CN204837894U - Automatic control system that peels off of peanut of reserving seed for planting - Google Patents

Abstract

The utility model provides an automatic peeling control system for seed-reserved peanuts, which includes a single-chip main control unit, and is characterized in that: the single-chip main control unit is respectively connected with a stepping motor drive unit, a photoelectric sensor unit, a 12864 liquid crystal display unit, and an 8-way Relay control unit, manipulation keyboard unit and switch reset unit. The single-chip main control unit of the utility model is used for processing acquisition signals and issuing control instructions; the stepping motor driving unit carries peanuts to complete the automatic transportation work of peanuts. The photoelectric sensor unit collects the position information of peanuts and uploads them to the main control unit of the single-chip microcomputer. The 12864 liquid crystal display unit is mainly used for real-time display of the shelling operation status, which realizes good human-computer interaction; further, the relay control unit drives the cylinder to realize peanut feeding. Shelling knives, peanut shelling and peanut peeling.

Description

An automatic shelling control system for peanuts with reserved seeds

technical field

The utility model relates to the field of automatic control, in particular to an automatic shelling control system for reserved peanuts.

Background technique

Peanut shelling is the most basic part of planting peanuts. Only by ensuring the integrity of peanut seeds can good peanuts be cultivated. The traditional shelling of reserved peanuts is manual shelling. Manual shelling is not only easy to fatigue and injure fingers, but also has low work efficiency. Therefore, farmers in peanut production areas urgently need to use machines to replace manual shelling. The birth of the seed-reserved peanut sheller has changed this situation to a large extent, so that farmers in peanut production areas no longer have to use the most primitive shelling method for shelling, thus greatly reducing the physical labor of farmers and at the same time Improved the efficiency of shelling peanuts.

Automatic shelling of self-reserved peanuts is a new technology, which started relatively late in China. At present, domestic peanut shelling machines can be basically divided into steel textured rods mainly for striking and rubbing from their shelling principles, structures and materials - rubber rollers for steel grating concave plates mainly for extrusion and rubbing - rubber rollers. There are two types of floating concave plates, but the shelling quality is not high, and the damage rate is greater than 8%. The peeled peanuts can only be used for oil extraction and consumption, and cannot meet the requirements of foreign trade export and seeding. Exploring advanced shelling principles is an important way to solve the existing problems of shelling machines. And the utility model adopts the principle of bionics, completely imitates artificially peeling peanuts, which is not available in the prior art.

The mechanization of peanut production is an important part of agricultural modernization and an important guarantee for the sustainable and rapid development of agriculture and rural economy. In some areas, peanut kernels used as seeds and special purposes are still shelled by hand. The labor productivity is low and regional unbalanced development. With the continuous development of the peanut planting industry, the demand for peanut shelling at home and abroad is increasing, and it is inevitable to improve the mechanized operation level of peanut shelling. The peanut shelling robot has played an active role in improving labor productivity and reducing labor intensity, promoted the technological progress of the peanut processing industry, and provided space for the development of peanut shelling machinery.

Utility model content:

The technical problem to be solved by the utility model is to provide an automatic peeling control system for peanuts with reserved seeds, so as to realize the automatic control of peanut peeling.

The utility model adopts the following technical solutions to realize the purpose of the utility model:

An automatic shelling control system for reserved peanuts, comprising a single-chip main control unit, characterized in that: the single-chip main control unit is respectively connected to a stepping motor drive unit, a photoelectric sensor unit, a 12864 liquid crystal display unit, an 8-way relay control unit, Manipulate the keyboard unit and the switch reset unit.

As a further limitation to the technical solution, the MK60 single-chip controller is used as the main control unit of the single-chip microcomputer.

As a further limitation to this technical solution, the stepper motor drive unit includes a 42-series stepper motor, a stepper motor driver and a DC/DC voltage conversion circuit, and the PTA8 and PTA9 pins of the MK60 microcontroller controller are connected to the Direction signal interface and pulse signal interface of the stepper motor driver, the stepper motor is arranged on the peanut conveying mechanism.

