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 clamps fruits by driving two clamping heads to move relatively, 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, and the slicing mechanism comprises a slicing lifting module and a cutter module. The cutting tool module comprises an annular blade and a rotary driving part for driving the annular blade to rotationally cut fruits, the slicing lifting module drives the annular blade in the cutting tool module to move in the Z-axis direction, the clamping and transferring mechanism and the slicing mechanism work in a matched mode, the fruits can be cut in a surrounding mode according to the optimal cutting line, and pulp is cut while fruit 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 in 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 fruit cores, and then they can be separated and removed. At present, this operation of cutting the pulp 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 the pulp and the fruit cores.

[0004] To achieve the above object, 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 member, and two chucks arranged on the transfer clamping member. The transfer clamping member is used to clamp the fruit by driving the two chucks to move relatively. The transfer driving component is used to drive the transfer clamping member 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 a slicing lifting module and a tool module. The tool module includes an annular blade and a rotation driving member for driving the annular blade to rotate. The slicing lifting module is used to drive the annular blade in the tool module to move along the Z-axis direction.

[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 member is arranged on the transfer rotation module. The transfer rotation module is used to drive the transfer clamping member to rotate around the Z-axis direction. The transfer transverse movement module is used to drive the transfer clamping member to move along the Y-axis direction. The transfer reciprocating module is used to drive the transfer clamping member to move along the X-axis direction.

[0010] Further,

[0011] The slicing lifting module includes a mounting plate, a slicing lifting driving member disposed on the mounting plate, a moving plate disposed on the slicing lifting driving member, a guiding slide rail disposed between the moving plate and the mounting plate, and a tool mounting arm disposed on the moving plate. The tool module is assembled on the tool mounting arm.

[0012] Further,

[0013] The rotation driving member includes a rotating portion, and a mounting post protrudingly provided on the rotating portion. The annular blade is mounted on the mounting post.

[0014] A fruit processing device includes the fruit slicing device as described in any one of the foregoing.

[0015] Further,

[0016] The fruit processing device further includes a feeding mechanism, a rotating slice mechanism, a slicing mechanism, and a pit removing mechanism;

[0017] The feeding mechanism is used to convey the fruit to below the clamping and transferring mechanism for the clamping and transferring mechanism to clamp and transfer.

[0018] The rotating slice mechanism is used to transfer the fruit that has been cut by the slicing mechanism to the slicing mechanism.

[0019] The slicing mechanism is used to split the fruit cut by the slicing mechanism into two fruit halves and expose the fruit pit outside the pulp.

[0020] The pit removing mechanism is used to take out the fruit pit from the pulp.

[0021] Further,

[0022] The feeding mechanism includes:

[0023] A conveyor belt for conveying the fruit;

[0024] A pressing component, the pressing component includes a pressing plate, a pressing block, two supporting blocks, and a pressing driving member. The pressing block is located on the lower surface of the pressing plate. The two supporting blocks are used to support the two ends of the pressing plate correspondingly. Each supporting block is provided with a linear slide rail, and each linear slide rail is used to guide the corresponding supporting block. The pressing driving member is used to drive the supporting 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 against the conveyor belt from above the fruit.

[0025] A height measuring member, the height measuring member including an inclined surface portion disposed at an angle to the conveyor belt, and the height measuring member moving in a direction perpendicular to the conveyor belt following the pressing plate;

[0026] A laser emitter for emitting a laser to irradiate the inclined surface portion.

[0027] Furthermore,

[0028] The rotating blade mechanism includes a rotating blade reciprocating module, a rotating blade lifting member disposed on the rotating blade reciprocating module, a rotating blade clamping member disposed on the rotating blade lifting member, and two rotating blade jigs disposed on the rotating blade clamping member. The rotating blade clamping member is used to drive the two rotating blade jigs to move relative to each other to clamp the cut fruit. The rotating blade lifting member is used to drive the cut fruit to move in the Z-axis direction, and the rotating blade reciprocating module is used to drive the cut fruit to move in the X-axis direction.

