CN106307568B - Mandarin orange peeling machines people intelligently clamps - Google Patents
Mandarin orange peeling machines people intelligently clamps Download PDFInfo
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- CN106307568B CN106307568B CN201610712662.0A CN201610712662A CN106307568B CN 106307568 B CN106307568 B CN 106307568B CN 201610712662 A CN201610712662 A CN 201610712662A CN 106307568 B CN106307568 B CN 106307568B
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- mandarin orange
- pincers
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- 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)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Manipulator (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Mandarin orange peeling machines people intelligently clamps, a kind of mandarin orange peeling machines people, includes conveyer, charging manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, discharging manipulator and controller；Mandarin orange peeling machines people, implements the cutting of mandarin orange orange peel, turns over valve, orange peel Intelligent Machining separated with pulp, improve the processing efficiency of mandarin orange peeling；Mandarin orange peeling machines people intelligently clamps, and includes the first engine base, rotary electric machine, pivoted arm seat, the first swing arm, the first rotation motor, the second swing arm, the second rotation motor and the first skull patch pincers；In use, controller computer calculates the coordinate curve that the first skull patch pincers imitate human hand stripping mandarin orange skin movement according to the location of the size shape of mandarin orange and mandarin orange；When first skull patch pincers open orange peel, the coordinate curve that controller controls the first skull patch pincers to calculate the first skull patch pincers imitation human hand stripping mandarin orange skin by computer moves, and the orange peel of mandarin orange is opened.
Description
Technical field
The present invention relates to a kind of orange peel process equipment, particularly a kind of mandarin orange peeling machines people intelligence of special stripping orange peel
Pincers.
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 substantial amounts of mandarin orange to need to peel off its orange peel, three valves opened include the first valve, the
Two valves and the 3rd valve, interconnect per valve, then dry orange peel and be used as Chinese medicine dried orange peel；Now, mandarin orange
Peeling method is：Two lines of cut are cut in the orange peel of mandarin orange using pocket knife, after orange peel cuts two lines of cut, 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 manual efficiency compared with
Low, a kind of the mandarin orange peeling machines people for being used to shell orange peel and mandarin orange peeling machines people intelligently clamp, and have become people and shell orange peel
Needs.
The content of the invention
The purpose of the present invention is overcoming the deficiencies of the prior art and provide a kind of brand-new mandarin orange peeling machines people intelligently to clamp,
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：Mandarin orange peeling machines people, includes conveyer, charging manipulator, first
Cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, discharging machine
Tool hand and controller；Feed manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second stripping
Skin manipulator, the 3rd peeling machine hand and discharging manipulator are arranged at the side of conveyer；Conveyer includes conveyer belt, master
Driving wheel, follower, motor and rack, driving wheel and follower are installed in rack, and motor is connected with driving wheel, conveyer belt
It is connected with driving wheel and follower, conveyer belt is equipped with intelligent holder；Charging manipulator is equipped with mandarin orange gripper, the first cutting mechanics
Hand 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 by mandarin orange peeling machines people
Intelligence pincers are formed, and intelligently pincers include the first skull patch pincers to mandarin orange peeling machines people, and the second peeling machine hand is clamped equipped with the second skull patch,
3rd peeling machine hand is clamped equipped with the 3rd skull patch, and discharging manipulator is equipped with pulp gripper；Controller is equipped with sensor, sensor peace
Loaded in rack, sensor is located at the lower section of mandarin orange intelligence holder；Controller by control line and conveyer, charging manipulator,
First cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, go out
Expect manipulator and sensor connection.
The application method of mandarin orange peeling machines people is：Using mandarin orange peeling machines people three are cut out in the orange peel of mandarin orange mutually
For the line of cut of hexagonal angle, three articles of lines of cut include the first line of cut, the second line of cut and the 3rd line of cut；Then will be in
The orange peel of three cutting line positions peels off out three valve orange peels, then the pulp of mandarin orange is taken out；During work, the conveying of mandarin orange will be set
Car is sent to the station of setting；Start mandarin orange peeling machines people work using controller：Controller control charging manipulator will convey
The mandarin orange of car is caught on intelligent holder, and the mandarin orange on intelligent holder is sent to the Working position of the first cutting manipulator by conveyer,
First cutting manipulator cuts out the line of cut of two angles hexagonal angle each other using the first cutting wheel in the orange peel of the mandarin orange；Two
For bar angle each other after the line of cut well cutting of hexagonal angle, the mandarin orange on intelligent holder is sent to the second cutting manipulator by conveyer
Working position；After mandarin orange on intelligent holder is sent to the Working position of the second cutting manipulator, the second cutting manipulator utilizes it
Second cutting wheel cuts out the Article 3 line of cut with above-mentioned two lines of cut hexagonal angle each other in the orange peel of the mandarin orange；Article 3
After line of cut well cutting, the mandarin orange on intelligent holder is sent to the Working position of the first peeling machine hand, the first peeling by conveyer
Manipulator is clamped using its first skull patch and peels off the first valve orange peel of mandarin orange；After first valve orange peel of mandarin orange peels off, conveyer will
Mandarin orange on intelligent holder is sent to the Working position of the second peeling machine hand, and the second peeling machine hand will using its second skull patch pincers
Second valve orange peel of mandarin orange peels off；After second valve orange peel of mandarin orange peels off, the mandarin orange on intelligent holder is sent to the 3rd by conveyer
The Working position of peeling machine hand, the 3rd peeling machine hand are clamped using its 3rd skull patch and peel off its 3rd valve orange peel；3rd valve
After orange peel peels off, the mandarin orange on intelligent holder is sent to the Working position of discharging manipulator, discharging manipulator profit by conveyer
The pulp of mandarin orange is caught in pulp case with its pulp gripper；Orange peel is set to be separated with the pulp of mandarin orange, orange peel is separated with pulp
After orange peel separation, conveyer drives intelligent holder to rotate, and makes the shrinkage pool of intelligent holder downward, orange peel is dropped in orange peel case.
The workflow of mandarin orange peeling machines people is as follows：Grab the line of cut of mandarin orange → first and the second line of cut processing → the three
Line of cut processes the valve orange peel skull patch of the valve orange peel skull patch of the → the first valve orange peel skull patch → second → the 3rd → separation orange peel；So constantly
Circulation.
In order to control material manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second stripping
Skin manipulator, the 3rd peeling machine hand, the free degree of the mechanical manual task of discharging, according to grabbing the line of cut of mandarin orange → first and second cut
Secant process the → the three line of cut process the valve orange peel skull patch of the valve orange peel skull patch of the → the first valve orange peel skull patch → second → the 3rd → point
From the locus of orange peel flow and the needs of processing, discharging manipulator, the first cutting manipulator, the are worked out by controller
Two cutting manipulators, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, the operation rail for the manipulator that discharges
Mark program；During work, discharging manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling are controlled by controller
Manipulator, the second peeling machine hand, the 3rd peeling machine hand, discharging manipulator are by the operation track movement set.
