CN106272451A - The using method of Pericarpium Citri Reticulatae intelligent robot - Google Patents

The using method of Pericarpium Citri Reticulatae intelligent robot Download PDF

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Publication number
CN106272451A
CN106272451A CN201610711636.6A CN201610711636A CN106272451A CN 106272451 A CN106272451 A CN 106272451A CN 201610711636 A CN201610711636 A CN 201610711636A CN 106272451 A CN106272451 A CN 106272451A
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China
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holder
controller
mandarin orange
intelligence
controls
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CN201610711636.6A
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CN106272451B (en
Inventor
林智勇
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Hebei Xuyu Jinkun Pharmaceutical Co ltd
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Dongguan Haoqi Enterprise Management Services Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
    • A23N7/023—Peeling potatoes, apples or similarly shaped vegetables or fruit one by one

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Food-Manufacturing Devices (AREA)

Abstract

The using method of Pericarpium Citri Reticulatae intelligent robot, Pericarpium Citri Reticulatae intelligent robot includes rotating-table apparatus, feed arrangement, mechanical hand, intelligence holder and controller；Mechanical hand includes cutting manipulator, skull patch mechanical hand and peel mechanical hand, and rotating-table apparatus includes rotating disk, rotary tray motor, frame and intelligence holder, and intelligence holder is installed on rotating disk；Feed arrangement includes hopper, top discharge door and bottom discharge door, and bottom discharge door is facing to intelligence holder；Intelligence holder includes rotation holder and electric rotating machine, rotates holder and is provided with induction pieces；Controller is provided with infrared sensor and inductive switch；Flow process when Pericarpium Citri Reticulatae intelligent robot uses has: blanking → cutting Citrus chachiensis Hort. C. Suavissima Tanaka → strip off Citrus chachiensis Hort. C. Suavissima Tanaka → taking-up Citrus chachiensis Hort. C. Suavissima Tanaka；The most constantly circulation；Utilize controller to implement Based Intelligent Control to mechanical hand, implement mandarin orange cutting, turn over lobe, intelligent circulation that Citrus chachiensis Hort. C. Suavissima Tanaka separates with sarcocarp is processed automatically, improves the working (machining) efficiency of mandarin orange peeling.

Description

The using method of Pericarpium Citri Reticulatae intelligent robot
Technical field
The present invention relates to the using method of a kind of Citrus chachiensis Hort. C. Suavissima Tanaka process equipment, the Pericarpium Citri Reticulatae intelligent machine of a kind of special stripping Citrus chachiensis Hort. C. Suavissima Tanaka The using method of device people's device.
Background technology
A kind of Chinese medicine Pericarpium Citri Reticulatae by the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange dry long old after formed, especially Xinhui tangerine peel, world-famous；At present, Annual newly can the mandarin orange harvest season, have substantial amounts of mandarin orange to need its Citrus chachiensis Hort. C. Suavissima Tanaka strip off, three lobes opened include the first lobe, the Two lobes and the 3rd lobe, every lobe interconnects, and is then dried by Citrus chachiensis Hort. C. Suavissima Tanaka and is used as Chinese medicine Pericarpium Citri Reticulatae；Now, mandarin orange Peeling method is: utilizes pocket knife to cut two lines of cut in the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange, after Citrus chachiensis Hort. C. Suavissima Tanaka two lines of cut of cutting, then inserts with finger Enter the position between Citrus chachiensis Hort. C. Suavissima Tanaka and sarcocarp, Citrus chachiensis Hort. C. Suavissima Tanaka is opened out three petals, then sarcocarp is taken out, make the sarcocarp of mandarin orange divide with Citrus chachiensis Hort. C. Suavissima Tanaka From；Due to manual inefficient, the using method of a kind of Pericarpium Citri Reticulatae intelligent robot for shelling Citrus chachiensis Hort. C. Suavissima Tanaka, become The needs of Citrus chachiensis Hort. C. Suavissima Tanaka are shelled for people.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that making of a kind of brand-new Pericarpium Citri Reticulatae intelligent robot By method, for the Citrus chachiensis Hort. C. Suavissima Tanaka of strip off mandarin orange, improve the efficiency of strip off Citrus chachiensis Hort. C. Suavissima Tanaka.
The technical solution adopted in the present invention is: Pericarpium Citri Reticulatae intelligent robot, include rotating-table apparatus, feed arrangement, Mechanical hand, intelligence holder and controller；Mechanical hand includes cutting manipulator, skull patch mechanical hand and peel mechanical hand, cuts Cut mechanical hand, skull patch mechanical hand and peel mechanical hand to arrange around rotating-table apparatus；Rotating-table apparatus includes rotating disk, rotating disk electricity Machine, frame and intelligence holder, rotary tray motor is connected with frame, and the motor shaft of rotary tray motor is connected with rotating disk, intelligence holder peace It is loaded on rotating disk；Feed arrangement includes hopper, top discharge door and bottom discharge door, and hopper is connected with frame, top discharge door with And bottom discharge door is installed on hopper, top discharge door is positioned at above bottom discharge door, and bottom discharge door is facing to intelligence holder, intelligence holder It is positioned at the lower section of bottom discharge door, for being put into by mandarin orange in intelligence holder；Cutting manipulator is provided with cutting wheel, and skull patch mechanical hand sets Having skull patch to clamp, peel mechanical hand is provided with peel gripper；Intelligence holder includes rotation holder and electric rotating machine, electric rotating machine Support is connected with rotating disk, and the motor shaft of electric rotating machine is connected with rotating holder, rotates holder and is provided with induction pieces；Controller is provided with red Outer sensor and inductive switch；Infrared sensor and inductive switch are installed in the frame on rotating disk side；Infrared sensor And inductive switch is positioned at intelligence holder side, infrared sensor and inductive switch and arranges around rotating disk, inductive switch is positioned at The opposite of induction pieces；Controller is by control line and rotating-table apparatus, feed arrangement, intelligence holder, cutting manipulator, skull patch machinery Hands, peel mechanical hand, infrared sensor and inductive switch connect.
Intelligence holder is provided with four, and four intelligent holders are uniformly fixed on the circumference that rotating disk is identical, adjacent two intelligence The angle of the horizontal center line of holder is 90 ° of angles；Intelligence holder includes the first intelligence holder, the second intelligence holder, the 3rd intelligence Energy holder and the 4th intelligence holder, the initial position of the first intelligence holder is placed exactly in the blanking of the bottom discharge door of feed arrangement Position；It is infrared that infrared sensor includes the first infrared sensor, the second infrared sensor, the 3rd infrared sensor and the 4th Sensor, the first infrared sensor is positioned at the lower section of bottom discharge door, enters intelligent holder below bottom discharge door for detecting Mandarin orange；Second infrared sensor is positioned at the side of cutting manipulator, for detecting the intelligence entering cutting manipulator Working position The mandarin orange of holder；3rd infrared sensor is positioned at the side of skull patch mechanical hand, is used for detecting entrance skull patch mechanical hand Working position The mandarin orange of intelligent holder；4th infrared sensor is positioned at the side of peel mechanical hand, is used for detecting entrance peel mechanical hand and adds The mandarin orange of the intelligent holder that station is put；Inductive switch includes the first inductive switch and the second inductive switch, and the first sensing is opened Close and be located in the frame that cutting manipulator side is corresponding, for controlling cutting manipulator, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is cut；Second Inductive switch is positioned in the frame that skull patch mechanical hand side is corresponding, is used for controlling skull patch mechanical hand and mandarin orange is carried out skull patch.
The using method of Pericarpium Citri Reticulatae intelligent robot is: controller controls feed arrangement and will arrive intelligence holder under mandarin orange In；To after in intelligence holder under mandarin orange, the mandarin orange in intelligence holder enters first infrared sensor below bottom discharge door Detection range, its signal is transferred to controller by this infrared sensor, and controller controls the rotary tray motor drive of rotating-table apparatus and turns Dish rotates, and the intelligent holder on rotating disk is followed rotating disk and rotated, when intelligence holder enters the Working position of cutting manipulator, and intelligence folder Mandarin orange on seat enters the detection range of second infrared sensor on cutting manipulator side, and this infrared sensor is by its signal Being transferred to controller, controller controls rotary tray motor and stops；Controller is by the induction pieces on swivel plate and inductive switch control Electric rotating machine processed is rotated plate and rotates, and makes the mandarin orange of intelligence holder enter into the Working position that cutting wheel cutting Citrus chachiensis Hort. C. Suavissima Tanaka is corresponding, Control cutting manipulator mandarin orange on intelligence holder and cut out the line of cut of three hexagonal angles each other；The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is cut After going out three lines of cut, controller controls the rotary tray motor of rotating-table apparatus and drives rotating disk to rotate, and intelligence holder follows turntable rotation, When intelligence holder enters the Working position of skull patch mechanical hand, the mandarin orange on intelligence holder enters the 3rd of skull patch mechanical hand side The detection range of infrared sensor, its signal is transferred to controller by this infrared sensor, and controller controls rotary tray motor and stops； Meanwhile, its signal is transferred to controller close to the inductive switch on rotating disk side, inductive switch by the induction pieces on swivel plate, controls Device controls electric rotating machine and plate rotation is rotated, and makes the mandarin orange of intelligence holder enter into the machining position that peel gripper skull patch is corresponding Put；Controller controls skull patch mechanical hand by mandarin orange three lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off on intelligence holder；After three lobe Citrus chachiensis Hort. C. Suavissima Tanakas of mandarin orange are stripped, control Device processed controls rotating-table apparatus and drives rotating disk to rotate, and intelligence holder is followed rotating disk and rotated, and intelligence holder enters adding of peel mechanical hand When station is put, the mandarin orange on intelligence holder enters the detection range of the 4th infrared sensor on peel mechanical hand side, and this is red Its signal is transferred to controller by outer sensor, and controller controls rotary tray motor and stops；Controller controls peel mechanical hand by intelligence On energy holder, the sarcocarp of mandarin orange is caught in sarcocarp case, makes the sarcocarp of mandarin orange separate with Citrus chachiensis Hort. C. Suavissima Tanaka；After the sarcocarp of mandarin orange separates with Citrus chachiensis Hort. C. Suavissima Tanaka, Controller controls peel mechanical hand and is grabbed in Citrus chachiensis Hort. C. Suavissima Tanaka case by the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on intelligence holder；Making of Pericarpium Citri Reticulatae intelligent robot Include with the work flow of method: blanking → cutting Citrus chachiensis Hort. C. Suavissima Tanaka → strip off Citrus chachiensis Hort. C. Suavissima Tanaka → taking-up Citrus chachiensis Hort. C. Suavissima Tanaka；The most constantly circulation.