[0029] Furthermore,

[0030] The fruit processing equipment further includes a first vision mechanism and a second vision mechanism;

[0031] The first vision mechanism is used to take a picture of the fruit before it is cut by the annular blade;

[0032] The second vision mechanism is used to take a picture of the two fruit halves to confirm which fruit half the fruit core is located in.

[0033] Furthermore,

[0034] The slicing mechanism includes a slicing driving member, two detection rotating members, and two slicing clamping members. The two detection rotating members are disposed 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 respectively disposed on the two detection rotating members. Each slicing clamping member is provided with two slicing jigs. Each slicing clamping member is used to drive the two slicing jigs to move relative to each other to clamp the 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, and the detection rotating member is used to drive the fruit half to rotate.

[0035] Furthermore,

[0036] The pit-taking mechanism includes a reciprocating pit-taking module, a transverse pit-taking module arranged on the reciprocating pit-taking module, a pit-taking clamping member arranged on the transverse pit-taking module, and two pit-taking clamps arranged on the pit-taking clamping member. The pit-taking clamping member is used to drive the two pit-taking clamps to move relatively to clamp the fruit pit. The transverse pit-taking module is used to drive the clamped fruit pit to move along the Y-axis direction, and the reciprocating pit-taking module is used to drive the clamped fruit pit to move along the X-axis direction.

[0037] Compared with the prior art, the embodiments of the present utility model at least have the following technical effects:

[0038] 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 clamps the fruit by driving the two chucks to move relatively. 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 a slicing lifting module and a tool module. The tool module includes an annular blade and a rotation driving member for driving the annular blade to rotate. The slicing lifting module drives the annular blade in the tool module to move along the Z-axis direction. Machine vision takes a picture before cutting the fruit 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 in a circular manner according to the best cutting line, and the pulp can be cut without damaging the fruit pit.

[0039] 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 herein. Description of the Drawings

[0040] Figure 1 It is a schematic structural diagram of the fruit processing equipment processing the fruit into a fruit half in one embodiment;

[0041] Figure 2 It is a schematic structural diagram of the fruit processing equipment in one embodiment;

[0042] Figure 3 It is a schematic structural diagram of the feeding mechanism in one embodiment;

[0043] Figure 4 It is a schematic structural diagram of the clamping and transferring mechanism in one embodiment;

[0044] Figure 5 It is a schematic structural diagram of the slicing mechanism in one embodiment;

[0045] Figure 6 It is a schematic structural diagram of the tool module in one embodiment;

[0046] Figure 7 Schematic structural diagram of the film rotating mechanism in an embodiment;

[0047] Figure 8 Schematic structural diagram of the film splitting mechanism in an embodiment;

[0048] Figure 9 Schematic structural diagram of the core taking mechanism in an embodiment;

[0049] Figure 10 Schematic structural diagram of the slicing mechanism in another embodiment;

[0050] Figure 11 Schematic structural diagram of the tool module in another embodiment. Explanation of the reference numerals in the drawings:

[0051] 10. Clamping and transfer mechanism; 11. Transfer driving component; 110. Transfer reciprocating module; 111. Transfer transverse movement module; 112. Transfer rotation module; 12. Transfer clamping member; 13. Chuck;

[0052] 20. Slicing mechanism; 21. Slicing lifting module; 210. Mounting plate; 211. Slicing lifting driving member; 212. Moving plate; 213. Guide sliding rail; 214. Tool mounting arm; 22. Tool module; 220. Ring blade; 221. Rotation driving member; 2210. Rotation part; 2211. Mounting column; 222. Pressing member; 223. Pressing connecting member; 224. Locking nut; 225. Driving motor;

[0053] 30. Feeding mechanism; 31. Conveyor belt; 32. Pressing component; 320. Pressing plate; 321. Pressing block; 322. Supporting block; 323. Pressing driving member; 33. Height measuring member; 330. Inclined surface part; 34. Laser emitter;

[0054] 40. Film rotating mechanism; 41. Film rotating reciprocating module; 42. Film rotating lifting member; 43. Film rotating clamping member; 44. Film rotating fixture;

[0055] 50. Film splitting mechanism; 51. Film splitting driving member; 52. Detection rotating member; 53. Film splitting clamping member; 54. Film splitting fixture;

[0056] 60. Core taking mechanism; 61. Core taking reciprocating module; 62. Core taking transverse movement module; 63. Core taking clamping member; 64. Core taking fixture;

[0057] 70. First vision mechanism;

[0058] 80. Second vision mechanism;

[0059] 90. Fruit; 91. Half of the fruit; 92. Fruit core. Detailed implementation mode

[0060] 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.

