A spudder

Abstract

A kind of leather shoveling machine, including rack, be provided with on rack: leather shoveling mechanism, leather shoveling mechanism includes the leather shoveling component for carrying out leather shoveling to workpiece and the guide component for guiding workpiece to reach leather shoveling component;Feeding robot, feeding robot is configured to transport workpiece to leather shoveling mechanism, and workpiece is moved to leather shoveling component along guide component, to carry out leather shoveling operation to workpiece by leather shoveling component.The leather shoveling machine of the application is by setting guide component and feeding robot, guide component can guide workpiece to reach leather shoveling component, and make workpiece can accurately enter the leather shoveling gap between press plate and leather shoveling cutter, prevent the problem of up and down alignment when skin material passes through leather shoveling gap and affect leather shoveling quality, improve product yield, in addition, workpiece is passed through the leather shoveling gap between press plate and leather shoveling cutter by feeding robot, to replace manual operation, can greatly improve production efficiency, and reduce worker labor intensity.

Description

Technical Field

[0001] This invention relates to the field of peeling machine technology, and particularly to a peeling machine. Background Technology

[0002] Chinese Patent Document No. CN223561592U, published on November 18, 2025, discloses a leather scraping machine, including a machine base. A leather scraping mechanism is fixedly connected to the center of the top of the machine base, and a reciprocating screw is rotatably connected to the center of the bottom of the inner wall of the machine base. Guide rods are fixedly connected to both sides of the bottom of the inner wall of the machine base, and a sliding seat is slidably connected to the outer walls of the two guide rods. This leather scraping machine requires manual operation to pass the leather through the gap between the pressure plate and the leather scraping blade wheel to thin the edges of the leather. However, misalignment of the leather when passing through the gap can easily occur, resulting in the leather not passing through the gap correctly, affecting the scraping quality, reducing the yield, and the low production efficiency of manual operation.

[0003] Therefore, further improvements are necessary. Summary of the Invention

[0004] The purpose of this invention is to provide a peeling machine that is simple in structure, accurate in alignment, has a high yield rate, high production efficiency, and strong practicality, so as to overcome the shortcomings of the prior art.

[0005] A peeling machine designed for this purpose includes a frame, characterized in that: the frame is provided with: A scraping mechanism, comprising a scraping assembly for scraping the workpiece and a guide assembly for guiding the workpiece to the scraping assembly; A feeding robot is configured to convey workpieces to a peeling mechanism and move the workpieces along a guide assembly to the peeling assembly for peeling operations.

[0006] The frame is also equipped with a loading and unloading conveyor, a loading platform, a transfer platform and an unloading platform; The loading and unloading conveyor mechanism transports the workpieces on the loading platform to the transfer platform to realize the loading of workpieces; The feeding robot transports the workpieces on the transfer table to the peeling mechanism; The loading and unloading conveyor transports the workpieces from the scraping mechanism to the unloading table to unload the workpieces.

[0007] The guiding assembly includes a vertically distributed first guide plate and a positioning plate, with a guiding gap between the first guide plate and the positioning plate. The scraping assembly includes a vertically distributed pressure plate and a scraping blade wheel, with a scraping gap between the pressure plate and the scraping blade wheel. The guiding gap is directly opposite the scraping gap. The feeding robot moves the workpiece along the guiding gap to the scraping gap. When the workpiece passes through the scraping gap, the scraping blade wheel performs scraping operations on the workpiece.

[0008] The positioning plate has an arc surface, and the first guide plate has a flat surface. The flat surface faces the arc surface, and one end of the flat surface has a recessed step. The guide gap is located between the step and the arc surface.

[0009] A second guide plate is provided on the frame, which is close to the guide assembly; when the workpiece moves along the guide gap to the scraping gap, the bottom of the workpiece is supported on the second guide plate.

[0010] The loading and unloading conveying mechanism includes a drive unit, a moving plate, a loading gripper and an unloading gripper. The drive unit drives and connects to the moving plate, and the loading gripper and the unloading gripper are respectively fixed on the moving plate. The drive unit moves the loading gripper between the loading platform and the transfer platform via a moving plate to load the workpiece. At the same time, the drive unit moves the unloading gripper between the peeling mechanism and the unloading platform via a moving plate to unload the workpiece.

