CN106307563A - Using method of intelligent clamp seat for mandarin orange peeling robot - Google Patents
Using method of intelligent clamp seat for mandarin orange peeling robot Download PDFInfo
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- CN106307563A CN106307563A CN201610712606.7A CN201610712606A CN106307563A CN 106307563 A CN106307563 A CN 106307563A CN 201610712606 A CN201610712606 A CN 201610712606A CN 106307563 A CN106307563 A CN 106307563A
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- mandarin orange
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- 241001672694 Citrus reticulata Species 0.000 title claims abstract description 392
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000007599 discharging Methods 0.000 claims abstract description 39
- 241000480045 Citrus suavissima Species 0.000 claims description 141
- 210000004247 hand Anatomy 0.000 claims description 99
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 206010040844 Skin exfoliation Diseases 0.000 description 115
- 210000003625 skull Anatomy 0.000 description 48
- 210000000080 chela (arthropods) Anatomy 0.000 description 31
- 230000007423 decrease Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 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
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N7/00—Peeling vegetables or fruit
- A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit
- A23N7/023—Peeling potatoes, apples or similarly shaped vegetables or fruit one by one
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- 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
The invention discloses a using method of an intelligent clamp seat for a mandarin orange peeling robot. The mandarin orange peeling robot comprises a conveyor, a feeding manipulator, a first cutting manipulator, a second cutting manipulator, a first peeling manipulator, a second peeling manipulator, a third peeling manipulator, a discharging manipulator and a controller; the intelligent clamp seat for the mandarin orange peeling robot consists of the intelligent clamp seat which is mounted on a conveying belt of the conveyor; the intelligent clamp seat comprises a seat guide groove, a left clamp seat, a right clamp seat, a left electric push rod, a right electric push rod and a weight sensor; when the intelligent clamp seat for the mandarin orange peeling robot is used, the mandarin orange peeling robot implements the intelligent assembly line automatic processing of cutting mandarin orange peel, overturning slices, and separating the mandarin orange peel from pulp, and improves the processing efficiency of mandarin orange peeling; according to the intelligent clamp seat for the mandarin orange peeling robot, the size of a mandarin orange is calculated according to a mandarin orange weight signal, the stroke of the intelligent clamp seat is controlled, the mandarin orange is tightly clamped on the intelligent clamp seat, and the processing of cutting and overturning the mandarin orange peel of the mandarin orange is implemented by utilizing the mandarin orange peeling robot.
Description
Technical field
The present invention relates to the using method of a kind of Citrus chachiensis Hort. C. Suavissima Tanaka process equipment, the mandarin orange peeling machine of a kind of special stripping Citrus chachiensis Hort. C. Suavissima Tanaka
The using method of device people's intelligence holder.
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；Due to manual efficiency relatively
Low, a kind of mandarin orange peeling machines people for shelling Citrus chachiensis Hort. C. Suavissima Tanaka and the using method of mandarin orange peeling machines people's intelligence holder, 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 a kind of brand-new mandarin orange peeling machines people's intelligence holder
Using method, for intelligence clamping mandarin orange, utilize the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange peeling machines people's strip off mandarin orange, improve the effect of strip off Citrus chachiensis Hort. C. Suavissima Tanaka
Rate.