As a further limitation to this technical solution, the photoelectric sensor unit includes two photoelectric switches, the PTA15 and PTA16 pins of the MK60 single-chip controller are respectively connected to the two photoelectric switches, and the PTD0- PTD7 pins and PTD8-PTD12 pins are respectively connected with the 12864 liquid crystal display unit, the PTB0-PTB7 pins of the MK60 single-chip controller are connected with the 8-way relay control unit, and the PTB0-PTB7 of the MK60 single-chip controller The pins PTC0-PTC7 are connected to the manipulation keyboard unit, the switch reset unit includes a power switch and a reset switch, and the VCC pin and the RESET pin of the MK60 microcontroller controller are connected to the power switch and the reset switch.

As a further limitation to this technical solution, the peanut conveying mechanism is arranged on the frame assembly, and the peanut aligner, peanut pushing mechanism and moving assembly mechanism are also arranged on the frame assembly, and the lower end of the peanut conveying mechanism is For the peanut aligner, the peanut pushing mechanism is located on one side of the peanut aligner, the moving assembly mechanism is provided with a peanut shelling mechanism, and the peanut shelling mechanism is located on the peanut aligner On the other side, the peanut pushing mechanism pushes the peanuts in the peanut straightener into the peanut shelling mechanism.

As a further limitation to this technical solution, the peanut conveying mechanism includes a left vertical beam and a right vertical beam, the left vertical beam is connected to the left inclined beam, the right vertical beam is connected to the right inclined beam, and the left inclined beam and the right inclined beam A funnel and a conveyor belt mechanism are arranged on the beam, and the conveyor belt mechanism includes two large pulleys and a toothed belt. One of the large pulleys is connected to a small pulley through an optical axis, and the small pulley is connected to a step by a short flat belt. Into the output shaft of the motor, the lower side of the upper end of the conveyor belt mechanism is also provided with a slideway, the lower end of the slideway is facing the peanut squarer, and the lower end opening of the funnel is facing the toothed belt. The shifting tooth belt is located between the left inclined beam and the right inclined beam.

As a further limitation to the technical solution, the peanut pushing mechanism includes a single-arm cylinder, the single-arm cylinder is fixed on the cylinder bracket, and the push rod of the single-arm cylinder is connected to a peanut push plate.

As a further limitation to the technical solution, the moving assembly mechanism includes an upper moving optical axis and a lower moving optical axis, and the upper moving optical axis and the lower moving optical axis are provided with symmetrical left and right supporting angles that can move left and right. Supporting angle aluminum, the left supporting angle aluminum is connected to the left cylinder pushing mechanism, the right supporting angle aluminum is connected to the right cylinder pushing mechanism, and the left cylinder pushing mechanism includes a left cylinder pushing mechanism connected to the left supporting angle aluminum , the left cylinder is pushed to connect with the left transverse cylinder, the left transverse cylinder is fixed on the support base of the left cylinder, and the right cylinder push mechanism includes a right cylinder push connected to the right supporting angle aluminum, and the right cylinder pushes Connect the right horizontal cylinder, the right horizontal cylinder is fixed on the right cylinder support base, the left cylinder support base and the right cylinder support base are fixed on the frame assembly, and the upper moving optical axis and the lower moving optical axis are respectively The left supporting angle aluminum and the right supporting angle aluminum are connected through the left upper sliding block, the right upper sliding block, the left lower sliding block and the right lower sliding block.

As a further limitation to this technical solution, the peanut shelling mechanism includes an upper left cylinder and a left upper mechanical claw fixed on the left support angle aluminum, a left lower cylinder and a left lower mechanical claw, and an upper right cylinder fixed on the right support angle aluminum. The cylinder and the upper right mechanical claw and the lower right cylinder and the lower right mechanical claw, the upper left mechanical claw, the lower left mechanical claw, the upper right mechanical claw and the lower right mechanical claw are used together under the push of the cylinder, the upper left mechanical claw, the lower left mechanical claw , the upper right mechanical claw and the lower right mechanical claw are fan-shaped, and the upper left mechanical claw, lower left mechanical claw, upper right mechanical claw and lower right mechanical claw can form a circle when closed, the upper left mechanical claw, lower left mechanical claw , The central angles of the upper right mechanical claw and the lower right mechanical claw are both 85 degrees, and the arc lengths are both 16.3mm.

