Fruit slicing device and fruit processing equipment

Abstract

The utility model provides a fruit slicing device and fruit processing equipment, and relates to the technical field of fruit processing.The fruit slicing device comprises a clamping and transferring mechanism and a slicing mechanism, the clamping and transferring mechanism comprises a transferring driving assembly, a transferring and clamping piece and two chucks arranged on the transferring and clamping piece, the transfer clamping piece drives the two clamping heads to move so as to clamp fruits, the transfer driving assembly drives the transfer clamping piece to move in a preset coordinate system, the preset coordinate system comprises a Y-axis direction, an X-axis direction and a rotating direction around a Z axis, the slicing mechanism comprises an upper cutter assembly and a lower cutter assembly, the upper cutter assembly comprises an upper cutter with a first arc-shaped notch in the bottom end, and the lower cutter assembly comprises a lower cutter with a second arc-shaped notch in the bottom end. The lower cutter assembly comprises a lower cutter with a second arc-shaped notch at the bottom end, the first arc-shaped notch and the second arc-shaped notch form an avoiding notch for avoiding kernel cutting when the upper cutter and the lower cutter cut the fruits, and pulp is cut while the kernels are not damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit processing, in particular to a fruit slicing device and fruit processing equipment. Background Art

[0002] In order to facilitate the storage, packaging and consumption of fruits, it is also necessary to remove the fruit cores inside the fruits. Since the fruit cores are usually tightly wrapped by the pulp, the pulp needs to be cut first before removing the cores to expose the cores, and then they can be separated and removed. At present, this pulp cutting operation mostly relies on a large number of manual workers, which not only greatly increases the labor intensity of the workers, but also has low efficiency, seriously restricting the large-scale development of the fruit processing industry. Content of the Utility Model

[0003] The purpose of the utility model is to provide a fruit slicing device and fruit processing equipment to realize the automatic separation of pulp and fruit cores.

[0004] To achieve the above purpose, the technical solution of the embodiment of the utility model is as follows:

[0005] A fruit slicing device includes:

[0006] A clamping and transferring mechanism, including a transfer driving component, a transfer clamping piece and two chucks arranged on the transfer clamping piece. The transfer clamping piece is used to clamp the fruit by driving the two chucks to move relatively, and the transfer driving component is used to drive the transfer clamping piece to move within a preset coordinate system, and the preset coordinate system includes the Y-axis direction, the X-axis direction and the rotation direction around the Z-axis;

[0007] A slicing mechanism, including an upper cutter assembly, a lower cutter assembly and a cutter lifting module. The upper cutter assembly includes an upper cutter with a first arc-shaped notch at its bottom end, the lower cutter assembly includes a lower cutter with a second arc-shaped notch at its bottom end, the cutter lifting module is used to drive the upper cutter to cut the fruit from above the fruit along the Z-axis direction, and the cutter lifting module is also used to drive the lower cutter to cut the fruit from below the fruit along the Z-axis direction. The first arc-shaped notch and the second arc-shaped notch are used for the upper cutter and the lower cutter to form an avoidance notch for avoiding cutting the fruit core when cutting the fruit.

[0008] Further,

[0009] The transfer driving component includes a transfer reciprocating module, a transfer transverse movement module arranged on the transfer reciprocating module and a transfer rotation module arranged on the transfer transverse movement module. The transfer clamping piece is arranged on the transfer rotation module. The transfer rotation module is used to drive the transfer clamping piece to rotate around the Z-axis direction, the transfer transverse movement module is used to drive the transfer clamping piece to move along the Y-axis direction, and the transfer reciprocating module is used to drive the transfer clamping piece to move along the X-axis direction.

[0010] Furthermore,

[0011] The upper cutter assembly further includes an upper blade mounting seat and an upper blade pressing member for pressing the upper blade against the upper blade mounting seat to connect the upper blade mounting seat and the upper blade;

[0012] The lower cutter assembly further includes a lower blade mounting seat and a lower blade pressing member for pressing the lower blade against the lower blade mounting seat to connect the lower blade mounting seat and the lower blade.

[0013] Furthermore,

[0014] The cutter lifting module includes an upper cutter lifting module and a lower cutter lifting module. The upper cutter lifting module is used to drive the upper cutter to cut the fruit from above the fruit along the Z-axis direction, and the lower cutter lifting module is also used to drive the lower cutter to cut the fruit from below the fruit along the Z-axis direction.

[0015] A fruit processing device includes the fruit slicing device described in any one of the foregoing.

[0016] Furthermore,

[0017] The fruit processing device further includes a feeding mechanism, a rotating slice mechanism, a slicing mechanism, and a pit removing mechanism;

[0018] The feeding mechanism is used to convey the fruit to the lower part of the clamping and transferring mechanism for the clamping and transferring mechanism to clamp and transfer;

[0019] The rotating slice mechanism is used to transfer the fruit that has been cut by the slicing mechanism to the slicing mechanism;

[0020] The slicing mechanism is used to split the fruit that has been cut by the slicing mechanism into two fruit halves and expose the fruit pit outside the pulp;

[0021] The pit removing mechanism is used to remove the fruit pit from the pulp.

