NL2032804A - Sensorless peeling robot based on variable configuration constraints for pickled mustard tubers - Google Patents

Sensorless peeling robot based on variable configuration constraints for pickled mustard tubers Download PDF

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Publication number
NL2032804A
NL2032804A NL2032804A NL2032804A NL2032804A NL 2032804 A NL2032804 A NL 2032804A NL 2032804 A NL2032804 A NL 2032804A NL 2032804 A NL2032804 A NL 2032804A NL 2032804 A NL2032804 A NL 2032804A
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Netherlands
Prior art keywords
block
peeling
string
pickled mustard
fixedly connected
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NL2032804A
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Dutch (nl)
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NL2032804B1 (en
Inventor
Tian Meizi
Wang Tao
Song Yongshi
Wan Haochuan
Li Lianfeng
He Renqi
Huang Jiangbo
Chen Lei
Zheng Xianhua
Zhang Lin
Chen Nana
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Univ Yangtze Normal
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Publication of NL2032804A publication Critical patent/NL2032804A/en
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Publication of NL2032804B1 publication Critical patent/NL2032804B1/en

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    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
    • A23N7/023—Peeling potatoes, apples or similarly shaped vegetables or fruit one by one
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
    • A23N7/023—Peeling potatoes, apples or similarly shaped vegetables or fruit one by one
    • A23N7/026—Peeling machines therefor with rotary fruit holding spindles and fixed or movable peeler blades

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  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a sensorless peeling robot based on variable configuration constraints for pickled mustard tubers. The present invention includes a distribution control data center, a string measuring and curve obtaining structure and an adjustable string peeling structure. According to the present invention, with the string measuring and curve obtaining structure, a device cuts grooves on a surface of a rotating pickled mustard tuber conveniently, and a corresponding force curve of the surface of the pickled mustard tuber is formed according to different string densities and cutting forces of a cutter, such that positions having strings to be removed on the surface of the pickled mustard tuber are conveniently determined, and processing convenience is improved; and with the adjustable string peeling structure, the device completes continuous positioning and adjustable, adaptive and convenient string peeling of the pickled mustard tuber, thereby greatly improving convenience and processing efficiency of string peeling.

Description

SENSORLESS PEELING ROBOT BASED ON VARIABLE CONFIGURATION
CONSTRAINTS FOR PICKLED MUSTARD TUBERS
TECHNICAL FIELD
The present invention relates to the technical field of pick- led mustard tuber processing, and particularly relates to a sen- sorless peeling robot based on variable configuration constraints for pickled mustard tubers.
BACKGROUND ART
A pickled mustard tuber, a long-term edible food in China, is made of angiosperma, a family of dicotyledoneae. It is often nec- essary to remove strings inside the pickled mustard tuber during processing, so as to achieve better taste.
However, there are problems existing when the strings inside the pickled mustard tuber are continuously processed as follows: it often takes manpower to remove them, with limited effi- ciency, and much pulp of the pickled mustard tuber is wasted.
SUMMARY
An objective of the present invention is to provide a sensor- less peeling robot based on variable configuration constraints for pickled mustard tubers, so as to solve existing problems that it often takes manpower to remove strings, with limited efficiency, and much pulp of a pickled mustard tuber is wasted.
To achieve the objective, the present invention provides a technical solution as follows: a sensorless peeling robot based on variable configuration constraints for pickled mustard tubers in- cludes a distribution control data center, a string measuring and curve obtaining structure and an adjustable string peeling struc- ture. One side of the distribution control data center is provided with the string measuring and curve obtaining structure. The string measuring and curve obtaining structure is configured to conveniently obtain a string distribution of a pickled mustard tu- ber. One end of the distribution control data center is provided with the adjustable string peeling structure. The adjustable string peeling structure is configured to conduct continuous, adaptive and convenient string peeling on the pickled mustard tu- ber. The distribution control data center is configured to process data introduced by the string measuring and curve obtaining struc- ture and generate a curve, and then control the adjustable string peeling structure to complete corresponding adjustable string peeling after determination.
Preferably, the string measuring and curve obtaining struc- ture includes a data processing and exporting module, a carrying and positioning base frame, a built-in carrying pipe, a pressure detector, a pressure measuring spring, a force guiding push rod, an extended positioning block and a contact cutter. One side of the carrying and positioning base frame is fixedly connected to the data processing and exporting module. An output end of the da- ta processing and exporting module is electrically connected to the distribution control data center. A top end of the carrying and positioning base frame is fixedly connected to the built-in carrying pipe. One side of the built-in carrying pipe is fixedly connected to the pressure detector. One side of the pressure de- tector away from the distribution control data center is fixedly connected to the pressure measuring spring. One side of the pres- sure measuring spring away from the pressure detector is fixedly connected to the force guiding push rod. The force guiding push rod is slidably connected to an inner side of the built-in carry- ing pipe. One side of the force guiding push rod away from the built-in carrying pipe is fixedly connected to the extended posi- tioning block. An inner side of the extended positioning block is fixedly connected to the contact cutter by means of a screw.