Mandarin orange peeling machines people intelligently clamps, and includes the first engine base, rotary electric machine, pivoted arm seat, the first swing arm, the first rotation
Motor, the second swing arm, the second rotation motor and the first skull patch pincers；The engine base of rotary electric machine is connected with the first engine base, the first machine
Seat is connected with rack, and the motor shaft of rotary electric machine is fixedly connected with pivoted arm seat, and motor cabinet and the pivoted arm seat of the first rotation motor are consolidated
Fixed connection, the motor shaft of the first rotation motor are fixedly connected with the first swing arm, the motor cabinet of the second rotation motor and the first swing arm
It is fixedly connected, the motor shaft of the second rotation motor is fixedly connected with the second swing arm, and the second swing arm is fixedly connected with the first skull patch pincers；
First skull patch pincers include pincers motor, lower pincers motor, upper clamp, lower clamp and upper pincers sensor, upper pincers motor and under
The engine base of pincers motor is fixedly connected with the second swing arm, and the motor shaft of upper pincers motor is connected with upper clamp, the motor shaft of lower pincers motor
It is connected with lower clamp, upper pincers sensor is installed in upper clamp, for detecting whether the first skull patch pincers have clamped orange peel；Upper clamp
Hooked equipped with pincers, for orange peel to be triggered；The axis and horizontal line of rotary electric machine, the first rotation motor and the second rotation electricity
The axis of machine is parallel with horizontal line；Rotary electric machine, the first rotation motor, the second rotation motor, upper pincers motor and upper pincers sensing
Device is connected by peeling control line with controller.
The application method that mandarin orange peeling machines people intelligently clamps is：In use, after mandarin orange is put into intelligent holder, weight sensing
Device, the first intelligence sensor and the second intelligence sensor will detect the data transfer of mandarin orange to controller, the computer root of controller
The big of mandarin orange is detected according to the weight data of weight sensor detection mandarin orange and the first intelligence sensor and the second intelligence sensor
Small data carries out intelligent computing, calculates the size shape of mandarin orange；After computer calculates the size shape of mandarin orange, computer is according to mandarin orange
The location of the size shape of son and mandarin orange, the coordinate for calculating the pincers imitation human hand stripping mandarin orange skin movement of the first skull patch are bent
Line；First skull patch pincers stripping mandarin orange skin when, controller according to above-mentioned coordinate curve control rotary electric machine, control the first rotation motor with
And the orange peel of mandarin orange is triggered and clamped by the second rotation motor rotation, control the first skull patch pincers, and by the rail of above-mentioned coordinate curve
Mark moves, and peels off the orange peel of mandarin orange.
The beneficial effects of the invention are as follows：Mandarin orange peeling machines people, implements the cutting of mandarin orange orange peel, turns over valve, orange peel and pulp
Separated intelligence assembly line is processed automatically, improves the processing efficiency of mandarin orange peeling；Mandarin orange peeling machines people intelligently clamps, and uses
During work, computer calculates the first skull patch pincers and imitates human hand stripping mandarin orange according to the location of the size shape of mandarin orange and mandarin orange
The coordinate curve of sub- skin movement；When mandarin orange peeling machines people intelligence pincers open orange peel, controller controls the first skull patch pincers to press computer
The coordinate curve movement that the first skull patch pincers imitate human hand stripping mandarin orange skin is calculated, the orange peel of mandarin orange is opened.
Brief description of the drawings
Fig. 1 is the structure diagram of mandarin orange peeling machines people；
Fig. 2 is the structure diagram that mandarin orange peeling machines people intelligently clamps.
Embodiment
The present invention is further detailed below in conjunction with the accompanying drawings：
Mandarin orange peeling machines people intelligence shown in the structure diagram and Fig. 2 of mandarin orange peeling machines people as shown in Figure 1
The structure diagram of pincers；Mandarin orange peeling machines people, includes conveyer 1, charging manipulator 2, the first cutting manipulator 3, second
Cutting manipulator 4, the first peeling machine hand 5, the second peeling machine hand 6, the 3rd peeling machine hand 7, discharging manipulator 8 and control
Device 9 processed；Feed manipulator 2, the first cutting manipulator 3, the second cutting manipulator 4, the first peeling machine hand 5, the second peeling machine
Tool hand 6, the 3rd peeling machine hand 7 and discharging manipulator 8 are arranged at the side of conveyer 1；Conveyer 1 includes conveyer belt
10th, driving wheel 11, follower 12, motor 13 and rack 14, driving wheel 11 and follower 12 are installed in rack 14, actively
Wheel 11 and follower 12 are fixedly connected with the dynamic mating connection of rack 14, the engine base of motor 13 with rack 14, the motor of motor 13
Axis is connected with driving wheel 11.Conveyer belt 10 is connected with driving wheel 11 and follower 12, and conveyer belt 10 is equipped with intelligent holder 15, intelligence
Can holder 15 be equipped with multiple, intelligent holder 15 is distributed on 10 zone face of conveyer belt, and each intelligence holder 15 is equipped with shrinkage pool 31, shrinkage pool
Elastic network(s) 32 is equipped with 31, to be adapted to mandarin orange to carry out peeling processing；The distance between each intelligence holder 15 is equal；Intelligent holder
15 are equipped with sensing bore 33, and the corresponding conveyer belt 10 of sensing bore 33 of intelligent holder 15 is equipped with sensing hole 34, and sensing bore 33 is opposite
Sensing hole 34, the center line of sensing bore 33 are identical with the center line of sensing hole 34；Charging manipulator 2 is equipped with mandarin orange gripper 16, the
One cutting manipulator 3 is equipped with the first cutting wheel 17, and the second cutting manipulator 4 is equipped with the second cutting wheel 18, the first peeling machine hand 5
By mandarin orange peeling machines people, intelligently pincers are formed, and intelligently pincers include the first skull patch pincers 19, the second peeling machine to mandarin orange peeling machines people
Tool hand 6 is equipped with the second skull patch pincers 20, and the 3rd peeling machine hand 7 is equipped with the 3rd skull patch pincers 21, and discharging manipulator 8 is equipped with pulp gripper
22；Controller 9 is equipped with sensor 23, and sensor 23 is installed in rack 14, and sensor 23 is located under mandarin orange intelligence holder 15
Side；Sensor 23 passes through control line and conveyer 1, charging manipulator 2, the first cutting manipulator 3, the second cutting manipulator 4, the
One peeling machine hand 5, the second peeling machine hand 6, the 3rd peeling machine hand 7, discharging manipulator 8 and sensor 23 connect；The
The structure of two peeling machine hands 6 and the 3rd peeling machine hand 7 is identical with the structure of the first peeling machine hand 5.
In order to implement the intelligent machining of orange peel, charging manipulator 2, the first cutting manipulator 3, the second cutting manipulator 4,
First peeling machine hand 5, the second peeling machine hand 6, the 3rd peeling machine hand 7 and discharging manipulator 8, are set by said sequence
In the side of conveyer belt 10；Sensor 23 includes first sensor 24, second sensor 25,3rd sensor the 26, the 4th and passes
Sensor 27, the 5th sensor 28, the 6th sensor 29 and the 7th sensor 30；First sensor 24 is positioned at charging manipulator 2
The corresponding position of operation station, second sensor 25 is located at the corresponding position of operation station of the first cutting manipulator 3, the 3rd
Sensor 26 is located at the corresponding position of operation station of the second cutting manipulator 4, and the 4th sensor 27 is located at the first peeling machine
The corresponding position of operation station of hand 5, the 5th sensor 28 are located at the corresponding position of operation station of the second peeling machine hand 6,
6th sensor 29 is located at the corresponding position of operation station of the 3rd peeling machine hand 7, and the 7th sensor 30 is positioned at discharging machinery
The corresponding position of operation station of hand 8.