[0022] Furthermore,

[0023] The fruit processing device further includes a first vision mechanism and a second vision mechanism. The first vision mechanism is used to take a picture of the fruit before cutting to confirm the best cutting line according to the shape and size of the fruit, and the second vision mechanism is used to take a picture of the two fruit halves to confirm which fruit half the fruit pit is located in.

[0024] Furthermore,

[0025] The feeding mechanism includes:

[0026] A conveyor belt for conveying fruits;

[0027] A material pressing assembly, which includes a pressing plate, a pressing block, two support blocks and a pressing driving member. The pressing block is located on the lower surface of the pressing plate. The two support blocks are used to support the two ends of the pressing plate correspondingly. Each support block is provided with a linear slide rail, and each linear slide rail is used to guide the corresponding support block. The pressing driving member is used to drive the support block to move in a direction perpendicular to the conveyor belt under the guidance of the linear slide rail, so as to drive the pressing plate to move in a direction perpendicular to the conveyor belt, thereby driving the pressing block to press the fruit tightly against the conveyor belt from above the fruit;

[0028] A height measuring member, which includes an inclined surface arranged at an angle with the conveyor belt, and the height measuring member moves along with the pressing plate in a direction perpendicular to the conveyor belt;

[0029] A laser emitter for emitting laser light to irradiate the inclined surface.

[0030] Furthermore,

[0031] The rotating piece mechanism includes a rotating piece reciprocating module, a rotating piece lifting member arranged on the rotating piece reciprocating module, a rotating piece clamping member arranged on the rotating piece lifting member, and two rotating piece clamps arranged on the rotating piece clamping member. The rotating piece clamping member is used to drive the two rotating piece clamps to move relative to each other to clamp the cut fruit. The rotating piece lifting member is used to drive the cut fruit to move along the Z-axis direction. The rotating piece reciprocating module is used to drive the cut fruit to move along the X-axis direction.

[0032] Furthermore,

[0033] The slicing mechanism includes a slicing driving member, two detection rotating members and two slicing clamping members. The two detection rotating members are arranged on the slicing driving member. The slicing driving member is used to drive the two detection rotating members to move relative to each other. The two slicing clamping members are arranged on the two detection rotating members correspondingly. Each slicing clamping member is provided with two slicing clamps. Each slicing clamping member is used to drive the two slicing clamps to clamp the cut fruit. The slicing driving member is used to drive the two slicing clamping members to move relative to each other to split the cut fruit into two fruit halves. The detection rotating member is used to drive the fruit half to rotate.

[0034] Furthermore,

[0035] The pit-taking mechanism includes a pit-taking reciprocating module, a pit-taking transverse movement module arranged on the pit-taking reciprocating module, a pit-taking clamping member arranged on the pit-taking transverse movement module, and two pit-taking jigs arranged on the pit-taking clamping member. The pit-taking clamping member is used to drive the two pit-taking jigs to move relatively to clamp the fruit pit. The pit-taking transverse movement module is used to drive the clamped fruit pit to move along the Y direction, and the pit-taking reciprocating module is used to drive the clamped fruit pit to move along the X direction.

[0036] Compared with the prior art, the embodiments of the present utility model at least have the following technical effects:

[0037] The fruit slicing device of the embodiments of the present utility model includes a clamping and transferring mechanism and a slicing mechanism. The clamping and transferring mechanism includes a transfer driving component, a transfer clamping member, and two chucks arranged on the transfer clamping member. The transfer clamping member drives the two chucks to move relatively to clamp the fruit. The transfer driving component drives the transfer clamping member to move within a preset coordinate system. The preset coordinate system includes the Y-axis direction, the X-axis direction, and the rotation direction around the Z-axis. The slicing mechanism includes an upper cutting tool assembly, an upper cutting tool lifting module, a lower cutting tool assembly, and a lower cutting tool lifting module. The upper cutting tool assembly includes an upper cutting tool with a first arc-shaped notch at its bottom end. The lower cutting tool assembly includes a lower cutting tool with a second arc-shaped notch at its bottom end. The upper cutting tool lifting module drives the upper cutting tool to cut the fruit from above the fruit along the Z-axis direction. The lower cutting tool lifting module drives the lower cutting tool to cut the fruit from below the fruit along the Z-axis direction. The first arc-shaped notch and the second arc-shaped notch form an avoidance notch for avoiding cutting the fruit pit when the upper cutting tool and the lower cutting tool cut the fruit, so that the pulp can be cut without damaging the fruit pit. Machine vision takes a picture of the fruit before cutting to confirm the best cutting line according to the shape and size of the fruit. The clamping and transferring mechanism and the slicing mechanism cooperate to cut the fruit according to the best cutting line.

