Human-hand-simulated peanut seed shelling device

Abstract

The utility model discloses a humanoid hand type peanut seed shelling device which comprises a profile rack, a pose adjusting mechanism and a shell breaking mechanism, a two-claw finger air cylinder of the pose adjusting mechanism is vertically arranged, two claws at the top end of the two-claw finger air cylinder are respectively connected with one side of a humanoid peanut shell mold, and a cavity formed in the humanoid peanut shell mold is used for containing the bottom of a peanut. The internal shape of the cavity is matched with the shape of a peanut; the shell breaking mechanism is provided with a shell breaking finger air cylinder, the shell breaking finger air cylinder is driven to be close to or away from peanut shell imitating molds of the posture adjusting mechanism, and the shell breaking finger air cylinder is connected with and drives a pair of peanut head shell breaking molds to be close to or away from each other in the seam direction of the two-claw finger air cylinder; when the peanut head shell breaking molds approach each other, the abdominal suture lines of the peanuts are extruded. In the shell breaking process, the peanut shell breaking device effectively guarantees that the positions of peanut abdomen stitches are extruded, peanuts are easier to break shells, peanut seeds are not prone to damage, and therefore the integrity of the peanut seeds is guaranteed.

Description

Technical Field

[0001] This invention relates to agricultural machinery, specifically a device for shelling peanut seeds. Background Technology

[0002] Currently, peanut shelling is still done manually during the pre-treatment stage before planting. The process involves first aligning the peanut with the ventral suture line, then manually breaking the shell at the head of the peanut, and finally manually separating the kernel from the shell. This completes the pre-treatment of peanut seeds and ensures their quality.

[0003] The traditional method of shelling peanuts to preserve their integrity is labor-intensive and time-consuming. Therefore, a peanut shelling device can effectively replace manual shelling. While completing the steps required for manual shelling, it simultaneously performs the steps of breaking the peanut head and separating the peanut kernel from the shell, thus improving the efficiency of peanut shelling.

[0004] CN104905387B discloses an automatic peanut shelling control system for seed-producing peanuts. A peanut conveying mechanism is mounted on a frame assembly, which also includes a peanut leveler, a peanut pushing mechanism, and a moving component mechanism. The lower end of the peanut conveying mechanism faces the peanut leveler, and the peanut pushing mechanism is located on one side of the leveler. The moving component mechanism houses a peanut shelling mechanism located on the other side of the leveler. The peanut pushing mechanism pushes peanuts from the leveler into the shelling mechanism. The peanut shelling mechanism includes an upper left cylinder and an upper left mechanical claw, as well as a lower left cylinder and a lower left mechanical claw, fixed on the left support aluminum angle; and an upper right cylinder and an upper right mechanical claw, as well as a lower right cylinder and a lower right mechanical claw, fixed on the right support aluminum angle. The upper left mechanical claw, lower left mechanical claw, upper right mechanical claw, and lower right mechanical claw cooperate under the push of the cylinder. The upper left mechanical claw, lower left mechanical claw, upper right mechanical claw, and lower right mechanical claw are all fan-shaped, and when they are closed, they can form a circle.

[0005] The problem it has is:

[0006] In existing technology, the upper left, lower left, upper right, and lower right mechanical claws form a circle. When these claws are close to each other, they squeeze the peanut to break the shell. After the shell is broken, the claws separate, and the peanut shell is peeled off. The problem is that the peanut is not necessarily compressed along the ventral suture line; however, the peanut is more likely to break when the ventral suture line is compressed, and the peanut seed is less likely to be damaged. Utility Model Content

[0007] To ensure the integrity of peanut seeds during the pre-treatment stage of peanut shelling before planting, this utility model aims to provide a human-hand-like peanut seed shelling device. This device effectively protects the peanut's abdominal suture line during the shell-breaking process, making the peanut easier to shell and less likely to damage the peanut seed, thus ensuring the integrity of the peanut seed.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical means:

[0009] A peanut seed shelling device mimicking a human hand includes a profile frame, a position adjustment mechanism, and a shell-breaking mechanism. The profile frame serves as the mounting base for the position adjustment mechanism and the shell-breaking mechanism. The position adjustment mechanism includes a two-claw finger cylinder and a peanut shell mold. The two-claw finger cylinder is vertically positioned, with its two claws connected to one side of the peanut shell mold. The peanut shell mold has a cavity that accommodates the bottom of the peanut, and the internal shape of the cavity matches the shape of the peanut. During the process of the two-claw finger cylinders approaching and pushing each other, the bottom shell of the peanut is rotated to a position that fits against the cavity, thereby aligning the ventral seam of the peanut with the seam between the two claws, facilitating the next step of shell breaking. The shell-breaking mechanism includes a shell-breaking finger cylinder, which is driven to approach or move away from the peanut shell mold of the position adjustment mechanism. The shell-breaking finger cylinder is connected to drive a pair of peanut head shell-breaking molds to approach or move away from each other along the seam direction of the two-claw finger cylinders, so that when the peanut head shell-breaking molds approach each other, they squeeze the ventral seam of the peanut.