Intelligent holder 15 includes a guide groove 44, left holder 45, right holder 46, left electric pushrod 47, right electric pushrod 48
And weight sensor 49；Left holder 45 is equipped with left rail 50, and right holder 46 is equipped with right guide rail 51, left rail 50 and right guide rail
51 move mating connection with seat guide groove 44, and the shell of left electric pushrod 47 and the shell of right electric pushrod 48 are fixed with seat guide groove 44
Connection, the left power head 52 of left electric pushrod 47 are fixedly connected with left holder 45, right power head 53 and the right side of right electric pushrod 48
Holder 46 is fixedly connected, and seat guide groove 44 is fixedly connected with conveyer belt 10；Weight sensor 49 is located at the lower section of elastic network(s) 32, weight
Sensor 49 is contacted with elastic network(s) 32, and weight sensor 49 senses line by weight and is connected with controller 9, and controller 9 is equipped with electricity
Brain 54.
In order to implement the intelligent control of each flow and operation, charging 2 engine base of manipulator to 3 machine of the first cutting manipulator
The distance of seat and distance of 3 engine base of the first cutting manipulator to 4 engine base of the second cutting manipulator, 4 engine base of the second cutting manipulator
The distance of distance, 5 engine base of the first peeling machine hand to 6 engine base of the second peeling machine hand to 5 engine base of the first peeling machine hand,
The distance and 7 engine base of the 3rd peeling machine hand of two peeling machine hands, 6 engine base to the 3rd peeling machine hand, 7 engine base are mechanical to discharging
The distance of 8 engine base of hand is equal；The distance between each intelligence holder 15 and charging 2 engine base of manipulator to the first cutting manipulator 3
The distance of engine base is equal；Mandarin orange peeling machines people intelligently clamps original state：First sensor 24, second sensor the 25, the 3rd
Conveyer belt 10 above sensor 26, the 4th sensor 27, the 5th sensor 28, the 6th sensor 29 and the 7th sensor 30
On be equipped with an intelligent holder 15；Intelligent holder 15 includes the first intelligent intelligent intelligence of holder the 38, the 3rd of holder 37, second
The intelligent holder 43 of the intelligent holder 42 and the 7th of the intelligent holder the 41, the 6th of the intelligent holder the 40, the 5th of holder the 39, the 4th.
In order to implement the pulp of mandarin orange pair in being taken out in orange peel, discharging manipulator 8 is equipped with pressure skin hand 35, using pressing skin hand
35 orange peels, so that its pulp gripper 22 catches the pulp of mandarin orange；According to traditional technique, mandarin orange skin as dried orange peel in use,
The orange peel of the mandarin orange of cutting needs to be divided into three valves, and per valve, hexagonal angle, every valve interconnect each other；Thirdly valve orange peel includes
There are the first valve orange peel, the second valve orange peel and the 3rd valve orange peel.
The application method of mandarin orange peeling machines people is：Using mandarin orange peeling machines people three are cut out in the orange peel of mandarin orange mutually
For the line of cut of hexagonal angle, three articles of lines of cut include the first line of cut, the second line of cut and the 3rd line of cut；Then will be in
The orange peel of three cutting line positions peels off out three valve orange peels, then the pulp of mandarin orange is taken out；During work, the conveying of mandarin orange will be set
Car 36 is sent to the station of setting；Start the pincers worker of mandarin orange peeling machines people's intelligence using controller 9 to make：Controller 9 controls charger
Tool hand 2 catches the mandarin orange of waggon 36 on intelligent holder 15, and the mandarin orange on intelligent holder 15 is sent to the first cutting by conveyer 1
The Working position of manipulator 3, the first cutting manipulator 3 cut out two angles using the first cutting wheel 17 in the orange peel of the mandarin orange
The first line of cut and the second line of cut of hexagonal angle each other；Two angles the first line of cut of hexagonal angle and second are cut each other
After secant well cutting, the mandarin orange on intelligent holder 15 is sent to the Working position of the second cutting manipulator 4 by conveyer 1；Intelligence folder
After mandarin orange on seat 15 is sent to the Working position of the second cutting manipulator 4, the second cutting manipulator 4 utilizes its second cutting wheel 18
The 3rd line of cut with above-mentioned two articles of lines of cut hexagonal angle each other is cut out in the orange peel of the mandarin orange；3rd line of cut well cutting
Afterwards, the mandarin orange on intelligent holder 15 is sent to the Working position of the first peeling machine hand 5, the profit of the first peeling machine hand 5 by conveyer 1
First valve orange peel of mandarin orange is peeled off with its first skull patch pincers 19；After first valve orange peel of mandarin orange peels off, conveyer 1 is by intelligent folder
Mandarin orange on seat 15 is sent to the Working position of the second peeling machine hand 6, and the second peeling machine hand 6 will using its second skull patch pincers 20
Second valve orange peel of mandarin orange peels off；After second valve orange peel of mandarin orange peels off, the mandarin orange on intelligent holder 15 is sent to the by conveyer 1
The Working position of three peeling machine hands 7, the 3rd peeling machine hand 7 are peeled off its 3rd valve orange peel using its 3rd skull patch pincers 21；
After 3rd valve orange peel peels off, the mandarin orange on intelligent holder 15 is sent to the Working position of discharging manipulator 8 by conveyer 1, is gone out
Material manipulator 8 is caught the pulp of mandarin orange in pulp case 82 using its pulp gripper 22；Orange peel is set to be separated with the pulp of mandarin orange, mandarin orange
After skin orange peel separated with pulp separates, conveyer 1 drives intelligent holder 15 to rotate, and makes the shrinkage pool 31 of intelligent holder 15 downward,
Orange peel is set to drop in orange peel case 83；The workflow of mandarin orange peeling machines people is as follows：Grab the line of cut of mandarin orange → first and second
Line of cut process the → the three line of cut process the valve orange peel skull patch of the valve orange peel skull patch of the → the first valve orange peel skull patch → second → the 3rd →
Separate orange peel；So constantly circulation.
