CN106307564B - The application method that mandarin orange peeling machines people intelligently clamps - Google Patents
The application method that mandarin orange peeling machines people intelligently clamps Download PDFInfo
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- CN106307564B CN106307564B CN201610712608.6A CN201610712608A CN106307564B CN 106307564 B CN106307564 B CN 106307564B CN 201610712608 A CN201610712608 A CN 201610712608A CN 106307564 B CN106307564 B CN 106307564B
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- mandarin orange
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N7/00—Peeling vegetables or fruit
- A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The application method that mandarin orange peeling machines people intelligently clamps, a kind of mandarin orange peeling machines people, include conveyer, charging manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, discharging manipulator and controller；In use, implementing the cutting of mandarin orange orange peel, turning over valve, the Intelligent Machining that orange peel separates with pulp, the processing efficiency of mandarin orange peeling is improved；By mandarin orange peeling machines people, intelligently pincers are formed first peeling machine hand, include the first support, rotary electric machine, pivoted arm seat, the first swing arm, the first rotation motor, the second swing arm, the second rotation motor and the first skull patch pincers；In use, controller computer calculates the coordinate curve that the first skull patch pincers imitate human hand stripping mandarin orange skin movement according to the location of the size shape of mandarin orange and mandarin orange；When opening orange peel, the coordinate curve that the first skull patch pincers are calculated the first skull patch pincers imitation human hand stripping mandarin orange skin by computer is moved, and the orange peel of mandarin orange is opened.
Description
Technical field
The present invention relates to a kind of application method of orange peel process equipment, particularly a kind of mandarin orange peeling machine of special stripping orange peel
The application method that device people intelligently clamps.
Background technology
A kind of Chinese medicine dried orange peel by the orange peel of mandarin orange dry it is old long after formed, especially Xinhui tangerine peel is world-famous；At present,
Every year newly can the mandarin orange harvest season, there is substantial amounts of mandarin orange to need to peel off its orange peel, three valves opened include the first valve, the
Two valves and the 3rd valve, interconnected per valve, then orange peel is dried and is used as Chinese medicine dried orange peel；Now, mandarin orange
Peeling method is：Two lines of cut are cut in the orange peel of mandarin orange using pocket knife, after orange peel cuts two lines of cut, then are inserted with finger
Enter the position between orange peel and pulp, orange peel is opened into out three petals, then pulp is taken out；Due to manual efficiency compared with
Application method low, that a kind of the mandarin orange peeling machines people for being used to shell orange peel and mandarin orange peeling machines people intelligently clamp, has become
People shell the needs of orange peel.
The content of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, there is provided what a kind of brand-new mandarin orange peeling machines people intelligently clamped
Application method, for peeling off the orange peel of mandarin orange, improve the efficiency for peeling off orange peel.
The technical solution adopted in the present invention is：Mandarin orange peeling machines people, include conveyer, charging manipulator, first
Cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, discharging machine
Tool hand and controller；Feed manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second stripping
Skin manipulator, the 3rd peeling machine hand and discharging manipulator are arranged at the side of conveyer；Conveyer includes conveyer belt, master
Driving wheel, follower, motor and frame, driving wheel and follower are installed in frame, and motor is connected with driving wheel, conveyer belt
It is connected with driving wheel and follower, conveyer belt is provided with intelligent holder；Charging manipulator is provided with mandarin orange gripper, the first cutting mechanics
Hand is provided with the first cutting wheel, and the second cutting manipulator is provided with the second cutting wheel, and the first peeling machine hand is by mandarin orange peeling machines people
Intelligence pincers are formed, and intelligently pincers include the first skull patch pincers to mandarin orange peeling machines people, and the second peeling machine hand clamps provided with the second skull patch,
3rd peeling machine hand clamps provided with the 3rd skull patch, and discharging manipulator is provided with pulp gripper；Controller is provided with sensor, sensor peace
Loaded in frame, sensor is located at the lower section of mandarin orange intelligence holder；Controller by control line and conveyer, charging manipulator,
First cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, go out
Expect manipulator and sensor connection.
The application method of mandarin orange peeling machines people is：Using mandarin orange peeling machines people three are cut out in the orange peel of mandarin orange mutually
For the line of cut of hexagonal angle, three articles of lines of cut include the first line of cut, the second line of cut and the 3rd line of cut；Then will be in
The orange peel of three cutting line positions peels off out three valve orange peels, then the pulp of mandarin orange is taken out；During work, the conveying of mandarin orange will be set
Car is sent to the station of setting；Start mandarin orange peeling machines people work using controller：Controller control charging manipulator will convey
The mandarin orange of car is caught on intelligent holder, and the mandarin orange on intelligent holder is sent to the Working position of the first cutting manipulator by conveyer,
First cutting manipulator cuts out the line of cut of two angles hexagonal angle each other using the first cutting wheel in the orange peel of the mandarin orange；Two
For bar angle each other after the line of cut well cutting of hexagonal angle, the mandarin orange on intelligent holder is sent to the second cutting manipulator by conveyer
Working position；After mandarin orange on intelligent holder is sent to the Working position of the second cutting manipulator, the second cutting manipulator utilizes it
Second cutting wheel cuts out the Article 3 line of cut with above-mentioned two lines of cut hexagonal angle each other in the orange peel of the mandarin orange；Article 3
After line of cut well cutting, the mandarin orange on intelligent holder is sent to the Working position of the first peeling machine hand, the first peeling by conveyer
Manipulator is clamped using its first skull patch and peels off the first valve orange peel of mandarin orange；After first valve orange peel of mandarin orange peels off, conveyer will
Mandarin orange on intelligent holder is sent to the Working position of the second peeling machine hand, and the second peeling machine hand will using its second skull patch pincers
Second valve orange peel of mandarin orange peels off；After second valve orange peel of mandarin orange peels off, the mandarin orange on intelligent holder is sent to the 3rd by conveyer
The Working position of peeling machine hand, the 3rd peeling machine hand are clamped using its 3rd skull patch and peel off its 3rd valve orange peel；3rd valve
After orange peel peels off, the mandarin orange on intelligent holder is sent to the Working position of discharging manipulator, discharging manipulator profit by conveyer
The pulp of mandarin orange is caught in pulp case with its pulp gripper；Orange peel is set to be separated with the pulp of mandarin orange, orange peel separates with pulp
After orange peel separation, conveyer drives intelligent holder to rotate, and makes the shrinkage pool of intelligent holder downward, orange peel is dropped in orange peel case.
The workflow of mandarin orange peeling machines people is as follows：Grab the line of cut of mandarin orange → first and the second line of cut processing → the three
Line of cut processes the valve orange peel skull patch of the valve orange peel skull patch of the → the first valve orange peel skull patch → second → the 3rd → separation orange peel；So constantly
Circulation.
In order to control material manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling machine hand, the second stripping
Skin manipulator, the 3rd peeling machine hand, the free degree of the mechanical manual task of discharging, according to grabbing the line of cut of mandarin orange → first and second cut
Secant process the → the three line of cut process the valve orange peel skull patch of the valve orange peel skull patch of the → the first valve orange peel skull patch → second → the 3rd → point
From the locus of orange peel flow and the needs of processing, discharging manipulator, the first cutting manipulator, the are worked out by controller
Two cutting manipulators, the first peeling machine hand, the second peeling machine hand, the 3rd peeling machine hand, the operation rail for the manipulator that discharges
Mark program；During work, discharging manipulator, the first cutting manipulator, the second cutting manipulator, the first peeling are controlled by controller
Manipulator, the second peeling machine hand, the 3rd peeling machine hand, discharging manipulator are by the operation track movement set.
