Automatic seed and core removing equipment for fruit processing

Abstract

The application discloses a kind of automatic seed cutting and pitting equipment for fruit agricultural and sideline products processing, the output end of feeding mechanism is communicated with belt conveying mechanism, the upper portion of belt conveying mechanism is respectively equipped with loading visual camera group and spider manipulator, spider manipulator is used to grab material on belt conveying mechanism and is placed on three-axis fine cutting mechanism respectively, the output end of three-axis fine cutting mechanism is communicated with material overturning transplanting mechanism, the output end of material overturning transplanting mechanism is connected with material conveying bearing device, and the upper portion of material conveying bearing device is equipped with pitting mechanism;The output end of material conveying bearing device is communicated with variable-distance transplanting mechanism, and the material of fruit agricultural and sideline products is sequentially fed, visually guided to grab, flexibly clamped and finely cut, synchronously overturned and transplanted, circularly conveyed and positioned, visually positioned and pitted, residual detection and supplementary processing and variable-distance discharged after finishing all processing procedures, and full-process automatic continuous production greatly improves production efficiency, product qualification rate and degree of automation.

Description

Technical Field

[0001] This invention relates to the field of agricultural and sideline product processing equipment, specifically to an automatic seed cutting and pitting device for processing fruit-type agricultural and sideline products. Background Technology

[0002] In the processing of fruit-based agricultural products, especially in the automated production process of cutting and pitting melons and fruits, multiple steps are typically required, including material feeding, cutting, turning and transferring, pitting, and discharging. Existing automated processing equipment has the following shortcomings: First, the existing equipment lacks effective connection between various processes. The transfer of materials between different workstations relies mostly on manual assistance or simple conveyor belts, making it difficult to achieve fully automated continuous production from whole fruit to cutting and pitting. This results in low production efficiency and high labor costs.

[0003] Secondly, existing cutting mechanisms mostly use rigid grippers to hold materials. For irregularly shaped fruit-like materials, rigid grippers are difficult to adapt to the material surface, which can easily lead to unstable gripping or damage to the material's skin, affecting the quality of the finished product. At the same time, the cutting mechanism lacks the function of accurately identifying and adjusting the cutting position of the material, making it difficult to ensure that each material is cut evenly along the accurate center line.

[0004] Third, existing pitting equipment mostly uses stamping or rotary cutting to remove fruit pits in one go, lacking real-time detection of pitting effect and secondary processing function. If there are still fruit pits left after one pitting, manual sorting or additional equipment is usually required for supplementary processing, which increases production links and labor costs, and also affects the product qualification rate.

[0005] Fourth, existing material transfer and flipping mechanisms mostly use multiple independent drive units to complete the picking and unloading actions separately. The action cycle is long, the equipment occupies a large area, and the gripping components lack precise path guidance during movement, which can easily cause positional deviations and affect the transfer accuracy.

[0006] Therefore, developing an automated processing equipment that integrates the processes of cutting, turning and transferring, and pitting into one unit with coordinated operation of all mechanisms has become the direction for further improvement. Summary of the Invention

[0007] To solve the above-mentioned technical problems, the present invention provides an automatic seed cutting and pitting device for processing fruit-type agricultural products, comprising a feeding mechanism, a belt conveyor mechanism, a feeding vision camera group, a spider robot, and a variable-distance transplanting mechanism respectively installed on the machine frame. The device is characterized by further including a three-axis precision cutting mechanism, a material turning and transplanting mechanism, a material conveying and carrying device, and a pitting mechanism. The output end of the feeding mechanism is connected to the belt conveyor mechanism. The feeding vision camera group and the spider robot are respectively installed above the belt conveyor mechanism. The spider robot is used to grab the material from the belt conveyor mechanism and place it on the three-axis precision cutting mechanism. The output end of the three-axis precision cutting mechanism is connected to the material turning and transplanting mechanism. The output end of the material turning and transplanting mechanism is connected to the material conveying and carrying device. A pitting mechanism is provided above the material conveying and carrying device. The output end of the material conveying and carrying device is connected to the variable-distance transplanting mechanism.

[0008] Preferably, the material turning and transferring mechanism includes a transplanting frame, a linkage transplanting component, a clamping and flipping mechanism, and a clamping component. The transplanting frame is fixedly mounted on top of the main frame, and the linkage transplanting component is fixedly mounted in the middle of the transplanting frame. The output end of the linkage transplanting component is drively connected to the clamping component. The clamping and flipping mechanism is spaced below the linkage transplanting component. The clamping and flipping mechanism includes a clamping mounting groove, a cam bearing, a clamping connecting seat, a gripping cylinder, gripping jaw A, gripping jaw B, a fixed rotating shaft, a connecting plate II, a connecting shaft, a connecting rod, and a sliding cylinder. The clamping mounting groove is detachably connected to both ends of the main frame. Multiple sets of clamping and flipping mechanisms are arranged opposite each other on both sides of the clamping mounting groove. The device comprises evenly distributed cam grooves and fixed-axis mounting holes. Cam bearings are respectively installed within the opposing cam grooves. The cam bearings are fixedly connected to the gripping cylinder via a clamping connecting seat. The output end of the gripping cylinder is kinetically connected to gripping jaws A and B, respectively. One end of a fixed rotating shaft is rotatably connected within the fixed-axis mounting hole. One end of a connecting plate two is fixedly sleeved between the fixed rotating shaft and the fixed-axis mounting hole. The other end of the connecting plate two is connected to a connecting shaft. The connecting shafts are staggered and fixedly connected to two sets of connecting rods. One end of each connecting rod is kinetically connected to the output end of a sliding cylinder via a Y-joint. The other end of the fixed rotating shaft is fixedly connected to the clamping connecting seat.

[0009] Preferably, the material conveying and carrying device includes a circular conveying track, a material carrying mechanism, a positioning cylinder, and a locking cylinder. The circular conveying track is fixedly installed on the machine frame. Locking cylinders are installed on both sides of the front and rear ends of the circular conveying track. Multiple sets of positioning cylinders are evenly installed on both sides of the middle of the circular conveying track. Multiple sets of material carrying mechanisms are evenly arranged on the circular conveying track. When the material carrying mechanism runs to a preset work position, its two ends correspond to the positioning cylinder or the locking cylinder, respectively. The material carrying mechanism includes a positioning conveying component, a linkage locking component, and a flexible clamping component. Multiple sets of detachable positioning conveying components are evenly arranged on the circular conveying track. The bottom two ends of the positioning conveying component can be engaged and positioned with the output end of the positioning cylinder. The positioning conveying component is provided with a linkage locking component. The two ends of the linkage locking component are driveably connected to the output end of the locking cylinder. Multiple sets of flexible clamping components are movably arranged inside the linkage locking component.

[0010] Preferably, the three-axis precision cutting mechanism includes a feeding conveying mechanism, a transplanting clamping mechanism, a positioning adjustment mechanism, a slitting mechanism, a clamping cylinder, and a clamping connecting rod. A clamping cylinder is fixedly mounted on the feeding conveying mechanism, and the output end of the clamping cylinder is throttle-connected to the clamping connecting rod. A transplanting clamping mechanism is spaced apart on one side of the clamping connecting rod. The transplanting clamping mechanism is fixedly mounted on the positioning adjustment mechanism, and its bottom is fixedly connected to the feeding conveying mechanism. A slitting mechanism is fixedly mounted on the output end of the feeding conveying mechanism. The transplanting clamping mechanism includes a cylinder seat plate, a parallel gripper cylinder, a transplanting fixture, a precision cutting spring, and a movable gripper. A cylinder seat plate is fixedly mounted on the positioning adjustment mechanism, and a parallel gripper cylinder is fixedly mounted on the cylinder seat plate. The output end of the parallel gripper cylinder is throttle-connected to the transplanting fixture. The inner side of the transplanting fixture is rotatably connected to the inner side of the movable gripper via a pin, and the outer side of the movable gripper is elastically connected to the transplanting fixture via a precision cutting spring.

[0011] Preferably, the core removal mechanism includes a support frame, a core removal visual camera group A, a three-in-one core removal component, a secondary core removal mechanism, a core removal visual camera group B, and a core removal visual camera group C. The support frame has core removal visual camera group A, core removal visual camera group C, and core removal visual camera group B respectively at its front end, middle end, and rear end. The three-in-one core removal component is provided between core removal visual camera group A and core removal visual camera group C. The three-in-one core removal component is fixedly connected to the support frame. The secondary core removal mechanism is provided between core removal visual camera group C and core removal visual camera group B. The structure of the secondary core removal mechanism is the same as that of the three-in-one core removal component. The secondary core removal mechanism is slidably connected to the support frame.

