A citrus fruit peeling device and a peeling production line thereof

Abstract

The utility model discloses a kind of citrus fruit peeling device and its peeling production line, peeling device includes sleeve, driving mechanism, cutting clamp synchronous mechanism, positioning clamp jaw and cutting knife;Cutting clamp synchronous mechanism is retractably arranged in sleeve;Cutting clamp synchronous mechanism is by vertical push rod, guide sliding block, fixed link, horizontal slide bar and synchronous link and sleeve construction form plane six-bar mechanism, positioning clamp jaw is set on guide sliding block, cutting knife is set on horizontal slide bar;The peeling device is realized by from outside to middle clamping and cutting action, can adapt to the processing citrus of various fruit shapes, and realize near knife clamping peeling from citrus peel outside by six-bar mechanism synchronous drive cutting clamp action, cutting is accurate and kerf quality is high, flesh damage is small, and cutting depth control is easily realized;The production line is combined with peeling device configuration automatic feeding, clamping, peeling and meat taking operation, production efficiency is high, and it is easy to obtain quality stable, standard unified peel to make citrus peel.

Description

Technical Field

[0001] This utility model relates to the field of fruit processing technology, specifically to a citrus fruit peeling device and its peeling production line. Background Technology

[0002] Dried tangerine peel (Chenpi) is a common Chinese medicinal herb with high medicinal value. Its processing is a crucial step in the preparation of Chinese medicine, affecting its efficacy and quality. The cutting of the whole tangerine peel is particularly important, and its traditional production relies mainly on manual labor. Traditional manual tangerine peel cutting includes two methods: the three-cut front method and the three-cut back method. The process involves first placing the fruit with the stem facing upwards, then making three even cuts in opposite directions from the top of the fruit towards the stem or shoulder, leaving the stem or shoulder connected, and then peeling the three segments. The three-cut method produces tangerine peel with three evenly distributed segments and a larger surface area of ​​curl, making it easier to maintain the integrity of the peel during later processing and drying, thus facilitating consumption and preservation. However, traditional manual cutting is inefficient and results in inconsistent quality.

[0003] With the development of automation, some automatic fruit peel cutting devices have emerged. For example, CN112826103A discloses a peeling device for processing dried tangerine peel, which uses a crushing blade inserted into the inside of the tangerine and rotating to crush the pulp, thereby achieving separation of peel and pulp. Another example is CN105029652A, a fully automatic tangerine peeling machine, which uses a drive plate to press and fix the tangerine, and then a three-pronged cutter moves down to cut the peel. However, the above technologies all damage the pulp during the peel and pulp separation operation, making it impossible to guarantee clean separation of the pulp. Moreover, the clamping and cutting operations are two sequential actions that require different drives, resulting in a longer production cycle, the citrus cutting efficiency still needs to be improved, and the equipment cost is high.

[0004] Therefore, this utility model provides a citrus fruit peeling device and its peeling production line, which can simultaneously clamp and cut citrus fruits. At the same time, it adopts fixed-depth cutting, which minimizes damage to the fruit pulp and makes it easy to extract the pulp and achieve complete separation of the fruit pulp. Utility Model Content

[0005] The purpose of this invention is to overcome the defects of the prior art and provide a citrus fruit peeling device and its peeling production line to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows:

[0007] A citrus fruit peeling device includes a sleeve, a drive mechanism, a cutting clamp synchronization mechanism, positioning jaws, and a cutting blade; wherein,

[0008] The sleeve serves as the base, and the cutting clamp synchronization mechanism is telescopically installed inside the sleeve;

[0009] The cutting clamping synchronization mechanism is a planar six-bar linkage consisting of a vertical push rod, a guide slider, a fixed connecting rod, a horizontal sliding rod, and a synchronization connecting rod, all connected to a sleeve. The vertical push rod is guided by the sleeve and driven to move vertically upwards and downwards by a drive mechanism. The guide slider is connected to the vertical push rod and can slide horizontally. The fixed connecting rod is pinned to the guide slider and the sleeve at both ends. The horizontal sliding rod is guided to slide horizontally by the sleeve. The synchronization connecting rod is pinned to the horizontal sliding rod and the guide slider at both ends.