Compared with the prior art, the advantages and positive effects of the utility model are: the single-chip microcomputer main control unit of the utility model is used to process the acquisition signal and issue control instructions; the stepping motor drive unit carries the peanuts to complete the automatic transportation of the peanuts Work. The photoelectric sensor unit collects the position information of peanuts and uploads them to the main control unit of the single-chip microcomputer. The 12864 liquid crystal display unit is mainly used for real-time display of the shelling operation status, which realizes good human-computer interaction; further, the relay control unit drives the cylinder to realize peanut feeding. Shelling knives, peanut shelling and peanut peeling. The keyboard unit detects the input key signal and reflects it to the main control unit of the single-chip microcomputer; the switch reset unit controls the power supply of the MK60 single-chip microcomputer controller and the reset work of the machine. In this way, the automatic shelling operation of the automatic shelling machine for the reserved peanuts is realized, which saves manpower and improves the shelling efficiency.

Description of drawings

Fig. 1 is a schematic block diagram of the utility model.

Fig. 2 is a circuit structure diagram of the utility model.

Fig. 3 is a schematic diagram of the overall structure of the embodiment of the utility model.

Fig. 4 is a perspective view of an embodiment of the utility model.

Fig. 5 is a schematic structural diagram of the frame assembly of the embodiment of the present invention.

Fig. 6 is a schematic structural view of the peanut shelling mechanism of the embodiment of the present invention.

Fig. 7 is a schematic structural diagram of the moving assembly of the peeling mechanism according to the embodiment of the present invention.

Fig. 8 is a schematic structural diagram of the mechanism for pushing peanuts according to the embodiment of the present invention.

Fig. 9 is a schematic structural view of a peanut squarer according to an embodiment of the present invention.

Fig. 10 is a structural schematic diagram of the peanut shelling mechanism of the embodiment of the present invention when the mechanical claws are fully closed.

Fig. 11 is a schematic structural diagram of a peanut conveying mechanism in an embodiment of the present invention.

In the figure, 1-frame assembly; 2-peanut shelling mechanism; 3-moving component structure; 4-peanut pushing mechanism; 5-slide; 6-base; 7-long column; 8-beam; 9-vertical beam ;10-short column; 11-peanut slide support beam; 12-upper right cylinder; 13-upper left cylinder; 14-lower right cylinder; 15-lower left cylinder; 16-upper right mechanical claw; 17-upper left mechanical claw; 18-right Lower mechanical claw; 19-left lower mechanical claw; 20-right support angle aluminum; 21-right horizontal cylinder; 22-left horizontal cylinder; 23-right cylinder push; 24-left cylinder push; 25-right cylinder support seat; 26- Left cylinder support seat; 27-lower left sliding block; 28-upper left sliding block; 29-upper right sliding block; 30-lower right sliding block; 31-upper left fixed block; 32-lower right fixed block; 33-lower left fixed block; 34 -upper right fixed block; 35-up moving optical axis; 36-down moving optical axis; 37-left support angle aluminum; 38-single-arm cylinder; 39-cylinder bracket; 40-peanut push plate; 42-Peanut conveying mechanism, 43-Funnel, 44-Big pulley, 45-Toggle belt, 46-Optical shaft, 47-Small pulley, 48-Short flat belt, 49-Stepper motor, 50-Left vertical beam , 51-right vertical beam, 52-left inclined beam, 53-right inclined beam.

Detailed ways:

Below in conjunction with embodiment, further illustrate the utility model.

Referring to Fig. 1-Fig. 11, the utility model includes a single-chip microcomputer main control unit, and the single-chip microcomputer main control unit is respectively connected with a stepping motor drive unit, a photoelectric sensor unit, a 12864 liquid crystal display unit, an 8-way relay control unit, a manipulation keyboard unit and a switch Reset unit.

The main control unit of the single-chip microcomputer adopts a MK60 single-chip microcomputer controller, and the stepping motor drive unit includes a 42-series stepping motor, a stepping motor driver and a DC/DC voltage conversion circuit, and the PTA8 and PTA9 pins of the MK60 single-chip microcomputer controller The pin is connected to the direction signal interface and the pulse signal interface of the stepper motor driver, the photoelectric sensor unit includes two photoelectric switches, and the PTA15 and PTA16 pins of the MK60 single-chip controller are connected to the two photoelectric switches respectively, The PTD0-PTD7 pins and PTD8-PTD12 pins of the MK60 single-chip controller are connected to the 12864 liquid crystal display unit respectively, and the PTB0-PTB7 pins of the MK60 single-chip controller are connected to the 8-way relay control unit, so The PTB0-PTB7 pins PTC0-PTC7 pins of the MK60 single-chip controller are connected to the manipulation keyboard unit, the switch reset unit includes a power switch and a reset switch, and the VCC pin and the RESET pin of the MK60 single-chip controller are connected the power switch and reset switch.

