CN106182013B - The application method of dried orange peel robot - Google Patents
The application method of dried orange peel robot Download PDFInfo
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- CN106182013B CN106182013B CN201610712253.0A CN201610712253A CN106182013B CN 106182013 B CN106182013 B CN 106182013B CN 201610712253 A CN201610712253 A CN 201610712253A CN 106182013 B CN106182013 B CN 106182013B
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- orange peel
- orange
- manipulator
- peel
- intelligent holder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The application method of dried orange peel robot, dried orange peel robot include rotating-table apparatus, feed arrangement, manipulator and controller；Manipulator includes the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, third peeling machine hand, pulp manipulator, orange peel manipulator；Rotating-table apparatus includes turntable, rotary tray motor, rack and intelligent holder, feed arrangement includes hopper, top discharge door and bottom discharge door, controller is equipped with intelligence sensor and position sensor, during use, feed arrangement will be processed the mandarin orange on intelligent holder to intelligent holder, manipulator under mandarin orange；Its flow includes：Blanking → the first cutting line processing → Article 2 cutting line is processed → peels off the first valve orange peel → the second valve of stripping orange peel → stripping third valve orange peel → taking-up pulp → taking-up orange peel；So constantly recycle；It implements the cutting of mandarin orange orange peel, turn over valve, the processing that orange peel is detached with pulp, improve the efficiency of mandarin orange peeling.
Description
Technical field
The present invention relates to a kind of application method of orange peel process equipment, particularly a kind of dried orange peel robot of special stripping orange peel
Application method.
Background technology
A kind of Chinese medicine dried orange peel by the orange peel of mandarin orange dry it is old long after formed, especially Xinhui tangerine peel is world-famous；At present,
Every year newly can the mandarin orange harvest season, there is a large amount of mandarin orange to need to peel off its orange peel, three valves opened include the first valve, the
Two valves and third valve interconnect per valve, then dry orange peel and be used as Chinese medicine dried orange peel；Now, mandarin orange
Peeling method is：Two cutting lines are cut in the orange peel of mandarin orange using pocket knife, after orange peel cuts two cutting lines, then are inserted with finger
Enter the position between orange peel and pulp, orange peel is opened into out three petals, then pulp is taken out；Due to manually operated efficiency compared with
It is low, it is a kind of for shelling the application method of the dried orange peel robot of orange peel, have become the needs that people shell orange peel.
Invention content
The purpose of the present invention is overcoming the deficiencies of the prior art and provide a kind of application method of completely new dried orange peel robot,
For peeling off the orange peel of mandarin orange, the efficiency for peeling off orange peel is improved.
The technical solution adopted in the present invention is：Dried orange peel robot, include rotating-table apparatus, feed arrangement, manipulator with
And controller；Manipulator includes the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine
Tool hand, third peeling machine hand, pulp manipulator, orange peel manipulator；Feed arrangement is set on the top of rotating-table apparatus, the first cutting
Manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, third peeling machine hand, pulp manipulator
And orange peel manipulator is set around rotating-table apparatus；Rotating-table apparatus includes turntable, rotary tray motor, rack and intelligent holder,
Rotary tray motor is connect with rack, and the motor shaft of rotary tray motor is connect with turntable, and turntable is connect by bearing with rack, intelligent holder
It is installed on turntable；Feed arrangement includes hopper, top discharge door and bottom discharge door, and top discharge door is located on bottom discharge door
Side, intelligent holder are located at the lower section of bottom discharge door, and bottom discharge door is against intelligent holder, for mandarin orange to be put into intelligent holder；
First cutting manipulator is equipped with the first cutting wheel, and the second cutting manipulator is equipped with the second cutting wheel, and the first peeling machine hand is equipped with
First skull patch clamps, and the second peeling machine hand is clamped equipped with the second skull patch, and third peeling machine hand is clamped equipped with third skull patch, pulp machinery
Hand is equipped with pulp gripper, and orange peel manipulator is equipped with dried orange peel handgrip；Controller is equipped with intelligence sensor and position sensor, intelligence
Sensor is set on intelligent holder, and position sensor is set on manipulator；Controller by control line and rotating-table apparatus, feed arrangement,
First cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, third peeling machine hand, fruit
Meat manipulator, orange peel manipulator, intelligence sensor and position sensor connection；Intelligence sensor and position sensor are by intelligence
The controller that the position signal of energy holder and manipulator is transferred to, so that controller control machinery hand is to the mandarin orange on intelligent holder
Son is processed.
In order to be cut into the cutting line of three hexagonal angles each other in the orange peel of mandarin orange, three cutting lines include the first cutting
Line, the second cutting line and third cutting line；Then the orange peel that line positions are cut in three is peeled off into out three valve orange peels, then by mandarin orange
The pulp of son takes out；The application method of dried orange peel robot is：Controller controls feed arrangement, to intelligent holder, will to be controlled under mandarin orange
The intelligent holder of rotating-table apparatus drive enters each Working position of manipulator；Then it controls the first cutting manipulator and second cuts
It cuts manipulator and cutting processing is carried out to the orange peel of the mandarin orange on intelligent holder, three hexagonal angles each other are cut into the orange peel of mandarin orange
Cutting line；Then control the first peeling machine hand, the second peeling machine hand and third peeling machine hand will be on intelligent holder
The orange peel of mandarin orange peels off；Pulp manipulator is controlled to detach the pulp of mandarin orange on intelligent holder with orange peel again, the pulp of mandarin orange
It catches in pulp case, is finally grabbed orange peel in orange peel case using orange peel manipulator；The processing flow of dried orange peel robot includes：
Blanking → the first cutting line processing → Article 2 cutting line is processed → peels off the first valve orange peel → the second valve of stripping orange peel → stripping
Open third valve orange peel → taking-up pulp → taking-up orange peel；So constantly recycle.
For the degree of freedom of control machinery manual task, add according to blanking → the first cutting line processing → Article 2 cutting line
The first valve of work → stripping orange peel → the second valve of stripping orange peel → stripping third valve orange peel → taking-up pulp → taking-up orange peel flow
Spatial position and the needs of processing develop the operation track program of manipulator by controller；During work, pass through controller
Control machinery hand is moved by the operation track of setting.