Mandarin orange peeling machines people intelligently clamps, and includes the first support, rotary electric machine, pivoted arm seat, the first swing arm, the first rotation
Motor, the second swing arm, the second rotation motor and the first skull patch pincers；The support of rotary electric machine is connected with the first support, the first machine
Seat is connected with frame, and the motor shaft of rotary electric machine is fixedly connected with pivoted arm seat, and motor cabinet and the pivoted arm seat of the first rotation motor are consolidated
Fixed connection, the motor shaft of the first rotation motor are fixedly connected with the first swing arm, the motor cabinet of the second rotation motor and the first swing arm
It is fixedly connected, the motor shaft of the second rotation motor is fixedly connected with the second swing arm, and the second swing arm is fixedly connected with the first skull patch pincers；
First skull patch pincers include pincers motor, lower pincers motor, upper clamp, lower clamp and upper pincers sensor, upper pincers motor and under
The support of pincers motor is fixedly connected with the second swing arm, and the motor shaft of upper pincers motor is connected with upper clamp, the motor shaft of lower pincers motor
It is connected with lower clamp, upper pincers sensor is installed in upper clamp, for detecting whether the first skull patch pincers have clamped orange peel；Upper clamp
Hooked provided with pincers, for orange peel to be triggered；The axis and horizontal line of rotary electric machine, the first rotation motor and the second rotation electricity
The axis of machine is parallel with horizontal line；Rotary electric machine, the first rotation motor, the second rotation motor, pincers motor and upper pincers sensor
It is connected by peeling control line with controller.
The application method that mandarin orange peeling machines people intelligently clamps is：In use, after mandarin orange is put into intelligent holder, weight sensing
Device, the first intelligence sensor and the second intelligence sensor will detect the data transfer of mandarin orange to controller, the computer root of controller
The big of mandarin orange is detected according to the weight data of weight sensor detection mandarin orange and the first intelligence sensor and the second intelligence sensor
Small data carries out intelligent computing, calculates the size shape of mandarin orange；After computer calculates the size shape of mandarin orange, computer is according to mandarin orange
The location of the size shape of son and mandarin orange, the coordinate for calculating the pincers imitation human hand stripping mandarin orange skin movement of the first skull patch are bent
Line；First skull patch pincers stripping mandarin orange skin when, controller according to above-mentioned coordinate curve control rotary electric machine, control the first rotation motor with
And the orange peel of mandarin orange is triggered and clamped by the second rotation motor rotation, control the first skull patch pincers, and by the rail of above-mentioned coordinate curve
Mark moves, and peels off the orange peel of mandarin orange.
The beneficial effects of the invention are as follows：Mandarin orange peeling machines people, implement the cutting of mandarin orange orange peel, turn over valve, orange peel and pulp
The intelligent streamline of separation is processed automatically, improves the processing efficiency of mandarin orange peeling；Mandarin orange peeling machines people intelligently clamps, and uses
During work, computer calculates the first skull patch pincers and imitates human hand stripping mandarin orange according to the location of the size shape of mandarin orange and mandarin orange
The coordinate curve of sub- skin movement；When mandarin orange peeling machines people intelligence pincers open orange peel, controller controls the first skull patch pincers to press computer
The coordinate curve movement that the first skull patch pincers imitate human hand stripping mandarin orange skin is calculated, the orange peel of mandarin orange is opened.
Brief description of the drawings
Fig. 1 is the structural representation of mandarin orange peeling machines people；
Fig. 2 is the structural representation that mandarin orange peeling machines people intelligently clamps.
Embodiment
The present invention is further detailed below in conjunction with the accompanying drawings：
Mandarin orange peeling machines people intelligence shown in the structural representation and Fig. 2 of mandarin orange peeling machines people as shown in Figure 1
The structural representation of pincers；Mandarin orange peeling machines people, include conveyer 1, charging manipulator 2, the first cutting manipulator 3, second
Cutting manipulator 4, the first peeling machine hand 5, the second peeling machine hand 6, the 3rd peeling machine hand 7, discharging manipulator 8 and control
Device 9 processed；Feed manipulator 2, the first cutting manipulator 3, the second cutting manipulator 4, the first peeling machine hand 5, the second peeling machine
Tool hand 6, the 3rd peeling machine hand 7 and discharging manipulator 8 are arranged at the side of conveyer 1；Conveyer 1 includes conveyer belt
10th, driving wheel 11, follower 12, motor 13 and frame 14, driving wheel 11 and follower 12 are installed in frame 14, actively
Wheel 11 and follower 12 are fixedly connected with the dynamic mating connection of frame 14, the support of motor 13 with frame 14, the motor of motor 13
Axle is connected with driving wheel 11.Conveyer belt 10 is connected with driving wheel 11 and follower 12, and conveyer belt 10 is provided with intelligent holder 15, intelligence
Can holder 15 be provided with multiple, intelligent holder 15 is distributed on the zone face of conveyer belt 10, and each intelligent holder 15 is provided with shrinkage pool 31, shrinkage pool
Elastic network(s) 32 is provided with 31, to be adapted to mandarin orange to carry out peeling processing；The distance between each intelligent holder 15 is equal；Intelligent holder
15 are provided with sensing bore 33, and conveyer belt 10 corresponding to the sensing bore 33 of intelligent holder 15 is provided with sensing hole 34, and sensing bore 33 is opposite
Sensing hole 34, the center line of sensing bore 33 are identical with the center line of sensing hole 34；Charging manipulator 2 is provided with mandarin orange gripper 16, the
One cutting manipulator 3 is provided with the first cutting wheel 17, and the second cutting manipulator 4 is provided with the second cutting wheel 18, the first peeling machine hand 5
By mandarin orange peeling machines people, intelligently pincers are formed, and intelligently pincers include the first skull patch pincers 19, the second peeling machine to mandarin orange peeling machines people
Tool hand 6 is provided with the second skull patch pincers 20, and the 3rd peeling machine hand 7 is provided with the 3rd skull patch pincers 21, and discharging manipulator 8 is provided with pulp gripper
22；Controller 9 is provided with sensor 23, and sensor 23 is installed in frame 14, and sensor 23 is located under mandarin orange intelligence holder 15
Side；Sensor 23 passes through control line and conveyer 1, charging manipulator 2, the first cutting manipulator 3, the second cutting manipulator 4, the
One peeling machine hand 5, the second peeling machine hand 6, the 3rd peeling machine hand 7, discharging manipulator 8 and sensor 23 connect；The
The structure of two peeling machine hands 6 and the 3rd peeling machine hand 7 is identical with the structure of the first peeling machine hand 5.
In order to implement the intelligent machining of orange peel, charging manipulator 2, the first cutting manipulator 3, the second cutting manipulator 4,
First peeling machine hand 5, the second peeling machine hand 6, the 3rd peeling machine hand 7 and discharging manipulator 8, are set by said sequence
In the side of conveyer belt 10；Sensor 23 includes first sensor 24, second sensor 25,3rd sensor the 26, the 4th and passed
Sensor 27, the 5th sensor 28, the 6th sensor 29 and the 7th sensor 30；First sensor 24 is positioned at material manipulator 2
Position corresponding to operation station, second sensor 25 are located at position corresponding to the operation station of the first cutting manipulator 3, and the 3rd passes
Sensor 26 is located at position corresponding to the operation station of the second cutting manipulator 4, and the 4th sensor 27 is located at the first peeling machine hand 5
Operation station corresponding to position, the 5th sensor 28 is located at position corresponding to the operation station of the second peeling machine hand 6, the 6th
Sensor 29 is located at position corresponding to the operation station of the 3rd peeling machine hand 7, and the 7th sensor 30 is positioned at discharging manipulator 8
Position corresponding to operation station.