The technical solution adopted in the present invention is: mandarin orange peeling machines people, include conveyer, charging mechanical hand, first
Cutting manipulator, the second cutting manipulator, the first peeling machine hands, the second peeling machine hands, the 3rd peeling machine hands, discharging machine
Tool hands and controller；Charging mechanical hand, the first cutting manipulator, the second cutting manipulator, the first peeling machine hands, the second stripping
Skin mechanical hand, the 3rd peeling machine hands and discharging mechanical hand are arranged at the side of conveyer；Conveyer includes conveyer belt, master
Driving wheel, follower, motor and frame, drivewheel and follower are installed in frame, and motor is connected with drivewheel, conveyer belt
Being connected with drivewheel and follower, mandarin orange peeling machines people's intelligence holder is by the intelligence folder on the conveyer belt being installed on conveyer
Seat is constituted；Charging mechanical hand is provided with mandarin orange gripper, and the first cutting manipulator is provided with the first cutting wheel, and the second cutting manipulator is provided with
Second cutting wheel, the first peeling machine hands is provided with the first skull patch pincers, and the second peeling machine hands is provided with the second skull patch pincers, the 3rd peeling
Mechanical hand is provided with the 3rd skull patch pincers, and discharging mechanical hand is provided with sarcocarp gripper；Controller is provided with sensor, and sensor is installed on frame
On, sensor is positioned at the lower section of mandarin orange intelligence holder；Controller is by control line and conveyer, charging mechanical hand, the first cutting
Mechanical hand, the second cutting manipulator, the first peeling machine hands, the second peeling machine hands, the 3rd peeling machine hands, discharging mechanical hand
And sensor connects.
The using method of mandarin orange peeling machines people is: utilize mandarin orange peeling machines people to cut out three mutually in the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange
For the line of cut of hexagonal angle, three articles of lines of cut include the first line of cut, the second line of cut and the 3rd line of cut；Then will be in
Article three, the Citrus chachiensis Hort. C. Suavissima Tanaka strip off of line of cut position goes out three lobe Citrus chachiensis Hort. C. Suavissima Tanakas, then is taken out by the sarcocarp of mandarin orange；During work, the conveying of mandarin orange will be set
The station set delivered to by car；Controller is utilized to start mandarin orange peeling machines people work: controller controls charging mechanical hand will conveying
The mandarin orange of car is caught on intelligence holder, and the mandarin orange on intelligence holder is delivered to the Working position of the first cutting manipulator by conveyer,
First cutting manipulator utilizes the first cutting to take turns the Citrus chachiensis Hort. C. Suavissima Tanaka in this mandarin orange and cuts out the line of cut of two angle hexagonal angles each other；Two
After the line of cut well cutting of bar angle hexagonal angle each other, the mandarin orange on intelligence holder is delivered to the second cutting manipulator by conveyer
Working position；After the Working position of the second cutting manipulator delivered to by mandarin orange on intelligence holder, the second cutting manipulator utilizes it
Second cutting is taken turns the Citrus chachiensis Hort. C. Suavissima Tanaka in this mandarin orange and is cut out and the Article 3 line of cut of above-mentioned two line of cut hexagonal angles each other；Article 3
After line of cut well cutting, the mandarin orange on intelligence holder is delivered to the Working position of the first peeling machine hands, the first peeling by conveyer
Mechanical hand utilizes its first skull patch pincers by the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange, conveyer will
The Working position of the second peeling machine hands delivered to by mandarin orange on intelligence holder, and the second peeling machine hands utilizes its second skull patch to clamp will
Second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；After second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange, the mandarin orange on intelligence holder is delivered to the 3rd by conveyer
The Working position of peeling machine hands, the 3rd peeling machine hands utilizes its 3rd skull patch to clamp its 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；3rd lobe
After Citrus chachiensis Hort. C. Suavissima Tanaka strip off strip off, the mandarin orange on intelligence holder is delivered to the Working position of discharging mechanical hand, discharging mechanical hand profit by conveyer
With its sarcocarp gripper, the sarcocarp of mandarin orange is caught in sarcocarp case；Making Citrus chachiensis Hort. C. Suavissima Tanaka separate with the sarcocarp of mandarin orange, Citrus chachiensis Hort. C. Suavissima Tanaka separates with sarcocarp
After Citrus chachiensis Hort. C. Suavissima Tanaka separates, conveyer drives intelligence holder to rotate, and the shrinkage pool making intelligence holder is downward, makes Citrus chachiensis Hort. C. Suavissima Tanaka drop in Citrus chachiensis Hort. C. Suavissima Tanaka case.
The workflow of mandarin orange peeling machines people is as follows: grab Citrus chachiensis Hort. → the first line of cut and the second line of cut processing → the three
Line of cut processing the → the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → separation Citrus chachiensis Hort. C. Suavissima Tanaka；The most constantly
Circulation.
