CN106272451B - The application method of dried orange peel intelligent robot - Google Patents

The application method of dried orange peel intelligent robot Download PDF

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Publication number
CN106272451B
CN106272451B CN201610711636.6A CN201610711636A CN106272451B CN 106272451 B CN106272451 B CN 106272451B CN 201610711636 A CN201610711636 A CN 201610711636A CN 106272451 B CN106272451 B CN 106272451B
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controller
holder
mandarin orange
intelligent
turntable
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CN201610711636.6A
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CN106272451A (en
Inventor
林智勇
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Hebei Xuyu Jinkun Pharmaceutical Co ltd
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Dongguan Haoqi Enterprise Management Services Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
    • A23N7/023—Peeling potatoes, apples or similarly shaped vegetables or fruit one by one

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Food-Manufacturing Devices (AREA)

Abstract

The application method of dried orange peel intelligent robot, dried orange peel intelligent robot include rotating-table apparatus, feeding equipment, manipulator, intelligent holder and controller；Manipulator includes cutting manipulator, skull patch manipulator and pericarp manipulator, and rotating-table apparatus includes that turntable, rotary tray motor, rack and intelligent holder, intelligent holder are installed on turntable；Feeding equipment includes hopper, top discharge door and bottom discharge door, the opposite intelligent holder of bottom discharge door；Intelligent holder includes rotating clamp base and electric rotating machine, and rotating clamp base is equipped with induction pieces；Controller is equipped with infrared sensor and inductive switch；Dried orange peel intelligent robot using when flow have：Blanking → cutting orange peel → stripping orange peel → taking-up orange peel；So constantly recycle；Implemented to the intelligent control of manipulator using controller, implement mandarin orange cutting, 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

The application method of dried orange peel intelligent robot
Technical field
The present invention relates to a kind of application method of orange peel process equipment, especially a kind of dried orange peel intelligent machine of special stripping orange peel The application method of device people's device.
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；Currently, 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 it is slotting with finger Enter the position between orange peel and pulp, orange peel is opened into out three petals, then pulp is taken out, makes the pulp and orange peel point of mandarin orange From；Due to manually operated less efficient, it is a kind of for shell orange peel dried orange peel intelligent robot application method, at The needs of orange peel are shelled for people.
Invention content
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of making for completely new dried orange peel intelligent robot With method, the orange peel for peeling off mandarin orange improves the efficiency for peeling off orange peel.
The technical solution adopted in the present invention is：Dried orange peel intelligent robot, include rotating-table apparatus, feeding equipment, Manipulator, intelligent holder and controller；Manipulator includes cutting manipulator, skull patch manipulator and pericarp manipulator, is cut Manipulator, skull patch manipulator and pericarp manipulator is cut around rotating-table apparatus to be arranged；Rotating-table apparatus includes turntable, turntable electricity Machine, rack and intelligent holder, rotary tray motor are connect with rack, and the motor shaft of rotary tray motor is connect with turntable, intelligent holder peace Loaded on turntable；Feeding equipment includes that hopper, top discharge door and bottom discharge door, hopper are connect with rack, top discharge door with And bottom discharge door is installed on hopper, top discharge door is located above bottom discharge door, the opposite intelligent holder of bottom discharge door, intelligent holder Positioned at the lower section of bottom discharge door, for mandarin orange to be put into intelligent holder；Cutting manipulator is equipped with cutting wheel, and skull patch manipulator is set There are skull patch pincers, pericarp manipulator to be equipped with pericarp gripper；Intelligent holder includes rotating clamp base and electric rotating machine, electric rotating machine Engine base is connect with turntable, and the motor shaft of electric rotating machine is connect with rotating clamp base, and rotating clamp base is equipped with induction pieces；Controller is equipped with red Outer sensor and inductive switch；Infrared sensor and inductive switch are installed in the rack beside turntable；Infrared sensor And inductive switch is located at beside intelligent holder, infrared sensor and inductive switch are arranged around turntable, and inductive switch is located at The opposite of induction pieces；Controller passes through control line and rotating-table apparatus, feeding equipment, intelligent holder, cutting manipulator, skull patch machinery Hand, pericarp manipulator, infrared sensor and inductive switch connection.
There are four intelligent holder is set, four intelligent holders are uniformly fixed on the identical circumference of turntable, two neighboring intelligence The angle of the horizontal center line of holder is 90 ° of angles；Intelligent holder includes the first intelligent holder, the second intelligent holder, third intelligence Energy holder and the 4th intelligent holder, the initial position of the first intelligent holder are placed exactly in the blanking of the bottom discharge door of feeding equipment Position；Infrared sensor includes that the first infrared sensor, the second infrared sensor, third infrared sensor and the 4th are infrared Sensor, the first infrared sensor are located at the lower section of bottom discharge door, for detecting the intelligent holder into below bottom discharge door Mandarin orange；Second infrared sensor is located at the side of cutting manipulator, for detecting the intelligence into cutting manipulator Working position The mandarin orange of holder；Third infrared sensor is located at the side of skull patch manipulator, enters skull patch manipulator Working position for detecting Intelligent holder mandarin orange；4th infrared sensor is located at the side of pericarp manipulator, adds for detecting into pericarp manipulator The mandarin orange for the intelligent holder that station is set；Inductive switch includes the first inductive switch and the second inductive switch, and the first induction is opened It closes and is set to beside cutting manipulator in corresponding rack, the orange peel of mandarin orange is cut for controlling cutting manipulator；Second Inductive switch is located at beside skull patch manipulator in corresponding rack, and skull patch is carried out to mandarin orange for controlling skull patch manipulator.
The application method of dried orange peel intelligent robot is：Controller, which controls feeding equipment, will arrive intelligent holder under mandarin orange In；Under mandarin orange to after in intelligent holder, the mandarin orange in intelligent holder enters first infrared sensor below bottom discharge door Detection range, for the infrared sensor by its signal transmission to controller, controller controls the rotary tray motor band turn of rotating-table apparatus Disk rotates, and the intelligent holder on turntable follows turntable to rotate, and when intelligent holder enters the Working position of cutting manipulator, intelligence is pressed from both sides Mandarin orange on seat enters the detection range of second infrared sensor beside cutting manipulator, and the infrared sensor is by its signal It is transferred to controller, controller, which controls rotary tray motor, to be stopped；Controller passes through induction pieces on swivel plate and inductive switch control Electric rotating machine processed drives swivel plate rotation, and the mandarin orange of intelligent holder is made to enter the corresponding Working position of cutting wheel cutting orange peel, Control cutting manipulator is cut into the cutting line of three hexagonal angles each other in the mandarin orange on intelligent holder；The orange peel of mandarin orange is cut After going out three cutting lines, the rotary tray motor that controller controls rotating-table apparatus drives turntable rotation, intelligent holder that turntable is followed to rotate, When intelligent holder enters the Working position of skull patch manipulator, the mandarin orange on intelligent holder enters the third beside skull patch manipulator The detection range of infrared sensor, by its signal transmission to controller, controller controls rotary tray motor to be stopped the infrared sensor； Meanwhile the induction pieces on swivel plate, close to the inductive switch beside turntable, inductive switch is by its signal transmission to controller, control Device controls electric rotating machine and drives swivel plate rotation, and the mandarin orange of intelligent holder is made to enter the corresponding machining position of pericarp gripper skull patch It sets；Controller controls skull patch manipulator and peels off three valve orange peel of mandarin orange on intelligent holder；After three valve orange peels of mandarin orange are stripped, control Device control rotating-table apparatus processed drives turntable rotation, intelligent holder that turntable is followed to rotate, and intelligent holder enters adding for pericarp manipulator When station is set, the mandarin orange on intelligent holder enters the detection range of the 4th infrared sensor beside pericarp manipulator, this is red By its signal transmission to controller, controller controls rotary tray motor to be stopped outer sensor；Controller controls pericarp manipulator by intelligence The pulp of mandarin orange is caught in pulp case on energy holder, and the pulp of mandarin orange is made to be detached with orange peel；After the pulp of mandarin orange is detached with orange peel, Controller control pericarp manipulator grabs the orange peel of mandarin orange on intelligent holder in orange peel case；Dried orange peel intelligent robot makes Include with the processing flow of method：Blanking → cutting orange peel → stripping orange peel → taking-up orange peel；So constantly recycle.