Intelligent holder 15 includes a guide groove 44, left holder 45, right holder 46, left electric pushrod 47, right electric pushrod 48
And weight sensor 49；Left holder 45 is provided with left rail 50, and right holder 46 is provided with right guide rail 51, left rail 50 and right guide rail
51 move mating connection with seat guide groove 44, and the shell of left electric pushrod 47 and the shell of right electric pushrod 48 are fixed with seat guide groove 44
Connection, the left unit head 52 of left electric pushrod 47 are fixedly connected with left holder 45, right unit head 53 and the right side of right electric pushrod 48
Holder 46 is fixedly connected, and seat guide groove 44 is fixedly connected with conveyer belt 10；Weight sensor 49 is located at the lower section of elastic network(s) 32, weight
Sensor 49 contacts with elastic network(s) 32, and weight sensor 49 senses line by weight and is connected with controller 9, and controller 9 is provided with electricity
Brain 54.
In order to implement the intelligent control of each flow and operation, the charging support of manipulator 2 to the machine of the first cutting manipulator 3
The distance of seat and distance of the support of the first cutting manipulator 3 to the support of the second cutting manipulator 4, the support of the second cutting manipulator 4
Distance, the support of the first peeling machine hand 5 to the support of the first peeling machine hand 5 to the support of the second peeling machine hand 6 distance,
The distance and the support of the 3rd peeling machine hand 7 of the support of two peeling machine hand 6 to the support of the 3rd peeling machine hand 7 are mechanical to discharging
The distance of the support of hand 8 is equal；The distance between each intelligent holder 15 and the charging support of manipulator 2 to the first cutting manipulator 3
The distance of support is equal；Mandarin orange peeling machines people intelligently clamps original state：First sensor 24, second sensor the 25, the 3rd
Conveyer belt 10 above sensor 26, the 4th sensor 27, the 5th sensor 28, the 6th sensor 29 and the 7th sensor 30
On be equipped with an intelligent holder 15；Intelligent holder 15 includes the first intelligent holder 37, the second intelligent intelligence of holder the 38, the 3rd
Holder 39, the 4th intelligent holder 40, the 5th intelligent holder 41, the 6th intelligent 42 and the 7th intelligent holder 43 of holder.
In order to implement the pulp of mandarin orange pair in being taken out in orange peel, discharging manipulator 8 is provided with pressure skin hand 35, using pressing skin hand
35 orange peels, so that its pulp gripper 22 catches the pulp of mandarin orange；According to traditional technique, mandarin orange skin as dried orange peel in use,
The orange peel of the mandarin orange of cutting needs to be divided into three valves, and per valve, hexagonal angle, every valve interconnect each other；Thirdly valve orange peel includes
There are the first valve orange peel, the second valve orange peel and the 3rd valve orange peel.
The application method of mandarin orange peeling machines people is：Using mandarin orange peeling machines people three are cut out in the orange peel of mandarin orange mutually
For the line of cut of hexagonal angle, three articles of lines of cut include the first line of cut, the second line of cut and the 3rd line of cut；Then will be in
The orange peel of three cutting line positions peels off out three valve orange peels, then the pulp of mandarin orange is taken out；During work, the conveying of mandarin orange will be set
Car 36 is sent to the station of setting；Start the pincers worker of mandarin orange peeling machines people's intelligence using controller 9 to make：Controller 9 controls charger
Tool hand 2 catches the mandarin orange of waggon 36 on intelligent holder 15, and the mandarin orange on intelligent holder 15 is sent to the first cutting by conveyer 1
The Working position of manipulator 3, the first cutting manipulator 3 cut out two angles using the first cutting wheel 17 in the orange peel of the mandarin orange
The first line of cut and the second line of cut of hexagonal angle each other；Two angles the first line of cut of hexagonal angle and second are cut each other
After secant well cutting, the mandarin orange on intelligent holder 15 is sent to the Working position of the second cutting manipulator 4 by conveyer 1；Intelligence folder
After mandarin orange on seat 15 is sent to the Working position of the second cutting manipulator 4, the second cutting manipulator 4 utilizes its second cutting wheel 18
The 3rd line of cut with above-mentioned two articles of lines of cut hexagonal angle each other is cut out in the orange peel of the mandarin orange；3rd line of cut well cutting
Afterwards, the mandarin orange on intelligent holder 15 is sent to the Working position of the first peeling machine hand 5, the profit of the first peeling machine hand 5 by conveyer 1
First valve orange peel of mandarin orange is peeled off with its first skull patch pincers 19；After first valve orange peel of mandarin orange peels off, conveyer 1 is by intelligent folder
Mandarin orange on seat 15 is sent to the Working position of the second peeling machine hand 6, and the second peeling machine hand 6 will using its second skull patch pincers 20
Second valve orange peel of mandarin orange peels off；After second valve orange peel of mandarin orange peels off, the mandarin orange on intelligent holder 15 is sent to the by conveyer 1
The Working position of three peeling machine hands 7, the 3rd peeling machine hand 7 are peeled off its 3rd valve orange peel using its 3rd skull patch pincers 21；
After 3rd valve orange peel peels off, the mandarin orange on intelligent holder 15 is sent to the Working position of discharging manipulator 8 by conveyer 1, goes out
Material manipulator 8 is caught the pulp of mandarin orange in pulp case 82 using its pulp gripper 22；Orange peel is set to be separated with the pulp of mandarin orange, mandarin orange
After the orange peel that skin separates with pulp separates, conveyer 1 drives intelligent holder 15 to rotate, and makes the shrinkage pool 31 of intelligent holder 15 downward,
Orange peel is set to drop in orange peel case 83；The workflow of mandarin orange peeling machines people is as follows：Grab the line of cut of mandarin orange → first and second
Line of cut process the → the three line of cut process the valve orange peel skull patch of the valve orange peel skull patch of the → the first valve orange peel skull patch → second → the 3rd →
Separate orange peel；So constantly circulation.