[0061] 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.

[0062] As Figures 1-9 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 specifically includes a transfer driving component 11, a transfer clamping member 12, and two chucks 13 disposed on the transfer clamping member 12. The transfer clamping member 12 clamps the fruit 90 by driving the two chucks 13 to move relatively. The transfer driving component 11 drives 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. The slicing mechanism 20 specifically includes a slicing lifting module 21 and a tool module 22. The tool module 22 includes an annular blade 220 and a rotation driving member 221 for driving the annular blade 220 to rotate. The slicing lifting module 21 drives the annular blade 220 in the tool module 22 to move along the Z-axis direction. After the moving actions of the clamping and transferring mechanism 10 and the slicing mechanism 20 are coordinated with each other, the annular blade 220 can be accurately aligned with the expected best cutting line of the fruit 90 to be cut first, and then the annular blade 220 is driven to move around the outer circumference of the fruit 90 along a preset arc path (as Figure 1 shown) for one week to perform cutting, and the cut fruit 90 can be obtained (as Figure 1As shown in the third small figure in the figure, the fruit flesh can be cut without damaging the core 92. Compared with the existing solution of cutting the fruit 90 by chopping, the fruit slicing device uses the annular blade 220 to rotate at high speed to cut the fruit 90 along a fixed direction aligned with the optimal cutting line and along a preset arc path. When cutting, the impact force on the fruit 90 is small, and the skin of the fruit 90 will not be damaged. The incision is highly smooth, and the impact force on the clamping and transferring mechanism 10 that clamps the fruit 90 is small, and no damage is caused to the clamping and transferring mechanism 10. In this embodiment, the transfer clamping member 12 adopts an electric clamping jaw, which drives the two clamps 13 to move relative to each other to clamp the fruit 90. In other embodiments, the transfer clamping member 12 can also adopt a clamping cylinder, which is not limited here.

[0063] More specifically, if Figure 4 As shown, in one embodiment of the present invention, the transfer drive assembly 11 includes a transfer reciprocating module 110, a transfer transverse module 111 provided on the transfer reciprocating module 110, and a transfer rotation module 112 provided on the transfer transverse module 111. The transfer clamping member 12 is provided on the transfer rotation module 112. The transfer rotation module 112 drives the transfer clamping member 12 to rotate about the Z-axis direction. The transfer transverse module 111 drives the transfer clamping member 12 to move along the Y-axis direction. The transfer reciprocating module 110 drives the transfer clamping member 12 to move along the X-axis direction. The specific structure of the transfer reciprocating module 110 is not limited. It can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or the like. The specific structure of the transfer transverse module 111 is also not limited. It can be driven by a ball screw, or by a linear motor, an electric slide, a pneumatic cylinder, a hydraulic cylinder, or the like. In this embodiment, the transfer transverse module 111 adopts a linear motor for linear motion, and the transfer rotation module 112 adopts a motor and a reducer combination drive mode to drive the electric clamp to rotate around the Z axis. When the fruit slicing device is working, the transfer reciprocating module 110 drives the electric clamp as the transfer clamp 12 to move along the X axis. The electric clamp can be driven to the material taking station first. After the electric clamp clamps the fruit 90, the transfer reciprocating module 110 drives the fruit 90 clamped by the electric clamp to move. To the slicing station, the transfer reciprocating module 110 drives the electric clamp to reciprocate between the material taking station and the slicing station. Before cutting the fruit 90, the fruit 90 held by the electric clamp can be moved to the desired position and rotated to the desired angle by the cooperative driving of the transfer reciprocating module 110, the transfer transverse movement module 111 and the transfer rotation module 112, so that the annular blade 220 is accurately aligned with the optimal cutting line expected for the fruit 90 to be cut, so as to drive the annular blade 220 along a preset arc path (such as Figure 1 As shown) provides location conditions for cutting around the periphery of the fruit 90.