The work flow of the using method of Pericarpium Citri Reticulatae intelligent robot is specifically:
Blanking: controller controls on the first intelligence holder that first mandarin orange is put on rotating disk by feed arrangement, first Citrus chachiensis Hort. After son enters the first intelligence holder below bottom discharge door, its signal is passed by first infrared sensor on the first intelligence holder side It is defeated by controller；
Cutting Citrus chachiensis Hort. C. Suavissima Tanaka: to after in the first intelligence holder under mandarin orange, controller controls the rotary tray motor of rotating-table apparatus and drives on rotating disk First intelligence holder rotate, first intelligence holder enter cutting manipulator Working position time, first intelligence holder on Citrus chachiensis Hort. Son enters the detection range of the second infrared sensor, and its signal is transferred to controller by the second infrared sensor, and controller controls Rotary tray motor stops；Meanwhile, rotate the first inductive switch close to rotating disk side of first induction pieces on the swivel plate of holder, Its signal is transferred to controller by the first inductive switch；Controller controls cutting manipulator mandarin orange on the first intelligence holder Citrus chachiensis Hort. C. Suavissima Tanaka cuts out the first line of cut；After the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is cut to the first line of cut, controller controls electric rotating machine and drives rotation Flap rotates, and rotates the mandarin orange on holder and follows swivel plate rotation, and second induction pieces on swivel plate is close to rotating disk side During the first inductive switch, its signal is transferred to controller by the first inductive switch, and controller controls electric rotating machine and stops, swivel plate Stopping operating, controller controls the Citrus chachiensis Hort. C. Suavissima Tanaka of cutting manipulator mandarin orange on the first intelligence holder and cuts out the second line of cut；Citrus chachiensis Hort. After the Citrus chachiensis Hort. C. Suavissima Tanaka of son is cut to the second line of cut, controller controls electric rotating machine and plate rotation is rotated, and rotates the Citrus chachiensis Hort. on holder Son is followed swivel plate and is rotated, when the 3rd induction pieces on swivel plate is close to first inductive switch on rotating disk side, and the first sensing Its signal is transferred to controller by switch, and controller controls electric rotating machine and stops, and swivel plate stops operating, and controller controls cutting The Citrus chachiensis Hort. C. Suavissima Tanaka of mechanical hand mandarin orange on the first intelligence holder cuts out the 3rd line of cut；
Strip off Citrus chachiensis Hort. C. Suavissima Tanaka: after the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is cut to the 3rd line of cut, controller controls the electric rotating machine of rotating-table apparatus and drives The first intelligence holder on rotating disk follows turntable rotation, when the first intelligence holder enters the Working position of skull patch mechanical hand, and first Mandarin orange on intelligence holder enters the detection range of the 3rd infrared sensor, and its signal is transferred to control by the 3rd infrared sensor Device, controller controls rotary tray motor and stops；Meanwhile, first induction pieces on swivel plate is opened close to second sensing on rotating disk side Closing, its signal is transferred to controller by the second inductive switch, and controller controls skull patch mechanical hand by mandarin orange on the first intelligence holder The first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is stripped, controller controls electric rotating machine and plate rotation, rotation is rotated Turning the mandarin orange on holder and follow swivel plate rotation, second induction pieces on swivel plate is close to second inductive switch on rotating disk side Time, its signal is transferred to controller by the second inductive switch, and controller controls electric rotating machine and stops, and swivel plate stops operating, rotation After flap stops operating, controller controls skull patch mechanical hand by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the first intelligence holder；Mandarin orange The second lobe Citrus chachiensis Hort. C. Suavissima Tanaka be stripped after, controller controls electric rotating machine and plate is rotated rotates, and rotation followed by the mandarin orange rotated on holder Flap rotates, and when the 3rd induction pieces on swivel plate is close to second inductive switch on rotating disk side, the second inductive switch is by it Signal is transferred to controller, and controller controls electric rotating machine and stops, and swivel plate stops operating, and after swivel plate stops operating, controls Device controls skull patch mechanical hand by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the first intelligence holder；
Taking out Citrus chachiensis Hort. C. Suavissima Tanaka: after three lobe Citrus chachiensis Hort. C. Suavissima Tanakas of first mandarin orange are stripped, controller controls rotary tray motor and drives rotating disk to rotate；Work as dress When the first intelligence holder having mandarin orange turns to the Working position of peel mechanical hand, first mandarin orange on the first intelligence holder connects 4th infrared sensor on nearly rotating disk side；Its signal is transferred to controller by the 4th infrared sensor, and controller controls peel Mechanical hand utilizes its peel gripper to be caught in sarcocarp case by the sarcocarp of the mandarin orange on the first intelligence holder；The sarcocarp of mandarin orange is caught After sarcocarp case, controller controls peel mechanical hand and utilizes its peel gripper that the Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange on the first intelligence holder is caught Citrus chachiensis Hort. In leather trunk；After the Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange on the first intelligence holder is caught in Citrus chachiensis Hort. C. Suavissima Tanaka case, controller controls rotary tray motor and drives rotating disk to turn Dynamic, the first intelligence holder returns to the initial position below feed arrangement；The most constantly circulation.
The invention has the beneficial effects as follows: the using method of Pericarpium Citri Reticulatae intelligent robot, utilize controller, infrared sensor And inductive switch implements Based Intelligent Control to mechanical hand, implement the cutting of mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka, turn over lobe, intelligence that Citrus chachiensis Hort. C. Suavissima Tanaka separates with sarcocarp Circulation can automatically process, improve the working (machining) efficiency of mandarin orange peeling.
Accompanying drawing explanation
Fig. 1 is the structural representation of Pericarpium Citri Reticulatae intelligent robot.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further detailed:
The structural representation of Pericarpium Citri Reticulatae intelligent robot as shown in Figure 1, Pericarpium Citri Reticulatae intelligent robot, include rotating disk dress Put 1, feed arrangement 2, mechanical hand 3, intelligence holder 4 and controller 5；Mechanical hand 3 includes cutting manipulator 6, skull patch machinery Hands 7 and peel mechanical hand 8, cutting manipulator 6, skull patch mechanical hand 7 and peel mechanical hand 8 are arranged around rotating-table apparatus 1；Turn Dish device 1 includes rotating disk 9, rotary tray motor 10, frame 11 and intelligence holder 4, and rotary tray motor 10 is connected with frame 11, rotating disk The motor shaft of motor 10 is connected with rotating disk 9, and intelligence holder 4 is installed on rotating disk 9；Feed arrangement 2 includes hopper 12, top discharge Door 13 and bottom discharge door 14, hopper 12 is connected with frame 11, and top discharge door 13 and bottom discharge door 14 are installed on hopper 12, Top discharge door 13 is positioned at above bottom discharge door 14, and intelligence holder 4 is positioned at the lower section of bottom discharge door 14, and bottom discharge door 14 is facing to intelligence Holder 4, for putting into mandarin orange in intelligence holder 4；Cutting manipulator 6 is provided with cutting wheel 15, and skull patch mechanical hand 7 is provided with skull patch pincers 16, peel mechanical hand 8 is provided with peel gripper 17；Intelligence holder 4 includes rotation holder 18 and electric rotating machine 19, electric rotating machine The support of 19 is connected with rotating disk 9, and the motor shaft of electric rotating machine 19 is connected with rotating holder 18, rotates holder 18 and is provided with induction pieces 20；Controller 5 is provided with infrared sensor 21 and inductive switch 22；Infrared sensor 21 and inductive switch 22 are installed on rotating disk In the frame 11 on 9 sides；Infrared sensor 21 and inductive switch 22 be positioned at intelligence holder 4 side, infrared sensor 21 and Inductive switch 22 is arranged around rotating disk 9, and inductive switch 22 is positioned at the opposite of induction pieces 20；Controller 5 is by control line and rotating disk Device 1, feed arrangement 2, intelligence holder 4, cutting manipulator 6, skull patch mechanical hand 7, peel mechanical hand 8, infrared sensor 21 with And inductive switch 22 connects.