The processing flow of the application method of dried orange peel intelligent robot is specifically：
Blanking：Controller controls on the first intelligent holder that first mandarin orange is put on turntable by feeding equipment, and first After a mandarin orange enters the below bottom discharge door first intelligent holder, the first infrared sensor beside the first intelligent holder is believed Number it is transferred to controller；
Cut orange peel：Under mandarin orange to after in the first intelligent holder, controller controls the rotary tray motor band turn of rotating-table apparatus The first intelligent holder rotation on disk, when the first intelligent holder enters the Working position of cutting manipulator, on the first intelligent holder Mandarin orange enter the second infrared sensor detection range, the second infrared sensor is by its signal transmission to controller, controller Rotary tray motor is controlled to stop；Meanwhile first induction pieces on the swivel plate of rotating clamp base incude close to first beside turntable Switch, the first inductive switch is by its signal transmission to controller；Controller controls cutting manipulator on the first intelligent holder The orange peel of mandarin orange is cut into the first cutting line；After the orange peel of mandarin orange is cut to the first cutting line, controller controls electric rotating machine Drive swivel plate rotation, the mandarin orange in rotating clamp base that swivel plate is followed to rotate, second on swivel plate induction pieces are close to turntable When first inductive switch on side, by its signal transmission to controller, controller controls electric rotating machine to be stopped the first inductive switch, Swivel plate stops operating, and controller controls cutting manipulator and is cut into the second cutting in the orange peel of the mandarin orange on the first intelligent holder Line；After the orange peel of mandarin orange is cut to the second cutting line, controller controls electric rotating machine and swivel plate is driven to rotate, in rotating clamp base Mandarin orange follow swivel plate to rotate, when the third induction pieces on swivel plate are close to the first inductive switch beside turntable, first Inductive switch is by its signal transmission to controller, and controller, which controls electric rotating machine, to be stopped, and swivel plate stops operating, controller control Cutting manipulator is cut into third cutting line in the orange peel of the mandarin orange on the first intelligent holder；
Peel off orange peel：After the orange peel of mandarin orange is cut to third cutting line, controller controls the electric rotating machine of rotating-table apparatus Drive the on turntable first intelligent holder that turntable is followed to rotate, when the first intelligent holder enters the Working position of skull patch manipulator, Mandarin orange on first intelligent holder enters the detection range of third infrared sensor, and third infrared sensor gives its signal transmission Controller, controller, which controls rotary tray motor, to be stopped；Meanwhile first induction pieces on swivel plate are felt close to second beside turntable Inductive switch, for the second inductive switch by its signal transmission to controller, controller controls skull patch manipulator will be on the first intelligent holder First valve orange peel of mandarin orange peels off；After first valve orange peel of mandarin orange is stripped, controller controls electric rotating machine and swivel plate is driven to turn Dynamic, the mandarin orange in rotating clamp base follows swivel plate to rotate, and second on swivel plate induction pieces are felt close to second beside turntable When inductive switch, the second inductive switch is by its signal transmission to controller, and controller, which controls electric rotating machine, to be stopped, and swivel plate stops turning Dynamic, after swivel plate stops operating, controller controls skull patch manipulator and peels off the second valve orange peel of mandarin orange on the first intelligent holder； After second valve orange peel of mandarin orange is stripped, controller controls electric rotating machine and drives swivel plate rotation, the mandarin orange in rotating clamp base with It is rotated with swivel plate, when the third induction pieces on swivel plate are close to the second inductive switch beside turntable, the second inductive switch By its signal transmission to controller, controller, which controls electric rotating machine, to be stopped, and swivel plate stops operating, after swivel plate stops operating, Controller controls skull patch manipulator and peels off the third valve orange peel of mandarin orange on the first intelligent holder；
Take out orange peel：After three valve orange peels of first mandarin orange are stripped, controller controls rotary tray motor and drives turntable rotation； When the first intelligent holder equipped with mandarin orange turns to the Working position of pericarp manipulator, first mandarin orange on the first intelligent holder Son is close to the 4th infrared sensor beside turntable；4th infrared sensor is by its signal transmission to controller, controller control Pericarp manipulator is caught the pulp of the mandarin orange on the first intelligent holder in pulp case using its pericarp gripper；The pulp quilt of mandarin orange After catching pulp case, controller is controlled pericarp manipulator and is grabbed the orange peel of the mandarin orange on the first intelligent holder using its pericarp gripper Into orange peel case；After the orange peel of mandarin orange on first intelligent holder is caught in orange peel case, controller controls rotary tray motor band turn Disk rotates, and the first intelligent holder returns to the initial position below feeding equipment；So constantly recycle.
The beneficial effects of the invention are as follows：The application method of dried orange peel intelligent robot utilizes controller, infrared sensor And inductive switch implements the intelligent control to manipulator, implements the cutting of mandarin orange orange peel, turns over valve, the intelligence that orange peel is detached with pulp Automatic processing can be recycled, the processing efficiency of mandarin orange peeling is improved.
Description of the drawings
Fig. 1 is the structural schematic diagram of dried orange peel intelligent robot.
Specific implementation mode
The present invention is further detailed below in conjunction with the accompanying drawings：
The structural schematic diagram of dried orange peel intelligent robot as shown in Figure 1, dried orange peel intelligent robot include to turn Disk device 1, feeding equipment 2, manipulator 3, intelligent holder 4 and controller 5；Manipulator 3 includes cutting manipulator 6, skull patch Manipulator 7 and pericarp manipulator 8, cutting manipulator 6, skull patch manipulator 7 and pericarp manipulator 8 are set around rotating-table apparatus 1 It sets；Rotating-table apparatus 1 includes that turntable 9, rotary tray motor 10, rack 11 and intelligent holder 4, rotary tray motor 10 connect with rack 11 It connects, the motor shaft of rotary tray motor 10 is connect with turntable 9, and intelligent holder 4 is installed on turntable 9；Feeding equipment 2 includes hopper 12, top discharge door 13 and bottom discharge door 14, hopper 12 are connect with rack 11, and top discharge door 13 and bottom discharge door 14 are installed on On hopper 12, top discharge door 13 is located at 14 top of bottom discharge door, and intelligent holder 4 is located at the lower section of bottom discharge door 14, bottom discharge door 14 against intelligent holder 4, for mandarin orange to be put into intelligent holder 4；Cutting manipulator 6 is equipped with cutting wheel 15, skull patch manipulator 7 Equipped with skull patch pincers 16, pericarp manipulator 8 is equipped with pericarp gripper 17；Intelligent holder 4 includes rotating clamp base 18 and electric rotating machine 19, the engine base of electric rotating machine 19 is connect with turntable 9, and the motor shaft of electric rotating machine 19 is connect with rotating clamp base 18, rotating clamp base 18 Equipped with induction pieces 20；Controller 5 is equipped with infrared sensor 21 and inductive switch 22；Infrared sensor 21 and inductive switch 22 It is installed in the rack 11 on 9 side of turntable；Infrared sensor 21 and inductive switch 22 are located at 4 side of intelligent holder, infrared biography Sensor 21 and inductive switch 22 are arranged around turntable 9, and inductive switch 22 is located at the opposite of induction pieces 20；Controller 5 passes through control It is line processed and rotating-table apparatus 1, feeding equipment 2, intelligent holder 4, cutting manipulator 6, skull patch manipulator 7, pericarp manipulator 8, infrared Sensor 21 and inductive switch 22 connect.
Cyclic process, there are four intelligent holder 4 is set, four are carried out to the mandarin orange 23 on intelligent holder 4 in order to implement manipulator 3 A intelligence holder 4 is uniformly fixed on 9 identical circumference of turntable, and the angle of the horizontal center line of two neighboring intelligence holder 4 is 90 ° of angles；Intelligent holder 4 includes first the 37, second intelligent holder 38 of intelligent holder, third intelligence holder 39 and the 4th intelligence Holder 40, the initial position of the first intelligent holder 37 are placed exactly in the lower discharge position of the bottom discharge door 14 of feeding equipment 2.
In order to implement the rotation of intelligent holder 4, cooperative mechanical hand 3 carries out peeling processing, the rotation of intelligent holder 4 to mandarin orange 23 It includes swivel plate 24, left holder 25, right holder 26 and folder motor 56, the electricity of swivel plate 24 and electric rotating machine 19 to turn holder 18 Arbor is fixedly connected, and right holder 26 is fixedly connected with swivel plate 24, and left holder 25 is equipped with guide groove 27, and swivel plate 24 is equipped with guide rail 28, the guide groove 27 of left holder 25 and the dynamic mating connection of the guide rail 28 of swivel plate 24, the motor shaft and left holder 25 for pressing from both sides motor 56 connect It connects, the engine base of folder motor 56 is connect with swivel plate 24, and the engine base of electric rotating machine 19 is connect with turntable 9；For mandarin orange 23 to be clamped In in rotating clamp base 18, rotation is clamped to the mandarin orange 23 of rotating clamp base 18, to facilitate manipulator 3 to be processed mandarin orange 23.
