0137] It should be noted that after the second feeding mechanism 6 transports the citrus fruit from the peeling mechanism 5 to the peeling mechanism 7, the upward orientation of the citrus fruit top is not changed, so there is no need for a second orientation adjustment.

[0138] See Figures 17-26 It is known that the peeling mechanism 7 includes: peeling linkage module 701 and fruit pushing module 702.

[0139] The peeling linkage module 701 includes: a second top plate 700, a bottom plate 703, a fruit support plate 704, a pressure plate 705, a sleeve shaft 706, a rocker arm slider 707, a transmission screw 708, a rocker arm block 709, a support rod 710, a crank fixing block 711, a peeling suction cup 712, a tension spring 713, a suction cup seat 714, a contour rod 715, a contour slide groove 716, a rocker arm 717, a rocker arm slide groove 718, a crank rod 719, a rocker arm 720, an adjusting rod 721, a guide rod 722, an adjusting plate 723, a third slide rail 724, a second slider 725, a slide rail limiting plate 726, a guide plate 727, a guide groove 728, an adjusting groove 729, an adjusting shaft 730, a second gear 731, a first gear 732, and a fourth motor 733.

[0140] The fruit pushing module 702 includes: a lead screw slide 734, a third dual-axis cylinder 735, a fruit pushing suction cup 736, a collection box 737, a peel collection area 738, and a meat collection area 739.

[0141] The second top plate 700 is positioned above the third support 601.

[0142] The fruit pushing module 702 is installed on one side of the third bracket 601, and the peeling connecting rod module 701 has three sets of equidistant distributions along the circumference.

[0143] The base plate 703 is fixedly installed below the third bracket 601.

[0144] The fruit support plate 704 is connected to the pressure plate 705. The fruit support plate 704 has three equally spaced support arms along the center of the plate surface. The support arms are connected to the center at one end and the other end is higher to facilitate the support of peeled citrus fruits. A sleeve shaft 706 is fixedly installed below the pressure plate 705. A rocker arm slider 707 is slidably installed on the outside of the sleeve shaft 706. The rocker arm slider 707 has three connecting holes that can be hinged at equal intervals around its circumference. A transmission screw 708 is installed inside the sleeve shaft 706. The top end of the transmission screw 708 is connected to the center of the pressure plate 705, and the bottom end of the transmission screw 708 is connected to the motor.

[0145] A rocker block 709 is threaded onto the transmission screw 708. The rocker block 709 is located below the sleeve shaft 706. The rocker block 709 has three connecting holes that can be hinged and are evenly distributed around its circumference.

[0146] A support rod 710 is provided between the base plate 703 and the pressure plate 705. Three support rods 710 are provided at equal intervals along the circumference of the pressure plate 705. A crank fixing block 711 is fixedly installed on each of the three support rods 710.

[0147] The peeling suction cup 712 is connected to the suction cup base 714, and a tension spring 713 is connected between the suction cup base 714 and the swing rod 717; the suction cup base 714 is hinged to one end of the swing rod 717, and the swing rod 717 is slidably connected to the contouring groove 716 provided on the contouring rod 715.

[0148] The rocker arm 717 is hinged to the rocker arm slider 707 at its end furthest from the contour rod.

[0149] The rocker arm 717 is an upwardly curved arc, and the rocker arm 717 has a rocker arm groove 718 along the rod body. The crank arm 719 is also an upwardly curved arc, and the top end of the crank arm 719 is slidably connected to the rocker arm groove 718; the bottom end of the crank arm 719 is hinged to the crank fixing block 711.

[0150] The top of the rocker arm 720 is hinged to the middle of the crank arm 719, and the bottom of the rocker arm 720 is hinged to the rocker block 709.

[0151] The outer top of the contour rod 715 is fixedly connected to one end of the adjusting rod 721, and the outer middle part of the contour rod 715 is fixedly connected to the bottom end of the guide rod 722.