[0012] Preferably, the linkage locking assembly includes a locking block, a connecting rod shaft, a linkage spring, a retaining ring, an ejection spring, an unlocking connecting block, a movable sheet metal, a guide rod, and an ejection cylinder. The positioning and conveying assembly has movable sheet metals facing each other. Two connecting rod shafts are arranged parallel to each other on both sides of each movable sheet metal. Each connecting rod shaft is parallel to the others, and adjacent connecting rod shafts on the same side are fixed together by a flexible retaining block. A linkage spring is fitted onto one of the connecting rod shafts on each movable sheet metal. One end of the linkage spring is engaged with a retaining ring, and the other end abuts against a... On the outside of the flexible clamping assembly; locking holes are provided on the movable sheet metal, and guide rods are movably inserted into the locking holes. The upper ends of the guide rods are connected by locking blocks, and the lower ends of the guide rods are connected by unlocking connecting blocks. An ejection spring is provided between the guide rods. The lower end of the ejection spring abuts against the unlocking connecting block, and the upper end is in contact with the locking holes of the movable sheet metal. The lower end of the unlocking connecting block is drivenly connected to the output end of the ejection cylinder. The ejection cylinder is fixed inside the annular conveying track.

[0013] Preferably, the three-in-one core removal assembly includes a lifting and traversing assembly, a rotating core-picking assembly, and a core-suction assembly. The lifting and traversing assembly is fixedly installed on the support frame. The output end of the lifting and traversing assembly is connected to the rotating core-picking assembly. The rotating core-picking assembly includes a rotating shaft mounting plate, a servo motor, an upper mounting base, a quick connector, a limiting vent pipe, a lower mounting base, a sealing plate, a core-picking knife, and a core-removing spring. A servo motor is mounted on the rotating shaft mounting plate, and the lower end of the servo motor is connected to the upper mounting base. The upper mounting base is sealed and fixedly connected to the upper mounting base, and the lower end of the lower mounting base is provided with a sealing plate; the output end of the servo motor extends into the upper mounting base and is connected to one end of the limiting vent tube through a quick connector, and the other end of the limiting vent tube passes through the lower mounting base and is connected to the core-picking knife. The upper end of the core-picking knife is sealed to the sealing plate, and the lower end of the core-picking knife extends into the core-absorbing assembly; a core-removing spring is sleeved on the outer periphery of the limiting vent tube, and the two ends of the core-removing spring abut against the limiting vent tube and the core-picking knife, respectively.

[0014] Preferably, the linkage transplanting assembly includes a geared motor, a seated bearing A, a transmission main shaft, a swing arm, a seated bearing B, and an intermediate support plate. The geared motor is fixed in the middle of the transplanting frame, and the output end of the geared motor is connected to the transmission main shaft. The connection between the transmission main shaft and the transplanting frame is provided with a seated bearing A. Both ends of the transmission main shaft pass through the transplanting frame and are connected to the swing arm. The swing arm is connected to the middle of the intermediate support plate through the seated bearing B. The two sides of the intermediate support plate are slidably connected to the clamping assembly.

[0015] Preferably, the feeding and conveying mechanism includes a pre-aligning belt assembly, a first mounting base plate, a second mounting base plate, and support columns. The second mounting base plate is fixedly connected to the four corners of the first mounting base plate via the support columns. The pre-aligning belt assembly is fixedly mounted on the first mounting base plate. A blade holder is fixedly mounted at the front end of the pre-aligning belt assembly, and a blade is fixedly mounted on the blade holder. The blade is arranged along the central axis of the pre-aligning belt assembly. The positioning and adjustment mechanism includes an electric turntable, a limit switch, a first connecting plate, a linear module, a module base plate, a linear guide rail, and an electric... The system includes a movable slide table and a rotating base plate. An electric slide table is fixedly mounted on the mounting base plate 2. A module base plate is slidably mounted on the electric slide table. The outer side of the module base plate is fixedly connected to a linear module via a connecting plate 1. A linear guide rail is fixedly mounted on the module base plate. A rotating base plate is slidably connected to the linear guide rail. An electric turntable is fixedly mounted on the rotating base plate. The output end of the electric turntable is connected to the cylinder base plate. One side of the cylinder base plate is in contact with a limiter. The limiter is fixedly connected to the rotating base plate.

[0016] Preferably, the flexible clamping assembly includes a gripper mounting base, a flexible gripper, a flexible guide rail, a bottom support base, a second ejector spring, and an ejector cylinder. The positioning and conveying assembly has a flexible guide rail arranged parallel to it. Multiple gripper mounting bases are slidably mounted on the flexible guide rail. The inner side of each gripper mounting base is fixedly connected to the flexible gripper. The outer side of each gripper mounting base has two guide grooves. A connecting rod shaft moves through the guide grooves. One end of each gripper mounting base is connected to the other end of the connecting spring. Multiple bottom support bases are evenly arranged on the inner side of the flexible guide rail. The lower end of each bottom support base is adapted to and connected to the second ejector spring. The second ejector spring is drivenly connected to the output end of the ejector cylinder. The ejector cylinder is fixedly connected to the annular conveying track. Flexible grippers are spaced apart at the four corners of the bottom support base.

[0017] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention connects the output end of the feeding mechanism with the belt conveyor mechanism. The belt conveyor mechanism is equipped with a feeding vision camera group and a spider robot. The spider robot is used to grab the material on the belt conveyor mechanism and place it on the three-axis precision cutting mechanism. The output end of the three-axis precision cutting mechanism is connected to the material turning and transferring mechanism. The output end of the material turning and transferring mechanism is connected to the material conveying and carrying device. The material conveying and carrying device is equipped with a pitting mechanism. The output end of the material conveying and carrying device is connected to the variable-pitch transplanting mechanism. The material of fruit agricultural products completes all processing steps after feeding and sorting, visual guidance grabbing, flexible clamping precision cutting, synchronous turning and transferring, ring conveying and positioning, visual positioning pitting, residual detection and supplementary processing, and variable-pitch discharge. It realizes the full-process automated continuous production from whole fruit feeding to cutting, turning, pitting and discharge. Each mechanism cooperates in a preset sequence without human intervention, which greatly improves production efficiency, product qualification rate and automation level. At the same time, the whole machine has a compact structure and reasonable layout, which effectively reduces the equipment footprint and production cost.

[0018] (2) The three-axis precision cutting mechanism of the present invention, through the coordinated cooperation of the feeding and conveying mechanism, the transfer clamping mechanism and the positioning and adjusting mechanism, uses the clamping cylinder and the clamping connecting rod to assist in clamping the material during cutting. The transfer clamp has an clearance groove with an opening width greater than the front end of the clamping connecting rod on the inner side, ensuring that the various action mechanisms do not interfere with each other in a limited space. Each mechanism automatically completes all actions such as material clamping, position adjustment, angle calibration, cutting advancement and clamp reset according to a preset sequence, realizing continuous automated production without manual intervention and significantly improving processing efficiency.

[0019] (3) The components of the material turning and transfer mechanism of the present invention are arranged in layers in the vertical direction and staggered in the horizontal direction. The overall structure is compact and the layout is reasonable. Compared with the traditional robotic arm transfer scheme, it greatly reduces the equipment footprint and lowers the space requirements of the production line. The clamping and turning mechanism is detachably connected to the external frame, and the two ends of the clamping mounting groove in the clamping and turning mechanism are detachably connected to the external frame. When it is necessary to replace or maintain the clamping and turning mechanism, it can be disassembled as a whole without disassembling other mechanisms. The clamping component is slidably connected to the intermediate support plate and the transfer frame through the vertical guide rail. The clamping cylinder is installed on both ends of the assembly plate through the cylinder mounting plate A and the cylinder mounting plate B. The appropriate clamping cylinder can be quickly replaced according to the material size. It is easy to maintain and has strong applicability.

[0020] (4) The material conveying and carrying device of the present invention has multiple sets of detachable positioning and conveying components evenly arranged on a circular conveying track. The material carrying mechanism integrates positioning and conveying components, linkage locking components, and flexible clamping components, resulting in a compact overall structure. A protective cover is provided on the carrying frame, and a work station hole is opened on the protective cover. The work station hole is correspondingly set with the bottom support base, which not only protects the internal mechanism from foreign object intrusion but also provides an operating channel for the external processing mechanism. The positioning and conveying components can be completely disassembled, making it easy to replace the flexible clamping components with suitable ones according to the material size. Installation and maintenance are convenient, and it can adapt to the processing needs of different materials.

[0021] (5) The components of the pitting mechanism of the present invention are arranged sequentially along the material conveying direction. After the fruit is visually positioned, pitted, removed, residual detection, secondary processing and final inspection, the entire pitting process is completed. This realizes the integrated processing of pitting, inspection and processing. The entire pitting operation is completed automatically without human intervention, which greatly improves production efficiency, product qualification rate and automation level. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is one of the internal structural diagrams of the present invention.

[0024] Figure 3 This is the second schematic diagram of the internal structure of the present invention.

[0025] Figure 4 This is a schematic diagram of the three-axis precision cutting mechanism of the present invention.

[0026] Figure 5 For the present invention Figure 4 A partial structural diagram.

[0027] Figure 6 This is an application state diagram of the material transfer mechanism of the present invention.

[0028] Figure 7 This is one of the structural schematic diagrams of the material transfer mechanism of the present invention.

[0029] Figure 8 This is the second schematic diagram of the material transfer mechanism of the present invention.

[0030] Figure 9 This is one of the structural schematic diagrams of the clamping and flipping mechanism of the present invention.