Preferably, an input end of the data processing and exporting module is electrically connected to the pressure detector.
Preferably, the adjustable string peeling structure includes a lifting driving module, upper peeling claw modules, an angle ad-
Justing driving module and lower peeling claw modules. One end of the distribution control data center is fixedly connected to the angle adjusting driving module. A top end of the angle adjusting driving module is fixedly connected to the lifting driving module.
Two sides of the lifting driving module are slidably connected to the upper peeling claw modules. Two sides of the angle adjusting driving module are slidably connected to the lower peeling claw modules.
Preferably, the lifting driving module includes a first posi- tioning plate, a piston cylinder, a first carrying column and a first distribution and adjustment disc. A top end of the first po- sitioning plate is fixedly connected to the piston cylinder by means of a screw. An output end of the piston cylinder is fixedly connected to the first carrying column. An outer side of the first carrying column is fixedly connected to the first distribution and adjustment disc.
Preferably, the angle adjusting driving module includes a second positioning plate, an electric motor, a second carrying column, a central positioning block and a second distribution and adjustment disc. A bottom end of the second positioning plate is fixedly connected to the electric motor by means of a screw. An output end of the electric motor is fixedly connected to the sec- ond carrying column. The central positioning block is welded to a top end of the second carrying column. An outer side of the second carrying column is connected to the second distribution and ad- justment disc in a clamped manner.
Preferably, the angle adjusting driving module includes a second positioning plate, an electric motor, a second carrying column, a central positioning block and a second distribution and adjustment disc. A bottom end of the second positioning plate is fixedly connected to the electric motor by means of a screw. An output end of the electric motor is fixedly connected to the sec- ond carrying column. The central positioning block is welded to a top end of the second carrying column. An outer side of the second carrying column is connected to the second distribution and ad-
Jjustment disc in a clamped manner.
Preferably, the upper peeling claw module includes a first adapter block, an auxiliary positioning block, a first extended limiting column, a first spring, a first claw bar, a second claw bar, a second spring, a positioning claw head, a second extended limiting column, an extended stopping block and a pressing and stopping block. The first adapter block is welded to one side of the auxiliary positioning block. The first adapter block is slida- bly connected to the guiding and adjusting ring groove of the first distribution and adjustment disc. The first adapter block is in clearance fit with the sliding clamping groove of the first distribution and adjustment disc. The first extended limiting col- umn is welded to a top end of the auxiliary positioning block. An inner side of the first extended limiting column is slidably con- nected to the second extended limiting column. The pressing and stopping block is welded to a bottom end of the second extended limiting column. The extended stopping block is welded to an outer side of the second extended limiting column. A third spring is connected between an outer side of the extended stopping block and the auxiliary positioning block in a sleeving manner. An inner side of the auxiliary positioning block is rotationally connected to the first claw bar. The inner side of the first extended limit- ing column is connected to the first spring in a sleeving manner.
The other side of the first spring is connected to the first claw bar. One side of the first claw bar is rotationally connected to the second claw bar. The first claw bar is further connected to the second claw bar by means of the second spring. A bottom end of the second claw bar is fixedly connected to the positioning claw head.
Preferably, the lower peeling claw module includes a second adapter block, a placing claw plate, an assembling sleeve block, a piston damping cylinder, a distribution and adjustment transmis- sion block, an auxiliary limiting wheel, a pushing block and an outer peeling claw. The second adapter block is welded to a bottom end of the placing claw plate. One side of the second adapter block is slidably connected to the guiding and adjusting ring groove of the second distribution and adjustment disc. The second adapter block is in clearance fit with the sliding clamping groove of the second distribution and adjustment disc. The assembling sleeve block is welded to one side of the placing claw plate away from the second adapter block. An inner side of the assembling sleeve block is obliquely provided with the piston damping cylin- der. A top end of the piston damping cylinder is rotationally con-
nected to the distribution and adjustment transmission block. An inner side of the distribution and adjustment transmission block is rotationally connected to the auxiliary limiting wheel. An out- er side of the auxiliary limiting wheel is provided with the push- 5 ing block. One side of the pushing block close to the second adapter block is fixedly connected to the outer peeling claw.
Compared with the prior art, the present invention has the beneficial effects: 1, According to the present invention, with the string meas- uring and curve obtaining structure designed, a device cuts grooves on a surface of a rotating pickled mustard tuber conven- iently, and a corresponding force curve of the surface of the pickled mustard tuber is formed according to different string den- sities and cutting forces of a cutter, such that positions having strings to be removed on the surface of the pickled mustard tuber are conveniently determined, processing convenience is greatly im- proved, and waste of string peeling at redundant positions is avoided. 2, According to the present invention, with the adjustable string peeling structure designed, the device completes continuous positioning and adjustable, adaptive and convenient string peeling of the pickled mustard tuber conveniently, thereby greatly improv- ing convenience and processing efficiency of string peeling.