[0152] The guide plate 727 is fixedly connected below the second top plate 700. The guide plate 727 has a guide groove 728 machined on its body. The guide groove 728 is a straight line from the center to the side.

[0153] The guide plate 727 is provided with an adjustment plate 723. The adjustment plate has a cavity structure. The guide plate 727 is located in the cavity. The adjustment plate 723 has an adjustment groove 729 on its body. The adjustment groove 729 is arc-shaped. One end of the adjustment groove 729 is at the center of the adjustment plate 723, and the other end is at the edge of the adjustment plate 723. Three adjustment grooves 729 are arranged in an array on the adjustment plate 723.

[0154] The bottom end of the adjusting shaft 730 is fixedly connected to the center of the adjusting disk 723, and the top end of the adjusting shaft 730 passes upward through the guide disk 727 and is fixedly connected to the second top plate 700. The adjusting shaft 730 and the guide disk 727 are rotatably engaged. The top end of the adjusting shaft 730 is connected to the fourth motor 733 through the second gear 731 and the first gear 732. The top of the adjusting rod 721 passes upward through the adjusting groove 729 and the adjusting plate 723 is installed in the guide groove 728. The top of the adjusting rod 721 is slidably engaged with the guide groove 728. The top of the guide rod 722 is slidably connected to the third slide rail 724 through the second slider 725. The third slide rail 724 is connected to the second top plate 700.

[0155] The fourth motor 733 drives the adjustment disk 723 to rotate and adjust the position. Then, through the sliding of the adjustment rod 721 and the guide rod 722, the upper part of the contour rod 715 moves away from or closer to the center of the guide disk 727.

[0156] The lead screw slide 734 of the fruit pushing module 702 is fixedly installed on the third bracket 601. A third dual-axis cylinder 735 is fixedly installed on the lead screw slide 734. The drive end of the third dual-axis cylinder 735 is set directly above the pressure plate 705. The drive end is equipped with a fruit pushing suction cup 736. The third dual-axis cylinder 735 drives the fruit pushing suction cup 736 to extend and retract back and forth to push the peeled citrus pulp into the pulp holding area 739 of the collection box 737. The lead screw slide 734 can drive the third dual-axis cylinder 735 to move up and down.

[0157] The collection box 737 is mounted on the base plate 703. A round hole is opened at the center of the bottom of the base plate 703 to accommodate the motor shaft. The collection box 737 has a U-shaped opening in the middle to accommodate the motor shaft. The collection box 737 is provided with a skin holding area 738 and a meat holding area 739.

[0158] The third slide rail 724 is equipped with a slide rail limiting plate 726 to limit the second slider 725.

[0159] The width of the guide groove 728 at the bottom is smaller than that at the top, which facilitates the sliding connection of the adjusting rod 721.

[0160] A through hole is machined in the middle of the adjusting plate 723 to accommodate the adjusting shaft 730. The through hole is fixedly fitted with the adjusting shaft 730.

[0161] The pressure plate 705 has three notches machined along its circumference to provide space for the peeling of the connecting rod module 701 and to prevent interference between the components.

[0162] The sleeve 706 has a limiting rib ring at its bottom to prevent the rocker arm slider 707 from slipping off the sleeve 706.