[0010] The positioning gripper is mounted on the guide slider to synchronize the composite motion of the guide slider to form a clamping action;

[0011] The cutter is mounted on a horizontal slide bar and is used to synchronize the horizontal movement of the slide bar to form a cutting action.

[0012] In an exemplary embodiment of this disclosure, N cutting clamp synchronization mechanisms are provided inside the sleeve, where N ≥ 3. The N cutting clamp synchronization mechanisms are arranged in a circular array along the center of the sleeve and share the same vertical push rod. The vertical push rod is arranged along the central axis of the sleeve, and a horizontal guide frame is provided at its lower end. The horizontal guide frame includes a guide ring and a guide support rod. The guide ring is coaxial with the vertical push rod, and the guide support rod is adapted to the number of cutting clamp synchronization mechanisms. It is arranged horizontally in the radial direction and connects the guide ring and the vertical push rod. The guide slider can be slidably sleeved on the guide support rod.

[0013] In one exemplary embodiment of this disclosure, the driving mechanism is a power push rod, which is fixedly connected to the center of the upper end of the sleeve. The end of the power push rod extends into the sleeve and connects to a vertical push rod. A vertical guide hole is provided at the center of the sleeve to guide the vertical sliding of the vertical push rod. N mounting blocks are evenly arranged in a ring at the lower end of the sleeve. A horizontal guide hole is provided through the mounting block. A horizontal slide rod passes through the horizontal guide hole and can slide horizontally. A pin connecting lug is also provided on the mounting block for pin connecting and fixing the connecting rod. The pin connecting lug is located above the horizontal guide hole.

[0014] In an exemplary embodiment of this disclosure, the positioning gripper consists of two parallel gripper bodies. The gripping surface of the gripper body is a contoured arc surface. The gripper body is connected to the guide slider via an L-shaped rod and extends into the gripping area below the horizontal guide frame. In the initial state, the center distance between the positioning grippers is greater than the center distance between the cutter, and the two gripper bodies are located on both sides of the cutter.

[0015] In one exemplary embodiment of this disclosure, the cutter is vertically arranged and located at the end of a horizontal slide bar; the cutting edge of the cutter is located on its inner edge, the upper section of the cutting edge is a contoured arc, the lower section of the cutting edge is an oblique line, and the radial length of the upper section of the cutting edge is less than the radial length of the lower section of the cutting edge.

[0016] In one exemplary embodiment of this disclosure, the angle between the lower cutting edge and the horizontal direction is 40° to 70°.

[0017] A citrus fruit peeling production line is configured with M citrus fruit peeling devices, each including a conveyor belt, a transfer mechanism, an intermittent drive mechanism, a lifting mechanism, and a pulping mechanism. The number of the transfer mechanism, intermittent drive mechanism, and pulping mechanism is adapted to the number of peeling devices, M≥1. The lifting mechanism synchronously drives the M peeling devices to rise and fall. The transfer mechanism is driven to rotate intermittently by the intermittent drive mechanism. At least three transfer stations are evenly arranged in a ring on the transfer mechanism. Each transfer station is equipped with a positioning structure. Each transfer station includes at least a loading station, a peeling and pulping station, and a unloading station. The loading station is located directly below the unloading area at the end of the conveyor belt. The peeling devices are located directly above the peeling and pulping stations, and the pulping mechanism is located directly below the peeling and pulping stations.

[0018] In one exemplary embodiment of this disclosure, the positioning structure includes a positioning disk and positioning posts. There are N positioning posts, which are evenly arranged in a ring on the positioning disk. The positioning grippers perform clamping movements in the gap between two adjacent positioning posts.

