CN107788545A

CN107788545A - Dried orange peel shell machining robot

Info

Publication number: CN107788545A
Application number: CN201711040457.5A
Authority: CN
Inventors: 林智勇
Original assignee: Dongguan Haoqi Enterprise Management Services Ltd
Current assignee: Dongguan Haoqi Enterprise Management Services Ltd
Priority date: 2017-10-31
Filing date: 2017-10-31
Publication date: 2018-03-13

Abstract

Dried orange peel shell machining robot, include grab mandarin orange manipulator, mandarin orange digs core manipulator, mandarin orange scrapes core manipulator, rotating disk, blowing plant, frame and controller；Mandarin orange is caught after air bag folder clamps in use, mandarin orange manipulator is grabbed in controller control, control motor driving rotating disk drives air bag folder to turn to the position that mandarin orange is dug below core manipulator, and mandarin orange, which digs core manipulator and is drilled in mandarin orange using its cylinder, drills out a cylinder hole；After mandarin orange drills out a cylinder hole, controller control motor driving rotating disk drives air bag folder to turn to mandarin orange and scrapes position below core manipulator, and mandarin orange is scraped core manipulator and scraped the pulp of mandarin orange using elastic scraper；After the pulp of mandarin orange scrapes, controller control motor driving rotating disk drives air bag folder to turn to the top of lower charging basket, and controller control air bag presss from both sides is put into lower charging basket by mandarin orange；So constantly circulation, the processing of robots that mandarin orange digs pulp is implemented, improve the production efficiency of the manufacture general tea of mandarin orange.

Description

Dried orange peel shell machining robot

Technical field

The present invention relates to a kind of mandarin orange to dig pulp equipment, more particularly to a kind of dried orange peel shell machining robot.

Background technology

At present, the general tea of a kind of mandarin orange of in the market, it is a dry mandarin orange shell in appearance, has Pu'er tea inside mandarin orange shell；It is raw A kind of general tea of mandarin orange is produced, is made up of the orange peel and Pu'er tea of mandarin orange, the orange peel is made up of orange peel shell with cap, and orange peel shell is by fresh Its pulp is hollowed out and formed by mandarin orange, and the general tea of mandarin orange, which by Pu'er tea is packaged in orange peel shell and covered cap, to be dried and form；Producing During the general tea of mandarin orange, the digging pulp work of mandarin orange is manual progress, and production efficiency is relatively low, a kind of dried orange peel shell processing machine People, it has also become people improve the needs of the manufacture general tea production efficiency of mandarin orange.

The content of the invention

The purpose of the present invention is overcome the deficiencies in the prior art, there is provided a kind of dried orange peel shell machining robot, is made for improving Make the production efficiency of the general tea of mandarin orange.

The present invention's is adopted the technical scheme that：A kind of general tea of mandarin orange is produced, it is necessary to which dried orange peel shell manufactures, dried orange peel shell is by mandarin orange Its pulp is dug into clean composition, dried orange peel shell is made up of orange peel shell and orange peel cap, and the general tea of mandarin orange loads Pu'er tea by orange peel shell and sealed up It is old long after drying to be made after orange peel cap；Dried orange peel shell machining robot, which includes, grabs mandarin orange manipulator, mandarin orange digging core manipulator, mandarin orange Son scrapes core manipulator, rotating disk, blowing plant, frame and controller, grabs mandarin orange manipulator, mandarin orange digs core manipulator, mandarin orange Core manipulator, rotating disk and blowing plant is scraped to be installed in frame；Grab mandarin orange manipulator and include vacuum cup, vacuum cup It is connected with vavuum pump, vavuum pump is provided with vacuum control modulator valve；Mandarin orange dig core manipulator include dig core cylinder, dig core motor, Cylinder bores and the first magnetic valve, and the shell for digging core cylinder is fixedly connected with frame, digs the drive shaft of core cylinder with digging core motor Shell be fixedly connected, motor shaft and the cylinder brill for digging core motor are fixedly connected；Mandarin orange scrape core manipulator include scrape core cylinder, Core motor, elastic scraper and second solenoid valve are scraped, the shell for scraping core cylinder is fixedly connected with frame, scrapes the drive shaft of core cylinder It is fixedly connected with the shell for scraping core motor, the motor shaft for scraping core motor is fixedly connected with elastic scraper；Rotating disk includes plate, gas Cylinder barrel, cylinder seat, air bag folder, air bag magnetic valve, stripper, dumping cylinder, discharging magnetic valve, driven gear, drive gear, driving electricity Machine and rotary power source joint；Plate is fixedly connected with cylinder barrel, and cylinder barrel connects with the dynamic mating connection of cylinder seat, cylinder seat provided with source of the gas Head, gas source connector are connected with blowing plant, and compressed air enters cylinder barrel by gas source connector；Plate is provided with dumping pit, gas Capsule presss from both sides the upper face for being installed on plate, and stripper is fixedly connected with dumping cylinder, and dumping cylinder is installed on the lower face of plate, air bag folder Positioned at the top of dumping pit, stripper is located at the lower section of dumping pit；Dig core cylinder and pass through the first magnetic valve and blowing plant Connection, scrapes core cylinder and is connected by second solenoid valve with blowing plant；Air bag folder passes through air bag magnetic valve and cylinder barrel Source of the gas out splice going splice is connected, and dumping cylinder is connected by the source of the gas out splice going splice of discharging magnetic valve and cylinder barrel；Rotary power source joint Include lower fixed electric connection and upper rotation electric connection, lower fixed electric connection is fixedly connected with cylinder seat, it is upper rotation electric connection with Cylinder barrel is fixedly connected；Controller is provided with blue-tooth device, and controller includes the first controller and second controller, the first control Device processed is in frame, and second controller is on rotating disk；Blue-tooth device includes fixed blue-tooth device and rotates bluetooth dress Put, fixed blue-tooth device is located at the first controller, rotates blue-tooth device and is located at second controller；Controller passes through blue-tooth device control System grabs mandarin orange manipulator, mandarin orange digs core manipulator, mandarin orange scrapes core manipulator, rotating disk and blowing plant work；Frame is provided with Inductive switch and first time inductive switch on first, the shell for digging core motor are provided with the first induction pieces, inductive switch on first Positioned at the top of first time inductive switch；Frame is provided with inductive switch and second time inductive switch on second, scrapes core motor Shell is provided with the second induction pieces, and inductive switch is positioned at the top of second time inductive switch on second；Frame passes provided with disk position Sensor, plate are provided with plate induction pieces, and disk position sensor is located at the opposite of plate induction pieces, and air bag is folded with balloon positions Sensor；Driven gear is fixedly connected with rotating disk, and the support of motor is fixedly connected with frame, the motor shaft of motor with Drive gear is fixedly connected, and drive gear engages with driven gear；Controller by control line with dig core motor, scrape core motor, First magnetic valve, second solenoid valve, air bag magnetic valve, discharging magnetic valve, motor, inductive switch, first time sense on first Inductive switch, inductive switch, second time inductive switch, disk position sensor and the connection of balloon positions sensor on second.

The application method of dried orange peel shell machining robot is：In use, mandarin orange charging basket is transported to the work for grabbing mandarin orange manipulator Position, mandarin orange is caught into air bag folder using mandarin orange manipulator is grabbed, after mandarin orange is put into air bag folder, controller passes through air bag solenoid valve control Air bag folder clamps the mandarin orange, and after air bag folder clamps mandarin orange, the reset of mandarin orange manipulator is grabbed in controller control；Air bag folder presss from both sides mandarin orange Next, controller control motor drives plate to rotate, and the mandarin orange on air bag folder follows plate to turn to mandarin orange and digs core machinery During the position in subordinate face, controller control motor stops operating；After motor stops, core motor belt motor is dug in controller control Dynamic cylinder, which bores, to be rotated, meanwhile, core motor is dug in controller control digging core cylinder driving and cylinder is bored and moved down, and cylinder pierces mandarin orange In son, cylinder pierces when being touched with the lower end bark graft of the mandarin orange in mandarin orange, and controller control is dug core cylinder and stopped, and digs core cylinder and stops After only, core motor is dug in controller control and cylinder is bored and moved up, and when digging the rising of core motor in place, core gas is dug in controller control Cylinder and digging core motor stop, and are drilled in mandarin orange using cylinder and dig out a cylinder hole；Cylinder is drilled in mandarin orange and digs out a cylinder hole Afterwards, controller control motor drives plate to rotate, and is scraped when air bag folder follows plate to turn to mandarin orange below core manipulator During position, controller control motor stops；After motor stops, controller control is scraped core motor driven elastic scraper and turned It is dynamic, meanwhile, controller control, which is scraped core cylinder and driven, scrapes core motor and elastic scraper moves down, and elastic scraper is by mandarin orange 47 Cylinder hole enters, and elastic scraper scrapes the pulp of mandarin orange by directly bent, and scrapes core cylinder and drives when scraping core motor and declining in place, control Device control processed scrapes core cylinder and stops declining；After the pulp of mandarin orange scrapes, controller control scrape core cylinder drive scrape core motor and Elastic scraper rises, and elastic scraper becomes straight again by annular, and leaves mandarin orange, scrapes the drive of core cylinder and scrapes the rising of core motor in place When, controller control scrapes core cylinder and scrapes the stopping of core motor；After scraping the stopping of core cylinder, controller control motor band Moving plate Plate is rotated, and the mandarin orange on air bag folder follows plate to rotate, and when air bag folder turns to the position above lower charging basket, controller control is driven Dynamic motor stops；After motor stops, controller is pressed from both sides by air bag solenoid valve control air bag drains compressed air, meanwhile, Controller drives stripper to leave the position pressed from both sides against air bag by discharging solenoid valve control dumping cylinder, is scraped the mandarin orange of pulp Fallen down by air bag folder to following lower charging basket；Mandarin orange is fallen down to after following charging basket by air bag folder, controller control motor Plate is driven to rotate by drive gear and driven gear, when the air bag folder in plate returns to initial position, controller control Motor processed stops；So constantly circulation, is dug out the pulp of mandarin orange using dried orange peel shell machining robot.