[0163] The sleeve 706 has three equidistant notches distributed along the circumference. The notches on the sleeve 706 allow the rocker block 709 to pass through without interference. During operation, after the second feeding mechanism 6 places the citrus fruit onto the fruit support tray 704, the peeling mechanism 7 begins to work. The rocker arm 717 is located at the bottom of the contour slide 716. The transmission screw 708 is driven to rotate, causing the rocker block 709 to move upwards, lifting the bottom end of the rocker arm 720. The rocker arm 720 drives one end of the crank rod 719 to slide upwards along the rocker arm slide 718, thereby causing the top end of the rocker arm 717 to slide upwards along the contour slide 716. Simultaneously, the rocker arm slider 707 moves upwards along the sleeve shaft 706 as the rocker arm 717 moves. When the top end of the rocker arm 717 slides to the contour slide 716... At the upper end of step 6, the peeling suction cup 712 contacts and adheres to the outer peel of the citrus fruit. At this time, the transmission screw 708 stops rotating, and the peeling suction cup 712 works to adsorb the outer peel of the citrus fruit. At this time, the transmission screw 708 is driven to rotate in the opposite direction, driving the rocker block 709 to move downward and pulling the rocker arm 720 downward. The rocker arm 720 drives the swing arm 717 to move downward along the contoured slide groove 716 through the crank rod 719. At this time, the peeling suction cup 712 moves downward with the swing arm 717, causing the citrus peel to detach from the pulp, so that the outer peel of the citrus fruit adsorbed at the end of the peeling suction cup 712 begins to be peeled along the cut path. During the continuous peeling process, the suction cup seat 714, on which the peeling suction cup 712 is installed, is pulled downwards and rotates, causing the end of the peeling suction cup 712 that adheres to the citrus peel to rise. The tension spring 713 connecting the suction cup seat 714 and the rocker arm 717 is stretched and deformed. When the rocker arm 720 moves to the bottom of the contoured groove 716, the suction force of the peeling suction cup 712 disappears, and the suction cup seat 714 returns to its original position under the action of the tension spring 713. At this point, the citrus peel is peeled into three segments along the pre-cut lines, extending all the way to the fruit. At the bottom; then the third dual-axis cylinder 735 drives the fruit-pushing suction cup 736 to extend outward, pushing the exposed pulp into the pulp-holding area 739 of the collection box 737. During this process, the pulp and the remaining orange pith at the bottom of the peel are broken, and the peel and pulp are completely separated. Then the next citrus to be peeled is transported to the fruit support tray 704 again by the second feeding mechanism 6 in the same way, while the citrus peel on the fruit support tray 704 is pushed into the peel-holding area 738 of the collection box 737. At this time, the separation of the citrus pulp is completed.

[0164] It should be noted that before peeling, the contour rod 715 can be moved closer to or further away from the center of the adjustment plate 723 by rotating the adjustment plate 723. Specifically, the fourth motor 733 rotates clockwise or counterclockwise, driving the adjustment plate 723 to rotate via the adjustment shaft 730. Then, the adjustment groove 729 on the adjustment plate 723 pushes the contour rod 715 adjustment rod 721 to move horizontally within the guide groove 728. The guide rod 722 of the contour rod 715 drives the second slider 725 to slide on the third slide rail 724, thereby allowing the contour rod 715 to move closer to or further away from the center of the adjustment plate 723. The three sets of peeling linkage modules 701 are positioned to change the size of the space available for holding citrus fruits at their center, thus adapting to peeling citrus fruits of different sizes. At the same time, the lead screw slide 734 of the fruit pushing module 702 can drive the third dual-axis cylinder 735 to achieve vertical displacement. Its final displacement position can be adjusted according to the size of the citrus fruit to be peeled, so as to ensure that when the third dual-axis cylinder 735 drives the fruit pushing suction cup 736 to extend, it can contact the pulp and push it down. The end of the fruit pushing is the fruit pushing suction cup 736. The use of a soft suction cup to push the fruit can prevent damage to the pulp during the pushing process.