[0010] The profile frame of this utility model can be fixed on a conveyor belt and used with a mechanized feeding device to feed peanuts, or it can be fixed in a convenient location and fed manually.

[0011] This technical solution utilizes a posture adjustment mechanism with a cavity in its peanut-shell mold to accommodate the bottom of the peanut. The internal shape of the cavity matches the shape of the peanut. During the pushing motion of the two-claw finger cylinders, the bottom shell of the peanut rotates under force to a position that fits snugly against the cavity, aligning the peanut's ventral suture with the seam of the two claws. This facilitates the next step of shell breaking. The shell-breaking mechanism includes shell-breaking finger cylinders that drive a pair of peanut head shell-breaking molds to move closer or further apart along the seam of the two-claw finger cylinders. When the peanut head shell-breaking molds approach each other, they squeeze the ventral suture of the peanut. This better simulates the action of manually peeling a peanut by squeezing along the ventral suture. During the shell-breaking process, the ventral suture position is effectively maintained, making the peanut easier to break and less likely to damage the peanut seed, thus ensuring the integrity of the peanut seed.

[0012] As a further improvement to this technical solution:

[0013] The posture adjustment mechanism is located above the profile frame, and a connecting plate is connected above the profile frame. A two-claw finger cylinder is located above the connecting plate.

[0014] By setting up a connecting plate, it is easy to connect and install a two-claw finger cylinder.

[0015] The described shell-breaking finger cylinder includes finger cylinder one and finger cylinder two. The shell-breaking mechanism includes a rotary cylinder, a connecting plate two, a servo motor one and a servo motor two, a linear module one and a linear module two, a connecting plate three and a connecting plate four, finger cylinder one and finger cylinder two, a peanut head shell-breaking mold one and a peanut head shell-breaking mold two. The shell-breaking mechanism is mounted on the profile frame via the rotary cylinder. The cylinder body of the rotary cylinder is connected to the profile frame. The rotary cylinder drives the connecting plate two, which is L-shaped. The connecting plate two is connected to the linear modules one and two, which are perpendicular to each other. The servo motor one drives the linear module one, and the servo motor two drives the linear module two. The linear module 2 is driven. Linear module 1 is connected to connecting plate 3. Linear module 2 is connected to connecting plate 4. Connecting plate 3 is connected to finger cylinder 1. Connecting plate 4 is connected to finger cylinder 2. Finger cylinder 1 is connected to peanut head shell-breaking mold 1. Finger cylinder 2 is connected to peanut head shell-breaking mold 2. The rotation of the aforementioned rotary cylinder causes linear module 1 and linear module 2 to work alternately. Servo motor 1 causes linear module 1 to rise and fall to adjust the position of finger cylinder 1. Servo motor 2 causes linear module 2 to rise and fall to adjust the position of finger cylinder 2. The extension and retraction of finger cylinder 1 and finger cylinder 2 respectively cause peanut head shell-breaking mold 1 and peanut head shell-breaking mold 2 to work and perform peanut head shell-breaking.

[0016] By setting up linear module one and linear module two, and having linear module one and linear module two work alternately, work efficiency is improved.

[0017] The profile frame is provided with a posture adjustment mechanism and a shell breaking mechanism on each side.

[0018] The posture adjustment mechanism and shell-breaking mechanism on each side perform the shell-breaking work independently, further improving work efficiency.

[0019] The shell-breaking mechanism is symmetrically equipped with shell-kernel separation mechanisms on both sides, namely a shell-kernel separation mechanism on the left and a shell-kernel separation mechanism on the right, with the same structure on each side. The shell-kernel separation mechanism on the left works in conjunction with the linear module two. The shell-kernel separation mechanism on the left has finger cylinders three and four arranged vertically at intervals. Dual-axis cylinder one drives finger cylinder three, and dual-axis cylinder two drives finger cylinder four to move finger cylinders three and four closer to or away from the peanut. Finger cylinder three clamps the outer surface of the peanut shell above the ventral suture line; finger cylinder four clamps the outer surface of the peanut shell below the ventral suture line. When dual-axis cylinder one and dual-axis cylinder two retract, the peanut shell separates. During this movement, finger cylinders three and four are in the state of clamping the peanut shell.