The peanut conveying mechanism 42 is arranged on the frame assembly 1, the peanut squarer 41, the peanut pushing mechanism 4 and the moving assembly mechanism 3 are arranged on the frame assembly 1, and the lower end of the peanut conveying mechanism 42 is facing all Described peanut squarer 41, described peanut pushing mechanism 4 is positioned at the side of described peanut squarer 41, and described mobile component mechanism 3 is provided with peanut shelling mechanism 2, and described peanut shelling mechanism 2 is positioned at described On the other side of the peanut straightener 41, the peanut pushing mechanism 4 pushes the peanuts in the peanut straightener 41 into the peanut shelling mechanism 2.

The peanut conveying mechanism 42 includes a left vertical beam 50 and a right vertical beam 51, the left vertical beam 50 is connected to the left inclined beam 52, the right vertical beam 51 is connected to the right inclined beam 53, and the left inclined beam 52 and the right inclined beam The beam 53 is provided with a funnel 43 and a conveyor belt mechanism. The conveyor belt mechanism includes two large pulleys 44 and a toothed belt 45. One of the large pulleys 44 is connected to a small pulley 47 through an optical axis 46. The small belt Wheel 47 is connected to the output shaft of stepping motor 49 by short flat belt 48, and the underside of described conveyer belt mechanism upper end is also provided with slideway 5, and the lower end of described slideway 5 is facing described peanut slideway 41, and described funnel The lower end opening of 43 faces the shifting tooth belt 45 , and the shifting tooth belt 45 is located between the left inclined beam 52 and the right inclined beam 53 . The funnel 43 is used to place peanuts. The opening of the funnel 43 (not shown in the figure) just allows a single peanut to fall. The teeth of the toothed belt 45 move the peanuts to fall on the toothed belt 45, and the stepper motor 49 drives the toothed belt. 45 moves upwards, and the peanut falls in the slideway 5 from the shifting tooth belt 45 after running to the highest point.

The peanut pushing mechanism includes a single-arm cylinder 38 fixed on a cylinder bracket 39 , and the push rod of the single-arm cylinder 38 is connected with a peanut push plate 40 .

The moving assembly mechanism 3 includes an upper moving optical axis 35 and a lower moving optical axis 36, and the upper moving optical axis 35 and the lower moving optical axis 36 are provided with symmetrical left supporting angle aluminum 37 and right supporting angle that can move left and right Aluminum 20, the left supporting angle aluminum 37 is connected with the left cylinder pushing mechanism, and the right supporting angle aluminum 20 is connected with the right cylinder pushing mechanism.

The left cylinder pushing mechanism includes a left cylinder pusher 24 connected to the left support angle aluminum 37, the left cylinder pusher 24 is connected to the left transverse cylinder 22, and the left transverse cylinder 22 is fixed on the left cylinder support seat 26, The right cylinder pushing mechanism includes a right cylinder pusher 23 connected to the right support angle aluminum 20, the right cylinder pusher 23 is connected to a right transverse cylinder 21, and the right transverse cylinder 21 is fixed on a right cylinder support seat 25, The left cylinder support base 26 and the right cylinder support base 25 are fixed on the frame assembly 1 .

The upper moving optical axis 35 and the lower moving optical axis 36 are respectively connected to the left supporting angle aluminum 37 and the right supporting angle aluminum 20 through the left upper sliding block 28, the right upper sliding block 29, the left lower sliding block 27 and the right lower sliding block 30 , the upper moving optical axis 35 and the lower moving optical axis 36 are connected to the frame assembly 1 through the upper left fixed block 31 , the lower left fixed block 33 , the upper right fixed block 34 and the lower right fixed block 32 .

The peanut shelling mechanism includes an upper left cylinder 13, an upper left mechanical claw 17, a lower left cylinder 15 and a lower left mechanical claw 19 fixed on the left support angle aluminum 37, and an upper right cylinder 12 fixed on the right support angle aluminum 20. And right upper mechanical claw 16 and right lower cylinder 14 and right lower mechanical claw 18, described left upper mechanical claw 17, left lower mechanical claw 15, right upper mechanical claw 16 and right lower mechanical claw 18 cooperate to use under the promotion of respective cylinders.