The processing flow of the application method of dried orange peel robot is specifically：
Blanking：Controller controls feed arrangement that first mandarin orange is put on first on turntable intelligent holder；
First cutting line processing：After first mandarin orange is put into first intelligent holder, the intelligence of first intelligent holder
For sensor by its signal transmission to controller, controller control rotary tray motor drives turntable rotation；First intelligent holder follows
Turntable rotates, when first intelligent holder equipped with first mandarin orange turns to the Working position of the first cutting manipulator, control
Device processed control the first cutting manipulator using first mandarin orange of its first cutting wheel to first on intelligent holder orange peel into
Row cutting, first cutting line being made of the first cutting line and the second cutting line is cut into the orange peel of first mandarin orange, the
One cutting line and the second cutting line hexagonal angle each other；
Article 2 cutting line is processed：After first cutting line well cutting of first mandarin orange, controller control rotary tray motor
Turntable rotation is driven, first intelligent holder follows turntable to rotate, when first intelligent holder rotation equipped with first mandarin orange
To the second cutting manipulator Working position when, controller control the second cutting manipulator using its second cutting wheel to first
The orange peel of first mandarin orange on intelligent holder is cut, and Article 2 cutting line is cut into the orange peel of first mandarin orange；The
One cutting line, the second cutting line and Article 2 cutting line hexagonal angle each other；
Peel off the first valve orange peel：After the Article 2 cutting line well cutting of first mandarin orange, controller control rotary tray motor band
Turn disk rotates, and first intelligent holder follows turntable to rotate, when first intelligent holder equipped with first mandarin orange turns to
During the Working position of the first peeling machine hand, controller controls the first peeling machine hand to be clamped using its first skull patch by first intelligence
First valve orange peel of first mandarin orange on energy holder peels off；
Peel off the second valve orange peel：After first valve orange peel of first mandarin orange peels off, controller control rotary tray motor band turn
Disk rotates, and first intelligent holder follows turntable to rotate, when first intelligent holder equipped with first mandarin orange turns to second
During the Working position of peeling machine hand, controller is controlled the second peeling machine hand to be clamped using its second skull patch and presss from both sides first intelligence
Second valve orange peel of first mandarin orange on seat peels off；
Peel off third valve orange peel：After second valve orange peel of first mandarin orange peels off, controller control rotary tray motor band turn
Disk rotates, and first intelligent holder follows turntable to rotate, when first intelligent holder equipped with first mandarin orange turns to third
During the Working position of peeling machine hand, controller control third peeling machine hand is clamped using its third skull patch and presss from both sides first intelligence
The third valve orange peel of first mandarin orange on seat peels off；
Take out pulp：After the third valve orange peel of first mandarin orange peels off, controller control rotary tray motor drives turntable rotation,
First intelligent holder follows turntable to rotate, when first intelligent holder equipped with first mandarin orange turns to pulp manipulator
During Working position, controller control pulp manipulator utilizes its pulp gripper by first mandarin orange on first intelligent holder
Pulp is caught in pulp case；
Take out orange peel：After the pulp of first mandarin orange is caught in pulp case, controller control rotary tray motor drives turntable to turn
Dynamic, first intelligent holder follows turntable to rotate, when first intelligent holder equipped with first mandarin orange turns to orange peel machinery
During the Working position of hand, controller control orange peel manipulator utilizes its dried orange peel handgrip by first mandarin orange on first intelligent holder
The orange peel of son is caught in orange peel case；
After the orange peel of first mandarin orange on first intelligent holder is caught in orange peel case, controller control rotary tray motor band
Turn disk rotates, and first intelligent holder returns to the initial position below feed arrangement；So constantly recycle.
The beneficial effects of the invention are as follows：The application method of dried orange peel robot is implemented using controller and intelligence sensor
To the intelligent control of manipulator, implement the cutting of mandarin orange orange peel, turn over valve, the intelligent circulation that orange peel is detached with pulp is processed automatically,
Improve the processing efficiency of mandarin orange peeling.
Description of the drawings
Fig. 1 is the structure diagram of mandarin orange peeling machines people.
Specific embodiment
The present invention is further detailed below in conjunction with the accompanying drawings：
The structure diagram of mandarin orange peeling machines people as shown in Figure 1, dried orange peel robot include rotating-table apparatus 1, charging
Device 2, manipulator 3 and controller 4；Manipulator 3 includes the first cutting manipulator 5, the stripping of the second cutting manipulator 6, first
Skin manipulator 7, the second peeling machine hand 8, third peeling machine hand 9, pulp manipulator 10, orange peel manipulator 11；Feed arrangement 2
Set on the top of rotating-table apparatus 1, the first cutting manipulator 5, the second cutting manipulator 6, the first peeling machine hand 7, the second peeling
Manipulator 8, third peeling machine hand 9, pulp manipulator 10 and orange peel manipulator 11 are set around rotating-table apparatus 1；Turntable fills
It puts 1 and includes turntable 12, rotary tray motor 13, rack 14 and intelligent holder 15, rotary tray motor 13 and connect with rack 14, turntable is electric
The motor shaft of machine 13 is connect with turntable 12, and intelligent holder 15 is installed on turntable 12；Feed arrangement 2 include hopper 16, on go out
Bin gate 17 and bottom discharge door 18, hopper 16 are connect with rack 14, and top discharge door 17 is located at 18 top of bottom discharge door, intelligent holder
15 are located at the lower section of bottom discharge door 18, and bottom discharge door 18 is against intelligent holder 15, for mandarin orange to be put into intelligent holder 15；The
One cutting manipulator 5 is equipped with the first cutting wheel 19, and the second cutting manipulator 6 is equipped with the second cutting wheel 20, the first peeling machine hand 7
Equipped with the first skull patch pincers 21, the second peeling machine hand 8 is equipped with the second skull patch and clamps 22, and third peeling machine hand 9 is equipped with third skull patch
Pincers 23, pulp manipulator 10 are equipped with pulp gripper 24, and orange peel manipulator 11 is equipped with dried orange peel handgrip 25；Controller 4 is equipped with intelligence and passes
Sensor 26 and position sensor 27, intelligence sensor 26 are set on intelligent holder 15, and position sensor 27 is set on manipulator 3；Control
Device 4 processed passes through control line and rotating-table apparatus 1, feed arrangement 2, the first cutting manipulator 5, the second cutting manipulator 6, the first peeling
Manipulator 7, the second peeling machine hand 8, third peeling machine hand 9, pulp manipulator 10, orange peel manipulator 11, intelligence sensor
26 and position sensor 27 connect.