[0031] Figure 10 This is the second schematic diagram of the clamping and flipping mechanism of the present invention.

[0032] Figure 11 For the present invention Figure 9 Enlarged view of section I in the middle.

[0033] Figure 12 This is a schematic diagram of the material conveying and carrying device of the present invention.

[0034] Figure 13 This is one of the structural schematic diagrams of the material carrying mechanism of the present invention.

[0035] Figure 14 For the present invention Figure 13 Enlarged view of point A in the middle.

[0036] Figure 15 This is a second schematic diagram of the material carrying mechanism of the present invention.

[0037] Figure 16 For the present invention Figure 15 Enlarged view of section B in the middle.

[0038] Figure 17 This is a cross-sectional view of the material carrying mechanism of the present invention.

[0039] Figure 18 This is one of the structural schematic diagrams of the core removal mechanism of the present invention.

[0040] Figure 19 This is the second schematic diagram of the core removal mechanism of the present invention.

[0041] Figure 20 This is a schematic diagram of the structure of the three-in-one core removal component of the present invention.

[0042] Figure 21 This is a cross-sectional view of the three-in-one core removal component of the present invention. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] like Figures 1 to 21As shown, an automatic seed cutting and pitting device for processing fruit-type agricultural products includes a feeding mechanism 1, a belt conveyor mechanism 2, a feeding vision camera group 3, a spider robot arm 4, a three-axis precision cutting mechanism 5, a pre-conditioning belt group 501, a mounting base plate 1 502, a mounting base plate 2 503, a transplanting clamp 504, a parallel gripper cylinder 505, a cylinder seat plate 506, an electric turntable 507, a limiter 508, a connecting plate 1 509, a linear module 510, a module seat plate 511, a linear guide rail 512, an electric slide table 513, a support column 514, a precision cutting spring 515, a movable gripper 516, a rotating seat plate 517, a blade 518, a clamping cylinder 519, and a clamping mechanism. 520 connecting rod, 521 knife holder, 6 material turning and transferring mechanism, 601 transplanting frame, 602 clamping mounting groove, 603 cam bearing, 604 clamping connecting seat, 605 gripping cylinder, 606 gripping jaw A, 607 gripping jaw B, 608 fixed rotating shaft, 609 connecting plate II, 610 connecting shaft, 611 connecting rod, 612 sliding cylinder, 613 cam groove plate, 614 cam groove hole, 615 cam slide groove, 616 Y-joint, 617 geared motor, 618 bearing with seat A, 619 transmission main shaft, 620 rocker arm, 621 bearing with seat B, 622 intermediate support plate, 623 vertical guide rail, 624 assembly plate, 625 cylinder mounting plate A 625. Cylinder mounting plate B; 626. Clamping cylinder; 627. Guide rail base; 628. Parallel guide rail; 629. Material conveying bearing device; 701. Circular conveying track; 702. Positioning cylinder; 703. Material bearing mechanism; 704. Locking block; 705. Connecting rod shaft; 706. Linkage spring; 707. Snap ring; 708. Gripper mounting seat; 709. Flexible gripper; 710. Flexible guide rail; 711. Locking spring; 712. Bottom support seat; 713. Ejection spring one; 714. Unlocking connecting block; 715. Ejection spring two; 716. Locking cylinder; 717. Movable sheet metal; 718. Guide rod; 719. Bearing frame; 720. Side baffle; 721. Protective cover; 722. Positioning block. 22. Pitting mechanism 8, support frame 801, pitting vision camera group A 802, three-in-one pitting component 803, secondary pitting mechanism 804, pitting vision camera group B 805, pitting vision camera group C 806, lead screw module 807, X-axis slide module 808, Y-axis slide module 809, rotary axis mounting plate 810, servo motor 811, upper mounting base 812, pit suction nozzle 813, pit extraction pipe 814, pit suction mounting plate 815, quick connector 816, limit vent pipe 817, pitting spring 818, lower mounting base 819, sealing plate 820, pit picking knife 821, drag chain assembly 822, variable pitch transplanting mechanism 9, and the whole machine frame 10.

[0045] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] like Figures 1 to 21 As shown, the automatic seed cutting and pitting equipment for processing fruit-type agricultural products includes a feeding mechanism 1, a belt conveyor mechanism 2, a feeding vision camera group 3, a spider robot 4, and a variable-distance transplanting mechanism 9, all mounted on the machine frame 10. It also includes a three-axis precision cutting mechanism 5, a material turning and transplanting mechanism 6, a material conveying and carrying device 7, and a pitting mechanism 8. The output end of the feeding mechanism 1 is connected to the belt conveyor mechanism 2. The feeding vision camera group 3 and the spider robot 4 are mounted on the top of the belt conveyor mechanism 2. The spider robot 4 is used to grab the material on the belt conveyor mechanism 2 and place it on the three-axis precision cutting mechanism 5.

[0048] like Figures 4 to 5 As shown, the three-axis precision cutting mechanism 5 includes a feeding conveying mechanism, a transplanting clamping mechanism, a positioning adjustment mechanism, a slitting mechanism, a pressing cylinder 519, and a pressing connecting rod 520. The pressing cylinder 519 is fixedly installed on the feeding conveying mechanism. The output end of the pressing cylinder 519 is connected to the pressing connecting rod 520. The transplanting clamping mechanism is provided at intervals on one side of the pressing connecting rod 520. The transplanting clamping mechanism is fixedly installed on the positioning adjustment mechanism. The bottom of the positioning adjustment mechanism is fixedly connected to the feeding conveying mechanism. The slitting mechanism is fixedly installed on the output end of the feeding conveying mechanism.

[0049] The transplanting clamping mechanism includes a cylinder base plate 506, a parallel gripper cylinder 505, a transplanting clamp 504, a precision cutting spring 515, and a movable gripper 516. The cylinder base plate 506 is fixedly mounted on the positioning and adjustment mechanism. The parallel gripper cylinder 505 is fixedly mounted on the cylinder base plate 506. The output end of the parallel gripper cylinder 505 is connected to the transplanting clamp 504 via a transmission connection. The inner side of the transplanting clamp 504 is rotatably connected to the inner side of the movable gripper 516 via a pin. The outer side of the movable gripper 516 is elastically connected to the transplanting clamp 504 via the precision cutting spring 515. The parallel gripper cylinder 505 drives the transplanting clamp 504 to open and close. The movable gripper 516 is rotatably connected to the inner side of the transplanting clamp 504 via a pin, and the precision cutting spring 515 is provided between the outer side of the movable gripper 516 and the transplanting clamp 504. When the parallel gripper cylinder 505 is closed, the movable gripper 516 adapts to the material surface under the elastic force of the precision cutting spring 515. Regardless of how irregular the material shape or how different the size, it can achieve flexible clamping with uniform force, effectively avoiding squeezing deformation or skin damage caused by rigid clamping, and ensuring the integrity of the material and the quality of the finished product.

[0050] The positioning and adjustment mechanism includes an electric turntable 507, a limit switch 508, a connecting plate 509, a linear module 510, a module base plate 511, a linear guide rail 512, an electric slide table 513, and a rotary base plate 517. An electric slide table 513 is fixedly mounted on the feeding and conveying mechanism. The module base plate 511 is slidably mounted on the electric slide table 513. The outer side of the module base plate 511 is fixedly connected to the linear module 510 via the connecting plate 509. The module base plate 511 is fixedly mounted on... A linear guide rail 512 is fixedly installed, and a rotating base plate 517 slides on the linear guide rail 512. An electric turntable 507 is fixedly installed on the rotating base plate 517. The output end of the electric turntable 507 is connected to a cylinder base plate 506. One side of the cylinder base plate 506 is in contact with a limiter 508. The limiter 508 is fixedly connected to the rotating base plate 517 to limit the rotation angle of the transfer clamping mechanism and prevent excessive rotation from causing equipment damage or material drop. The material image is acquired and the cutting centerline position is identified by the matching vision inspection system. With the help of the linear guide rail 512 in the positioning adjustment mechanism, the movable gripper 516 is precisely adjusted in the horizontal direction. The electric slide 513 moves the material to the front of the blade 518. The electric turntable 507 drives the transfer clamping mechanism to rotate to precisely adjust the material angle so that the cutting centerline of the material is completely aligned with the blade 518. Through the three-axis linkage of linear guide 512, electric slide 513 and electric turntable 507, independent and precise adjustment of the cutting position of each material is achieved, ensuring uniform cutting and flat cut, which greatly improves cutting consistency and product standardization.

[0051] The feeding and conveying mechanism includes a pre-aligned belt assembly 501, a first mounting base 502, a second mounting base 503, and support columns 514. The second mounting base 503 is fixedly connected to the four corners of the first mounting base 502 via the support columns 514 to form a rigid support frame, ensuring smooth operation of the pre-aligned belt assembly 501 and preventing material deviation. The pre-aligned belt assembly 501 is fixedly mounted on the first mounting base 502, and a cutting mechanism is provided at intervals at the discharge end of the pre-aligned belt assembly 501. The cutting mechanism includes blades 518 and a blade holder 521. The blade holder 521 is fixedly mounted at the front end of the pre-aligned belt assembly 501, and blades 518 are fixedly mounted on the blade holder 521. The blades 518 are arranged along the central axis of the pre-aligned belt assembly 501.