[0165] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A non-destructive citrus pulp separator, comprising a feeding mechanism (1), a posture adjustment mechanism (3), a peeling mechanism (5), and a peeling mechanism (7), characterized in that: The feeding mechanism (1), posture adjustment mechanism (3), peeling mechanism (5), and peeling mechanism (7) are arranged in sequence. The posture adjustment mechanism (3) is equipped with an orange pith separation mechanism (4), the posture adjustment mechanism (3) and the peeling mechanism (5) are equipped with a first feeding mechanism (2), and the peeling mechanism (5) and the peeling mechanism (7) are equipped with a second feeding mechanism (6). The feeding mechanism (1) is the input end of the citrus fruit. The citrus fruit is transported to the posture adjustment mechanism (3) through the feeding mechanism (1). The posture adjustment mechanism (3) completes the posture adjustment of the citrus fruit so that the top of the adjusted citrus fruit is facing upward. The orange pith separation mechanism (4) completes the separation of orange pith from citrus fruits; The first feeding mechanism (2) delivers the citrus fruit to the peeling mechanism (5) in its original position, and the peeling mechanism (5) completes the peeling of the citrus fruit; The second feeding mechanism (6) delivers the citrus fruit to the peeling mechanism (7) in its original position, and the peeling mechanism (7) completes the peeling and separation of the citrus fruit from the pulp. The peeling mechanism (7) includes: a peeling linkage module (701) and a fruit pushing module (702). The peeling linkage module (701) includes: a second top plate (700), a bottom plate (703), a fruit support plate (704), a pressure plate (705), a sleeve shaft (706), a rocker arm slider (707), a transmission screw (708), a rocker block (709), a support rod (710), a crank fixing block (711), a peeling suction cup (712), a tension spring (713), a suction cup seat (714), a contour rod (715), a contour groove (716), and a rocker arm. (717), rocker arm slide (718), crank arm (719), rocker arm (720), adjusting rod (721), guide rod (722), adjusting plate (723), third slide rail (724), second slider (725), slide rail limit plate (726), guide plate (727), guide groove (728), adjusting groove (729), adjusting shaft (730), second gear (731), first gear (732), fourth motor (733); The fruit pushing module (702) includes: a lead screw slide (734), a third dual-axis cylinder (735), a fruit pushing suction cup (736), a collection box (737), a peel holding area (738), and a meat holding area (739); The second top plate (700) is set above the third support (601); the fruit pushing module (702) is installed on one side of the third support (601); the peeling connecting rod module (701) is distributed in three sets at equal intervals along the circumference; the bottom plate (703) is fixedly installed below the third support (601); The fruit support plate (704) is connected to the pressure plate (705). The fruit support plate (704) has three equally spaced support arms along the center of the plate surface. The support arms are connected at one end lower and the other end higher, which is convenient for supporting the peeled citrus. A sleeve shaft (706) is fixedly installed below the pressure plate (705). A rocker arm slider (707) is slidably installed on the outside of the sleeve shaft (706). The rocker arm slider (707) has three connecting holes that can be hinged at equal intervals around its circumference. A transmission screw (708) is installed inside the sleeve shaft (706). The top end of the transmission screw (708) is connected to the center of the pressure plate (705), and the bottom end of the transmission screw (708) is connected to the motor. The transmission screw (708) is threaded with a rocker block (709), which is located below the sleeve shaft (706). The rocker block (709) has three connecting holes that can be hinged distributed equidistantly in its circumference. A support rod (710) is provided between the base plate (703) and the pressure plate (705). Three support rods (710) are provided at equal intervals along the circumference of the pressure plate (705). A crank fixing block (711) is fixedly installed on each of the three support rods (710). The peeling suction cup (712) is connected to the suction cup seat (714), and a tension spring (713) is connected between the suction cup seat (714) and the swing rod (717); the suction cup seat (714) is hinged to one end of the swing rod (717), and the swing rod (717) is slidably connected to the contouring groove (716) provided on the contouring rod (715); The rocker arm (717) is an upwardly curved arc, and the rocker arm (717) is provided with a rocker arm groove (718) along the rod body. The crank arm (719) is also an upwardly curved arc, and the top end of the crank arm (719) is slidably connected to the rocker arm groove (718); the bottom end of the crank arm (719) is hinged to the crank fixing block (711). The top end of the rocker arm (720) is hinged to the middle of the crank arm (719), and the bottom end of the rocker arm (720) is hinged to the rocker block (709). The outer top of the contour rod (715) is fixedly connected to one end of the adjusting rod (721), and the outer middle part of the contour rod (715) is fixedly connected to the bottom end of the guide rod (722). The second top plate (700) is fixedly connected to a guide plate (727) below. The guide plate (727) has a guide groove (728) machined on its body. The guide groove (728) is a straight line from the center to the side. An adjustment plate (723) is provided below the guide plate (727). The adjustment plate (723) has a cavity structure. The guide plate (727) is located in the cavity. The adjustment plate (723) has an adjustment groove (729) on its body. The adjustment groove (729) is arc-shaped. One end of the adjustment groove (729) is at the center of the adjustment plate (723), and the other end is at the edge of the adjustment plate (723). Three adjustment grooves (729) are arranged in an array on the adjustment plate (723). The bottom end of the adjustment shaft (730) is fixedly connected to the center of the adjustment disk (723), and the top end of the adjustment shaft (730) passes upward through the guide disk (727) and is fixedly connected to the second top plate (700). The adjustment shaft (730) and the guide disk (727) are rotatably engaged. The top end of the adjustment shaft (730) is connected to the fourth motor (733) through the second gear (731) and the first gear (732). The top of the adjusting rod (721) passes upward through the adjusting groove (729) and the adjusting plate (723) is installed in the guide groove (728). The top of the adjusting rod (721) is slidably engaged with the guide groove (728). The top of the guide rod (722) is slidably connected to the third slide rail (724) through the second slider (725). The third slide rail (724) is connected to the second top plate (700). The fourth motor (733) drives the adjustment disk (723) to rotate and adjust the position. Then, through the sliding of the adjustment rod (721) and the guide rod (722), the upper part of the profile rod (715) moves away from or closer to the center of the guide disk (727). The screw slide (734) of the fruit pushing module (702) is fixedly installed on the third bracket (601). A third dual-axis cylinder (735) is fixedly installed on the screw slide (734). The driving end of the third dual-axis cylinder (735) is set directly above the pressure plate (705). The driving end is provided with a fruit pushing suction cup (736). The third dual-axis cylinder (735) drives the fruit pushing suction cup (736) to extend and retract back and forth to push the peeled citrus pulp to the pulp holding area (739) of the collection box (737). The screw slide (734) can drive the third dual-axis cylinder (735) to move up and down.