BRIEF DESCRIPTION OF THE DRAWINGS
To describe technical solutions in embodiments of the present invention more clearly, the accompanying drawings required for de- scribing the embodiments are briefly described below. Obviously, the accompanying drawings in the following description show merely some embodiments of the present invention, and those of ordinary skill in the art would also be able to derive other accompanying drawings from these accompanying drawings without creative ef- forts.
FIG. 1 is a schematic diagram of an overall structure of the present invention;
FIG. 2 is a side view of the whole present invention;
FIG. 3 is a schematic diagram of a local structure of a string measuring and curve obtaining structure of the present in- vention;
FIG. 4 is a schematic diagram of a local structure of an ad-
Justable string peeling structure of the present invention;
FIG. 5 is a schematic diagram of a local structure of a lift- ing driving module of the present invention;
FIG. 6 is a schematic diagram of a local structure of an an- gle adjusting driving module of the present invention;
FIG. 7 is a schematic diagram of a local structure of upper peeling claw modules of the present invention; and
FIG. 8 is a schematic diagram of a local structure of lower peeling claw modules of the present invention.
In the drawings: 1, distribution control data center; 2, string measuring and curve obtaining structure; 3, adjustable string peeling structure; 4, data processing and exporting module; 5, carrying and positioning base frame; 6, built-in carrying pipe; 7, pressure detector; 8, pressure measuring spring; 9, force guid- ing push rod; 10, extended positioning block; 11, contact cutter; 12, lifting driving module; 13, upper peeling claw module; 14, an- gle adjusting driving module; 15, lower peeling claw module; 16, first positioning plate; 17, piston cylinder; 18, first carrying column; 19, first distribution and adjustment disc; 20, guiding and adjusting ring groove; 21, sliding clamping groove; 22, second positioning plate; 23, electric motor; 24, second carrying column; 25, central positioning block; 26, second distribution and adjust- ment disc; 27, first adapter block; 28, auxiliary positioning block; 29, first extended limiting column; 30, first spring; 31, first claw bar; 32, second claw bar; 33, second spring; 34, posi- tioning claw head; 35, second extended limiting column; 36, ex- tended stopping block; 37, pressing and stopping block; 38, third spring; 39, second adapter block; 40, placing claw plate; 41, as- sembling sleeve block; 42, piston damping cylinder; 43, distribu- tion and adjustment transmission block; 44, auxiliary limiting wheel; 45, pushing block; and 46, outer peeling claw.
DETAILED DESCRIPTION OF THE EMBODIMENTS
The technical solutions in the embodiments of the present in-
vention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present in- vention. Apparently, the embodiments described are merely some ra- ther than all of the embodiments of the present invention.
With reference to FIGs. 1-2:
A sensorless peeling robot based on variable configuration constraints for pickled mustard tubers includes a distribution control data center 1, a string measuring and curve obtaining structure 2 and an adjustable string peeling structure 3. One side of the distribution control data center 1 is provided with the string measuring and curve obtaining structure 2. The string meas- uring and curve obtaining structure 2 is configured to convenient- ly obtain a string distribution of a pickled mustard tuber. One end of the distribution control data center 1 is provided with the adjustable string peeling structure 3. The adjustable string peel- ing structure 3 is configured to conduct continuous, adaptive and convenient string peeling on the pickled mustard tuber. The dis- tribution control data center 1 is configured to process data in- troduced by the string measuring and curve obtaining structure 2 and generate a curve, and then control the adjustable string peel- ing structure 3 to complete corresponding adjustable string peel- ing after determination.
With reference to FIG. 3:
The string measuring and curve obtaining structure 2 includes a data processing and exporting module 4, a carrying and position- ing base frame 5, a built-in carrying pipe 6, a pressure detector 7, a pressure measuring spring 8, a force guiding push rod 9, an extended positioning block 10 and a contact cutter 11. One side of the carrying and positioning base frame 5 is fixedly connected to the data processing and exporting module 4. An output end of the data processing and exporting module 4 is electrically connected to the distribution control data center 1. A top end of the carry- ing and positioning base frame 5 is fixedly connected to the built-in carrying pipe 6. One side of the built-in carrying pipe 6 is fixedly connected to the pressure detector 7. One side of the pressure detector 7 away from the distribution control data center 1 is fixedly connected to the pressure measuring spring 8. One side of the pressure measuring spring 8 away from the pressure de- tector 7 is fixedly connected to the force guiding push rod 9. The force guiding push rod 9 is slidably connected to an inner side of the built-in carrying pipe 6. One side of the force guiding push rod 9 away from the built-in carrying pipe 6 is fixedly connected to the extended positioning block 10. An inner side of the extend- ed positioning block 10 is fixedly connected to the contact cutter 11 by means of a screw.
An input end of the data processing and exporting module 4 is electrically connected to the pressure detector 7.