The rotating disk of dried orange peel shell machining robot includes plate, cylinder barrel, cylinder seat, air bag folder, air bag magnetic valve, discharging Plate, dumping cylinder, discharging magnetic valve, driven gear, drive gear, motor and rotary power source joint；Plate and cylinder barrel Link into an integrated entity, cylinder barrel is connected with cylinder seat by bearing, and sealing ring is provided between cylinder barrel and cylinder seat, and cylinder barrel is close with cylinder seat Envelope connection, driven gear are fixedly connected with plate, and the support of motor is fixedly connected with frame, and cylinder seat is fixed with frame to be connected Connect, the motor shaft of motor is fixedly connected with drive gear, and drive gear is located in driven gear, drive gear and passive tooth Wheel engagement；The shell of dumping cylinder is fixedly connected with plate, and the drive shaft of dumping cylinder is connected with stripper, and stripper is located at plate The lower section of dumping pit, plate are provided with plate induction pieces, and the disk position sensor in frame is located at the opposite of plate induction pieces；Gas The second controller of controller and the rotation blue-tooth device of blue-tooth device are installed in cylinder barrel, pass through blue-tooth device and controller The connection of the first controller, the first controller is connected by its control line with motor；Rotary power source joint includes lower solid Determine electric connection and upper rotation electric connection, lower fixed electric connection is located in cylinder seat, and lower fixed electric connection connects with cylinder seat insulation, on Rotate electric connection to connect with cylinder barrel insulation, lower fixed electric connection is flexibly connected with upper rotation electric connection, and it is defeated that cylinder seat is provided with power supply Enter joint, power input joint is connected by its power line with lower fixed electric connection, lower fixed electric connection and upper rotation electric connection Contact, lower fixed electric connection are flexibly connected with upper rotation electric connection, and upper rotation electric connection passes through its power line and second controller Connection, power supply is provided for second controller；Second controller passes through its control line and the air bag magnetic valve of plate, discharging magnetic valve And the balloon positions sensor connection on air bag folder；The lower end of cylinder barrel is provided with gas port, and the upper impression of cylinder barrel is by leading Stomata connects with the lower impressions of cylinder seat, and the gas source connector of cylinder seat connects with its lower impressions.

The application method of dried orange peel shell machining robot rotating disk is：In use, power supply is transported to rotation by power input joint The lower fixed electric connection of power connection, upper rotation electric connection is then transported to by lower fixed electric connection, then by upper rotation electric connection It is transported to the second controller for following plate to rotate in cylinder barrel；Compressed air is transported under cylinder seat by the gas source connector of cylinder seat Die cavity, is then transported to the upper impression of cylinder barrel by gas port of the lower impressions through cylinder barrel, then by cylinder barrel upper impression through gas Pipe is transported to the pipe joint of the air bag magnetic valve and discharging magnetic valve in plate；Mandarin orange machine is grabbed in the first controller control of controller When mandarin orange is put on the air bag of initial position and pressed from both sides by tool hand, its signal is transferred to the by the balloon positions sensor on air bag folder Its signal is passed through first controller of the bluetooth device transmissions to controller, the first controller control by two controllers, second controller Motor processed drives plate to rotate by drive gear and driven gear；The cylinder barrel being fixedly connected with plate follows plate Rotate, power supply is transported to lower fixed electric connection by power input joint, then by lower fixed electric connection be transported to rotation upper turn Dynamic electric connection, then the upper rotation electric connection by rotating are transported to the second controller for following plate to rotate；Meanwhile compressed air by The gas source connector of cylinder seat is transported to the lower impressions of cylinder seat, is then transported to cylinder by the gas port of cylinder barrel of the lower impressions through rotation The upper impression of cylinder, then the air bag magnetic valve and discharging electromagnetism being transported to by the upper impression transtracheal of the cylinder barrel rotated in plate The pipe joint of valve；When air bag folder follows the position that plate is turned to above the lower charging basket on support, the plate induction pieces in plate Close to the disk position sensor of lower charging basket position, its signal is transferred to the first controller by the disk position sensor, and first Controller control motor stops；Meanwhile first controller second controller transmitted a signal to by blue-tooth device, second Controller is drained the compressed air that air bag presss from both sides by air bag magnetic valve, and second controller by discharging magnetic valve and unloads Material cylinder control stripper leaves corresponding dumping pit in plate, and after air bag folder unclamps, the mandarin orange on air bag folder is through under dumping pit Fall in lower charging basket；After being fallen under mandarin orange in blanking basket, second controller transmits a signal to the first control by blue-tooth device Device, the first controller control motor drive drive gear and driven gear driving plate to rotate, and air bag folder follows plate Rotate back into initial position；So constantly circulation.

The beneficial effects of the invention are as follows：Dried orange peel shell machining robot, which includes, grabs mandarin orange manipulator, mandarin orange digging core manipulator, mandarin orange Son scrapes core manipulator, rotating disk, blowing plant, frame and controller；In use, controller control grabs mandarin orange manipulator by mandarin orange After son catches air bag folder clamping, control motor driving rotating disk drives air bag folder to turn to the position that mandarin orange is dug below core manipulator Put, mandarin orange digging core manipulator is drilled in mandarin orange using its cylinder and drills out a cylinder hole；After mandarin orange drills out a cylinder hole, controller Control motor driving rotating disk drives air bag folder to turn to mandarin orange and scrapes position below core manipulator, and mandarin orange scrapes core manipulator profit The pulp of mandarin orange is scraped with elastic scraper；After the pulp of mandarin orange scrapes, controller control motor driving rotating disk band is taken offence Capsule presss from both sides the top for turning to lower charging basket, and mandarin orange is put into lower charging basket by controller control air bag folder；So constantly circulation, implements mandarin orange Son digs the processing of robots of pulp, improves the production efficiency of the manufacture general tea of mandarin orange.

Dried orange peel shell machining robot rotating disk include plate, cylinder barrel, cylinder seat, air bag folder, air bag magnetic valve, stripper, Dumping cylinder, discharging magnetic valve, driven gear, drive gear, motor and rotary power source joint；In use, controller control Motor processed drives rotating disk to rotate, and source of the gas enters cylinder barrel by cylinder seat, then is transported to air bag folder and dumping cylinder by cylinder barrel, To follow, the air bag that plate rotates presss from both sides and dumping cylinder provides source of the gas；Power supply is inputted by the power input joint of cylinder seat, by electricity Electric connection and the upper second controller for rotating electric connection and being transported to controller are fixed under the input adapter of source, passes through second controller To the air bag magnetic valve and discharging magnetic valve offer power supply for following plate to rotate；Plate is provided with plate induction pieces, plate sense The frame on the opposite of part is answered to be provided with disk position sensor, for the stroke for controlling motor to drive rotating disk to rotate.

Brief description of the drawings

Fig. 1 is the structural representation of dried orange peel shell machining robot；

Fig. 2 is Fig. 1 top view；

Fig. 3 is rotary power source joint design schematic diagram.

Embodiment

The present invention is further detailed with specific embodiment below in conjunction with the accompanying drawings：

Shown in the top view and Fig. 3 of Fig. 1 shown in the structural representation of dried orange peel shell machining robot as shown in Figure 1, Fig. 2 Rotary power source joint design schematic diagram；Dried orange peel shell machining robot, a kind of general tea of mandarin orange is produced, it is necessary to the manufacture of dried orange peel shell, dried orange peel shell Its pulp is dug by mandarin orange and totally formed, dried orange peel shell is made up of orange peel shell and orange peel cap, and the general tea of mandarin orange loads Pu'er by orange peel shell It is old long after drying to be made after tea seals up orange peel cap；It is characterized in that：Described dried orange peel shell machining robot, which includes, grabs mandarin orange machine Tool hand 1, mandarin orange dig core manipulator 2, mandarin orange scrapes core manipulator 3, rotating disk 4, blowing plant 5, frame 6 and controller 7, grab Mandarin orange manipulator 1, mandarin orange dig core manipulator 2, mandarin orange scrapes core manipulator 3, rotating disk 4 and blowing plant 5 and is installed on frame 6 On；Grab mandarin orange manipulator 1 and include vacuum cup 8, vacuum cup 8 is connected with vavuum pump 117；Mandarin orange digs core manipulator 2 and included Digging core cylinder 9, dig core motor 10, cylinder brill 11 and the first magnetic valve 12, the shell of digging core cylinder 9 is fixedly connected with frame 6, The drive shaft for digging core cylinder 9 is fixedly connected with digging the shell of core motor 10, digs the motor shaft of core motor 10 and cylinder bores 11 and fixed Connection；Mandarin orange, which is scraped core manipulator 3 and included, to be scraped core cylinder 13, scrapes core motor 14, elastic scraper 15 and second solenoid valve 16, is scraped The shell of core cylinder 13 is fixedly connected with frame 6, and the drive shaft for scraping core cylinder 13 is fixedly connected with scraping the shell of core motor 14, is scraped The motor shaft of core motor 14 is fixedly connected with elastic scraper 15；Rotating disk 4 includes plate 17, cylinder barrel 18, cylinder seat 19, air bag folder 20th, air bag magnetic valve 21, stripper 22, dumping cylinder 23, discharging magnetic valve 24, driven gear 25, drive gear 26, motor 27 and rotary power source joint 28；Plate 17 is fixedly connected with cylinder barrel 18, cylinder barrel 18 and the dynamic mating connection of cylinder seat 19, cylinder seat 19 are provided with gas source connector 29, and gas source connector 29 is connected with blowing plant 5, and compressed air enters cylinder barrel by gas source connector 29 16；Plate 17 is provided with dumping pit 30, and air bag folder 20 is installed on the upper face of plate 17, and stripper 22 is fixed with dumping cylinder 23 to be connected Connect, dumping cylinder 23 is installed on the lower face of plate 17, and air bag folder 20 is located at the top of dumping pit 30, and stripper 22 is located at dumping pit 30 lower section；Dig core cylinder 9 to be connected with blowing plant 5 by the first magnetic valve 12, scrape core cylinder 13 and pass through the second electromagnetism Valve 16 is connected with blowing plant 5；Air bag folder 20 is connected by the source of the gas out splice going splice 112 of air bag magnetic valve 21 and cylinder barrel 18 Connect, dumping cylinder 23 is connected by discharging magnetic valve 24 with the source of the gas out splice going splice 112 of cylinder barrel 18；Rotary power source joint 28 includes There are lower fixed electric connection 31 and upper rotation electric connection 32, lower fixed electric connection 31 to be fixedly connected with cylinder seat 19, upper rotation electricity connects First 32 are fixedly connected with cylinder barrel 18；Controller 7 is provided with blue-tooth device 33, and controller 7 includes the first controller 34 and Two controllers 35, the first controller 34 is in frame 6, and second controller 35 is on rotating disk 4；Blue-tooth device 33 includes solid Determine blue-tooth device 36 and rotate blue-tooth device 37, fixed blue-tooth device 36 is located at the first controller 34, rotates blue-tooth device 37 Located at second controller 35；Controller 7 grabs mandarin orange manipulator 1 by the control of blue-tooth device 33, mandarin orange digs core manipulator 2, mandarin orange is scraped Core manipulator 3, rotating disk 4 and blowing plant 5 work；Frame 6 is provided with inductive switch 38 and first time sensing on first Switch 39, the shell for digging core motor 10 are provided with the first induction pieces 40, and inductive switch 38 is located at first time inductive switch 39 on first Top；Frame 6 is provided with inductive switch 41 and second time inductive switch 42 on second, and the shell for scraping core motor 14 is provided with second Induction pieces 43, inductive switch 41 is positioned at the top of second time inductive switch 42 on second；Frame 6 is provided with disk position sensor 44, plate 15 is provided with plate induction pieces 45, and disk position sensor 44 is located at the opposite of plate induction pieces 45, and air bag folder 20 is provided with Balloon positions sensor 46；Driven gear 25 is fixedly connected with rotating disk 4, and the support of motor 27 is fixedly connected with frame 6, is driven The motor shaft of dynamic motor 27 is fixedly connected with drive gear 26, and drive gear 26 engages with driven gear 25；Controller 7 passes through control Line processed is with digging core motor 10, scraping core motor 14, the first magnetic valve 12, second solenoid valve 16, air bag magnetic valve 21, discharging magnetic valve 24th, inductive switch 38 on motor 27, first, inductive switch 41, second time sensing are opened on first time inductive switch 39, second Close 42, disk position sensor 44 and balloon positions sensor 46 connects.