2. The non-destructive citrus pulp separator according to claim 1, characterized in that: The feeding mechanism (1) includes a first support (101), a funnel (102), a first rotating shaft (103), a second rotating shaft (104), a fruit conveying roller (105), an intermediate shell (106), a roller connecting plate (107), a roller (108), and a first conveyor chain (109). The first support (101) is symmetrically and fixedly mounted with intermediate shells (106). Funnels (102) are fixedly mounted on the upper left side of the two sets of intermediate shells (106). The left and right ends of the intermediate shells (106) are respectively rotatably mounted with a first rotating shaft (103) and a second rotating shaft (104). The first rotating shaft (103) and the second rotating shaft (104) are connected by a first rotating shaft (105) and a second rotating shaft (106). 4) Both ends are equipped with sprockets, which are driven and cooperate with the first conveyor chain (109). The two first conveyor chains (109) are respectively set in the shell cavities of the two intermediate shells (106). Fruit conveying rollers (105) are set at equal intervals between the two first conveyor chains (109). Roller shaft connecting plates (107) are fixedly installed at equal intervals on the inner side of the first conveyor chain (109). The two ends of the roller shaft (108) are connected to the roller shaft connecting plate (107). Each roller shaft (108) is fitted with a fruit conveying roller (105). The diameter of the middle part of the fruit conveying roller (105) is smaller than the diameter of the two ends, so that the citrus transportation is kept in the middle of the fruit conveying roller (105).