[0038] The fruit processing equipment of the embodiments of the present utility model includes the aforementioned fruit slicing device, has the same technical concept as the aforementioned fruit slicing device, and thus has the same technical effects as the aforementioned fruit slicing device, which will not be elaborated here. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of the fruit processing equipment processing the fruit into fruit halves in one embodiment;

[0040] Figure 2 It is a schematic structural diagram of the fruit processing equipment in one embodiment;

[0041] Figure 3 It is a schematic structural diagram of the feeding mechanism in one embodiment;

[0042] Figure 4 It is a schematic structural diagram of the clamping and transferring mechanism in one embodiment;

[0043] Figure 5 It is a schematic structural diagram of a slicing mechanism in an embodiment;

[0044] Figure 6 It is a schematic structural diagram of a wafer transfer mechanism in an embodiment;

[0045] Figure 7 It is a schematic structural diagram of a wafer splitting mechanism in an embodiment;

[0046] Figure 8 It is a schematic structural diagram of a nucleus extraction mechanism in an embodiment;

[0047] Figure 9 It is a schematic structural diagram of a slicing mechanism in another embodiment.

[0048] Explanation of the reference numerals in the attached drawings:

[0049] 10. Clamping and transfer mechanism; 11. Transfer driving component; 110. Transfer reciprocating module; 111. Transfer transverse movement module; 112. Transfer rotating module; 12. Transfer clamping part; 13. Chuck;

[0050] 20. Slicing mechanism; 21. Upper cutting tool component; 210. Upper cutting tool; 211. First arc-shaped notch; 212. Upper blade mounting seat; 213. Upper blade pressing part; 22. Lower cutting tool component; 220. Lower cutting tool; 221. Second arc-shaped notch; 222. Lower blade mounting seat; 223. Lower blade pressing part; 23. Upper cutting tool lifting module; 230. First linear motor mover; 24. Lower cutting tool lifting module; 240. Second linear motor mover; 241. Linear motor stator; 25. Cutting tool lifting module;

[0051] 30. Feeding mechanism; 31. Conveyor belt; 32. Pressing component; 320. Pressing plate; 321. Pressing block; 322. Support block; 323. Pressing driving part; 33. Height measuring part; 330. Inclined surface part; 34. Laser emitter;

[0052] 40. Wafer transfer mechanism; 41. Wafer transfer reciprocating module; 42. Wafer transfer lifting part; 43. Wafer transfer clamping part; 44. Wafer transfer fixture;

[0053] 50. Wafer splitting mechanism; 51. Wafer splitting driving part; 52. Detection rotating part; 53. Wafer splitting clamping part; 54. Wafer splitting fixture;

[0054] 60. Nucleus extraction mechanism; 61. Nucleus extraction reciprocating module; 62. Nucleus extraction transverse movement module; 63. Nucleus extraction clamping part; 64. Nucleus extraction fixture;

[0055] 70. First vision mechanism;

[0056] 80. Second vision mechanism;

[0057] 90. Fruit; 91. Fruit half; 92. Fruit pit. Detailed implementation mode

[0058] The technical solution of the present utility model will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. In the following description, the expression "some embodiments" is described, which describes a subset of all possible embodiments. However, it should be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0059] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "inner", "outer", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0060] As Figures 1-8 shown, in an embodiment of the present utility model, a fruit slicing device includes a clamping and transferring mechanism 10 and a slicing mechanism 20. The clamping and transferring mechanism 10 includes a transfer driving component 11, a transfer clamping member 12 and two chucks 13 arranged on the transfer clamping member 12. The transfer clamping member 12 clamps the fruit 90 by driving the two chucks 13 to move relative to each other. The transfer driving component 11 drives the transfer clamping member 12 to move within a preset coordinate system. The preset coordinate system includes the Y-axis direction, the X-axis direction and the rotation direction around the Z-axis. The slicing mechanism 20 includes an upper cutter assembly 21, a lower cutter assembly 22 and a cutter lifting module 25. The cutter lifting module 25 includes an upper cutter lifting module 23 and a lower cutter lifting module 24. The upper cutter assembly 21 includes an upper cutter 210 with a first arc-shaped notch 211 at its bottom end. The lower cutter assembly 22 includes a lower cutter 220 with a second arc-shaped notch 221 at its bottom end. The upper cutter lifting module 23 drives the upper cutter 210 to cut the fruit 90 from above the fruit 90 along the Z-axis direction. The lower cutter lifting module 24 drives the lower cutter 220 to cut the fruit 90 from below the fruit 90 along the Z-axis direction. It should be noted here that the cutter lifting module 25 does not necessarily have to be split into two driving mechanisms to correspondingly drive the upper cutter 210 and the lower cutter 220. In other embodiments, such as Figure 9As shown, the cutter lifting module 25 can also adopt a positive and negative lead screw linear module. The upper cutter 210 and the lower cutter 220 are driven by the positive and negative lead screw linear module to approach or move away from each other, so as to realize cutting the fruit 90 from above and below the fruit 90. Of course, the cutter lifting module 25 is not limited to the above two scheme options, and other driving mechanisms can be selected according to the specific actual situation, as long as it meets the requirement that the upper cutter 210 and the lower cutter 220 can cut the fruit 90 from the upper and lower directions of the fruit 90. The first arc-shaped notch 211 and the second arc-shaped notch 221 form an avoidance notch for the upper cutter 210 and the lower cutter 220 to avoid cutting the fruit core 92 when cutting the fruit 90. The upper cutter 210 and the lower cutter 220 can cut the pulp without damaging the fruit core 92. Further described, machine vision can take pictures of the fruit 90 before cutting to confirm the best cutting line according to the shape and size of the fruit 90. The clamping and transferring mechanism 10 and the slicing mechanism 20 cooperate to cut the fruit 90 according to the best cutting line, and the cut fruit 90 can be obtained (such as Figure 1 shown in the third small figure in). The transfer clamping part 12 adopts an electric claw, and the electric claw drives the two clamping heads 13 to move relatively to clamp the fruit 90. In other embodiments, the transfer clamping part 12 can also adopt a clamping cylinder, which is not limited here. In addition, the size of the closing cutter notch can be changed by controlling the distance between the upper cutter 210 and the lower cutter 220 to match fruit cores 92 of different sizes.