In order to implement to control startup, stopping and the circulation work of dried orange peel shell machining robot, mandarin orange digs core manipulator 2 Initial position is：That digs core manipulator 2 digs inductive switch 38 on the first induction pieces 40 close to first on the shell of core motor 10；Mandarin orange The initial position that son scrapes core manipulator 3 is：Scrape the second induction pieces 43 close to second scraped on the shell of core motor 14 of core manipulator 3 Upper inductive switch 41；The initial position of stripper 22 is：The center line of stripper 22 is identical with the center line of dumping pit 30, discharging Plate 22 is shaped as circle against air bag folder 20, stripper 22, and air bag folder 20 is made up of the air bag of annular；Grab mandarin orange manipulator 1 When mandarin orange 47 is caught into air bag folder 20, mandarin orange 47 is blocked using stripper 22, avoids mandarin orange 47 from falling down；Controller 7 is provided with automatic Starting switch 48 and shutdown switch 49.

In order to control the cylinder brill 11 of mandarin orange digging core manipulator 2 and mandarin orange to scrape the stroke of elastic scraper 15 of core manipulator 3, The cylinder of the distance of inductive switch 38 and first time inductive switch 39 and mandarin orange digging core manipulator 2 bores 11 and pierces mandarin orange 47 on first Deep equality；The distance of inductive switch 41 and second time inductive switch 42 is more than elastic scraper 15 and enters mandarin orange 47 on second Depth, mandarin orange scrape descending stroke of the stroke of the decline of the elastic scraper 15 of core manipulator 3 by elastic scraper 15 into mandarin orange 47 Formed with elastic scraper 15 by directly bent declined stroke.

The application method of dried orange peel shell machining robot is：In use, the charging basket of mandarin orange 42 is transported to the work for grabbing mandarin orange manipulator 1 Make position, mandarin orange 47 is caught into air bag folder 20 using mandarin orange manipulator 1 is grabbed, after mandarin orange 47 is put into air bag folder 20, controller 7 passes through gas Capsule magnetic valve 21 controls air bag folder 20 to clamp the mandarin orange 47, and after air bag folder 20 clamps mandarin orange 47, mandarin orange machine is grabbed in the control of controller 7 Tool hand 1 resets；After air bag folder 20 clamps mandarin orange 47, controller 7 controls motor 27 to drive plate 17 to rotate, air bag folder 20 On mandarin orange 47 when following plate 17 to turn to mandarin orange to dig the position below core manipulator 2, controller 7 controls motor 27 to stop Rotation stop is moved；After motor 27 stops, the control of controller 7 digs core motor 10 and drives cylinder brill 11 to rotate, meanwhile, controller 7 is controlled System digs core cylinder 9 and drives digging core motor 10 and cylinder to bore 11 and move down, and cylinder bores 11 and pierced in mandarin orange 47, and cylinder bores 11 and pierced When being contacted in mandarin orange 47 with the lower end skin 82 of the mandarin orange 47, the control of controller 7 is dug core cylinder 9 and stopped, after digging the stopping of core cylinder 9, Core motor 10 is dug in the control of controller 7 and cylinder bores 11 and moved up, and when digging core motor 10 rises in place, the control of controller 7 is dug Core cylinder 9 and digging core motor 10 stop, and bore 11 using cylinder and dig out a cylinder hole 83 in mandarin orange 47；Cylinder bores 11 in mandarin orange After 47 dig out a cylinder hole 83, controller 7 controls motor 27 to drive plate 17 to rotate, when air bag folder 20 follows plate 17 When turning to mandarin orange and scraping the position below core manipulator 3, controller 7 controls motor 27 to stop；After motor 27 stops, The control of controller 7 scrapes core motor 14 and drives elastic scraper 15 to rotate, meanwhile, the control of controller 7 scrapes the drive of core cylinder 13 and scrapes core electricity Machine 14 and elastic scraper 15 are moved down, and elastic scraper 15 is entered by the cylinder hole 83 of mandarin orange 47, and elastic scraper 15 is by directly becoming The curved pulp by mandarin orange 47 scrapes, and scrapes core cylinder 13 and drives when scraping core motor 14 and declining in place, core cylinder 13 is scraped in the control of controller 7 Stop declining；After the pulp of mandarin orange 47 scrapes, the control of controller 7 scrapes the drive of core cylinder 13 and scrapes core motor 14 and elastic scraper 15 Rise, elastic scraper 15 becomes straight again by annular, and leaves mandarin orange 47, scrapes core cylinder 13 and drives and scrapes core motor 14 and rise in place When, the control of controller 7, which scrapes core cylinder 13 and scrapes core motor 14, to be stopped；After scraping the stopping of core cylinder 13, the control driving electricity of controller 7 Machine 27 drives plate 17 to rotate, and the mandarin orange 47 on air bag folder 20 follows plate 17 to rotate, and air bag folder 20 is turned on lower charging basket 84 During the position in face, controller 7 controls motor 27 to stop；After motor 27 stops, controller 7 passes through air bag magnetic valve 21 Control air bag folder 20 drains compressed air, meanwhile, controller 7 controls dumping cylinder 23 to drive stripper by discharging magnetic valve 24 22 leave the position of opposite air bag folder 20, and the mandarin orange 47 for being scraped pulp is fallen down to following lower charging basket 84 by air bag folder 20；Mandarin orange Son 47 is fallen down to after following charging basket by air bag folder 20, and the control motor 27 of controller 7 is by drive gear 26 and passively Gear 25 drives plate 17 to rotate, and when the air bag folder 20 in plate 17 returns to initial position, controller 7 controls motor 27 Stop；So constantly circulation.

The application method of dried orange peel shell machining robot is：In use, the charging basket of mandarin orange 42 is transported to the work for grabbing mandarin orange manipulator 1 Make position, using the position for grabbing the vacuum cup 8 of mandarin orange manipulator 1 by mandarin orange 47 and catching air bag folder 20, grab the vacuum of mandarin orange manipulator 1 Its signal is transferred to controller by sucker 8 close to the balloon positions sensor 46 on air bag folder 20, the balloon positions sensor 46 7, controller 7 controls vacuum cup 8 that the mandarin orange 47 is put into air bag folder 20, and the mandarin orange 47 is blocked by stripper 22, Bu Huiyou Dumping pit 30 in plate 17 drops out；After mandarin orange 47 is put into air bag folder 20, controller 7 controls air bag magnetic valve 21 to air bag folder 20 Compressed air is imported, air bag folder 20 clamps the mandarin orange 47；After air bag folder 20 clamps mandarin orange 47, mandarin orange machine is grabbed in the control of controller 7 Tool hand 1 resets；After air bag folder 20 clamps mandarin orange 47, the control motor 27 of controller 7 is by drive gear 26 and passively Gear 25 drives plate 17 to move in the direction of the clock, and air bag folder 20 follows plate 17 to turn to mandarin orange and dug below core manipulator 2 Position when, controller 7 control motor 27 stop operating；After motor 27 stops, core motor 10 is dug in the control of controller 7 Cylinder is driven to bore 11 rotations, controller 7 controls digging core cylinder 9 to drive and digs core motor 10 and cylinder brill 11 by the first magnetic valve 12 Moving down, cylinder is bored and 11 pierced in mandarin orange 47, and cylinder bores 11 and pierced in mandarin orange 47 when being contacted with the lower end skin 82 of the mandarin orange 47, The first induction pieces 40 dug on the shell of core motor 10 are close to first time inductive switch 39, and first time inductive switch 39 is by its signal Controller 7 is transferred to, controller 7 controls digging core cylinder 9 to stop by the first magnetic valve 12, after digging the stopping of core cylinder 9, controller Core motor 10 is dug in 7 controls and cylinder bores 11 and moved up, when the first induction pieces 40 are moved close to inductive switch 38 on first, Its signal is transferred to controller 7 by inductive switch 38 on first, and the control of controller 7, which digs core cylinder 9 and digs core motor 10, to be stopped, 11, which are bored, using cylinder digs out a cylinder hole 83 in mandarin orange 47；Cylinder bores 11 after mandarin orange 47 digs out a cylinder hole 83, control Device 7 controls motor 27 to drive plate 17 to rotate by drive gear 26 and driven gear 25, when air bag folder 20 follows disk Plate 17 turns to mandarin orange when scraping the position below core manipulator 3, and controller 7 controls motor 27 to stop；Motor 27 stops After only, the control of controller 7 scrapes core motor 14 and drives elastic scraper 15 to rotate, meanwhile, controller 7 is controlled by second solenoid valve 16 Scrape core cylinder 13 and drive and scrape core motor 14 and elastic scraper 15 moves down, elastic scraper 15 is entered by the cylinder hole 83 of mandarin orange 47 Enter, as elastic scraper 15 constantly enters in the mandarin orange 47, after elastic scraper 15 contacts with the lower end skin 82 of the mandarin orange 47, elasticity Scraper 15 bends song by continuous, becomes camber by the straight shape of elastic scraper 15, the elastic scraper 15 of arc is in the mandarin orange 47 Cylinder hole 83 is rotated, and the pulp of the mandarin orange 47 is scraped, and the second induction pieces 43 scraped on the shell of core motor 14 are felt close to second time During inductive switch 42, its signal is transferred to controller 7 by second time inductive switch 42, and the control of controller 7 is scraped under the stopping of core cylinder 13 Drop；After the pulp of mandarin orange 47 scrapes, the control of controller 7, which is scraped core cylinder 13 and driven, scrapes core motor 14 and elastic scraper 15 rises, Elastic scraper 15 becomes straight again by annular, and leaves mandarin orange 47, scrapes the second induction pieces 43 close to second on the shell of core motor 14 During upper inductive switch 41, its signal is transferred to controller 7 by inductive switch 41 on second, the control of controller 7 scrape core cylinder 13 with And scrape core motor 14 and stop；After scraping the stopping of core cylinder 13, the control motor 27 of controller 7 is by drive gear 26 and passively Gear 25 drives plate 17 to move in the direction of the clock, when air bag presss from both sides 20 positions for following plate 17 to turn to above lower charging basket 84 When, controller 7 controls motor 27 to stop；After motor 27 stops, controller 7 controls air bag by air bag magnetic valve 21 Folder 20 drains compressed air, meanwhile, controller 7 controls dumping cylinder 23 to drive stripper 22 to leave pair by discharging magnetic valve 24 The position of air bag folder 20, the mandarin orange 47 for being scraped clean pulp is fallen down to following lower charging basket 84 by air bag folder 20；Dug up fruit The mandarin orange 47 of meat is fallen down to after following lower charging basket 84 by air bag folder 20, and controller 7 controls motor 27 to pass through drive gear 26 and driven gear 25 drive plate 17 to move in the direction of the clock, when air bag folder 20 follows plate 17 to turn to initial position When, controller 7 controls motor 27 to stop；So constantly circulation.