In order to detect the position of the rotation of the mandarin orange 23 on intelligent holder 4, there are four infrared sensor 21 is set, four infrared biographies Sensor 21 is distributed in the side of 1 turntable 9 of rotating-table apparatus, and four infrared sensors 21 are distributed in same circumference and mutually level In rack 11, the angle of the horizontal center line of two neighboring infrared sensor 21 is 90 ° of angles；Each infrared sensor 21 is located at one The opposite side of a intelligence holder 4, for detecting the mandarin orange 23 on intelligent holder 4；Infrared sensor 21 includes first infrared Sensor 29, the second infrared sensor 30, third infrared sensor 31 and the 4th infrared sensor 32, the first infrared sensor 29 are located at the lower section of bottom discharge door 14, the mandarin orange 23 for detecting the intelligent holder 4 into 14 lower section of bottom discharge door；Second is infrared Sensor 30 is located at the side of cutting manipulator 6, for detecting the mandarin orange into the intelligent holder 4 of 6 Working position of cutting manipulator Son 23；Third infrared sensor 31 is located at the side of skull patch manipulator 7, for detecting into 7 Working position of skull patch manipulator The mandarin orange 23 of intelligent holder 4；4th infrared sensor 32 is located at the side of pericarp manipulator 8, enters pericarp machinery for detecting The mandarin orange 23 of the intelligent holder 4 of 8 Working position of hand.
In order to control the angle of the rotation of rotating clamp base 18, implement the cutting to 23 orange peel of mandarin orange and skull patch, each rotation There are three the induction pieces 20 of holder 18 are set, three induction pieces 20 are distributed on the edge of swivel plate 24 of rotating clamp base 18, adjacent The angles of horizontal center line of two induction pieces 20 be hexagonal angle；Inductive switch 22 includes the first inductive switch 33 and Two inductive switches 34, the first inductive switch 33 are set to beside cutting manipulator 6 in corresponding rack 11, for controlling cutting mechanics Hand 6 cuts the orange peel of mandarin orange 23；Second inductive switch 34 is located at beside skull patch manipulator 7 in corresponding rack 11, uses Skull patch is carried out to mandarin orange 23 in control skull patch manipulator 7.
In order to be cut into the cutting line of three hexagonal angles each other in the orange peel of mandarin orange 23, three cutting lines include first to cut Secant, the second cutting line and third cutting line；Then the orange peel that line position is cut in three is peeled off into out three valve orange peels, then will The pulp of mandarin orange 23 takes out, and so that the pulp of mandarin orange 23 is detached with orange peel, takes its orange peel special as medicinal material.
The application method of dried orange peel intelligent robot is：Dried orange peel intelligent robot is in use, the control charging dress of controller 5 Set 2 by under mandarin orange 23 in intelligent holder 4；Under mandarin orange 23 to after in intelligent holder 4, under the mandarin orange 23 in intelligent holder 4 enters The detection range of first infrared sensor 21 of 14 lower section of discharge door, the infrared sensor 21 is by its signal transmission to controller 5, the rotary tray motor 10 that controller 5 controls rotating-table apparatus 1 drives turntable 9 to rotate, and the intelligent holder 4 on turntable 9 follows 9 turns of turntable Dynamic, when intelligent holder 4 enters the Working position of cutting manipulator 6, the mandarin orange 23 on intelligent holder 4 enters by cutting manipulator 6 The detection range of second infrared sensor 21 on side, the infrared sensor 21 is by its signal transmission to controller 5, controller 5 Rotary tray motor 10 is controlled to stop；Controller 5 passes through the induction pieces 20 and the control electric rotating machine of inductive switch 22 on swivel plate 24 19 drive swivel plate 24 to rotate, and so that the mandarin orange 23 of intelligent holder 4 is entered cutting wheel 15 and cut the corresponding Working position of orange peel, control Cutting manipulator 6 processed is cut into the cutting line of three hexagonal angles each other in the mandarin orange 23 on intelligent holder 4；The orange peel quilt of mandarin orange 23 After being cut into three cutting lines, controller 5 control rotating-table apparatus 1 rotary tray motor 10 drive turntable 9 rotate, intelligent holder 4 with It is rotated with turntable 9, when intelligent holder 4 enters the Working position of skull patch manipulator 7, the mandarin orange 23 on intelligent holder 4 enters skull patch The detection range of the third infrared sensor 21 on 7 side of manipulator, the infrared sensor 21 is by its signal transmission to controller 5, controller 5, which controls rotary tray motor 10, to be stopped；Meanwhile the induction pieces 20 on swivel plate 24 are close to the inductive switch on the side of turntable 9 22, by its signal transmission to controller 5, controller 5 controls electric rotating machine 19 and swivel plate 24 is driven to rotate inductive switch 22, makes intelligence The mandarin orange 23 of energy holder 4 enters the corresponding Working position of 17 skull patch of pericarp gripper；Controller 5 controls skull patch manipulator 7 by intelligence 23 3 valve orange peel of mandarin orange peels off on energy holder 4；After three valve orange peels of mandarin orange 23 are stripped, controller 5 controls rotating-table apparatus 1 and drives Turntable 9 rotates, and intelligent holder 4 follows turntable 9 to rotate, and when intelligent holder 4 enters the Working position of pericarp manipulator 8, intelligence is pressed from both sides Mandarin orange 23 on seat 4 enters the detection range of the 4th infrared sensor 21 on 8 side of pericarp manipulator, the infrared sensor 21 By its signal transmission to controller 5, controller 5, which controls rotary tray motor 10, to be stopped；Controller 5 controls pericarp manipulator 8 will be intelligent The pulp of mandarin orange 23 is caught in pulp case 35 on holder 4, and the pulp of mandarin orange 23 is made to be detached with orange peel；The pulp and orange peel of mandarin orange 23 After separation, controller 5 controls pericarp manipulator 8 and grabs the orange peel of mandarin orange 23 on intelligent holder 4 in orange peel case 36；Dried orange peel intelligence The processing flow of robot includes：Blanking → cutting orange peel → stripping orange peel → taking-up orange peel；So constantly recycle.
The processing flow of the application method of dried orange peel intelligent robot is specifically：
Blanking：Controller 5 controls the first intelligent holder 37 that first mandarin orange 23 is put on turntable 9 by feeding equipment 2 On, after first mandarin orange 23 enters the below bottom discharge door 14 first intelligent holder 37, the first of 37 side of the first intelligent holder Infrared sensor 29 is by its signal transmission to controller 5；
Cut orange peel：Under mandarin orange 23 to after in the first intelligent holder 37, controller 5 controls the rotary tray motor of rotating-table apparatus 1 10 drive the on turntable 9 first intelligent holder 37 to rotate, when the first intelligent holder 37 enters the Working position of cutting manipulator 6, Mandarin orange 23 on first intelligent holder 37 enters the detection range of the second infrared sensor 30, and the second infrared sensor 30 is believed It number is transferred to controller 5, controller 5, which controls rotary tray motor 10, to be stopped；Meanwhile first on the swivel plate 24 of rotating clamp base 18 Induction pieces 20 are close to first inductive switch 33 on 9 side of turntable, and the first inductive switch 33 is by its signal transmission to controller 5；Control Device 5 processed controls cutting manipulator 6 and is cut into the first cutting line in the orange peel of the mandarin orange 23 on the first intelligent holder 37；Mandarin orange 23 After orange peel is cut to the first cutting line, controller 5 controls electric rotating machine 19 and swivel plate 24 is driven to rotate, in rotating clamp base 18 Mandarin orange 23 follows swivel plate 24 to rotate, first inductive switch of second induction pieces 20 on swivel plate 24 close to 9 side of turntable When 33, the first inductive switch 33 is by its signal transmission to controller 5, and controller 5, which controls electric rotating machine 19, to be stopped, and swivel plate 24 stops Rotation stop is dynamic, and controller 5 controls cutting manipulator 6 and is cut into the second cutting in the orange peel of the mandarin orange 23 on the first intelligent holder 37 Line；After the orange peel of mandarin orange 23 is cut to the second cutting line, controller 5 controls electric rotating machine 19 and swivel plate 24 is driven to rotate, rotation To turn the mandarin orange 23 on holder 18 follow swivel plate 24 to rotate, and the third induction pieces 20 on swivel plate 24 are close to beside turntable 9 When the first inductive switch 33, by its signal transmission to controller 5, controller 5 controls electric rotating machine 19 and stops the first inductive switch 33 Only, swivel plate 24 stops operating, and controller 5 controls cutting manipulator 6 and cut in the orange peel of the mandarin orange 23 on the first intelligent holder 37 Cut out third cutting line；