In order to be cut into the cutting line of three hexagonal angles each other in the orange peel of mandarin orange, three cutting lines include the first cutting
Line, the second cutting line and third cutting line；Then the orange peel that line positions are cut in three is peeled off into out three valve orange peels, then by mandarin orange
The pulp of son takes out；The application method of dried orange peel robot is：Controller 4 controls feed arrangement 2 that mandarin orange is arrived intelligent holder 51 times
15, control rotating-table apparatus 1 drives intelligent holder 15 into each Working position of manipulator 3；Then the first cutting mechanics are controlled
5 and second cutting manipulator 6 of hand carries out cutting processing to the orange peel of the mandarin orange 51 on intelligent holder 15；Control the first peeling machine
Tool hand 7, the second peeling machine hand 8 and third peeling machine hand 9 peel off the orange peel of mandarin orange 51 on intelligent holder 15；It controls again
Pulp manipulator 10 detaches the pulp of mandarin orange 51 on intelligent holder 15 with orange peel, and the pulp of mandarin orange 51 is caught pulp case 52
In, finally orange peel is grabbed in orange peel case 53 using orange peel manipulator 11；The processing flow of dried orange peel robot includes：Blanking →
First cutting line processing → Article 2 cutting line is processed → peels off the first valve orange peel → the second valve of stripping orange peel → stripping third
Valve orange peel → taking-up pulp → taking-up orange peel；So constantly recycle.
In order to control the first cutting manipulator 5, the second cutting manipulator 6, the first peeling machine hand 7, the second peeling machine
Hand 8, third peeling machine hand 9, pulp manipulator 10,11 operation of orange peel manipulator degree of freedom, cut according to blanking → the first
Secant processing → Article 2 cutting line is processed → peel off the first valve orange peel → the second valve of stripping orange peel → stripping third valve orange peel →
Pulp → spatial position of taking-up orange peel flow and the needs of processing are taken out, the first cutting manipulator is developed by controller
5th, the second cutting manipulator 6, the first peeling machine hand 7, the second peeling machine hand 8, third peeling machine hand 9, pulp manipulator
10th, the operation track program of orange peel manipulator 11；During work, the first cutting manipulator 5, the second cutting machine are controlled by controller
Tool hand 6, the first peeling machine hand 7, the second peeling machine hand 8, third peeling machine hand 9, pulp manipulator 10, orange peel manipulator
11 are moved by the operation track of setting.
The processing flow of the application method of dried orange peel robot is specifically：
Blanking：First intelligent holder that controller 4 controls feed arrangement 2 to be put into first mandarin orange 51 on turntable 12
On 15；
First cutting line processing：After first mandarin orange 51 is put into first intelligent holder 15, first intelligent holder 15
Intelligence sensor 26 by its signal transmission to controller 4, controller 4 controls rotary tray motor 13 that turntable 12 is driven to rotate；First
A intelligence holder 15 follows turntable 12 to rotate, when first intelligent holder 15 equipped with first mandarin orange 51 turns to the first cutting
During the Working position of manipulator 5, controller 4 controls the first cutting manipulator 5 using its first cutting wheel 19 to first intelligence
The orange peel of first mandarin orange 51 on holder 15 is cut, in the orange peel of first mandarin orange 51 be cut by the first cutting line with
First cutting line that second cutting line is formed；
Article 2 cutting line is processed：After first cutting line well cutting of first mandarin orange 51, controller 4 controls turntable electricity
Machine 13 drives turntable 12 to rotate, and first intelligent holder 15 follows turntable 12 to rotate, as first equipped with first mandarin orange 51
When intelligent holder 15 turns to the Working position of the second cutting manipulator 6, controller 4 controls the second cutting manipulator 6 to utilize it
The orange peel of first mandarin orange 51 of second cutting wheel 20 to first on intelligent holder 15 is cut, in first mandarin orange 51
Orange peel is cut into Article 2 cutting line；
Peel off the first valve orange peel：After the Article 2 cutting line well cutting of first mandarin orange 51, controller 4 controls rotary tray motor
13 drive turntables 12 rotate, and first intelligent holder 15 follows turntable 12 to rotate, when first intelligence equipped with first mandarin orange 51
Can holder 15 when turning to the Working position of the first peeling machine hand 7, controller 4 control the first peeling machine hand 7 using its
One skull patch pincers 21 peel off the first valve orange peel of first mandarin orange 51 on first intelligent holder 15；
Peel off the second valve orange peel：After first valve orange peel of first mandarin orange 51 peels off, controller 4 controls 13 band of rotary tray motor
Turn disk 12 rotates, and first intelligent holder 15 follows turntable 12 to rotate, when first intelligence folder equipped with first mandarin orange 51
Seat 15 is when turning to the Working position of the second peeling machine hand 8, and controller 4 controls the second peeling machine hand 8 second to be turned over using it
Skin pincers 22 peel off the second valve orange peel of first mandarin orange 51 on first intelligent holder 15；
Peel off third valve orange peel：After second valve orange peel of first mandarin orange 51 peels off, controller 4 controls 13 band of rotary tray motor
Turn disk 12 rotates, and first intelligent holder 15 follows turntable 12 to rotate, when first intelligence folder equipped with first mandarin orange 51
When seat 15 turns to the Working position of third peeling machine hand 9, controller 4 controls third peeling machine hand 9 to be turned over using its third
Skin pincers 23 peel off the third valve orange peel of first mandarin orange 51 on first intelligent holder 15；
Take out pulp：After the third valve orange peel of first mandarin orange 51 peels off, controller 4 controls rotary tray motor 13 to drive turntable
12 rotations, first intelligent holder 15 follow turntable 12 to rotate, when first intelligent 15 turns of holder equipped with first mandarin orange 51
When moving the Working position of pulp manipulator 10, controller 4 controls pulp manipulator 10 using its pulp gripper 24 by first
The pulp of first mandarin orange 51 on intelligent holder 15 is caught in pulp case 52；
Take out orange peel：After the pulp of first mandarin orange 51 is caught in pulp case 52, controller 4 controls rotary tray motor 13 to drive
Turntable 12 rotates, and first intelligent holder 15 follows turntable 12 to rotate, when first intelligent holder equipped with first mandarin orange 51
15 when turning to the Working position of orange peel manipulator 11, and controller 4 controls orange peel manipulator 11 using its dried orange peel handgrip 25 by the
The orange peel of first mandarin orange 51 on one intelligent holder 15 is caught in orange peel case 53；
After the orange peel of first mandarin orange 51 on first intelligent holder 15 is caught in orange peel case 53, the control of controller 4 turns
Coil motor 13 drives turntable 12 to rotate, and first intelligent holder 15 returns to the initial position below feed arrangement 2；So constantly follow
Ring.