The workflow of mandarin orange peeling machines people is specific as follows：
Grab mandarin orange：The control charging manipulator 2 of controller 9 is grabbed first mandarin orange on waggon 36 using its mandarin orange gripper 16
On the first intelligent holder 37 on to conveyer belt 10；After first intelligent holder 37 is put into first mandarin orange, the first intelligent holder 37
Its signal transmission is controlled conveyer 1 to rotate by corresponding first sensor 24 to controller 9, controller 9 below, the first intelligence folder
Seat 37 follows conveyer belt 10 to move, and mandarin orange follows the first intelligent holder 37 to move；
First line of cut and the processing of the second line of cut：First intelligent holder 37 follows conveyer belt 10 to be moved to the second sensing
Above device 25 during corresponding position, its signal transmission is controlled conveyer 1 to stop by second sensor 25 to controller 9, controller 9
Only；After conveyer 1 stops, controller 9 controls the first cutting manipulator 3 to be cut using its first cutting wheel 17 in the orange peel of the mandarin orange
Cut out the first line of cut and the second line of cut of angle hexagonal angle each other；First line of cut and the second line of cut well cutting
Afterwards, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move, the hexagonal angle each other of well cutting two
The mandarin orange of line of cut follow the first intelligent holder 37 to move；
3rd line of cut is processed：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to 3rd sensor 26
During position, its signal transmission is controlled conveyer 1 to rotate stopping by 3rd sensor 26 to controller 9, controller 9；1 turn of conveyer
After dynamic stopping, controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in mandarin orange on the first intelligent holder 37
Orange peel cuts out the 3rd line of cut with the first line of cut and the second line of cut hexagonal angle each other；3rd line of cut well cutting
Afterwards, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move, the hexagonal angle each other of well cutting three
The mandarin orange of line of cut follow the first intelligent holder 37 to move；
First valve orange peel skull patch：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to the 4th sensor 27
During position, its signal transmission is controlled conveyer 1 to rotate stopping by the 4th sensor 27 to controller 9, controller 9；1 turn of conveyer
After dynamic stopping, controller 9 controls the first peeling machine hand 5 to peel off the first valve orange peel of mandarin orange using its first skull patch pincers 19；
After first valve orange peel of mandarin orange peels off, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move,
The mandarin orange for being stripped the first valve orange peel follows the first intelligent holder 37 to move；
Second valve orange peel skull patch：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to the 5th sensor 28
During position, its signal transmission is controlled conveyer 1 to rotate stopping by the 5th sensor 28 to controller 9, controller 9；1 turn of conveyer
After dynamic stopping, controller 9 controls the second peeling machine hand 6 to peel off the second valve orange peel of mandarin orange using its second skull patch pincers 20；
After second valve orange peel of mandarin orange peels off, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move,
The mandarin orange for being stripped the second valve orange peel follows the first intelligent holder 37 to move；
3rd valve orange peel skull patch：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to the 6th sensor 29
During position, its signal transmission is controlled conveyer 1 to rotate stopping by the 6th sensor 29 to controller 9, controller 9；1 turn of conveyer
After dynamic stopping, controller 9 controls the 3rd peeling machine hand 7 to peel off the 3rd valve orange peel of mandarin orange using its 3rd skull patch pincers 21；
After 3rd valve orange peel of mandarin orange peels off, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move,
The mandarin orange for being stripped the 3rd valve orange peel follows the first intelligent holder 37 to move；
Separate orange peel：First intelligent holder 37 follows conveyer belt 10 to be moved to the 7th sensor 30 corresponding position above
When, its signal transmission is controlled conveyer 1 to rotate stopping by the 7th sensor 30 to controller 9, controller 9；Conveyer 1, which rotates, to stop
After only, the control of controller 9 discharging manipulator 8 presses skin hand 35 to push down the orange peel opened on the first intelligent holder 37 using it,
Then the pulp of mandarin orange is caught in pulp case 82 using its pulp gripper 22.
The mandarin orange on waggon 36 is caught to intelligent holder on conveyer belt 10 in order to constantly recycle charging manipulator 2
On 15；First intelligent holder 37 follow conveyer belt 10 be moved to second sensor 25 above corresponding position while, the second intelligence
Can holder 38 follow conveyer belt 10 to be moved to the corresponding position above of first sensor 24, first sensor 24 is by its signal transmission
To controller 9, the control charging manipulator 2 of controller 9 is caught second mandarin orange on waggon 36 using its mandarin orange gripper 16
On the second intelligent holder 38 on conveyer belt 10；Second intelligent holder 38 follows conveyer belt 10 to be moved to above second sensor 25
While corresponding position, the 3rd intelligent holder 39 follows conveyer belt 10 to be moved to the corresponding position above of first sensor 24,
For first sensor 24 by its signal transmission to controller 9, the control charging manipulator 2 of controller 9 will be defeated using its mandarin orange gripper 16
The on car 36 the 3rd mandarin orange is sent to catch on the 3rd intelligent holder 39 on conveyer belt 10；3rd intelligent holder 39 follows conveyer belt
10 be moved to second sensor 25 above corresponding position while, the 4th intelligent holder 40 follows conveyer belt 10 to be moved to first
Corresponding position, first sensor 24 are mechanical to controller 9, the control charging of controller 9 by its signal transmission above for sensor 24
Hand 2 is caught the 4th mandarin orange on waggon 36 using its mandarin orange gripper 16 on the 4th intelligent holder 40 on conveyer belt 10；
4th intelligent holder 40 follow conveyer belt 10 be moved to second sensor 25 above corresponding position while, the 5th intelligent holder
41 follow conveyer belt 10 to be moved to the corresponding position above of first sensor 24, and first sensor 24 is by its signal transmission to control
The 5th mandarin orange on waggon 36 is caught conveyer belt by device 9, the control charging manipulator 2 of controller 9 using its mandarin orange gripper 16
On the 5th intelligent holder 41 on 10；It is corresponding above that 5th intelligent holder 41 follows conveyer belt 10 to be moved to second sensor 25
While position, the 6th intelligent holder 42 follows conveyer belt 10 to be moved to the corresponding position above of first sensor 24, and first passes
Its signal transmission is utilized its mandarin orange gripper 16 by waggon 36 by sensor 24 to controller 9, the control charging manipulator 2 of controller 9
On the 6th mandarin orange catch on the 6th intelligent holder 42 on conveyer belt 10；6th intelligent holder 42 follows conveyer belt 10 to move
To while corresponding position, the 7th intelligent holder 43 follows conveyer belt 10 to be moved to first sensor above second sensor 25
Corresponding position above 24, first sensor 24 utilize its signal transmission to controller 9, the control charging manipulator 2 of controller 9
Its mandarin orange gripper 16 is caught the 7th mandarin orange on waggon 36 on the 7th intelligent holder 43 on conveyer belt 10；So constantly
Circulation.
In order to recycle the first cutting manipulator 3 on intelligent holder 15 mandarin orange orange peel carry out the first line of cut and
Second cutting wire cutting；Second intelligent holder 38 follows conveyer belt 10 to be moved to above second sensor 25 behind corresponding position,
Its signal transmission is controlled the first cutting manipulator 3 to utilize its first cutting wheel by second sensor 25 to controller 9, controller 9
17 cut out two angles and the first line of cut of hexagonal angle and second cut each other in the orange peel of mandarin orange on the second intelligent holder 38
Secant；3rd intelligent holder 39 follows conveyer belt 10 to be moved to above second sensor 25 behind corresponding position, second sensor
Its signal transmission is utilized its first cutting wheel 17 in the 3rd intelligence by 25 to controller 9, the first cutting manipulator 3 of control of controller 9
The first line of cut and the second line of cut of two angles hexagonal angle each other can be cut out by the orange peel of mandarin orange on holder 39；4th intelligence
Energy holder 40 follows conveyer belt 10 to be moved to above second sensor 25 behind corresponding position, and second sensor 25 passes its signal
Controller 9 is defeated by, controller 9 controls the first cutting manipulator 3 using its first cutting wheel 17 in mandarin orange on the 4th intelligent holder 40
The orange peel of son cuts out the first line of cut and the second line of cut of two angles hexagonal angle each other；5th intelligent holder 41 follows
Conveyer belt 10 is moved to second sensor 25 above behind corresponding position, second sensor 25 by its signal transmission to controller 9,
Controller 9 controls the first cutting manipulator 3 using its first cutting wheel 17 in the orange peel cutting of mandarin orange on the 5th intelligent holder 41
Go out the first line of cut and the second line of cut of two angles hexagonal angle each other；6th intelligent holder 42 follows conveyer belt 10 to move
Above to second sensor 25 behind corresponding position, second sensor 25 controls its signal transmission to controller 9, controller 9
It is mutual that first cutting manipulator 3 using its first cutting wheel 17 cuts out two articles of angles in the orange peel of mandarin orange on the 6th intelligent holder 42
For the first line of cut and the second line of cut of hexagonal angle；7th intelligent holder 43 follows conveyer belt 10 to be moved to second sensor
Above 25 behind corresponding position, its signal transmission is controlled the first cutting mechanics by second sensor 25 to controller 9, controller 9
Hand 3 using its first cutting wheel 17 in the orange peel of mandarin orange on the 7th intelligent holder 43 cut out two articles of angles each other hexagonal angle the
One line of cut and the second line of cut；So constantly circulation.