Peel off orange peel：After the orange peel of mandarin orange 23 is cut to third cutting line, controller 5 controls the rotation of rotating-table apparatus 1 Motor 19 drives the on turntable 9 first intelligent holder 37 that turntable 9 is followed to rotate, and the first intelligent holder 37 enters skull patch manipulator 7 Working position when, the mandarin orange 23 on the first intelligent holder 37 enters the detection range of third infrared sensor 31, and third is infrared By its signal transmission to controller 5, controller 5 controls rotary tray motor 10 to be stopped sensor 31；Meanwhile first on swivel plate 24 A induction pieces 20 close to the side of turntable 9 the second inductive switch 34, the second inductive switch 34 by its signal transmission to controller 5, Controller 5 controls skull patch manipulator 7 and peels off the first valve orange peel of mandarin orange 23 on the first intelligent holder 37；First valve of mandarin orange 23 After orange peel is stripped, controller 5 controls electric rotating machine 19 and swivel plate 24 is driven to rotate, and the mandarin orange 23 in rotating clamp base 18 follows rotation Flap 24 rotates, second induction pieces 20 on swivel plate 24 close to 9 side of turntable the second inductive switch 34 when, the second induction Switch 34 is by its signal transmission to controller 5, and controller 5, which controls electric rotating machine 19, to be stopped, and swivel plate 24 stops operating, swivel plate After 24 stop operating, controller 5 controls skull patch manipulator 7 and peels off the second valve orange peel of mandarin orange 23 on the first intelligent holder 37； After second valve orange peel of mandarin orange 23 is stripped, controller 5 controls electric rotating machine 19 and swivel plate 24 is driven to rotate, in rotating clamp base 18 Mandarin orange 23 follow swivel plate 24 to rotate, the third induction pieces 20 on swivel plate 24 incude close to the second of 9 side of turntable to be opened When closing 34, the second inductive switch 34 is by its signal transmission to controller 5, and controller 5, which controls electric rotating machine 19, to be stopped, swivel plate 24 It stops operating, after swivel plate 24 stops operating, controller 5 controls skull patch manipulator 7 by mandarin orange 23 on the first intelligent holder 37 Third valve orange peel peels off；
Take out orange peel：After three valve orange peels of mandarin orange 23 are stripped, controller 5 controls rotary tray motor 10 and turntable 9 is driven to rotate； When the first intelligent holder 37 equipped with mandarin orange 23 turns to the Working position of pericarp manipulator 8, on the first intelligent holder 37 Fourth infrared sensor 32 of the mandarin orange 23 close to 9 side of turntable；4th infrared sensor 32 by its signal transmission to controller 5, Controller 5 controls pericarp manipulator 8 and the pulp of the mandarin orange 23 on first intelligent holder 37 is caught fruit using its pericarp gripper 17 In meat case 35；After the pulp of mandarin orange 23 is caught pulp case 35, controller 5 controls pericarp manipulator 8 and utilizes its pericarp gripper 17 The orange peel of mandarin orange 23 on first intelligent holder 37 is caught in orange peel case 36；The orange peel of mandarin orange 23 on first intelligent holder 37 After catching in orange peel case 36, controller 5 controls rotary tray motor 10 and turntable 9 is driven to rotate, and the first intelligent holder 37 returns to charging dress Set the initial position below 2；So constantly recycle.
Turntable 9 is followed to be rotated by the angular circulation of setting in order to control intelligent holder 4, rotary tray motor 10 drives 9 turns of turntable When dynamic, the angle that turntable 9 rotates every time is identical, and intelligent holder 4 follows 9 rotational angle of turntable identical；After the rotation of turntable 9 stops, There are one intelligent holders 4 close to a corresponding infrared sensor 21；When turntable 9 rotates, move in the direction of the clock.Turntable When motor 10 drives turntable 9 to rotate, the first intelligent holder 37 follows turntable 9 to be rotated by the lower discharge position of bottom discharge door 14, First intelligent holder 37 stops after rotating 90 ° of angles；When first intelligent holder 37 stops operating, the first intelligent holder 37 close to second Infrared sensor 30；For first intelligent holder 37 close to after the second infrared sensor 30, the first intelligent holder 37 follows turntable 9 to rotate Stop behind 90 ° of angles, when the first intelligent holder 37 stops operating, the first intelligent holder 37 is close to third infrared sensor 31；First Close to after third infrared sensor 31, the first intelligent holder 37 stops intelligent holder 37 after following turntable 9 to rotate 90 ° of angles, and first When intelligent holder 37 stops operating, the first intelligent holder 37 is close to the 4th infrared sensor 32；First intelligent holder 37 is close to the After four infrared sensors 32, the first intelligent holder 37 stops after following turntable 9 to rotate 90 ° of angles, and the first intelligent holder 37 returns to just Beginning position, the first intelligent holder 37 is close to the first infrared sensor 29；So constantly recycle.
In order to make mandarin orange 23 cyclically fall into intelligent holder 4, when the turntable 9 of rotating-table apparatus 1 rotates, turntable 9 turns every time Dynamic angle is identical, and turntable 9 is every time after rotation stopping, and there are one the bottom discharge doors that intelligent holder 4 is placed exactly in feeding equipment 2 14 lower discharge position enables to fall in intelligent holder 4 under mandarin orange 23.Controller 5 controls upper on the drive turntable 9 of rotary tray motor 10 When the lower discharge position for the bottom discharge door 14 that one intelligent holder 4 turns to feeding equipment 2 stops, controller 5 controls feeding equipment 2 A upper mandarin orange 23 is put on following upper intelligence holder 4；After upper one intelligent holder 4 is put into mandarin orange 23, upper one For the infrared sensor 21 on side by its signal transmission to controller 5, controller 5 controls 10 band of rotary tray motor on a intelligence holder 4 Turn disk 9 rotates, and the mandarin orange 23 on upper one intelligent holder 4 follows an intelligent holder 4 to leave below bottom discharge door 14 Position, meanwhile, next intelligence holder 4 follows turntable 9 to be rotated into the position below bottom discharge door 14, controller 5 control into Next mandarin orange 23 is put on following next intelligent holder 4 by material device 2；So constantly recycle.
In order to implement the cyclic process using manipulator 3 to mandarin orange 23, controller 5 controls feeding equipment 2 by first mandarin orange After son 23 is put on the on turntable 9 first intelligent holder 37；First mandarin orange 23 of the first intelligent holder 37 is close to by turntable 9 First infrared sensor 29 on side, for the first infrared sensor 29 by its signal transmission to controller 5, controller 5 controls turntable electricity Machine 10 drives turntable 9 to rotate；When the first intelligent holder 37 equipped with first mandarin orange 23 turns to the machining position of cutting manipulator 6 When setting, first mandarin orange 23 of the first intelligent holder 37 is close to second infrared sensor 30 on 9 side of turntable, the second infrared sensing By its signal transmission to controller 5, controller 5 controls rotary tray motor 10 to be stopped device 30；Meanwhile the second intelligence folder on turntable 9 Seat 38 also follows turntable 9 to turn to the lower discharge position of bottom discharge door 14；Controller 5 controls feeding equipment 2 by second mandarin orange 23 It is put on the on turntable 9 second intelligent holder 38；When the first intelligent holder 37 equipped with first mandarin orange 23 turns to skull patch When the Working position of manipulator 7, the third infrared sensor of first mandarin orange 23 of the first intelligent holder 37 close to 9 side of turntable 31, by its signal transmission to controller 5, controller 5 controls rotary tray motor 10 to be stopped third infrared sensor 31；Meanwhile turntable 9 On third intelligence holder 39 also follow turntable 9 to turn to the lower discharge position of bottom discharge door 14；Controller 5 controls feeding equipment 2 Third mandarin orange 23 is put on the third intelligence holder 39 on turntable 9；When the first intelligence folder equipped with first mandarin orange 23 Seat 37 is when turning to the Working position of pericarp manipulator 8, and first mandarin orange 23 of the first intelligent holder 37 is close to 9 side of turntable 4th infrared sensor 32, for the 4th infrared sensor 32 by its signal transmission to controller 5, controller 5 controls rotary tray motor 10 Stop；Meanwhile the 4th intelligent holder 40 on turntable 9 also follows turntable 9 to turn to the lower discharge position of bottom discharge door 14；Controller On the 4th intelligent holder 40 that 4th mandarin orange 23 is put on turntable 9 by 5 control feeding equipments 2；When the first intelligent holder 37 On first mandarin orange 23 orange peel caught orange peel case 35 after, controller 5 controls rotary tray motor 10 and turntable 9 is driven to rotate, the One intelligent holder 37 returns to the initial position below feeding equipment 2；So constantly recycle.
In order to control the cycle blanking of the mandarin orange 23 in feeding equipment 2, the top discharge door 13 of feeding equipment 2 includes brake application Door motor 41, upper lock gate 42 and shutter sensor 43, bottom discharge door 14 include tail gates motor 44 and tail gates 45；On The engine base of floodgate motor 41 is fixedly connected with hopper 12, and the motor shaft of brake application door motor 41 is connect with upper lock gate 42, upper lock gate 42 With the dynamic mating connection of hopper 12；The engine base of tail gates motor 44 is fixedly connected with hopper 12, the motor shaft of tail gates motor 44 with Tail gates 45 connect, tail gates 45 and the dynamic mating connection of hopper 12；The blanking that upper lock gate 42 is located at hopper 12 with tail gates 45 is logical On road 46, upper lock gate 42 is located at the top of tail gates 45, and shutter sensor 43 is installed on hopper 12, and shutter sensor 43 is located at Between upper lock gate 42 and tail gates 45；The original state of feeding equipment 2 is：The upper lock gate 42 and bottom discharge door of top discharge door 13 14 tail gates 45 are closed.