The pickled mustard tuber is rotated, so as to make a cross section of the pickled mustard tuber gradually move close to the contact cutter 11. Through rotation, the cross section of the pickled mustard tuber gradually presses the contact cutter 11, and the contact cutter 11 is used to conduct cutting and peeling at a cross section position of the pickled mustard tuber. According to different string distributions of the pickled mustard tuber, a force of the contact cutter 11 is obviously increased at a posi- tion having strings. According to different forces of the contact cutter 11, the force is gradually pressed to the pressure measur- ing spring 8 through the cooperation of the extended positioning block 10 and the force guiding push rod 9. The pressure measuring spring 8 is connected to the pressure detector 7, such that the pressure detector 7 generates a specific value of the force. The data processing and exporting module 4 is used to transmit a value at the pressure detector 7 to a position of the distribution con- trol data center 1, so as to obtain the force curve. According to a force peak distribution, the string distribution of the surface of the pickled mustard tuber may be determined.
With reference to FIG. 4:
The adjustable string peeling structure 3 includes a lifting driving module 12, upper peeling claw modules 13, an angle adjust- ing driving module 14 and lower peeling claw modules 15. One end of the distribution control data center 1 is fixedly connected to the angle adjusting driving module 14. A top end of the angle ad-
Justing driving module 14 is fixedly connected to the lifting driving module 12. Two sides of the lifting driving module 12 are slidably connected to the upper peeling claw modules 13. Two sides of the angle adjusting driving module 14 are slidably connected to the lower peeling claw modules 15.
With reference to FIGs. 5-8:
The lifting driving module 12 includes a first positioning plate 16, a piston cylinder 17, a first carrying column 18 and a first distribution and adjustment disc 19. A top end of the first positioning plate 16 is fixedly connected to the piston cylinder 17 by means of a screw. An output end of the piston cylinder 17 is fixedly connected to the first carrying column 18. An outer side of the first carrying column 18 is fixedly connected to the first distribution and adjustment disc 19.
The angle adjusting driving module 14 includes a second posi- tioning plate 22, an electric motor 23, a second carrying column 24, a central positioning block 25 and a second distribution and adjustment disc 26. A bottom end of the second positioning plate 22 is fixedly connected to the electric motor 23 by means of a screw. An output end of the electric motor 23 is fixedly connected to the second carrying column 24. The central positioning block 25 is welded to a top end of the second carrying column 24. An outer side of the second carrying column 24 is connected to the second distribution and adjustment disc 26 in a clamped manner.
The angle adjusting driving module 14 includes a second posi- tioning plate 22, an electric motor 23, a second carrying column 24, a central positioning block 25 and a second distribution and adjustment disc 26. A bottom end of the second positioning plate 22 is fixedly connected to the electric motor 23 by means of a screw. An output end of the electric motor 23 is fixedly connected to the second carrying column 24. The central positioning block 25 is welded to a top end of the second carrying column 24. An outer side of the second carrying column 24 is connected to the second distribution and adjustment disc 26 in a clamped manner.
The upper peeling claw module 13 includes a first adapter block 27, an auxiliary positioning block 28, a first extended lim- iting column 29, a first spring 30, a first claw bar 31, a second claw bar 32, a second spring 33, a positioning claw head 34, a second extended limiting column 35, an extended stopping block 36 and a pressing and stopping block 37. The first adapter block 27 is welded to one side of the auxiliary positioning block 28. The first adapter block 27 is slidably connected to the guiding and adjusting ring groove 20 of the first distribution and adjustment disc 19. The first adapter block 27 is in clearance fit with the sliding clamping groove 21 of the first distribution and adjust- ment disc 19. The first extended limiting column 29 is welded to a top end of the auxiliary positioning block 28. An inner side of the first extended limiting column 29 is slidably connected to the second extended limiting column 35. The pressing and stopping block 37 is welded to a bottom end of the second extended limiting column 35. The extended stopping block 36 is welded to an outer side of the second extended limiting column 35. A third spring 38 is connected between an outer side of the extended stopping block 36 and the auxiliary positioning block 28 in a sleeving manner. An inner side of the auxiliary positioning block 28 is rotationally connected to the first claw bar 31. The inner side of the first extended limiting column 29 is connected to the first spring 30 in a sleeving manner. The other side of the first spring 30 is con- nected to the first claw bar 31. One side of the first claw bar 31 is rotationally connected to the second claw bar 32. The first claw bar 31 is further connected to the second claw bar 32 by means of the second spring 33. A bottom end of the second claw bar 32 is fixedly connected to the positioning claw head 34.