[0019] In one exemplary embodiment of this disclosure, a meat-removing hole is provided in the middle of the positioning disk, and the meat-removing mechanism includes a meat-removing push rod and a meat-removing lifting mechanism. The meat-removing push rod is driven by the meat-removing lifting mechanism, passes through the meat-removing hole and extends into the positioning structure. The end of the meat-removing push rod is provided with N flexible peeling blades in a ring array, and the N flexible peeling blades surround to form a meat-removing area in the middle that can be flexibly expanded. A clearance gap is provided between the flexible peeling blades to allow the cutting blade to pass during peeling.

[0020] Compared with the prior art, the citrus fruit peeling device and its peeling production line of this utility model have the following beneficial effects:

[0021] The peeling device clamps and cuts from the outside in, adapting to the processing of various types of citrus fruits. It uses a six-bar mechanism to synchronously drive the cutting and clamping action, achieving close-range blade clamping and peeling from the outside of the citrus peel. The cutting is precise, the cut quality is high, the damage to the pulp is minimal, and the cutting depth is easy to control. Multiple blades evenly cut the peel to form multiple non-intersecting cuts at the top, simulating the traditional three-cut method to obtain a highly intact peel, which is beneficial for later drying, consumption, and preservation.

[0022] The peeling production line, combined with the peeling device, features automatic feeding, clamping, peeling, and pulp extraction operations. It boasts high production efficiency and easily yields fruit peels of stable quality and uniform standards for citrus peel processing. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the peeling production line designed for this project;

[0024] Figure 2 This is a three-dimensional structural diagram of the skin-cutting device designed for this purpose;

[0025] Figure 3This is a three-dimensional structural diagram of the skin-cutting device designed for this purpose;

[0026] Figure 4 A cross-sectional structural diagram of the skin-cutting device designed in this paper;

[0027] Figure 5 A schematic diagram of the internal assembly structure of the skin-cutting device designed in this paper;

[0028] Figure 6 Here is a simplified structural diagram of the skin-cutting device designed for this purpose;

[0029] Figure 7 A vector diagram showing the speed of the skin-cutting device designed for this project.

[0030] In the diagram: 100, conveyor belt; 200, lifting mechanism; 300, skinning device; 310, sleeve; 311, mounting block; 312, vertical guide frame; 320, cutting clamp synchronization mechanism; 321, vertical push rod; 322, guide slider; 323, fixed connecting rod; 324, horizontal sliding rod; 325, synchronization connecting rod; 326, horizontal guide frame; 327, guide support rod; 330, positioning gripper; 340, cutter; 400, transfer mechanism; 500, intermittent drive mechanism; 600, meat extraction mechanism; 610, flexible peeling.

[0031] 1. Component One; 2. Component Two; 3. Component Three; 4. Component Four; 5. Component Five. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only the preferred embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0033] In this document, the term "embodiment" means that a specific method, step, or content described in connection with an embodiment may be included in at least one embodiment of this invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] This example embodiment provides a citrus fruit peeling device that can perform cutting while holding the fruit, such as... Figures 2-4 As shown, it includes a sleeve 310, a drive mechanism, a cutting clamp synchronization mechanism 320, a positioning jaw 330, and a cutting blade 340; wherein,

[0035] The sleeve 310 serves as a supporting base for mounting the cutting clamp synchronization mechanism 320. The cutting clamp synchronization mechanism 320 can extend out from the sleeve 310 for clamping and can be retracted for storage.

[0036] The cutting clamp synchronization mechanism 320 adopts a six-bar mechanism with a sinusoidal mechanism connected in series with a secondary RRP linkage, which includes three sliding joints and three revolute joints, such as... Figures 3-4 As shown, specifically, the cutting and clamping synchronization mechanism 320 is formed by a vertical push rod 321, a guide slider 322, a fixed connecting rod 323, a horizontal sliding rod 324, and a synchronization connecting rod 325, together with a sleeve 310. The driving mechanism drives the vertical push rod 321 to move vertically up and down. The vertical push rod 321 is guided by the sleeve 310 to slide vertically, forming a vertical sliding pair D. The guide slider 322 is connected to the vertical push rod 321 and can slide horizontally, forming a first horizontal sliding pair C. One end of the fixed connecting rod 323 is pinned to the sleeve 310, forming a revolute pair B, and the other end is pinned to the guide slider 322. The vertical push rod 321, the guide slider 322, and the fixed connecting rod 323 form a sinusoidal mechanism. The guide slider 322 outputs a combined horizontal movement and a synchronized vertical movement of the vertical push rod 321.