[0011] Both the loading gripping device and the unloading gripping device include a first driver and a first suction cup assembly. The first driver drives the first suction cup assembly to move up and down. When the first suction cup assembly moves down, it grips or releases the workpiece.

[0012] The peeling mechanism also includes a base, a peeling assembly and a guide assembly mounted on the base, and a feeding platform for placing workpieces on the base. The drive device drives the unloading gripping device to move between the feeding platform and the unloading platform via a moving plate.

[0013] A vision device is installed on the frame, located above the turntable. The vision device is configured to photograph the workpieces on the turntable to determine their positions.

[0014] The feeding robot includes a drive base, a drive arm assembly, a lead screw assembly, and a second suction cup assembly. The drive arm assembly is mounted on the drive base and drives the lead screw assembly. The second suction cup assembly is mounted on the lead screw assembly. The drive base drives the drive arm assembly to move horizontally, which in turn drives the lead screw assembly and the second suction cup assembly to move horizontally. The drive arm assembly also drives the second suction cup assembly to move vertically via the lead screw assembly. When the second suction cup assembly moves downward, it grips or releases the workpiece.

[0015] The peeling machine of the present invention, by setting up a guiding component and a feeding robot, can guide the workpiece to the peeling component and make the workpiece accurately enter the peeling gap between the pressure plate and the peeling blade wheel. This prevents the peel from being misaligned when passing through the peeling gap, which would affect the peeling quality and improve the product yield. In addition, by using the feeding robot to pass the workpiece through the peeling gap between the pressure plate and the peeling blade wheel, the production efficiency can be greatly improved and the labor intensity of workers can be reduced, replacing manual operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the peeling machine in one embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the overall structure of the peeling machine from another position in one embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the overall structure of the third position of the peeling machine in one embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the overall structure of the skin-scraping mechanism in one embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the overall structure of the skin-scraping mechanism from another position in one embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the overall structure of the third position of the skin-scraping mechanism in one embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the overall structure of the peeling mechanism in the fourth position according to an embodiment of the present invention.

[0023] Figure 8 This is a schematic diagram of the overall structure of the feeding gripper or the unloading gripper in one embodiment of the present invention.

[0024] Figure 9 This is a schematic diagram of the overall structure of the driving device in one embodiment of the present invention.

[0025] Figure 10 This is a schematic diagram of the overall structure of the feeding robot in one embodiment of the present invention.

[0026] Figure 11 This is a schematic diagram of the overall structure of the lifting mechanism in one embodiment of the present invention. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] See Figures 1-11This peeling machine includes a frame 8, on which are mounted the following: The peeling mechanism 1 includes a peeling assembly 2 for peeling the workpiece and a guide assembly 3 for guiding the workpiece to the peeling assembly 2. The workpiece is leather. The feeding robot 4 is configured to transport the workpiece to the peeling mechanism 1 and move the workpiece along the guide assembly 3 to the peeling assembly 2 so as to perform peeling operation on the workpiece by the peeling assembly 2.

[0029] The frame 8 is also equipped with a loading and unloading conveyor mechanism 5, a loading platform 6, a transfer platform 7, and an unloading platform 9; The loading and unloading conveying mechanism 5 transports the workpieces on the loading platform 6 to the transfer platform 7 to realize the loading of the workpieces; The feeding robot 4 transports the workpieces on the transfer table 7 to the peeling mechanism 1; The loading and unloading conveying mechanism 5 transports the workpiece on the scraping mechanism 1 to the unloading table 9 to realize the unloading of the workpiece.

[0030] The workpiece is loaded by the loading and unloading conveyor 5, and then the workpiece is transported to the peeling mechanism 1 by the feeding robot 4 for peeling. Finally, the peeled workpiece is unloaded by the loading and unloading conveyor 5, realizing automatic feeding. The whole process basically does not require manual operation, which greatly improves production efficiency and reduces the labor intensity of workers.