In order to implement mechanical hand 3, the mandarin orange 23 on intelligence holder 4 being circulated processing, intelligence holder 4 is provided with four, and four Individual intelligence holder 4 is uniformly fixed on the circumference that rotating disk 9 is identical, and the angle of the horizontal center line of adjacent two intelligent holders 4 is 90 ° of angles；Intelligence holder 4 includes the first intelligence holder the 37, second intelligence holder the 38, the 3rd intelligence holder 39 and the 4th intelligence Holder 40, the initial position of the first intelligence holder 37 is placed exactly in the blanking position of the bottom discharge door 14 of feed arrangement 2.
In order to implement the rotation of intelligence holder 4, cooperative mechanical hands 3 carries out peeling processing, the rotation of intelligence holder 4 to mandarin orange 23 Turn holder 18 and include swivel plate 24, left holder 25, right holder 26 and folder motor 56, swivel plate 24 and the electricity of electric rotating machine 19 Arbor is fixing to be connected, and right holder 26 is fixing with swivel plate 24 to be connected, and left holder 25 is provided with guide groove 27, and swivel plate 24 is provided with guide rail 28, the guide groove 27 of left holder 25 is dynamic with the guide rail 28 of swivel plate 24 to be connected, and the motor shaft of folder motor 56 is with left holder 25 even Connecing, the support of folder motor 56 is connected with swivel plate 24, and the support of electric rotating machine 19 is connected with rotating disk 9；For mandarin orange 23 is clamped In rotating on holder 18, rotate the mandarin orange 23 being clamped to rotate holder 18, to facilitate mechanical hand 3 that mandarin orange 23 is processed.
In order to detect the position that the mandarin orange 23 on intelligence holder 4 rotates, infrared sensor 21 is provided with four, four infrared biographies Sensor 21 is distributed in the side of rotating-table apparatus 1 rotating disk 9, and four infrared sensors 21 are distributed in same circumference and mutually level In frame 11, the angle of the horizontal center line of adjacent two infrared sensors 21 is 90 ° of angles；Each infrared sensor 21 is positioned at one The opposite side of individual intelligence holder 4, for detecting the mandarin orange 23 on intelligence holder 4；It is infrared that infrared sensor 21 includes first Sensor the 29, second infrared sensor the 30, the 3rd infrared sensor 31 and the 4th infrared sensor 32, the first infrared sensor 29 lower sections being positioned at bottom discharge door 14, for detecting the mandarin orange 23 entering the intelligent holder 4 below bottom discharge door 14；Second is infrared Sensor 30 is positioned at the side of cutting manipulator 6, for detecting the Citrus chachiensis Hort. of the intelligent holder 4 entering cutting manipulator 6 Working position Son 23；3rd infrared sensor 31 is positioned at the side of skull patch mechanical hand 7, enters skull patch mechanical hand 7 Working position for detecting The mandarin orange 23 of intelligence holder 4；4th infrared sensor 32 is positioned at the side of peel mechanical hand 8, is used for detecting entrance peel machinery The mandarin orange 23 of the intelligent holder 4 of hands 8 Working position.
In order to control to rotate the angle that holder 18 rotates, implement the cutting to mandarin orange 23 Citrus chachiensis Hort. C. Suavissima Tanaka and skull patch, each rotation The induction pieces 20 of holder 18 is provided with three, and three induction pieces 20 are distributed on the edge of the swivel plate 24 rotating holder 18, adjacent The angle of horizontal center line of two induction pieces 20 be hexagonal angle；Inductive switch 22 includes the first inductive switch 33 and Two inductive switches 34, the first inductive switch 33 is located in the frame 11 that cutting manipulator 6 side is corresponding, is used for controlling cutting mechanics The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is cut by hands 6；Second inductive switch 34 is positioned in the frame 11 that skull patch mechanical hand 7 side is corresponding, uses In controlling skull patch mechanical hand 7, mandarin orange 23 is carried out skull patch.
In order to cut out the line of cut of three hexagonal angles each other in the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23, three lines of cut include first and cut Secant, the second line of cut and the 3rd line of cut；Then the Citrus chachiensis Hort. C. Suavissima Tanaka strip off in three line of cut positions is gone out three lobe Citrus chachiensis Hort. C. Suavissima Tanakas, then will The sarcocarp of mandarin orange 23 takes out, and makes the sarcocarp of mandarin orange 23 separate with Citrus chachiensis Hort. C. Suavissima Tanaka, takes its Citrus chachiensis Hort. C. Suavissima Tanaka special as medical material.
The using method of Pericarpium Citri Reticulatae intelligent robot is: when Pericarpium Citri Reticulatae intelligent robot uses, and controller 5 controls charging dress Put 2 by mandarin orange 23 times to intelligence holder 4；Mandarin orange 23 times is to after in intelligence holder 4, under the mandarin orange 23 in intelligence holder 4 enters The detection range of first infrared sensor 21 below discharge door 14, its signal is transferred to controller by this infrared sensor 21 5, controller 5 controls the rotary tray motor 10 of rotating-table apparatus 1 and drives rotating disk 9 to rotate, and the intelligent holder 4 on rotating disk 9 follows rotating disk 9 turns Dynamic, when intelligence holder 4 enters the Working position of cutting manipulator 6, it is other that the mandarin orange 23 on intelligence holder 4 enters cutting manipulator 6 The detection range of second infrared sensor 21 on limit, its signal is transferred to controller 5, controller 5 by this infrared sensor 21 Control rotary tray motor 10 to stop；Controller 5 controls electric rotating machine by the induction pieces 20 on swivel plate 24 and inductive switch 22 19 are rotated plate 24 rotates, and makes the mandarin orange 23 of intelligence holder 4 enter into the Working position that cutting wheel 15 cutting Citrus chachiensis Hort. C. Suavissima Tanaka is corresponding, control The cutting manipulator 6 processed mandarin orange 23 on intelligence holder 4 cuts out the line of cut of three hexagonal angles each other；The Citrus chachiensis Hort. C. Suavissima Tanaka quilt of mandarin orange 23 After cutting out three lines of cut, controller 5 controls the rotary tray motor 10 of rotating-table apparatus 1 and drives rotating disk 9 to rotate, intelligence holder 4 with Rotating with rotating disk 9, when intelligence holder 4 enters the Working position of skull patch mechanical hand 7, the mandarin orange 23 on intelligence holder 4 enters skull patch The detection range of the 3rd infrared sensor 21 on mechanical hand 7 side, its signal is transferred to controller by this infrared sensor 21 5, controller 5 controls rotary tray motor 10 and stops；Meanwhile, the induction pieces 20 on swivel plate 24 is close to the inductive switch on rotating disk 9 side 22, its signal is transferred to controller 5 by inductive switch 22, and controller 5 controls electric rotating machine 19 and plate 24 is rotated rotates, and makes intelligence The mandarin orange 23 of energy holder 4 enters into the Working position that peel gripper 17 skull patch is corresponding；Controller 5 controls skull patch mechanical hand 7 by intelligence Mandarin orange 23 3 lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off on energy holder 4；After three lobe Citrus chachiensis Hort. C. Suavissima Tanakas of mandarin orange 23 are stripped, controller 5 controls rotating-table apparatus 1 and drives Rotating disk 9 rotates, and intelligence holder 4 is followed rotating disk 9 and rotated, when intelligence holder 4 enters the Working position of peel mechanical hand 8, and intelligence folder Mandarin orange 23 on seat 4 enters the detection range of the 4th infrared sensor 21 on peel mechanical hand 8 side, this infrared sensor 21 Its signal is transferred to controller 5, and controller 5 controls rotary tray motor 10 and stops；Controller 5 controls peel mechanical hand 8 by intelligence In the sarcocarp of mandarin orange 23 catches sarcocarp case 35 on holder 4, the sarcocarp of mandarin orange 23 is made to separate with Citrus chachiensis Hort. C. Suavissima Tanaka；The sarcocarp of mandarin orange 23 and Citrus chachiensis Hort. C. Suavissima Tanaka After separation, controller 5 controls peel mechanical hand 8 and is grabbed in Citrus chachiensis Hort. C. Suavissima Tanaka case 36 by the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 on intelligence holder 4；Pericarpium Citri Reticulatae intelligence The work flow of robot includes: blanking → cutting Citrus chachiensis Hort. C. Suavissima Tanaka → strip off Citrus chachiensis Hort. C. Suavissima Tanaka → taking-up Citrus chachiensis Hort. C. Suavissima Tanaka；The most constantly circulation.