[0061] Such as Figure 4As shown, in one embodiment of the utility model, the transfer drive assembly 11 includes a transfer reciprocating module 110, a transfer transverse module 111 disposed on the transfer reciprocating module 110, and a transfer rotation module 112 disposed on the transfer transverse module 111. The transfer clamp 12 is disposed on the transfer rotation module 112. The transfer rotation module 112 drives the transfer clamp 12 to rotate around the Z-axis direction. The transfer transverse module 111 drives the transfer clamp 12 to move along the Y-axis direction. The transfer reciprocating module 110 drives the transfer clamp 12 to move along the X-axis direction. The specific structure of the transfer reciprocating module 110 is not limited, and can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or other linear drive methods. The specific structure of the transfer transverse module 111 is also not specifically limited, and can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or other linear drive methods. In this embodiment, the transfer transverse movement module 111 adopts a linear motor to perform linear motion, and the transfer rotation module 112 adopts a driving method of a combination of a motor and a reducer to drive the electric clamp to rotate around the Z-axis. Further described, when the fruit slicing device is working, the transfer reciprocating module 110 drives the electric clamp serving as the transfer clamp 12 to move along the X-axis direction. The electric clamp can be driven to the material picking station first. After the electric clamp clamps the fruit 90, the transfer reciprocating module 110 drives the electric clamp to move to the slicing station. Group 110 can drive the electric clamp to reciprocate between the material picking station and the slicing station. Before cutting the fruit 90, the fruit 90 clamped by the electric clamp can be moved to the desired position and rotated to the desired angle by cooperating and driving the transfer reciprocating module 110, the transfer transverse movement module 111 and the transfer rotation module 112, so that the upper cutter 210 and the lower cutter 220 in the slicing mechanism 20 can be accurately aligned with the expected optimal cutting line of the fruit 90 to be cut, providing position conditions for the upper cutter 210 and the lower cutter 220 to cut the fruit 90.

[0062] like Figure 5As shown, in an embodiment of the present utility model, the upper cutter assembly 21 further includes an upper blade mounting seat 212 and an upper blade pressing member 213 for pressing the upper cutter 210 against the upper blade mounting seat 212 to connect the upper blade mounting seat 212 and the upper cutter 210. The lower cutter assembly 22 further includes a lower blade mounting seat 222 and a lower blade pressing member 223 for pressing the lower cutter 220 against the lower blade mounting seat 222 to connect the lower blade mounting seat 222 and the lower cutter 220. The upper cutter lifting module 23 includes a first linear motor mover 230 for mounting the upper blade mounting seat 212. The lower cutter lifting module 24 includes a second linear motor mover 240 for mounting the lower blade mounting seat 222. The first linear motor mover 230 and the second linear motor mover 240 are simultaneously arranged on the same linear motor stator 241. The slicing structure further includes a slide rail for guiding the movement of both the upper blade mounting seat 212 and the lower blade mounting seat 222. The upper cutter lifting module 23 and the lower cutter lifting module 24 simultaneously drive the upper cutter 210 in the upper cutter assembly 21 and the lower cutter 220 in the lower cutter assembly 22 to approach each other in the Z-axis direction, and cut the fruit 90 from the upper and lower directions respectively. Since there is a knife closing notch in the middle, the fruit core 92 will not be cut. In this embodiment, the upper blade pressing member 213 and the lower blade pressing member 223 can be pressed by pressing bolts.