Orange peel the 3rd line of cut of progress of mandarin orange on intelligent holder 15 is cut in order to recycle the second cutting manipulator 4
Cut；Second intelligent holder 38 follows conveyer belt 10 to be moved to above 3rd sensor 26 behind corresponding position, 3rd sensor 26
By its signal transmission to controller 9, controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the second intelligence
The orange peel of mandarin orange cuts out one article hexagonal angle the 3rd is cut each other with the first line of cut and the second line of cut angle on holder 38
Secant；3rd intelligent holder 39 follows conveyer belt 10 to be moved to above 3rd sensor 26 behind corresponding position, 3rd sensor
Its signal transmission is utilized its second cutting wheel 18 in the 3rd intelligence by 26 to controller 9, the second cutting manipulator 4 of control of controller 9
Can on holder 39 orange peel of mandarin orange cut out one article with the first line of cut and the second line of cut angle each other hexagonal angle the 3rd
Line of cut；4th intelligent holder 40 follows conveyer belt 10 to be moved to above 3rd sensor 26 behind corresponding position, the 3rd sensing
For device 26 by its signal transmission to controller 9, controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the 4th
On intelligent holder 40 orange peel of mandarin orange cut out one article with the first line of cut and the second line of cut angle each other hexagonal angle
Three lines of cut；5th intelligent holder 41 follows conveyer belt 10 to be moved to above 3rd sensor 26 behind corresponding position, and the 3rd passes
For sensor 26 by its signal transmission to controller 9, controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the
The orange peel of mandarin orange cuts out one and the first line of cut and the second line of cut angle hexagonal angle each other on five intelligent holders 41
3rd line of cut；6th intelligent holder 42 follows conveyer belt 10 to be moved to above 3rd sensor 26 behind corresponding position, and the 3rd
Sensor 26 by its signal transmission to controller 9, controller 9 control the second cutting manipulator 4 using its second cutting wheel 18 in
The orange peel of mandarin orange cuts out one article and the first line of cut and the second line of cut angle hexagonal angle each other on 6th intelligent holder 42
The 3rd line of cut；7th intelligent holder 43 follows conveyer belt 10 to be moved to above 3rd sensor 26 behind corresponding position, the
Its signal transmission is controlled the second cutting manipulator 4 to utilize its second cutting wheel 18 by three sensors 26 to controller 9, controller 9
One article and 120 ° each other of the first line of cut and the second line of cut angle are cut out in the orange peel of mandarin orange on the 7th intelligent holder 43
3rd line of cut at angle；So constantly circulation.
Three valve peelings are carried out to the orange peel of mandarin orange on intelligent holder 15 in order to recycle the first peeling machine hand 5；Second
Intelligent holder 38 follows conveyer belt 10 to be moved to the 4th sensor 27 above behind corresponding position, and the 4th sensor 27 is by its signal
Controller 9 is transferred to, controller 9 controls the first peeling machine hand 5 using its first skull patch pincers 19 by the second intelligent holder 38
First valve orange peel of mandarin orange peels off；Second intelligent holder 38 follows conveyer belt 10 to be moved to the 5th sensor 28 corresponding position above
Postpone, for the 5th sensor 28 by its signal transmission to controller 9, controller 9 controls the second peeling machine hand 6 second to be turned over using it
Skin pincers 20 peel off the second valve orange peel of mandarin orange on the second intelligent holder 38；Second intelligent holder 38 follows conveyer belt 10 to be moved to
6th sensor 29 is above behind corresponding position, the 6th sensor 29 by its signal transmission to controller 9, the control of controller 9 the
Three peeling machine hands 7 are peeled off the 3rd valve orange peel of mandarin orange on the second intelligent holder 38 using its 3rd skull patch pincers 21；
3rd intelligent holder 39 follows conveyer belt 10 to be moved to above the 4th sensor 27 behind corresponding position, the 4th sensing
For device 27 by its signal transmission to controller 9, controller 9 controls the first peeling machine hand 5 to clamp 19 by the 3rd using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 39；3rd intelligent holder 39 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal transmission is controlled the second peeling machine hand 6 by the 5th sensor 28 to controller 9, controller 9
Second valve orange peel of mandarin orange on the 3rd intelligent holder 39 is peeled off using its second skull patch pincers 20；3rd intelligent holder 39 follows defeated
Band 10 is sent to be moved to above the 6th sensor 29 behind corresponding position, the 6th sensor 29 is by its signal transmission to controller 9, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 3rd intelligent holder 39 using its 3rd skull patch
Peel off；
4th intelligent holder 40 follows conveyer belt 10 to be moved to above the 4th sensor 27 behind corresponding position, the 4th sensing
For device 27 by its signal transmission to controller 9, controller 9 controls the first peeling machine hand 5 to clamp 19 by the 4th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 40；4th intelligent holder 40 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal transmission is controlled the second peeling machine hand 6 by the 5th sensor 28 to controller 9, controller 9
Second valve orange peel of mandarin orange on the 4th intelligent holder 40 is peeled off using its second skull patch pincers 20；4th intelligent holder 40 follows defeated
Band 10 is sent to be moved to above the 6th sensor 29 behind corresponding position, the 6th sensor 29 is by its signal transmission to controller 9, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 4th intelligent holder 40 using its 3rd skull patch
Peel off；
5th intelligent holder 41 follows conveyer belt 10 to be moved to above the 4th sensor 27 behind corresponding position, the 4th sensing
For device 27 by its signal transmission to controller 9, controller 9 controls the first peeling machine hand 5 to clamp 19 by the 5th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 41；5th intelligent holder 41 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal transmission is controlled the second peeling machine hand 6 by the 5th sensor 28 to controller 9, controller 9
Second valve orange peel of mandarin orange on the 5th intelligent holder 41 is peeled off using its second skull patch pincers 20；5th intelligent holder 41 follows defeated
Band 10 is sent to be moved to above the 6th sensor 29 behind corresponding position, the 6th sensor 29 is by its signal transmission to controller 9, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 5th intelligent holder 41 using its 3rd skull patch
Peel off；
6th intelligent holder 42 follows conveyer belt 10 to be moved to above the 4th sensor 27 behind corresponding position, the 4th sensing
For device 27 by its signal transmission to controller 9, controller 9 controls the first peeling machine hand 5 to clamp 19 by the 6th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 42；6th intelligent holder 42 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal transmission is controlled the second peeling machine hand 6 by the 5th sensor 28 to controller 9, controller 9
Second valve orange peel of mandarin orange on the 6th intelligent holder 42 is peeled off using its second skull patch pincers 20；6th intelligent holder 42 follows defeated
Band 10 is sent to be moved to above the 6th sensor 29 behind corresponding position, the 6th sensor 29 is by its signal transmission to controller 9, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 6th intelligent holder 42 using its 3rd skull patch
Peel off；
7th intelligent holder 43 follows conveyer belt 10 to be moved to above the 4th sensor 27 behind corresponding position, the 4th sensing
For device 27 by its signal transmission to controller 9, controller 9 controls the first peeling machine hand 5 to clamp 19 by the 7th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 43；7th intelligent holder 43 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal transmission is controlled the second peeling machine hand 6 by the 5th sensor 28 to controller 9, controller 9
Second valve orange peel of mandarin orange on the 7th intelligent holder 43 is peeled off using its second skull patch pincers 20；7th intelligent holder 43 follows defeated
Band 10 is sent to be moved to above the 6th sensor 29 behind corresponding position, the 6th sensor 29 is by its signal transmission to controller 9, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 7th intelligent holder 43 using its 3rd skull patch
Peel off；So constantly circulation.