In order to control air bag folder 20 to follow plate 17 to be rotated by the stroke of setting, after air bag folder 20 clamps mandarin orange 47, control Device 7 processed controls motor 27 to drive plate 17 to be clockwise pivoted 90 ° of angles；Cylinder bores 11 and digs out a cylinder hole in mandarin orange 47 After 83, controller 7 controls motor 27 to drive plate 17 to be clockwise pivoted 90 ° of angles；After the pulp of mandarin orange 47 is scraped totally, control Device 7 processed controls motor 27 to drive plate 17 to move in the direction of the clock 90 ° of angles；Mandarin orange 47 is fallen down to following by air bag folder 20 Lower charging basket 84 after, controller 7 controls motor 27 to drive plate 17 to move in the direction of the clock 90 ° of angles, so constantly follows Ring.

In order to implement continuous cyclic process of the dried orange peel shell machining robot to mandarin orange 47, air bag folder 20, dumping pit 30, rotating disk Position sensor 44, plate induction pieces 45 and balloon positions sensor 46 are provided with multiple, air bag folder 20, dumping pit 30, rotating disk The quantity of position sensor 44, plate induction pieces 45 and balloon positions sensor 46 is identical；Air bag folder 20 includes first Air bag presss from both sides 20, second air bags and presss from both sides 20, the 3rd air bag folders 20 and the 4th air bag folder 20；First air bag folder 20 is provided with First balloon positions sensor 46, the plate 17 that first air bag is pressed from both sides below 20 are provided with first dumping pit 30, and first is unloaded The side in material hole 30 is provided with first plate induction pieces 45, and the frame 6 on first opposite of plate induction pieces 45 is provided with first Disk position sensor 44；Second air bag folder 20 is provided with second balloon positions sensor 46, and second air bag is pressed from both sides under 20 The plate 17 in face is provided with second dumping pit 30, and the side of second dumping pit 30 is provided with second plate induction pieces 45, and second The frame 6 on the individual opposite of plate induction pieces 45 is provided with second disk position sensor 44；3rd air bag folder 20 is provided with the Three balloon positions sensors 46, the plate 17 that the 3rd air bag is pressed from both sides below 20 are provided with the 3rd dumping pit 30, the 3rd discharging The side in hole 30 is provided with the 3rd plate induction pieces 45, and the frame 6 on the 3rd opposite of plate induction pieces 45 is provided with the 3rd and turned Disk position sensor 44；4th air bag folder 20 is provided with the 4th balloon positions sensor 46, and the 4th air bag is pressed from both sides below 20 Plate 17 be provided with the 4th dumping pit 30, the side of the 4th dumping pit 30 is provided with the 4th plate induction pieces 45, the 4th The frame 6 on the opposite of plate induction pieces 45 is provided with the 4th disk position sensor 44；The original state of plate 17 is：First Air bag folder 20 and first plate induction pieces 45 are positioned at the opposite of first disk position sensor 44, second air bag folder 20 And second plate induction pieces 45 is positioned at the opposite of second disk position sensor 44, the 3rd air bag folder 20 and the 3rd Individual plate induction pieces 45 are positioned at the opposite of the 3rd disk position sensor 44, the 4th air bag folder 20 and the 4th plate sense Part 45 is answered positioned at the opposite of the 4th disk position sensor 44.

The application method of dried orange peel shell machining robot is：The control of controller 7 grabs mandarin orange manipulator 1 and is put into first mandarin orange 47 After first air bag folder 20, controller 7 controls motor 27 to drive plate 17 to move in the direction of the clock, first air bag Folder 20 follows plate 17 to rotate, and first air bag folder 20 is turned to the cylinder brill that core manipulator 2 is dug against mandarin orange by initial position During 11 position, the center line that first air bag presss from both sides the cylinder brill 11 that 20 center line and mandarin orange dig core manipulator 2 is identical, and first First plate induction pieces 45 on the side of individual air bag folder 20 are close to the 4th disk position sensor 44 of frame 6, the rotating disk position Put sensor 44 and its signal is transferred to controller 7, controller 7 controls mandarin orange to dig core manipulator 2 on first air bag folder 20 First mandarin orange 47 drilling dig core；Meanwhile second air bag folder 20 turns to the operating position for grabbing mandarin orange manipulator 1, second Second plate induction pieces 45 on the side of air bag folder 20 are close to first disk position sensor 44 of frame 6, the disk position Its signal is transferred to controller 7 by sensor 44, and the control of controller 7 grabs mandarin orange manipulator 1 and second mandarin orange 47 is caught into second On air bag folder 20；First air bag folder 20 follows plate 17 to rotate, first plate induction pieces on first side of air bag folder 20 45 when turning to close to the 3rd disk position sensor 44 of frame 6, the center line of first air bag folder 20 and scrapes core motor The center line of 14 motor shaft is identical, and its signal is transferred to controller 7 by the 3rd disk position sensor 44, and controller 7 is controlled Mandarin orange processed scrapes core manipulator 3 and first mandarin orange 47 on first air bag folder 20 is carried out scraping pulp using elastic scraper 15；Together When, second plate induction pieces 45 on second side of air bag folder 20 turn to the 4th disk position sensing close to frame 6 During device 44, its signal is transferred to controller 7 by the disk position sensor 44, and controller 7 controls mandarin orange to dig core manipulator 2 in the Pulp is dug in second mandarin orange 47 drilling on two air bag folders 20；Meanwhile the 3rd plate sense on the 3rd side of air bag folder 20 When answering the part 45 to turn to close to first disk position sensor 44 of frame 6, the 3rd air bag folder 20, which turns to, grabs mandarin orange machinery Its signal is transferred to controller 7 by the operating position of hand 1, the disk position sensor 44, and mandarin orange manipulator 1 is grabbed in the control of controller 7 3rd mandarin orange 47 is caught on the 3rd air bag folder 20；First air bag folder 20 follows plate 17 to rotate, first air bag folder When first plate induction pieces 45 on 20 sides are turned to close to second disk position sensor 44 of frame 6, first gas Its signal is transferred to controller 7 by discharge position of the capsule folder 20 above lower charging basket 84, second disk position sensor 44, First air bag folder 20 of the control of controller 7 drains compressed air, and controller 7 controls the stripper below first mandarin orange 47 22 are left and block the position that first mandarin orange 47 is fallen down, and first mandarin orange 47 of first air bag folder 20 is fallen down under below Charging basket 84；Meanwhile second plate induction pieces 45 on second side of air bag folder 20 pass close to the 3rd disk position of frame 6 During sensor 44, its signal is transferred to controller 7 by the disk position sensor 44, and controller 7 controls mandarin orange to scrape the profit of core manipulator 3 Second mandarin orange 47 on second air bag folder 20 is carried out scraping pulp with its elastic scraper 15；Meanwhile the 3rd air bag folder 20 The 3rd plate induction pieces 45 on side close to frame 6 the 4th disk position sensor 44 when, the disk position sensor Its signal is transferred to controller 7 by 44, and the 3rd air bag folder 20 turns to the position for the cylinder brill 11 that core manipulator 2 is dug against mandarin orange Put, controller 7 is controlled mandarin orange to dig core manipulator 2 and bored using its cylinder brill 11 in the 3rd mandarin orange 47 on the 3rd air bag folder 20 Pulp is dug in hole；Meanwhile the 4th air bag presss from both sides the 4th plate induction pieces 45 on 20 sides close to first disk position of frame 6 During sensor 44, its signal is transferred to controller 7 by the disk position sensor 44, and the control of controller 7 grabs mandarin orange manipulator 1 by the Four mandarin oranges 47 are caught on the 4th air bag folder 20；First air bag folder 20 follows plate 17 to rotate, by first air bag folder 20 When first plate induction pieces 45 on side are turned to close to first disk position sensor 44 of frame 6, first air bag folder 20 reset to initial position, and its signal is transferred to controller 7 by the disk position sensor 44, and controller 7 grabs mandarin orange manipulator 1 will 4th mandarin orange 47 is caught on first air bag folder 20；Meanwhile second plate induction pieces 45 on second side of air bag folder 20 When turning to close to second disk position sensor 44 of frame 6, its signal is transferred to control by the disk position sensor 44 Device 7 processed, controller 7 control second air bag folder 20 to drain compressed air, and controller 7 controls unloading below second mandarin orange 47 Flitch 22, which leaves, blocks the position that second mandarin orange 47 is fallen down, and second mandarin orange 47 of second air bag folder 20 is fallen down to below Lower charging basket 84；Meanwhile the 3rd plate induction pieces 45 on the 3rd side of air bag folder 20 turn to the 3rd close to frame 6 During disk position sensor 44, controller 7 controls mandarin orange to scrape core manipulator 3 using its elastic scraper 15 to the 3rd air bag folder 20 On the 3rd mandarin orange 47 carry out scraping pulp；Meanwhile the 4th plate induction pieces 45 on the 4th side of air bag folder 20 turn to Close to frame 6 the 4th disk position sensor 44 when, its signal is transferred to controller 7 by the disk position sensor 44, Controller 7 controls mandarin orange to dig core manipulator 2 and digs pulp in the 4th mandarin orange 47 drilling on the 4th air bag folder 20；If constantly Circulation.