[0052] The transplanting clamp 504 also has an clearance groove on its inner side, and the opening width of the clearance groove is larger than the front end of the clamping connecting rod 520. A protrusion extends from one side of the cylinder seat plate 506, and the protrusion can contact and connect with the inner side of the limiter 508.

[0053] The working principle of the three-axis precision cutting mechanism 5 is as follows: the pre-conditioning belt group 501 uniformly transports the material to be processed placed by the spider robot 4 to the preset transplanting clamping mechanism. After receiving the signal, the parallel gripper cylinder 505 drives the transplanting clamp 504 to open. The electric slide table 513 works synchronously to drive the transplanting clamp 504 to move above the material of the pre-conditioning belt group 501. The parallel gripper cylinder 505 closes to drive the movable gripper 516 to retract. Under the elastic force of the precision cutting spring 515, the movable gripper 516 adaptively fits the material surface. No matter how irregular the shape of the material is, it can achieve flexible clamping with uniform force to avoid squeezing deformation or surface damage. After the movable gripper 516 completes clamping, the vision inspection system on the same production line collects material images and identifies the cutting centerline position through the background algorithm. The linear guide 512 drives the transfer clamping mechanism to move through the rotating seat plate 517, adjusting the position of the movable gripper 516 in the horizontal direction. The electric slide table 513 moves in the opposite direction, conveying the material in the movable gripper 516 to the front of the blade 518. The electric turntable 507 receives the control signal and drives the transfer clamping mechanism to rotate, further precisely adjusting the material angle so that the cutting center line of the material is completely aligned with the blade 518. After positioning, the electric slide table 513 drives the transfer clamping mechanism to rapidly advance the material towards the blade 518, completing the halving along the material cutting centerline; After cutting is completed, the electric slide table 513 quickly resets, the transfer clamp 504 opens and drives the movable gripper 516 to open and release the cut material, which is received by the material flipping and transfer mechanism 6. The three-axis precision cutting mechanism 5 continues to enter the next working cycle.

[0054] The three-axis precision cutting mechanism 5, through the coordinated operation of the feeding and conveying mechanism, the transfer clamping mechanism, and the positioning and adjustment mechanism, uses the clamping cylinder 519 and the clamping connecting rod 520 to assist in clamping the material during cutting. The transfer clamp 504 has an inner clearance groove with an opening width larger than the front end of the clamping connecting rod 520, ensuring that the various action mechanisms do not interfere with each other within a limited space. Each mechanism automatically completes all actions such as material clamping, position adjustment, angle calibration, cutting advancement, and clamp reset according to a preset sequence, realizing continuous automated production without manual intervention and significantly improving processing efficiency.

[0055] The output end of the three-axis precision cutting mechanism 5 is connected to the material turning and transferring mechanism 6. The material turning and transferring mechanism 6 includes a transplanting frame 601, a linkage transplanting component, a clamping and flipping mechanism, and a clamping component. The linkage transplanting component is fixed in the middle of the transplanting frame 601. The linkage transplanting component includes a geared motor 617, a seated bearing A618, a transmission main shaft 619, a swing arm 620, a seated bearing B621, and an intermediate support plate 622. The geared motor 617 is fixed in the middle of the transplanting frame 601. The output end of the geared motor 617 is connected to the transmission main shaft 619. The connection between the transmission main shaft 619 and the transplanting frame 601 is provided with a seated bearing A618. Both ends of the transmission main shaft 619 pass through the transplanting frame 601 and are connected to the swing arm 620. The connection between the swing arm 620 and the transmission main shaft 619 is provided with a spherical bearing 630. The spherical bearing 630 is fixedly connected to the transplanting frame 601.

[0056] The swing arm 620 is connected to the middle of the intermediate support plate 622 via a seated bearing B621. The two sides of the intermediate support plate 622 are slidably connected to the clamping assembly. The linkage transplanting assembly also includes a cam groove plate 613. Opposite cam groove plates 613 are fixed on both sides of the transplanting frame 601. Cam groove holes 614 are formed on the cam groove plates 613, and the seated bearing B621 is slidably connected within the cam groove holes 614. Since the seated bearing B621 houses components such as cam rollers and roller half-shafts, the dimensions of the cam groove holes 614 are calculated based on the required motion path.

[0057] When the swing arm 620 rotates, it drives the entire clamping assembly to move along the cam slot 614 via the intermediate support plate 622, simultaneously completing the material picking and unloading actions. The clamping assembly has an equal number of clamping cylinders 627 evenly installed on the cylinder mounting plates A625 and B626. When the assembly plate 624 moves forward, cylinder mounting plate A625 clamps the material from the previous station, while cylinder mounting plate B626 clamps the material that has already been flipped on the clamping and flipping mechanism. When the assembly plate 624 moves backward, cylinder mounting plate A625 places the material on the clamping and flipping mechanism, and cylinder mounting plate B626 places the material on the next station, thus cyclically realizing the flipping and transfer of materials. All actions are synchronized and linked, with no waiting time, significantly improving production cycle time and overall efficiency.

[0058] When the swing arm 620 swings, the clamping assembly moves along a unique preset path under the joint constraint of the cam slot 614, the vertical guide rail 623 and the parallel guide rail 629. This avoids clamping position offset or component interference caused by motion deviation, ensuring the accuracy of the transfer action and the stability of the equipment in long-term operation.

[0059] The output end of the linkage transplanting component is connected to the clamping component for transmission. The clamping component includes a vertical guide rail 623, an assembly plate 624, a cylinder mounting plate A625, a cylinder mounting plate B626, and a clamping cylinder 627. The two sides of the intermediate support plate 622 are slidably connected to the vertical guide rail 623. The vertical guide rail 623 is slidably connected to the transplanting frame 601. The lower end of the vertical guide rail 623 is fixedly connected to the assembly plate 624. The two ends of the assembly plate 624 are respectively provided with cylinder mounting plates A625 and B626. The same number of clamping cylinders 627 are evenly installed on the cylinder mounting plates A625 and B626. When the clamping and flipping mechanism needs to be replaced or maintained, it can be disassembled as a whole without disassembling other mechanisms; the clamping assembly is slidably connected to the intermediate support plate 622 and the transplanter frame 601 via the vertical guide rail 623, and the clamping cylinder 627 is installed on both ends of the assembly plate 624 via the cylinder mounting plate A625 and the cylinder mounting plate B626. The appropriate clamping cylinder 627 can be quickly replaced according to the material size, which is convenient for maintenance and highly applicable.

[0060] The vertical guide rail 623 is slidably connected to the parallel guide rail 629 via the guide rail base 628, and the parallel guide rail 629 is fixedly installed on the transplanter frame 601. The vertical guide rail 623 is connected to the guide rail base 628 and the parallel guide rail 629. The connecting plate 609 is restricted in its direction of movement by the vertical guide rail 623 and the parallel guide rail 629, so that the connecting plate 609 can only move in two directions: up and down and left and right.

[0061] The linkage transplanting assembly is provided with a clamping and flipping mechanism at intervals below it. The clamping and flipping mechanism includes a clamping mounting groove 602, a cam bearing 603, a clamping connecting seat 604, a gripping cylinder 605, a gripping claw A 606, a gripping claw B 607, a fixed rotating shaft 608, a connecting plate 609, a connecting shaft 610, a connecting rod 611, and a sliding cylinder 612. The clamping mounting groove 602 of the clamping and flipping mechanism is detachably connected to the external frame. The clamping mounting groove 602 has multiple sets of evenly distributed cam slide grooves 615 and fixed shaft mounting holes on both sides. Cam bearings 603 are respectively installed in the opposing cam slide grooves 615. The cam bearings 603 are fixedly connected to the gripping cylinder 605 through the clamping connecting seat 604. The output end of the gripping cylinder 605 is respectively connected to the gripping jaws A606 and B607. The fixed shaft mounting hole is rotatably connected to one end of the fixed rotating shaft 608. One end of the connecting plate 609 is fixedly sleeved between the fixed rotating shaft 608 and the fixed shaft mounting hole. The other end of the connecting plate 609 is connected to the connecting shaft 610. The connecting shafts 610 are fixedly connected to two sets of connecting rods 611 in an alternating manner. One end of the connecting rod 611 is connected to the output end of the sliding cylinder 612 through the Y joint 616. The other end of the fixed rotating shaft 608 is fixedly connected to the clamping connecting seat 604.

[0062] When the sliding cylinder 612 is activated, it drives the fixed rotating shaft 608 to rotate via the connecting rod 611, connecting shaft 610 and connecting plate 609. The fixed rotating shaft 608 drives the gripping cylinder 605, gripping jaws A606 and B607 to slide along the cam groove 615 and rotate synchronously via the clamping connecting seat 604. This realizes the multi-station continuous rotation action of the clamping and rotating mechanism, ensuring the accurate adjustment of the material's posture during the transfer process.