[0031] The guide assembly 3 includes a first guide plate 10 and a positioning plate 11 arranged sequentially, with a guide gap 12 between the first guide plate 10 and the positioning plate 11. The scraping assembly 2 includes a pressure plate 13 and a scraping blade wheel 14 arranged sequentially, with a scraping gap 15 between the pressure plate 13 and the scraping blade wheel 14. The guide gap 12 is directly opposite the scraping gap 15. The feeding robot 4 moves the edge of the workpiece along the guide gap 12 to the scraping gap 15 and makes the workpiece pass through the scraping gap 15. When the workpiece passes through the scraping gap 15, the scraping blade wheel 14 performs scraping operation on the edge of the workpiece. The scraping blade wheel 14 rotates to thin the edge of the leather.

[0032] The guide assembly 3 is close to the scraping assembly 2. When the front end of the workpiece passes through the guide gap 12 and enters the scraping gap 15, the rear end of the workpiece is still within the guide gap 12, thus playing a guiding role. This allows the workpiece to accurately enter the scraping gap 15, preventing misalignment of the upper and lower parts when the workpiece passes through the scraping gap 15, which would affect the scraping quality. In addition, the first guide plate 10 and the positioning plate 11 can flatten and press the edge of the workpiece, preventing the workpiece from curling, folding or tilting at the moment it is about to contact the scraping cutter wheel 14, thereby ensuring that the thickness of the cut is uniform, the edge is flat, and the scraping accuracy is improved.

[0033] The top of the positioning plate 11 is provided with a protruding arc surface 16, and the bottom of the first guide plate 10 is provided with a flat surface 17, which faces the arc surface 16. One end of the flat surface 17 is provided with a recessed step portion 18, and the guide gap 12 is provided between the step portion 18 and the arc surface 16. The combination of the flat surface 17 and the arc surface 16 can better adapt to workpieces of different thicknesses. The side of the step portion 18 can limit the depth of the workpiece edge entering the guide gap 12, thereby limiting the scraping depth. The scraping depth can be adjusted according to actual needs.

[0034] The first guide plate 10 is an acrylic plate, and the positioning plate 11 is a metal plate. The acrylic plate allows the operator to easily observe the running status of the workpiece within the guide gap 12 from the outside, while the positioning plate 11 mainly serves to support and position. Using a stronger metal can ensure the stability and durability of the structure.

[0035] A second guide plate 19 is provided on the frame 8, and the second guide plate 19 is close to the guide assembly 3. When the edge of the workpiece moves along the guide gap 12 to the scraping gap 15, the bottom of the workpiece is supported on the second guide plate 19. The second guide plate 19 provides a horizontal support surface to ensure that the workpiece maintains the correct horizontal height and angle when entering the scraping gap, and prevents the thin sheet or flexible workpiece from drooping due to gravity, which would cause the workpiece to deviate in posture when entering the scraping gap 15 and affect the scraping quality.

[0036] A vertical mounting plate 33 is provided on the frame 8, and a second guide plate 19 is horizontally arranged. The second guide plate 19 is fixed to the vertical mounting plate 33 by screws, and the vertical mounting plate 33 is fixed to the frame 8 by screws. The second guide plate 19 and the vertical mounting plate 33 are made of acrylic sheets.

[0037] The loading and unloading conveying mechanism 5 includes a drive device 20, a moving plate 21, a loading gripping device 22 and an unloading gripping device 23. The drive device 20 drives and connects to the moving plate 21, and the loading gripping device 22 and the unloading gripping device 23 are respectively fixed on the moving plate 21. The drive unit 20 drives the loading gripper 22 to move between the loading platform 6 and the transfer platform 7 via the moving plate 21 to load the workpiece. At the same time, the drive unit 20 drives the unloading gripper 23 to move between the peeling mechanism 1 and the unloading platform 9 via the moving plate 21 to unload the workpiece.

[0038] The drive unit 20 simultaneously drives the loading gripper 22 to move above the loading platform 6 and the unloading gripper 23 to move above the unloading platform 9. The loading gripper 22 grips the workpiece on the loading platform 6, while the unloading gripper 23 places the peeled workpiece on the unloading platform 9. Then, the drive unit 20 simultaneously drives the loading gripper 22 to move above the transfer platform 7 and the unloading gripper 23 to move above the peeling mechanism 1. The loading gripper 22 places the workpiece on the transfer platform 7, while the unloading gripper 23 grips the peeled workpiece on the peeling mechanism 1. This structure allows the loading and unloading of products to be carried out simultaneously, greatly improving the feeding efficiency. Moreover, the loading and unloading share a single drive unit 7, which can reduce equipment costs.