The work flow of the using method of Pericarpium Citri Reticulatae intelligent robot is specifically:
Blanking: controller 5 controls on the first intelligence holder 37 that first mandarin orange 23 is put on rotating disk 9 by feed arrangement 2, the After one mandarin orange 23 enters bottom discharge door 14 the first intelligence holder 37 below, the first infrared biography on the first intelligence holder 37 side Its signal is transferred to controller 5 by sensor 29；
Cutting Citrus chachiensis Hort. C. Suavissima Tanaka: after in mandarin orange 23 times to first intelligence holder 37, controller 5 controls the rotary tray motor 10 of rotating-table apparatus 1 and carries The first intelligence holder 37 on dynamic rotating disk 9 rotates, when the first intelligence holder 37 enters the Working position of cutting manipulator 6, and first Mandarin orange 23 on intelligence holder 37 enters the detection range of the second infrared sensor 30, and its signal is passed by the second infrared sensor 30 Being defeated by controller 5, controller 5 controls rotary tray motor 10 and stops；Meanwhile, first sensing on the swivel plate 24 of holder 18 is rotated Its signal is transferred to controller 5 close to first inductive switch 33 on rotating disk 9 side, the first inductive switch 33 by part 20；Controller 5 The Citrus chachiensis Hort. C. Suavissima Tanaka controlling the cutting manipulator 6 mandarin orange 23 on the first intelligence holder 37 cuts out the first line of cut；The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 After being cut to the first line of cut, controller 5 controls electric rotating machine 19 and plate 24 is rotated rotates, and rotates the mandarin orange on holder 18 23 follow swivel plate 24 rotates, when second induction pieces 20 on swivel plate 24 is close to first inductive switch 33 on rotating disk 9 side, Its signal is transferred to controller 5 by the first inductive switch 33, and controller 5 controls electric rotating machine 19 and stops, and swivel plate 24 stops turning Dynamic, controller 5 controls the Citrus chachiensis Hort. C. Suavissima Tanaka of the cutting manipulator 6 mandarin orange 23 on the first intelligence holder 37 and cuts out the second line of cut；Citrus chachiensis Hort. After the Citrus chachiensis Hort. C. Suavissima Tanaka of son 23 is cut to the second line of cut, controller 5 controls electric rotating machine 19 and plate 24 is rotated rotates, and rotates holder Mandarin orange 23 on 18 is followed swivel plate 24 and is rotated, and the 3rd induction pieces 20 on swivel plate 24 is close to first sense on rotating disk 9 side During inductive switch 33, its signal is transferred to controller 5 by the first inductive switch 33, and controller 5 controls electric rotating machine 19 and stops, and rotates Plate 24 stops operating, and controller 5 controls the Citrus chachiensis Hort. C. Suavissima Tanaka of the cutting manipulator 6 mandarin orange 23 on the first intelligence holder 37 and cuts out the 3rd Line of cut；
Strip off Citrus chachiensis Hort. C. Suavissima Tanaka: after the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is cut to the 3rd line of cut, controller 5 controls the electric rotating machine of rotating-table apparatus 1 19 drive the first intelligence holder 37 on rotating disk 9 to follow rotating disk 9 rotates, and the first intelligence holder 37 enters adding of skull patch mechanical hand 7 When station is put, the mandarin orange 23 on the first intelligence holder 37 enters the detection range of the 3rd infrared sensor 31, the 3rd infrared sensing Its signal is transferred to controller 5 by device 31, and controller 5 controls rotary tray motor 10 and stops；Meanwhile, the sense of first on swivel plate 24 Answer part 20, close to second inductive switch 34 on rotating disk 9 side, the second inductive switch 34, its signal is transferred to controller 5, control Device 5 controls skull patch mechanical hand 7 by the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on the first intelligence holder 37；First lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 After being stripped, controller 5 controls electric rotating machine 19 and plate 24 is rotated rotates, and swivel plate followed by the mandarin orange 23 rotated on holder 18 24 rotate, when second induction pieces 20 on swivel plate 24 is close to second inductive switch 34 on rotating disk 9 side, and the second inductive switch Its signal is transferred to controller 5 by 34, and controller 5 controls electric rotating machine 19 and stops, and swivel plate 24 stops operating, and swivel plate 24 stops After spline is dynamic, controller 5 controls skull patch mechanical hand 7 by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on the first intelligence holder 37；Mandarin orange After the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka of 23 is stripped, controller 5 controls electric rotating machine 19 and plate 24 is rotated rotates, and rotates the Citrus chachiensis Hort. on holder 18 Son 23 is followed swivel plate 24 and is rotated, and the 3rd induction pieces 20 on swivel plate 24 is close to second inductive switch 34 on rotating disk 9 side Time, its signal is transferred to controller 5 by the second inductive switch 34, and controller 5 controls electric rotating machine 19 and stops, and swivel plate 24 stops Rotating, after swivel plate 24 stops operating, controller 5 controls skull patch mechanical hand 7 by the on the first intelligence holder 37 the 3rd of mandarin orange 23 the Lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；
Take out Citrus chachiensis Hort. C. Suavissima Tanaka: after three lobe Citrus chachiensis Hort. C. Suavissima Tanakas of mandarin orange 23 are stripped, controller 5 controls rotary tray motor 10 and drives rotating disk 9 to rotate；Work as dress When the first intelligence holder 37 having mandarin orange 23 turns to the Working position of peel mechanical hand 8, the mandarin orange on the first intelligence holder 37 23 close to the 4th infrared sensor 32 on rotating disk 9 side；Its signal is transferred to controller 5 by the 4th infrared sensor 32, controls Device 5 controls peel mechanical hand 8 and utilizes its peel gripper 17 that the sarcocarp of the mandarin orange 23 on the first intelligence holder 37 is caught sarcocarp case In 35；After the sarcocarp of mandarin orange 23 is caught sarcocarp case 35, controller 5 controls peel mechanical hand 8 and utilizes its peel gripper 17 by The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on one intelligence holder 37 is caught in Citrus chachiensis Hort. C. Suavissima Tanaka case 36；The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on the first intelligence holder 37 is caught After in Citrus chachiensis Hort. C. Suavissima Tanaka case 36, controller 5 controls rotary tray motor 10 and drives rotating disk 9 to rotate, and the first intelligence holder 37 returns to feed arrangement 2 times The initial position in face；The most constantly circulation.
In order to control intelligence holder 4 follow rotating disk 9 by set angular circulation rotate, rotary tray motor 10 drives rotating disk 9 turns Time dynamic, the angle that rotating disk 9 rotates every time is identical, and it is identical that intelligence holder 4 follows rotating disk 9 rotational angle；Rotating disk 9 rotates after stopping, All there is an intelligent holder 4 close to a corresponding infrared sensor 21；When rotating disk 9 rotates, move in the direction of the clock. When rotary tray motor 10 drives rotating disk 9 to rotate, the first intelligence holder 37 is followed rotating disk 9 and is turned by the blanking position of bottom discharge door 14 Dynamic, the first intelligence holder 37 stops after rotating 90 ° of angles；When first intelligence holder 37 stops operating, the first intelligence holder 37 is close Second infrared sensor 30；First intelligence holder 37 is close to after the second infrared sensor 30, and the first intelligence holder 37 follows rotating disk 9 Stopping after rotating 90 ° of angles, when the first intelligence holder 37 stops operating, the first intelligence holder 37 is close to the 3rd infrared sensor 31； First intelligence holder 37 is close to after the 3rd infrared sensor 31, and the first intelligence holder 37 is followed after rotating disk 9 rotates 90 ° of angles and stopped, When first intelligence holder 37 stops operating, the first intelligence holder 37 is close to the 4th infrared sensor 32；First intelligence holder 37 connects After nearly 4th infrared sensor 32, the first intelligence holder 37 is followed after rotating disk 9 rotates 90 ° of angles and is stopped, the first intelligence holder 37 times To initial position, the first intelligence holder 37 is close to the first infrared sensor 29；The most constantly circulation.
In order to make mandarin orange 23 cyclically fall in intelligence holder 4, when the rotating disk 9 of rotating-table apparatus 1 rotates, rotating disk 9 turns every time Dynamic angle is identical, after rotating disk 9 rotates stopping every time, all has an intelligent holder 4 to be placed exactly in the bottom discharge door of feed arrangement 2 The blanking position of 14, makes mandarin orange 23 can drop in intelligence holder 4.It is upper that controller 5 controls that rotary tray motor 10 drives on rotating disk 9 One intelligent holder 4 turns to the blanking position of the bottom discharge door 14 of feed arrangement 2 when stopping, and controller 5 controls feed arrangement 2 A upper mandarin orange 23 is put on a following upper intelligent holder 4；After a upper intelligent holder 4 puts into mandarin orange 23, upper one On individual intelligence holder 4, its signal is transferred to controller 5 by the infrared sensor 21 on side, and controller 5 controls rotary tray motor 10 and carries Dynamic rotating disk 9 rotates, and the mandarin orange 23 on a upper intelligent holder 4 is followed an intelligent holder 4 and left below bottom discharge door 14 Position, meanwhile, next intelligence holder 4 is followed rotating disk 9 and is rotated into bottom discharge door 14 location below, and controller 5 controls control Next mandarin orange 23 is put on following next intelligence holder 4 by feed arrangement 2 processed；The most constantly circulation.