When 2 blanking of feeding equipment, controller 5 controls brake application door motor 41 and upper lock gate 42 is driven to open, above upper lock gate 42 First mandarin orange 23 under fall on tail gates 45, the shutter sensor 43 between upper lock gate 42 and tail gates 45 passes its information It is defeated by controller 5, controller 5 controls brake application door motor 41 and upper lock gate 42 is driven to close；After upper lock gate 42 is closed, controller 5 is controlled Tail gates motor 44 processed drives tail gates 45 to open, and first is fallen under first mandarin orange 23 between upper lock gate 42 and tail gates 45 On intelligent holder 37；After being fallen under first mandarin orange 23 on first intelligent holder 37, controller 5 controls tail gates motor 44 and drives Tail gates 45 are closed, and after tail gates 45 are closed, controller 5 controls brake application door motor 41 and upper lock gate 42 is driven to open, second mandarin orange It is fallen on tail gates 45 under son 23；So constantly recycle.
Each mandarin orange 23 in order to implement to drop to cycle using manipulator 3 intelligent holder 4 carries out cyclic process, control Device 5 controls tail gates motor 44 and tail gates 45 is driven to open, and third is fallen under the third mandarin orange 23 of feeding equipment 2 and is intelligently pressed from both sides While on seat 4, controller 5 controls cutting manipulator 6 and is cut to the orange peel of the mandarin orange 23 on second intelligent holder 4； Meanwhile controller 5 controls skull patch manipulator 7 and peels off three valve orange peels of mandarin orange 23 on first intelligent holder 4.
Each mandarin orange 23 in order to implement to drop to cycle using manipulator 3 intelligent holder 4 carries out cyclic process, control Device 5 controls tail gates motor 44 and tail gates 45 is driven to open, and the 4th intelligence folder is fallen under the 4th mandarin orange 23 of feeding equipment 2 While on seat 4, controller 5 controls cutting manipulator 6 using its cutting wheel 15 in the third mandarin orange on third intelligence holder 4 The orange peel of son 23 is cut into the cutting line of three hexagonal angles each other；Meanwhile controller 5 controls skull patch manipulator 7 and utilizes its skull patch Pincers 16 peel off three valve orange peels of second mandarin orange 23 on second intelligent holder 4；Meanwhile pericarp manipulator 8 utilizes its fruit The pulp of first mandarin orange 23 on first intelligent holder 4 is caught pulp case 35 and by first mandarin orange 23 by skin gripper 17 Orange peel catch orange peel case 36.
In order to be cut into the cutting line of three hexagonal angles each other in the orange peel of mandarin orange 23, and by three valve orange peels of mandarin orange 23 It peels off, controller 5 controls skull patch manipulator 7 and while the first valve orange peel stripping of mandarin orange 23, will be controlled on first intelligent holder 37 Device 5 processed controls cutting manipulator 6 and is cut into the first cutting line to the orange peel of the mandarin orange 23 on the second intelligent holder 38；Controller 5 Skull patch manipulator 7 is controlled by while the second valve orange peel stripping of mandarin orange 23, the control of controller 5 is cut on the first intelligent holder 37 Manipulator 6 is cut into the second cutting line to the orange peel of the mandarin orange 23 on the second intelligent holder 38；Controller 5 controls skull patch manipulator 7 by while the third valve orange peel stripping of mandarin orange 23, controller 5 controls cutting manipulator 6 to second on the first intelligent holder 37 The orange peel of mandarin orange 23 on intelligent holder 38 is cut into third cutting line.Controller 5 controls cutting manipulator 6 and is pressed from both sides to the first intelligence After the orange peel of mandarin orange 23 on seat 37 is cut into first the first cutting line, the rotation of first intelligent holder 37 of the control of controller 5 Motor 19 drives the swivel plate 24 of its rotating clamp base 18 to rotate hexagonal angle, and the mandarin orange 23 in the rotating clamp base 18 follows swivel plate 24 Hexagonal angle is rotated, after swivel plate 24 rotates hexagonal angle stopping, controller 5 controls cutting manipulator 6 to first first intelligence folder The orange peel of mandarin orange 23 on seat 37 is cut, and Article 2 and first the first cutting line are cut into each other in the orange peel of mandarin orange 23 Second cutting line of hexagonal angle；After second cutting line well cutting, controller 5 controls the rotation that electric rotating machine 19 drives rotating clamp base 18 Flap 24 rotates hexagonal angle, and the mandarin orange 23 in rotating clamp base 18 follows its swivel plate 24 to rotate hexagonal angle；The swivel plate 24 rotates After hexagonal angle stops, controller 5 controls cutting manipulator 6 and is cut to the orange peel of the mandarin orange 23 on the first intelligent holder 37, in mandarin orange The orange peel of son 23 is cut into the third cutting line of Article 3 and the second cutting line of Article 2 hexagonal angle each other.6 band of cutting manipulator When moving the first cutting line, the second cutting line and third cutting line of its cutting wheel 15 cutting 23 orange peel of mandarin orange, cutting wheel 15 is moved Dynamic track is identical.
In order to peel off the orange peel of three valves hexagonal angle each other, controller 5 controls skull patch manipulator 7 by the first intelligent holder 37 After first valve orange peel of upper mandarin orange 23 peels off；Controller 5 controls electric rotating machine 19 and the swivel plate 24 of rotating clamp base 18 is driven to rotate Hexagonal angle, the mandarin orange 23 in rotating clamp base 18 follow its swivel plate 24 to rotate hexagonal angle, which, which rotates hexagonal angle, stops Afterwards, controller 5 controls skull patch manipulator 7 and peels off the second valve orange peel of mandarin orange 23 on the first intelligent holder 37；Second cutting line After well cutting, controller 5 controls electric rotating machine 19 and the swivel plate 24 of rotating clamp base 18 is driven to rotate hexagonal angle, in rotating clamp base 18 Mandarin orange 23 follow its swivel plate 24 rotate hexagonal angle；After the swivel plate 24 rotates hexagonal angle stopping, controller 5 controls skull patch machine Tool hand 7 peels off the third valve orange peel of mandarin orange 23 on the first intelligent holder 37.Controller 5 controls skull patch manipulator 7 by the first intelligence When first valve orange peel of mandarin orange 23 peels off on energy holder 37, meanwhile, controller 5 controls cutting manipulator 6 to the second intelligent holder The orange peel of mandarin orange 23 on 38 is cut into the first cutting line；On first intelligent holder 37 first valve orange peel of mandarin orange 23 be stripped with And after the first cutting line well cutting of the orange peel of the second mandarin orange 23 on intelligent holder 38, first intelligent holder of the control of controller 5 37 electric rotating machine 19 drives the swivel plate 24 of rotating clamp base 18 to rotate hexagonal angle, and the mandarin orange 23 in rotating clamp base 18 follows its rotation Flap 24 rotates hexagonal angle, and after which rotates hexagonal angle stopping, controller 5 controls skull patch manipulator 7 by the first intelligence Second valve orange peel of mandarin orange 23 peels off on holder 37；Meanwhile the electric rotating machine 19 of second intelligent holder 38 of the control of controller 5 drives The swivel plate 24 of its rotating clamp base 18 rotates hexagonal angle, and the mandarin orange 23 in the rotating clamp base 18 follows swivel plate 24 to rotate 120 ° Angle, after swivel plate 24 rotates hexagonal angle stopping, controller 5 controls cutting manipulator 6 in the mandarin orange 23 on the second intelligent holder 38 Orange peel be cut into the second cutting line；Second valve orange peel of mandarin orange 23 is stripped on first intelligent holder 37 and the second intelligence is pressed from both sides After 23 second cutting line well cutting of mandarin orange on seat 38, the electric rotating machine 19 of first intelligent holder 37 of the control of controller 5 drives rotation The swivel plate 24 for turning holder 18 rotates hexagonal angle, and the mandarin orange 23 in rotating clamp base 18 follows its swivel plate 24 to rotate hexagonal angle, should After swivel plate 24 rotates hexagonal angle stopping, controller 5 controls skull patch manipulator 7 by the third of mandarin orange 23 on the first intelligent holder 37 Valve orange peel peels off；Meanwhile the electric rotating machine 19 of second intelligent holder 38 of the control of controller 5 drives the swivel plate of its rotating clamp base 18 24 rotate hexagonal angles, and the mandarin orange 23 in the rotating clamp base 18 follows swivel plate 24 to rotate hexagonal angle；Swivel plate 24 rotates hexagonal angle After stopping, controller 5 controls cutting manipulator 6 and is cut into third cutting in the orange peel of the mandarin orange 23 on the second intelligent holder 38 Line.Skull patch manipulator 7 drives the first valve orange peel, the second valve orange peel and the third valve orange peel of 16 stripping mandarin orange 23 of its skull patch pincers, The track of 16 movement of skull patch pincers is identical.