[0020] Similarly, the shell-and-kernel separation mechanism on the right side is equipped with dual-axis cylinders three and four, finger cylinders five and six. Dual-axis cylinder three drives finger cylinder five, and dual-axis cylinder four drives finger cylinder six, causing finger cylinders five and six to move closer to or further away from the peanut. The shell-and-kernel separation mechanism on the right side works in conjunction with linear module one. Finger cylinder five clamps the outer surface of the peanut shell above the ventral suture line; finger cylinder six clamps the outer surface of the peanut shell below the ventral suture line. When dual-axis cylinders three and four retract, the peanut shell separates. During this movement, finger cylinders five and six are in the state of clamping the peanut shell.

[0021] The shell-and-kernel separation mechanism consists of connecting plate five, connecting plate six, connecting plate seven, connecting plate eight, double-shaft cylinder one, double-shaft cylinder two, finger cylinder three, finger cylinder four, peanut shell and kernel separation mold one, and peanut shell and kernel separation mold two on the left side of the shell-breaking mechanism.

[0022] The shell-and-kernel separation mechanism consists of connecting plate nine, connecting plate ten, connecting plate eleven, connecting plate twelve, double-shaft cylinder three, double-shaft cylinder four, finger cylinder five, finger cylinder six, peanut shell and kernel separation mold three, and peanut shell and kernel separation mold four on the right side of the shell-breaking mechanism.

[0023] The shell-and-kernel separation mechanism is mounted on the profile frame. Connecting plate five and connecting plate six are connected to the left side of the profile frame of the shell-breaking mechanism. Connecting plate five is connected to dual-axis cylinder one, and connecting plate six is ​​connected to dual-axis cylinder two. Dual-axis cylinder one is connected to drive connecting plate seven, and dual-axis cylinder two is connected to drive connecting plate eight. Connecting plate seven is connected to finger cylinder three, and connecting plate eight is connected to finger cylinder four. Finger cylinder three is vertically positioned, and its bottom end is connected to peanut shell and kernel separation mold one. Finger cylinder four is vertically positioned, and its top end is connected to peanut shell and kernel separation mold two. Finger cylinder three and finger cylinder four cooperate vertically to clamp the peanuts.

[0024] Connecting plates nine and ten are respectively installed on the right profile frame of the shell-breaking mechanism. Connecting plate nine is connected to dual-axis cylinder three, connecting plate ten is connected to dual-axis cylinder four, connecting plate three is connected to connecting plate eleven, connecting plate four is connected to connecting plate twelve, connecting plate eleven is connected to finger cylinder five, and connecting plate twelve is connected to finger cylinder six. Finger cylinder five is vertically positioned, with its bottom end connected to peanut shell-kernel separating mold three. Finger cylinder six is ​​also vertically positioned, with its top end connected to peanut shell-kernel separating mold four. Finger cylinders five and six work together vertically to clamp the peanuts. This mechanism achieves peanut shell-kernel separation by extending and retracting the dual-axis cylinders and releasing the finger cylinders to clamp the peanut shells, ensuring the integrity of the peanut seeds.

[0025] By setting up a shell-breaking mechanism and a shell-kernel separation mechanism, this mechanism can achieve the simultaneous operation of two processes: shell breaking of the peanut head and separation of peanut shell and kernel.

[0026] The working process of this invention, a peanut seed shelling device that mimics human hand operation, is as follows:

[0027] (1) Feeding and clamping: The operator or the mechanized feeding device places the peanut head tip upwards into the imitation peanut shell mold (the first peanut) driven by the two-claw finger cylinder. The two-claw finger cylinder extends to drive the imitation peanut shell mold to clamp. The two imitation peanut shell molds come together to clamp the peanut. Adjust the direction of the peanut head tip so that the peanut is vertically clamped and fixed.

[0028] (2) Shell breaking: The rotary cylinder drives the linear module to rotate to the work position, the servo motor drives the linear module to descend to the position of the peanut head shell breaking (the first peanut), the finger cylinder is driven to clamp the peanut head shell breaking mold to complete the peanut head shell breaking, the servo motor drives the linear module to rise, the two-claw finger cylinder releases and the rotary cylinder rotates to a vertical 90°, the servo motor drives the linear module to advance to the position of the shell kernel separation mechanism on the left side of the shell breaking mechanism, and at the same time, continue to place peanuts into the imitation peanut shell driven by the two-claw finger cylinder (the second peanut), the two-claw finger cylinder clamps, the imitation peanut shell mold clamps on both sides, adjust the position of the peanut head tip, and prepare for the second shell breaking operation;