Rotating disk 4 includes first dumping cylinder 23 of stripper 22, first of air bag magnetic valve 21, first and first Discharging magnetic valve 24；When first air bag folder 20 is positioned at the discharge position of the lower top of charging basket 84, second disk position sensor Its signal is transferred to controller 7 by 44, and controller 7 lays down the compression of first air bag folder 20 by first air bag magnetic valve 21 Air, controller 7 control first dumping cylinder 23 to drive first stripper 22 to leave gear by first discharging magnetic valve 24 The position that firmly first mandarin orange 47 is fallen down, first mandarin orange 47 of first air bag folder 20 is set to fall down to lower charging basket below 84；Rotating disk 4 includes second dumping cylinder 23 of stripper 22, second of air bag magnetic valve 21, second and second discharging Magnetic valve 24；When second air bag folder 20 is positioned at the discharge position of the lower top of charging basket 84, second disk position sensor 44 will Its signal is transferred to controller 7, and the compression that controller 7 lays down second air bag folder 20 by second air bag magnetic valve 21 is empty Gas, controller 7 drive second stripper 22 to leave and block what second mandarin orange 47 was fallen down by second discharging magnetic valve 24 Position, second mandarin orange 47 of second air bag folder 20 is set to fall down to lower charging basket 84 below.

Squeezed out in order to which cylinder is bored into the pulp in 11, mandarin orange dig core manipulator 2 cylinder bore 11 by cylinder knife 85 with Discharge rack 86 is formed, and the motor shaft for digging core motor 10 is connected with discharge rack 86, and discharge rack 86 is connected with cylinder knife 85, cylinder knife 85 Height be less than the height of discharge rack 86, the discharging opening of discharge rack 86 connects with the bore of cylinder knife 85；Make what cylinder knife 85 drilled out Pulp interior energy is drawn off by discharge rack 86；The cylinder that mandarin orange digs core manipulator 2 bores 11 in use, digging the drive cylinder of core motor 10 brill 11 Rotate, dig core cylinder 9 and drive cylinder to bore 11 and move down, cylinder bore 11 pierce first mandarin orange 47 after, first mandarin orange 47 Pulp stays in cylinder and bored in 11 cylinder knife 85, when digging 11 second mandarin orange 47 of brill of cylinder brill of core manipulator 2, second mandarin orange The pulp that 47 pulp bores cylinder 11 first mandarin orange 47 of brill squeezes out discharge rack 86, and is unloaded by the discharging opening of discharge rack 86 Go out；So constantly circulation.

In order to further clear out the pulp in mandarin orange 47, mandarin orange scrapes the elastic scraper 15 of core manipulator 3 by pushing up Disk 87 is formed with steel wire rope 88, and the motor shaft and steel wire rope 88 for scraping core motor 14 are hinged, and steel wire rope 88 is hinged with taking over a business 87, steel wires The length of rope 88 is more than the depth in the cylinder hole 83 of mandarin orange 47；Mandarin orange scrapes the elastic scraper 15 of core manipulator 3 in use, using scraping Core motor 14 drives elastic scraper 15 to rotate, and the driving elastic scraper 15 for scraping core cylinder 13 moves down, and elastic scraper 15 is by mandarin orange The cylinder hole 83 of son 47 enters, and when elastic scraper 15 is after taking over a business 87 and contacted with the lower end skin 82 of mandarin orange 47, takes over a business 87 and withstands mandarin orange The lower end skin 82 of son 47, constantly enters, steel wire rope 88 is bent, and steel wire rope 88 is by straight with the steel wire rope 88 of elastic scraper 15 Shape becomes curved shape, and the steel wire rope 88 of bending in mandarin orange 47 in constantly rotating, using steel wire rope 88 by the pulp of mandarin orange 47 Scrape；After the pulp of mandarin orange 47 scrapes, the driving elastic scraper 15 for scraping core cylinder 13 is moved up, and steel wire rope 88 is become by bending Directly, it is then log out the cylinder hole 83 of mandarin orange 47.

In order to implement to grab the circulation work of mandarin orange manipulator 1, air bag folder 20 is located at initial position, or air bag folder 20 follows disk When plate 17 rotates back into initial position, its position signalling is transferred to controller 7 by balloon positions sensor 46 on air bag folder 20, is controlled The control of device 7 processed grabs mandarin orange manipulator 1 and catches mandarin orange 47 on air bag folder 20；So constantly circulation.

Core manipulator 2 is dug in digging out a cylinder hole 83 on mandarin orange 47 in order to implement mandarin orange, and is implemented mandarin orange and scraped core machine Pulp in the cylinder hole 83 of mandarin orange 47 further is gone out to scrape totally by tool hand 3；The axis of the drive shaft of core cylinder 9 is dug with digging core motor The axis of 10 motor shaft is identical, and the axis for digging the motor shaft of core motor 10 is identical with the axis for the cylinder knife 85 that cylinder bores 11； The axis for scraping motor shaft of the axis of the drive shaft of core cylinder 13 with scraping core motor 14 is identical；Air bag folder 20 turns to mandarin orange and digs core When the cylinder of manipulator 2 bores the stopping of 11 lower positions, the center line and cylinder of air bag folder 20 bore the axis phase of 11 cylinder knife 85 Together；Air bag folder 20 turn to mandarin orange scrape core manipulator 3 the lower position of elastic scraper 15 stop when, air bag folder 20 center line with The axis that mandarin orange scrapes the motor shaft for scraping core motor 14 of core manipulator 3 is identical.

In order to control dried orange peel shell machining robot to work, when dried orange peel shell machining robot needs to be stopped, control is pressed The shutdown switch of device 7, the control of controller 7 are dug core motor 10 and stopped operating, and the drive cylinder of control digging core cylinder 9 bores 11 and risen Reset；The control of controller 7 is dug core motor 10 and stopped, and control scrapes core cylinder 13 and drives mandarin orange to scrape the elasticity of core manipulator 3 and scrapes Knife 15, which rises, to be resetted；When dried orange peel shell machining robot stops, controller 7 controls motor 27 to drive plate 17 to rotate, air bag When folder 20 follows the plate 17 to rotate back into initial position, controller 7 controls motor 27 to stop.

A kind of dried orange peel shell machining robot is designed, the dried orange peel shell machining robot, which includes, grabs mandarin orange manipulator 1, mandarin orange digging core Manipulator 2, mandarin orange scrape core manipulator 3, controller 7 and rotating disk 4, the rotating disk 4 of dried orange peel shell machining robot include plate 17, Cylinder barrel 18, cylinder seat 19, air bag folder 20, air bag magnetic valve 21, stripper 22, dumping cylinder 23, discharging magnetic valve 24, driven gear 25th, drive gear 26, motor 27 and rotary power source joint 28；Plate 17 links into an integrated entity with cylinder barrel 18, cylinder barrel 18 are connected with cylinder seat 19 by bearing 89, and sealing ring 90 is provided between cylinder barrel 18 and cylinder seat 19, and cylinder barrel 18 and cylinder seat 19 are close Envelope connection, driven gear 25 are fixedly connected with plate 17, and the support of motor 27 is fixedly connected with frame 6, cylinder seat 19 and machine Frame 6 is fixedly connected, and the motor shaft of motor 27 is fixedly connected with drive gear 26, and drive gear 26 is located at driven gear 25 Interior, drive gear 26 engages with driven gear 25；The shell of dumping cylinder 23 is fixedly connected with plate 17, the drive shaft of dumping cylinder 23 It is connected with stripper 22, stripper 22 is located at the lower section of the dumping pit 30 of plate 17, and plate 17 is provided with plate induction pieces 45, frame Disk position sensor 44 on 6 is located at the opposite of plate induction pieces 45；Second control of controller 7 is installed in cylinder barrel 18 The rotation blue-tooth device 37 of device 35 and blue-tooth device 33, it is connected by blue-tooth device 33 with the first controller 34 of controller 7, First controller 34 is connected by its control line with motor 27；Rotary power source joint 28 include lower fixed electric connection 31 with And upper rotation electric connection 32, lower fixed electric connection 31 are located in cylinder seat 19, lower fixed electric connection 31 connects with the insulation of cylinder seat 19, on Rotate electric connection 32 to connect with the insulation of cylinder barrel 18, lower fixed electric connection 31 is flexibly connected with upper rotation electric connection 32, cylinder seat 19 Provided with power input joint 91, power input joint 91 is connected by its power line with lower fixed electric connection 31, and lower fixed electricity connects First 31 are contacted with upper rotation electric connection 32, and lower fixed electric connection 31 is flexibly connected with upper rotation electric connection 32, upper rotation electric connection 32 are connected by its power line with second controller 35, and power supply is provided for second controller 35；Second controller 35 is controlled by it Line processed is connected with the balloon positions sensor 46 on air bag magnetic valve 21, discharging magnetic valve 24 and the air bag folder 20 of plate 17； The lower end of cylinder barrel 18 is provided with gas port 92, and the upper impression 93 of cylinder barrel 18 is connected by gas port 92 and the lower impressions 94 of cylinder seat 19 Logical, the gas source connector 29 of cylinder seat 19 connects with its lower impressions 94.

The application method of dried orange peel shell machining robot rotating disk is：In use, power supply is transported to rotation by power input joint 91 Turn the lower fixed electric connection 31 of power connection 28, upper rotation electric connection 32 is then transported to by lower fixed electric connection 31, then by upper Rotate electric connection 32 and be transported to the second controller 35 for following plate 17 to rotate in cylinder barrel 18；Compressed air by cylinder seat 19 gas Source joint 29 is transported to the lower impressions 94 of cylinder seat 19, is then transported to cylinder barrel by gas port 92 of the lower impressions 94 through cylinder barrel 18 18 upper impression 93, then air bag magnetic valve 21 and the discharging being transported to by the transtracheal of upper impression 93 of cylinder barrel 18 in plate 17 The pipe joint of magnetic valve 24；The first controller 34 control of controller 7 grabs mandarin orange manipulator 1 and mandarin orange 47 is put on into initial position Air bag folder 20 when, its signal is transferred to second controller 35 by the balloon positions sensor 46 on air bag folder 20, the second control Its signal is transferred to the first controller 34 of controller 7, the first controller 34 control driving electricity by device 35 by blue-tooth device 33 Machine 27 drives plate 17 to rotate by drive gear 26 and driven gear 25；The cylinder barrel 18 being fixedly connected with plate 17 follows Plate 17 rotates, and power supply is transported to lower fixed electric connection 31 by power input joint 91, is then conveyed by lower fixed electric connection 31 To the upper rotation electric connection 32 of rotation, then the upper rotation electric connection 32 by rotating is transported to the second control for following plate 17 to rotate Device 35；Meanwhile compressed air is transported to the lower impressions 94 of cylinder seat 19 by the gas source connector 29 of cylinder seat 19, is then passed through by lower impressions 94 The gas port 92 of the cylinder barrel 18 of rotation is transported to the upper impression 93 of cylinder barrel 18, then the upper impression 93 of the cylinder barrel 18 by rotating Transtracheal is transported to the pipe joint of the air bag magnetic valve 21 and discharging magnetic valve 24 in plate 17；Air bag folder 20 follows plate 17 During the position of the top of lower charging basket 84 turned on support 6, plate induction pieces 45 in plate 17 are close to the lower position of charging basket 84 Its signal is transferred to the first controller 34 by disk position sensor 44, the disk position sensor 44, and the first controller 34 is controlled Motor 27 processed stops；Meanwhile first controller 34 second controller 35 transmitted a signal to by blue-tooth device 33, second Controller 35 is drained the compressed air of air bag folder 20 by air bag magnetic valve 21, and second controller 35 passes through discharging electromagnetism Valve 24 and dumping cylinder 23 control stripper 22 to leave corresponding dumping pit 30 in plate 17, after air bag folder 20 unclamps, the air bag Mandarin orange 47 on folder 20 under dumping pit 30 through falling in blanking basket 84；After being fallen under mandarin orange 47 in blanking basket 84, second controller 35 transmit a signal to the first controller 34 by blue-tooth device 33, and the first controller 34 control motor 27 drives sliding tooth Wheel 26 and driven gear 25 drive plate 17 to rotate, and air bag folder 20 follows plate 17 to rotate back into initial position；So constantly Circulation.