The cycle of mandarin orange 51 is processed automatically in order to implement manipulator 3, intelligent holder 15 is equipped with multiple, first intelligence folder
The initial position of seat 15 is placed exactly in the lower discharge position of the bottom discharge door 18 of feed arrangement 2；Multiple intelligence holders 15, which are distributed in, to be turned
In the disk of 1 turntable of disk device, 21 same circumference, the distance between each intelligence holder 15 is equal, each two intelligence holder 15 with
The angle of 21 circle center line connecting of turntable is equal with the angle of 21 circle center line connecting of turntable with any two intelligence holder 15.
In order to be fallen under mandarin orange 51 on each intelligent holder 15, controller 4 controls the turntable 21 of rotating-table apparatus 1 to rotate
When, the angle that turntable 21 rotates every time is identical, and turntable 21 is after rotation stops every time, there are one intelligent holder 15 be placed exactly in into
Expect the lower discharge position of the bottom discharge door 18 of device 2, enable to fall in intelligent holder 15 under mandarin orange 51；Controller 4 controls turntable electricity
When machine 13 drives the rotation of turntable 12, the lower discharge position of bottom discharge door 18 that upper one intelligent holder 15 is moved to feed arrangement 2 is stopped
When only, controller 4 controls feed arrangement 2 that a upper mandarin orange 51 is put on the intelligent holder 15 of following upper one；Upper one
After intelligent holder 15 is put into mandarin orange 51, intelligence sensor 26 on a upper intelligent holder 15 by its signal transmission to controller 4,
Controller 4 controls rotary tray motor 13 that turntable 12 is driven to rotate, and a upper intelligence sensor 26 leaves the position below bottom discharge door 18
It puts, when the position that next intelligence sensor 26 enters below bottom discharge door 18 stops, the control control feed arrangement 2 of controller 4
Next mandarin orange 51 is put on following next intelligent holder 15；So constantly recycle.
Mandarin orange 51 is put into each intelligent holder 15 in order to implement cycle, when first intelligence equipped with first mandarin orange 51
When holder 15 turns to the Working position of the first cutting manipulator 5, second intelligent holder 15 on turntable 12 also follows turntable
12 turn to the lower discharge position of bottom discharge door 18；Controller 4 controls feed arrangement 2 that second mandarin orange 51 is put on turntable 12
Second intelligent holder 15 on；
When first intelligent holder 15 equipped with first mandarin orange 51 turns to the Working position of the second cutting manipulator 6
When, the intelligent holder 15 of third on turntable 12 also follows turntable 12 to turn to the lower discharge position of bottom discharge door 18；Controller 4 is controlled
On the intelligent holder 15 of third that third mandarin orange 51 is put on turntable 12 by feed arrangement 2 processed；
When first intelligent holder 15 equipped with first mandarin orange 51 turns to the Working position of the first peeling machine hand 7
When, the 4th intelligent holder 15 on turntable 12 also follows turntable 12 to turn to the lower discharge position of bottom discharge door 18；Controller 4 is controlled
4th mandarin orange 51 is put on the on turntable 12 the 4th intelligent holder 15 by feed arrangement 2 processed；
When first intelligent holder 15 equipped with first mandarin orange 51 turns to the Working position of the second peeling machine hand 8
When, the 5th intelligent holder 15 on turntable 12 also follows turntable 12 to turn to the lower discharge position of bottom discharge door 18；Controller 4 is controlled
5th mandarin orange 51 is put on the on turntable 12 the 5th intelligent holder 15 by feed arrangement 2 processed；
When first intelligent holder 15 equipped with first mandarin orange 51 turns to the Working position of third peeling machine hand 9
When, the 6th intelligent holder 15 on turntable 12 also follows turntable 12 to turn to the lower discharge position of bottom discharge door 18；Controller 4 is controlled
6th mandarin orange 51 is put on the on turntable 12 the 6th intelligent holder 15 by feed arrangement 2 processed；
When first intelligent holder 15 equipped with first mandarin orange 51 turns to the Working position of pulp manipulator 10, turn
The 7th on disk 12 intelligent holder 15 also follows turntable 12 to turn to the lower discharge position of bottom discharge door 18；Controller 4 control into
7th mandarin orange 51 is put on the on turntable 12 the 7th intelligent holder 15 by material device 2；
When first intelligent holder 15 equipped with first mandarin orange 51 turns to the Working position of orange peel manipulator 11, turn
The 8th on disk 12 intelligent holder 15 also follows turntable 12 to turn to the lower discharge position of bottom discharge door 18；Controller 4 control into
8th mandarin orange 51 is put on the on turntable 12 the 8th intelligent holder 15 by material device 2；
After the orange peel of first mandarin orange 51 on first intelligent holder 15 is caught in orange peel case 53, the control of controller 4 turns
Coil motor 13 drives turntable 12 to rotate, and first intelligent holder 15 returns to the initial position below feed arrangement 2；So constantly follow
Ring.
In order to utilize the position of 27 inspecting manipuator 3 of position sensor, the job area of control machinery hand 3, the first cutting
Manipulator 5, the second cutting manipulator 6, the first peeling machine hand 7, the second peeling machine hand 8, third peeling machine hand 9, pulp
Manipulator 10 and orange peel manipulator 11 are sequentially arranged in the side of turntable 12；Position sensor 27 includes first position biography
Sensor 28, second position sensor 29, the third place sensor 30, the 4th position sensor 31, the 5th position sensor 32,
Six position sensors 33 and the 7th position sensor 34；First position sensor 28 is set on the first cutting manipulator 5, second
Sensor 29 is put set on the second cutting manipulator 6, the third place sensor 30 is set on the first peeling machine hand 7, and the 4th position passes
Sensor 31 is set on the second peeling machine hand 8, and the 5th position sensor 32 is set on third peeling machine hand 9, the 6th position sensor
33 are set on pulp manipulator 10, and the 7th position sensor 34 is set on orange peel manipulator 11；Controller 4 passes through position control line and
One position sensor 28, second position sensor 29, the third place sensor 30, the 4th position sensor 31, the 5th position pass
Sensor 32, the 6th position sensor 33 and the 7th position sensor 34 connect, for detecting the first cutting manipulator 5, second
Cutting manipulator 6, the first peeling machine hand 7, the second peeling machine hand 8, third peeling machine hand 9, pulp manipulator 10 and
The position of orange peel manipulator 11.