[0064] As Figure 5 and Figure 6 shown, in an embodiment of the present utility model, the slicing lifting module 21 includes a mounting plate 210, a slicing lifting driving member 211 disposed on the mounting plate 210, a moving plate 212 disposed on the slicing lifting driving member 211, a guiding slide rail 213 disposed between the moving plate 212 and the mounting plate 210, and a tool mounting arm 214 disposed on the moving plate 212. The tool module 22 is mounted on the tool mounting arm 214. The guiding slide rail 213 between the moving plate 212 and the mounting plate 210 ensures more stable linear movement of the moving plate 212 driven by the linear motor. The tool module 22 is mounted on the tool mounting arm 214, and the tool mounting arm 214 is mounted on the moving plate 212. The guiding slide rail 213 can also ensure the cutting stability of the tool module 22 when cutting the fruit 90. In this embodiment, as Figure 5 shown, the slicing lifting driving member 211 uses a linear motor to drive the tool mounting arm 214 to move along the Z-axis direction, thereby driving the annular blade 220 in the tool module 22 to move along the Z-axis direction. In other embodiments, as Figure 10 shown, the slicing lifting driving member 211 can also use a ball screw linear module to drive the tool mounting arm 214 to move along the Z-axis direction. Of course, the slicing lifting driving member 211 is not limited to a linear motor or a ball screw linear module. This is only an exemplary illustration here, and other linear driving mechanisms can be selected according to actual needs.

[0065] As Figure 6 shown, in an embodiment of the present utility model, the rotation driving member 221 includes a rotation part 2210. An installation column 2211 protrudes from the rotation part 2210. The tool module 22 further includes a pressing member 222 and a pressing connection member 223. The annular blade 220 is sleeved on the installation column 2211. The pressing connection member 223 sequentially passes through the pressing member 222 and the annular blade 220 and then is connected to the installation column 2211 to connect the rotation part 2210 of the rotation driving member 221 to the annular blade 220. After the rotation part 2210 rotates, it drives the annular blade 220 to perform rotary slicing operation. In this embodiment, the pressing connection member 223 uses a pressing bolt, and the pressing member 222 uses a pressing block with a through hole in the middle. In other embodiments, the pressing block and the pressing bolt can also be integrally formed. In this embodiment, the annular blade 220 uses a circular blade. In other embodiments, it can also be a near-circular polygon blade. In this embodiment, the rotation driving member 221 directly uses an outer rotor motor. The annular blade 220 is sleeved on the installation column 2211 provided on the rotation part of the outer rotor motor and is directly driven by the outer rotor motor. In other embodiments, asFigure 11 As shown in the figure, the rotation driving member 221 includes a rotation part 2210 which is a driven synchronous pulley. The driven synchronous pulley protrudes with a mounting post 2211. The annular blade 220 is sleeved on the mounting post 2211. The tool module 22 further includes a locking nut 224. The locking nut 224 is used to cooperate with the external thread provided on the mounting post 2211 to stably mount the annular blade 220 on the driven synchronous pulley. The rotation driving member 221 further includes a driving motor 225 which drives the driven synchronous pulley to rotate through a synchronous belt. In the present invention, two embodiments of the rotation driving member 221 are listed. Of course, it is not limited thereto. Only the rotation driving member 221 is provided with a rotation part 2210 with a mounting post 2211, and the annular blade 220 is mounted on the mounting post 2211. The annular blade 220 can be driven to rotate at a high speed by the rotation of the rotation part 2210. The annular blade 220 is driven by the rotation driving member 221 to rotate at a high speed. Compared with an ordinary blade when cutting a fruit 90 with harder pulp, the impact on the fruit 90 is very large, which is likely to cause clamping displacement, damage the surface of the fruit 90, and at the same time cause the incision to be uneven, affecting the quality of the fruit slices, and will also accelerate the damage to the clamping and transferring mechanism 10. However, when the high-speed rotating annular blade 220 performs rotary slicing operation, the impact on the fruit 90 itself is very small, it will not damage the epidermis of the fruit 90, the incision is more flat, and the influence on the clamping and transferring mechanism 10 is also smaller.