[0063] As Figures 1-8 shown, in an embodiment of the present utility model, a fruit processing device includes the fruit slicing device described in any one of the foregoing.

[0064] As Figures 1-8As shown, in an embodiment of the present utility model, the fruit processing device further includes a feeding mechanism 30, a rotating blade mechanism 40, a slicing mechanism 50, and a pit removing mechanism 60. The feeding mechanism 30 conveys the fruit 90 to the lower part of the clamping and transferring mechanism 10, that is, moves to the feeding station of the fruit processing device, for the clamping and transferring mechanism 10 to clamp and transfer. The clamping and transferring mechanism 10 conveys the fruit 90 to the slicing station of the fruit processing device for the slicing mechanism 20 to cut. The rotating blade mechanism 40 is used to transfer the fruit 90 that has been cut by the slicing mechanism 20 to the slicing mechanism 50. The slicing mechanism 50 splits the fruit 90 that has been cut by the slicing mechanism 20 into two fruit halves 91 (for the convenience of description, the two parts after the fruit 90 is cut are called two fruit halves 91), and exposes the fruit pit 92 outside the pulp. The pit removing mechanism 60 takes out the fruit pit 92 from the pulp. The fruit processing device further includes a first vision mechanism 70 and a second vision mechanism 80. The first vision mechanism 70 is used to take a picture of the fruit 90 before cutting to confirm the best cutting line according to the shape and size of the fruit 90. The second vision mechanism 80 is used to take a picture of the two fruit halves 91 to confirm which fruit half 91 the fruit pit 92 is located in. Further described, when the fruit processing device cuts and processes the fruit 90, the feeding mechanism 30 conveys the fruit 90 to the lower part of the clamping and transferring mechanism 10. The first vision mechanism 70 takes a picture of the fruit 90, and calculates the best cutting line according to the shape and size of the fruit 90. After the electric claw in the clamping and transferring mechanism 10 clamps the fruit 90, the transfer reciprocating module 110 drives the electric claw to move to the slicing station. And before cutting the fruit 90, the transfer driving component 11 drives the transfer clamping member 12 to move within a preset coordinate system. The preset coordinate system includes the Y-axis direction, the X-axis direction, and the rotation direction around the Z-axis. Through the coordinated driving of the transfer reciprocating module 110, the transfer transverse movement module 111, and the transfer rotation module 112, the fruit 90 clamped by the electric claw can be moved to the required position and rotated to the required angle, so that the upper cutting knife 210 and the lower cutting knife 220 in the slicing mechanism 20 can be accurately aligned with the expected best cutting line of the fruit 90 to be cut. And the upper cutting knife lifting module 23 and the lower cutting knife lifting module 24 in the slicing mechanism 20 simultaneously drive the upper cutting knife 210 in the upper cutting knife assembly 21 and the lower cutting knife 220 in the lower cutting knife assembly 22 to move towards each other along the Z-axis direction, and can complete the cutting of the fruit 90 according to the best cutting line.

[0065] As Figure 3As shown, in an embodiment of the present utility model, the feeding mechanism 30 includes a conveyor belt 31, a material pressing assembly 32, a height measuring member 33, and a laser emitter 34. The conveyor belt 31 conveys the fruit 90 to the lower part of the clamping and transferring mechanism 10. The material pressing assembly 32 includes a material pressing plate 320, a material pressing block 321, two support blocks 322, and a material pressing driving member 323. The material pressing block 321 is located on the lower surface of the material pressing plate 320. The two support blocks 322 support the two ends of the material pressing plate 320 in a one-to-one correspondence. Each support block 322 is provided with a linear slide rail, and each linear slide rail guides the corresponding support block 322. The material pressing driving member 323 drives the support block 322 to move in a direction perpendicular to the conveyor belt 31 under the guidance of the linear slide rail, so as to drive the material pressing plate 320 to move in a direction perpendicular to the conveyor belt 31, thereby driving the material pressing block 321 to press the fruit 90 against the conveyor belt 31 from above the fruit 90. The height measuring member 33 includes an inclined surface portion 330 disposed at an angle to the conveyor belt 31, and the height measuring member 33 moves in a direction perpendicular to the conveyor belt 31 following the material pressing plate 320. The laser emitter 34 emits laser light and irradiates it onto the inclined surface portion 330. The material pressing assembly 32 presses the fruit 90 against the conveyor belt 31 from above the fruit 90. After the fruit 90 is flattened, it maintains a fixed placement posture, which is also the posture that the fruit 90 needs to maintain when being sliced subsequently. The first vision mechanism 70 acquires the contour image information of the fruit 90 in a direction perpendicular to the conveyor belt 31, obtains the contour shape and contour size of the fruit 90 in this state, can judge whether the fruit 90 is suitable for slicing according to the contour shape and size, and calculates the optimal cutting line. In this embodiment, the first vision mechanism 70 includes a machine vision lens, and captures the contour shape and contour size of the fruit 90 through the machine vision lens. The second vision mechanism 80 also uses a machine vision lens, which will not be elaborated here. The height measuring member 33 moves in a direction perpendicular to the conveyor belt 31 following the material pressing plate 320. The laser emitter 34 emits laser light and irradiates it onto the inclined surface portion 330. Further described, when the conveyor belt 31 conveys the fruit 90 to a preset measurement station on the conveyor belt 31, the material pressing driving member 323 drives the material pressing plate 320 to move downward, and then the material pressing block 321 flattens the fruit 90 at the measurement station on the conveyor belt 31. The first vision mechanism 70 captures the contour shape and size of the fruit 90. At the same time, the first vision mechanism 70 can calculate the height dimension of the fruit 90 based on the position of the laser irradiation point on the inclined surface portion 330, so as to further judge whether the fruit 90 is suitable for slicing processing. If it is suitable for slicing processing, slicing operation is performed. If it is not suitable for slicing processing, it needs to be removed. The larger the height value of the fruit 90, the closer the position of the laser irradiation point is to the laser emitter 34. On the contrary, the smaller the height value of the fruit 90, the farther the position of the laser irradiation point is from the laser emitter 34.In this embodiment, the height measuring member 33 and the support block 322 are integrally formed. In other embodiments, the height measuring member 33 may also be independently provided.