In order to implement the cyclic process utilizing mechanical hand 3 to mandarin orange 23, controller 5 controls feed arrangement 2 by first Citrus chachiensis Hort. After son 23 is put on the first intelligence holder 37 on rotating disk 9；First mandarin orange 23 of the first intelligence holder 37 is other close to rotating disk 9 First infrared sensor 29 on limit, its signal is transferred to controller 5 by the first infrared sensor 29, and controller 5 controls rotating disk electricity Machine 10 drives rotating disk 9 to rotate；When the first intelligence holder 37 equipped with first mandarin orange 23 turns to adding of cutting manipulator 6 When station is put, first mandarin orange 23 of the first intelligence holder 37 is close to second infrared sensor 30 on rotating disk 9 side, and second is infrared Its signal is transferred to controller 5 by sensor 30, and controller 5 controls rotary tray motor 10 and stops；Meanwhile, the second intelligence on rotating disk 9 Energy holder 38 is also followed rotating disk 9 and is turned to the blanking position of bottom discharge door 14；Controller 5 controls feed arrangement 2 by second Citrus chachiensis Hort. Son 23 is put on the second intelligence holder 38 on rotating disk 9；When the first intelligence holder 37 equipped with first mandarin orange 23 turns to During the Working position of skull patch mechanical hand 7, first mandarin orange 23 of the first intelligence holder 37 is close to the 3rd infrared biography on rotating disk 9 side Sensor 31, its signal is transferred to controller 5 by the 3rd infrared sensor 31, and controller 5 controls rotary tray motor 10 and stops；Meanwhile, The 3rd intelligence holder 39 on rotating disk 9 is also followed rotating disk 9 and is turned to the blanking position of bottom discharge door 14；Controller 5 controls charging 3rd mandarin orange 23 is put on the 3rd intelligence holder 39 on rotating disk 9 by device 2；When the first intelligence equipped with first mandarin orange 23 When energy holder 37 turns to the Working position of peel mechanical hand 8, first mandarin orange 23 of the first intelligence holder 37 is other close to rotating disk 9 4th infrared sensor 32 on limit, its signal is transferred to controller 5 by the 4th infrared sensor 32, and controller 5 controls rotating disk electricity Machine 10 stops；Meanwhile, the 4th intelligence holder 40 on rotating disk 9 is also followed rotating disk 9 and is turned to the blanking position of bottom discharge door 14；Control Device 5 processed controls on the 4th intelligence holder 40 that the 4th mandarin orange 23 is put on rotating disk 9 by feed arrangement 2；When the first intelligence folder After the Citrus chachiensis Hort. C. Suavissima Tanaka of first mandarin orange 23 on seat 37 is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 35, controller 5 controls rotary tray motor 10 and drives rotating disk 9 turns Dynamic, the first intelligence holder 37 returns to feed arrangement 2 initial position below；The most constantly circulation.
In order to control the circulation blanking of the mandarin orange 23 in feed arrangement 2, the top discharge door 13 of feed arrangement 2 includes brake application Door motor 41, upper lock gate 42 and shutter sensor 43, bottom discharge door 14 includes tail gates motor 44 and tail gates 45；On The support of floodgate motor 41 is fixing with hopper 12 to be connected, and the motor shaft of upper lock gate motor 41 is connected with upper lock gate 42, upper lock gate 42 Move with hopper 12 and be connected；The support of tail gates motor 44 and hopper 12 is fixing to be connected, the motor shaft of tail gates motor 44 and Tail gates 45 connect, and tail gates 45 are dynamic with hopper 12 to be connected；Upper lock gate 42 and tail gates 45 are positioned at the blanking of hopper 12 and lead to On road 46, upper lock gate 42 is positioned at the top of tail gates 45, and shutter sensor 43 is installed on hopper 12, and shutter sensor 43 is positioned at Between upper lock gate 42 and tail gates 45；The original state of feed arrangement 2 is: the upper lock gate 42 of top discharge door 13 and bottom discharge door The tail gates 45 of 14 are closed.
During feed arrangement 2 blanking, controller 5 controls upper lock gate motor 41 and drives upper lock gate 42 to open, above upper lock gate 42 First mandarin orange 23 drop on tail gates 45, its information is passed by the shutter sensor 43 between upper lock gate 42 and tail gates 45 Being defeated by controller 5, controller 5 controls upper lock gate motor 41 and drives upper lock gate 42 to cut out；After upper lock gate 42 cuts out, controller 5 is controlled Tail gates motor 44 processed drives tail gates 45 to open, and first mandarin orange 23 between upper lock gate 42 and tail gates 45 drops to first On individual intelligence holder 4；After first mandarin orange 23 drops on first intelligent holder 4, controller 5 controls tail gates motor 44 and carries Dynamic tail gates 45 are closed, and after tail gates 45 are closed, controller 5 controls upper lock gate motor 41 and drives upper lock gate 42 to open, second Mandarin orange 23 drops on tail gates 45；The most constantly circulation.
Each mandarin orange 23 in order to implement to utilize mechanical hand 3 that circulation drops to intelligence holder 4 is circulated processing, controls Device 5 controls tail gates motor 44 and drives tail gates 45 to open, and the 3rd mandarin orange 23 of feed arrangement 2 drops to the 3rd intelligence folder While on seat 4, controller 5 controls cutting manipulator 6 and cuts the Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on second intelligent holder 4； Meanwhile, controller 5 controls skull patch mechanical hand 7 by three lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip ofves of mandarin orange 23 on first intelligent holder 4.
Each mandarin orange 23 in order to implement to utilize mechanical hand 3 that circulation drops to intelligence holder 4 is circulated processing, controls Device 5 controls tail gates motor 44 and drives tail gates 45 to open, and the 4th mandarin orange 23 of feed arrangement 2 drops to the 4th intelligence folder While on seat 4, controller 5 controls cutting manipulator 6 and utilizes its cutting wheel 15 the 3rd Citrus chachiensiss Hort. on the 3rd intelligent holder 4 The Citrus chachiensis Hort. C. Suavissima Tanaka of son 23 cuts out the line of cut of three hexagonal angles each other；Meanwhile, controller 5 controls skull patch mechanical hand 7 and utilizes its skull patch Pincers 16 are by three lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip ofves of second mandarin orange 23 on second intelligent holder 4；Meanwhile, peel mechanical hand 8 utilizes its fruit The sarcocarp of first mandarin orange 23 on first intelligent holder 4 is caught sarcocarp case 35 and by first mandarin orange 23 by skin gripper 17 Citrus chachiensis Hort. C. Suavissima Tanaka catch Citrus chachiensis Hort. C. Suavissima Tanaka case 36.
In order to cut out the line of cut of three hexagonal angles each other in the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23, and by three lobe Citrus chachiensis Hort. C. Suavissima Tanakas of mandarin orange 23 Strip off, controller 5 control skull patch mechanical hand 7 by first intelligence holder 37 on mandarin orange 23 the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off while, control Device 5 processed controls cutting manipulator 6 and the Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on the second intelligence holder 38 is cut out the first line of cut；Controller 5 Control skull patch mechanical hand 7 is by while the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on the first intelligence holder 37, and controller 5 controls cutting Mechanical hand 6 cuts out the second line of cut to the Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on the second intelligence holder 38；Controller 5 controls skull patch mechanical hand 7 by while the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on the first intelligence holder 37, and controller 5 controls cutting manipulator 6 to second The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on intelligence holder 38 cuts out the 3rd line of cut.Controller 5 controls cutting manipulator 6 to the first intelligence folder After the Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on seat 37 cuts out Article 1 the first line of cut, controller 5 controls the rotation of the first intelligence holder 37 Motor 19 drives its swivel plate 24 rotating holder 18 to rotate hexagonal angle, and swivel plate 24 followed by the mandarin orange 23 on this rotation holder 18 Rotating hexagonal angle, after swivel plate 24 rotates hexagonal angle stopping, controller 5 controls cutting manipulator 6 to first first intelligence folder The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on seat 37 cuts, and the Citrus chachiensis Hort. C. Suavissima Tanaka in mandarin orange 23 cuts out Article 2 with Article 1 the first line of cut each other Second line of cut of hexagonal angle；After second line of cut well cutting, controller 5 controls electric rotating machine 19 and the rotation of holder 18 is rotated Flap 24 rotates hexagonal angle, and the mandarin orange 23 on rotation holder 18 is followed its swivel plate 24 and rotated hexagonal angle；This swivel plate 24 rotates After hexagonal angle stops, controller 5 controls the cutting manipulator 6 Citrus chachiensis Hort. C. Suavissima Tanaka cutting to the mandarin orange 23 on the first intelligence holder 37, in Citrus chachiensis Hort. The Citrus chachiensis Hort. C. Suavissima Tanaka of son 23 cuts out the 3rd line of cut of Article 3 and Article 2 the second line of cut hexagonal angle each other.Cutting manipulator 6 carries When its cutting wheel 15 cutting first line of cut of mandarin orange 23 Citrus chachiensis Hort. C. Suavissima Tanaka dynamic, the second line of cut and three lines of cut, cutting wheel 15 shifting Dynamic track is identical.