The pulp of mandarin orange on intelligent holder 15 is caught in pulp case 82 in order to recycle discharging manipulator 8；Second intelligence
Energy holder 38 follows conveyer belt 10 to be moved to above the 7th sensor 30 behind corresponding position, and the 7th sensor 30 passes its signal
Controller 9 is defeated by, controller 9 controls conveyer 1 to rotate stopping；The control of controller 9 discharging manipulator 8 presses skin hand 35 will using it
The orange peel opened is pushed down on the second intelligent holder 38, then using its pulp gripper 22 by mandarin orange on the second intelligent holder 38
Pulp is caught in pulp case 82；3rd intelligent holder 39 follows conveyer belt 10 to be moved to the 7th sensor 30 corresponding position above
Afterwards, its signal transmission is controlled conveyer 1 to rotate stopping by the 7th sensor 30 to controller 9, controller 9；Controller 9 controls out
Material manipulator 8 presses skin hand 35 to push down the orange peel opened on the 3rd intelligent holder 39 using it, then utilizes its pulp gripper
22 catch the pulp of mandarin orange on the 3rd intelligent holder 39 in pulp case 82；4th intelligent holder 40 follows conveyer belt 10 to be moved to
Above behind corresponding position, its signal transmission is controlled defeated 7th sensor 30 by the 7th sensor 30 to controller 9, controller 9
Send machine 1 to rotate to stop；The control of controller 9 discharging manipulator 8 presses skin hand 35 to push down the orange peel opened in the 4th intelligence using it
On holder 40, then the pulp of mandarin orange on the 4th intelligent holder 40 is caught in pulp case 82 using its pulp gripper 22；5th
Intelligent holder 41 follows conveyer belt 10 to be moved to the 7th sensor 30 above behind corresponding position, and the 7th sensor 30 is by its signal
Controller 9 is transferred to, controller 9 controls conveyer 1 to rotate stopping；The control discharging manipulator 8 of controller 9 presses skin hand 35 using it
The orange peel opened is pushed down on the 5th intelligent holder 41, then using its pulp gripper 22 by mandarin orange on the 5th intelligent holder 41
Pulp catch in pulp case 82；6th intelligent holder 42 follows conveyer belt 10 to be moved to the 7th sensor 30 corresponding position above
Postpone, its signal transmission is controlled conveyer 1 to rotate stopping by the 7th sensor 30 to controller 9, controller 9；Controller 9 controls
Discharging manipulator 8 presses skin hand 35 to push down the orange peel opened on the 6th intelligent holder 42 using it, is then grabbed using its pulp
Pawl 22 catches the pulp of mandarin orange on the 6th intelligent holder 42 in pulp case 82；7th intelligent holder 43 follows conveyer belt 10 to move
To after corresponding position above the 7th sensor 30, the 7th sensor 30 controls its signal transmission to controller 9, controller 9
Conveyer 1, which rotates, to be stopped；The control discharging manipulator 8 of controller 9 presses skin hand 35 to push down the orange peel opened in the 7th intelligence using it
On energy holder 43, then the pulp of mandarin orange on the 7th intelligent holder 43 is caught in pulp case 82 using its pulp gripper 22；Such as
This is constantly circulated.
Intelligent holder 15 in use, charging manipulator 2 mandarin orange is grabbed to the elastic network(s) 32 of intelligent holder 15 after, mandarin orange quilt
It is put on weight sensor 49, its weight signal is transferred to controller 9 by weight sensor 49, and controller 9 is according to the weight of mandarin orange
Amount data calculate the size shape of mandarin orange；After controller 9 calculates the size shape of mandarin orange, controller 9 controls a left side is electronic to push away
Bar 47 and right electric pushrod 48 work, and left electric pushrod 47 drives left holder 45 to be moved to mandarin orange, and right electric pushrod 48 drives
Right holder 46 is moved to mandarin orange, and using left holder 45 and right holder 46, the mandarin orange for being put in elastic network(s) 32 is clamped in intelligent folder
On seat 15；After mandarin orange is clamped in intelligent holder 15, corresponding sensor 23 gives its signal transmission to control to intelligent holder 15 below
Device 9, controller 9 control conveyer 1 to drive conveyer belt 10 to rotate, the mandarin orange clamped by intelligent holder 15 are sent to the first cutting machine
The Working position of tool hand 3.
In order to which mandarin orange is clamped in intelligent holder 15, while mandarin orange is also avoided to be crushed, left holder 45 is equipped with left outstanding hook 55,
Right holder 46 be equipped with it is right outstanding hook 56, the left side that elastic network(s) 32 hangs on left holder 45 hangs and hooks the right sides of 55 and right holder 46 and hang hook 56
On；In order to avoid hindering moving towards for left holder 45 and right holder 46, left holder 45 is equipped with seat gap 57 with right holder 46, a left side
The distance in the seat gap 57 of holder 45 and right holder 46 is more than the stroke of left holder 45 and right holder 46, make left holder 45 and
Right holder 46 is clamped mandarin orange by enough mobile spaces；Left holder 45 is equipped with levorotation chamber 58, and right holder 46 is equipped with right cavity
59, elastic network(s) 32 is located in levorotation chamber 58 and right cavity 59；Shrinkage pool 31 is made of levorotation chamber 58 and right cavity 59；Elastic network(s)
32 surface area is hemispherical, and 32 hemispheric volume of elastic network(s) is less than the volume that levorotation chamber 58 adds up to right cavity 59.
In order to control the height and position for being put in intelligent 15 mandarin orange of holder, with meet cut out 2/3rds orange peel valve will
Ask, intelligent holder 15 is equipped with intelligence folder and pushes up 60, and intelligence folder top 60 is made of electronic mandril 61 and intelligence folder 62, intelligence folder 62 and bullet
Property net 32 bottom contact, intelligence folder 62 is connected with the power head of electronic mandril 61, the shell and seat guide groove 44 of electronic mandril 61
It is fixedly connected.
In order to which more accurately the size of detection mandarin orange, intelligent holder 15 are arranged on the first intelligence sensor 63 and the second intelligence
Sensor 64, the first intelligence sensor 63 are arranged on the top of left holder 45, and the second intelligence sensor 64 is arranged on the upper of right holder 46
Portion；First intelligence sensor 63 and the second intelligence sensor 64 sense line by ranging and are connected with controller 9；Feed manipulator
After 2 mandarin orange to be grabbed to the elastic network(s) 32 of intelligent holder 15, the computer 54 of controller 9 detects mandarin orange according to weight sensor 49
The size data of weight data and the first intelligence sensor 63 and the second intelligence sensor 64 detection mandarin orange carries out intelligent computing,
Calculate the size shape of mandarin orange.
In order to implement to open 2/3rds orange peel cutting, be put in intelligent holder 15 mandarin orange need to expose three/
Two orange peel, be exposed to intelligent holder 15 upper seat surface 65 orange peel be less than whole mandarin orange orange peel 2/3rds when, controller 9
The intelligence folder 62 of electronic mandril 61 is controlled to rise, elastic network(s) 32 and mandarin orange follow intelligence folder 62 to rise, and are exposed to intelligent holder 15
Upper seat surface 65 orange peel increase；The stroke that electronic mandril 61 rises by the computer 54 of controller 9 according to the weight of mandarin orange and
Size controls；Be exposed to the upper seat surface 65 of intelligent holder 15 orange peel be more than whole mandarin orange orange peel 2/3rds when, control
Device 9 controls the intelligence folder 62 of electronic mandril 61 to decline, and elastic network(s) 32 and mandarin orange follow intelligence folder 62 to decline, and are exposed to intelligent holder
The orange peel of 15 upper seat surface 65 is reduced；The stroke that electronic mandril 61 declines by controller 9 computer 54 according to the weight of mandarin orange with
And size controls.