[0066] As Figure 6 shown, in an embodiment of the present invention, the rotating blade mechanism 40 includes a rotating blade reciprocating module 41, a rotating blade lifting member 42 provided on the rotating blade reciprocating module 41, a rotating blade clamping member 43 provided on the rotating blade lifting member 42, and two rotating blade clamps 44 provided on the rotating blade clamping member 43. The rotating blade clamping member 43 drives the two rotating blade clamps 44 to move relatively to clamp the cut fruit 90. The rotating blade lifting member 42 drives the cut fruit 90 to move in the Z-axis direction, and the rotating blade reciprocating module 41 drives the cut fruit 90 to move in the X-axis direction. In this embodiment, the rotating blade reciprocating module 41 adopts a linear module, and the rotating blade lifting member 42 adopts a lifting cylinder. In other embodiments, the specific structures of the rotating blade reciprocating module 41 and the rotating blade lifting member 42 are not particularly limited. It can adopt ball screw drive, or can adopt linear drive methods such as linear motors, electric sliders, and hydraulic cylinders. Further described, after the slicing mechanism 20 completes slicing, the rotating blade reciprocating module 41 drives the rotating blade clamping member 43 to reach the slicing station. The rotating blade lifting member 42 drives the rotating blade clamping member 43 to move in the Z-axis direction. After the rotating blade clamping member 43 drives the rotating blade clamps 44 to approach each other and clamp the cut fruit 90, the electric gripper of the clamping and transferring mechanism 10 releases the cut fruit 90. After the rotating blade lifting member 42 drives the rotating blade clamping member 43 away from the clamping and transferring mechanism 10, the rotating blade reciprocating module 41 drives the cut fruit clamped by the rotating blade clamping member 43 to move from the slicing station to the pitting station.

[0067] As Figure 7As shown, in an embodiment of the present utility model, the slicing mechanism 50 includes a slicing driving member 51, two detection rotating members 52, and two slicing clamping members 53. The two detection rotating members 52 are arranged on the slicing driving member 51. The slicing driving member 51 is used to drive the two detection rotating members 52 to move relative to each other. The two slicing clamping members 53 are correspondingly arranged on the two detection rotating members 52. Each slicing clamping member 53 is provided with two slicing jigs 54. Each slicing clamping member 53 is used to drive the two slicing jigs 54 to clamp the cut fruit 90. The slicing driving member 51 drives the two slicing clamping members 53 to move relative to each other to split the cut fruit 90 into two fruit halves 91. The detection rotating member 52 drives the fruit half 91 to rotate. When the fruit half 91 is rotated to a preset angle, the second vision mechanism 80 located above the pit-taking station acquires the image information of the fruit half 91 at various angles, so as to judge whether the fruit 90 is cut in place. At the same time, the quality grade of the pulp can also be classified. And the second vision mechanism 80 takes pictures of the two fruit halves 91, and can also confirm which fruit half 91 the fruit pit 92 is located in, which is convenient for the subsequent pit-taking mechanism 60 to take the pit. In this embodiment, the slicing driving member 51 adopts a double-headed cylinder. In other embodiments, the slicing driving member 51 can be a ball screw drive, or a linear drive method such as a linear motor, an electric slide table, and a hydraulic cylinder can also be adopted. The detection rotating member 52 adopts a servo motor in this embodiment. In other embodiments, a rotating cylinder can also be adopted. The slicing clamping member 53 adopts an electric gripper in this embodiment. In other embodiments, a finger cylinder can also be adopted.