The lower peeling claw module 15 includes a second adapter block 39, a placing claw plate 40, an assembling sleeve block 41, a piston damping cylinder 42, a distribution and adjustment trans- mission block 43, an auxiliary limiting wheel 44, a pushing block 45 and an outer peeling claw 46. The second adapter block 39 is welded to a bottom end of the placing claw plate 40. One side of the second adapter block 39 is slidably connected to the guiding and adjusting ring groove 20 of the second distribution and ad- justment disc 26. The second adapter block 39 is in clearance fit with the sliding clamping groove 21 of the second distribution and adjustment disc 26. The assembling sleeve block 41 is welded to one side of the placing claw plate 40 away from the second adapter block 39. An inner side of the assembling sleeve block 41 is obliquely provided with the piston damping cylinder 42. A top end of the piston damping cylinder 42 is rotationally connected to the distribution and adjustment transmission block 43. An inner side of the distribution and adjustment transmission block 43 is rota- tionally connected to the auxiliary limiting wheel 44. An outer side of the auxiliary limiting wheel 44 is provided with the push- ing block 45. One side of the pushing block 45 close to the second adapter block 39 is fixedly connected to the outer peeling claw 46.
In this case, according to distribution positions and the number of strings, a corresponding number of upper peeling claw modules 13 and lower peeling claw modules 15 are inserted, and the upper peeling claw modules 13 and the lower peeling claw modules are pushed to slide in the guiding and adjusting ring groove 20 15 and adjusted to appropriate positions. In this case, the pickled mustard tuber is placed at a position of the central positioning block 25 and the placing claw plate 40, such that the outer peel- ing claw 46 is inserted into the pickled mustard tuber having the strings. In this case, the output end of the piston cylinder 17 is controlled to complete descending and pushing, such that the posi- tioning claw head 34 is inserted into the pickled mustard tuber, the positioning claw head 34 and the outer peeling claw 46 togeth- er achieve a clamping and limiting effect for peeling, and the pressing and stopping block 37 presses the pickled mustard tuber to limit the pickled mustard tuber. As the output end of the pis- ton cylinder 17 descends, under pushing of a free force, such that the positioning claw head 34 drives the second claw bar 32 to move, and the positioning claw head 34 gradually expands outwards with an angle gradually adjusted and changed. With expansion of the positioning claw head 34, the outer peeling claw 46 is pushed to drive the pushing block 45 to cooperate with the auxiliary lim- iting wheel 44 to complete following angle adjustment, so as to achieve overall synchronous displacement and peel pulp having the strings in the pickled mustard tuber.
After peeling is completed and the pickled mustard tuber is taken out, the first distribution and adjustment disc 19 is con- trolled to rise. The second spring 33 returns to an original posi-
tion, so as to pull the second claw bar 32 to be withdrawn. The first spring 30 returns to an original position, so as to pull the first claw bar 31 to be withdrawn. A damper in the piston damping cylinder 42 returns to an original position, so as to push the distribution and adjustment transmission block 43 and then drive the auxiliary limiting wheel 44 to push the outer peeling claw 46 to return to an original position.
For those skilled in the art, it is apparent that the present invention is not limited to details of the exemplary embodiments, and the present invention may be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should all be regarded as exemplary and non- limiting. The scope of the present invention is defined by the ap- pended claims rather than the description, and therefore it is in- tended that all changes which fall within the meaning and scope of equivalency of the claims are embraced in the present invention.
Any reference numeral in the claims should not be construed as limiting the related claims.

Claims (9)

CONCLUSIESCONCLUSIONS 1. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen, omvattende een verdelings- controle datacentrum (1), een stringmeet- en curve verkrijgende structuur (2) en een verstelbare stringschilstructuur (3), waarbij één zijde van het verdelingscontrole datacentrum (1) is voorzien van de string-meet- en curve verkrijgende structuur (2), waarbij de string-meet- en curve verkrijgende structuur (2) is geconfigu- reerd om gemakkelijk een stringverdeling van een ingelegde mos- terdknol te verkrijgen, waarbij één uiteinde van het verdelings- controle datacentrum (1) is voorzien van de verstelbare string- schilstructuur (3), waarbij de verstelbare stringschilstructuur (3) is geconfigureerd om continu, adaptief en gemakkelijk string- schillen uit te voeren op de ingelegde mosterdknol, en het verde- lingscontrole datacentrum (1 ) is geconfigureerd om gegevens te verwerken die zijn geïntroduceerd door de string-meet- en curve verkrijgende structuur (2) en het genereren van een curve, en ver- volgens de verstelbare stringschil structuur (3) te regelen om het schillen van de overeenkomstige verstelbare string na bepaling te voltooien.A sensorless peeling robot based on variable configuration constraints for pickled mustard tubers, comprising a distribution control data center (1), a string measurement and curve obtaining structure (2) and an adjustable