The workflow of mandarin orange peeling machines people is specific as follows：
Grab mandarin orange：The control charging manipulator 2 of controller 9 is grabbed first mandarin orange on waggon 34 using its mandarin orange gripper 16
On the first intelligent holder 37 on to conveyer belt 10；After first intelligent holder 37 is put into first mandarin orange, the first intelligent holder 37
Its signal is transferred to controller 9 by corresponding first sensor 24 below, and controller 9 controls conveyer 1 to rotate, the first intelligence folder
Seat 37 follows conveyer belt 10 to move, and mandarin orange follows the first intelligent holder 37 to move；
First line of cut and the processing of the second line of cut：First intelligent holder 37 follows conveyer belt 10 to be moved to the second sensing
Corresponding to above device 25 during position, its signal is transferred to controller 9 by second sensor 25, and controller 9 controls conveyer 1 to stop
Only；After conveyer 1 stops, controller 9 controls the first cutting manipulator 3 to be cut using its first cutting wheel 17 in the orange peel of the mandarin orange
Cut out the first line of cut and the second line of cut of angle hexagonal angle each other；First line of cut and the second line of cut well cutting
Afterwards, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move, the hexagonal angle each other of well cutting two
The mandarin orange of line of cut follow the first intelligent holder 37 to move；
3rd line of cut is processed：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to 3rd sensor 26
During position, its signal is transferred to controller 9 by 3rd sensor 26, and controller 9 controls conveyer 1 to rotate stopping；1 turn of conveyer
After dynamic stopping, controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in mandarin orange on the first intelligent holder 37
Orange peel cuts out the 3rd line of cut with the first line of cut and the second line of cut hexagonal angle each other；3rd line of cut well cutting
Afterwards, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move, the hexagonal angle each other of well cutting three
The mandarin orange of line of cut follow the first intelligent holder 37 to move；
First valve orange peel skull patch：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to the 4th sensor 27
During position, its signal is transferred to controller 9 by the 4th sensor 27, and controller 9 controls conveyer 1 to rotate stopping；1 turn of conveyer
After dynamic stopping, controller 9 controls the first peeling machine hand 5 to peel off the first valve orange peel of mandarin orange using its first skull patch pincers 19；
After first valve orange peel of mandarin orange peels off, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move,
The mandarin orange for being stripped the first valve orange peel follows the first intelligent holder 37 to move；
Second valve orange peel skull patch：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to the 5th sensor 28
During position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls conveyer 1 to rotate stopping；1 turn of conveyer
After dynamic stopping, controller 9 controls the second peeling machine hand 6 to peel off the second valve orange peel of mandarin orange using its second skull patch pincers 20；
After second valve orange peel of mandarin orange peels off, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move,
The mandarin orange for being stripped the second valve orange peel follows the first intelligent holder 37 to move；
3rd valve orange peel skull patch：It is corresponding above that first intelligent holder 37 follows conveyer belt 10 to be moved to the 6th sensor 29
During position, its signal is transferred to controller 9 by the 6th sensor 29, and controller 9 controls conveyer 1 to rotate stopping；1 turn of conveyer
After dynamic stopping, controller 9 controls the 3rd peeling machine hand 7 to peel off the 3rd valve orange peel of mandarin orange using its 3rd skull patch pincers 21；
After 3rd valve orange peel of mandarin orange peels off, controller 9 controls conveyer 1 to rotate, and the first intelligent holder 37 follows conveyer belt 10 to move,
The mandarin orange for being stripped the 3rd valve orange peel follows the first intelligent holder 37 to move；
Separate orange peel：First intelligent holder 37 follows conveyer belt 10 to be moved to the 7th sensor 30 corresponding position above
When, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls conveyer 1 to rotate stopping；Conveyer 1, which rotates, to stop
After only, the control discharging manipulator 8 of controller 9 presses skin hand 35 to push down the orange peel opened on the first intelligent holder 37 using it,
Then the pulp of mandarin orange is caught in pulp case 82 using its pulp gripper 22.
The mandarin orange on waggon 34 is caught to intelligent holder on conveyer belt 10 in order to constantly recycle charging manipulator 2
On 15；First intelligent holder 37 follow conveyer belt 10 be moved to second sensor 25 above corresponding to position while, the second intelligence
Energy holder 38 follows conveyer belt 10 to be moved to first sensor 24, and corresponding position, first sensor 24 transmit its signal above
To controller 9, the control charging manipulator 2 of controller 9 is caught second mandarin orange on waggon 34 using its mandarin orange gripper 16
On the second intelligent holder 38 on conveyer belt 10；Second intelligent holder 38 follows conveyer belt 10 to be moved to above second sensor 25
While corresponding position, the 3rd intelligent holder 39 follows conveyer belt 10 to be moved to the corresponding position above of first sensor 24,
Its signal is transferred to controller 9 by first sensor 24, and the control charging manipulator 2 of controller 9 will be defeated using its mandarin orange gripper 16
The on car 34 the 3rd mandarin orange is sent to catch on the 3rd intelligent holder 39 on conveyer belt 10；3rd intelligent holder 39 follows conveyer belt
10 be moved to second sensor 25 above corresponding to position while, the 4th intelligent holder 40 follows conveyer belt 10 to be moved to first
Its signal is transferred to controller 9, the control charging machinery of controller 9 to sensor 24 by corresponding position, first sensor 24 above
Hand 2 is caught the 4th mandarin orange on waggon 34 on the 4th intelligent holder 40 on conveyer belt 10 using its mandarin orange gripper 16；
4th intelligent holder 40 follow conveyer belt 10 be moved to second sensor 25 above corresponding to position while, the 5th intelligent holder
41 follow conveyer belt 10 to be moved to first sensor 24, and its signal is transferred to control by corresponding position, first sensor 24 above
The 5th mandarin orange on waggon 34 is caught conveyer belt by device 9, the control charging manipulator 2 of controller 9 using its mandarin orange gripper 16
On the 5th intelligent holder 41 on 10；It is corresponding above that 5th intelligent holder 41 follows conveyer belt 10 to be moved to second sensor 25
While position, the 6th intelligent holder 42 follows conveyer belt 10 to be moved to the corresponding position above of first sensor 24, and first passes
Its signal is transferred to controller 9 by sensor 24, and the control charging manipulator 2 of controller 9 utilizes its mandarin orange gripper 16 by waggon 34
On the 6th mandarin orange catch on the 6th intelligent holder 42 on conveyer belt 10；6th intelligent holder 42 follows conveyer belt 10 to move
Corresponding to above to second sensor 25 while position, the 7th intelligent holder 43 follows conveyer belt 10 to be moved to first sensor
Its signal is transferred to controller 9 by position corresponding to above 24, first sensor 24, and the control charging manipulator 2 of controller 9 utilizes
Its mandarin orange gripper 16 catches the 7th mandarin orange on waggon 34 on the 7th intelligent holder 43 on conveyer belt 10；So constantly
Circulation.
In order to recycle the first cutting manipulator 3 on intelligent holder 15 mandarin orange orange peel carry out the first line of cut and
Second cutting wire cutting；After second intelligent holder 38 follows conveyer belt 10 to be moved to position corresponding to above second sensor 25,
Its signal is transferred to controller 9 by second sensor 25, and controller 9 controls the first cutting manipulator 3 to utilize its first cutting wheel
17 cut out two angles and the first line of cut of hexagonal angle and second cut each other in the orange peel of mandarin orange on the second intelligent holder 38
Secant；After 3rd intelligent holder 39 follows conveyer belt 10 to be moved to position corresponding to above second sensor 25, second sensor
Its signal is transferred to controller 9 by 25, and controller 9 controls the first cutting manipulator 3 using its first cutting wheel 17 in the 3rd intelligence
The first line of cut and the second line of cut of two angles hexagonal angle each other can be cut out by the orange peel of mandarin orange on holder 39；4th intelligence
After energy holder 40 follows conveyer belt 10 to be moved to position corresponding to above second sensor 25, second sensor 25 passes its signal
Controller 9 is defeated by, controller 9 controls the first cutting manipulator 3 using its first cutting wheel 17 in mandarin orange on the 4th intelligent holder 40
The orange peel of son cuts out the first line of cut and the second line of cut of two angles hexagonal angle each other；5th intelligent holder 41 follows
After conveyer belt 10 is moved to position corresponding to above second sensor 25, its signal is transferred to controller 9 by second sensor 25,
Controller 9 controls the first cutting manipulator 3 using its first cutting wheel 17 in the orange peel cutting of mandarin orange on the 5th intelligent holder 41
Go out the first line of cut and the second line of cut of two angles hexagonal angle each other；6th intelligent holder 42 follows conveyer belt 10 to move
Behind position corresponding to above to second sensor 25, its signal is transferred to controller 9 by second sensor 25, and controller 9 controls
It is mutual that first cutting manipulator 3 using its first cutting wheel 17 cuts out two articles of angles in the orange peel of mandarin orange on the 6th intelligent holder 42
For the first line of cut and the second line of cut of hexagonal angle；7th intelligent holder 43 follows conveyer belt 10 to be moved to second sensor
Behind position corresponding to above 25, its signal is transferred to controller 9 by second sensor 25, and controller 9 controls the first cutting mechanics
Hand 3 using its first cutting wheel 17 in the orange peel of mandarin orange on the 7th intelligent holder 43 cut out two articles of angles each other hexagonal angle
One line of cut and the second line of cut；So constantly circulation.