For the Citrus chachiensis Hort. C. Suavissima Tanaka strip off by three lobes hexagonal angle each other, controller 5 controls skull patch mechanical hand 7 by the first intelligence holder 37 After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of upper mandarin orange 23；Controller 5 controls electric rotating machine 19 and the swivel plate 24 of holder 18 is rotated rotates Hexagonal angle, rotates the mandarin orange 23 on holder 18 and follows its swivel plate 24 and rotate hexagonal angle, and this swivel plate 24 rotates hexagonal angle to be stopped After, controller 5 controls skull patch mechanical hand 7 by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on the first intelligence holder 37；Second line of cut After well cutting, controller 5 controls electric rotating machine 19 and the swivel plate 24 of holder 18 is rotated rotates hexagonal angle, rotates on holder 18 Mandarin orange 23 follow its swivel plate 24 and rotate hexagonal angle；After this swivel plate 24 rotates hexagonal angle stopping, controller 5 controls skull patch machine Tool hands 7 is by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on the first intelligence holder 37.Controller 5 controls skull patch mechanical hand 7 by the first intelligence Can be on holder 37 during the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23, meanwhile, controller 5 controls cutting manipulator 6 to the second intelligence holder The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange 23 on 38 cuts out the first line of cut；On first intelligence holder 37 first lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 be stripped with And second intelligence holder 38 on mandarin orange 23 Citrus chachiensis Hort. C. Suavissima Tanaka the first line of cut well cutting after, controller 5 control first intelligence holder The electric rotating machine 19 of 37 is rotated the swivel plate 24 of holder 18 and rotates hexagonal angle, rotates the mandarin orange 23 on holder 18 and follows its rotation Flap 24 rotates hexagonal angle, and after this swivel plate 24 rotates hexagonal angle stopping, controller 5 controls skull patch mechanical hand 7 by the first intelligence Second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange 23 on holder 37；Meanwhile, controller 5 control second intelligence holder 38 electric rotating machine 19 drive Its swivel plate 24 rotating holder 18 rotates hexagonal angle, and the mandarin orange 23 on this rotation holder 18 is followed swivel plate 24 and rotated 120 ° Angle, after swivel plate 24 rotates hexagonal angle stopping, controller 5 controls the cutting manipulator 6 mandarin orange 23 on the second intelligence holder 38 Citrus chachiensis Hort. C. Suavissima Tanaka cut out the second line of cut；On first intelligence holder 37, the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is stripped and the second intelligence folder After mandarin orange 23 second line of cut well cutting on seat 38, controller 5 controls the electric rotating machine 19 of the first intelligence holder 37 and drives rotation The swivel plate 24 turning holder 18 rotates hexagonal angle, and the mandarin orange 23 on rotation holder 18 is followed its swivel plate 24 and rotated hexagonal angle, should After swivel plate 24 rotates hexagonal angle stopping, controller 5 controls skull patch mechanical hand 7 by the on the first intelligence holder 37 the 3rd of mandarin orange 23 the Lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；Meanwhile, controller 5 control second intelligence holder 38 electric rotating machine 19 drive its rotate holder 18 swivel plate 24 rotate hexagonal angle, and the mandarin orange 23 on this rotation holder 18 is followed swivel plate 24 and rotated hexagonal angle；Swivel plate 24 rotates hexagonal angle After stopping, controller 5 controls the Citrus chachiensis Hort. C. Suavissima Tanaka of the cutting manipulator 6 mandarin orange 23 on the second intelligence holder 38 and cuts out the 3rd cutting Line.Skull patch mechanical hand 7 drives its skull patch to clamp the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka of 16 strip off mandarin oranges 23, the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka and the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka, The track that skull patch pincers 16 move is identical.
In order to be taken out by the sarcocarp of mandarin orange 23, peel mechanical hand 8 is provided with bark press tool hands 47, and bark press tool hands 47 includes Telescope motor 48 and pressure leather point 49, the support of telescope motor 48 is connected with the swing arm 50 with peel mechanical hand 8, telescope motor 48 Motor shaft with pressure leather point 49 be connected；Telescope motor 48 is connected with controller 5 by pawl control line.Peel mechanical hand 8 captures Citrus chachiensis Hort. Son 23 sarcocarp time, controller 5 first controls intelligence holder 4 folder motor 56 work, press from both sides motor 56 drive left holder 25 to move pine Folder, then controller 5 controls the telescope motor 48 of bark press tool hands 47 and works, and telescope motor 48 band dynamic pressure leather point 49 stretches out, profit Pushing down with pressure leather point 49 on intelligence holder 4 by the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23, the peel gripper 17 of recycling peel mechanical hand 8 is by mandarin orange The sarcocarp of 23 catches in sarcocarp case 35；After the sarcocarp of mandarin orange 23 is caught sarcocarp case 35 by peel gripper 17, controller 5 controls The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36 by peel gripper 17 again.
In order to implement the cyclic process of mandarin orange 23, being separated with Citrus chachiensis Hort. C. Suavissima Tanaka by the sarcocarp of mandarin orange, the first intelligence holder 37 moves to During the Working position of peel mechanical hand 8, controller 5 controls the peel gripper 17 of peel mechanical hand 8 and is moved to by initial position The position of the mandarin orange 23 of one intelligence holder 37, the folder motor 56 that controller 5 controls on the first intelligence holder 37 works, and drives left folder Seat 25 unclamps with right holder 26, then controls peel gripper 17 and is caught by the sarcocarp of first mandarin orange 23 of the first intelligence holder 37 Sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36；
After the sarcocarp of first mandarin orange 23 is caught sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36, controller 5 controls peel and grabs Pawl 17 resets to initial position；After peel gripper 17 resets to initial position, the second intelligence holder 38 moves to peel mechanical hand 8 Working position time, controller 5 controls the peel gripper 17 of peel mechanical hand 8 and is moved to the second intelligence holder 38 by initial position The position of mandarin orange 23, the folder motor 56 that controller 5 controls on the second intelligence holder 38 works, and drives left holder 25 and right holder 26 unclamp, then control peel gripper 17 sarcocarp of second mandarin orange 23 of the second intelligence holder 38 is caught sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36；
After the sarcocarp of second mandarin orange 23 is caught sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36, controller 5 controls peel and grabs Pawl 17 resets to initial position；After peel gripper 17 resets to initial position, the 3rd intelligence holder 39 moves to peel mechanical hand 8 Working position time, controller 5 controls the peel gripper 17 of peel mechanical hand 8 and is moved to the 3rd intelligence holder 39 by initial position The position of mandarin orange 23, the folder motor 56 that controller 5 controls on the 3rd intelligence holder 39 works, and drives left holder 25 and right holder 26 unclamp, then control peel gripper 17 sarcocarp of the 3rd mandarin orange 23 of the 3rd intelligence holder 39 is caught sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36；
After the sarcocarp of the 3rd mandarin orange 23 is caught sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36, controller 5 controls peel and grabs Pawl 17 resets to initial position；After peel gripper 17 resets to initial position, the 4th intelligence holder 40 moves to peel mechanical hand 8 Working position time, controller 5 controls the peel gripper 17 of peel mechanical hand 8 and is moved to the 4th intelligence holder 40 by initial position The position of mandarin orange 23, the folder motor 56 that controller 5 controls on the 4th intelligence holder 40 works, and drives left holder 25 and right holder 26 unclamp, then control peel gripper 17 sarcocarp of the 4th mandarin orange 23 of the 4th intelligence holder 40 is caught sarcocarp case 35 and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case 36；The most constantly circulation.
Being opened by Citrus chachiensis Hort. C. Suavissima Tanaka to utilize the skull patch of skull patch mechanical hand 7 to clamp 16, the skull patch pincers 16 of skull patch mechanical hand 7 include pincers Frame 51, epithelium pincers 52, hypodermis pincers 53 and pincers motor 54, epithelium pincers 52 are clamped by hinge hypodermis 53 hinged, clamp the machine of motor 54 Seat is connected with tong holder 51, and tong holder 51 is connected with the pivoted arm 55 of skull patch mechanical hand 7, the pincers motor shaft of motor 54 and epithelium clamp 52 or Hypodermis pincers 53 connection, pincers motor 54 is connected with controller 5 by pincers control line.
When the skull patch of skull patch mechanical hand 7 clamps 16 strip off Citrus chachiensis Hort. C. Suavissima Tanaka, controller 5 controls skull patch pincers 16 and is moved to intelligence by initial position Can the position of mandarin orange 23 on holder 4, then control pincers motor 54 and work, utilize pincers motor 54 to drive epithelium pincers 52 or hypodermis First lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is vised and digs by pincers 53；After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is dug, controller 5 controls skull patch Pincers 16 move to the position of the mandarin orange 23 on intelligence holder 4, then utilize pincers motor 54 to drive epithelium pincers 52 or hypodermis pincers 53 Second lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is vised and digs；After second lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange 23 is dug, controller 5 controls skull patch pincers 16 Moving to the position of mandarin orange 23 on intelligence holder 4, recycling pincers motor 54 drives epithelium pincers 52 or hypodermis pincers 53 by mandarin orange The 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka of 23 vises and digs.