3. The non-destructive citrus pulp separator according to claim 1, characterized in that: The first feeding mechanism (2) includes a second bracket (201), a first suspension (202), a guide plate (203), a brush holder (204), a brush (205), a first rodless cylinder (206), a first dual-axis cylinder (207), a first pneumatic suction cup (208), a camera (209), and a guide frame (210). The second support (201) is provided with a guide plate (203) and a guide frame (210) at the discharge end near the feeding mechanism (1); the guide plate (203) is provided with a brush frame (204) and a brush (205) at the end near the feeding mechanism (1). The brush frame (204) is ring-shaped, and the brushes (205) are evenly installed on the brush frame (204). The brushes (205) are arranged radially at an angle along the direction of citrus conveying, and the brushes (205) move closer to the center of the brush frame (204) so ​​that the opening of the buffer cavity formed by the brushes (205) and the brush frame (204) is large and the outlet is small. The buffer cavity can decelerate the falling citrus and prevent the citrus from being damaged. A first suspension (202) is connected to one side of the second bracket (201). A first rodless cylinder (206) is installed on the first suspension (202). The first rodless cylinder (206) is arranged in a horizontal direction. A first dual-axis cylinder (207) is installed on the first rodless cylinder (206) in a vertical direction. A first pneumatic suction cup (208) is connected to the drive end of the first dual-axis cylinder (207). The first pneumatic suction cup (208) is arranged above the attitude adjustment mechanism (3). A camera (209) is also provided on the end of the first rodless cylinder (206). The camera (209) is located above the posture adjustment mechanism (3). The camera (209) acquires the posture position image of the citrus on the posture adjustment mechanism (3) in real time and transmits the image to the control system. The control system controls the posture adjustment mechanism (3) to work according to the image to adjust the posture of the citrus. The first rodless cylinder (206) slides in a direction parallel to the attitude adjustment mechanism (3), the first dual-axis cylinder (207) can extend and retract vertically, and the first pneumatic suction cup (208) can pick up and place citrus fruits. The first feeding mechanism (2) receives and buffers the citrus fruits delivered by the feeding mechanism (1) and then delivers them to the attitude adjustment mechanism (3).

4. The non-destructive citrus pulp separator according to claim 1, characterized in that: The attitude adjustment mechanism (3) includes a first motor (301), a first pulley (302), a first belt (303), a second motor (304), a second pulley (305), a second belt (306), a third motor (307), a third pulley (308), a third belt (309), a second slide rail (310), a first slide rail (311), a first slider (312), a third pulley frame (313), a lead screw drive motor (314), a bidirectional lead screw (315), a lead screw connecting plate (316), a connecting plate (317), a stop (318), and a universal ball (319). The first slide rail (311) and the second slide rail (310) are arranged in parallel and spaced apart. Each of the first slide rail (311) and the second slide rail (310) is slidably connected to two first sliders (312). The two ends of the connecting plate (317) are slidably connected to the first slide rail (311) and the second slide rail (310) respectively through the first sliders (312). Two first pulleys (302) are connected to the two first sliders (312) on the left side through brackets. One of the first pulleys (302) is driven by a first motor (301). Two second pulleys (305) are connected to the two first sliders (312) on the right side through brackets. One of the first pulleys (305) is driven by a first motor (301). The two pulleys (305) are driven by the second motor (304); the two first pulleys (302) are connected by a first belt (303); the two second pulleys (305) are connected by a second belt (306), the first belt (303) and the second belt (306) are vertically parallel and spaced apart, and the driving force for clamping the citrus is opposite in direction; a third belt (309) is horizontally arranged directly below the first belt (303) and the second belt (306), and the two ends of the third belt (309) are respectively connected to two third pulleys (308), one of which is driven by a third motor (307); Four spaced omnidirectional balls (319) are provided above the third belt (309) to limit the oranges falling onto the third belt; the omnidirectional balls (319) can ensure that the oranges will not deviate from their original positions when the posture of the oranges is adjusted. The third pulley (308) is mounted on the third pulley frame (313), and the third pulley frame (313) is provided with a stop (318), which is used to connect and set the universal ball (319); the universal ball (319) is higher than the surface of the third belt (309) and lower than the lower ends of the first belt (303) and the second belt (306), and the bottom end of the citrus is supported by the third belt (309). The rotation of the third belt (309) causes the citrus to flip longitudinally; The lead screw drive motor (314) drives the bidirectional lead screw (315). One end of the bidirectional lead screw (315) is fixedly connected to the lead screw drive motor (314). The bidirectional lead screw (315) is threadedly connected to two lead screw connecting plates (316). The two lead screw connecting plates (316) are respectively located at the positive and negative threads of the bidirectional lead screw (315). Each lead screw connecting plate (316) is connected to two connecting plates (317). The two connecting plates (317) are respectively located on the side of the first slide rail (311) and the second slide rail (310). 314) Drive the bidirectional lead screw (315) to rotate forward or backward, so that the two lead screw connecting plates (316) move closer or further apart, causing the connecting plates (317) on the left and right sides to move with the lead screw connecting plates (316). The movement of the connecting plates (317) causes the first slider (312) to move. The movement of the first slider (312) causes the first belt (303) and the second belt (306) to move, so that the first belt (303) and the second belt (306) move closer or further apart, thereby clamping citrus fruits of different sizes.