[0066] As Figures 1-9 shown, in an embodiment of the present invention, a fruit processing device includes the fruit slicing device described in any one of the above.

[0067] As Figures 1-9 shown, in an embodiment of the present invention, the fruit processing device further includes a feeding mechanism 30, a turning blade mechanism 40, a slicing mechanism 50 and a pitting 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 turning blade mechanism 40 transfers 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 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 makes the fruit core 92 exposed from the pulp (as Figure 1 shown), and the pitting mechanism 60 is used to take out the fruit core 92 from the pulp. More specifically, as Figure 1As shown, in an embodiment of the present utility model, the fruit processing device further includes a first vision mechanism 70 and a second vision mechanism 80; the first vision mechanism 70 takes a picture of the fruit 90 before it is cut by the annular blade 220, 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. 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, and the first vision mechanism 70 takes a picture of the fruit 90. According to the shape and size of the fruit 90, the optimal cutting line is calculated. After the electric gripper in the clamping and transferring mechanism 10 clamps the fruit 90, the transfer reciprocating module 110 drives the electric gripper to move to the slicing station. And before cutting the fruit 90, 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 gripper can be moved to the required position and rotated to the required angle, so as to facilitate the precise alignment of the annular blade 220 with the optimal cutting line of the expected fruit 90 to be cut. The transfer driving component 11 drives the transfer clamping member 12 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. And the slicing lifting module 21 can drive the annular blade 220 in the tool module 22 to move along the Z-axis direction. Under the mutual action and cooperation of the clamping and transferring mechanism 10 and the slicing mechanism 20, the annular blade 220 cuts along a preset arc path (such as Figure 1 shown) on the periphery of the fruit 90, and can cut the pulp without damaging the fruit core 92.

[0068] Such 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 is used to convey 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 blocks 322 to move in a direction perpendicular to the conveyor belt 31 under the guidance of the linear slide rails, 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 that irradiates 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 that irradiates the inclined surface portion 330. When the conveyor belt 31 conveys the fruit 90 to the preset measuring 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 presses the fruit 90 flat 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 according to 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 greater 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 can also be independently provided.

[0069] As Figure 7 shown, in an embodiment of the present utility model, 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 fruit 90 that has been cut by the slicing mechanism 20. The rotating blade lifting member 42 drives the fruit 90 that has been cut by the slicing mechanism 20 to move in the Z-axis direction, and the rotating blade reciprocating module 41 drives the fruit 90 that has been cut 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 linear drive methods such as linear motors, electric slides, and hydraulic cylinders. 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 fruit 90, the electric claw of the clamping and transferring mechanism 10 releases the fruit 90 that has been cut. 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 fruit 90 clamped by the rotating blade clamping member 43 to move from the slicing station to the pit-taking station.

[0070] As Figure 8As 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, and the slicing driving member 51 drives the two detection rotating members 52 to move relatively. 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 drives the two slicing jigs 54 to clamp the cut fruit. The slicing driving member 51 drives the two slicing clamping members 53 to move relatively 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 pitting 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 pitting mechanism 60 to remove 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 mode such as a linear motor, an electric slide table, and a hydraulic cylinder can be adopted. The detection rotating member 52 adopts a servo motor in this embodiment. In other embodiments, a rotary 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.

[0071] As Figure 9As 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 disposed on the pit-taking reciprocating module 61, a pit-taking clamping member 63 disposed on the pit-taking transverse movement module 62, and two pit-taking jigs 64 disposed on the pit-taking clamping member 63. The pit-taking clamping member 63 drives the two pit-taking jigs 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-axis direction, and the pit-taking reciprocating module 61 drives the clamped fruit pit 92 to move along the X-axis direction, so as to realize clamping the fruit pit 92 out of the pulp. 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 ball screw drive, or can adopt linear drive modes such as linear motor, electric slide table, pneumatic cylinder, and hydraulic cylinder. In this embodiment, the pit-taking reciprocating module 61 is driven by a servo motor through a synchronous belt, and the pit-taking transverse movement module 62 adopts a linear motor. Further described, 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 two pit-taking jigs 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.