[0039] Both the loading gripping device 22 and the unloading gripping device 23 include a first driver 24 and a first suction cup assembly 25. The first driver 24 drives the first suction cup assembly 25 to move up and down. When the first suction cup assembly 25 moves down, it grips or releases the workpiece. After the first suction cup assembly 25 moves up, the driving device 20 drives the loading gripping device 22 and the unloading gripping device 23 to move. The first driver 11 is a cylinder.

[0040] The driving device 20 includes a second driver 47, a first transmission assembly, a first slider 48, and a first guide rail 49. The second driver 47 is connected to the first transmission assembly. The first slider 48 is mounted on the first transmission assembly. The moving plate 21 is mounted on the first slider 48. The second driver 47 drives the first slider 48 to slide back and forth on the first guide rail 49 through the first transmission assembly. In turn, the first slider 48 drives the moving plate 21 to move between the loading platform 6 and the transfer platform 7, and between the peeling mechanism 1 and the unloading platform 9. This causes the loading gripping device 22 to move between the loading platform 6 and the transfer platform 7, and the unloading gripping device 23 to move between the peeling mechanism 1 and the unloading platform 9.

[0041] The first transmission assembly includes a first driving wheel (not shown in the figure), a first transmission belt 50, and a first driven wheel (not shown in the figure). A second driver 47 drives and connects to the first driving wheel. The first driving wheel and the first driven wheel are connected by transmission through the first transmission belt 50. A first slider 48 is mounted on the first transmission belt 50. The second driver 47 is a motor. The second driver 47 drives the first driving wheel to rotate. The first driving wheel drives the first driven wheel to rotate through the first transmission belt 50. In turn, the first transmission belt 50 drives the first slider 48 to slide back and forth on the first guide rail 49.

[0042] The peeling mechanism 1 also includes a base 30, a peeling assembly 2 and a guide assembly 3 mounted on the base 30, and a feeding platform 31 for placing workpieces on the base 30. The drive device 20 drives the unloading gripping device 23 to move between the feeding platform 31 and the unloading platform 9 via the moving plate 21. After peeling is completed, the feeding robot 4 transports the peel to the feeding platform 31 and places the peel on the feeding platform 31. Then, the unloading conveying mechanism 5 transports the peel on the feeding platform 31 to the unloading platform 9. The peeling operation is performed by the feeding robot 4. The feeding robot 4 moves precisely, which can avoid the problem of inaccurate gap position of the peel passing through.

[0043] A support column 34 is provided on the base 30, and an adjustment device 35 is provided on the support column 34. The pressure plate 13 is installed at the bottom of the adjustment device 35. The adjustment device 35 can drive the pressure plate 13 to move up and down to adjust the size of the scraping gap 15, thereby adjusting the scraping thickness. The adjustment device 35 is an electric push rod, etc. The support column 34 and the adjustment device 35 are existing technologies and will not be described in detail here.

[0044] A blade groove 36 is provided inside the base 30, and a scraping blade wheel 14 is installed inside the blade groove 36. A conveyor belt assembly is provided inside the base 30, and the conveyor belt 37 of the conveyor belt assembly passes through the scraping blade wheel 14. When the scraping blade wheel 14 scrapes the edge of the leather thin, the waste material falls into the conveyor belt 37. The conveyor belt 37 transports the waste material to the suction pipe inside the frame 8, and the waste material is discharged through the suction pipe. The scraping blade wheel 14, the conveyor belt 37 and the suction pipe are existing technologies and will not be described in detail here.

[0045] The base 30 is provided with a mounting base plate 38, and the first guide plate 10 is provided with a first adjustment fixing hole 39, which is an elongated hole. The mounting base plate 38 is provided with a first fixing hole 40. Fasteners (screws) can be adjusted to pass through the first adjustment fixing hole 39 and be fastened to the first fixing hole 40, so that the first guide plate 10 can be adjusted and fixed on the mounting base plate 38. This structure can adjust the position of the step portion 18 relative to the positioning plate 11, thereby adjusting the depth of the guide gap 12, thus realizing the adjustment of the scraping depth. The mounting base plate 38 is fixed on the base 30 by screws, and the positioning plate 11 is set on the base 30.