The upper left mechanical claw 17, the lower left mechanical claw 15, the upper right mechanical claw 16 and the lower right mechanical claw 18 are fan-shaped, and the upper left mechanical claw 17, the lower left mechanical claw 15, the upper right mechanical claw 16 and the lower right mechanical claw 18 are closed can form a circle.

The central angles of the upper left mechanical claw 17, the lower left mechanical claw 15, the upper right mechanical claw 16 and the lower right mechanical claw 18 are all 85 degrees, and the arc lengths are all 16.3mm. .

The frame assembly includes a base 6 on which two long columns 7 and two short columns 10 are connected, and a beam is connected between the two long columns 7 and the two short columns 10 8. Vertical beams 9 are connected between the two long columns 7 and the short columns 10, one of the beams 8 is connected to the peanut slideway support beam 11, and the peanut slideway support beam 11 is provided with the peanut pushing mechanism 4 and peanut squarer 41.

The automatic peeling control method of the seed peanut of the present invention comprises the following steps:

(1) Put the peanuts into the funnel 43, the single-chip main control unit drives the stepper motor 49 to drive the short flat belt 48 to rotate, the short flat belt 48 drives the toothed belt 45 to rotate, and the toothed belt 45 to move the funnel 43 Peanuts at the opening, a single peanut falls on the toothed belt 45, the movement of the toothed belt 45 drives the peanuts to move forward, the peanuts fall from the front end of the toothed belt 45, and the peanuts pass between the left inclined beam 52 and the right inclined beam 53 The gap falls to the slideway 5, and then vertically falls into the peanut squarer 41 along the slideway 5;

(2) The photoelectric sensor unit detects that there are peanuts falling in the slideway 5 and sends the detection information to the main control unit of the single-chip microcomputer, and the main control unit of the single-chip microcomputer drives the moving component mechanism 3 to push the peanut shelling mechanism 2 to the peanut squarer 41 s position;

(3) The push rod of the single-arm cylinder 38 pushes the peanuts in the peanut squarer 41 to the peanut shelling mechanism 2 through the peanut push plate 40;

(4) The upper left mechanical claw 17, the upper right mechanical claw 16, the lower left mechanical claw 19 and the lower right mechanical claw 18 are closed under the push of their respective cylinders;

(5) The left horizontal cylinder 22 and the right horizontal cylinder 21 of the moving assembly mechanism 3 shrink, driving the left support angle aluminum 37 and the right support angle aluminum 20 to move in reverse, and the upper left mechanical claw 17, the lower left mechanical claw 19 and the upper right mechanical claw 16, The lower right mechanical claw 18 is separated, the peanut shell is peeled off, and a shelling work is completed, and then the mobile assembly structure 3 and the peanut shelling mechanism 2 are reset.

Claims (9)