[0072] 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, Comprising: A clamping and transferring mechanism (10), including a transfer driving assembly (11), a transfer clamping member (12), and two chucks (13) arranged 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 assembly (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 a slicing lifting module (21) and a tool module (22). The tool module (22) includes an annular blade (220) and a rotation driving member (221) for driving the annular blade (220) to rotate. The slicing lifting module (21) is used to drive the annular blade (220) in the tool module (22) to move along the Z-axis direction.

2. The fruit slicing device according to claim 1, wherein The transfer driving assembly (11) includes a transfer reciprocating module (110), a transfer transverse movement module (111) arranged on the transfer reciprocating module (110), and a transfer rotation module (112) arranged on the transfer transverse movement module (111). The transfer clamping member (12) is arranged 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, wherein, The slicing lifting module (21) includes a mounting plate (210), a slicing lifting driving member (211) arranged on the mounting plate (210), a moving plate (212) arranged on the slicing lifting driving member (211), a guiding slide rail (213) arranged between the moving plate (212) and the mounting plate (210), and a tool mounting arm (214) arranged on the moving plate (212). The tool module (22) is installed on the tool mounting arm (214).

4. The fruit slicing device according to claim 1, wherein, The rotation driving member (221) includes a rotation part (2210), and a mounting post (2211) protrudes from the rotation part (2210). The annular blade (220) is installed on the mounting post (2211).

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

6. The fruit processing equipment according to claim 5, wherein, The fruit processing equipment further includes a feeding mechanism (30), a slice rotating mechanism (40), a slicing splitting mechanism (50), and a pit removing 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 slice rotating mechanism (40) is used to transfer the fruit (90) that has been cut by the slicing mechanism (20) to the slicing splitting mechanism (50); The slicing splitting mechanism (50) is used to split the fruit (90) cut by the slicing mechanism (20) into two fruit halves (91) and expose the fruit pit (92) outside the pulp; The pit-taking mechanism (60) is used to take out the fruit pit (92) from the pulp.

7. 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 member (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 member (323) is used to drive the supporting 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 pressing plate (320) to move in a 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 member (33), the height measuring member (33) includes an inclined surface portion (330) arranged at an angle with the conveyor belt (31), and the height measuring member (33) moves along with the pressing plate (320) in a direction perpendicular to the conveyor belt (31); A laser emitter (34) for emitting laser light to irradiate the inclined surface portion (330).

8. The fruit processing equipment according to claim 6, characterized in that, The rotating piece mechanism (40) includes a rotating piece reciprocating module (41), a rotating piece lifting member (42) arranged on the rotating piece reciprocating module (41), a rotating piece clamping member (43) arranged on the rotating piece lifting member (42), and two rotating piece clamps (44) arranged on the rotating piece clamping member (43). The rotating piece clamping member (43) is used to drive the two rotating piece clamps (44) to move relatively to clamp the cut fruit (90). The rotating piece lifting member (42) is used to drive the cut fruit (90) to move in the Z-axis direction, and the rotating piece reciprocating module (41) is used to drive the cut fruit (90) to move in the X-axis direction.

9. 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 it is cut by the annular blade (220); 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.

10. The fruit processing equipment according to claim 6, characterized in that, 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 relatively. The two slicing clamping members (53) are arranged on the two detection rotating members (52) in a one-to-one correspondence. 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 move relatively to clamp the fruit (90). The slicing driving member (51) is used to drive the two slicing clamping members (53) to move relatively to split the sliced 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 pitting mechanism (60) includes a pitting reciprocating module (61), a pitting transverse movement module (62) arranged on the pitting reciprocating module (61), a pitting clamping member (63) arranged on the pitting transverse movement module (62), and two pitting jigs (64) arranged on the pitting clamping member (63). The pitting clamping member (63) is used to drive the two pitting jigs (64) to move relatively to clamp the fruit pit (92). The pitting transverse movement module (62) is used to drive the clamped fruit pit (92) to move along the Y-axis direction. The pitting reciprocating module (61) is used to drive the clamped fruit pit (92) to move along the X-axis direction.

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