Orange peel the 3rd line of cut of progress of mandarin orange on intelligent holder 15 is cut in order to recycle the second cutting manipulator 4
Cut；After second intelligent holder 38 follows conveyer belt 10 to be moved to position corresponding to above 3rd sensor 26,3rd sensor 26
Its signal is transferred to controller 9, controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the second intelligence
The orange peel of mandarin orange cuts out one article hexagonal angle the 3rd is cut each other with the first line of cut and the second line of cut angle on holder 38
Secant；After 3rd intelligent holder 39 follows conveyer belt 10 to be moved to position corresponding to above 3rd sensor 26,3rd sensor
Its signal is transferred to controller 9 by 26, and controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the 3rd intelligence
Can on holder 39 orange peel of mandarin orange cut out one article with the first line of cut and the second line of cut angle each other hexagonal angle the 3rd
Line of cut；After 4th intelligent holder 40 follows conveyer belt 10 to be moved to position corresponding to above 3rd sensor 26, the 3rd sensing
Its signal is transferred to controller 9 by device 26, and controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the 4th
On intelligent holder 40 orange peel of mandarin orange cut out one article with the first line of cut and the second line of cut angle each other hexagonal angle
Three lines of cut；After 5th intelligent holder 41 follows conveyer belt 10 to be moved to position corresponding to above 3rd sensor 26, the 3rd passes
Its signal is transferred to controller 9 by sensor 26, and controller 9 controls the second cutting manipulator 4 using its second cutting wheel 18 in the
The orange peel of mandarin orange cuts out one and the first line of cut and the second line of cut angle hexagonal angle each other on five intelligent holders 41
3rd line of cut；After 6th intelligent holder 42 follows conveyer belt 10 to be moved to position corresponding to above 3rd sensor 26, the 3rd
Its signal is transferred to controller 9 by sensor 26, controller 9 control the second cutting manipulator 4 using its second cutting wheel 18 in
The orange peel of mandarin orange cuts out one article and the first line of cut and the second line of cut angle hexagonal angle each other on 6th intelligent holder 42
The 3rd line of cut；After 7th intelligent holder 43 follows conveyer belt 10 to be moved to position corresponding to above 3rd sensor 26, the
Its signal is transferred to controller 9 by three sensors 26, and controller 9 controls the second cutting manipulator 4 to utilize its second cutting wheel 18
One article and 120 ° each other of the first line of cut and the second line of cut angle are cut out in the orange peel of mandarin orange on the 7th intelligent holder 43
3rd line of cut at angle；So constantly circulation.
Three valve peelings are carried out to the orange peel of mandarin orange on intelligent holder 15 in order to recycle the first peeling machine hand 5；Second
Intelligent holder 38 follow conveyer belt 10 be moved to the 4th sensor 27 above corresponding to behind position, the 4th sensor 27 is by its signal
Controller 9 is transferred to, controller 9 controls the first peeling machine hand 5 using its first skull patch pincers 19 by the second intelligent holder 38
First valve orange peel of mandarin orange peels off；Second intelligent holder 38 follows conveyer belt 10 to be moved to the 5th sensor 28 corresponding position above
Postpone, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hand 6 second to be turned over using it
Skin pincers 20 peel off the second valve orange peel of mandarin orange on the second intelligent holder 38；Second intelligent holder 38 follows conveyer belt 10 to be moved to
6th sensor 29 above corresponding to behind position, its signal is transferred to controller 9 by the 6th sensor 29, the control of controller 9 the
Three peeling machine hands 7 are peeled off the 3rd valve orange peel of mandarin orange on the second intelligent holder 38 using its 3rd skull patch pincers 21；
After 3rd intelligent holder 39 follows conveyer belt 10 to be moved to position corresponding to above the 4th sensor 27, the 4th sensing
Its signal is transferred to controller 9 by device 27, and controller 9 controls the first peeling machine hand 5 to clamp 19 by the 3rd using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 39；3rd intelligent holder 39 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hand 6
Second valve orange peel of mandarin orange on the 3rd intelligent holder 39 is peeled off using its second skull patch pincers 20；3rd intelligent holder 39 follows defeated
After sending band 10 to be moved to position corresponding to above the 6th sensor 29, its signal is transferred to controller 9 by the 6th sensor 29, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 3rd intelligent holder 39 using its 3rd skull patch
Peel off；
After 4th intelligent holder 40 follows conveyer belt 10 to be moved to position corresponding to above the 4th sensor 27, the 4th sensing
Its signal is transferred to controller 9 by device 27, and controller 9 controls the first peeling machine hand 5 to clamp 19 by the 4th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 40；4th intelligent holder 40 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hand 6
Second valve orange peel of mandarin orange on the 4th intelligent holder 40 is peeled off using its second skull patch pincers 20；4th intelligent holder 40 follows defeated
After sending band 10 to be moved to position corresponding to above the 6th sensor 29, its signal is transferred to controller 9 by the 6th sensor 29, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 4th intelligent holder 40 using its 3rd skull patch
Peel off；
After 5th intelligent holder 41 follows conveyer belt 10 to be moved to position corresponding to above the 4th sensor 27, the 4th sensing
Its signal is transferred to controller 9 by device 27, and controller 9 controls the first peeling machine hand 5 to clamp 19 by the 5th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 41；5th intelligent holder 41 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hand 6
Second valve orange peel of mandarin orange on the 5th intelligent holder 41 is peeled off using its second skull patch pincers 20；5th intelligent holder 41 follows defeated
After sending band 10 to be moved to position corresponding to above the 6th sensor 29, its signal is transferred to controller 9 by the 6th sensor 29, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 5th intelligent holder 41 using its 3rd skull patch
Peel off；
After 6th intelligent holder 42 follows conveyer belt 10 to be moved to position corresponding to above the 4th sensor 27, the 4th sensing
Its signal is transferred to controller 9 by device 27, and controller 9 controls the first peeling machine hand 5 to clamp 19 by the 6th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 42；6th intelligent holder 42 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hand 6
Second valve orange peel of mandarin orange on the 6th intelligent holder 42 is peeled off using its second skull patch pincers 20；6th intelligent holder 42 follows defeated
After sending band 10 to be moved to position corresponding to above the 6th sensor 29, its signal is transferred to controller 9 by the 6th sensor 29, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 6th intelligent holder 42 using its 3rd skull patch
Peel off；
After 7th intelligent holder 43 follows conveyer belt 10 to be moved to position corresponding to above the 4th sensor 27, the 4th sensing
Its signal is transferred to controller 9 by device 27, and controller 9 controls the first peeling machine hand 5 to clamp 19 by the 7th using its first skull patch
First valve orange peel of mandarin orange peels off on intelligent holder 43；7th intelligent holder 43 follows conveyer belt 10 to be moved to the 5th sensor 28
Above behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hand 6
Second valve orange peel of mandarin orange on the 7th intelligent holder 43 is peeled off using its second skull patch pincers 20；7th intelligent holder 43 follows defeated
After sending band 10 to be moved to position corresponding to above the 6th sensor 29, its signal is transferred to controller 9 by the 6th sensor 29, control
Device 9 processed controls the 3rd peeling machine hand 7 to clamp 21 by the 3rd valve orange peel of mandarin orange on the 7th intelligent holder 43 using its 3rd skull patch
Peel off；So constantly circulation.