[0029] (3) Shell and kernel separation and subsequent feeding operation: After the linear module 1 rotates, the shell and kernel are separated. The dual-axis cylinder 1 and dual-axis cylinder 2 also extend at the same time. At this time, the finger cylinder 3 and finger cylinder 4 clamp at the same time, driving the peanut shell and kernel separation mold 1 and peanut shell and kernel separation mold 2 to clamp the two sides of the peanut's abdominal suture. After clamping, the dual-axis cylinder 1 and dual-axis cylinder 2 retract at the same time to complete the peanut shell and kernel separation and ensure the integrity of the peanut seed. At the same time as the shell and kernel are separated, the finger cylinder 2 of the linear module 2 clamps and drives the peanut head shell-breaking mold 2 to complete the peanut head shell-breaking. At the same time, the servo motor 1 drives the linear module 1 to move backward, and the servo motor 2 drives the linear module 2 to move backward. The finger cylinder 3 and finger cylinder 4 are released. The rotary cylinder rotates to 0° horizontally. The servo motor 2 drives the linear module 2 to move forward to the right position of the shell-breaking mechanism and continues to place peanuts into the imitation peanut shell driven by the two-claw finger cylinder (the third one). (Peanuts) The two-claw finger cylinder clamps the peanut, while the dual-axis cylinders three and four extend. The servo motor one drives the linear module to descend to the peanut head to break the shell. At the same time, the finger cylinders five and six drive the peanut shell and kernel separation mold three and four to clamp the two sides of the peanut's abdominal suture. After clamping, the dual-axis cylinders three and four retract simultaneously to complete the peanut shell and kernel separation, ensuring the integrity of the peanut seed. At the same time, the finger cylinder one clamps and drives the peanut head breaking mold one to break the peanut head. The servo motor two drives the linear module two to retreat, while the servo motor one drives the linear module one to retreat. The finger cylinders five and six release, and the rotary cylinder rotates to a vertical 90° position. The servo motor one drives the linear module one to advance to the left position of the breaking mechanism, while continuing to place peanuts into the imitation peanut shell driven by the two-claw finger cylinder (the fourth peanut). The above operation process is repeated.

[0030] This solution can be applied to the peanut shelling pretreatment stage before peanut planting. It uses a mechanical operation method with cylinders and servo motors to complete the three processes of aligning the peanut with the ventral suture line, breaking the peanut head shell, and separating the peanut shell from the kernel. These three processes can replace manual shelling and seed saving operations, ensuring the integrity of the peanut seeds.

[0031] The beneficial effects of this utility model are as follows:

[0032] 1. This utility model can be applied to the peanut shelling pretreatment stage before peanut planting. The three processes of aligning the peanut with the ventral suture line, breaking the peanut head shell, and separating the peanut shell from the kernel are completed by a mechanized operation method using a cylinder and a servo motor. These processes can replace manual shelling for seed preservation and ensure the integrity of the peanut seeds.

[0033] 2. This utility model provides a peanut seed shelling device that mimics human hand operation, which can simultaneously perform peanut head processing and peanut shell kernel separation, improving peanut shelling efficiency while ensuring the integrity of the peanut seeds.

[0034] 3. The present invention provides a peanut seed shelling device that mimics human hand operation. The device uses a symmetrical frame structure to operate simultaneously, further improving the efficiency of peanut shelling. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of a human-hand-like peanut seed shelling device.

[0036] Figure 2 This is a schematic diagram of a posture adjustment mechanism for peeling peanut seeds in a manner similar to that of a human hand.

[0037] Figure 3 This is a schematic diagram of a shell-breaking mechanism that mimics the action of a human hand in peeling peanut seeds.

[0038] Figure 4 This is a schematic diagram of a peanut seed shell-separation mechanism that mimics the action of a human hand.

[0039] Figure 5 This is a schematic diagram of a parallel operation that mimics the symmetrical back-and-forth process of peeling peanut seeds by hand.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1- Profile frame; 2- Posture adjustment mechanism; 3- Shell breaking mechanism; 4- Shell and kernel separation mechanism; 201- Connecting plate one; 202- Two-claw finger cylinder; 203- Imitation peanut shell mold; 204- Peanut; 301- Rotary cylinder; 302- Connecting plate two; 303- Servo motor one; 304- Servo motor two; 305- Linear module one; 306- Linear module two; 307- Connecting plate three; 308- Connecting plate four; 309- Finger cylinder one; 310- Finger cylinder two; 311- Peanut head shell breaking mold one; 312- Peanut head shell breaking mold two; 401- Connecting plate 5. 402-Connecting Plate 6. 403-Connecting Plate 7. 404-Connecting Plate 8. 405-Dual-Axis Cylinder 1. 406-Dual-Axis Cylinder 2. 407-Finger Cylinder 3. 408-Finger Cylinder 4. 409-Peanut Shell Separation Mold 1. 410-Peanut Shell Separation Mold 2. 411-Connecting Plate 9. 412-Connecting Plate 10. 413-Connecting Plate 11. 414-Connecting Plate 12. 415-Dual-Axis Cylinder 3. 416-Dual-Axis Cylinder 4. 417-Finger Cylinder 5. 418-Finger Cylinder 6. 419-Peanut Shell Separation Mold 3. 420-Peanut Shell Separation Mold 4. Detailed Implementation

[0042] The present invention will be further described below with reference to the embodiments.