[0063] The working principle of the material transfer mechanism 6 is as follows: The geared motor 617 outputs power, which drives the rocker arm 620 to swing forward along the cam slot 614 via the transmission main shaft 619. The swing arm 620 is connected to the middle part of the intermediate support plate 622 through the seated bearing B621. When the swing arm 620 swings, it drives the intermediate support plate 622 to move through the seated bearing B621. The middle support plate 622 is slidably connected to the vertical guide rail 623 on both sides. The vertical guide rail 623 is slidably connected to the parallel guide rail 629 through the guide rail base 628. The transplanter frame 601 is fixedly provided with cam groove plates 613 on both sides. Cam groove holes 614 are opened on the cam groove plates 613. The seated bearing B621 is slidably connected in the cam groove hole 614. When the swing rod 620 swings, the assembly plate 624 moves along a unique preset path under the common guidance of the cam groove hole 614, the vertical guide rail 623 and the parallel guide rail 629. When the assembly plate 624 moves forward, the cylinder mounting plate A625 reaches the movable gripper 516 of the previous station to receive the material released by the movable gripper 516. The gripping cylinder 627 on the cylinder mounting plate A625 grips the material of the previous station. At the same time, the gripping cylinder 627 on the cylinder mounting plate B626 grips the material that has been flipped and placed on the gripping and flipping mechanism. The geared motor 617 continues to output power, which drives the swing arm 620 to swing backward through the transmission main shaft 619, causing the clamping assembly to move backward synchronously along the cam slot 614. The clamping cylinder 627 on the cylinder mounting plate A625 places the clamped material on the clamping and flipping mechanism, while the clamping cylinder 627 on the cylinder mounting plate B626 places the flipped material on the material conveying and carrying device 7, thus cyclically flipping and transferring the material.

[0064] The material transfer mechanism has six components arranged in layers in the vertical direction and staggered in the horizontal direction. The overall structure is compact and the layout is reasonable. Compared with the traditional robotic arm transfer solution, it greatly reduces the equipment footprint and lowers the space requirements of the production line.

[0065] The output end of the material turning and transferring mechanism 6 is connected to the material conveying and carrying device 7. The material conveying and carrying device 7 includes an annular conveying track 701 installed on the external frame, as well as a material carrying mechanism 703, a positioning cylinder 702, and a locking cylinder 716. Locking cylinders 716 are installed on both the front and rear sides of the annular conveying track 701. Multiple sets of positioning cylinders 702 are evenly installed on both sides of the middle part of the annular conveying track 701. Multiple sets of material carrying mechanisms 703 are evenly provided on the annular conveying track 701. When the material carrying mechanism 703 runs to the preset work position, its two ends correspond to the positioning cylinder 702 or the locking cylinder 716, respectively.

[0066] like Figure 12 As shown, since the flexible gripper 709 and the bottom support 712 are multiple sets that are repeatedly arranged, the attached figure only shows the corresponding flexible gripper 709 and bottom support 712 that can complete one set of clamping and bearing tasks.

[0067] The material carrying mechanism 703 includes a positioning conveying component, a linkage locking component, and a flexible clamping component. Multiple sets of detachable positioning conveying components are evenly arranged on the annular conveying track 701. The bottom ends of the positioning conveying components can be engaged with the output ends of the positioning cylinder 702 for positioning. The positioning conveying components are equipped with linkage locking components. The two ends of the linkage locking components can be drivenly connected to the output ends of the locking cylinder 716. Multiple sets of flexible clamping components are movably arranged inside the linkage locking components.

[0068] The linkage locking assembly includes a locking block 704, a connecting rod shaft 705, a linkage spring 706, a retaining ring 707, an ejection spring 713, an unlocking connecting block 714, a movable sheet metal 717, a guide rod 718, and an ejection cylinder. The positioning and conveying assembly has movable sheet metal 717s arranged opposite each other. Two connecting rod shafts 705s are arranged parallel to each other on both sides of each movable sheet metal 717. Two adjacent connecting rod shafts 705s on the same side are fixed together by a flexible retaining block. A linkage spring 706 is sleeved on one of the connecting rod shafts 705s on each movable sheet metal 717. One end of the linkage spring 706 is engaged with the retaining ring 707, and the other end abuts against the outside of the flexible clamping assembly. The movable sheet metal 717 has locking holes with opposite sides. Guide rods 718 are movably inserted into the locking holes. The upper ends of the guide rods 718 are connected by locking blocks 704, and the lower ends of the guide rods 718 are connected by unlocking connecting blocks 714. An ejection spring 713 is provided between the guide rods 718. The lower end of the ejection spring 713 abuts against the unlocking connecting block 714, and the upper end can contact the locking holes of the movable sheet metal 717. The lower end of the unlocking connecting block 714 is drivenly connected to the output end of the ejection cylinder, which is fixed inside the annular conveying track 701. The locking block 704 is inserted into the locking hole under the elastic force of the ejection spring 713. When the movable sheet metal 717 moves to the clamping position, the locking block 704 automatically engages in the locking hole, locking the flexible gripper 709 in a clamping state, thus preventing the gripper from accidentally loosening due to vibration during material turning or running on the annular track. When unlocking is required, the cylinder pushes the unlocking connecting block 714 upward. The unlocking connecting block 714 drives the locking block 704 through the guide rod 718 to overcome the elastic force of the push-out spring 713 and disengage from the locking hole. The movable sheet metal 717 moves in the opposite direction under the elastic force of the locking spring 711, so that the flexible gripper 709 can be released as needed, ensuring clamping stability and controllability of action.

[0069] The flexible clamping assembly includes a gripper mounting base 708, a flexible gripper 709, a flexible guide rail 710, a bottom support base 712, an ejection spring 715, and an ejection cylinder. The positioning and conveying assembly is provided with a parallel flexible guide rail 710. Multiple gripper mounting bases 708 are slidably mounted on the flexible guide rail 710. The inner side of the gripper mounting base 708 is fixedly connected to the flexible gripper 709. The outer side of the gripper mounting base 708 is provided with two guide grooves. A connecting rod shaft 705 is movably inserted through the guide grooves. One end of the gripper mounting base 708 is connected to the other end of the linkage spring 706. In the linkage locking assembly, the locking cylinder 716 pushes the movable sheet metal 717 to move, which in turn drives the connecting rod shaft 705 to move. A linkage spring 706 is sleeved on the connecting rod shaft 705. One end of the linkage spring 706 is limited by a snap ring 707, and the other end abuts against the outside of the gripper mounting base 708. Flexible grippers 709 are fixedly connected to the gripper mounting base 708. When the locking cylinder 716 is activated, the elastic force of the linkage spring 706 drives multiple sets of flexible grippers 709 to retract synchronously. Under the elastic force of the linkage spring 706, the flexible grippers 709 adaptively conform to the material surface, achieving uniform force and flexible clamping regardless of the material's irregular shape, thus avoiding material movement, flipping, or surface damage caused by rigid clamping.

[0070] The inner side of the movable sheet metal 717 is fixedly connected to one end of the locking spring 711, and the other end of the locking spring 711 can abut against the side of the bottom support 712. Multiple bottom support seats 712 are evenly arranged on the inner side of the flexible guide rail 710. The lower end of the bottom support seat 712 is adapted to and connected to the ejector spring 715. The ejector spring 715 is drivenly connected to the output end of the ejector cylinder, and the ejector cylinder is fixedly connected to the annular conveyor track 701. Flexible grippers 709 are spaced apart at the four corners of the bottom support seat 712. After the material is clamped, the bottom support seat 712 supports the bottom of the material from below. At the same time, the ejector cylinder pushes the bottom support seat 712 upward to press the material, forming multi-point positioning in conjunction with the flexible grippers 709. This prevents the material from tilting or shifting during conveying and processing, ensuring the consistency of the material's posture and the accuracy of the processing position.

[0071] The positioning and conveying assembly includes a support frame 719, side baffles 720, and positioning blocks 722. Multiple support frames 719 are slidably mounted on the annular conveying track 701. Side baffles 720 are fixed on both sides of the support frame 719, and flexible guide rails 710 are provided inside the side baffles 720. Positioning blocks 722 are provided at both ends of the support frame 719, and the output end of the positioning cylinder 702 engages with the positioning block 722. When the material carrying mechanism 703 moves to the preset station, the positioning cylinders 702 on both sides act synchronously, achieving bidirectional clamping and positioning by engaging the positioning workpiece with the grooves on the positioning blocks 722. This eliminates the inertial displacement generated when the material carrying mechanism 703 starts and stops on the annular track, ensuring that each material carrying mechanism 703 has a consistent and unique spatial position at each station, thus improving the alignment accuracy of subsequent verification or inspection mechanisms.

[0072] The installation height of the positioning cylinder 702 is lower than that of the locking cylinder 716. The positioning cylinder 702 engages and positions the positioning block 722. The locking cylinder 716 is driven and cooperates with the linkage locking component. The two cylinders operate independently in different height directions without interfering with each other.

[0073] The support frame 719 is covered with a protective cover 721, and the protective cover 721 has a work station hole, which is correspondingly set with the bottom support base 712.