In order to detect the mandarin orange 51 on intelligent holder 15, control machinery hand 3 is processed mandarin orange 51, and intelligent holder 15 wraps
First intelligent the 35, second intelligence of holder holder 36, the intelligent holder of the intelligent holder the 38, the 5th of third intelligence holder the 37, the 4th are included
39th, the 6th intelligent holder 42 of the intelligent intelligent holder 41 and the 8th of holder the 40, the 7th；Intelligence sensor 26 includes the first intelligence
Sensor 43, the second intelligence sensor 44, third intelligence sensor 45, the 4th intelligence sensor 46, the 5th intelligence sensor 47,
6th intelligence sensor 48, the 7th intelligence sensor 49 and the 8th intelligence sensor 50；First intelligence sensor 43 is set on the
One intelligent holder 35, the second intelligence sensor 44 are set on the second intelligent holder 36, and third intelligence sensor 45 is set on third intelligence
Holder 37, the 4th intelligence sensor 46 are set on the 4th intelligent holder 38, and the 5th intelligence sensor 47 is set on the 5th intelligent holder 39,
6th intelligence sensor 48 is set on the 6th intelligent holder 40, and the 7th intelligence sensor 49 is set on the 7th intelligent holder 41, the 8th intelligence
Energy sensor 50 is set on the 8th intelligent holder 42.
When controller 4 works, by manipulator 3, its location information is transferred to controller 4 to position sensor 27；Intelligence sensor
26 will detect that the information of mandarin orange 51 is transferred to controller 4 in intelligent holder 15, and the computer of controller 4 calculates manipulator 3 and makees
The flow of industry；When controller 4 controls the bottom discharge door 18 of feed arrangement 2 to open, the first intelligence folder is fallen under first mandarin orange 51
After on seat 35, by its signal transmission to controller 4, controller 4 controls the first intelligence sensor 43 on the first intelligent holder 35
Rotary tray motor 13 drives turntable 12 to rotate, and the second intelligent holder 36 follows turntable 12 to turn to the lower material position below bottom discharge door 18
It puts；Controller 4 controls feed arrangement 2 that will be fallen under second mandarin orange 51 on second intelligent holder 36, on the second intelligent holder 36
The second intelligence sensor 44 by its signal transmission to controller 4, controller 4 controls rotary tray motor 13 that turntable 12 is driven to rotate,
Third intelligence holder 37 follows turntable 12 to turn to the lower discharge position below bottom discharge door 18；Controller 4 controls feed arrangement 2 will
It is fallen under third mandarin orange 51 on third intelligence holder 37, the third intelligence sensor 45 on third intelligence holder 37 is by its signal
Controller 4 is transferred to, controller 4 controls rotary tray motor 13 that turntable 12 is driven to rotate, and the 4th intelligent holder 38 follows 12 turns of turntable
Move the lower discharge position below bottom discharge door 18；Controller 4 controls feed arrangement 2 that will fall on the 4th intelligence under the 4th mandarin orange 51
On holder 38, by its signal transmission to controller 4, the control of controller 4 turns the 4th intelligence sensor 46 on the 4th intelligent holder 38
Coil motor 13 drives turntable 12 to rotate, and the 5th intelligent holder 39 follows turntable 12 to turn to the lower material position below bottom discharge door 18
It puts；Controller 4 controls feed arrangement 2 that will be fallen under the 5th mandarin orange 51 on the 5th intelligent holder 39, on the 5th intelligent holder 39
The 5th intelligence sensor 47 by its signal transmission to controller 4, controller 4 controls rotary tray motor 13 that turntable 12 is driven to rotate,
6th intelligent holder 40 follows turntable 12 to turn to the lower discharge position below bottom discharge door 18；Controller 4 controls feed arrangement 2 will
It is fallen under 6th mandarin orange 51 on the 6th intelligent holder 40, the 6th intelligence sensor 48 on the 6th intelligent holder 40 is by its signal
Controller 4 is transferred to, controller 4 controls rotary tray motor 13 that turntable 12 is driven to rotate, and the 7th intelligent holder 41 follows 12 turns of turntable
Move the lower discharge position below bottom discharge door 18；Controller 4 controls feed arrangement 2 that will fall on the 7th intelligence under the 7th mandarin orange 51
On holder 41, by its signal transmission to controller 4, controller 4 controls the 7th intelligence sensor 49 on the 7th intelligent holder 41
Rotary tray motor 13 drives turntable 12 to rotate, and the 8th intelligent holder 42 follows turntable 12 to turn to the lower material position below bottom discharge door 18
It puts；Controller 4 controls feed arrangement 2 that will be fallen under the 8th mandarin orange 51 on the 8th intelligent holder 42, so constantly recycles.
The mandarin orange 51 in feed arrangement 2 is transferred on intelligent holder 15 in order to recycle, the top discharge door 17 of feed arrangement 2
Include brake application door motor 54 and upper lock gate 55, bottom discharge door 18 includes tail gates motor 56, tail gates 57 and lower lock
Door sensor 58；The engine base of brake application door motor 54 is fixedly connected with hopper 16, motor shaft and the upper lock gate 55 of brake application door motor 54
Connection, upper lock gate 55 and the dynamic mating connection of hopper 16；The engine base of tail gates motor 56 is fixedly connected with hopper 16, tail gates motor
56 motor shaft is connect with tail gates 57, tail gates 57 and the dynamic mating connection of hopper 16；Upper lock gate 55 is located at material with tail gates 57
On the blanking channel 59 of bucket 16, upper lock gate 55 is located at the top of tail gates 57, and tail gates sensor 58 is installed on hopper 16, under
Shutter sensor 58 is between upper lock gate 55 and tail gates 57；The original state of feed arrangement 2 is：The brake application of top discharge door 17
The tail gates 57 of door 55 and bottom discharge door 18 are closed.