The pulp of mandarin orange on intelligent holder 15 is caught in pulp case 82 in order to recycle discharging manipulator 8；Second intelligence
After energy holder 38 follows conveyer belt 10 to be moved to position corresponding to above the 7th sensor 30, the 7th sensor 30 passes its signal
Controller 9 is defeated by, controller 9 controls conveyer 1 to rotate stopping；The control of controller 9 discharging manipulator 8 presses skin hand 35 will using it
The orange peel opened is pushed down on the second intelligent holder 38, then using its pulp gripper 22 by mandarin orange on the second intelligent holder 38
Pulp is caught in pulp case 82；3rd intelligent holder 39 follows conveyer belt 10 to be moved to the 7th sensor 30 corresponding position above
Afterwards, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls conveyer 1 to rotate stopping；Controller 9 controls out
Material manipulator 8 presses skin hand 35 to push down the orange peel opened on the 3rd intelligent holder 39 using it, then utilizes its pulp gripper
22 catch the pulp of mandarin orange on the 3rd intelligent holder 39 in pulp case 82；4th intelligent holder 40 follows conveyer belt 10 to be moved to
7th sensor 30 is above behind corresponding position, and its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls defeated
Send machine 1 to rotate to stop；The control of controller 9 discharging manipulator 8 presses skin hand 35 to push down the orange peel opened in the 4th intelligence using it
On holder 40, then the pulp of mandarin orange on the 4th intelligent holder 40 is caught in pulp case 82 using its pulp gripper 22；5th
Intelligent holder 41 follow conveyer belt 10 be moved to the 7th sensor 30 above corresponding to behind position, the 7th sensor 30 is by its signal
Controller 9 is transferred to, controller 9 controls conveyer 1 to rotate stopping；The control discharging manipulator 8 of controller 9 presses skin hand 35 using it
The orange peel opened is pushed down on the 5th intelligent holder 41, then using its pulp gripper 22 by mandarin orange on the 5th intelligent holder 41
Pulp catch in pulp case 82；6th intelligent holder 42 follows conveyer belt 10 to be moved to the 7th sensor 30 corresponding position above
Postpone, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls conveyer 1 to rotate stopping；Controller 9 controls
Discharging manipulator 8 presses skin hand 35 to push down the orange peel opened on the 6th intelligent holder 42 using it, is then grabbed using its pulp
Pawl 22 catches the pulp of mandarin orange on the 6th intelligent holder 42 in pulp case 82；7th intelligent holder 43 follows conveyer belt 10 to move
Behind position corresponding to above to the 7th sensor 30, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls
Conveyer 1, which rotates, to be stopped；The control discharging manipulator 8 of controller 9 presses skin hand 35 to push down the orange peel opened in the 7th intelligence using it
On energy holder 43, then the pulp of mandarin orange on the 7th intelligent holder 43 is caught in pulp case 82 using its pulp gripper 22；Such as
This is constantly circulated.
Intelligent holder 15 in use, charging manipulator 2 mandarin orange is grabbed to the elastic network(s) 32 of intelligent holder 15 after, mandarin orange quilt
It is put on weight sensor 49, its weight signal is transferred to controller 9 by weight sensor 49, and controller 9 is according to the weight of mandarin orange
Amount data calculate the size shape of mandarin orange；After controller 9 calculates the size shape of mandarin orange, controller 9 controls a left side is electronic to push away
Bar 47 and right electric pushrod 48 work, and left electric pushrod 47 drives left holder 45 to be moved to mandarin orange, and right electric pushrod 48 drives
Right holder 46 is moved to mandarin orange, and using left holder 45 and right holder 46, the mandarin orange for being put in elastic network(s) 32 is clamped in into intelligent folder
On seat 15；After mandarin orange is clamped in intelligent holder 15, its signal is transferred to control to intelligent holder 15 by corresponding sensor 23 below
Device 9, controller 9 control conveyer 1 to drive conveyer belt 10 to rotate, the mandarin orange clamped by intelligent holder 15 are sent into the first cutting machine
The Working position of tool hand 3.
In order to which mandarin orange is clamped in into intelligent holder 15, while mandarin orange is also avoided to be crushed, left holder 45 is provided with left outstanding hook 55,
Right holder 46 is provided with right hang and hooks 56, and elastic network(s) 32 hangs on the outstanding outstanding hook 56 in the right side for hooking 55 and right holder 46 in a left side of left holder 45
On；In order to avoid hindering moving towards for left holder 45 and right holder 46, left holder 45 is provided with seat gap 57 with right holder 46, a left side
The distance in the seat gap 57 of holder 45 and right holder 46 is more than the stroke of left holder 45 and right holder 46, make left holder 45 and
Right holder 46 is clamped mandarin orange by enough mobile spaces；Left holder 45 is provided with levorotation chamber 58, and right holder 46 is provided with right die cavity
59, elastic network(s) 32 is located in levorotation chamber 58 and right die cavity 59；Shrinkage pool 31 is made up of levorotation chamber 58 and right die cavity 59；Elastic network(s)
32 surface area is hemispherical, and 32 hemispheric volume of elastic network(s) is less than the volume that levorotation chamber 58 adds up to right die cavity 59.
In order to control the height and position for being put in the intelligent mandarin orange of holder 15, with meet cut out 2/3rds orange peel valve will
Ask, intelligent holder 15 is provided with intelligence folder and pushes up 60, and intelligence folder top 60 is made up of electronic push rod 61 and intelligence folder 62, intelligence folder 62 and bullet
Property net 32 bottom contact, intelligence folder 62 is connected with the unit head of electronic push rod 61, the shell and seat guide groove 44 of electronic push rod 61
It is fixedly connected.
In order to which more accurately the size of detection mandarin orange, intelligent holder 15 are intelligent located at the first intelligence sensor 63 and second
Sensor 64, the first intelligence sensor 63 are located at the top of left holder 45, and the second intelligence sensor 64 is upper located at right holder 46
Portion；First intelligence sensor 63 and the second intelligence sensor 64 sense line by ranging and are connected with controller 9；Feed manipulator
After 2 mandarin orange to be grabbed to the elastic network(s) 32 of intelligent holder 15, the computer 54 of controller 9 detects mandarin orange according to weight sensor 49
The size data of weight data and the first intelligence sensor 63 and the second intelligence sensor 64 detection mandarin orange carries out intelligent computing,
Calculate the size shape of mandarin orange.
In order to implement to open 2/3rds orange peel cutting, be put in intelligent holder 15 mandarin orange need to expose three/
Two orange peel, be exposed to intelligent holder 15 upper seat surface 65 orange peel be less than whole mandarin orange orange peel 2/3rds when, controller 6
The intelligence folder 62 of electronic push rod 61 is controlled to rise, elastic network(s) 32 and mandarin orange follow intelligence folder 62 to rise, and are exposed to intelligent holder 15
Upper seat surface 65 orange peel increase；The stroke that electronic push rod 61 rises by the computer 54 of controller 9 according to the weight of mandarin orange and
Size controls；Be exposed to the upper seat surface 65 of intelligent holder 15 orange peel be more than whole mandarin orange orange peel 2/3rds when, control
Device 6 controls the intelligence folder 62 of electronic push rod 61 to decline, and elastic network(s) 32 and mandarin orange follow intelligence folder 62 to decline, and are exposed to intelligent holder
The orange peel of 15 upper seat surface 65 is reduced；The stroke that electronic push rod 61 declines by controller 9 computer 54 according to the weight of mandarin orange with
And size controls.