[0074] The working principle of the material conveying and carrying device 7 is as follows: When the circular conveyor track 701 moves, it drives the material carrying mechanism 703 to move along the track. When the material carrying mechanism 703 moves to the preset work position, the positioning cylinder 702 is activated. The piston rod end of the positioning cylinder 702 is fixedly connected to the positioning workpiece. When the positioning cylinder 702 is activated, the positioning workpiece engages with the groove on the positioning block 722 set on the material carrying mechanism 703 to achieve precise positioning of the material carrying mechanism 703 at the preset work position. The movable sheet metal 717 is fixedly connected to the connecting rod shaft 705. When the locking cylinder 716 is activated, it drives the movable sheet metal 717 to move through the transmission component, and the movable sheet metal 717 drives the connecting rod shaft 705 to move. A linkage spring 706 is sleeved on the connecting rod shaft 705. One end of the linkage spring 706 abuts against the snap ring 707, and the other end abuts against the gripper mounting seat 708. A flexible gripper 709 is fixedly connected to the gripper mounting seat 708. Multiple sets of flexible grippers 709 and corresponding gripper mounting seats 708 are spaced apart along the axial direction on the connecting rod shaft 705. When the connecting rod shaft 705 moves, it drives the flexible grippers 709 to perform a clamping action. When the movable sheet metal 717 moves to the clamping position, the locking block 704 is inserted into the locking hole on the movable sheet metal 717 under the elastic force of the ejector spring 713, locking the clamping state of the flexible gripper 709.

[0075] When the flexible gripper 709 needs to be released at a certain station, the push-out cylinder (not shown in this figure, but a common cylinder product on the market) installed inside the annular conveyor track 701 and located below the unlocking connecting block 714 is activated, pushing the unlocking connecting block 714 to move upward. The unlocking connecting block 714 drives the locking block 704 to overcome the elastic force of the push-out spring 713 and disengage from the locking hole of the movable sheet metal 717 through the guide rod 718. The movable sheet metal 717 moves in the opposite direction under the action of the reset elastic force of the locking spring 711, driving the flexible gripper 709 to perform the action of releasing the material.

[0076] When the ejector cylinder (not shown in the attached figure, but a common cylinder product on the market) installed inside the annular conveyor track 701 and located below the bottom support 712 is activated, it pushes the bottom support 712 upward and compresses the ejector spring 715, causing the bottom support 712 to press the material, facilitating the de-core removal mechanism 8 to perform de-core removal; when the ejector cylinder is released, the bottom support 712 returns to its original position under the reset force of the ejector spring 715, releasing the material, at which point the material is transported normally on the annular conveyor track 701.

[0077] The material conveying and carrying device 7 has multiple sets of detachable positioning and conveying components evenly arranged on the circular conveying track 701. The material carrying mechanism 703 integrates positioning and conveying components, linkage locking components, and flexible clamping components, resulting in a compact overall structure. A protective cover 721 is provided on the carrying frame 719, with workstation holes corresponding to the bottom support base 712. This protects the internal mechanism from foreign object intrusion and provides a working passage for the external processing mechanism. The positioning and conveying components can be completely disassembled, facilitating the replacement of suitable flexible clamping components according to material size. Installation and maintenance are convenient, adapting to the processing needs of different materials.

[0078] A pitting mechanism 8 is installed above the material conveying and carrying device 7. The pitting mechanism 8 includes a support frame 801, a pitting vision camera group A802, a three-in-one pitting component 803, a secondary pitting mechanism 804, a pitting vision camera group B805, and a pitting vision camera group C806. The front end, middle end, and rear end of the support frame 801 are respectively equipped with a pitting vision camera group A802, a pitting vision camera group C806, and a pitting vision camera group B805. The pitting vision camera group A802 and the pitting vision camera group C806... A three-in-one core removal component 803 is provided between the core removal visual camera group C806 and the core removal visual camera group B805. The three-in-one core removal component 803 is fixedly connected to the support frame 801. A secondary core removal mechanism 804 is provided between the core removal visual camera group C806 and the core removal visual camera group B805. The structure of the secondary core removal mechanism 804 is the same as that of the three-in-one core removal component 803. The secondary core removal mechanism 804 is slidably connected to the support frame 801. The upper end of the secondary core removal mechanism 804 is slidably connected to the drag chain component 822. The drag chain component 822 is fixedly connected to the support frame 801.

[0079] The front end of the support frame 801 is equipped with a pitting vision camera group A802, which takes pictures of the fruits on the material conveyor line, identifies the position and shape of the pits, and transmits the optimal pitting path to the three-in-one pitting component 803 via signal. This allows the pitting knife 821 to accurately position itself to the pit and perform the pitting action, improving the accuracy and efficiency of pitting and avoiding damage to the fruit flesh caused by blind pitting. The pitting vision camera group C806 inspects the inside of the fruit cavity after pitting to determine if there are any residual pits. If pit residue is detected, the secondary pitting mechanism 804 slides along the support frame 801 to the unpitted station to perform a secondary pitting action. The rear end of the support frame 801 is equipped with a pitting vision camera group B805, which takes pictures again to inspect whether there are any residual pits inside the fruit cavity and whether there are any defects such as scratches on the fruit surface. This achieves closed-loop detection and automatic reprocessing of the pitting effect, ensuring the product qualification rate.

[0080] The three-in-one core removal component 803 includes a lifting and traversing component, a rotating core-picking component, and a core-suction component. The lifting and traversing component is fixedly mounted on the support frame 801. The output end of the lifting and traversing component is connected to the rotating core-picking component. The rotating core-picking component includes a rotating shaft mounting plate 810, a servo motor 811, an upper mounting base 812, a quick connector 816, a limiting vent pipe 817, a lower mounting base 819, a sealing plate 820, and a core-picking knife 821. The servo motor 811 is mounted on the rotating shaft mounting plate 810. The lower end of the machine 811 is connected to the upper mounting base 812. The lower end of the upper mounting base 812 is sealed and fixedly connected to the lower mounting base 819. The lower end of the lower mounting base 819 is provided with a sealing plate 820. The output end of the servo motor 811 extends into the upper mounting base 812 and is connected to one end of the limiting vent pipe 817 through the quick connector 816. The other end of the limiting vent pipe 817 passes through the lower mounting base 819 and is connected to the core-picking knife 821. The upper end of the core-picking knife 821 is sealed and connected to the sealing plate 820. The lower end of the core-picking knife 821 extends into the core-absorbing assembly. The output end of the servo motor 811 extends into the upper mounting base 812 and is connected to one end of the limiting air pipe 817 through the quick connector 816. The other end of the limiting air pipe 817 passes through the lower mounting base 819 and is connected to the pitting knife 821. High-pressure gas is delivered to the gas outlet at the front end of the pitting knife 821 through the upper mounting base 812, quick connector 816, and limiting air pipe 817. The high-pressure gas is output at a certain angle to the pit. At the same time, the servo motor 811 synchronously drives the pitting knife 821 to rotate. Under the combined action of rotating the pit and high-pressure blowing, the pit is separated from the pulp, which improves the thoroughness and efficiency of pitting.

[0081] The kernel suction assembly includes a kernel suction nozzle 813, a kernel extraction pipe 814, and a kernel suction mounting plate 815; one end of the rotating shaft mounting plate 810 is fixedly connected to the kernel suction mounting plate 815, and the kernel extraction pipe 814 is fixedly installed on the kernel suction mounting plate 815. One end of the kernel extraction pipe 814 is connected to an external vacuum device, and the other end is connected to the kernel suction nozzle 813.

[0082] The pit-collecting nozzle 813 has a notch at its front end, and the angle between the pit-collecting nozzle 813 and the pit-picking knife 821 is an acute angle. When the pit-picking knife 821 is fully inserted into the notch, its lower end extends below the lower end face of the pit-collecting nozzle 813. During the pit-picking process, the pit-collecting nozzle 813 covers the fruit, creating a vacuum negative pressure environment. As the pit-picking knife 821 picks out or loosens the pit, the pit-collecting nozzle 813 simultaneously collects the pit through the pit extraction pipe 814, achieving synchronous linkage between pit picking and pit suction, avoiding the trouble of pit scattering and secondary collection.

[0083] The rotating pitting assembly also includes a pitting spring 818. The pitting spring 818 is sleeved around the outer periphery of the limiting ventilator 817, with its two ends abutting against the limiting ventilator 817 and the pitting knife 821, respectively. When the pitting knife 821 touches the fruit pulp during pitting, it compresses the pitting spring 818, allowing the pitting knife 821 to adaptively adjust its pitting force and stroke according to individual fruit differences. This avoids excessive cutting and damage to the fruit pulp by the rigid blade, ensuring the integrity of the fruit pulp.

[0084] The lifting and traversing assembly includes a lead screw module 807, an X-axis slide module 808, and a Y-axis slide module 809; the support frame 801 is fixedly connected to the lead screw module 807, the output end of the lead screw module 807 is connected to the X-axis slide module 808, and the X-axis slide module 808 is connected to the rotary shaft mounting plate 810 through the Y-axis slide module 809.