In order to take out the pulp of mandarin orange 23, pericarp manipulator 8 is equipped with bark press tool hand 47, and bark press tool hand 47 includes Telescope motor 48 and pressure leather point 49, the engine base of telescope motor 48 are connect with the swing arm 50 of pericarp manipulator 8, telescope motor 48 Motor shaft is connect with pressure leather point 49；Telescope motor 48 is connect by pawl control line with controller 5.Pericarp manipulator 8 captures mandarin orange When 23 pulp, the folder motor 56 that controller 5 first controls intelligent holder 4 works, and folder motor 56 drives left holder 25 to move loose folder, Then controller 5 controls the work of telescope motor 48 of bark press tool hand 47, and telescope motor 48 is stretched out with dynamic pressure leather point 49, utilizes pressure Leather point 49, which pushes down the orange peel of mandarin orange 23, recycles on intelligent holder 4 the pericarp gripper 17 of pericarp manipulator 8 by mandarin orange 23 Pulp is caught in pulp case 35；After the pulp of mandarin orange 23 is caught pulp case 35 by pericarp gripper 17, controller 5 controls pericarp The orange peel of mandarin orange 23 is caught orange peel case 36 by gripper 17 again.
In order to implement the cyclic process of mandarin orange 23, the pulp of mandarin orange is detached with orange peel, the first intelligent holder 37 is moved to When the Working position of pericarp manipulator 8, controller 5 controls the pericarp gripper 17 of pericarp manipulator 8 and is moved to the by initial position The position of the mandarin orange 23 of one intelligent holder 37, the folder motor 56 that controller 5 controls on the first intelligent holder 37 work, and drive left folder Seat 25 is unclamped with right holder 26, is then controlled pericarp gripper 17 and is caught the pulp of first mandarin orange 23 of the first intelligent holder 37 Pulp case 35 and orange peel is caught into orange peel case 36；
After the pulp of first mandarin orange 23 catches pulp case 35 and orange peel is caught orange peel case 36, controller 5 controls fruit Skin gripper 17 resets to initial position；After pericarp gripper 17 resets to initial position, the second intelligent holder 38 is moved to pericarp machine When the Working position of tool hand 8, the pericarp gripper 17 that controller 5 controls pericarp manipulator 8 is moved to the second intelligence by initial position The position of the mandarin orange 23 of holder 38, the folder motor 56 on second intelligent holder 38 of the control of controller 5 work, drive left holder 25 with Right holder 26 unclamps, and then controls pericarp gripper 17 and the pulp of second mandarin orange 23 of the second intelligent holder 38 is caught pulp case 35 and orange peel is caught into orange peel case 36；
After the pulp of second mandarin orange 23 catches pulp case 35 and orange peel is caught orange peel case 36, controller 5 controls fruit Skin gripper 17 resets to initial position；After pericarp gripper 17 resets to initial position, third intelligence holder 39 is moved to pericarp machine When the Working position of tool hand 8, the pericarp gripper 17 that controller 5 controls pericarp manipulator 8 is moved to third intelligence by initial position The position of the mandarin orange 23 of holder 39, controller 5 control the folder motor 56 on third intelligence holder 39 and work, drive left holder 25 with Right holder 26 unclamps, and then controls pericarp gripper 17 and the pulp of the third mandarin orange 23 of third intelligence holder 39 is caught pulp case 35 and orange peel is caught into orange peel case 36；
After the pulp of third mandarin orange 23 catches pulp case 35 and orange peel is caught orange peel case 36, controller 5 controls fruit Skin gripper 17 resets to initial position；After pericarp gripper 17 resets to initial position, the 4th intelligent holder 40 is moved to pericarp machine When the Working position of tool hand 8, the pericarp gripper 17 that controller 5 controls pericarp manipulator 8 is moved to the 4th intelligence by initial position The position of the mandarin orange 23 of holder 40, the folder motor 56 on the 4th intelligent holder 40 of the control of controller 5 work, drive left holder 25 with Right holder 26 unclamps, and then controls pericarp gripper 17 and the pulp of the 4th mandarin orange 23 of the 4th intelligent holder 40 is caught pulp case 35 and orange peel is caught into orange peel case 36；So constantly recycle.
In order to be opened orange peel using the skull patch of skull patch manipulator 7 pincers 16, the skull patch pincers 16 of skull patch manipulator 7 include pincers Frame 51, epithelium pincers 52, hypodermis pincers 53 and pincers motor 54, epithelium pincers 52 are hinged by hinged shaft hypodermis pincers 53, clamp the machine of motor 54 Seat connect with tong holder 51, tong holder 51 is connect with the pivoted arm 55 of skull patch manipulator 7, pincers motor 54 motor shaft and epithelium clamp 52 or 53 connection of hypodermis pincers, pincers motor 54 are connect by clamping control line with controller 5.
When the skull patch pincers 16 of skull patch manipulator 7 peel off orange peel, controller 5 controls skull patch pincers 16 and is moved to intelligence by initial position The position of mandarin orange 23 on energy holder 4, then control pincers motor 54 work utilize the pincers drive epithelium of motor 54 pincers 52 or hypodermis First valve orange peel of mandarin orange 23 is vised and is dug by pincers 53；After first valve orange peel of mandarin orange 23 is dug, controller 5 controls skull patch Pincers 16 are moved to the position of the mandarin orange 23 on intelligent holder 4, then drive epithelium pincers 52 or hypodermis pincers 53 using pincers motor 54 Second valve orange peel of mandarin orange 23 is vised and dug；After second valve orange peel of mandarin orange 23 is dug, controller 5 controls skull patch pincers 16 It is moved to the position of the mandarin orange 23 on intelligent holder 4, pincers motor 54 is recycled to drive epithelium pincers 52 or hypodermis pincers 53 by mandarin orange 23 third valve orange peel is vised and is dug.

Claims (10)

1. the application method of dried orange peel intelligent robot, dried orange peel intelligent robot include rotating-table apparatus（1）, charging Device（2）, manipulator（3）, intelligent holder（4）And controller（5）；Manipulator（3）It include cutting manipulator（6）, skull patch Manipulator（7）And pericarp manipulator（8）, cutting manipulator（6）, skull patch manipulator（7）And pericarp manipulator（8）Around turn Disk device（1）Setting；Rotating-table apparatus（1）It include turntable（9）, rotary tray motor（10）, rack（11）And intelligent holder（4）, Feeding equipment（2）It include hopper（12）, top discharge door（13）And bottom discharge door（14）, cutting manipulator（6）Equipped with cutting Wheel（15）, skull patch manipulator（7）It is clamped equipped with skull patch（16）, pericarp manipulator（8）Equipped with pericarp gripper（17）；Intelligent holder（4） It include rotating clamp base（18）And electric rotating machine（19）, electric rotating machine（19）Engine base and turntable（9）Connection, electric rotating machine （19）Motor shaft and rotating clamp base（18）Connection, rotating clamp base（18）Equipped with induction pieces（20）；Controller（5）Equipped with infrared biography Sensor（21）And inductive switch（22）；Infrared sensor（21）And inductive switch（22）It is installed on turntable（9）The machine on side Frame（11）On, infrared sensor（21）And inductive switch（22）Positioned at intelligent holder（4）Side；Infrared sensor（21）Packet The first infrared sensor is included（29）, the second infrared sensor（30）, third infrared sensor（31）And the 4th infrared sensing Device（32）, inductive switch（22）It include the first inductive switch（33）And second inductive switch（34）；Rotating clamp base（18）'s Induction pieces（20）There are three if, three induction pieces（20）It is distributed in rotating clamp base（18）Swivel plate（24）Edge on；Intelligence Holder（4）It include the first intelligent holder（37）, the second intelligent holder（38）, third intelligence holder（39）And the 4th intelligence folder Seat（40）, the first intelligent holder（37）Initial position be placed exactly in feeding equipment（2）Bottom discharge door（14）Lower discharge position；
It is characterized in that：The processing flow of the application method of the dried orange peel intelligent robot is specifically：
Blanking：Controller（5）Control feeding equipment（2）By first mandarin orange（23）It is put into turntable（9）On first intelligence folder Seat（37）On, first mandarin orange（23）Into bottom discharge door（14）The intelligent holder of following first（37）Afterwards, the first intelligent holder （37）First infrared sensor on side（29）By its signal transmission to controller（5）；