In order to avoid mandarin orange is hung by elastic network(s) 32, the weight that weight sensor 49 detects mandarin orange is influenced, elastic network(s) 32
Vertical range is more than the intelligence folder 62 of electronic mandril 61 to the distance of the upper seat surface 65 of intelligent holder 15, elastic network(s) 32 is in pine
Dynamic state；When controller 9 controls left electric pushrod 47 and right electric pushrod 48 work, left electric pushrod 47 drives left holder
45 along seat guide groove 44, holder 46 moves to the right, and right electric pushrod 48 drives right holder 46, and along seat guide groove 44, holder 45 moves to the left,
Left holder 45 is moved towards with right holder 46 along seat guide groove 44；
After the pulp of mandarin orange on intelligent holder 15 catches pulp case 82 by discharging manipulator 8, controller 9 controls left electronic
Push rod 47 drives left holder 45 and right electric pushrod 48 to drive right holder 46 to reset, and left holder 45 and right holder 46 are along seat guide groove
44 backwards to mobile.
By mandarin orange peeling machines people, intelligently pincers are formed first peeling machine hand 5, and mandarin orange peeling machines people intelligently clamps, and includes
First engine base 66, rotary electric machine 67, pivoted arm seat 68, the first swing arm 69, the first rotation motor 70, the second swing arm 71, the second rotation
72 and first skull patch of motor pincers 19；The engine base of rotary electric machine 67 is connected with the first engine base 66, and the first engine base 66 connects with rack 14
Connect, the motor shaft of rotary electric machine 67 is fixedly connected with pivoted arm seat 68, and motor cabinet and the pivoted arm seat 68 of the first rotation motor 70 are fixed
Connection, the motor shaft of the first rotation motor 70 are fixedly connected with the first swing arm 69, the motor cabinet and first of the second rotation motor 72
Swing arm 69 is fixedly connected, and the motor shaft of the second rotation motor 72 is fixedly connected with the second swing arm 71, and the second swing arm 71 is turned over first
Skin pincers 19 are fixedly connected；First skull patch pincers 19 include pincers motor 73, it is lower pincers motor 79, upper clamp 74, lower clamp 75 and
The engine base of upper pincers sensor 76, upper pincers motor 73 and lower pincers motor 79 is fixedly connected with the second swing arm 71, upper pincers motor 73
Motor shaft is connected with upper clamp 74, and the motor shaft of lower pincers motor 79 is connected with lower clamp 75, and upper pincers sensor 76 is installed on folder
On pincers 74, for detecting whether the first skull patch pincers 19 have clamped orange peel；Upper clamp 74 is equipped with pincers and hooks 77, for orange peel to be triggered；
The axis of the axis and horizontal line of rotary electric machine 67, the first rotation motor 70 and the second rotation motor 72 is put down with horizontal line
OK；Rotary electric machine 67, the first rotation motor 70, the second rotation motor 72, upper pincers motor 73 and upper pincers sensor 76 are by cutting
Control line is cut to be connected with controller 9.
The application method that mandarin orange peeling machines people intelligently clamps is：In use, after mandarin orange is put into intelligent holder 15, weight sensing
Device 49, the first intelligence sensor 63 and the second intelligence sensor 64 will detect the data transfer of mandarin orange to controller 9, controller 9
Computer 54 according to weight sensor 49 detect mandarin orange weight data and the first intelligence sensor 63 and the second intelligent sensing
The size data that device 64 detects mandarin orange carries out intelligent computing, calculates the size shape of mandarin orange；Computer 54 calculates the big of mandarin orange
After small shape, computer 54 calculates the first skull patch pincers 19 and imitates people according to the location of the size shape of mandarin orange and mandarin orange
The coordinate curve of hand stripping mandarin orange skin movement；During 19 stripping mandarin orange skin of the first skull patch pincers, controller 9 turns according to the control of above-mentioned coordinate curve
Dynamic motor 67, control 72 rotation of the first rotation motor 70 and the second rotation motor, the first skull patch of control clamp 19 by the mandarin orange of mandarin orange
Skin is triggered and clamped, and is moved by the track of above-mentioned coordinate curve, peels off the orange peel of mandarin orange.
Mandarin orange peeling machines people intelligently pincers in use, controller 9 controls rotary electric machine 67 to drive pivoted arm seat 68 to horizontally rotate,
Pivoted arm seat 68 drives 71 horizontal rotation of the first swing arm 69 and the second swing arm, the first rotation motor 70 of control to drive the first swing arm 69
Vertical oscillation, the second rotation motor 72 drive 71 vertical oscillation of the second swing arm, the first skull patch pincers 19 is calculated the by computer 54
One skull patch pincers 19 imitate the coordinate curve movement of human hand stripping mandarin orange skin.
In order to implement that the orange peel of mandarin orange is clamped and dug using the first skull patch pincers 19, the lower clamp 75 of the first skull patch pincers 19
Identical with the axis of upper clamp 74, the length of lower clamp 75 is shorter than the length of upper clamp 74, in case lower clamp 75 blocks upper clamp
74 pincers hook 77 and hook into orange peel；In order to detect whether lower clamp 75 has clamped orange peel, lower clamp 75, which is equipped with, clamps sensor 78, folder
Tight sensor 78 is connected by clamping control line with controller 9.
First skull patch pincers 19 are in use, controller 9 needs to dig the position of orange peel, the first skull patch of control pincers 19 according to mandarin orange
Upper clamp 74 be moved to and need the position for digging orange peel, motor 73 is then clamped in control drives upper clamp 74 to swing, and makes folder
The pincers of pincers 74 hook 77 and buy orange peel, and orange peel is triggered to set position, then control lower pincers motor 79 to drive lower clamp 75 to put
It is dynamic, orange peel is clamped using lower clamp 75 and upper clamp 74, after lower clamp 75 clamps orange peel with upper clamp 74, controller 9 is controlled
Make the first skull patch pincers 19 to move by the coordinate curve for calculating 19 imitation human hand stripping mandarin orange skin of the first skull patch pincers by computer 54, by mandarin orange
Skin is dug.
Motor 73, which is clamped, when first skull patch pincers 19 dig orange peel, in the control of controller 9 drives 74 clockwise oscillation of upper clamp, on
The pincers of clamp 74 hook 77 when buying orange peel, orange peel approach or contact on clamp sensor 76, the upper sensor 76 that clamps passes its signal
Controller 9 is defeated by, control 74 orange peel of upper clamp of controller 9 triggers the position of setting, meanwhile, the lower pincers motor of the control of controller 9
79 drive 75 counter-clockwise swing of lower clamp, are clamped orange peel using upper clamp 74 and lower clamp 75, lower clamp 75 and upper clamp 74
When orange peel is clamped, the clamping sensor 78 of lower clamp 75 is close or contacts orange peel, clamps sensor 78 by its signal transmission
To controller 9, controller 9 controls the first skull patch pincers 19 to calculate 19 imitation human hand stripping mandarin orange skin of the first skull patch pincers by by computer 54
Coordinate curve movement, orange peel is dug.