[0037] The positioning gripper 330 is mounted on the guide slider 322, and its synchronous movement with the guide slider 322 forms a combined downward and inward gripping action.

[0038] The horizontal slide bar 324 and the synchronous connecting rod 325 form an RRP two-stage linkage. Both have a revolute joint A. They are connected in series with the guide slider 322 through the pin of the synchronous connecting rod 325 to form a six-bar linkage. Under the combined motion drive of the guide slider 322, the horizontal slide bar 324 is guided to slide horizontally by the sleeve 310.

[0039] The cutter 340 is located at the inner end of the horizontal slide bar 324, and its synchronous horizontal movement with the horizontal slide bar 324 forms a radial cutting action;

[0040] To more clearly demonstrate the working principle of this example embodiment, the following is adopted: Figure 5 The simplified structural diagram shown represents the cutting and clamping synchronization mechanism 320. The input speed of component 1 (corresponding to the vertical push rod 321) is V1, where V1 = V c1, The combined velocity V of guide slider 322 c2 Perform speed analysis on it, such as Figure 6 As shown:

[0041]

[0042] Then, the cutting speed V2 is calculated, i.e. Figure 5 and Figure 6 The V shown A4 :

[0043]

[0044] The relationship between V1 and V2 can be determined using trigonometric relations: θ and θ are the angles between the synchronous link 325 and the fixed link 323 and the vertical direction, respectively;

[0045] The structural dimensions of the cutting and clamping synchronization mechanism 320 were designed. To achieve a cutting stroke of 10-20mm, the horizontal distance between the rotary joint B and the prismatic joint D is 88mm, the length of the synchronizing link 323 is 40mm, and the length of the fixed link 325 is 32mm. The cutting and clamping synchronization mechanism 320 with this structural dimension design was simulated and analyzed. According to the simulation of the cutting speed (V2) and cutting acceleration of the cutter 340, it was found that both the cutting speed and cutting acceleration enter a stable operation after 0.1s and continue until the end of the processing cycle. According to the simulation of the clamping speed of component 2, the clamping speed of the guide slider 322 in both the horizontal and vertical directions is fast at first and then slows down. The positioning jaw 330 quickly reaches the position of the citrus and assists in clamping the citrus, preparing for the subsequent cutting of the citrus peel. This six-bar mechanism meets the processing technical requirements for clamping and peeling.

[0046] This example embodiment employs N simultaneous cutting and clamping mechanisms 320 that move synchronously towards the center to clamp and cut, where N≥3. Inheriting the traditional three-blade method for producing citrus peel, this embodiment preferably arranges three simultaneous cutting and clamping mechanisms 320 in a circular array along the center of the sleeve 310. All three share the same vertical push rod 321. The vertical thrust of the vertical push rod 321 is provided by a drive mechanism, which can be a hydraulic, electric, or pneumatic push rod, connected to the upper end of the vertical push rod 321 via a coupling. A vertical guide frame 312 is provided inside the sleeve 310, with a vertical guide hole along the central axis of the sleeve 310 at its center for guiding the vertical push rod 321. A horizontal guide frame 326 is fixed to the lower end of the vertical push rod 321. Figure 4 As shown, the horizontal guide frame 326 includes a guide ring and guide rods 327. The guide ring is larger than the vertical push rod 321. It is connected to the vertical push rod 321 through three radially arranged guide rods 327 to synchronously drive three guide sliders 322. The guide sliders 322 are slidably sleeved on the guide rods 327.