Claims (10)

1. the using method of Pericarpium Citri Reticulatae intelligent robot, Pericarpium Citri Reticulatae intelligent robot, include rotating-table apparatus (1), charging Device (2), mechanical hand (3), intelligence holder (4) and controller (5)；Mechanical hand (3) includes cutting manipulator (6), skull patch Mechanical hand (7) and peel mechanical hand (8), cutting manipulator (6), skull patch mechanical hand (7) and peel mechanical hand (8) are around turning Dish device (1) is arranged；Rotating-table apparatus (1) includes rotating disk (9), rotary tray motor (10), frame (11) and intelligence holder (4), Feed arrangement (2) includes hopper (12), top discharge door (13) and bottom discharge door (14), and cutting manipulator (6) is provided with cutting Wheel (15), skull patch mechanical hand (7) is provided with skull patch pincers (16), and peel mechanical hand (8) is provided with peel gripper (17)；Intelligence holder (4) Including rotation holder (18) and electric rotating machine (19), the support of electric rotating machine (19) is connected with rotating disk (9), electric rotating machine (19) motor shaft is connected with rotating holder (18), rotates holder (18) and is provided with induction pieces (20)；Controller (5) is provided with infrared biography Sensor (21) and inductive switch (22)；Infrared sensor (21) and inductive switch (22) are installed on the machine on rotating disk (9) side On frame (11), infrared sensor (21) and inductive switch (22) are positioned at intelligence holder (4) side；Infrared sensor (21) wraps The first infrared sensor (29), the second infrared sensor (30), the 3rd infrared sensor (31) and the 4th infrared sensing are included Device (32), inductive switch (22) includes the first inductive switch (33) and the second inductive switch (34)；Rotate holder (18) Induction pieces (20) is provided with three, and three induction pieces (20) are distributed on the edge of the swivel plate (24) rotating holder (18)；Intelligence Holder (4) includes the first intelligence holder (37), the second intelligence holder (38), the 3rd intelligence holder (39) and the 4th intelligence folder Seat (40), the initial position of the first intelligence holder (37) is placed exactly in the blanking position of the bottom discharge door (14) of feed arrangement (2)；
It is characterized in that: the work flow of the using method of described Pericarpium Citri Reticulatae intelligent robot specifically:
Blanking: controller (5) controls the first intelligence folder that first mandarin orange (23) is put on rotating disk (9) by feed arrangement (2) On seat (37), after first mandarin orange (23) enters bottom discharge door (14) the first intelligence holder (37) below, the first intelligence holder (37) its signal is transferred to controller (5) by first infrared sensor (29) on side；
Cutting Citrus chachiensis Hort. C. Suavissima Tanaka: to after in the first intelligence holder (37) under mandarin orange (23), controller (5) controls the rotating disk of rotating-table apparatus (1) Motor (10) drives the first intelligence holder (37) on rotating disk (9) to rotate, and the first intelligence holder (37) enters cutting manipulator (6) Working position time, the mandarin orange (23) in the first intelligence holder (37) enters the detection range of the second infrared sensor (30), the Its signal is transferred to controller (5) by two infrared sensors (30), and controller (5) controls rotary tray motor (10) and stops；Meanwhile, rotation Turn the first inductive switch (33) close to rotating disk (9) side of first induction pieces (20) on the swivel plate (24) of holder (18), Its signal is transferred to controller (5) by the first inductive switch (33)；Controller (5) controls cutting manipulator (6) in the first intelligence The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange (23) on holder (37) cuts out the first line of cut；The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is cut to the first line of cut After, controller (5) controls electric rotating machine (19) and plate (24) rotation is rotated, and rotation followed by the mandarin orange (23) rotated on holder (18) Flap (24) rotates, and second induction pieces (20) on swivel plate (24) is close to first inductive switch (33) on rotating disk (9) side Time, its signal is transferred to controller (5) by the first inductive switch (33), and controller (5) controls electric rotating machine (19) and stops, and rotates Plate (24) stops operating, and controller (5) controls the Citrus chachiensis Hort. C. Suavissima Tanaka of the cutting manipulator (6) mandarin orange (23) in the first intelligence holder (37) Cut out the second line of cut；After the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is cut to the second line of cut, controller (5) controls electric rotating machine (19) Plate (24) is rotated rotate, rotates the mandarin orange (23) on holder (18) and follow swivel plate (24) rotation, on swivel plate (24) When 3rd induction pieces (20) is close to the first inductive switch (33) on rotating disk (9) side, the first inductive switch (33) is by its signal Being transferred to controller (5), controller (5) controls electric rotating machine (19) and stops, and swivel plate (24) stops operating, and controller (5) is controlled The Citrus chachiensis Hort. C. Suavissima Tanaka of the cutting manipulator processed (6) mandarin orange (23) in the first intelligence holder (37) cuts out the 3rd line of cut；
Strip off Citrus chachiensis Hort. C. Suavissima Tanaka: after the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is cut to the 3rd line of cut, controller (5) controls the rotation of rotating-table apparatus (1) Rotating motor (19) drives the first intelligence holder (37) on rotating disk (9) to follow rotating disk (9) rotation, and the first intelligence holder (37) enters During the Working position of skull patch mechanical hand (7), the mandarin orange (23) in the first intelligence holder (37) enters the 3rd infrared sensor (31) Detection range, its signal is transferred to controller (5) by the 3rd infrared sensor (31), and controller (5) controls rotary tray motor (10) stop；Meanwhile, first induction pieces (20) on swivel plate (24) is close to second inductive switch on rotating disk (9) side (34), its signal is transferred to controller (5) by the second inductive switch (34), and controller (5) controls skull patch mechanical hand (7) by first First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of the upper mandarin orange (23) of intelligence holder (37)；After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is stripped, controller (5) Control electric rotating machine (19) and plate (24) rotation is rotated, rotate the mandarin orange (23) on holder (18) and follow swivel plate (24) turn Dynamic, when second induction pieces (20) on swivel plate (24) is close to the second inductive switch (34) on rotating disk (9) side, the second sensing Its signal is transferred to controller (5) by switch (34), and controller (5) controls electric rotating machine (19) and stops, and swivel plate (24) stops Rotating, after swivel plate (24) stops operating, controller (5) controls skull patch mechanical hand (7) by the first upper mandarin orange of intelligence holder (37) (23) the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；After second lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is stripped, controller (5) controls electric rotating machine (19) band Dynamic swivel plate (24) rotates, and rotates the mandarin orange (23) on holder (18) and follows swivel plate (24) and rotate, the on swivel plate (24) When three induction pieces (20) are close to the second inductive switch (34) on rotating disk (9) side, its signal is passed by the second inductive switch (34) Being defeated by controller (5), controller (5) controls electric rotating machine (19) and stops, and swivel plate (24) stops operating, and swivel plate (24) stops After rotation, controller (5) controls the skull patch mechanical hand (7) the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka stripping by the first upper mandarin orange (23) of intelligence holder (37) Open；
Taking out Citrus chachiensis Hort. C. Suavissima Tanaka: after three lobe Citrus chachiensis Hort. C. Suavissima Tanakas of first mandarin orange (23) are stripped, controller (5) controls rotary tray motor (10) drive and turns Dish (9) rotates；When the first intelligence holder (37) equipped with mandarin orange (23) turns to the Working position of peel mechanical hand (8), the Mandarin orange (23) in one intelligence holder (37) is close to the 4th infrared sensor (32) on rotating disk (9) side；4th infrared sensor (32) its signal being transferred to controller (5), controller (5) controls peel mechanical hand (8) and utilizes its peel gripper (17) by the The sarcocarp of the mandarin orange (23) in one intelligence holder (37) is caught in sarcocarp case (35)；The sarcocarp of mandarin orange (23) is caught sarcocarp case (35), after, controller (5) controls peel mechanical hand (8) and utilizes its peel gripper (17) by the mandarin orange in the first intelligence holder (37) (23) Citrus chachiensis Hort. C. Suavissima Tanaka is caught in Citrus chachiensis Hort. C. Suavissima Tanaka case (36)；The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange (23) in the first intelligence holder (37) is caught in Citrus chachiensis Hort. C. Suavissima Tanaka case (36) After, controller (5) controls rotary tray motor (10) and drives rotating disk (9) to rotate, and the first intelligence holder (37) returns under feed arrangement (2) The initial position in face；The most constantly circulation.
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, it is characterised in that: described rotating disk electricity When machine (10) drives rotating disk (9) to rotate, the angle that rotating disk (9) rotates every time is identical, and intelligence holder (4) is followed rotating disk (9) and rotated Angle is identical；Rotating disk (9) rotates after stopping, and all has an intelligent holder (4) close to a corresponding infrared sensor (21).
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, it is characterised in that: described rotating disk electricity When machine (10) drives rotating disk (9) to rotate, the first intelligence holder (37) is followed rotating disk (9) and is opened by the blanking position of bottom discharge door (14) Beginning to rotate, the first intelligence holder (37) stops after rotating 90 ° of angles；When first intelligence holder (37) stops operating, the first intelligence folder Seat (37) is close to the second infrared sensor (30)；First intelligence holder (37) close to after the second infrared sensor (30), the first intelligence Stopping behind 90 ° of angles of rotating disk (9) rotation can be followed by holder (37), when the first intelligence holder (37) stops operating, the first intelligence holder (37) close to the 3rd infrared sensor (31)；First intelligence holder (37) close to after the 3rd infrared sensor (31), the first intelligence Holder (37) is followed after rotating disk (9) rotates 90 ° of angles and is stopped, when the first intelligence holder (37) stops operating, and the first intelligence holder (37) close to the 4th infrared sensor (32)；First intelligence holder (37) close to after the 4th infrared sensor (32), the first intelligence Holder (37) is followed after rotating disk (9) rotates 90 ° of angles and is stopped, and the first intelligence holder (37) returns to initial position, the first intelligence holder (37) close to the first infrared sensor (29)；The most constantly circulation.
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, it is characterised in that: described rotating disk dress When putting rotating disk (9) rotation of (1), the angle that rotating disk (9) rotates every time is identical, after rotating disk (9) rotates stopping every time, all has one Intelligence holder (4) is placed exactly in the blanking position of the bottom discharge door (14) of feed arrangement (2), makes mandarin orange (23) can drop to intelligence In holder (4).
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, it is characterised in that: described controller (5) controlling rotary tray motor (10) drives the upper intelligent holder (4) on rotating disk (9) to turn to the bottom discharge of feed arrangement (2) When the blanking position of door (14) stops, controller (5) controls feed arrangement (2) and a upper mandarin orange (23) is put into following upper On one intelligent holder (4)；After a upper intelligent holder (4) puts into mandarin orange (23), on a upper intelligent holder (4), side is red Its signal is transferred to controller (5) by outer sensor (21), and controller (5) controls rotary tray motor (10) and drives rotating disk (9) to rotate, Mandarin orange (23) on a upper intelligent holder (4) is followed an intelligent holder (4) and is left bottom discharge door (14) location below, Meanwhile, next intelligence holder (4) is followed rotating disk (9) and is rotated into bottom discharge door (14) location below, and controller (5) controls Control feed arrangement (2) next mandarin orange (23) to be put on following next intelligence holder (4)；The most constantly circulation.