In order to implement the operation that 19 imitation human hand of the first skull patch pincers opens mandarin orange orange peel, the first rotation motor 70 is rotating electricity
The top of machine 67, the axis of the first rotation motor 70 and the angle of 67 axis of rotary electric machine are 90 ° of angles；First rotation motor 70
Axis is vertical with the first swing arm 69；When the motor shaft of rotary electric machine 67 rotates, the first rotation motor 70 follows rotary electric machine 67
Motor shaft is swung, and the angle that the first rotation motor 70 is swung is identical with the angle that 67 motor shaft of rotary electric machine rotates；First swing arm
69 follow the first rotation motor 70 to swing, and the angle that the first swing arm 69 is swung is identical with the angle that the first rotation motor 70 is swung,
The angle that rotary electric machine 67 rotates is less than 360 ° of angles.
In order to implement the control to the first swing arm 69, the different amplitudes of oscillation of the second swing arm 71, the length of the first swing arm 69 is more than the
The length of two swing arms 71, the distance of axis to the axis of the second rotation motor 72 of the first rotation motor 70 are more than the second rotation electricity
Distance of the axis of machine 72 to the axis of upper pincers motor 73；When first skull patch pincers 19 peel off the orange peel of mandarin oranges, the control of controller 9 the
One swing arm 69 is swung, and drives the first skull patch pincers 19 to follow the swing of the first swing arm 69 and move, and utilizes the first swing arm 69 control the
It is mobile that one skull patch pincers 19 make basis；Controller 9 controls the second swing arm 71 to swing, and drives the first skull patch pincers 19 to follow the second swing arm 71
Swing and move, utilize the first swing arm 69 control the first skull patch pincers 19 make fine setting movement.
Orange peel is clamped in order to facilitate lower clamp 75 and upper clamp 74 and avoids crushing orange peel, and upper clamp 74 is equipped with upper clip tooth
80, lower clamp 75 is equipped with lower clip tooth 81；Upper clip tooth 80 and lower clip tooth 81 are made of rubber or silica gel or plastics.
Claims (8)
1. mandarin orange peeling machines people intelligently clamps, a kind of mandarin orange peeling machines people includes conveyer（1）, charging manipulator（2）,
One cutting manipulator（3）, the second cutting manipulator（4）, the first peeling machine hand（5）, the second peeling machine hand（6）, the 3rd stripping
Skin manipulator（7）, discharging manipulator（8）And controller（9）；Conveyer（1）Include conveyer belt（10）, conveyer belt（10）If
There is intelligent holder（15）；First peeling machine hand（5）By mandarin orange peeling machines people, intelligently pincers are formed；It is characterized in that：Described
Mandarin orange peeling machines people intelligently clamps, and includes the first engine base（66）, rotary electric machine（67）, pivoted arm seat（68）, the first swing arm（69）、
First rotation motor（70）, the second swing arm（71）, the second rotation motor（72）And first skull patch pincers（19）；Rotary electric machine（67）
Engine base and the first engine base（66）Connection, the first engine base（66）With rack（14）Connection, rotary electric machine（67）Motor shaft with turn
Arm seat（68）It is fixedly connected, the first rotation motor（70）Motor cabinet and pivoted arm seat（68）It is fixedly connected, the first rotation motor
（70）Motor shaft and the first swing arm（69）It is fixedly connected, the second rotation motor（72）Motor cabinet and the first swing arm（69）It is fixed
Connection, the second rotation motor（72）Motor shaft and the second swing arm（71）It is fixedly connected, the second swing arm（71）Clamped with the first skull patch
（19）It is fixedly connected；First skull patch clamps（19）Include pincers motor（73）, lower pincers motor（79）, upper clamp（74）, lower clamp
（75）And upper pincers sensor（76）, upper pincers motor（73）And lower pincers motor（79）Engine base and the second swing arm（71）It is fixed to connect
Connect, upper pincers motor（73）Motor shaft and upper clamp（74）Connection, lower pincers motor（79）Motor shaft and lower clamp（75）Connection,
Upper pincers sensor（76）It is installed on upper clamp（74）On, for detecting the first skull patch pincers（19）Whether orange peel has been clamped；Upper clamp
（74）Hooked equipped with pincers（77）, for orange peel to be triggered；Rotary electric machine（67）Axis and horizontal line, the first rotation motor
（70）And the second rotation motor（72）Axis it is parallel with horizontal line；Rotary electric machine（67）, the first rotation motor（70）, second
Rotation motor（72）, upper pincers motor（73）And upper pincers sensor（76）Pass through peeling control line and controller（9）Connection.
2. mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：The first skull patch pincers（19）
Lower clamp（75）With upper clamp（74）Axis it is identical, lower clamp（75）Length compare upper clamp（74）Length it is short, in order to avoid
Lower clamp（75）Block upper clamp（74）Pincers hook（77）Hook into orange peel.
3. mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：The lower clamp（75）It is equipped with
Clamp sensor（78）, clamp sensor（78）By clamping control line and controller（9）Connection.
4. mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：The first rotation motor
（70）In rotary electric machine（67）Top, the first rotation motor（70）Axis and rotary electric machine（67）The angle of axis is 90 °
Angle；First rotation motor（70）Axis and the first swing arm（69）Vertically.
5. mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：First swing arm（69）'s
Length is more than the second swing arm（71）Length.
6. mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：The first rotation motor
（70）Axis to the second rotation motor（72）The distance of axis be more than the second rotation motor（72）Axis to upper pincers motor
（73）Axis distance.
7. mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：The upper clamp（74）It is equipped with
Upper clip tooth（80）, lower clamp（75）Equipped with lower clip tooth（81）, to facilitate lower clamp（75）With upper clamp（74）Clamp orange peel.
8. mandarin orange peeling machines people according to claim 7 intelligently clamps, it is characterised in that：The upper clip tooth（80）And
Lower clip tooth（81）It is made of rubber or silica gel or plastics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610712662.0A CN106307568B (en) | 2016-08-23 | 2016-08-23 | Mandarin orange peeling machines people intelligently clamps |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610712662.0A CN106307568B (en) | 2016-08-23 | 2016-08-23 | Mandarin orange peeling machines people intelligently clamps |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106307568A CN106307568A (en) | 2017-01-11 |
| CN106307568B true CN106307568B (en) | 2018-05-04 |
Family
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| CN201610712662.0A Expired - Fee Related CN106307568B (en) | 2016-08-23 | 2016-08-23 | Mandarin orange peeling machines people intelligently clamps |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2449602Y (en) * | 2000-07-20 | 2001-09-26 | 招远金王电器有限公司 | Orange peeler |
| EP1281328A3 (en) * | 2001-08-03 | 2003-07-02 | Asociacion de Investigacion de la Industria Agroalimentaria | Method and device to obtain fresh fruit flesh slices |
| CN202932696U (en) * | 2012-06-21 | 2013-05-15 | 成都理工大学 | Jaw type orange peeler |
| CN203748610U (en) * | 2013-12-30 | 2014-08-06 | 上海沃迪自动化装备股份有限公司 | Citrus peeling mechanism |
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2449602Y (en) * | 2000-07-20 | 2001-09-26 | 招远金王电器有限公司 | Orange peeler |
| EP1281328A3 (en) * | 2001-08-03 | 2003-07-02 | Asociacion de Investigacion de la Industria Agroalimentaria | Method and device to obtain fresh fruit flesh slices |
| CN202932696U (en) * | 2012-06-21 | 2013-05-15 | 成都理工大学 | Jaw type orange peeler |
| CN203748610U (en) * | 2013-12-30 | 2014-08-06 | 上海沃迪自动化装备股份有限公司 | Citrus peeling mechanism |
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| CN106307568A (en) | 2017-01-11 |
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