CN106307561B - 柑子剥皮机器人智能爪的使用方法 - Google Patents
柑子剥皮机器人智能爪的使用方法 Download PDFInfo
- Publication number
- CN106307561B CN106307561B CN201610711637.0A CN201610711637A CN106307561B CN 106307561 B CN106307561 B CN 106307561B CN 201610711637 A CN201610711637 A CN 201610711637A CN 106307561 B CN106307561 B CN 106307561B
- Authority
- CN
- China
- Prior art keywords
- pulp
- gripper
- controller
- mandarin orange
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241001672694 Citrus reticulata Species 0.000 title claims abstract description 241
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000010985 leather Substances 0.000 claims abstract description 40
- 238000007599 discharging Methods 0.000 claims abstract description 33
- 230000008054 signal transmission Effects 0.000 claims description 56
- 230000006698 induction Effects 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 6
- 230000010355 oscillation Effects 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract description 2
- 230000007306 turnover Effects 0.000 abstract 1
- 206010040844 Skin exfoliation Diseases 0.000 description 118
- 210000003625 skull Anatomy 0.000 description 44
- 210000000080 chela (arthropods) Anatomy 0.000 description 18
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000013011 mating Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610711637.0A CN106307561B (zh) | 2016-08-23 | 2016-08-23 | 柑子剥皮机器人智能爪的使用方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610711637.0A CN106307561B (zh) | 2016-08-23 | 2016-08-23 | 柑子剥皮机器人智能爪的使用方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106307561A CN106307561A (zh) | 2017-01-11 |
CN106307561B true CN106307561B (zh) | 2018-05-04 |
Family
ID=57742170
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610711637.0A Expired - Fee Related CN106307561B (zh) | 2016-08-23 | 2016-08-23 | 柑子剥皮机器人智能爪的使用方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106307561B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108702930B (zh) * | 2018-07-17 | 2020-04-14 | 台州市黄岩八极果蔬专业合作社 | 智能菠萝收割机器人的使用方法 |
CN108991566B (zh) * | 2018-09-28 | 2021-06-25 | 杜海云 | 一种快速取石榴果肉装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2449602Y (zh) * | 2000-07-20 | 2001-09-26 | 招远金王电器有限公司 | 橙子削皮机 |
ES2183737B1 (es) * | 2001-08-03 | 2003-12-16 | Invest De La Ind Agroalimentar | Metodo y dispositivo para la obtencion de rodajas de pulpa de fruta fresca. |
CN202932696U (zh) * | 2012-06-21 | 2013-05-15 | 成都理工大学 | 爪式橙子剥皮机 |
CN203748610U (zh) * | 2013-12-30 | 2014-08-06 | 上海沃迪自动化装备股份有限公司 | 一种柑橘翻皮机构 |
-
2016
- 2016-08-23 CN CN201610711637.0A patent/CN106307561B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN106307561A (zh) | 2017-01-11 |
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Effective date of registration: 20181227 Address after: 233010 409 Wu Wan Road, Yuhui District, Bengbu, Anhui Patentee after: BENGBU JINSHI NEW MATERIAL Co.,Ltd. Address before: 230031 B-1014, 10 floor, business office building, Wo Ye garden, Shushan District, Hefei, Anhui. Patentee before: HEFEI WISDOM LOTUT INTELLECTUAL PROPERTY Co.,Ltd. Effective date of registration: 20181227 Address after: 230031 B-1014, 10 floor, business office building, Wo Ye garden, Shushan District, Hefei, Anhui. Patentee after: HEFEI WISDOM LOTUT INTELLECTUAL PROPERTY Co.,Ltd. Address before: 523907 V-10, four floor, Tianyuan computer city, 199 Sha Tai Road, Humen Town, Dongguan, Guangdong. Patentee before: DONGGUAN HAOQI ENTERPRISE MANAGEMENT SERVICE Co.,Ltd. |
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Effective date of registration: 20190520 Address after: 230000 B-1512, west of Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: ANHUI YINGLONG INDUSTRIAL DESIGN Co.,Ltd. Address before: 233010 409 Wu Wan Road, Yuhui District, Bengbu, Anhui Patentee before: BENGBU JINSHI NEW MATERIAL Co.,Ltd. |
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Effective date of registration: 20191107 Address after: 065400 Dawang Zhuang Cun, Shuyang Town, Xianghe County, Langfang City, Hebei Province Patentee after: Xianghe Jiandong Trade Co.,Ltd. Address before: Ganquan road Shushan District of Hefei City, Anhui Province, 230000 West hillock road to the South Wild Garden commercial office building room B-1512 Patentee before: ANHUI YINGLONG INDUSTRIAL DESIGN Co.,Ltd. |
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Effective date of registration: 20200325 Address after: 233000 Xianghe Home Floor No.9, Xinhuai Road, Dongsheng Street, Longzihu District, Bengbu City, Anhui Province Patentee after: Bengbu Qibang Science and Technology Information Consulting Co.,Ltd. Address before: 065400 Dawang Zhuang Cun, Shuyang Town, Xianghe County, Langfang City, Hebei Province Patentee before: Xianghe Jiandong Trade Co.,Ltd. |
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Effective date of registration: 20210602 Address after: 276000 room 1, 1st floor, building 1, No.2, Kuai Road, Lizhuang Town, Tancheng County, Linyi City, Shandong Province Patentee after: Shandong Deru Education Equipment Co.,Ltd. Address before: 233000 No.9, 1st floor, Xianghe Jiayuan, Xinhuai Road, Dongsheng Street, Longzihu District, Bengbu City, Anhui Province Patentee before: Bengbu Qibang Science and Technology Information Consulting Co.,Ltd. |
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Granted publication date: 20180504 |