[0047] For ease of assembly, the lower end face of the sleeve 310 can be vertically penetrated by N mounting holes on the inner and outer circumferential surfaces for inserting N mounting blocks 311 evenly arranged in a ring. The mounting blocks 311 are provided with horizontal guide holes, and the horizontal slide rod 324 cooperates with the horizontal guide holes, passing through the horizontal guide holes and sliding horizontally. The mounting blocks 311 are also provided with pin connecting ears for pin connecting and fixing the connecting rod 323. The pin connecting ears are located above the horizontal guide holes. After the cutting clamp synchronization mechanism 320 and the mounting blocks 311 are assembled, the mounting holes of the sleeve 310 are inserted and fixed, and the connection is made through the coupling drive mechanism and the vertical push rod 321.

[0048] In one exemplary embodiment of this disclosure, in order to better grip the citrus fruit and provide support for peeling, the positioning gripper 330 consists of two parallel gripper bodies, such as... Figure 4 As shown, the gripping surface of the gripper body has a contoured arc surface, and under the combined movement of the guide slider 322, it can grip citrus fruits of any diameter. The gripper body is connected to the guide slider 322 through an L-shaped rod, so that the gripper body extends into the gripping area below the horizontal guide frame 326. According to displacement analysis, the horizontal displacement of the horizontal slider 324 is greater than the horizontal displacement of the guide slider 322. Therefore, in the initial state, the positioning gripper 330 should be located directly in front of and above the cutter 340, with a small center distance. Under synchronous drive, the positioning gripper 330 will first move to the position of the citrus fruit to form a grip, and then the cutter 340 with a larger center distance will cut. The two gripper bodies are located on both sides of the cutter 340, with a cutting interval between them. The cutter 340 enters through this cutting interval to achieve close-to-the-blade gripping and cutting.

[0049] This example embodiment simulates the traditional three-blade method for cutting fruit peel, with the cutting blade 340 located at the end of the horizontal slide bar 324 and vertically positioned; referring again... Figure 3 and Figure 4 Three cutting blades 340 are arranged vertically in a ring, with their blades located on the inner edge of the blades 340. The upper section of the blade is a contoured arc, used to cut the shoulder of the citrus fruit, while the lower section is a diagonal line, used to cut the sloping top of the citrus fruit. In order to reserve a connecting area at the top of the citrus fruit while it is being held, the radial length of the upper section of the blade is less than that of the lower section. Thus, when the lower blade completes the cutting, there is a gap between the ends of the upper blades, forming three cutting blades with intersecting lower ends but no intersection at the upper ends. Depending on the shape of the citrus fruit in different regions, the angle between the lower section of the blade and the horizontal direction is 40° to 70°.

[0050] Understandably, in order to better carry out high-quality batch cutting, citrus fruits can be sorted by diameter before cutting. The drive mechanism outputs different downward displacements according to different fruit diameters, thereby achieving precise control of the cutting infeed, satisfying the requirement of complete cutting while reducing damage to the pulp, which is conducive to the subsequent complete pulping operation.

[0051] This example embodiment also provides a citrus fruit peeling production line, such as Figure 1 As shown, the production line can be set up with M peeling and fleshing stations at the same time, M≥1, and the above-mentioned citrus fruit peeling device 300 is configured on the peeling and fleshing station;

[0052] Specifically, the peeling production line includes a conveyor belt 100, a transfer mechanism 400, an intermittent drive mechanism 500, a lifting mechanism 200, and a pulping mechanism 600; M transfer mechanisms 400 can be set at the end of the conveyor belt 100, and the conveyor belt 100 is used to guide and limit the conveying of citrus fruits. M transport tracks are formed on the conveyor belt 100, so that only one citrus fruit is dropped from the end of one transport track at a time.

[0053] The transfer mechanism 400 is driven by the intermittent drive mechanism 500 to intermittently rotate and switch workstations. The intermittent drive mechanism 500 can be a grooved wheel dial mechanism. The transfer mechanism 400 has three transfer workstations evenly arranged in a ring, namely the loading workstation, the peeling and meat-removing workstation, and the unloading workstation. Each transfer workstation is equipped with a positioning structure, which includes a positioning plate and positioning pins. The positioning plate has a meat-removing hole in the center. There are N positioning pins evenly arranged in a ring on the positioning plate. The gap between the positioning pins must not only block the citrus fruits, but also allow the positioning gripper 330 to pass through and clamp them.