Rotated to implement rotating disk 4 by the stroke cycle of setting, mandarin orange manipulator 1 is grabbed in cooperation, mandarin orange digs core manipulator 2, mandarin orange Son scrapes the work of core manipulator 3；The dumping pit 30 of plate 17 includes the first dumping pit 50, the second dumping pit 51, the 3rd discharging The dumping pit 53 of hole 52 and the 4th, the air bag folder 20 of rotating disk 4 include the first air bag and press from both sides the 54, second air bag the 55, the 3rd air bag of folder Folder 56 and four gasbags folder 57, air bag magnetic valve 21 includes the first air bag magnetic valve 58, the second air bag magnetic valve the 59, the 3rd Air bag magnetic valve 60 and four gasbags magnetic valve 61, stripper 22 include the first stripper 62, the second stripper the 63, the 3rd The stripper 65 of stripper 64 and the 4th, dumping cylinder 23 include the first dumping cylinder 66, the second dumping cylinder 67, the 3rd dumping cylinder 68 And the 4th dumping cylinder 69, disk position sensor 44 include the first disk position sensor 70, the second disk position sensing Device 71, the 3rd disk position sensor 72 and the 4th disk position sensor 73, balloon positions sensor 46 include first Balloon positions sensor 74, the second balloon positions sensor 75, the 3rd balloon positions sensor 76 and four gasbags position pass Sensor 77, plate induction pieces 45 include the first plate induction pieces 78, the second plate induction pieces 79, the 3rd plate induction pieces 80 with And the 4th plate induction pieces 81；The tops that first air bag folder 54 is installed on the first dumping pit 50, the first stripper 62 are installed on the The lower section of one dumping pit 50, the second air bag folder 55 are installed on the top of the second dumping pit 51, and the second stripper 63 is installed on second The lower section of dumping pit 51, the 3rd air bag folder 56 are installed on the top of the 3rd dumping pit 52, and the 3rd stripper 64 is installed on the 3rd and unloaded Expect the lower section in hole 52, four gasbags folder 57 is installed on the top of the 4th dumping pit 53, and the 4th stripper 65 is installed on the 4th discharging The lower section in hole 53；First balloon positions sensor 74 is installed on the first air bag folder 54, and the second balloon positions sensor 75 is installed on Second air bag folder 55, the 3rd balloon positions sensor 76 are installed on the 3rd air bag folder 56, and four gasbags position sensor 77 is installed 57 are pressed from both sides in four gasbags；First plate induction pieces 78 are located at the side of the first dumping pit 50, and the second plate induction pieces 79 are positioned at the The side of two dumping pits 51, the 3rd plate induction pieces 80 are located at the side of the 3rd dumping pit 52, and the 4th plate induction pieces 81 are located at The side of 4th dumping pit 53；The cylinder body of first dumping cylinder 66 is fixedly connected with plate 17, the drive shaft of the first dumping cylinder 66 with First stripper 62 is connected, and the cylinder body of the second dumping cylinder 67 is fixedly connected with plate 17, the drive shaft of the second dumping cylinder 67 and the Two strippers 63 are connected, and the cylinder body of the 3rd dumping cylinder 68 is fixedly connected with plate 17, the drive shaft and the 3rd of the 3rd dumping cylinder 68 Stripper 64 is connected, and the cylinder body of the 4th dumping cylinder 69 is fixedly connected with plate 17, and the drive shaft of the 4th dumping cylinder 69 is unloaded with the 4th Flitch 65 connects；Discharging magnetic valve 24 includes the first discharging magnetic valve 95, the second discharging magnetic valve 96, the 3rd discharging magnetic valve 97 and the 4th discharging magnetic valve 98, the first discharging magnetic valve 95 be connected by tracheae with the first dumping cylinder 66, the second discharging electricity Magnet valve 96 is connected by tracheae with the second dumping cylinder 67, and the 3rd discharging magnetic valve 97 is connected by tracheae with the 3rd dumping cylinder 68, 4th discharging magnetic valve 98 is connected by tracheae with the 4th dumping cylinder 69.

In order to control the stroke that plate 17 rotates, control air bag folder 20 follows plate 17 to rotate, and the initial position of plate 17 is： First plate induction pieces 78 of plate 17 are located at the opposite of the first disk position sensor 70 in frame 6, the sensing of the second plate Part 79 is located at the opposite of the second disk position sensor 71 in frame 6, and the 3rd plate induction pieces 80 are located at the 3rd in frame 6 The opposite of disk position sensor 72, the 4th plate induction pieces 81 are located at pair of the 4th disk position sensor 73 in frame 6 Face；First air bag folder 54 initial position be：First air bag folder 54 is located at the side of the first disk position sensor 70；Second gas Capsule folder 55 initial position be：First air bag folder 54 is located at the side of the second disk position sensor 71；3rd air bag folder 56 Initial position is：3rd air bag folder 56 is located at the side of the 3rd disk position sensor 72；The initial position of four gasbags folder 57 It is：Four gasbags folder 57 is located at the side of the 4th disk position sensor 73.

Air bag folder 20 is driven to be rotated by the stroke cycle of setting in order to implement rotating disk 4, mandarin orange manipulator 1 is grabbed in cooperation, mandarin orange is dug Core manipulator 2, mandarin orange scrape the work of core manipulator 3；First air bag folder 54 initial position be：First air bag folder 54, which is located at, grabs mandarin orange The operating position of manipulator 1, the described operating position for grabbing mandarin orange manipulator 1, mandarin orange 47 can be put into by exactly grabbing mandarin orange manipulator 1 The position of one air bag folder 54；Second air bag folder 55 initial position be：Second air bag folder 55 is positioned at the position of the lower top of charging basket 84； 3rd air bag folder 56 initial position be：3rd air bag folder 56 scrapes the position of the lower section of elastic scraper 15 of core manipulator 3 positioned at mandarin orange Put；Four gasbags folder 57 initial position be：Four gasbags folder 57 digs the position of the lower section of cylinder brill 11 of core manipulator 2 positioned at mandarin orange Put.

In order to implement to grab, mandarin orange manipulator 1 grabs mandarin orange 47, mandarin orange digging core manipulator 2 drills, mandarin orange scrapes core manipulator 3 and scrapes pulp And mandarin orange 47 scrapes the processing drawn off after pulp, the first dumping pit 50, the second dumping pit 51, the 3rd dumping pit 52 and the 4th unload Material hole 53 is located on the identical circumference of plate 15, and the line in the center of circle of the first dumping pit 50 and the center of circle of the 3rd dumping pit 52 unloads with second The line in the material center of circle of hole 51 and the center of circle of the 4th dumping pit 53 is mutually perpendicular to；First dumping pit 50, the second dumping pit 51, the 3rd discharging The mutual central angle of the dumping pit 53 of hole 52 and the 4th is 90 ° of angles；The center line and the first dumping pit of first air bag folder 54 50 and first stripper 62 center line it is identical, the second air bag folder 55 center line and the second dumping pit 51 and the second discharging The center line of plate 63 is identical, the center line phase of the center line and the 3rd dumping pit 52 and the 3rd stripper 64 of the 3rd air bag folder 56 Together, the center line of four gasbags folder 57 is identical with the center line of the 4th dumping pit 53 and the 4th stripper 65.

The application method of dried orange peel shell machining robot rotating disk is：Mandarin orange manipulator 1 is grabbed in the first controller 34 control of controller 7 After mandarin orange 47 is put on into the first air bag folder 54 of initial position, the vacuum cup 8 for grabbing mandarin orange manipulator 1 presss from both sides close to the first air bag Its signal is transferred to second controller 35 by the first balloon positions sensor 74 on 54, the first balloon positions sensor 74, the Two controllers 35 transmit a signal to the first controller 34, the first controller 34 by the rotation blue-tooth device 37 of blue-tooth device 33 Control motor 27 drives drive gear 26 and driven gear 25 to drive plate 17 to rotate；First air bag folder 54 follows plate When 17 cylinders for turning to mandarin orange digging core manipulator 2 bore position below 11, the first plate induction pieces 78 in plate 17 are close Its signal is transferred to the first controller 34 by the 4th disk position sensor 73 in frame 6, the 4th disk position sensor 73, First controller 34 control motor 27 stops, and plate 17 stops operating；After plate 17 stops operating, the first controller 34 is controlled Mandarin orange processed digs core manipulator 2 and bores 11 in one cylinder hole 83 of the brill of mandarin orange 47 on the first air bag folder 54 using its cylinder, is dug Pulp is dug out；On first air bag folder 54 after the drilled digging pulp of mandarin orange 47, the first controller 34 control drive disk of motor 27 Plate 17 rotates, when the first air bag folder 54 follows plate 17 to turn to mandarin orange to scrape the lower section of elastic scraper 15 of core manipulator 3, plate The first plate induction pieces 78 on 17 are close to the 3rd disk position sensor 72 in frame 6, the 3rd disk position sensor 72 Its signal is transferred to the first controller 34, the first controller 34 control motor 27 stops, and plate 17 stops operating；Plate After 17 stop operating, the first controller 34 control mandarin orange is scraped core manipulator 3 and is pressed from both sides the first air bag on 54 using its elastic scraper 15 Pulp in the cylinder hole 83 of mandarin orange 47 scrapes；After the pulp of mandarin orange 47 scrapes on first air bag folder 54, the first controller 34 is controlled Motor 27 processed drives plate 17 to rotate, when the first air bag folder 54 follows the plate 17 to turn to the top of lower charging basket 84, plate The first plate induction pieces 78 on 17 are close to the second disk position sensor 71 in frame 6, the second disk position sensor 71 Its signal is transferred to, the first controller 34 control motor 27 stops, and plate 17 stops operating；Plate 17 stops operating Afterwards, the first controller 34 transmits a signal to second controller 35, the second control by the fixation blue-tooth device 36 of blue-tooth device 33 Device 35 processed is drained the compressed air of the first air bag folder 54 by the first air bag magnetic valve 58, and second controller 35 passes through the One discharging magnetic valve 95 and the first dumping cylinder 66 control the first stripper 62 to leave corresponding first dumping pit 50 in plate 17, After first air bag folder 54 unclamps, the mandarin orange 47 on first air bag folder 54 under the first dumping pit 50 through falling in blanking basket 84；Should After being fallen under mandarin orange 47 on first air bag folder 54 in blanking basket 84, rotation bluetooth that second controller 35 passes through blue-tooth device 33 Device 37 transmits a signal to the first controller 34, the first controller 34 control motor 27 drive drive gear 26 and by Moving gear 25 drives plate 17 to rotate, and the first air bag folder 54 follows plate 17 to rotate back into initial position；So constantly circulation.