[0043] Combination Figures 1-5As can be seen, the present invention provides a peanut seed shelling device that mimics human hand operation, which consists of a profile frame 1, a posture adjustment mechanism 2, and a shell-breaking mechanism 3. The profile frame 1 serves as the mounting base for the posture adjustment mechanism 2 and the shell-breaking mechanism 3.

[0044] Combination Figure 1 , Figure 2 It is known that the posture adjustment mechanism 2 includes a two-claw finger cylinder 202 and a peanut shell mold 203. The two-claw finger cylinder 202 is vertically arranged, and its two claws at the top are respectively connected to one side of the peanut shell mold 203. The peanut shell mold 203 has a cavity that accommodates the bottom of the peanut 204. The internal shape of the cavity matches the shape of the peanut 204. During the process of the two-claw finger cylinders 202 approaching and pushing each other, the bottom shell of the peanut 204 is rotated under force to a position that fits against the cavity. This aligns the ventral seam of peanut 204 with the seam of the two claws, facilitating the next step of shell breaking. The shell breaking mechanism 3 is equipped with a shell breaking finger cylinder, which is driven to move closer to or further away from the peanut shell mold 203 of the posture adjustment mechanism 2. The shell breaking finger cylinder is connected to drive a pair of peanut head shell breaking molds to move closer to or further away from each other along the seam direction of the two claw finger cylinders 202. When the peanut head shell breaking molds move closer to each other, they squeeze the ventral seam of peanut 204, and the shell of peanut 204 cracks along its ventral seam under force.

[0045] The profile frame 1 of this utility model can be fixed on the conveyor belt and used with a mechanized feeding device to feed peanuts, or it can be fixed in a convenient location and fed manually.

[0046] The position adjustment mechanism 2 is located above the profile frame 1. A connecting plate 201 is connected above the profile frame 1, and a two-claw finger cylinder 202 is located above the connecting plate 201.

[0047] Combination Figure 1 , Figure 3It is known that the shell-breaking finger cylinder includes finger cylinder one 309 and finger cylinder two 310. The shell-breaking mechanism 3 includes a rotary cylinder 301, a connecting plate two 302, a servo motor one 303, a servo motor two 304, a linear module one 305, a linear module two 306, a connecting plate three 307, a connecting plate four 308, finger cylinder one 309, finger cylinder two 310, peanut head shell-breaking mold one 311, and peanut head shell-breaking mold two 312. The shell-breaking mechanism 3 is mounted on the profile frame 1 via the rotary cylinder 301. The cylinder body of the rotary cylinder 301 is connected to the profile frame 1. The rotary cylinder 301 drives the connecting plate two 302, which is L-shaped. The connecting plate two 302 is connected to the linear modules one 305 and two 306, which are perpendicular to each other. The servo motor one 303 drives the linear module one 305 and the servo motor two 304. The linear module 2 306 is driven. The linear module 1 305 is connected to the connecting plate 307. The linear module 2 306 is connected to the connecting plate 4 308. The connecting plate 307 is connected to the finger cylinder 1 309. The connecting plate 4 308 is connected to the finger cylinder 2 310. The finger cylinder 1 309 is connected to the peanut head shell-breaking mold 1 311. The finger cylinder 2 310 is connected to the peanut head shell-breaking mold 2 312. The rotation of the rotary cylinder 301 causes the linear module 1 305 and the linear module 2 306 to work alternately. The servo motor 1 303 causes the linear module 1 305 to rise and fall to adjust the position of the finger cylinder 1 309. The servo motor 2 304 causes the linear module 2 306 to rise and fall to adjust the position of the finger cylinder 2 310. The extension and retraction of the finger cylinder 1 309 and the finger cylinder 2 310 respectively cause the peanut head shell-breaking mold 1 311 and the peanut head shell-breaking mold 2 312 to work and perform peanut head shell-breaking.

[0048] The profile frame 1 is equipped with a posture adjustment mechanism 2 and a shell-breaking mechanism 3 on each side. The posture adjustment mechanism 2 and the shell-breaking mechanism 3 on each side perform shell-breaking work independently, improving work efficiency.