In order to avoid mandarin orange is hung by elastic network(s) 32, the weight that weight sensor 49 detects mandarin orange is influenceed, elastic network(s) 32
Vertical range is more than the intelligence folder 62 of electronic push rod 61 to the distance of the upper seat surface 65 of intelligent holder 15, elastic network(s) 32 is in pine
Dynamic state；When controller 9 controls left electric pushrod 47 and right electric pushrod 48 work, left electric pushrod 47 drives left holder
45 along seat guide groove 44, holder 46 moves to the right, and right electric pushrod 48 drives right holder 46, and along seat guide groove 44, holder 45 moves to the left,
Left holder 45 moves towards with right holder 46 along seat guide groove 44；
After the pulp of mandarin orange on intelligent holder 15 catches pulp case 82 by discharging manipulator 8, controller 9 controls left electronic
Push rod 47 drives left holder 45 and right electric pushrod 48 to drive right holder 46 to reset, and left holder 45 and right holder 46 are along seat guide groove
44 backwards to mobile.
By mandarin orange peeling machines people, intelligently pincers are formed first peeling machine hand 5, and mandarin orange peeling machines people intelligently clamps, and includes
First support 66, rotary electric machine 67, pivoted arm seat 68, the first swing arm 69, the first rotation motor 70, the second swing arm 71, the second rotation
The skull patch of motor 72 and first pincers 19；The support of rotary electric machine 67 is connected with the first support 66, and the first support 66 connects with frame 14
Connect, the motor shaft of rotary electric machine 67 is fixedly connected with pivoted arm seat 68, and motor cabinet and the pivoted arm seat 68 of the first rotation motor 70 are fixed
Connection, the motor shaft of the first rotation motor 70 are fixedly connected with the first swing arm 69, the motor cabinet and first of the second rotation motor 72
Swing arm 69 is fixedly connected, and the motor shaft of the second rotation motor 72 is fixedly connected with the second swing arm 71, and the second swing arm 71 is turned over first
Skin pincers 19 are fixedly connected；First skull patch pincers 19 include pincers motor 73, it is lower pincers motor 79, upper clamp 74, lower clamp 75 and
The support of upper pincers sensor 76, upper pincers motor 73 and lower pincers motor 79 is fixedly connected with the second swing arm 71, upper pincers motor 73
Motor shaft is connected with upper clamp 74, and the motor shaft of lower pincers motor 79 is connected with lower clamp 75, and upper pincers sensor 76 is installed on folder
On pincers 74, for detecting whether the first skull patch pincers 19 have clamped orange peel；Upper clamp 74 is provided with pincers and hooks 77, for orange peel to be triggered；
The axis of the axis and horizontal line of rotary electric machine 67, the first rotation motor 70 and the second rotation motor 72 is put down with horizontal line
OK；Rotary electric machine 67, the first rotation motor 70, the second rotation motor 72, pincers motor 73 and upper pincers sensor 76 pass through cutting
Control line is connected with controller 9.
The application method that mandarin orange peeling machines people intelligently clamps is：In use, after mandarin orange is put into intelligent holder 15, weight sensing
Device 49, the first intelligence sensor 63 and the second intelligence sensor 64 will detect the data transfer of mandarin orange to controller 9, controller 9
Computer 54 according to weight sensor 49 detect mandarin orange weight data and the first intelligence sensor 63 and the second intelligent sensing
The size data that device 64 detects mandarin orange carries out intelligent computing, calculates the size shape of mandarin orange；Computer 54 calculates the big of mandarin orange
After small shape, computer 54 calculates the first skull patch pincers 19 and imitates people according to the location of the size shape of mandarin orange and mandarin orange
The coordinate curve of hand stripping mandarin orange skin movement；During 19 stripping mandarin orange skin of the first skull patch pincers, controller 9 turns according to the control of above-mentioned coordinate curve
Dynamic motor 67, the first rotation motor 70 of control and the rotation of the second rotation motor 72, the first skull patch of control clamp 19 by the mandarin orange of mandarin orange
Skin is triggered and clamped, and is moved by the track of above-mentioned coordinate curve, peels off the orange peel of mandarin orange.
Mandarin orange peeling machines people intelligently pincers in use, controller 9 controls rotary electric machine 67 to drive pivoted arm seat 68 to horizontally rotate,
Pivoted arm seat 68 drives 71 horizontal rotation of the first swing arm 69 and the second swing arm, the first rotation motor 70 of control to drive the first swing arm 69
Vertical oscillation, the second rotation motor 72 drive the vertical oscillation of the second swing arm 71, the first skull patch pincers 19 is calculated the by computer 54
One skull patch pincers 19 imitate the coordinate curve movement of human hand stripping mandarin orange skin.
In order to implement that the orange peel of mandarin orange is clamped and dug using the first skull patch pincers 19, the lower clamp 75 of the first skull patch pincers 19
Identical with the axis of upper clamp 74, the length of lower clamp 75 is shorter than the length of upper clamp 74, in case lower clamp 75 blocks upper clamp
74 pincers hook 77 and hook into orange peel；In order to detect whether lower clamp 75 has clamped orange peel, lower clamp 75, which is provided with, clamps sensor 78, folder
Tight sensor 78 is connected by clamping control line with controller 9.
First skull patch pincers 19 are in use, controller 9 needs to dig the position of orange peel, the first skull patch of control pincers 19 according to mandarin orange
Upper clamp 74 be moved to and need the position for digging orange peel, motor 73 is then clamped in control drives upper clamp 74 to swing, and makes folder
The pincers of pincers 74 hook 77 and hook into orange peel, and orange peel is triggered to set position, then control lower pincers motor 79 to drive lower clamp 75 to put
It is dynamic, orange peel is clamped using lower clamp 75 and upper clamp 74, after lower clamp 75 clamps orange peel with upper clamp 74, controller 9 is controlled
The coordinate curve movement that the first skull patch pincers 19 are calculated the imitation human hand stripping mandarin orange skin of the first skull patch pincers 19 by computer 54 is made, by orange peel
Dig.
Motor 73, which is clamped, when first skull patch pincers 19 dig orange peel, in the control of controller 9 drives the clockwise oscillation of upper clamp 74, on
When the pincers hook 77 of clamp 74 hooks into orange peel, orange peel is close or contacts pincers sensor 76, and upper pincers sensor 76 passes its signal
Controller 9 is defeated by, the control orange peel of upper clamp 74 of controller 9 triggers the position of setting, meanwhile, the lower pincers motor of the control of controller 9
79 drive the counter-clockwise swing of lower clamp 75, are clamped orange peel using upper clamp 74 and lower clamp 75, lower clamp 75 and upper clamp 74
When orange peel is clamped, the clamping sensor 78 of lower clamp 75 is close or contact orange peel, clamping sensor 78 transmit its signal
To controller 9, controller 9 controls the first skull patch pincers 19 to calculate the first skull patch pincers 19 by computer 54 and imitates human hand stripping mandarin orange skin
Coordinate curve is moved, and orange peel is dug.
In order to implement the operation that the imitation human hand of the first skull patch pincers 19 opens mandarin orange orange peel, the first rotation motor 70 is rotating electricity
The top of machine 67, the axis of the first rotation motor 70 and the angle of the axis of rotary electric machine 67 are 90 ° of angles；First rotation motor 70
Axis is vertical with the first swing arm 69；When the motor shaft of rotary electric machine 67 rotates, the first rotation motor 70 follows rotary electric machine 67
Motor shaft is swung, and the angle that the first rotation motor 70 is swung is identical with the angle that the motor shaft of rotary electric machine 67 rotates；First swing arm
69 follow the first rotation motor 70 to swing, and the angle that the first swing arm 69 is swung is identical with the angle that the first rotation motor 70 is swung,
The angle that rotary electric machine 67 rotates is less than 360 ° of angles.