The application method of dried orange peel shell machining robot rotating disk is：First air bag folder 54 follows plate 17 to rotate by initial position When cylinder 11 lower section of brill of core manipulator 2 is dug to mandarin orange, the second air bag folder 55 follows plate 17 to turn to the work for grabbing mandarin orange manipulator 1 Make position, the 3rd air bag folder 56 follows the position that plate 17 is turned to above lower charging basket 84, and four gasbags folder 57 follows plate 17 Turn to the position that mandarin orange scrapes the lower section of elastic scraper 15 of core manipulator 3.

The application method of dried orange peel shell machining robot rotating disk is：First plate induction pieces 78 close to the first disk position by passing When the location following plate 17 of sensor 70 is turned to close to the position of the 4th disk position sensor 73；Second plate induction pieces 79 Plate 17 is followed to turn to the position close to the first disk position sensor 70, the 3rd plate induction pieces 80 follow plate 17 to rotate To the position close to the second disk position sensor 71, the 4th plate induction pieces 81 follow plate 17 to turn to close to the 3rd rotating disk The position of position sensor 72.

The application method of dried orange peel shell machining robot rotating disk is：First air bag folder 54 is dug the cylinder of core manipulator 2 by mandarin orange When boring the location following plates 17 of 11 lower sections and turning to mandarin orange and scrape the position of the lower section of elastic scraper 15 of core manipulator 3, the second gas Capsule folder 55 follows plate 17 to turn to the position that mandarin orange digs the lower section of cylinder brill 11 of core manipulator 2, and the 3rd air bag folder 56 follows disk Plate 17 turns to the operating position for grabbing mandarin orange manipulator 1, and four gasbags folder 57 follows the position that plate 17 is turned to above lower charging basket 84 Put.

The application method of dried orange peel shell machining robot rotating disk is：First plate induction pieces 78 close to the 4th disk position by passing When the location following plate 17 of sensor 73 is turned to close to the position of the 3rd disk position sensor 72, the second plate induction pieces 79 Plate 17 is followed to turn to the position close to the 4th disk position sensor 73, the 3rd plate induction pieces 80 follow plate 17 to rotate To the position close to the first disk position sensor 70, the 4th plate induction pieces 81 follow plate 17 to turn to close to the second rotating disk The position of position sensor 71.

The application method of dried orange peel shell machining robot rotating disk is：First air bag folder 54 is scraped the elasticity of core manipulator 3 by mandarin orange When the location following plate 17 of the lower section of scraper 15 turns to the position of the lower top of charging basket 84, the second air bag folder 55 follows 17 turns of plate The position that mandarin orange scrapes the lower section of elastic scraper 15 of core manipulator 3 is moved, the 3rd air bag folder 56 follows plate 17 to turn to mandarin orange digging The cylinder of core manipulator 2 bores the position of 11 lower sections, and four gasbags folder 57 follows plate 17 to turn to the working position for grabbing mandarin orange manipulator 1 Put.

The application method of dried orange peel shell machining robot rotating disk is：First plate induction pieces 78 close to the 3rd disk position by passing When the location following plate 17 of sensor 72 is turned to close to the position of the second disk position sensor 71, the second plate induction pieces 79 Plate 17 is followed to turn to the position close to the 3rd disk position sensor 72, the 3rd plate induction pieces 80 follow plate 17 to rotate To the position close to the 4th disk position sensor 73, the 4th plate induction pieces 81 follow plate 17 to turn to close to the first rotating disk The position of position sensor 70.

The application method of dried orange peel shell machining robot rotating disk is：First air bag folder 54 is by the location following above lower charging basket 84 When plate 17 turns to the operating position for grabbing mandarin orange manipulator 1, the second air bag folder 55 follows plate 17 to turn to the lower top of charging basket 84 Position, the 3rd air bag folder 56 follows plate 17 to turn to the position that mandarin orange scrapes the lower section of elastic scraper 15 of core manipulator 3, the 4th Air bag folder 57 follows plate 17 to turn to the position that mandarin orange digs the lower section of cylinder brill 11 of core manipulator 2.

The application method of dried orange peel shell machining robot rotating disk is：First plate induction pieces 78 close to the second disk position by passing When the location following plate 17 of sensor 71 is turned to close to the position of the first disk position sensor 70, the second plate induction pieces 79 Plate 17 is followed to turn to the position close to the second disk position sensor 71, the 3rd plate induction pieces 80 follow plate 17 to rotate To the position close to the 3rd disk position sensor 72, the 4th plate induction pieces 81 follow plate 17 to turn to close to the 4th rotating disk The position of position sensor 73.

In order to implement that power supply is transported into second controller 35 using rotary power source joint 28, rotary power source joint 28 it is upper Rotate electric connection 32 and include cylindrical electrode 99, annular electrode 100, electric connection 101 and the outer electric connection of rotation in rotation 102, cylindrical electrode 99 and the mutually insulated of annular electrode 100, electric connection 101 and the outer electric connection 102 of rotation are mutually exhausted in rotation Edge, rotate outer electric connection 102 and be fixedly connected with annular electrode 100, electric connection 101 is fixed with cylindrical electrode 99 and connected in rotation Connect, the axis of cylindrical electrode 99 is identical with the axis of annular electrode 100；Lower fixed electric connection 31 includes electric connection in fixed 103 and fixed coupling 104, it is fixed in electric connection 103 and the fixed mutually insulated of coupling 104, it is fixed in electric connection 103 with Cylindrical electrode 99 is dynamic to be connected, fixed coupling 104 with annular electrode 100 is dynamic is connected, it is fixed in electric connection 103 with And fixed coupling 104 is connected with power input joint 91, electric connection 101 and the outer electric connection 102 and second of rotation in rotation Controller 35 is connected, and power supply is provided for second controller 35.

In order to avoid power connection 28 leaks electricity, upper rotation electric connection 32 is provided with column spinner 105, and column spinner 105 is by insulation material Material is formed, and column spinner 105 is fixedly connected with plate 17；Lower fixed electric connection 31 is provided with fixed seat 106, and fixed seat 106 is provided with circle Post holes 107, fixed seat 106 are fixedly connected with frame 6, and fixed seat 106 is made up of insulating materials；The upper rotation for rotating electric connection 32 The dynamic mating connection of cylindrical hole 107 of post 105 and lower fixed electric connection 31, the axis of cylindrical hole 107 and the axis phase of column spinner 105 Together, cylindrical electrode 99 is fixed on the centre of column spinner 105, and annular electrode 100 is embedded in outside column spinner 105, cylindrical electrode 99 axis is identical with the axis of column spinner 105, and the axis of column spinner 105 is identical with the axis of the plate 17 of circle, makes to turn Dynamic electric connection 32 follows plate 17 to rotate.

In order to implement the reliable delivery of power supply, fixed seat 106 is provided with lower guide hole 108, and lower guide hole 108 connects with cylindrical hole 107 Logical, electric connection 103 is actively tied in lower guide hole 108 in fixation, and lower guide hole 108 is provided with lower spring 109, and lower spring 109 is with fixing Interior electric connection 103 connects, and electric connection 103 contacts in the presence of the elastic force of lower spring 109 with cylindrical electrode 99 in fixation；It is fixed Seat 106 is provided with side guide hole 110, and side guide hole 110 connects with cylindrical hole 107, and fixed coupling 104 is actively tied in side guide hole 110, Side guide hole 110 is provided with lateral spring 111, and lateral spring 111 is connected with fixed coupling 104, and fixed coupling 104 is in lateral spring 111 Contacted in the presence of elastic force with annular electrode 100；Power supply is transported to second controller 35 using rotary power source joint 28.

In order to implement the conveying of source of the gas, the source of the gas out splice going splice 112 of cylinder barrel 18 includes the first air connector 113, Two air connectors 114, the 3rd air connector 115 and the 4th air connector 116, the first air connector 113 by its pipeline with The inlet suction port of first air bag magnetic valve 58 and the first discharging magnetic valve 95 connects, and the second air connector 114 passes through its pipeline It is connected with the inlet suction port of the second air bag magnetic valve 59 and the second discharging magnetic valve 96, the 3rd air connector 115 passes through pipeline It is connected with the inlet suction port of the 3rd air bag magnetic valve 60 and the 3rd discharging magnetic valve 97, the 4th air connector 116 is managed by it Road is connected with the inlet suction port of the discharging magnetic valve 98 of four gasbags magnetic valve 61 and the 4th；Source of the gas is passed through by blowing plant 5 Cylinder seat 19 enters cylinder barrel 18, then the air bag magnetic valve 21 and discharging magnetic valve 24 entered by cylinder barrel 18 on rotating disk 4.