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, it is characterised in that: described controller (5) after controlling in the first intelligence holder (37) that first mandarin orange (23) is put on rotating disk (9) by feed arrangement (2)；First First mandarin orange (23) of intelligence holder (37) is close to first infrared sensor (29) on rotating disk (9) side, the first infrared sensing Its signal is transferred to controller (5) by device (29), and controller (5) controls rotary tray motor (10) and drives rotating disk (9) to rotate；When When the first intelligence holder (37) equipped with first mandarin orange (23) turns to the Working position of cutting manipulator (6), the first intelligence First mandarin orange (23) of holder (37) is close to second infrared sensor (30) on rotating disk (9) side, the second infrared sensor (30) its signal being transferred to controller (5), controller (5) controls rotary tray motor (10) and stops；Meanwhile, on rotating disk (9) Two intelligence holder (38) are also followed rotating disk (9) and are turned to the blanking position of bottom discharge door (14)；Controller (5) controls feed arrangement (2) second mandarin orange (23) is put in the second intelligence holder (38) on rotating disk (9)；When equipped with first mandarin orange (23) The first intelligence holder (37) when turning to the Working position of skull patch mechanical hand (7), first Citrus chachiensis Hort. of the first intelligence holder (37) Son (23) is close to the 3rd infrared sensor (31) on rotating disk (9) side, and its signal is transferred to control by the 3rd infrared sensor (31) Device processed (5), controller (5) controls rotary tray motor (10) and stops；Meanwhile, the 3rd intelligence holder (39) on rotating disk (9) is also followed Rotating disk (9) turns to the blanking position of bottom discharge door (14)；Controller (5) controls feed arrangement (2) by the 3rd mandarin orange (23) Put in the 3rd intelligence holder (39) on rotating disk (9)；When the first intelligence holder (37) equipped with first mandarin orange (23) turns When moving the Working position of peel mechanical hand (8), first mandarin orange (23) of the first intelligence holder (37) is close to rotating disk (9) side The 4th infrared sensor (32), its signal is transferred to controller (5) by the 4th infrared sensor (32), and controller (5) controls Rotary tray motor (10) stops；Meanwhile, the 4th intelligence holder (40) on rotating disk (9) is also followed rotating disk (9) and is turned to bottom discharge door (14) blanking position；Controller (5) controls feed arrangement (2) and the 4th mandarin orange (23) is put into the 4th on rotating disk (9) In intelligence holder (40)；After the Citrus chachiensis Hort. C. Suavissima Tanaka of first mandarin orange (23) in the first intelligence holder (37) is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (35), Controller (5) controls rotary tray motor (10) and drives rotating disk (9) to rotate, and the first intelligence holder (37) returns to feed arrangement (2) below Initial position；The most constantly circulation.
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, in order to control in feed arrangement (2) The circulation blanking of mandarin orange (23), the top discharge door (13) of feed arrangement (2) include upper lock gate motor (41), upper lock gate (42) with And shutter sensor (43), bottom discharge door (14) includes tail gates motor (44) and tail gates (45)；It is characterized in that: institute During feed arrangement (2) blanking stated, controller (5) controls upper lock gate motor (41) and drives upper lock gate (42) to open, upper lock gate (42) first mandarin orange (23) above drops on tail gates (45), and the gate between upper lock gate (42) and tail gates (45) passes Its information is transferred to controller (5) by sensor (43), and controller (5) controls upper lock gate motor (41) and drives upper lock gate (42) to close Close；After upper lock gate (42) cuts out, controller (5) controls tail gates motor (44) and drives tail gates (45) to open, upper lock gate (42) And first mandarin orange (23) between tail gates (45) drops on first intelligent holder (4)；First mandarin orange (23) is fallen After on first intelligent holder (4), controller (5) controls tail gates motor (44) and drives tail gates (45) to cut out, tail gates (45), after closing, controller (5) controls upper lock gate motor (41) and drives upper lock gate (42) to open, and second mandarin orange (23) drops to On tail gates (45)；The most constantly circulation.
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, in order to take the sarcocarp of mandarin orange (23) Going out, peel mechanical hand (8) is provided with bark press tool hands (47), and bark press tool hands (47) includes telescope motor (48) and pressure leather point (49), the support of telescope motor (48) is connected with the swing arm (50) with peel mechanical hand (8), the motor shaft of telescope motor (48) with Pressure leather point (49) connects；It is characterized in that: when described peel mechanical hand (8) captures the sarcocarp of mandarin orange (23), controller (5) is first controlled Folder motor (56) work of system intelligence holder (4), folder motor (56) drives left holder (25) mobile pine folder, then controller (5) Controlling telescope motor (48) work of bark press tool hands (47), telescope motor (48) band dynamic pressure leather point (49) stretches out, and utilizes pressure skin The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is pushed down in intelligence holder (4) by head (49), and the peel gripper (17) of recycling peel mechanical hand (8) will The sarcocarp of mandarin orange (23) catches in sarcocarp case (35)；The sarcocarp of mandarin orange (23) is caught sarcocarp case (35) by peel gripper (17) After, controller (5) controls peel gripper (17) and again the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36).
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, the rotation holder of intelligence holder (4) (18) swivel plate (24), left holder (25), right holder (26) and folder motor (56) are included, it is characterised in that: described the When one intelligence holder (37) moves to the Working position of peel mechanical hand (8), controller (5) controls the fruit of peel mechanical hand (8) Skin gripper (17) is moved to the position of the mandarin orange (23) of the first intelligence holder (37) by initial position, and controller (5) controls first Folder motor (56) work in intelligence holder (37), drives left holder (25) to unclamp with right holder (26), then controls peel and grabs The sarcocarp of first mandarin orange (23) of the first intelligence holder (37) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. by pawl (17) Leather trunk (36)；
After the sarcocarp of first mandarin orange (23) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36), controller (5) is controlled Peel gripper (17) processed resets to initial position；After peel gripper (17) resets to initial position, the second intelligence holder (38) is moved When moving the Working position of peel mechanical hand (8), controller (5) controls the peel gripper (17) of peel mechanical hand (8) by initially Position moves to the position of the mandarin orange (23) of the second intelligence holder (38), and controller (5) controls in the second intelligence holder (38) Folder motor (56) work, drives left holder (25) to unclamp with right holder (26), then controls peel gripper (17) by the second intelligence The sarcocarp of second mandarin orange (23) of holder (38) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36)；
After the sarcocarp of second mandarin orange (23) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36), controller (5) is controlled Peel gripper (17) processed resets to initial position；After peel gripper (17) resets to initial position, the 3rd intelligence holder (39) is moved When moving the Working position of peel mechanical hand (8), controller (5) controls the peel gripper (17) of peel mechanical hand (8) by initially Position moves to the position of the mandarin orange (23) of the 3rd intelligence holder (39), and controller (5) controls in the 3rd intelligence holder (39) Folder motor (56) work, drives left holder (25) to unclamp with right holder (26), then controls peel gripper (17) by the 3rd intelligence The sarcocarp of the 3rd mandarin orange (23) of holder (39) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36)；
After the sarcocarp of the 3rd mandarin orange (23) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36), controller (5) is controlled Peel gripper (17) processed resets to initial position；After peel gripper (17) resets to initial position, the 4th intelligence holder (40) is moved When moving the Working position of peel mechanical hand (8), controller (5) controls the peel gripper (17) of peel mechanical hand (8) by initially Position moves to the position of the mandarin orange (23) of the 4th intelligence holder (40), and controller (5) controls in the 4th intelligence holder (40) Folder motor (56) work, drives left holder (25) to unclamp with right holder (26), then controls peel gripper (17) by the 4th intelligence The sarcocarp of the 4th mandarin orange (23) of holder (40) is caught sarcocarp case (35) and Citrus chachiensis Hort. C. Suavissima Tanaka is caught Citrus chachiensis Hort. C. Suavissima Tanaka case (36)；The most constantly Circulation.
The using method of Pericarpium Citri Reticulatae intelligent robot the most according to claim 1, in order to utilize skull patch mechanical hand (7) Skull patch pincers (16) Citrus chachiensis Hort. C. Suavissima Tanaka is opened, the skull patch of skull patch mechanical hand (7) pincers (16) include tong holder (51), epithelium pincers (52), under Skin pincers (53) and pincers motor (54), it is characterised in that: when the skull patch of described skull patch mechanical hand (7) clamps (16) strip off Citrus chachiensis Hort. C. Suavissima Tanaka, Controller (5) controls skull patch pincers (16) and is moved to the position of mandarin orange (23) in intelligence holder (4) by initial position, then controls Pincers motor (54) work, utilizes pincers motor (54) to drive epithelium pincers (52) or hypodermis pincers (53) by the first lobe Citrus chachiensis Hort. of mandarin orange (23) Skin vises and digs；After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is dug, controller (5) controls skull patch pincers (16) and moves to intelligence folder The position of the mandarin orange (23) on seat (4), then utilizes pincers motor (54) to drive epithelium pincers (52) or hypodermis pincers (53) by mandarin orange (23) the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka vises and digs；After second lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is dug, controller (5) controls skull patch pincers (16) move to the position of mandarin orange (23) in intelligence holder (4), recycling pincers motor (54) drive epithelium pincers (52) or under 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange (23) is vised and digs by skin pincers (53).
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