5. The non-destructive citrus pulp separator according to claim 1, characterized in that: The orange peel separation mechanism (4) includes: a second suspension (401), a first rotary cylinder (402), a right-angle plate (403), a second dual-axis cylinder (404), a needle suction cup (405), an airtight suction cup (406), and a needle (407). The second suspension (401) is connected to the first rotary cylinder (402). The first rotary cylinder (402) is connected to the second dual-axis cylinder (404) through the right-angle plate (403). The second dual-axis cylinder (404) is vertically arranged and connected to drive the needle suction cup (405) to lift. The needle suction cup (405) is provided with an airtight suction cup (406) and a needle (407). The needle (407) is located at the center of the airtight suction cup (406), and the end of the needle (407) extends outward from the airtight suction cup (406). The airtight suction cup (406) is made of elastic rubber. The needle (407) is connected to the air supply mechanism through a connecting pipe.

6. The non-destructive citrus pulp separator according to claim 1, characterized in that: The slicing mechanism (5) includes a cutting module (500) and a transport module (501); The transport module (501) includes a third rotating shaft (505), a fourth rotating shaft (506), a second conveyor chain (507), a fruit transport connecting plate (508), a fruit transport plate (509), and a fruit support frame (510). The second conveyor chain (507) is mounted between the third rotating shaft (505) and the fourth rotating shaft (506) via a sprocket. Two second conveyor chains (507) are arranged parallel to each other at intervals. The two second conveyor chains (507) are connected to the fruit transport plate (509) via the fruit transport connecting plate (508). The fruit transport plates (509) are evenly arranged around the second conveyor chain (507). Each fruit transport plate (509) is fixedly installed with a fruit support frame (510). The fruit support frames (510) are arranged in an equilateral triangle. Three pillars are used to accommodate and limit the position of citrus fruits. The cutting module (500) includes a first top plate (502), a cylinder plate (503), a pressing cylinder (504), a coupling (511), a tool holder shaft (514), a disc tool holder (515), a support arm (516), a limiting rod (517), a second tool holder (518), a first connecting rod (519), a second connecting rod (520), a first tool holder (521), a first blade (522), a second blade (523), a first torsion spring (524), a second torsion spring (525), a second slide groove (526), ​​a first slide groove (527), and a third torsion spring (528); the pressing cylinder is vertically connected above the first top plate (502) via the cylinder plate (503). The cylinder (504) is connected to the tool holder shaft (514) at its bottom via a coupling (511). A disc tool holder (515) is fixedly installed at the end of the tool holder shaft (514). The disc tool holder (515) is hinged at equal intervals to three sets of cutters. Each set of cutters has the same structure and includes a support arm (516). The support arm (516) is arc-shaped and protrudes outward in the middle. The middle of the support arm (516) is provided with a first groove (527) along the direction of the rod body. The lower part of the support arm (516) is hinged to one end of the second connecting rod (520) near the bottom of the first groove (527). The lower end of the support arm (516) is hinged to one end of the second tool bar (518). The other end of the tool bar (518) is hinged to the other end of the second connecting rod (520) via the first connecting rod (519); the hinge point between the second tool bar (518) and the first connecting rod (519) is also hinged to one end of the first tool bar (521), the middle part of the first tool bar (521) is hinged to one end of the limiting rod (517), the other end of the limiting rod (517) is provided with a second sliding groove (526) along the direction of the rod body, the limiting rod (517) and the support arm rod (516) are connected by a pin in the second sliding groove (526) and the first sliding groove (527), the pin is slidably engaged with the second sliding groove (526) and the first sliding groove (527); the bottom side of the first tool bar (521) is along the length of the tool bar The first blade (522) is connected in the angular direction, and the second blade (523) is connected to the bottom side of the second blade (518) along the length of the blade. A second torsion spring (525) is installed at the hinge of the support arm (516) and the second blade (518). A first torsion spring (524) is installed at the hinge of the second blade (518) and the first blade (521). A third torsion spring (528) is installed at the hinge of the support arm (516) and the disc blade holder (515). The first torsion spring (524), the second torsion spring (525), and the third torsion spring (528) can realize the reset of each rod after peeling, and at the same time control the force of the first blade (522) and the second blade (523) when cutting into the citrus. The three sets of cutters are combined to form a space above, and the citrus fruit is placed below the space. When the three sets of cutters are driven, they complete the work of making three cuts on the peel of the citrus fruit. The first blade (522) is processed with a tip at the end away from the first blade (521), which can facilitate cutting into the peel of the citrus fruit when making cuts.