Claims

1. dried orange peel shell machining robot, it is characterised in that：Described dried orange peel shell machining robot, which includes, grabs mandarin orange manipulator（1）、 Mandarin orange digs core manipulator（2）, mandarin orange scrape core manipulator（3）, rotating disk（4）, blowing plant（5）, frame（6）And controller （7）, grab mandarin orange manipulator（1）, mandarin orange dig core manipulator（2）, mandarin orange scrape core manipulator（3）, rotating disk（4）And blowing plant （5）It is installed on frame（6）On；Grab mandarin orange manipulator（1）Include vacuum cup（8）, vacuum cup（8）With vavuum pump（117）Even Connect；Mandarin orange digs core manipulator（2）Include and dig core cylinder（9）, dig core motor（10）, cylinder bore（11）And first magnetic valve （12）, dig core cylinder（9）Shell and frame（6）It is fixedly connected, digs core cylinder（9）Drive shaft with dig core motor（10）It is outer Shell is fixedly connected, and digs core motor（10）Motor shaft and cylinder bore（11）It is fixedly connected；Mandarin orange scrapes core manipulator（3）Include and scrape Core cylinder（13）, scrape core motor（14）, elastic scraper（15）And second solenoid valve（16）, scrape core cylinder（13）Shell and machine Frame（6）It is fixedly connected, scrapes core cylinder（13）Drive shaft and scrape core motor（14）Shell be fixedly connected, scrape core motor（14）'s Motor shaft and elastic scraper（15）It is fixedly connected；Rotating disk（4）Include plate（17）, cylinder barrel（18）, cylinder seat（19）, air bag folder （20）, air bag magnetic valve（21）, stripper（22）, dumping cylinder（23）, discharging magnetic valve（24）, driven gear（25）, sliding tooth Wheel（26）, motor（27）And rotary power source joint（28）；Plate（17）With cylinder barrel（18）It is fixedly connected, cylinder barrel （18）With cylinder seat（19）It is dynamic to be connected, cylinder seat（19）Provided with gas source connector（29）, gas source connector（29）With blowing plant （5）Connection, compressed air is by gas source connector（29）Into cylinder barrel（16）；Plate（17）Provided with dumping pit（30）, air bag folder （20）It is installed on plate（17）Upper face, stripper（22）With dumping cylinder（23）It is fixedly connected, dumping cylinder（23）It is installed on disk Plate（17）Lower face, air bag folder（20）Positioned at dumping pit（30）Top, stripper（22）Positioned at dumping pit（30）Lower section； Dig core cylinder（9）Pass through the first magnetic valve（12）With blowing plant（5）Connection, scrapes core cylinder（13）Pass through second solenoid valve （16）With blowing plant（5）Connection；Air bag presss from both sides（20）Pass through air bag magnetic valve（21）With cylinder barrel（18）Source of the gas output Joint（112）Connection, dumping cylinder（23）Pass through discharging magnetic valve（24）With cylinder barrel（18）Source of the gas out splice going splice（112）Even Connect；Rotary power source joint（28）Include lower fixed electric connection（31）And upper rotation electric connection（32）, lower fixed electric connection （31）With cylinder seat（19）It is fixedly connected, upper rotation electric connection（32）With cylinder barrel（18）It is fixedly connected；Controller（7）Provided with bluetooth Device（33）, controller（7）Include the first controller（34）And second controller（35）, the first controller（34）Located at machine Frame（6）On, second controller（35）Located at rotating disk（4）On；Blue-tooth device（33）Include fixed blue-tooth device（36）And turn Dynamic blue-tooth device（37）, fixed blue-tooth device（36）Located at the first controller（34）, rotate blue-tooth device（37）Located at the second control Device processed（35）；Controller（7）Pass through blue-tooth device（33）Mandarin orange manipulator is grabbed in control（1）, mandarin orange dig core manipulator（2）, mandarin orange scrapes Core manipulator（3）, rotating disk（4）And blowing plant（5）Work；Frame（6）Provided with inductive switch on first（38）And First time inductive switch（39）, dig core motor（10）Shell be provided with the first induction pieces（40）, inductive switch on first（38）Position In first time inductive switch（39）Top；Frame（6）Provided with inductive switch on second（41）And second time inductive switch （42）, scrape core motor（14）Shell be provided with the second induction pieces（43）, inductive switch on second（41）Opened positioned at second time sensing Close（42）Top；Frame（6）Provided with disk position sensor（44）, plate（15）Provided with plate induction pieces（45）, rotating disk position Put sensor（44）Positioned at plate induction pieces（45）Opposite, air bag folder（20）Provided with balloon positions sensor（46）；Passive tooth Wheel（25）With rotating disk（4）It is fixedly connected, motor（27）Support and frame（6）It is fixedly connected, motor（27）Electricity Arbor and drive gear（26）It is fixedly connected, drive gear（26）With driven gear（25）Engagement；Controller（7）Pass through control line With digging core motor（10）, scrape core motor（14）, the first magnetic valve（12）, second solenoid valve（16）, air bag magnetic valve（21）, discharging Magnetic valve（24）, motor（27）, inductive switch on first（38）, first time inductive switch（39）, inductive switch on second （41）, second time inductive switch（42）, disk position sensor（44）And balloon positions sensor（46）Connection.

2. dried orange peel shell machining robot according to claim 1, it is characterised in that：Described mandarin orange digs core manipulator（2） Initial position be：Dig core manipulator（2）Digging core motor（10）The first induction pieces on shell（40）Sense close on first Switch（38）；Mandarin orange scrapes core manipulator（3）Initial position be：Scrape core manipulator（3）Scrape core motor（14）On shell Two induction pieces（43）The inductive switch close on second（41）；Stripper（22）Initial position be：Stripper（22）Center line With dumping pit（30）Center line it is identical, stripper（22）Pressed from both sides against air bag（20）, stripper（22）Be shaped as circle, air bag Folder（20）It is made up of the air bag of annular；Grab mandarin orange manipulator（1）By mandarin orange（47）Catch air bag folder（20）When, utilize stripper （22）Block mandarin orange（47）, avoid mandarin orange（47）Fall down；Controller（7）Provided with automatic start switch（48）And shutdown switch （49）.

3. dried orange peel shell machining robot according to claim 2, it is characterised in that：Inductive switch on described first（38） With first time inductive switch（39）Distance and mandarin orange dig core manipulator（2）Cylinder bore（11）Pierce mandarin orange（47）Depth phase Deng；Inductive switch on second（41）With second time inductive switch（42）Distance be more than elastic scraper（15）Into mandarin orange（47）'s Depth, mandarin orange scrape core manipulator（3）Elastic scraper（15）Decline stroke by elastic scraper（15）Into mandarin orange（47）'s Descending stroke and elastic scraper（15）It is made up of the stroke that directly bent declined.

4. dried orange peel shell machining robot according to claim 3, it is characterised in that：Described air bag folder（20）, dumping pit （30）, disk position sensor（44）, plate induction pieces（45）And balloon positions sensor（46）Provided with multiple, air bag folder （20）, dumping pit（30）, disk position sensor（44）, plate induction pieces（45）And balloon positions sensor（46）Quantity It is identical；Air bag presss from both sides（20）Include first air bag folder（20）, second air bag folder（20）, the 3rd air bag folder（20）And the Four air bag folders（20）.

5. dried orange peel shell machining robot according to claim 4, it is characterised in that：Described first air bag folder（20）On Provided with first balloon positions sensor（46）, first air bag folder（20）Following plate（17）Provided with first dumping pit （30）, first dumping pit（30）Side be provided with first plate induction pieces（45）, first plate induction pieces（45）Opposite Frame（6）It is provided with first disk position sensor（44）；Second air bag folder（20）It is provided with second balloon positions Sensor（46）, second air bag folder（20）Following plate（17）Provided with second dumping pit（30）, second dumping pit （30）Side be provided with second plate induction pieces（45）, second plate induction pieces（45）The frame on opposite（6）It is provided with the Two disk position sensors（44）；3rd air bag folder（20）It is provided with the 3rd balloon positions sensor（46）, the 3rd Air bag presss from both sides（20）Following plate（17）Provided with the 3rd dumping pit（30）, the 3rd dumping pit（30）Side be provided with the 3rd Plate induction pieces（45）, the 3rd plate induction pieces（45）The frame on opposite（6）It is provided with the 3rd disk position sensor （44）；4th air bag folder（20）It is provided with the 4th balloon positions sensor（46）, the 4th air bag folder（20）Following disk Plate（17）Provided with the 4th dumping pit（30）, the 4th dumping pit（30）Side be provided with the 4th plate induction pieces（45）, the Four plate induction pieces（45）The frame on opposite（6）It is provided with the 4th disk position sensor（44）.

6. dried orange peel shell machining robot according to claim 5, it is characterised in that：Described plate（17）Original state It is：First air bag folder（20）And first plate induction pieces（45）Positioned at first disk position sensor（44）Pair Face, second air bag folder（20）And second plate induction pieces（45）Positioned at second disk position sensor（44）Pair Face, the 3rd air bag folder（20）And the 3rd plate induction pieces（45）Positioned at the 3rd disk position sensor（44）Pair Face, the 4th air bag folder（20）And the 4th plate induction pieces（45）Positioned at the 4th disk position sensor（44）Pair Face.

7. dried orange peel shell machining robot according to claim 6, it is characterised in that：Described mandarin orange digs core manipulator（2） Cylinder bore（11）By cylinder knife（85）With discharge rack（86）Form, dig core motor（10）Motor shaft and discharge rack（86）Even Connect, discharge rack（86）With cylinder knife（85）Connection, cylinder knife（85）Height be less than discharge rack（86）Height, discharge rack（86） Discharging opening and cylinder knife（85）Bore connection；Make cylinder knife（85）The pulp interior energy drilled out is by discharge rack（86）Draw off.

8. dried orange peel shell machining robot according to claim 7, it is characterised in that：Described mandarin orange scrapes core manipulator（3） Elastic scraper（15）By taking over a business（87）With steel wire rope（88）Form, scrape core motor（14）Motor shaft and steel wire rope（88）Hinge Connect, steel wire rope（88）With taking over a business（87）It is be hinged, steel wire rope（88）Length be more than mandarin orange（47）Cylinder hole（83）Depth.

9. dried orange peel shell machining robot according to claim 8, it is characterised in that：Described digging core cylinder（9）Driving The axis of axle is with digging core motor（10）Motor shaft axis it is identical, dig core motor（10）Axis and the cylinder of motor shaft bore （11）Cylinder knife（85）Axis it is identical；Scrape core cylinder（13）Drive shaft axis and scrape core motor（14）Motor shaft Axis is identical.

10. dried orange peel shell machining robot according to claim 9, it is characterised in that：Described air bag folder（20）Turn to Mandarin orange digs core manipulator（2）Cylinder bore（11）When lower position stops, air bag folder（20）Center line and cylinder bore（11）'s Cylinder knife（85）Axis it is identical；Air bag presss from both sides（20）Turn to mandarin orange and scrape core manipulator（3）Elastic scraper（15）Lower position During stopping, air bag folder（20）Center line and mandarin orange scrape core manipulator（3）Scrape core motor（14）Motor shaft axis it is identical.