In order to control to expect mechanical hand, the first cutting manipulator, the second cutting manipulator, the first peeling machine hands, the second stripping
Skin mechanical hand, the 3rd peeling machine hands, the degree of freedom of discharging machinery manual task, cut according to grabbing Citrus chachiensis Hort. → the first line of cut and second
Secant processing the → the three line of cut processing the → the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → point
From the locus of Citrus chachiensis Hort. C. Suavissima Tanaka flow process and the needs of processing, by controller establishment discharging mechanical hand, the first cutting manipulator, the
Two cutting manipulators, the first peeling machine hands, the second peeling machine hands, the 3rd peeling machine hands, the operation rail of discharging mechanical hand
Mark program；During work, control discharging mechanical hand, the first cutting manipulator, the second cutting manipulator, the first peeling by controller
Mechanical hand, the second peeling machine hands, the 3rd peeling machine hands, discharging mechanical hand are moved by the operation track arranged.
In order to control to expect mechanical hand, the first cutting manipulator, the second cutting manipulator, the first peeling machine hands, the second stripping
Skin mechanical hand, the 3rd peeling machine hands, the degree of freedom of discharging machinery manual task, cut according to grabbing Citrus chachiensis Hort. → the first line of cut and second
Secant processing the → the three line of cut processing the → the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → point
From the locus of Citrus chachiensis Hort. C. Suavissima Tanaka flow process and the needs of processing, by controller establishment discharging mechanical hand, the first cutting manipulator, the
Two cutting manipulators, the first peeling machine hands, the second peeling machine hands, the 3rd peeling machine hands, the operation rail of discharging mechanical hand
Mark program；During work, control discharging mechanical hand, the first cutting manipulator, the second cutting manipulator, the first peeling by controller
Mechanical hand, the second peeling machine hands, the 3rd peeling machine hands, discharging mechanical hand are moved by the operation track arranged.
Intelligence holder is provided with multiple, and intelligence holder is distributed on conveyer belt surface, and each intelligence holder is provided with shrinkage pool, shrinkage pool
Inside it is provided with elastic network(s), carries out peeling processing with applicable mandarin orange；Distance between each intelligence holder is equal；Intelligence holder is provided with biography
Sense hole, the conveyer belt that the sensing bore of intelligence holder is corresponding is provided with sensing hole, and sensing bore faces toward sensing hole, the centrage of sensing bore
Identical with the centrage of sensing hole；Intelligence holder includes a guide groove, left holder, right holder, left electric pushrod, right electric pushrod
And weight sensor；Left holder is provided with left rail, and right holder is provided with that right guide rail, left rail and right guide rail and seat guide groove are dynamic joins
Closing and connect, the shell of left electric pushrod and the shell of right electric pushrod are fixed with seat guide groove and are connected, and a left side for left electric pushrod is moved
Power head is fixing with left holder to be connected, and the right unit head of right electric pushrod is fixing with right holder to be connected, and seat guide groove is fixed with conveyer belt
Connect；Weight sensor is positioned at the lower section of elastic network(s), and weight sensor contacts with elastic network(s), and weight sensor is sensed by weight
Line is connected with controller, and controller is provided with computer.
The using method of mandarin orange peeling machines people's intelligence holder is: during use, and mandarin orange is grabbed into intelligence by charging mechanical hand
After the elastic network(s) of holder, mandarin orange is placed on weight sensor, and its weight signal is transferred to controller by weight sensor, controls
Device calculates the size shape of mandarin orange according to the weight data of mandarin orange；After controller calculates the size shape of mandarin orange, controller
Controlling left electric pushrod and the work of right electric pushrod, left electric pushrod drives left holder to move to mandarin orange, right electric pushrod band
Dynamic right holder moves to mandarin orange, utilizes left holder and right holder, is clamped in by the mandarin orange being put in elastic network(s) on intelligence holder；Citrus chachiensis Hort.