During 2 blanking of feed arrangement, controller 4 controls brake application door motor 54 that upper lock gate 55 is driven to open, above upper lock gate 55
First mandarin orange 51 under fall on tail gates 57, the tail gates sensor 58 between upper lock gate 55 and tail gates 57 is by its information
Controller 4 is transferred to, controller 4 controls brake application door motor 54 that upper lock gate 55 is driven to close；After upper lock gate 55 is closed, controller 4
Control tail gates motor 56 drives tail gates 57 to open, and the is fallen under first between upper lock gate 55 and tail gates 57 mandarin orange 51
On one intelligent holder 15；After being fallen under first mandarin orange 51 on first intelligent holder 15, controller 4 controls tail gates motor
56 drive tail gates 57 are closed, and after tail gates 57 are closed, controller 4 controls brake application door motor 54 that upper lock gate 55 is driven to open, the
It is fallen on tail gates 57 under two mandarin oranges 51；So constantly recycle.
In order to which each mandarin orange 51 for implementing to drop to cycle using manipulator 3 intelligent holder 15 carries out cyclic process, the
Two cutting manipulators 6 are cut using the orange peel of first mandarin orange 51 of its second cutting wheel 20 to first on intelligent holder 15
While cutting, controller 4 control the first cutting manipulator 5 using its first cutting wheel 19 to second on intelligent holder 15 the
The orange peel of two mandarin oranges 51 is cut, and is cut into the orange peel of second mandarin orange 51 by the first cutting line and the second cutting line structure
Into first cutting line.
First peeling machine hand 7 clamps 21 by first mandarin orange 51 on first intelligent holder 15 using its first skull patch
While first valve orange peel peels off, controller 4 controls the second cutting manipulator 6 using its second cutting wheel 20 to second intelligence
The orange peel of second mandarin orange 51 on holder 15 is cut；Meanwhile controller 4 control the first cutting manipulator 5 using its
The orange peel of third mandarin orange 51 of one cutting wheel 19 to third on intelligent holder 15 is cut.
Second peeling machine hand 8 clamps 22 by first mandarin orange 51 on first intelligent holder 15 using its second skull patch
While second valve orange peel peels off, controller 4 controls the first peeling machine hand 7 to clamp 21 by second intelligence using its first skull patch
First valve orange peel of second mandarin orange 51 on holder 15 peels off；Meanwhile controller 4 controls the second cutting manipulator 6 to utilize it
The orange peel of third mandarin orange 51 of second cutting wheel 20 to third on intelligent holder 15 is cut；Meanwhile controller 4 controls
First cutting manipulator 5 is carried out using the orange peel of the 4th mandarin orange 51 of its first cutting wheel 19 to the 4th on intelligent holder 15
Cutting.
Third peeling machine hand 9 clamps 23 by first mandarin orange 51 on first intelligent holder 15 using its third skull patch
While third valve orange peel peels off, controller 4 controls the second peeling machine hand 8 to clamp 22 by second intelligence using its second skull patch
Second valve orange peel of second mandarin orange 51 on holder 15 peels off；Meanwhile controller 4 controls the first peeling machine hand 7 to utilize it
First skull patch pincers 21 peel off the first valve orange peel of the third mandarin orange 51 on the intelligent holder 15 of third；Meanwhile controller 4 is controlled
Make the second cutting manipulator 6 using four mandarin orange 51 of its second cutting wheel 20 to the 4th on intelligent holder 15 orange peel into
Row cutting；Meanwhile controller 4 controls the first cutting manipulator 5 using its first cutting wheel 19 on the 5th intelligence holder 15
The orange peel of the 5th mandarin orange 51 cut.
Pulp manipulator 10 utilizes its pulp gripper 24 by the pulp of first mandarin orange 51 on first intelligent holder 15
While catching pulp case 52, controller 4 controls third peeling machine hand 9 to press from both sides second intelligence using its third skull patch pincers 23
The third valve orange peel of second mandarin orange 51 on seat 15 peels off；Meanwhile controller 4 control the second peeling machine hand 8 using its
Two skull patch pincers 22 peel off the second valve orange peel of the third mandarin orange 51 on the intelligent holder 15 of third；Meanwhile controller 4 controls
First peeling machine hand 7 clamps 21 by the first valve mandarin orange of the 4th mandarin orange 51 on the 4th intelligent holder 15 using its first skull patch
Skin peels off；Meanwhile controller 4 controls the second cutting manipulator 6 using its second cutting wheel 20 on the 5th intelligence holder 15
The orange peel of the 5th mandarin orange 51 cut；Meanwhile controller 4 controls the first cutting manipulator 5 to utilize its first cutting wheel
The orange peel of the 6th mandarin orange 51 on 19 pairs the 6th intelligent holder 15 is cut.
Orange peel manipulator 11 utilizes its dried orange peel handgrip 25 by the dried orange peel of first mandarin orange 51 on first intelligent holder 15
While catching dried orange peel case 45, controller 4 controls pulp manipulator 10 to utilize its pulp gripper 24 by second intelligent holder 15
On the pulp of second mandarin orange 51 catch pulp case 52；Meanwhile controller 4 controls third peeling machine hand 9 to utilize its third
Skull patch pincers 23 peel off the third valve orange peel of the third mandarin orange 51 on the intelligent holder 15 of third；Meanwhile the control of controller 4 the
Two peeling machine hands 8 clamp 22 by the second valve orange peel of the 4th mandarin orange 51 on the 4th intelligent holder 15 using its second skull patch
It peels off；Meanwhile controller 4 controls the first peeling machine hand 7 will be on the 5th intelligent holder 15 using its first skull patch pincers 21
First valve orange peel of the 5th mandarin orange 51 peels off；Meanwhile controller 4 controls the second cutting manipulator 6 to utilize its second cutting wheel
The orange peel of the 6th mandarin orange 51 on 20 pairs the 6th intelligent holder 15 is cut；Meanwhile controller 4 controls the first cutting machine
Tool hand 5 is cut using the orange peel of the 7th mandarin orange 51 of its first cutting wheel 19 to the 7th on intelligent holder 15.