[0046] A vision device 32 is installed on the frame 8. The vision device 32 is located above the transfer table 7. The vision device 32 is configured to take pictures of the workpiece on the transfer table 7 to determine the position of the workpiece. Then, the feeding robot 4 performs actions according to the position of the workpiece to accurately grasp the workpiece. The transfer table 7 is made of light-transmitting material to ensure that the vision device 32 can accurately capture the workpiece.

[0047] The vision device 20 includes a base plate 41 and a camera 42. The base plate 41 is fixed to the top of the frame 8, and the camera 42 is fixed to the base plate 41.

[0048] The feeding robot 4 includes a drive base 26, a drive arm assembly 27, a lead screw assembly 28, and a second suction cup assembly 29. The drive arm assembly 27 is mounted on the drive base 26 and drives the lead screw assembly 28. The second suction cup assembly 29 is mounted on the lead screw assembly 28. The drive base 26 drives the drive arm assembly 27 to move horizontally, which in turn drives the lead screw assembly 28 and the second suction cup assembly 29 to move horizontally. The drive arm assembly 27 also drives the second suction cup assembly 29 to move vertically through the lead screw assembly 28. When the second suction cup assembly 29 moves downward, it grabs or puts down the workpiece. After grabbing the workpiece, the second suction cup assembly 29 moves upward and then transports the workpiece.

[0049] The lead screw assembly 28 includes a lead screw 43 and a nut seat 44. The drive arm assembly 27 drives and connects the lead screw 43. The nut seat 44 is mounted on the lead screw 43. The second suction cup assembly 29 is mounted on the nut seat 44. The drive arm assembly 27 drives the lead screw 43 to rotate. The lead screw 43 drives the nut seat 44 to move vertically (up and down). In turn, the nut seat 44 drives the second suction cup assembly 29 to move vertically.

[0050] The drive arm assembly 27 includes a first drive arm 45 and a second drive arm 46. The first drive arm 45 is mounted on the drive base 26 and drives the second drive arm 46. The second drive arm 46 drives the lead screw 24. The drive base 26, the first drive arm 45, and the second drive arm 46 integrate a power system such as a motor. The drive base 26 can drive the first drive arm 45 to rotate horizontally, the first drive arm 45 can drive the second drive arm 46 to rotate horizontally, and the second drive arm 46 can drive the lead screw 43 to rotate. This allows the feeding robot 4 to drive the second suction cup assembly 29 to rotate and move up, down, left, right, forward, and backward to transport the workpiece and perform peeling operations on the workpiece through the peeling mechanism 1. The specific structure of the drive base 26, the first drive arm 45, and the second drive arm 46 is existing technology and will not be described in detail here.

[0051] The first suction cup assembly 25 and the second suction cup assembly 29 have the same structure.

[0052] The first suction cup assembly 25 and the second suction cup assembly 29 include a first mounting plate 51 and four suction cup components. A first driver 11 drives the first mounting plate 51 connected to the first suction cup assembly 25. A nut seat 44 connects to the first mounting plate 51 of the second suction cup assembly 29. The four suction cup components are distributed at the four corners of the first mounting plate 51. Each component includes an adjusting mounting plate 52 and a first suction cup 53 fixed on the adjusting mounting plate 52. The first suction cup 53 is used to adsorb or release workpieces. The adjusting mounting plate 52 is provided with a long strip-shaped second adjusting fixing hole 54. The first mounting plate 51 is provided with a second fixing hole 55. Fasteners (screws) can be adjusted by passing through the second adjusting fixing hole 54 and then being fastened to the second fixing hole 55, so that the adjusting mounting plate 52 is fixed on the first mounting plate 51. The inner and outer positions of the first suction cup 53 on the first mounting plate 51 can be adjusted by adjusting the mounting plate 52, thereby adapting to workpieces of different sizes. This structure is suitable for larger workpieces.