[0068] As Figure 8As shown, in an embodiment of the present utility model, the pit-taking mechanism 60 includes a pit-taking reciprocating module 61, a pit-taking transverse movement module 62 arranged on the pit-taking reciprocating module 61, a pit-taking clamping member 63 arranged on the pit-taking transverse movement module 62, and two pit-taking clamps 64 arranged on the pit-taking clamping member 63. The pit-taking clamping member 63 drives the two pit-taking clamps 64 to move relatively to clamp the fruit pit 92. The pit-taking transverse movement module 62 drives the clamped fruit pit 92 to move along the Y direction, and the pit-taking reciprocating module 61 is used to drive the clamped fruit pit 92 to move along the X direction. In this embodiment, the pit-taking clamping member 63 adopts an electric gripper. In other embodiments, the pit-taking clamping member 63 can also adopt other forms such as a finger cylinder, which is not limited herein. The specific structures of the pit-taking reciprocating module 61 and the pit-taking transverse movement module 62 are not particularly limited. It can adopt a ball screw drive, or can also adopt linear drive methods such as a linear motor, an electric slide table, a pneumatic cylinder, and a hydraulic cylinder. In this embodiment, the pit-taking reciprocating module 61 is driven by a servo motor through a synchronous belt, while the pit-taking transverse movement module 62 adopts a linear motor. Further describe that when the second vision mechanism 80 takes pictures of the two fruit halves 91, obtains the fruit pit 92 in which fruit half 91 and the specific position information in the fruit half 91, the pit-taking reciprocating module 61 drives the pit-taking clamping member 63 to the pit-taking station, the pit-taking transverse movement module 62 drives the pit-taking clamping member 63 to be close to the fruit half 91 with the fruit pit 92, the pit-taking clamping member 63 drives the pit-taking clamps 64 to approach each other to clamp the fruit pit 92, the pit-taking transverse movement module 62 drives the pit-taking clamping member 63 to pull out the fruit pit 92 from the fruit half 91, and the pit-taking reciprocating module 61 drives the pit-taking clamping member 63 away from the pit-taking station to complete the pit-taking operation.

[0069] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. The protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A fruit slicing device, characterized in that, Including: A clamping and transferring mechanism (10), including a transfer driving component (11), a transfer clamping member (12), and two chucks (13) provided on the transfer clamping member (12). The transfer clamping member (12) is used to clamp the fruit (90) by driving the two chucks (13) to move relative to each other. The transfer driving component (11) is used to drive the transfer clamping member (12) to move within a preset coordinate system, and the preset coordinate system includes a Y-axis direction, an X-axis direction, and a rotation direction around the Z-axis; A slicing mechanism (20), including an upper cutter assembly (21), a lower cutter assembly (22), and a cutter lifting module (25). The upper cutter assembly (21) includes an upper cutter (210) with a first arc-shaped notch (211) at its bottom end. The lower cutter assembly (22) includes a lower cutter (220) with a second arc-shaped notch (221) at its bottom end. The cutter lifting module (25) is used to drive the upper cutter (210) to cut the fruit (90) from above the fruit (90) along the Z-axis direction, and the cutter lifting module (25) is also used to drive the lower cutter (220) to cut the fruit (90) from below the fruit (90) along the Z-axis direction. The first arc-shaped notch (211) and the second arc-shaped notch (221) are used to form an avoidance notch for avoiding the fruit core (92) when the upper cutter (210) and the lower cutter (220) cut the fruit (90).

2. The fruit slicing device according to claim 1, wherein The transfer driving component (11) includes a transfer reciprocating module (110), a transfer transverse movement module (111) provided on the transfer reciprocating module (110), and a transfer rotation module (112) provided on the transfer transverse movement module (111). The transfer clamping member (12) is provided on the transfer rotation module (112). The transfer rotation module (112) is used to drive the transfer clamping member (12) to rotate around the Z-axis direction. The transfer transverse movement module (111) is used to drive the transfer clamping member (12) to move along the Y-axis direction. The transfer reciprocating module (110) is used to drive the transfer clamping member (12) to move along the X-axis direction.

3. The fruit slicing device according to claim 1, characterized in that, The upper cutter assembly (21) further includes an upper blade mounting seat (212) and an upper blade pressing member (213) for pressing the upper cutter (210) against the upper blade mounting seat (212) to connect the upper blade mounting seat (212) and the upper cutter (210); The lower cutter assembly (22) further includes a lower blade mounting seat (222) and a lower blade pressing member (223) for pressing the lower cutter (220) against the lower blade mounting seat (222) to connect the lower blade mounting seat (222) and the lower cutter (220).

4. The fruit slicing device according to any one of claims 1-3, characterized in that, The cutter lifting module (25) includes an upper cutter lifting module (23) and a lower cutter lifting module (24). The upper cutter lifting module (23) is used to drive the upper cutter (210) to cut the fruit (90) from above the fruit (90) along the Z-axis direction, and the lower cutter lifting module (24) is further used to drive the lower cutter (220) to cut the fruit (90) from below the fruit (90) along the Z-axis direction.