After son is clamped in intelligence holder, below intelligence holder, its signal is transferred to controller by corresponding sensor, and controller controls defeated
Send machine to drive conveyer belt to rotate, the Working position of the first cutting manipulator will be delivered to by the mandarin orange of intelligence holder clamping；Intelligence folder
After the sarcocarp of the mandarin orange on seat is caught sarcocarp case by discharging mechanical hand, controller controls left electric pushrod and drives left holder and the right side
Electric pushrod drives right holder to reset.
The invention has the beneficial effects as follows: mandarin orange peeling machines people, implement the cutting of mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka, turn over lobe, Citrus chachiensis Hort. C. Suavissima Tanaka and sarcocarp
The intelligent streamline separated is processed automatically, improves the working (machining) efficiency of mandarin orange peeling；Mandarin orange peeling machines people's intelligence holder, makes
During with work, calculate the size of mandarin orange according to mandarin orange weight signal, control the stroke of intelligence holder, mandarin orange is clamped in intelligence folder
On seat, implement cutting and the skull patch processing of mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka.
Accompanying drawing explanation
Fig. 1 is the structural representation of mandarin orange peeling machines people；
Fig. 2 is the structural representation of mandarin orange peeling machines people's intelligence holder.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further detailed:
The structural representation of mandarin orange peeling machines people as shown in Figure 1, mandarin orange peeling machines people, include conveyer 1, charger
Tool hands the 2, first cutting manipulator the 3, second cutting manipulator the 4, first peeling machine hands the 5, second peeling machine hands the 6, the 3rd is shelled
Skin mechanical hand 7, discharging mechanical hand 8 and controller 9；Charging mechanical hand the 2, first cutting manipulator the 3, second cutting manipulator 4,
First peeling machine hands the 5, second peeling machine hands the 6, the 3rd peeling machine hands 7 and discharging mechanical hand 8 are arranged at conveyer 1
Side；Conveyer 1 includes conveyer belt 10, drivewheel 11, follower 12, motor 13 and frame 14, drivewheel 11 and quilt
Driving wheel 12 is installed in frame 14, and drivewheel 11 and follower 12 move with frame 14 and be connected, the support of motor 13 and machine
Frame 14 is fixing to be connected, and the motor shaft of motor 13 is connected with drivewheel 11.Conveyer belt 10 is connected with drivewheel 11 and follower 12；
Charging mechanical hand 2 is provided with mandarin orange gripper 16, and the first cutting manipulator 3 is provided with the first cutting wheel 17, and the second cutting manipulator 4 is provided with
Second cutting wheel 18, the first peeling machine hands 5 is provided with the first skull patch pincers 19, and the second peeling machine hands 6 is provided with the second skull patch pincers 20,
3rd peeling machine hands 7 is provided with the 3rd skull patch pincers 21, and discharging mechanical hand 8 is provided with sarcocarp gripper 22；Controller 9 is provided with sensor
23, sensor 23 is installed in frame 14, and sensor 23 is positioned at the lower section of mandarin orange intelligence holder 15；Sensor 23 passes through control line
Shell with conveyer 1, charging mechanical hand the 2, first cutting manipulator the 3, second cutting manipulator the 4, first peeling machine hands 5, second
Skin mechanical hand the 6, the 3rd peeling machine hands 7, discharging mechanical hand 8 and sensor 23 connect.
In order to implement the intelligent machining of Citrus chachiensis Hort. C. Suavissima Tanaka, charging mechanical hand the 2, first cutting manipulator the 3, second cutting manipulator 4,
First peeling machine hands the 5, second peeling machine hands the 6, the 3rd peeling machine hands 7 and discharging mechanical hand 8, is arranged by said sequence
Side in conveyer belt 10；Sensor 23 includes first sensor the 24, second sensor the 25, the 3rd sensor the 26, the 4th biography
Sensor the 27, the 5th sensor the 28, the 6th sensor 29 and the 7th sensor 30；First sensor 24 is positioned at material mechanical hand 2
The position that operation station is corresponding, the second sensor 25 is positioned at the position that the operation station of the first cutting manipulator 3 is corresponding, and the 3rd passes
Sensor 26 is positioned at the position that the operation station of the second cutting manipulator 4 is corresponding, and the 4th sensor 27 is positioned at the first peeling machine hands 5
Position corresponding to operation station, the 5th sensor 28 is positioned at the position that the operation station of the second peeling machine hands 6 is corresponding, the 6th
Sensor 29 is positioned at the position that the operation station of the 3rd peeling machine hands 7 is corresponding, and the 7th sensor 30 is positioned at discharging mechanical hand 8
The position that operation station is corresponding.