[0053] Alternatively, the first suction cup assembly 25 and the second suction cup assembly 29 include a second mounting plate 56 and two second suction cups 57. The first driver 11 drives the second mounting plate 56 connected to the first suction cup assembly 25, and the nut seat 44 is connected to the second mounting plate 56 of the second suction cup assembly 29. The second suction cups 57 are respectively fixed at both ends of the second mounting plate 56. This structure is suitable for workpieces with small size.

[0054] Figure 8 This is a schematic diagram of one application example of the first suction cup assembly 25. Figure 10 This is a schematic diagram of one application example of the second suction cup assembly 29.

[0055] It also includes a lifting mechanism 58, which drives and connects to the loading platform 6. Workpieces are stacked on the loading platform 6 to form a workpiece pile. During loading, the lifting mechanism 58 drives the workpiece pile on the loading platform 6 to rise, so that the loading gripping device 22 can grab the workpiece at the top of the workpiece pile. For each workpiece grabbed by the loading gripping device 22, the loading platform 6 drives the workpiece pile to rise by one workpiece height, realizing automatic loading. After the loading gripping device 22 has finished grabbing the workpieces in the workpiece pile, the lifting mechanism 58 drives the loading platform 6 to fall, so that new workpieces can be placed on the loading platform 6.

[0056] The lifting mechanism 58 includes a third driver 59, a second transmission assembly, a second slider 60, and a second guide rail 61. The third driver 59 is connected to the second transmission assembly. The second slider 60 is mounted on the second transmission assembly. The loading platform 6 is mounted on the second slider 60. The third driver 59 drives the second slider 60 to slide up and down on the second guide rail 61 through the second transmission assembly, thereby causing the second slider 60 to drive the loading platform 6 to lift up and down.

[0057] The second transmission assembly includes a second driving wheel (not shown in the figure), a second transmission belt 62, and a second driven wheel (not shown in the figure). A third driver 59 drives and connects to the second driving wheel. The second driving wheel and the second driven wheel are connected by transmission through the second transmission belt 62. The second slider 60 is mounted on the second transmission belt 62. The third driver 59 is a motor. The third driver 59 drives the second driving wheel to rotate. The second driving wheel drives the second driven wheel to rotate through the second transmission belt 62. In turn, the second transmission belt 62 drives the second slider 60 to slide up and down on the second guide rail 61.

[0058] The lifting mechanism 58 also includes a connecting base plate 63, which is connected to the second slider 60, and the loading platform 6 is installed on the connecting base plate 63.

[0059] The loading platform 6 and the transfer platform 7 are linearly distributed on the frame 8, and the unloading platform 9 and the peeling mechanism 1 are linearly distributed on the frame 8, and the loading platform 6 and the unloading platform 9 are linearly distributed on the frame 8, and the transfer platform 7 and the peeling mechanism 1 are linearly distributed on the frame 8, and the loading gripping device 22 and the unloading gripping device 23 are linearly distributed on the moving plate 21, and the feeding robot 4 is located behind the transfer platform 7.

[0060] A control box 64 is installed on one side of the frame 8. The control box 64 is equipped with an operation screen. The control box 64 is electrically connected to the feeding robot 4, the first driver 24, the second driver 47, the third driver 59, and the camera 43. The control box 64 is used to adjust parameters. When the machine is turned on for the first peeling, the feeding robot 4 needs to be paused manually when it delivers the peel to the guide gap 12. Then, the depth of the peel entering the guide gap 12 and the swing angle of the peel are measured with a ruler. Then, check whether there is a deviation between the measured data and the data set by the machine. If there is a deviation, the compensation value is input through the operation screen according to the actual deviation value to ensure the accuracy of peeling. Then the machine is started. If there is no deviation, the machine can be started directly.

[0061] The above describes the preferred embodiments of the present invention, illustrating and describing the basic principles, main features, and advantages of the invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A peeling machine, comprising a frame (8), characterized in that: The frame (8) is equipped with: The peeling mechanism (1) includes a peeling assembly (2) for peeling the workpiece and a guide assembly (3) for guiding the workpiece to the peeling assembly (2). A feeding robot (4) is configured to transport workpieces to a peeling mechanism (1) and move the workpieces along a guide assembly (3) to a peeling assembly (2) to perform peeling operations on the workpieces by the peeling assembly (2).