1. A kind of automatic peeling control system for peanuts, comprising a single-chip microcomputer main control unit, is characterized in that: said single-chip microcomputer main control unit is respectively connected with a stepping motor drive unit, a photoelectric sensor unit, a 12864 liquid crystal display unit, and 8-way relay control unit, manipulation keyboard unit and switch reset unit. 2. The automatic shelling control system for seed-reserved peanuts according to claim 1, wherein the main control unit of the single-chip microcomputer adopts a MK60 single-chip microcomputer controller. 3. The automatic shelling control system for seed-reserved peanuts according to claim 2 is characterized in that: the stepper motor drive unit includes a 42-series stepper motor, a stepper motor driver and a DC/DC voltage conversion circuit, the The PTA8 and PTA9 pins of the MK60 single-chip controller are connected to the direction signal interface and the pulse signal interface of the stepper motor driver, and the stepper motor is arranged on the peanut conveying mechanism. 4. The automatic shelling control system for seed-reserved peanuts according to claim 3 is characterized in that: the photoelectric sensor unit includes two photoelectric switches, and the PTA15 and PTA16 pins of the MK60 single-chip controller are respectively connected to the two photoelectric switches. The photoelectric switch is connected, the PTD0-PTD7 pins and PTD8-PTD12 pins of the MK60 single-chip controller are respectively connected to the 12864 liquid crystal display unit, and the PTB0-PTB7 pins of the MK60 single-chip controller are connected to the 8-way Relay control unit, the PTB0-PTB7 pins PTC0-PTC7 pins of the MK60 single-chip controller are connected to the manipulation keyboard unit, the switch reset unit includes a power switch and a reset switch, and the VCC pin of the MK60 single-chip controller and RESET pins connect the power switch and reset switch. 5. The automatic shelling control system for seed-reserved peanuts according to claim 3, characterized in that: the peanut conveying mechanism is set on the frame assembly, and the frame assembly is also provided with a peanut squarer, a peanut pusher, and a peanut pusher. Mechanism and mobile assembly mechanism, the lower end of the peanut conveying mechanism is facing the peanut squarer, the peanut pushing mechanism is located on one side of the peanut squarer, and the mobile assembly mechanism is provided with a peanut shelling mechanism , the peanut shelling mechanism is located on the other side of the peanut aligner, and the peanut pushing mechanism pushes the peanuts in the peanut aligner into the peanut shelling mechanism. 6. The automatic shelling control system for seed-reserved peanuts according to claim 5, characterized in that: the peanut conveying mechanism includes a left upright beam and a right upright beam, the left upright beam is connected to the left inclined beam, and the right upright beam is connected to the left upright beam. The beam is connected to the right inclined beam, and the left inclined beam and the right inclined beam are provided with a funnel and a conveyor belt mechanism. The conveyor belt mechanism includes two large pulleys and a toothed belt, and one of the large pulleys is connected to the small pulley through an optical axis. The pulley, the small pulley is connected to the output shaft of the stepper motor through a short flat belt, and the lower side of the upper end of the conveyor belt mechanism is also provided with a slideway, and the lower end of the slideway is facing the peanut squarer. The lower end opening of the funnel is facing the tooth shifting belt, and the tooth shifting belt is located between the left inclined beam and the right inclined beam. 7. The automatic shelling control system for seed-reserved peanuts according to claim 5, characterized in that: the peanut pushing mechanism includes a single-arm cylinder, the single-arm cylinder is fixed on the cylinder bracket, and the pushing mechanism of the single-arm cylinder Connect the peanut push plate on the rod. 8. The automatic shelling control system for seed-reserved peanuts according to claim 5, characterized in that: the moving assembly mechanism includes an upper moving optical axis and a lower moving optical axis, and the upper moving optical axis and the lower moving optical axis are on There are symmetrical left support angle aluminum and right support angle aluminum that can move left and right, the left support angle aluminum is connected with the left cylinder push mechanism, the right support angle aluminum is connected with the right cylinder push mechanism, and the left cylinder push mechanism It includes a left cylinder pusher connected to the left supporting angle aluminum, the left cylinder pusher is connected to the left transverse cylinder, the left transverse cylinder is fixed on the left cylinder support base, and the right cylinder push mechanism includes a The right cylinder on the support angle aluminum is pushed, and the right cylinder is connected to the right horizontal cylinder, and the right horizontal cylinder is fixed on the right cylinder support seat, and the left cylinder support seat and the right cylinder support seat are fixed on the frame assembly Above, the upper moving optical axis and the lower moving optical axis are respectively connected to the left supporting angle aluminum and the right supporting angle aluminum through the upper left sliding block, the upper right sliding block, the lower left sliding block and the lower right sliding block. 9. The automatic shelling control system for seed-reserved peanuts according to claim 8, characterized in that: the peanut shelling mechanism includes an upper left cylinder and an upper left mechanical claw fixed on the left support angle aluminum, a lower left cylinder and a lower left mechanical claw. Mechanical claws, the upper right cylinder and upper right mechanical claws fixed on the right support angle aluminum, the lower right cylinder and the lower right mechanical claws, the upper left mechanical claws, the lower left mechanical claws, the upper right mechanical claws and the lower right mechanical claws in the cylinder Pushing and using together, the upper left mechanical claw, lower left mechanical claw, upper right mechanical claw and lower right mechanical claw are all fan-shaped, and the upper left mechanical claw, lower left mechanical claw, upper right mechanical claw and lower right mechanical claw can enclose form a circle, the central angles of the upper left mechanical claw, lower left mechanical claw, upper right mechanical claw and lower right mechanical claw are all 85 degrees, and the arc lengths are all 16.3mm.