Cut orange peel：Mandarin orange（23）Under to the first intelligent holder（37）In after, controller（5）Control rotating-table apparatus（1）Turntable Motor（10）Drive turntable（9）On the first intelligent holder（37）Rotation, the first intelligent holder（37）Into cutting manipulator（6） Working position when, the first intelligent holder（37）On mandarin orange（23）Into the second infrared sensor（30）Detection range, Two infrared sensors（30）By its signal transmission to controller（5）, controller（5）Control rotary tray motor（10）Stop；Meanwhile it revolving Turn holder（18）Swivel plate（24）On first induction pieces（20）Close to turntable（9）First inductive switch on side（33）, First inductive switch（33）By its signal transmission to controller（5）；Controller（5）Control cutting manipulator（6）In the first intelligence Holder（37）On mandarin orange（23）Orange peel be cut into the first cutting line；Mandarin orange（23）Orange peel be cut to the first cutting line Afterwards, controller（5）Control electric rotating machine（19）Drive swivel plate（24）Rotation, rotating clamp base（18）On mandarin orange（23）Follow rotation Flap（24）Rotation, swivel plate（24）On second induction pieces（20）Close to turntable（9）First inductive switch on side（33） When, the first inductive switch（33）By its signal transmission to controller（5）, controller（5）Control electric rotating machine（19）Stop, rotation Plate（24）It stops operating, controller（5）Control cutting manipulator（6）In the first intelligent holder（37）On mandarin orange（23）Orange peel It is cut into the second cutting line；Mandarin orange（23）Orange peel be cut to the second cutting line after, controller（5）Control electric rotating machine（19） Drive swivel plate（24）Rotation, rotating clamp base（18）On mandarin orange（23）Follow swivel plate（24）Rotation, swivel plate（24）On Third induction pieces（20）Close to turntable（9）First inductive switch on side（33）When, the first inductive switch（33）By its signal It is transferred to controller（5）, controller（5）Control electric rotating machine（19）Stop, swivel plate（24）It stops operating, controller（5）Control Cutting manipulator processed（6）In the first intelligent holder（37）On mandarin orange（23）Orange peel be cut into third cutting line；
Peel off orange peel：Mandarin orange（23）Orange peel be cut to third cutting line after, controller（5）Control rotating-table apparatus（1）Rotation Rotating motor（19）Drive turntable（9）On the first intelligent holder（37）Follow turntable（9）Rotation, the first intelligent holder（37）Into Skull patch manipulator（7）Working position when, the first intelligent holder（37）On mandarin orange（23）Into third infrared sensor（31） Detection range, third infrared sensor（31）By its signal transmission to controller（5）, controller（5）Control rotary tray motor （10）Stop；Meanwhile swivel plate（24）On first induction pieces（20）Close to turntable（9）Second inductive switch on side （34）, the second inductive switch（34）By its signal transmission to controller（5）, controller（5）Control skull patch manipulator（7）By first Intelligent holder（37）Upper mandarin orange（23）The first valve orange peel peel off；Mandarin orange（23）The first valve orange peel be stripped after, controller（5） Control electric rotating machine（19）Drive swivel plate（24）Rotation, rotating clamp base（18）On mandarin orange（23）Follow swivel plate（24）Turn It is dynamic, swivel plate（24）On second induction pieces（20）Close to turntable（9）Second inductive switch on side（34）When, the second induction Switch（34）By its signal transmission to controller（5）, controller（5）Control electric rotating machine（19）Stop, swivel plate（24）Stop Rotation, swivel plate（24）After stopping operating, controller（5）Control skull patch manipulator（7）By the first intelligent holder（37）Upper mandarin orange （23）The second valve orange peel peel off；Mandarin orange（23）The second valve orange peel be stripped after, controller（5）Control electric rotating machine（19）Band Dynamic swivel plate（24）Rotation, rotating clamp base（18）On mandarin orange（23）Follow swivel plate（24）Rotation, swivel plate（24）On Three induction pieces（20）Close to turntable（9）Second inductive switch on side（34）When, the second inductive switch（34）Its signal is passed It is defeated by controller（5）, controller（5）Control electric rotating machine（19）Stop, swivel plate（24）It stops operating, swivel plate（24）Stop After rotation, controller（5）Control skull patch manipulator（7）By the first intelligent holder（37）Upper mandarin orange（23）Third valve orange peel stripping It opens；
Take out orange peel：First mandarin orange（23）Three valve orange peels be stripped after, controller（5）Control rotary tray motor（10）Band turn Disk（9）Rotation；When equipped with mandarin orange（23）The first intelligent holder（37）Turn to pericarp manipulator（8）Working position when, One intelligent holder（37）On mandarin orange（23）Close to turntable（9）4th infrared sensor on side（32）；4th infrared sensor （32）By its signal transmission to controller（5）, controller（5）Control pericarp manipulator（8）Utilize its pericarp gripper（17）By One intelligent holder（37）On mandarin orange（23）Pulp catch pulp case（35）It is interior；Mandarin orange（23）Pulp caught pulp case （35）Afterwards, controller（5）Control pericarp manipulator（8）Utilize its pericarp gripper（17）By the first intelligent holder（37）On mandarin orange （23）Orange peel catch orange peel case（36）It is interior；First intelligent holder（37）On mandarin orange（23）Orange peel catch orange peel case（36）It is interior Afterwards, controller（5）Control rotary tray motor（10）Drive turntable（9）Rotation, the first intelligent holder（37）Return to feeding equipment（2）Under The initial position in face；So constantly recycle.
2. the application method of dried orange peel intelligent robot according to claim 1, it is characterised in that：The turntable electricity Machine（10）Drive turntable（9）When rotation, turntable（9）The angle rotated every time is identical, intelligent holder（4）Follow turntable（9）Rotation Angle is identical；Turntable（9）After rotation stops, there are one intelligent holders（4）Close to a corresponding infrared sensor（21）.
3. the application method of dried orange peel intelligent robot according to claim 1, it is characterised in that：The turntable electricity Machine（10）Drive turntable（9）When rotation, the first intelligent holder（37）Follow turntable（9）By bottom discharge door（14）Lower discharge position open Begin to rotate, the first intelligent holder（37）Rotation stops behind 90 ° of angles；First intelligent holder（37）When stopping operating, the first intelligence folder Seat（37）Close to the second infrared sensor（30）；First intelligent holder（37）Close to the second infrared sensor（30）Afterwards, the first intelligence It can holder（37）Follow turntable（9）Rotation stops behind 90 ° of angles, the first intelligent holder（37）When stopping operating, the first intelligent holder （37）Close to third infrared sensor（31）；First intelligent holder（37）Close to third infrared sensor（31）Afterwards, the first intelligence Holder（37）Follow turntable（9）Rotation stops behind 90 ° of angles, the first intelligent holder（37）When stopping operating, the first intelligent holder （37）Close to the 4th infrared sensor（32）；First intelligent holder（37）Close to the 4th infrared sensor（32）Afterwards, the first intelligence Holder（37）Follow turntable（9）Rotation stops behind 90 ° of angles, the first intelligent holder（37）Return to initial position, the first intelligent holder （37）Close to the first infrared sensor（29）；So constantly recycle.
4. the application method of dried orange peel intelligent robot according to claim 1, it is characterised in that：The turntable dress It sets（1）Turntable（9）When rotation, turntable（9）The angle rotated every time is identical, turntable（9）Every time rotation stop after, there are one Intelligent holder（4）It is placed exactly in feeding equipment（2）Bottom discharge door（14）Lower discharge position, make mandarin orange（23）Can intelligence be fallen on down Holder（4）In.
5. the application method of dried orange peel intelligent robot according to claim 1, it is characterised in that：The controller （5）Control rotary tray motor（10）Drive turntable（9）On upper one intelligent holder（4）Turn to feeding equipment（2）Bottom discharge Door（14）Lower discharge position stop when, controller（5）Control feeding equipment（2）By a upper mandarin orange（23）It is put into following upper One intelligent holder（4）On；Upper one intelligent holder（4）It is put into mandarin orange（23）Afterwards, upper one intelligent holder（4）Upper side it is red Outer sensor（21）By its signal transmission to controller（5）, controller（5）Control rotary tray motor（10）Drive turntable（9）Rotation, Upper one intelligent holder（4）On mandarin orange（23）Follow an intelligent holder（4）Leave bottom discharge door（14）Following position, Meanwhile next intelligent holder（4）Follow turntable（9）It is rotated into bottom discharge door（14）Following position, controller（5）Control Feeding equipment（2）By next mandarin orange（23）It is put into following next intelligent holder（4）On；So constantly recycle.