string peeling structure (3), with one side of the distribution control data center (1) is provided with the string measurement and curve obtaining structure (2), the string measurement and curve obtaining structure (2) is configured to easily obtain a string distribution of pickled mustard tuber, where one end of the distribution control data center (1) is provided with the adjustable string peel structure (3), the adjustable string peel structure (3) being configured to perform continuous, adaptive and easy string peeling on the pickled mustard tuber, and the distribution control data center (1 ) is configured to process data introduced by the string measurement and curve obtaining structure (2) and curve generation, and then control the adjustable string shell structure (3) to finish peeling the corresponding adjustable string after determination. 2. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 1, waarbij de string-meet- en curve verkrijgende structuur (2) een gegevens- verwerkings- en exportmodule (4), een draag- en positioneringsba- sisframe (5 ), een ingebouwde draagbuis (6), een drukdetector (7), een drukmeetveer (8), een krachtgeleidende duwstang (9), een ver- lengd positioneerblok (10) en een contactfrees (11) omvat, waarbij een zijde van het draag- en positioneringsbasisframe (5) vast is verbonden met de gegevensverwerkings- en exportmodule (4), waarbij een uitvoeruiteinde van de gegevensverwerkings- en exportmodule (4) elektrisch is verbonden met het distributiecontroledatacentrum ( 1), een boveneinde van het draag- en positioneringsbasisframe (5) vast is verbonden met de ingebouwde draagbuis (6), een zijde van de ingebouwde draagbuis (6) vast is verbonden met de drukde-The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 1, wherein the string measuring and curve obtaining structure (2) comprises a data processing and exporting module (4), a carrying and positioning base frame ( 5 ), a built-in support tube (6), a pressure detector (7), a pressure measuring spring (8), a force-conducting push rod (9), an extended positioning block (10) and a contact milling cutter (11), with one side of the carrying and positioning base frame (5) is fixedly connected to the data processing and exporting module (4), an output end of the data processing and exporting module (4) is electrically connected to the distribution control data center (1), an upper end of the carrying and positioning base frame (5) is fixedly connected to the built-in support tube (6), one side of the built-in support tube (6) is fixed to the pressure de- tector ( 7), waarbij een kant van de drukdetector (7) weg van het verdelingscontrole datacentrum (1) vast is verbonden met de druk- meetveer (8), waarbij een zijde van de drukmeetveer (8) verwijderd van de drukdetector (7) vast is verbonden met de krachtgeleidende duwstang (9), waarbij de krachtgeleidende duwstang (9) verschuif- baar is verbonden met een binnenzijde van de ingebouwde draagbuis (6), waarbij een zijde van de krachtgeleide duwstang (9) weg van de ingebouwde draagbuis (6) vast is verbonden aan het uitgeschoven positioneringsblok (10), en een binnenzijde van het uitgeschoven positioneringsblok (10) door middel van een schroef vast is ver- bonden met de contactfrees (11).detector ( 7), with one side of the pressure detector (7) away from the distribution control data center (1) fixedly connected to the pressure measuring spring (8), with one side of the pressure measuring spring (8) away from the pressure detector (7) is fixedly connected to the force-conducting push bar (9), the force-conducting push bar (9) being slidably connected to an inside of the built-in support tube (6), with one side of the force-conducting push bar (9) away from the built-in support tube ( 6) is fixedly connected to the extended positioning block (10), and an inner side of the extended positioning block (10) is fixedly connected to the contact cutter (11) by means of a screw. 3. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 2, waarbij een invoeruiteinde van de gegevensverwerkings- en exportmodule (4) elektrisch is verbonden met de drukdetector (7).The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 2, wherein an input end of the data processing and export module (4) is electrically connected to the pressure detector (7). 4. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 1, waarbij de verstelbare strengschilstructuur (3) een hefaandrijfmodule (12), bovenste schilklauwmodules (13), een hoekinstellende aan- drijving module (14) en onderste schilklauwmodules (15) omvat, waarbij een uiteinde van het verdelingscontrole datacentrum (1) vast is verbonden met de hoekverstellende aandrijfmodule (14), waarbij een boveneinde van de hoekverstellende aandrijfmodule (14) vast is verbonden met de hefaandrijfmodule (12}, waarbij twee zij- den van de hefaandrijfmodule (12) verschuifbaar zijn verbonden met de bovenste schilklauwmodules (13) en twee zijden van de hoekver- stellende aandrijfmodule (14) verschuifbaar zijn verbonden met de onderste schilklauwmodules (15).The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 1, wherein the adjustable strand peeling structure (3) includes a lifting drive module (12), upper peeling jaw modules (13), an angle adjusting driving module (14) and lower peeling jaw modules ( 15), wherein one end of the distribution control data center (1) is fixedly connected to the angular drive module (14), an upper end of the angular drive module (14) is fixedly connected to the lift drive module (12}, with two sides of the lift drive module (12) are slidably connected to the upper peel jaw modules (13) and two sides of the angular adjustment drive module (14) are slidably connected to the lower peel jaw modules (15). 5. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 4, waarbij de hefaandrijfmodule (12) een eerste positioneringsplaat (16), een zuigercilinder (17), een eerste draagkolom (18) en een eerste ver- deel- en instelschijf (19) omvat, waarbij een bovenste uiteinde van de eerste positioneringsplaat (16) vast is verbonden met de zuigercilinder (17) door middel van een schroef, een uitgaand uit- einde van de zuigercilinder (17) vast is verbonden aan de eerste draagkolom (18), en een buitenzijde van de eerste draagkolom (18) vast is verbonden met de eerste verdeel- en instelschijf (19).The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 4, wherein the lifting drive module (12) includes a first positioning plate (16), a piston cylinder (17), a first supporting column (18) and a first distribution and adjusting disc (19), wherein an upper end of the first positioning plate (16) is fixedly connected to the piston cylinder (17) by means of a screw, an outgoing end of the piston cylinder (17) is fixedly connected to the first supporting column (18), and an outer side of the first supporting column (18) is fixedly connected to the first dividing and adjusting disc (19). 6. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 5, waarbij de hoekinstellende aandrijfmodule (14) een tweede positionerings- plaat (22), een elektromotor (23), een tweede draagkolom ( 24), een centraal positioneerblok (25) en een tweede verdeel- en in- stelschijf (26) omvat, waarbij een onderste uiteinde van de tweede positioneringsplaat (22) vast is verbonden met de elektromotor (23) door middel van een schroef, een uitgangseinde van de elek- tromotor (23) vast is verbonden met de tweede draagkolom (24), het centrale positioneringsblok (25) aan een boveneinde van de tweede draagkolom (24) is gelast en een buitenzijde van de tweede draag- kolom kolom (24) geklemd is verbonden met de tweede verdeel- en instelschijf (26).The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 5, wherein the angle adjusting drive module (14) includes a second positioning plate (22), an electric motor (23), a second supporting column (24), a central positioning block (25) and comprising a second dividing and adjusting disk (26), a lower end of the second positioning plate (22) being fixedly connected to the electric motor (23) by means of a screw, an output end of the electric motor (23) is fixedly connected to the second supporting column (24), the central positioning block (25) is welded to an upper end of the second supporting column (24), and an outer side of the second supporting column (24) is clamped connected to the second dividing and adjusting dial (26). 7. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 6, waarbij elk van de hefaandrijfmodule (12) en de hoekinstellende aandrijf- module (14) een geleidings- en instelringgroef (20) en een glij- dende klemgroef (21) omvat, waarbij elk van een omtreksoppervlak van de eerste verdeel- en instelschijf (19) en een omtreksopper- vlak van de tweede verdeel- en instelschijf (26) is voorzien van de geleidings- en instelringgroef (20), en elk van een onderste uiteinde van de eerste verdeel- en instelschijf (19) en een boven- ste uiteinde van de tweede verdeel- en instelschijf (26) is voor- zien van de glijdende klemgroef (21).The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 6, wherein each of the lifting drive module (12) and the angle adjusting drive module (14) has a guiding and adjusting ring groove (20) and a sliding clamping groove (20). 21), wherein each of a circumferential surface of the first dividing and adjusting disk (19) and a circumferential surface of the second dividing and adjusting disk (26) is provided with the guide and adjusting ring groove (20), and each of a lower end of the first dividing and adjusting disk (19) and an upper end of the second dividing and adjusting disk (26) are provided with the sliding clamping groove (21). 8. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 7, waarbij de bovenste schilklauwmodule (13) een eerste adapterblok (27), een hulppositioneringsblok (28), een eerste verlengde begrenzingkolom (29), een eerste veer (30), een eerste klauwstang (31), een tweede klauwstang (32), een tweede veer (33), een positioneringsklauwkopThe sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 7, wherein the upper peeling jaw module (13) includes a first adapter block (27), an auxiliary positioning block (28), a first elongated limiting column (29), a first spring ( 30), a first jaw bar (31), a second jaw bar (32), a second spring (33), a positioning jaw head (34), een tweede verlengde begrenzingskolom (35 ), een verlengd stopblok (36) en een pers- en stopblok (37) omvat, waarbij het eerste adapterblok (27) aan een zijde van het hulppositionerings- blok (28) is gelast, waarbij het eerste adapterblok (27) ver- schuifbaar is verbonden op de geleidings- en instelringgroef (20) van de eerste verdeel- en instelschijf (19), het eerste adapter- blok (27) vrij past in de glijdende klemgroef (21) van de eerste verdeel- en instelschijf (19) , de eerste verlengde begrenzingsko- lom (29) is gelast aan een bovenste einde van het hulppositione- ringsblok (28), een binnenkant van de eerste verlengde begren- zingskolom (29) schuifbaar is verbonden met de tweede verlengde begrenzingskolom (35), het aandruk- en stopblok (37) is gelast aan een onderste einde van de tweede verlengde begrenzingskolom (35), het