Mandarin orange peeling machines people's intelligence holder as shown in Figure 2, by the intelligence folder on the conveyer belt 10 being installed on conveyer 1
Seat 15 is constituted, and intelligence holder 15 is provided with multiple, and intelligence holder 15 is distributed on conveyer belt 10 zone face, and each intelligence holder 15 is provided with
Shrinkage pool 31, is provided with elastic network(s) 32 in shrinkage pool 31, carry out peeling processing with applicable mandarin orange；Distance phase between each intelligence holder 15
Deng；Intelligence holder 15 is provided with sensing bore 33, and the conveyer belt 10 of sensing bore 33 correspondence of intelligence holder 15 is provided with sensing hole 34, passes
Sense hole 33 is facing to sensing hole 34, and the centrage of sensing bore 33 is identical with the centrage of sensing hole 34；Intelligence holder 15 includes seat
Guide groove 44, left holder 45, right holder 46, left electric pushrod 47, right electric pushrod 48 and weight sensor 49；Left holder 45 sets
Having left rail 50, right holder 46 to be provided with, right guide rail 51, left rail 50 and right guide rail 51 and seat guide groove 44 is dynamic is connected, left electricity
The dynamic shell of push rod 47 and the shell of right electric pushrod 48 are fixed with seat guide groove 44 and are connected, the left unit head of left electric pushrod 47
52 fixing with left holder 45 are connected, and the right unit head 53 of right electric pushrod 48 is fixed with right holder 46 and is connected, and seat guide groove 44 is with defeated
Send band 10 fixing connection；Weight sensor 49 is positioned at the lower section of elastic network(s) 32, and weight sensor 49 contacts with elastic network(s) 32, weight
Sensor 49 is connected with controller 9 by weight sensing line, and controller 9 is provided with computer 54.
In order to implement Based Intelligent Control and the operation of each flow process, charging mechanical hand 2 support is to the first cutting manipulator 3 machine
The distance of seat and the distance of the first cutting manipulator 3 support to the second cutting manipulator 4 support, the second cutting manipulator 4 support
To the distance of the first peeling machine hands 5 support, the distance of the first peeling machine hands 5 support to the second peeling machine hands 6 support,
The distance of two peeling machine hands 6 supports to the 3rd peeling machine hands 7 support and the 3rd peeling machine hands 7 support are to discharging machinery
The distance of hands 8 support is equal；Distance between each intelligence holder 15 and charging mechanical hand 2 support are to the first cutting manipulator 3
The distance of support is equal；Mandarin orange peeling machines people's intelligence holder original state is: first sensor the 24, second sensor 25,
Three sensor the 26, the 4th sensor the 27, the 5th sensor the 28, the 6th sensors 29 and the 7th sensor 30 conveyer belt above
An intelligent holder 15 it is equipped with on 10；Intelligence holder 15 includes first intelligence holder the 37, second intelligence holder the 38, the 3rd intelligence
Can holder the 39, the 4th intelligence holder the 40, the 5th intelligence holder the 41, the 6th intelligence holder 42 and the 7th intelligence holder 43.