In order to which mandarin orange 51 is clamped on intelligent holder 15, intelligent holder 15 include left holder, folder motor, right holder with
And folder guide groove, the engine base, right holder and folder guide groove for pressing from both sides motor are fixedly connected with turntable 12, press from both sides the motor shaft of motor and left holder
Connection, guide rail and the folder guide groove of left holder move mating connection；Intelligence sensor 26 is installed on right holder；Motor is pressed from both sides to control by pressing from both sides
Line processed is connect with controller 4；After mandarin orange 51 enters intelligent holder 15, intelligence sensor 26 is by its signal transmission to controller 4, control
The control of device 4 folder motor processed drives left holder, and holder moves to the right, and mandarin orange 51 is clamped on intelligent holder 15.
In order to which the pulp of mandarin orange 51 is taken out, pulp manipulator 10 is equipped with pressure skin hand 60；Pulp manipulator 10 captures mandarin orange
During 51 pulp, controller 4 first controls intelligent 15 pine folder of holder, then using skin hand 60 is pressed to push down the orange peel of mandarin orange 51 in intelligence
On energy holder 15, pulp gripper 24 is recycled to catch the pulp of mandarin orange 51 in pulp case 52.
In order to be opened the dried orange peel of the first valve using the first skull patch pincers 21, the first peeling machine hand 7 is equipped with pivoted arm, and first turns over
Skin pincers 21 are equipped with epithelium pincers, hypodermis pincers, pincers axis, pincers motor and pincers transcutaneous sensor, and epithelium pincers and hypodermis pincers are hinged with pincers axis,
The engine base and pincers axis for clamping motor are fixedly connected with pivoted arm, and pincers transcutaneous sensor is clamped set on epithelium, clamp motor and pincers transcutaneous sensor
It is connect by clamping control line with controller 4；The structure of second peeling machine hand 8 and third peeling machine hand 9 and the first peeling
The structure of manipulator 7 is identical；When first peeling machine hand 7 opens the first valve orange peel using its first skull patch pincers 21, controller 4 is controlled
System pincers motor drives epithelium pincers and hypodermis pincers to vise orange peel, and after orange peel is vised, pincers transcutaneous sensor gives its signal transmission
Controller 4, controller 4 control the first peeling machine hand 7 to drive 21 movement of the first skull patch pincers, the first valve orange peel are opened.
Claims (8)
1. the application method of dried orange peel robot, dried orange peel robot, include rotating-table apparatus（1）, feed arrangement（2）, manipulator（3）
And controller（4）；Manipulator（3）Include the first cutting manipulator（5）, the second cutting manipulator（6）, the first peeling machine
Hand（7）, the second peeling machine hand（8）, third peeling machine hand（9）, pulp manipulator（10）, orange peel manipulator（11）；Turntable
Device（1）Include turntable（12）, rotary tray motor（13）, rack（14）And intelligent holder（15）, feed arrangement（2）Include
Hopper（16）, top discharge door（17）And bottom discharge door（18）；First cutting manipulator（5）Equipped with the first cutting wheel（19）, the
Two cutting manipulators（6）Equipped with the second cutting wheel（20）, the first peeling machine hand（7）It is clamped equipped with the first skull patch（21）, the second stripping
Skin manipulator（8）It is clamped equipped with the second skull patch（22）, third peeling machine hand（9）It is clamped equipped with third skull patch（23）, pulp manipulator
（10）Equipped with pulp gripper（24）, orange peel manipulator（11）Equipped with dried orange peel handgrip（25）；Controller（4）Equipped with intelligence sensor
（26）And position sensor（27）, intelligence sensor（26）Set on intelligent holder（15）, position sensor（27）Set on machinery
Hand（3）；It is characterized in that：The application method of the dried orange peel robot is：Controller（4）Control feed arrangement（2）By mandarin orange
（51）It is lower to arrive intelligent holder（15）, control rotating-table apparatus（1）Drive intelligent holder（15）Into manipulator（3）Each machining position
It puts；Then the first cutting manipulator is controlled（5）And second cutting manipulator（6）To intelligent holder（15）On mandarin orange（51）'s
Orange peel carries out cutting processing；Control the first peeling machine hand（7）, the second peeling machine hand（8）And third peeling machine hand（9）
By intelligent holder（15）Upper mandarin orange（51）Orange peel peel off；Pulp manipulator is controlled again（10）By intelligent holder（15）Upper mandarin orange
（51）Pulp detached with orange peel, mandarin orange（51）Pulp catch pulp case（52）In, finally utilize orange peel manipulator（11）
Orange peel is grabbed into orange peel case（53）In；The processing flow of the application method of dried orange peel robot includes：Blanking → the first is cut
Line processing → Article 2 cutting line is processed → peels off the first valve orange peel → stripping the second valve orange peel → stripping third valve orange peel → and takes
Go out pulp → taking-up orange peel；So constantly recycle.
2. the application method of dried orange peel robot according to claim 1, it is characterised in that：Second cutting manipulator
（6）Utilize its second cutting wheel（20）The intelligent holder to first（15）On first mandarin orange（51）Orange peel cut
Meanwhile controller（4）Control the first cutting manipulator（5）Utilize its first cutting wheel（19）The intelligent holder to second（15）On
Second mandarin orange（51）Orange peel cut, in second mandarin orange（51）Orange peel be cut by the first cutting line and second
First cutting line that cutting line is formed.
3. the application method of dried orange peel robot according to claim 1, it is characterised in that：The first peeling machine hand
（7）It is clamped using its first skull patch（21）By first intelligent holder（15）On first mandarin orange（51）The first valve orange peel peel off
While, controller（4）Control the second cutting manipulator（6）Utilize its second cutting wheel（20）The intelligent holder to second（15）
On second mandarin orange（51）Orange peel cut；Meanwhile controller（4）Control the first cutting manipulator（5）Using its
One cutting wheel（19）The intelligent holder to third（15）On third mandarin orange（51）Orange peel cut.
4. the application method of dried orange peel robot according to claim 1, it is characterised in that：The second peeling machine hand
（8）It is clamped using its second skull patch（22）By first intelligent holder（15）On first mandarin orange（51）The second valve orange peel peel off
While, controller（4）Control the first peeling machine hand（7）It is clamped using its first skull patch（21）By second intelligent holder（15）
On second mandarin orange（51）The first valve orange peel peel off；Meanwhile controller（4）Control the second cutting manipulator（6）Utilize it
Second cutting wheel（20）The intelligent holder to third（15）On third mandarin orange（51）Orange peel cut；Meanwhile it controls
Device（4）Control the first cutting manipulator（5）Utilize its first cutting wheel（19）The intelligent holder to the 4th（15）On the 4th
Mandarin orange（51）Orange peel cut.