verlengde stopblok (36) aan een buitenzijde van de tweede ver- lengde begrenzingskolom (35) is gelast, een derde veer (38) is verbonden tussen een buitenzijde van het verlengde stopblok (36) en het hulppositioneringsblok (28) op gehulde wijze, een binnen- zijde van het hulppositioneringsblok (28) draaibaar verbonden met de eerste klauwstang (31), de binnenzijde van de eerste verlengde begrenzingskolom (29) is verbonden met de eerste veer (30) in een gehulde wijze, de andere zijde van de eerste veer (30) is verbon- den met de eerste klauwstang (31), een zijde van de eerste klauw- stang (31) draaibaar is verbonden met de tweede klauwstang (32), de eerste klauwstang (31) verder is verbonden met de tweede klauw- stang (32) door middel van de tweede veer (33), en een onderste uiteinde van de tweede klauwstang (32) vast is verbonden met de positioneringsklauwkop (34).(34), comprising a second extended limiting column (35), an extended stop block (36) and a press and stop block (37), the first adapter block (27) being welded to one side of the auxiliary positioning block (28), wherein the first adapter block (27) is slidably connected on the guiding and adjusting ring groove (20) of the first dividing and adjusting disc (19), the first adapter block (27) fits freely in the sliding clamping groove (21) of the first dividing and adjusting disc (19), the first elongated limiting column (29) is welded to an upper end of the auxiliary positioning block (28), an inside of the first elongated limiting column (29) is slidably connected to the second elongated confinement column (35), the pressing and stopper block (37) is welded to a lower end of the second elongated confinement column (35), the elongated stopper block (36) on an outer side of the second elongated confinement column (35) is welded, a third spring (38) is connected between an outer side of the extended stop block (36) and the auxiliary positioning block (28) in a shrouded manner, an inner side of the auxiliary positioning block (28) is pivotally connected to the first jaw bar (31) , the inner side of the first elongated limiting column (29) is connected to the first spring (30) in a shrouded manner, the other side of the first spring (30) is connected to the first jaw bar (31), one side of the first jaw bar (31) is pivotally connected to the second jaw bar (32), the first jaw bar (31) is further connected to the second jaw bar (32) by means of the second spring (33), and a lower end of the second jaw bar (32) is rigidly connected to the positioning jaw head (34). 9. Sensorloze schilrobot op basis van variabele configuratiebeper- kingen voor ingelegde mosterdknollen volgens conclusie 8, waarbij de onderste schilklauwmodule (15) een tweede adapterblok (39), een plaatsingsklauwplaat (40), een montagehulsblok (41), een zuiger- dempingscilinder (42), een distributie- en afsteltransmissieblok (43), een hulpbegrenzingswiel (44), een duwblok (45) en een bui- tenste pelklauw (46) omvat, waarbij het tweede adapterblok (39) aan een onderste uiteinde van de plaatsingsklauwplaat (40) is ge- last, een zijde van het tweede adapterblok (39) schuifbaar is ver-The sensorless peeling robot based on variable configuration constraints for pickled mustard tubers according to claim 8, wherein the lower peeling jaw module (15) includes a second adapter block (39), a positioning chuck (40), a mounting sleeve block (41), a piston damping cylinder (42 ), a timing and adjustment transmission block (43), an auxiliary limit wheel (44), a pusher block (45) and an outer peeling jaw (46), the second adapter block (39) being attached to a lower end of the locating chuck (40) is welded, one side of the second adapter block (39) is slidably bonden met de geleidings- en stelringgroef (20) van de tweede ver- deel- en instelschijf (26), het tweede adapterblok (39) vrij past met de verschuifbare klemgroef (21) van de tweede verdeel- en in- stelschijf (26), het montagehulsblok (41) wordt gelast aan een zijde van de plaatsende klauwplaat (40) weg van het tweede adap- terblok (39), een binnenzijde van het montagehulsblok k (41) schuin is voorzien van de zuiger demping cilinder (42), een boven- einde van de zuiger demping cilinder (42) draaibaar is verbonden met het distributie- en afsteltransmissieblok (43), een binnenzij-with the guide and adjusting ring groove (20) of the second dividing and adjusting disc (26), the second adapter block (39) fits freely with the sliding clamping groove (21) of the second dividing and adjusting disc (26) , the mounting sleeve block (41) is welded to one side of the positioning chuck (40) away from the second adapter block (39), an inner side of the mounting sleeve block k (41) is slanted with the piston damping cylinder (42), an upper end of the piston damping cylinder (42) is rotatably connected to the timing and adjustment transmission block (43), an inner side de van het distributie- en afsteltransmissieblok (43) draaibaar is verbonden met het hulpbegrenzingswiel (44), een buitenzijde van het hulpbegrenzingswiel (44) is voorzien van het duwblok (45), en een zijde van het duwblok (45) dicht bij de tweede adapterblok (39) vast is verbonden met de buitenste schilklauw (46).the of the timing and adjustment transmission block (43) is rotatably connected to the auxiliary limiting wheel (44), an outer side of the auxiliary limiting wheel (44) is provided with the pushing block (45), and one side of the pushing block (45) close to the second adapter block (39) is firmly connected to the outer shell jaw (46).
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