[0085] A lead screw module 807 is connected to the rack and pinion assembly of the frame. The lead screw module 807 is responsible for the Z-axis vertical movement of the assembly and is connected to the X-axis slide module 808. The X-axis slide module 808, Y-axis slide module 809, and rotary axis mounting plate 810 are connected in sequence. The X-axis slide module 808 is responsible for the forward and backward movement of the pit-picking assembly in the X-axis direction, and the Y-axis slide module 809 is responsible for the Y-axis movement of the pit-picking assembly. A servo motor 811 is connected to the upper mounting base 812. The outer wall of the upper mounting base 812 has an air pipe through-hole. High-pressure gas passes through the upper mounting base 812, quick connector 816, and limiting air pipe 817 to the pit-picking knife 821. The pit-picking knife 821 has a gas outlet at its front end. High-pressure gas is output at a certain angle to the pit through the outlet, thereby separating the pit from the pulp. Simultaneously with the pit blowing, the servo motor 811 synchronously drives the pit-picking knife 821 to rotate and pick the pit. Simultaneously, the C806 pitting vision camera group is used to detect the fruit's shape, and electrical control is used to achieve precise pitting.

[0086] The pitting knife 821 is connected to the pitting spring 818. During the pitting process, when the pitting knife 821 touches the pulp, it will cause the pitting spring 818 to compress, ensuring the integrity of the fruit pulp during the pitting process.

[0087] To collect the pits and assist the pit-picking knife 821 in removing them, a pit-suction nozzle 813 is provided above the pit-picking knife 821. During the pit-picking process, the pit-suction nozzle 813 covers the fruit, and the inside of the pit-suction nozzle 813 is a vacuum negative pressure environment. When the pit-picking knife 821 picks out or loosens the pit, the pit-suction nozzle 813 will simultaneously collect the picked-out pits through the pit extraction pipe 814, or assist in separating the loosened pits from the pulp and then collecting them.

[0088] The working principle of the core removal mechanism 8 is as follows: When the material is transported to the material conveying carrier 7, it is already cut. The flexible gripper 709 and the bottom support 712 of the material conveying carrier 7 work together to press the cut material. The pitting vision camera group A802 takes pictures to collect images of the fruit and pit of the material on the material conveying carrier 7. The background vision algorithm identifies the position and shape of the pit and plans the optimal pit picking path. Then the action command is transmitted to the three-in-one pitting component 803 to perform the pit picking action. After the pits are removed, the fruit is inspected again by the pitting vision camera group C806 to check whether there are any remaining pits inside the fruit cavity. If there are any remaining pits, the secondary pitting mechanism 804 will be positioned at the unremoved station to perform a secondary pitting operation. The pitting vision camera group B805 performs a final inspection on the fruit after the secondary pitting to confirm whether there are any remaining pits inside the fruit cavity, and at the same time, to check whether there are any defects such as scratches on the surface of the fruit.

[0089] The eight components of the pitting mechanism are arranged sequentially along the material conveying direction. After visual positioning, pitting, residue detection, secondary processing and final inspection, the fruit completes all pitting processes. This achieves integrated pitting, inspection and processing, and the entire pitting operation is completed automatically without human intervention, which greatly improves production efficiency, product qualification rate and automation level.

[0090] The output end of the material conveying and carrying device 7 is connected to the variable pitch transfer mechanism 9, which is used to transfer the de-cored material from the material conveying and carrying device 7 to the next process.

[0091] The working principle of this invention is as follows: the feeding mechanism 1 is responsible for sorting the scattered materials in the initial stage and conveying them to the belt conveyor mechanism 2. The loading vision camera group 3 takes visual pictures. The spider robot 4 grabs the materials under the visual guidance of the loading vision camera group 3 and places them on the pre-sorting belt group 501 of the three-axis precision cutting mechanism 5. The material is cut into two unseparated halves by the three-axis precision cutting mechanism 5. Under the action of the material turning and transfer mechanism 6, the cut but unseparated material is transferred to the flexible gripper 709 of the material conveying and carrying device 7 with the cut surface facing up. The material conveying and carrying device 7 moves to the preset de-core station, and the de-core mechanism 8 de-cores the material. After the de-core is removed, the material conveying and carrying device 7 continues to move and is transferred to the next process by the variable pitch transfer mechanism 9.

[0092] This invention enables the entire processing of fruit-type agricultural products to be completed through feeding and sorting, visual guidance grasping, flexible clamping and precision cutting, synchronous turning and transplanting, circular conveying and positioning, visual positioning and pitting, residual detection and supplementary processing, and variable distance discharge. It realizes fully automated continuous production from whole fruit feeding to cutting, turning, pitting and discharge. Each mechanism cooperates in a preset sequence without human intervention, which greatly improves production efficiency, product qualification rate and automation level. At the same time, the machine has a compact structure and reasonable layout, which effectively reduces the equipment footprint and production cost.

[0093] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any modifications, equivalent changes, improvements, etc., made in accordance with the claims of the present invention shall still fall within the scope of the present invention.

Claims

1. An automatic seed cutting and pitting device for processing fruit-type agricultural products, comprising a feeding mechanism (1), a belt conveyor mechanism (2), a feeding vision camera group (3), a spider robot (4), and a variable-distance transplanting mechanism (9) respectively installed on the machine frame (10), characterized in that: It also includes a three-axis precision cutting mechanism (5), a material turning and transfer mechanism (6), a material conveying and carrying device (7), and a core removal mechanism (8). The output end of the feeding mechanism (1) is connected to the belt conveyor mechanism (2). A loading vision camera group (3) and a spider robot (4) are respectively installed above the belt conveyor mechanism (2). The spider robot (4) is used to grab the material on the belt conveyor mechanism (2) and place it on the three-axis precision cutting mechanism (5). The output end of the three-axis precision cutting mechanism (5) is connected to the material turning and transfer mechanism (6). The output end of the material turning and transfer mechanism (6) is connected to the material conveying and carrying device (7). The core removal mechanism (8) is provided above the material conveying and carrying device (7). The output end of the material conveying and carrying device (7) is connected to the variable pitch transfer mechanism (9).

2. The automatic seed cutting and pitting equipment for processing fruit-type agricultural products according to claim 1, characterized in that: The material transfer mechanism (6) includes a transfer frame (601), a linkage transfer component, a clamping and flipping mechanism, and a clamping component. The transfer frame (601) is fixedly mounted on the top of the main frame (10). The linkage transfer component is fixedly mounted in the middle of the transfer frame (601). The output end of the linkage transfer component is connected to the clamping component. The clamping and flipping mechanism is provided at intervals below the linkage transfer component. The clamping and flipping mechanism includes a clamping mounting groove (602) and a cam. The machine frame (10) comprises a bearing (603), a clamping connecting seat (604), a gripping cylinder (605), gripping jaws A (606), gripping jaws B (607), a fixed rotating shaft (608), a connecting plate II (609), a connecting shaft (610), a connecting rod (611), and a sliding cylinder (612). The entire machine frame (10) is detachably connected to both ends of the clamping mounting groove (602). Multiple sets of evenly distributed cam grooves are provided on both sides of the clamping mounting groove (602). The cam groove (615) and the fixed shaft mounting hole are respectively provided with cam bearings (603). The cam bearings (603) are fixedly connected to the gripping cylinder (605) through the clamping connecting seat (604). The output end of the gripping cylinder (605) is respectively connected to the gripping jaw A (606) and the gripping jaw B (607). The fixed shaft mounting hole is rotatably connected to one end of the fixed rotating shaft (608). One end of a connecting plate two (609) is fixedly sleeved between the fixed shaft mounting hole and the other end of the connecting plate two (609) is connected to the connecting shaft (610). The connecting shafts (610) are staggered and fixedly connected to two sets of connecting rods (611). One end of the connecting rod (611) is connected to the output end of the sliding cylinder (612) through a Y-joint (616). The other end of the fixed rotating shaft (608) is fixedly connected to the clamping connecting seat (604).

3. The automatic seed cutting and pitting equipment for processing fruit-type agricultural products according to claim 2, characterized in that: The material conveying and carrying device (7) includes a circular conveying track (701), a material carrying mechanism (703), a positioning cylinder (702), and a locking cylinder (716). The circular conveying track (701) is fixedly installed on the machine frame (10). Locking cylinders (716) are installed on both the front and rear sides of the circular conveying track (701). Multiple sets of positioning cylinders (702) are evenly installed on both sides of the middle part of the circular conveying track (701). Multiple sets of material carrying mechanisms (703) are evenly arranged on the circular conveying track (701). The material carrying mechanism (703) runs to... When the preset workstation is in place, both ends correspond to the positioning cylinder (702) or the locking cylinder (716) respectively; the material carrying mechanism (703) includes a positioning conveying component, a linkage locking component and a flexible clamping component. Multiple sets of detachable positioning conveying components are evenly arranged on the annular conveying track (701). The bottom ends of the positioning conveying component can be engaged with the output end of the positioning cylinder (702) for positioning. The positioning conveying component is provided with a linkage locking component. The two ends of the linkage locking component can be drivenly connected to the output end of the locking cylinder (716). Multiple sets of flexible clamping components are movably arranged inside the linkage locking component.