[0049] Combination Figure 1 , Figure 4 , Figure 5It is known that the shell-breaking mechanism 3 is symmetrically provided with shell-kernel separation mechanisms 4 on both sides, namely the shell-kernel separation mechanism on the left and the shell-kernel separation mechanism on the right, and the shell-kernel separation mechanism 4 on each side has the same structure; the shell-kernel separation mechanism on the left works in conjunction with the linear module 2 306. The shell-kernel separation mechanism on the left is provided with finger cylinders 3 407 and 408 arranged vertically at intervals. The dual-axis cylinder 1 405 drives the finger cylinder 3 407, and the dual-axis cylinder 2 406 drives the finger cylinder 408 to move the finger cylinders 3 407 and 408 closer to or away from the peanut 204; the finger cylinder 3 407 clamps the outer surface of the peanut shell above the ventral suture line; the finger cylinder 408 clamps the outer surface of the peanut shell below the ventral suture line; when the dual-axis cylinder 1 405 and the dual-axis cylinder 2 406 retract, the shell of the peanut 204 separates. During this movement process, the finger cylinders 3 407 and 408 are in the state of clamping the peanut shell.

[0050] Similarly, the shell-and-kernel separation mechanism on the right side is equipped with a dual-axis cylinder 3 (415), a dual-axis cylinder 4 (416), a finger cylinder 5 (417), and a finger cylinder 6 (418). Dual-axis cylinder 3 (415) drives finger cylinder 5 (417), and dual-axis cylinder 4 (416) drives finger cylinder 6 (418), causing finger cylinders 5 (417) and 6 (418) to move closer to or further away from peanut 204. The shell-and-kernel separation mechanism on the right side works in conjunction with the linear module 305. Finger cylinder 5 (417) clamps the outer surface of the peanut 204 above the ventral suture line; finger cylinder 6 (418) clamps the outer surface of the peanut 204 below the ventral suture line. When dual-axis cylinders 3 (415) and 4 (416) retract, the shell of peanut 204 separates. During this movement, finger cylinders 5 (417) and 6 (418) are in a state of clamping the peanut shell.

[0051] The shell-and-kernel separation mechanism 4 is located to the left of the shell-breaking mechanism 3 and consists of connecting plate five 401, connecting plate six 402, connecting plate seven 403, connecting plate eight 404, double-shaft cylinder one 405, double-shaft cylinder two 406, finger cylinder three 407, finger cylinder four 408, peanut shell and kernel separation mold one 409, and peanut shell and kernel separation mold two 410, forming the left part of the shell-and-kernel separation mechanism 4.

[0052] The shell-and-kernel separation mechanism 4 is located to the right of the shell-breaking mechanism 3 and consists of connecting plate nine 411, connecting plate ten 412, connecting plate eleven 413, connecting plate twelfth 414, double-shaft cylinder three 415, double-shaft cylinder four 416, finger cylinder five 417, finger cylinder six 418, peanut shell and kernel separation mold three 419, and peanut shell and kernel separation mold four 420, forming the right part of the shell-and-kernel separation mechanism 4.

[0053] The shell-and-kernel separation mechanism 4 is mounted on the profile frame 1. The shell-breaking mechanism 3 is connected to the connecting plate 5 401 and the connecting plate 6 402 on the left side of the profile frame 1. The connecting plate 5 401 is connected to the dual-axis cylinder 1 405, and the connecting plate 6 402 is connected to the dual-axis cylinder 2 406. The dual-axis cylinder 1 405 is connected to the drive connecting plate 7 403, and the dual-axis cylinder 2 406 is connected to the drive connecting plate 8 404. The connecting plate 7 403 is connected to the finger cylinder 3 407, and the connecting plate 8 404 is connected to the finger cylinder 408. The finger cylinder 3 407 is vertically positioned, and its bottom end is connected to the peanut shell and kernel separation mold 1 409. The finger cylinder 408 is vertically positioned, and its top end is connected to the peanut shell and kernel separation mold 2 410. The finger cylinder 3 407 and the finger cylinder 408 cooperate vertically to clamp the peanut.

[0054] The shell-breaking mechanism 3 has connecting plates 9 (411) and 10 (412) connected to the right profile frame 1. Connecting plate 9 (411) is connected to dual-axis cylinder 3 (415), connecting plate 10 (412) is connected to dual-axis cylinder 4 (416), connecting plate 3 (415) is connected to connecting plate 11 (413), connecting plate 4 (416) is connected to connecting plate 12 (414), connecting plate 11 (413) is connected to finger cylinder 5 (417), and connecting plate 12 (414) is connected to finger cylinder 6 (418). Finger cylinder 5 (417) is vertically positioned, with its bottom connected to peanut shell-kernel separating mold 3 (419). Finger cylinder 6 (418) is vertically positioned, with its top connected to peanut shell-kernel separating mold 4 (420). Finger cylinders 5 (417) and 6 (418) work together vertically to clamp the peanuts. This mechanism separates the peanut shells and kernels by extending and retracting the dual-axis cylinders and releasing the finger cylinders to clamp the peanut shells, ensuring the integrity of the peanut seeds.