In order to implement to the first swing arm 69, the control of the 71 different amplitudes of oscillation of the second swing arm, the length of the first swing arm 69 is more than the
The length of two swing arms 71, the distance of axis to the axis of the second rotation motor 72 of the first rotation motor 70 are more than the second rotation electricity
The distance of the axis to pincers motor 73 of the axis of machine 72；When first skull patch pincers 19 peel off the orange peel of mandarin oranges, the control of controller 9 the
One swing arm 69 is swung, and drives the first skull patch pincers 19 to follow the swing of the first swing arm 69 and move, and utilizes the first swing arm 69 control the
It is mobile that one skull patch pincers 19 make basis；Controller 9 controls the second swing arm 71 to swing, and drives the first skull patch pincers 19 to follow the second swing arm 71
Swing and move, utilize the first swing arm 69 control the first skull patch pincers 19 make fine setting movement.
Orange peel is clamped in order to facilitate lower clamp 75 and upper clamp 74 and avoids crushing orange peel, and upper clamp 74 is provided with upper clip tooth
80, lower clamp 75 is provided with lower clip tooth 81；Upper clamp 74 and lower clip tooth 81 are made up of rubber or silica gel or plastics.
Claims (7)
1. the application method that mandarin orange peeling machines people intelligently clamps, it is used for a kind of mandarin orange peeling machines people, the mandarin orange peeling machines
People includes conveyer（1）, charging manipulator（2）, the first cutting manipulator（3）, the second cutting manipulator（4）, the first peeling
Manipulator（5）, the second peeling machine hand（6）, the 3rd peeling machine hand（7）, discharging manipulator（8）And controller（9）, conveying
Machine（1）Include conveyer belt（10）, conveyer belt（10）Provided with intelligent holder（15）, intelligent holder（15）Provided with weight sensor
（49）, the first intelligence sensor（63）And second intelligence sensor（64）, the first peeling machine hand（5）By mandarin orange peeling machines
Intelligently pincers are formed people；Mandarin orange peeling machines people intelligently clamps, and includes the first support（66）, rotary electric machine（67）, pivoted arm seat（68）、
First swing arm（69）, the first rotation motor（70）, the second swing arm（71）, the second rotation motor（72）And first skull patch pincers
（19）；First skull patch clamps（19）Include pincers motor（73）, lower pincers motor（79）, upper clamp（74）, lower clamp（75）And
Upper pincers sensor（76）, rotary electric machine（67）, the first rotation motor（70）, the second rotation motor（72）, pincers motor（73）And
Upper pincers sensor（76）Pass through peeling control line and controller（9）Connection；It is characterized in that：Described mandarin orange peeling machines people's intelligence
Can pincers application method be：In use, mandarin orange is put into intelligent holder（15）Afterwards, weight sensor（49）, the first intelligence sensor
（63）With the second intelligence sensor（64）By the data transfer of detection mandarin orange to controller（9）, controller（9）Computer（54）Root
According to weight sensor（49）Detect the weight data and the first intelligence sensor of mandarin orange（63）With the second intelligence sensor（64）
The size data for detecting mandarin orange carries out intelligent computing, calculates the size shape of mandarin orange；Computer（54）Calculate the size of mandarin orange
After shape, computer（54）According to the location of the size shape of mandarin orange and mandarin orange, the first skull patch pincers are calculated（19）Imitate
The coordinate curve of human hand stripping mandarin orange skin movement；First skull patch clamps（19）When shelling mandarin orange skin, controller（9）According to above-mentioned coordinate curve
Control rotary electric machine（67）, control the first rotation motor（70）And the second rotation motor（72）Rotation, control the first skull patch pincers
（19）The orange peel of mandarin orange is triggered and clamped, and is moved by the track of above-mentioned coordinate curve, peels off the orange peel of mandarin orange.
2. the application method that mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：Described mandarin orange
Peeling machines people is intelligently clamped in use, controller（9）Control rotary electric machine（67）Drive pivoted arm seat（68）Horizontally rotate, pivoted arm seat
（68）Drive the first swing arm（69）And second swing arm（71）Horizontal rotation, the first rotation motor of control（70）Drive the first swing arm
（69）Vertical oscillation, the second rotation motor（72）Drive the second swing arm（71）Vertical oscillation, clamp the first skull patch（19）By computer
（54）Calculate the first skull patch pincers（19）Imitate the coordinate curve movement of human hand stripping mandarin orange skin.
3. the application method that mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：Described first
Skull patch clamps（19）In use, controller（9）Needed to dig the position of orange peel, control the first skull patch pincers according to mandarin orange（19）Upper folder
Pincers（74）Being moved to needs the position for digging orange peel, then clamps motor in control（73）Drive upper clamp（74）Swing, make folder
Pincers（74）Pincers hook（77）Orange peel is hooked into, orange peel is triggered to set position, then controls lower pincers motor（79）Drive lower press from both sides
Pincers（75）Swing, utilize lower clamp（75）With upper clamp（74）Orange peel is clamped, lower clamp（75）With upper clamp（74）By orange peel
After clamping, controller（9）The first skull patch is controlled to clamp（19）By computer（54）Calculate the first skull patch pincers（19）Imitate human hand stripping mandarin orange
The coordinate curve movement of sub- skin, orange peel is dug.
4. the application method that mandarin orange peeling machines people according to claim 3 intelligently clamps, it is characterised in that：Described first
Skull patch clamps（19）When digging orange peel, controller（9）Motor is clamped in control（73）Drive upper clamp（74）Clockwise oscillation, upper clamp
（74）Pincers hook（77）When hooking into orange peel, orange peel approaches or clamps sensor on contacting（76）, upper pincers sensor（76）Believed
Number it is transferred to controller（9）, controller（9）Control upper clamp（74）Orange peel triggers the position of setting, meanwhile, controller（9）
The lower pincers motor of control（79）Drive lower clamp（75）Counter-clockwise swing, utilize upper clamp（74）With lower clamp（75）Orange peel is pressed from both sides
Tightly, lower clamp（75）With upper clamp（74）When orange peel is clamped, lower clamp（75）Clamping sensor（78）Close or contact
Orange peel, clamp sensor（78）Its signal is transferred to controller（9）, controller（9）The first skull patch is controlled to clamp（19）By computer
（54）Calculate the first skull patch pincers（19）The coordinate curve movement of human hand stripping mandarin orange skin is imitated, orange peel is dug.
5. the application method that mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：Described rotation
Motor（67）Motor shaft rotate when, the first rotation motor（70）Follow rotary electric machine（67）Motor shaft swing, the first rotation
Motor（70）The angle and rotary electric machine of swing（67）The angle that motor shaft rotates is identical；First swing arm（69）Follow the first rotation
Motor（70）Swing, the first swing arm（69）The angle of swing and the first rotation motor（70）The angle of swing is identical.
6. the application method that mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：Described rotation
Motor（67）The angle of rotation is less than 360 ° of angles.
7. the application method that mandarin orange peeling machines people according to claim 1 intelligently clamps, it is characterised in that：Described first
Skull patch clamps（19）When peeling off the orange peel of mandarin orange, controller（9）Control the first swing arm（69）Swing, drive the first skull patch pincers（19）With
With the first swing arm（69）Swing and move, utilize the first swing arm（69）The first skull patch is controlled to clamp（19）It is mobile to make basis；Control
Device（9）Control the second swing arm（71）Swing, drive the first skull patch pincers（19）Follow the second swing arm（71）Swing and move, utilize
First swing arm（69）The first skull patch is controlled to clamp（19）Make fine setting movement.
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| CN201610712608.6A CN106307564B (en) | 2016-08-23 | 2016-08-23 | The application method that mandarin orange peeling machines people intelligently clamps |
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| CN106307564B true CN106307564B (en) | 2018-04-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112964056A (en) * | 2021-02-02 | 2021-06-15 | 陈俊杰 | Orange peel turning device for preparing orange peel tea |
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| CN106307564A (en) | 2017-01-11 |
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