4. The automatic seed cutting and pitting equipment for processing fruit-type agricultural products according to claim 3, characterized in that: The three-axis precision cutting mechanism (5) includes a feeding conveying mechanism, a transplanting clamping mechanism, a positioning adjustment mechanism, a slitting mechanism, a clamping cylinder (519), and a clamping connecting rod (520). A clamping cylinder (519) is fixedly installed on the feeding conveying mechanism. The output end of the clamping cylinder (519) is connected to the clamping connecting rod (520) via a transmission connection. A transplanting clamping mechanism is spaced apart on one side of the clamping connecting rod (520). The transplanting clamping mechanism is fixedly mounted on the positioning adjustment mechanism. The bottom of the positioning adjustment mechanism is fixedly connected to the feeding conveying mechanism. A slitting mechanism is fixedly installed on the output end of the feeding conveying mechanism. The transplanting clamping mechanism includes... The positioning and adjustment mechanism includes a cylinder seat plate (506), a parallel gripper cylinder (505), a transplanting clamp (504), a precision cutting spring (515), and a movable gripper (516). The cylinder seat plate (506) is fixedly installed on the positioning and adjustment mechanism. The parallel gripper cylinder (505) is fixedly installed on the cylinder seat plate (506). The output end of the parallel gripper cylinder (505) is connected to the transplanting clamp (504) via a transmission. The inner side of the transplanting clamp (504) is rotatably connected to the inner side of the movable gripper (516) via a pin. The outer side of the movable gripper (516) is elastically connected to the transplanting clamp (504) via a precision cutting spring (515).

5. An automatic seed cutting and pitting device for processing fruit-type agricultural products according to claim 4, characterized in that: The kernel removal mechanism (8) includes a support frame (801), a kernel removal visual camera group A (802), a three-in-one kernel removal component (803), a secondary kernel removal mechanism (804), a kernel removal visual camera group B (805), and a kernel removal visual camera group C (806). The support frame (801) is equipped with a kernel removal visual camera group A (802), a kernel removal visual camera group C (806), and a kernel removal visual camera group B (805) at its front end, middle end, and rear end, respectively. The kernel removal visual camera group A (802) is connected to the kernel removal visual camera group B (805). A three-in-one core removal component (803) is provided between the core vision camera group C (806). The three-in-one core removal component (803) is fixedly connected to the support frame (801). A secondary core removal mechanism (804) is provided between the core removal vision camera group C (806) and the core removal vision camera group B (805). The structure of the secondary core removal mechanism (804) is the same as that of the three-in-one core removal component (803). The secondary core removal mechanism (804) is slidably connected to the support frame (801).

6. The automatic seed cutting and pitting equipment for processing fruit-type agricultural products according to claim 5, characterized in that: The linkage locking assembly includes a locking block (704), a connecting rod shaft (705), a linkage spring (706), a retaining ring (707), an ejection spring (713), an unlocking connecting block (714), a movable sheet metal (717), a guide rod (718), and an ejection cylinder. The positioning and conveying assembly is provided with movable sheet metal (717) facing each other. Two connecting rod shafts (705) are arranged parallel to each other on both sides of each movable sheet metal (717). The two adjacent connecting rod shafts (705) on the same side are fixed by a flexible retaining block. A linkage spring (706) is sleeved on one of the connecting rod shafts (705) on each movable sheet metal (717). One end of the linkage spring (706) is engaged with a retaining ring. (707) The other end abuts against the outside of the flexible clamping assembly; the movable sheet metal (717) has locking holes opposite to each other, and a guide rod (718) is movably inserted into the locking hole. The upper ends of the guide rods (718) are connected by a locking block (704), and the lower ends of the guide rods (718) are connected by an unlocking connecting block (714). A push-out spring (713) is provided between the guide rods (718). The lower end of the push-out spring (713) abuts against the unlocking connecting block (714), and the upper end is in contact with the locking hole of the movable sheet metal (717). The lower end of the unlocking connecting block (714) is connected to the output end of the push-out cylinder. The push-out cylinder is fixed inside the annular conveying track (701).

7. An automatic seed cutting and pitting device for processing fruit-type agricultural products according to claim 6, characterized in that: The three-in-one core removal assembly (803) includes a lifting and traversing assembly, a rotating core-picking assembly, and a core-suction assembly. The lifting and traversing assembly is fixedly installed on the support frame (801). The output end of the lifting and traversing assembly is connected to the rotating core-picking assembly. The rotating core-picking assembly includes a rotating shaft mounting plate (810), a servo motor (811), an upper mounting base (812), a quick connector (816), a limiting vent pipe (817), a lower mounting base (819), a sealing plate (820), a core-picking knife (821), and a core-removing spring (818). The servo motor (811) is installed on the rotating shaft mounting plate (810). The lower end of the servo motor (811) is connected to the upper mounting base (812). The lower end of the upper mounting base (812) is sealed and fixedly connected. A lower mounting base (819) is provided, and a sealing plate (820) is provided at the lower end of the lower mounting base (819). The output end of the servo motor (811) extends into the upper mounting base (812) and is connected to one end of the limiting vent pipe (817) through a quick connector (816). The other end of the limiting vent pipe (817) passes through the lower mounting base (819) and is connected to the core-picking knife (821). The upper end of the core-picking knife (821) is sealed to the sealing plate (820), and the lower end of the core-picking knife (821) extends into the core-absorbing assembly. A core-removing spring (818) is sleeved on the outer periphery of the limiting vent pipe (817). The two ends of the core-removing spring (818) abut against the limiting vent pipe (817) and the core-picking knife (821) respectively.

8. An automatic seed cutting and pitting device for processing fruit-type agricultural products according to claim 7, characterized in that: The linkage transplanting assembly includes a geared motor (617), a seated bearing A (618), a transmission main shaft (619), a swing arm (620), a seated bearing B (621), and an intermediate support plate (622). The geared motor (617) is fixed in the middle of the transplanting frame (601). The output end of the geared motor (617) is connected to the transmission main shaft (619). The connection between the transmission main shaft (619) and the transplanting frame (601) is provided with a seated bearing A (618). Both ends of the transmission main shaft (619) pass through the transplanting frame (601) and are connected to the swing arm (620). The swing arm (620) is connected to the middle of the intermediate support plate (622) through the seated bearing B (621). The two sides of the intermediate support plate (622) are slidably connected to the clamping assembly.

9. An automatic seed cutting and pitting device for processing fruit-type agricultural products according to claim 8, characterized in that: The feeding and conveying mechanism includes a pre-aligning belt assembly (501), a first mounting base plate (502), a second mounting base plate (503), and support columns (514). The second mounting base plate (503) is fixedly connected to the four corners of the first mounting base plate (502) via the support columns (514). The first mounting base plate (502) is fixedly mounted with the pre-aligning belt assembly (501). A knife holder (521) is fixedly mounted at the front end of the pre-aligning belt assembly (501). A blade (518) is fixedly mounted on the knife holder (521). The blade (518) is arranged along the central axis of the pre-aligning belt assembly (501). The positioning and adjustment mechanism includes an electric turntable (507), a limiter (508), a first connecting plate (509), a linear module (510), a module base plate (511), a linear guide rail (512), and an electric slide rail. The platform (513) and the rotating seat plate (517) are provided. An electric slide table (513) is fixedly installed on the mounting base plate (503). A module seat plate (511) is slidably installed on the electric slide table (513). The outer side of the module seat plate (511) is fixedly connected to the linear module (510) through a connecting plate (509). A linear guide rail (512) is fixedly installed on the module seat plate (511). A rotating seat plate (517) is slidably connected on the linear guide rail (512). An electric turntable (507) is fixedly installed on the rotating seat plate (517). The output end of the electric turntable (507) is connected to the cylinder seat plate (506). One side of the cylinder seat plate (506) is in contact with a limiter (508). The limiter (508) is fixedly connected to the rotating seat plate (517).

10. An automatic seed-cutting and pitting device for processing fruit-type agricultural products according to claim 9, characterized in that: The flexible clamping assembly includes a gripper mounting base (708), a flexible gripper (709), a flexible guide rail (710), a bottom support base (712), an ejection spring (715), and an ejection cylinder. The positioning and conveying assembly has the flexible guide rail (710) parallel to it. Multiple gripper mounting bases (708) are slidably mounted on the flexible guide rail (710). The inner side of each gripper mounting base (708) is fixedly connected to the flexible gripper (709). Two guide grooves are provided on the outer side of each gripper mounting base (708), and a flexible gripper (709) moves movably through the guide grooves. The connecting rod shaft (705) has one end of the gripper mounting seat (708) connected to the other end of the linkage spring (706); the flexible guide rail (710) is evenly provided with a plurality of bottom support seats (712), the lower end of the bottom support seat (712) is adapted to be connected to the ejector spring (715), the ejector spring (715) is connected to the output end of the ejector cylinder, and the ejector cylinder is fixedly connected to the annular conveying track (701); the bottom support seat (712) is provided with flexible grippers (709) at intervals at the four corners.

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