2. The peeling machine according to claim 1, characterized in that: The frame (8) is also equipped with a loading and unloading conveyor (5), a loading platform (6), a transfer platform (7) and an unloading platform (9); The loading and unloading conveying mechanism (5) transports the workpieces on the loading platform (6) to the transfer platform (7) to realize the loading of the workpieces; The feeding robot (4) transports the workpiece on the transfer table (7) to the peeling mechanism (1). The loading and unloading conveying mechanism (5) transports the workpiece on the scraping mechanism (1) to the unloading table (9) to realize the unloading of the workpiece.

3. The peeling machine according to claim 2, characterized in that: The guide assembly (3) includes a vertically distributed first guide plate (10) and a positioning plate (11), with a guide gap (12) between the first guide plate (10) and the positioning plate (11). The scraping assembly (2) includes a vertically distributed pressure plate (13) and a scraping blade wheel (14), with a scraping gap (15) between the pressure plate (13) and the scraping blade wheel (14). The guide gap (12) is directly opposite the scraping gap (15). The feeding robot (4) moves the workpiece along the guide gap (12) to the scraping gap (15). When the workpiece passes through the scraping gap (15), the scraping blade wheel (14) performs scraping operation on the workpiece.

4. The peeling machine according to claim 3, characterized in that: The positioning plate (11) is provided with an arc surface (16), the first guide plate (10) is provided with a plane (17), the plane (17) is directly opposite the arc surface (16), one end of the plane (17) is provided with a recessed step (18), and the guide gap (12) is provided between the step (18) and the arc surface (16).

5. The peeling machine according to claim 3, characterized in that: A second guide plate (19) is provided on the frame (8), and the second guide plate (19) is close to the guide assembly (3); when the workpiece moves along the guide gap (12) to the scraper gap (15), the bottom of the workpiece is supported on the second guide plate (19).

6. The peeling machine according to claim 2, characterized in that: The loading and unloading conveying mechanism (5) includes a drive device (20), a moving plate (21), a loading gripping device (22) and an unloading gripping device (23). The drive device (20) drives the moving plate (21), and the loading gripping device (22) and the unloading gripping device (23) are respectively fixed on the moving plate (21). The drive device (20) drives the loading gripper (22) to move between the loading platform (6) and the transfer platform (7) via the moving plate (21) to load the workpiece. At the same time, the drive device (20) drives the unloading gripper (23) to move between the peeling mechanism (1) and the unloading platform (9) via the moving plate (21) to unload the workpiece.

7. The peeling machine according to claim 6, characterized in that: Both the loading gripping device (22) and the unloading gripping device (23) include a first driver (24) and a first suction cup assembly (25). The first driver (24) drives the first suction cup assembly (25) to move up and down. When the first suction cup assembly (25) moves down, it grips or releases the workpiece.

8. The peeling machine according to claim 6, characterized in that: The peeling mechanism (1) also includes a base (30), a peeling assembly (2) and a guide assembly (3) mounted on the base (30), and a feeding platform (31) for placing workpieces is provided on the base (30). The drive device (20) drives the unloading gripping device (23) to move between the feeding platform (31) and the unloading platform (9) through the moving plate (21).

9. The peeling machine according to claim 2, characterized in that: A vision device (32) is installed on the frame (8). The vision device (32) is located above the transfer table (7). The vision device (32) is configured to take pictures of the workpiece on the transfer table (7) to determine the position of the workpiece.

10. The peeling machine according to any one of claims 1-9, characterized in that: The feeding robot (4) includes a drive base (26), a drive arm assembly (27), a lead screw assembly (28), and a second suction cup assembly (29). The drive arm assembly (27) is mounted on the drive base (26). The drive arm assembly (27) drives the lead screw assembly (28). The second suction cup assembly (29) is mounted on the lead screw assembly (28). The drive base (26) drives the drive arm assembly (27) to move horizontally. In turn, the drive arm assembly (27) drives the lead screw assembly (28) and the second suction cup assembly (29) to move horizontally. The drive arm assembly (27) drives the second suction cup assembly (29) to move vertically through the lead screw assembly (28). When the second suction cup assembly (29) moves downward, it grabs or puts down the workpiece.

Images