[0054] The skinning device 300 is located directly above the skinning and meat-removing station, and there is a corresponding relationship between its positioning gripper 330, positioning post and flexible peeling piece 610 of the meat-removing push rod to meet the coordination of the gripping action and the meat-removing action; M skinning devices 300 can use the same lifting mechanism 200 to achieve synchronous production cycle. The lifting mechanism 200 can be a gear and rack mechanism, with the sleeve 310 fixedly connected to the rack. Under the drive of the lifting mechanism 200, they synchronously descend and approach the upper end of the positioning post of the skinning and meat-removing station;

[0055] After peeling is completed, the peeling device 300 holds the citrus fruit in a clamping state, while the pulping mechanism 600, located directly below the peeling and pulping station, performs real-time pulping operations; Figure 1 and Figure 7 As shown, the meat-removing mechanism 600 includes a meat-removing push rod and a meat-removing lifting mechanism 200. The meat-removing push rod is driven by the meat-removing lifting mechanism 200 to extend from the meat-removing hole into the positioning area of ​​the positioning structure. The end of the meat-removing push rod is provided with N flexible peeling blades 610 arranged in a ring array. (Refer to...) Figure 7The flexible peeling blade 610 has radial deformation freedom. N flexible peeling blades 610 surround a central flesh-removing area that can be flexibly expanded. There are clearance gaps between the flexible peeling blades 610 to allow the cutting blade 340 to pass during peeling. Under the gripping of the claw body, the front end of the flexible peeling blade 610 inserts into the flesh and peel through the bottom opening of the citrus. After being flexibly deformed under force, it peels along the flesh and peel. The top of the flexible peeling blade 610 is transitioned by an arc-shaped surface. Under the guidance and upward push of the arc-shaped surface, it simulates the action of manual peeling to achieve low-damage separation of the flesh. The flesh-removing push rod continues to rise, pushing the peel upward until it is completely peeled off. The flesh is successfully separated and falls into the flesh-removing area in the center of the flesh-removing push rod. The flesh-removing push rod moves downward to remove the flesh. At the same time, the peeling device 300 releases the grip and rises, and the peel is unloaded from the unloading station.

[0056] The directional or locative words such as "up," "down," "end," "side," "inside," and "outside" mentioned in this article are based on... Figures 1-4 and Figure 7 The coordinates or orientations shown are not intended to limit the indicated devices, elements, or components to having a specific orientation or to be constructed and operated in a specific orientation.

[0057] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the terms "above" and "inside" may also be used in certain situations to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0058] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for peeling citrus fruits, characterized in that: It includes a sleeve, a drive mechanism, a cutting clamp synchronization mechanism, positioning jaws, and a cutting blade; among which, The sleeve serves as the base, and the cutting and clamping synchronization mechanism is telescopically disposed within the sleeve; The cutting clamping synchronization mechanism is a planar six-bar linkage consisting of a vertical push rod, a guide slider, a fixed connecting rod, a horizontal sliding rod, and a synchronization connecting rod, together with the sleeve. The vertical push rod is guided by the sleeve and driven to move vertically upwards and downwards by a drive mechanism. The guide slider is connected to the vertical push rod and can slide horizontally relative to it. The fixed connecting rod is pinned to the guide slider and the sleeve at both ends. The horizontal sliding rod is guided to slide horizontally by the sleeve. The synchronization connecting rod is pinned to the horizontal sliding rod and the guide slider at both ends. The positioning gripper is disposed on the guide slider and is used to synchronize the compound motion of the guide slider to form a clamping action; The cutter is mounted on the horizontal slide bar and is used to synchronize the horizontal movement of the horizontal slide bar to form a cutting action.