7. The non-destructive citrus pulp separator according to claim 1, characterized in that: The second feeding mechanism (6) includes a third bracket (601), a third suspension (602), a second rodless cylinder (603), a second rotary cylinder (604), a thin cylinder (605), and a second pneumatic suction cup (606). The third bracket (601) is connected to a third suspension (602), and a second rodless cylinder (603) is fixedly installed on the third suspension (602). The second rodless cylinder (603) is horizontally set, and a second rotary cylinder (604) is fixedly installed on the second rodless cylinder (603). The second rotary cylinder (604) can rotate 180 degrees. A thin cylinder (605) is fixedly installed on the second rotary cylinder (604). A second pneumatic suction cup (606) is fixedly installed at the end of the thin cylinder (605). The thin cylinder (605) can drive the second pneumatic suction cup (606) to extend and retract back and forth. The second pneumatic suction cup (606) is used to pick up the citrus peeled by the peeling mechanism (5) and then drive it to the peeling mechanism (7) for release.

8. The non-destructive citrus pulp separator according to claim 1, characterized in that: The collection box (737) is set on the base plate (703). A round hole is opened at the center of the bottom of the base plate (703) to accommodate the motor shaft. A U-shaped opening is provided in the middle of the collection box (737) to accommodate the motor shaft. The collection box (737) is provided with a skin holding area (738) and a meat holding area (739). The third slide rail (724) is provided with a slide rail limiting plate (726) to limit the second slider (725); the width of the guide groove (728) at the bottom is smaller than the width at the top, which facilitates the sliding connection of the adjusting rod (721). The adjustment disc (723) has a through hole machined in the middle to accommodate the adjustment shaft (730). The pressure plate (705) has three notches machined along its circumference to provide space for the peeling operation of the peeling connecting rod module (701) and to prevent interference between the components. The sleeve shaft (706) is provided with a limiting rib ring at its bottom to prevent the rocker arm slider (707) from slipping off the sleeve shaft (706); The sleeve (706) has three equidistant notches distributed along the circumference, and the notches on the sleeve (706) allow the rocker block (709) to pass through without interference.

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