[0055] By setting up a shell-breaking mechanism 3 and a shell-kernel separation mechanism 4, this mechanism can achieve the simultaneous operation of two processes: shell breaking of the peanut head and separation of peanut shell and kernel.

[0056] The working process of this invention, a peanut seed shelling device that mimics human hand operation, is as follows:

[0057] 1. Feeding and clamping: The operator or mechanized feeding device places the peanut with the pointed end of the peanut head facing upwards on the first peanut in the imitation peanut shell mold 203 driven by the two-claw finger cylinder 202. The two-claw finger cylinder 202 extends to drive the imitation peanut shell mold 203 to clamp. The two imitation peanut shell molds 203 come together to clamp the peanut. Adjust the direction of the pointed end of the peanut head to make the peanut vertically clamped and fixed.

[0058] 2. Shell Breaking: Rotary cylinder 301 drives linear module 305 to rotate to the work position. Servo motor 303 drives linear module 305 to descend to the position of the first peanut head for shell breaking. Finger cylinder 309 is driven to clamp and drive peanut head shell breaking mold 311 to complete the peanut head shell breaking. Servo motor 303 drives linear module 305 to rise. Two-claw finger cylinder 202 releases and rotary cylinder 301 rotates to a vertical 90° angle. Servo motor 303 drives linear module 305 forward to the position of shell kernel separation mechanism 4 on the left side of shell breaking mechanism 3. At the same time, peanuts are placed into the imitation peanut shell driven by two-claw finger cylinder 202 for the second peanut. Two-claw finger cylinder 202 clamps and imitation peanut shell mold 203 clamps on both sides. The position of the peanut head tip is adjusted to prepare for the second shell breaking operation.

[0059] 3. Shell and kernel separation and subsequent feeding operation: After the linear module 1 (305) rotates, the shell and kernel are separated. Simultaneously, dual-axis cylinders 1 (405) and 2 (406) extend. At the same time, finger cylinders 3 (407) and 4 (408) clamp the kernel, driving peanut shell and kernel separation molds 1 (409) and 2 (410) to clamp the two sides of the peanut's abdominal suture. After clamping, dual-axis cylinders 1 (405) and 2 (406) retract simultaneously, completing the peanut shell and kernel separation and ensuring the integrity of the peanut seed. While the shell and kernel are separating, the linear module 2 (305)... 06's finger cylinder 2 310 clamps and drives peanut head cracking mold 2 312 to complete peanut head cracking; servo motor 1 303 drives linear module 1 305 to retreat, while servo motor 2 304 drives linear module 2 306 to retreat, finger cylinder 3 407 and finger cylinder 408 release, rotary cylinder 301 rotates to 0° horizontal, servo motor 2 304 drives linear module 2 306 to advance to the right position of cracking mechanism 3, while continuing to place peanuts into the imitation peanut shell driven by two-claw finger cylinder 202, the third peanut. As the peanut is being prepared, two-claw cylinder 202 clamps it while dual-axis cylinders 3 (415) and 4 (416) extend. Servo motor 303 drives linear module 305 to descend to the peanut head where the shell is being broken. Simultaneously, finger cylinders 5 (417) and 6 (418) drive peanut shell-kernel separation molds 3 (419) and 4 (420) to clamp the peanut's ventral sutures. After clamping, dual-axis cylinders 3 (415) and 4 (416) retract simultaneously, completing the peanut shell-kernel separation and ensuring the peanut seed's integrity. Meanwhile, finger cylinder 309... The clamping and driving peanut head shell-breaking mold 311 completes the peanut head shell-breaking. Servo motor 2 304 drives linear module 2 306 to move backward, while servo motor 1 303 drives linear module 1 305 to move backward. Finger cylinder 5 417 and finger cylinder 6 418 are released. Rotary cylinder 301 rotates to a vertical 90° angle. Servo motor 1 303 drives linear module 1 305 to move forward to the left position of the shell-breaking mechanism 3. At the same time, peanuts are placed into the simulated peanut shell driven by the two-claw finger cylinder 202. The above operation process is repeated.

[0060] This solution can be applied to the peanut shelling pretreatment stage before peanut planting. It uses a mechanical operation method with cylinders and servo motors to complete the three processes of aligning the peanut with the ventral suture line, breaking the peanut head shell, and separating the peanut shell from the kernel. These three processes can replace manual shelling and seed saving operations, ensuring the integrity of the peanut seeds.

[0061] The above description is only a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent structural changes made based on the content of the present utility model specification and drawings are included within the scope of the present utility model.