5. A fruit processing device, characterized in that, Including the fruit slicing device according to any one of claims 1-4.

6. The fruit processing equipment according to claim 5, characterized in that, The fruit processing equipment further includes a feeding mechanism (30), a rotating slice mechanism (40), a slicing mechanism (50), and a pitting mechanism (60); The feeding mechanism (30) is used to convey the fruit (90) to the lower part of the clamping and transferring mechanism (10) for the clamping and transferring mechanism (10) to clamp and transfer. The rotating slice mechanism (40) is used to transfer the fruit (90) that has been cut by the slicing mechanism (20) to the slicing mechanism (50). The slicing mechanism (50) is used to split the fruit (90) that has been cut by the slicing mechanism (20) into two fruit halves (91) and expose the fruit core (92) to the pulp. The pitting mechanism (60) is used to take out the fruit core (92) from the pulp.

7. The fruit processing equipment according to claim 6, characterized in that The fruit processing equipment further includes a first vision mechanism (70) and a second vision mechanism (80). The first vision mechanism (70) is used to take a picture of the fruit (90) before cutting to confirm the best cutting line according to the shape and size of the fruit (90), and the second vision mechanism (80) is used to take a picture of the two fruit halves (91) to confirm which fruit half (91) the fruit core (92) is located in.

8. The fruit processing equipment according to claim 6, characterized in that, The feeding mechanism (30) includes: A conveyor belt (31) for conveying the fruit (90); A pressing component (32). The pressing component (32) includes a pressing plate (320), a pressing block (321), two supporting blocks (322), and a pressing driving part (323). The pressing block (321) is located on the lower surface of the pressing plate (320). The two supporting blocks (322) are used to support the two ends of the pressing plate (320) correspondingly. Each supporting block (322) is provided with a linear slide rail, and each linear slide rail is used to guide the corresponding supporting block (322). The pressing driving part (323) is used to drive the supporting block (322) to move along the direction perpendicular to the conveyor belt (31) under the guidance of the linear slide rail, so as to drive the pressing plate (320) to move along the direction perpendicular to the conveyor belt (31), thereby driving the pressing block (321) to press the fruit (90) against the conveyor belt (31) from above the fruit (90); A height measuring part (33). The height measuring part (33) includes an inclined surface part (330) arranged at an angle with the conveyor belt (31), and the height measuring part (33) moves along with the pressing plate (320) in the direction perpendicular to the conveyor belt (31). A laser emitter (34) for emitting laser light to irradiate the inclined surface (330).

9. The fruit processing equipment according to claim 6, characterized in that, The rotating plate mechanism (40) includes a rotating plate reciprocating module (41), a rotating plate lifting member (42) provided on the rotating plate reciprocating module (41), a rotating plate clamping member (43) provided on the rotating plate lifting member (42), and two rotating plate jigs (44) provided on the rotating plate clamping member (43). The rotating plate clamping member (43) is used to drive the two rotating plate jigs (44) to move relative to each other to clamp the cut fruit (90). The rotating plate lifting member (42) is used to drive the cut fruit (90) to move in the Z-axis direction. The rotating plate reciprocating module (41) is used to drive the cut fruit (90) to move in the X-axis direction.

10. The fruit processing equipment according to claim 6, characterized in that, The fruit splitting mechanism (50) includes a fruit splitting driving member (51), two detection rotating members (52), and two fruit splitting clamping members (53). The two detection rotating members (52) are provided on the fruit splitting driving member (51). The fruit splitting driving member (51) is used to drive the two detection rotating members (52) to move relative to each other. The two fruit splitting clamping members (53) are respectively provided on the two detection rotating members (52). Each fruit splitting clamping member (53) is provided with two fruit splitting jigs (54). Each fruit splitting clamping member (53) is used to drive the two fruit splitting jigs (54) to clamp the cut fruit (90). The fruit splitting driving member (51) is used to drive the two fruit splitting clamping members (53) to move relative to each other to split the cut fruit (90) into two fruit halves (91). The detection rotating member (52) is used to drive the fruit half (91) to rotate.

11. The fruit processing equipment according to claim 6, characterized in that, The pit taking mechanism (60) includes a pit taking reciprocating module (61), a pit taking transverse moving module (62) provided on the pit taking reciprocating module (61), a pit taking clamping member (63) provided on the pit taking transverse moving module (62), and two pit taking jigs (64) provided on the pit taking clamping member (63). The pit taking clamping member (63) is used to drive the two pit taking jigs (64) to move relative to each other to clamp the fruit pit (92). The pit taking transverse moving module (62) is used to drive the clamped fruit pit (92) to move in the Y direction. The pit taking reciprocating module (61) is used to drive the clamped fruit pit (92) to move in the X direction.

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