2. The citrus fruit peeling device according to claim 1, characterized in that: The sleeve contains N cutting clamp synchronization mechanisms, where N ≥ 3. These N mechanisms are arranged in a circular array around the center of the sleeve and share the same vertical push rod. The vertical push rod is arranged along the central axis of the sleeve, and its lower end is provided with a horizontal guide frame. The horizontal guide frame includes a guide ring and a guide support rod. The guide ring is coaxial with the vertical push rod, and the number of guide support rods corresponds to the number of cutting clamp synchronization mechanisms. All guide support rods are arranged radially horizontally and connect the guide ring and the vertical push rod. The guide slider is slidably sleeved on the guide support rod.

3. The citrus fruit peeling device according to claim 2, characterized in that: The driving mechanism is a power push rod, which is fixedly connected to the upper center of the sleeve. Its end extends into the sleeve and connects to the vertical push rod. The sleeve has a vertical guide hole at its center to guide the vertical sliding of the vertical push rod. N mounting blocks are evenly arranged in a ring at the lower end of the sleeve. A horizontal guide hole is opened through the mounting block. The horizontal slide rod passes through the horizontal guide hole and can slide horizontally. The mounting block is also provided with a pin connecting lug for pin connecting the fixed connecting rod. The pin connecting lug is located above the horizontal guide hole.

4. The citrus fruit peeling device according to claim 2, characterized in that: The positioning gripper consists of two parallel gripper bodies. The gripping surface of the gripper body is a contoured arc surface. The gripper body is connected to the guide slider through an L-shaped rod and extends into the gripping area below the horizontal guide frame. In the initial state, the center distance of the positioning gripper is greater than the center distance of the cutter, and the two gripper bodies are located on both sides of the corresponding cutter.

5. The citrus fruit peeling device according to claim 4, characterized in that: The cutter is vertically positioned and located at the end of the horizontal slide bar; the cutting edge of the cutter is located on its inner edge, the upper section of the cutting edge is a contoured arc, the lower section of the cutting edge is an oblique line, and the radial length of the upper section of the cutting edge is less than the radial length of the lower section of the cutting edge.

6. The citrus fruit peeling device according to claim 5, characterized in that: The angle between the lower cutting edge and the horizontal direction is 40° to 70°.

7. A citrus fruit peeling production line, equipped with M peeling devices as described in any one of claims 2 to 6, characterized in that: It includes a conveyor belt, a transfer mechanism, an intermittent drive mechanism, a lifting mechanism, and a meat-retrieving mechanism; the number of the transfer mechanism, the intermittent drive mechanism, and the meat-retrieving mechanism are all adapted to the number of the skinning devices, M≥1, and the lifting mechanism synchronously drives M skinning devices to rise and fall; the transfer mechanism is driven to rotate intermittently by the intermittent drive mechanism, and at least three transfer stations are evenly arranged in a ring on the transfer mechanism. The transfer station is equipped with a positioning structure, which includes at least a loading station, a skinning and meat-retrieving station, and a unloading station. The loading station is located directly below the end of the material dropping area of ​​the conveyor belt, the skinning device is located directly above the skinning and meat-retrieving station, and the meat-retrieving mechanism is located directly below the skinning and meat-retrieving station.

8. The citrus fruit peeling production line according to claim 7, characterized in that: The positioning structure includes a positioning disk and positioning posts. There are N positioning posts, which are evenly arranged in a ring on the positioning disk. The positioning grippers perform clamping movements in the gap between two adjacent positioning posts.

9. The citrus fruit peeling production line according to claim 7, characterized in that: The positioning plate has a meat-removing hole in the middle. The meat-removing mechanism includes a meat-removing push rod and a meat-removing lifting mechanism. The meat-removing push rod is driven by the meat-removing lifting mechanism, passes through the meat-removing hole, and extends into the positioning structure. The end of the meat-removing push rod is provided with N flexible peeling blades in a ring array. The N flexible peeling blades surround and form a meat-removing area in the middle that can be flexibly expanded. The flexible peeling blades are provided with clearance gaps to allow the cutter to move aside during peeling.

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