Claims

1. A peanut seed shelling device mimicking human hand operation, comprising a profile frame (1), a posture adjustment mechanism (2), and a shell-breaking mechanism (3), wherein the profile frame (1) serves as the mounting base for the posture adjustment mechanism (2) and the shell-breaking mechanism (3), characterized in that: The posture adjustment mechanism (2) is provided with a two-claw finger cylinder (202) and a peanut shell mold (203). The two-claw finger cylinder (202) is vertically arranged, and its two claws at the top are respectively connected to one side of the peanut shell mold (203). The peanut shell mold (203) is provided with a cavity that accommodates the bottom of the peanut (204). The internal shape of the cavity matches the shape of the peanut (204). During the process of the two-claw finger cylinders (202) approaching and pushing each other, the bottom shell of the peanut (204) is rotated to a position that fits the cavity, thereby aligning the ventral seam of the peanut (204) with the seam of the two claws. The shell-breaking mechanism (3) is equipped with a shell-breaking finger cylinder. The shell-breaking finger cylinder is driven to approach or move away from the peanut shell mold (203) of the posture adjustment mechanism (2). The shell-breaking finger cylinder is connected to drive a pair of peanut head shell-breaking molds to approach or move away from each other along the joint direction of the two-claw finger cylinder (202), so that when the peanut head shell-breaking molds approach each other, they squeeze the abdominal seam of the peanut (204).

2. The human-hand-like peanut seed shelling device according to claim 1, characterized in that: The posture adjustment mechanism (2) is set above the profile frame (1), and a connecting plate (201) is connected above the profile frame (1). A two-claw finger cylinder (202) is set above the connecting plate (201).

3. The human-hand-like peanut seed shelling device according to claim 1, characterized in that: The aforementioned shell-breaking finger cylinder includes a first finger cylinder (309) and a second finger cylinder (310). The shell-breaking mechanism (3) includes a rotary cylinder (301), a second connecting plate (302), a first servo motor (303), a second servo motor (304), a first linear module (305), a second linear module (306), a third connecting plate (307), a fourth connecting plate (308), a first finger cylinder (309), a second finger cylinder (310), a first peanut head shell-breaking mold (311), and a second peanut head shell-breaking mold. Tool 2 (312); The shell-breaking mechanism (3) is mounted on the profile frame (1) via a rotary cylinder (301). The cylinder body of the rotary cylinder (301) is connected to the profile frame (1). The rotary cylinder (301) is connected to the drive connecting plate 2 (302). The connecting plate 2 (302) is L-shaped. The connecting plate 2 (302) is connected to the linear module 1 (305) and linear module 2 (306) which are perpendicular to each other. The servo motor 1 (303) drives the linear module 1 (305) and the servo motor 2 (306) 04) Drive linear module two (306), linear module one (305) connects to connecting plate three (307), linear module two (306) connects to connecting plate four (308), connecting plate three (307) connects to finger cylinder one (309), connecting plate four (308) connects to finger cylinder two (310), finger cylinder one (309) connects to peanut head shell-breaking mold one (311), finger cylinder two (310) connects to peanut head shell-breaking mold two (312); the above-mentioned rotary cylinder (301) Rotation causes linear module one (305) and linear module two (306) to work alternately. Servo motor one (303) causes linear module one (305) to lift and adjust the position of finger cylinder one (309), and servo motor two (304) causes linear module two (306) to lift and adjust the position of finger cylinder two (310). The extension and retraction of finger cylinder one (309) and finger cylinder two (310) respectively cause peanut head shelling mold one (311) and peanut head shelling mold two (312) to work to crack the peanut head.

4. The human-hand-like peanut seed shelling device according to claim 1, characterized in that: The profile frame (1) is provided with a posture adjustment mechanism (2) and a shell breaking mechanism (3) on each side.

5. The human-hand-like peanut seed shelling device according to claim 3, characterized in that: The shell-breaking mechanism (3) is symmetrically provided with shell-in-kernel separation mechanisms (4) on both sides, namely the shell-in-kernel separation mechanism on the left and the shell-in-kernel separation mechanism on the right. The shell-in-kernel separation mechanism (4) on each side has the same structure. The shell-in-kernel separation mechanism on the left works in conjunction with the linear module two (306). The shell-in-kernel separation mechanism on the left is provided with finger cylinder three (407) and finger cylinder four (408) arranged vertically at intervals. The dual-axis cylinder one (405) drives the finger cylinder three (407), and the dual-axis cylinder two (406) drives the finger cylinder four. (408) Make finger cylinder three (407) and finger cylinder four (408) approach or move away from peanut (204); finger cylinder three (407) clamps the outer surface of the peanut (204) above the ventral suture line; finger cylinder four (408) clamps the outer surface of the peanut (204) below the ventral suture line; when the dual-axis cylinder one (405) and dual-axis cylinder two (406) retract, the peanut (204) shell separates, and during the retraction process, finger cylinder three (407) and finger cylinder four (408) are in the state of clamping peanut shell.

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