5. the application method of dried orange peel robot according to claim 1, it is characterised in that：The third peeling machine hand
（9）It is clamped using its third skull patch（23）By first intelligent holder（15）On first mandarin orange（51）Third valve orange peel peel off
While, controller（4）Control the second peeling machine hand（8）It is clamped using its second skull patch（22）By second intelligent holder（15）
On second mandarin orange（51）The second valve orange peel peel off；Meanwhile controller（4）Control the first peeling machine hand（7）Utilize it
First skull patch clamps（21）By the intelligent holder of third（15）On third mandarin orange（51）The first valve orange peel peel off；Meanwhile it controls
Device processed（4）Control the second cutting manipulator（6）Utilize its second cutting wheel（20）The intelligent holder to the 4th（15）On the 4th
A mandarin orange（51）Orange peel cut；Meanwhile controller（4）Control the first cutting manipulator（5）Utilize its first cutting wheel
（19）The intelligent holder to the 5th（15）On the 5th mandarin orange（51）Orange peel cut.
6. the application method of dried orange peel robot according to claim 1, it is characterised in that：The pulp manipulator（10）
Utilize its pulp gripper（24）By first intelligent holder（15）On first mandarin orange（51）Pulp catch pulp case（52）
While, controller（4）Control third peeling machine hand（9）It is clamped using its third skull patch（23）By second intelligent holder（15）
On second mandarin orange（51）Third valve orange peel peel off；Meanwhile controller（4）Control the second peeling machine hand（8）Utilize it
Second skull patch clamps（22）By the intelligent holder of third（15）On third mandarin orange（51）The second valve orange peel peel off；Meanwhile it controls
Device processed（4）Control the first peeling machine hand（7）It is clamped using its first skull patch（21）By the 4th intelligent holder（15）On the 4th
A mandarin orange（51）The first valve orange peel peel off；Meanwhile controller（4）Control the second cutting manipulator（6）Utilize its second cutting
Wheel（20）The intelligent holder to the 5th（15）On the 5th mandarin orange（51）Orange peel cut；Meanwhile controller（4）Control
First cutting manipulator（5）Utilize its first cutting wheel（19）The intelligent holder to the 6th（15）On the 6th mandarin orange（51）'s
Orange peel is cut.
7. the application method of dried orange peel robot according to claim 1, it is characterised in that：The orange peel manipulator（11）
Utilize its dried orange peel handgrip（25）By first intelligent holder（15）On first mandarin orange（51）Dried orange peel catch dried orange peel case（45）
While, controller（4）Control pulp manipulator（10）Utilize its pulp gripper（24）By second intelligent holder（15）On
Second mandarin orange（51）Pulp catch pulp case（52）；Meanwhile controller（4）Control third peeling machine hand（9）Utilize it
Third skull patch clamps（23）By the intelligent holder of third（15）On third mandarin orange（51）Third valve orange peel peel off；Meanwhile it controls
Device processed（4）Control the second peeling machine hand（8）It is clamped using its second skull patch（22）By the 4th intelligent holder（15）On the 4th
A mandarin orange（51）The second valve orange peel peel off；Meanwhile controller（4）Control the first peeling machine hand（7）Utilize its first skull patch
Pincers（21）By the 5th intelligent holder（15）On the 5th mandarin orange（51）The first valve orange peel peel off；Meanwhile controller（4）Control
Make the second cutting manipulator（6）Utilize its second cutting wheel（20）The intelligent holder to the 6th（15）On the 6th mandarin orange（51）
Orange peel cut；Meanwhile controller（4）Control the first cutting manipulator（5）Utilize its first cutting wheel（19）To the 7th
A intelligence holder（15）On the 7th mandarin orange（51）Orange peel cut.
8. the application method of dried orange peel robot according to claim 1, the first peeling machine hand（7）Equipped with pivoted arm, first
Skull patch clamps（21）Equipped with epithelium pincers, hypodermis pincers, pincers axis, pincers motor and pincers transcutaneous sensor, it is characterised in that：First stripping
Skin manipulator（7）It is clamped using its first skull patch（21）When opening the first valve orange peel, controller（4）Control pincers motor drives epithelium pincers
And hypodermis pincers vise orange peel, after orange peel is vised, pincers transcutaneous sensor is by its signal transmission to controller（4）, controller（4）
Control the first peeling machine hand（7）The first skull patch is driven to clamp（21）It is mobile, the first valve orange peel is opened.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610712253.0A CN106182013B (en) | 2016-08-23 | 2016-08-23 | The application method of dried orange peel robot |
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|---|---|---|---|
| CN201610712253.0A CN106182013B (en) | 2016-08-23 | 2016-08-23 | The application method of dried orange peel robot |
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| CN106182013B true CN106182013B (en) | 2018-07-10 |
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|---|---|---|---|---|
| CN101856139A (en) * | 2010-05-28 | 2010-10-13 | 杨李益 | Electromechanical full-automatic peeling machine and peeling method thereof |
| CN103704855A (en) * | 2013-12-20 | 2014-04-09 | 上海电机学院 | Grapefruit peeling machine |
| CN104259814A (en) * | 2014-09-09 | 2015-01-07 | 苏州赛腾精密电子有限公司 | Automatic assembling device |
| CN105105292A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Automatic pomelo peel-flesh separating device and method |
| JP2016096744A (en) * | 2014-11-19 | 2016-05-30 | 株式会社アストラ | Peeling device |
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2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101856139A (en) * | 2010-05-28 | 2010-10-13 | 杨李益 | Electromechanical full-automatic peeling machine and peeling method thereof |
| CN103704855A (en) * | 2013-12-20 | 2014-04-09 | 上海电机学院 | Grapefruit peeling machine |
| CN104259814A (en) * | 2014-09-09 | 2015-01-07 | 苏州赛腾精密电子有限公司 | Automatic assembling device |
| JP2016096744A (en) * | 2014-11-19 | 2016-05-30 | 株式会社アストラ | Peeling device |
| CN105105292A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Automatic pomelo peel-flesh separating device and method |
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|---|---|
| CN106182013A (en) | 2016-12-07 |
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