6. the application method of dried orange peel intelligent robot according to claim 1, it is characterised in that：The controller （5）Control feeding equipment（2）By first mandarin orange（23）It is put into turntable（9）On the first intelligent holder（37）After upper；First Intelligent holder（37）First mandarin orange（23）Close to turntable（9）First infrared sensor on side（29）, the first infrared sensing Device（29）By its signal transmission to controller（5）, controller（5）Control rotary tray motor（10）Drive turntable（9）Rotation；When equipped with First mandarin orange（23）The first intelligent holder（37）Turn to cutting manipulator（6）Working position when, the first intelligent holder （37）First mandarin orange（23）Close to turntable（9）Second infrared sensor on side（30）, the second infrared sensor（30）It will Its signal transmission is to controller（5）, controller（5）Control rotary tray motor（10）Stop；Meanwhile turntable（9）On second intelligence Holder（38）Also turntable is followed（9）Turn to bottom discharge door（14）Lower discharge position；Controller（5）Control feeding equipment（2）It will Second mandarin orange（23）It is put into turntable（9）On the second intelligent holder（38）On；When equipped with first mandarin orange（23）First Intelligent holder（37）Turn to skull patch manipulator（7）Working position when, the first intelligent holder（37）First mandarin orange（23） Close to turntable（9）The third infrared sensor on side（31）, third infrared sensor（31）By its signal transmission to controller （5）, controller（5）Control rotary tray motor（10）Stop；Meanwhile turntable（9）On third intelligence holder（39）Also turntable is followed （9）Turn to bottom discharge door（14）Lower discharge position；Controller（5）Control feeding equipment（2）By third mandarin orange（23）It is put into To turntable（9）On third intelligence holder（39）On；When equipped with first mandarin orange（23）The first intelligent holder（37）It turns to Pericarp manipulator（8）Working position when, the first intelligent holder（37）First mandarin orange（23）Close to turntable（9）The of side Four infrared sensors（32）, the 4th infrared sensor（32）By its signal transmission to controller（5）, controller（5）Control turntable Motor（10）Stop；Meanwhile turntable（9）On the 4th intelligent holder（40）Also turntable is followed（9）Turn to bottom discharge door（14） Lower discharge position；Controller（5）Control feeding equipment（2）By the 4th mandarin orange（23）It is put into turntable（9）On the 4th intelligence Holder（40）On；When the first intelligent holder（37）On first mandarin orange（23）Orange peel caught orange peel case（35）Afterwards, it controls Device（5）Control rotary tray motor（10）Drive turntable（9）Rotation, the first intelligent holder（37）Return to feeding equipment（2）Following is first Beginning position；So constantly recycle.
7. the application method of dried orange peel intelligent robot according to claim 1, in order to control feeding equipment（2）Interior Mandarin orange（23）Cycle blanking, feeding equipment（2）Top discharge door（13）It include brake application door motor（41）, upper lock gate（42）With And shutter sensor（43）, bottom discharge door（14）It include tail gates motor（44）And tail gates（45）；It is characterized in that：Institute The feeding equipment stated（2）When blanking, controller（5）Control brake application door motor（41）Drive upper lock gate（42）It opens, upper lock gate （42）First mandarin orange above（23）Under fall on tail gates（45）On, upper lock gate（42）With tail gates（45）Between gate pass Sensor（43）Its information is transferred to controller（5）, controller（5）Control brake application door motor（41）Drive upper lock gate（42）It closes It closes；Upper lock gate（42）After closing, controller（5）Control tail gates motor（44）Drive tail gates（45）It opens, upper lock gate（42） With tail gates（45）Between first mandarin orange（23）Under fall on the first intelligent holder（37）On；First mandarin orange（23）Under fall on First intelligent holder（37）After upper, controller（5）Control tail gates motor（44）Drive tail gates（45）It closes, tail gates（45） After closing, controller（5）Control brake application door motor（41）Drive upper lock gate（42）It opens, second mandarin orange（23）Under fall on Xia Zha Door（45）On；So constantly recycle.
8. the application method of dried orange peel intelligent robot according to claim 1, in order to by mandarin orange（23）Pulp take Go out, pericarp manipulator（8）Equipped with bark press tool hand（47）, bark press tool hand（47）It include telescope motor（48）And pressure leather point （49）, telescope motor（48）Engine base and pericarp manipulator（8）Swing arm（50）Connection, telescope motor（48）Motor shaft and pressure Leather point（49）Connection；It is characterized in that：The pericarp manipulator（8）Capture mandarin orange（23）Pulp when, controller（5）First control Intelligent holder（4）Folder motor（56）Motor is pressed from both sides in work（56）Drive left holder（25）Mobile pine is pressed from both sides, then controller（5）Control Bark press tool hand processed（47）Telescope motor（48）Work, telescope motor（48）Band dynamic pressure leather point（49）It stretches out, utilizes pressure leather point （49）By mandarin orange（23）Orange peel push down in intelligent holder（4）On, recycle pericarp manipulator（8）Pericarp gripper（17）By mandarin orange Son（23）Pulp catch pulp case（35）It is interior；Pericarp gripper（17）By mandarin orange（23）Pulp catch pulp case（35） Afterwards, controller（5）Control pericarp gripper（17）Again by mandarin orange（23）Orange peel catch orange peel case（36）.
9. the application method of dried orange peel intelligent robot according to claim 1, intelligent holder（4）Rotating clamp base （18）It include swivel plate（24）, left holder（25）, right holder（26）And folder motor（56）, it is characterised in that：Described One intelligent holder（37）It is moved to pericarp manipulator（8）Working position when, controller（5）Control pericarp manipulator（8）Fruit Skin gripper（17）First intelligent holder is moved to by initial position（37）Mandarin orange（23）Position, controller（5）Control first Intelligent holder（37）On folder motor（56）Work, drives left holder（25）With right holder（26）It unclamps, then controls pericarp and grab Pawl（17）By the first intelligent holder（37）First mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into mandarin orange Leather trunk（36）；
First mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into orange peel case（36）Afterwards, controller（5）Control Pericarp gripper processed（17）Reset to initial position；Pericarp gripper（17）After resetting to initial position, the second intelligent holder（38）It moves Move pericarp manipulator（8）Working position when, controller（5）Control pericarp manipulator（8）Pericarp gripper（17）By initial Position is moved to the second intelligent holder（38）Mandarin orange（23）Position, controller（5）The intelligent holder of control second（38）On Press from both sides motor（56）Work, drives left holder（25）With right holder（26）It unclamps, then controls pericarp gripper（17）By the second intelligence Holder（38）Second mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into orange peel case（36）；
Second mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into orange peel case（36）Afterwards, controller（5）Control Pericarp gripper processed（17）Reset to initial position；Pericarp gripper（17）After resetting to initial position, third intelligence holder（39）It moves Move pericarp manipulator（8）Working position when, controller（5）Control pericarp manipulator（8）Pericarp gripper（17）By initial Position is moved to third intelligence holder（39）Mandarin orange（23）Position, controller（5）Control third intelligence holder（39）On Press from both sides motor（56）Work, drives left holder（25）With right holder（26）It unclamps, then controls pericarp gripper（17）By third intelligence Holder（39）Third mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into orange peel case（36）；
Third mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into orange peel case（36）Afterwards, controller（5）Control Pericarp gripper processed（17）Reset to initial position；Pericarp gripper（17）After resetting to initial position, the 4th intelligent holder（40）It moves Move pericarp manipulator（8）Working position when, controller（5）Control pericarp manipulator（8）Pericarp gripper（17）By initial Position is moved to the 4th intelligent holder（40）Mandarin orange（23）Position, controller（5）Control the 4th intelligent holder（40）On Press from both sides motor（56）Work, drives left holder（25）With right holder（26）It unclamps, then controls pericarp gripper（17）By the 4th intelligence Holder（40）The 4th mandarin orange（23）Pulp catch pulp case（35）And orange peel is caught into orange peel case（36）；So constantly Cycle.
10. the application method of dried orange peel intelligent robot according to claim 1, in order to utilize skull patch manipulator（7） Skull patch pincers（16）Orange peel is opened, skull patch manipulator（7）Skull patch pincers（16）It include tong holder（51）, epithelium pincers（52）, under Skin clamps（53）And pincers motor（54）, it is characterised in that：The skull patch manipulator（7）Skull patch pincers（16）When peeling off orange peel, Controller（5）Control skull patch pincers（16）Intelligent holder is moved to by initial position（4）On mandarin orange（23）Position, then control Clamp motor（54）Work utilizes pincers motor（54）Drive epithelium pincers（52）Or hypodermis pincers（53）By mandarin orange（23）The first valve mandarin orange Skin is vised and is dug；Mandarin orange（23）The first valve orange peel dig after, controller（5）Control skull patch pincers（16）It is moved to intelligent folder Seat（4）On mandarin orange（23）Position, then using pincers motor（54）Drive epithelium pincers（52）Or hypodermis pincers（53）By mandarin orange （23）The second valve orange peel vise and dig；Mandarin orange（23）The second valve orange peel dig after, controller（5）Control skull patch pincers （16）It is moved to intelligent holder（4）On mandarin orange（23）Position, recycle pincers motor（54）Drive epithelium pincers（52）Under or Skin clamps（53）By mandarin orange（23）Third valve orange peel vise and dig.
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