In order to implement to be taken out in Citrus chachiensis Hort. C. Suavissima Tanaka by the sarcocarp of mandarin orange pair, discharging mechanical hand 8 is provided with pressure skin hands 35, utilizes pressure skin hands
35 Citrus chachiensis Hort. C. Suavissima Tanakas, in order to the sarcocarp of mandarin orange is caught by its sarcocarp gripper 22；According to traditional technique, when mandarin orange skin uses as Pericarpium Citri Reticulatae,
The Citrus chachiensis Hort. C. Suavissima Tanaka of the mandarin orange of cutting needs to be divided into three lobes, every lobe hexagonal angle each other, and every lobe interconnects；Its three lobes Citrus chachiensis Hort. C. Suavissima Tanaka includes
There are the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka, the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka and the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka.
The using method of mandarin orange peeling machines people is: utilize mandarin orange peeling machines people to cut out three mutually in the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange
For the line of cut of hexagonal angle, three articles of lines of cut include the first line of cut, the second line of cut and the 3rd line of cut；Then will be in
Article three, the Citrus chachiensis Hort. C. Suavissima Tanaka strip off of line of cut position goes out three lobe Citrus chachiensis Hort. C. Suavissima Tanakas, then is taken out by the sarcocarp of mandarin orange；During work, the conveying of mandarin orange will be set
The station set delivered to by car 36；Controller 9 is utilized to start mandarin orange peeling machines people work: controller 9 controls charging mechanical hand 2 will
The mandarin orange of waggon 36 is caught on intelligence holder 15, and the mandarin orange on intelligence holder 15 is delivered to the first cutting manipulator 3 by conveyer 1
Working position, the first cutting manipulator 3 utilizes the first cutting wheel 17 to cut out two angles each other in the Citrus chachiensis Hort. C. Suavissima Tanaka of this mandarin orange
First line of cut of hexagonal angle and the second line of cut；Article two, the first line of cut of angle hexagonal angle each other and the second line of cut
After well cutting, the mandarin orange on intelligence holder 15 is delivered to the Working position of the second cutting manipulator 4 by conveyer 1；Intelligence holder 15
On mandarin orange deliver to the Working position of the second cutting manipulator 4 after, the second cutting manipulator 4 utilizes its second cutting wheel 18 in this
The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cuts out and the 3rd line of cut of above-mentioned two articles of line of cut hexagonal angles each other；After 3rd line of cut well cutting, defeated
Sending machine 1 that the mandarin orange on intelligence holder 15 is delivered to the Working position of the first peeling machine hands 5, the first peeling machine hands 5 utilizes it
First skull patch pincers 19 are by the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；After first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange, conveyer 1 is by intelligence holder 15
On mandarin orange deliver to the Working position of the second peeling machine hands 6, the second peeling machine hands 6 utilizes its second skull patch pincers 20 by mandarin orange
The second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；After second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange, the mandarin orange on intelligence holder 15 is delivered to the 3rd stripping by conveyer 1
The Working position of skin mechanical hand 7, the 3rd peeling machine hands 7 utilizes its 3rd skull patch pincers 21 by its 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off；3rd
After lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off strip off, the mandarin orange on intelligence holder 15 is delivered to the Working position of discharging mechanical hand 8, discharging machine by conveyer 1
Tool hands 8 utilizes its sarcocarp gripper 22 to be caught in sarcocarp case 66 by the sarcocarp of mandarin orange；Make Citrus chachiensis Hort. C. Suavissima Tanaka separate with the sarcocarp of mandarin orange, Citrus chachiensis Hort. C. Suavissima Tanaka with
After the Citrus chachiensis Hort. C. Suavissima Tanaka that sarcocarp separates separates, conveyer 1 drives intelligence holder 15 to rotate, and makes the shrinkage pool 31 of intelligence holder 15 downwards, makes Citrus chachiensis Hort.
Skin drops in Citrus chachiensis Hort. C. Suavissima Tanaka case 67；The workflow of mandarin orange peeling machines people is as follows: grab Citrus chachiensis Hort. → the first line of cut and the second cutting
Line processing the → the three line of cut processing the → the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch → separation
Citrus chachiensis Hort. C. Suavissima Tanaka；The most constantly circulation.
The workflow of mandarin orange peeling machines people is specific as follows:
Grab Citrus chachiensis Hort.: controller 9 controls charging mechanical hand 2 and utilizes its mandarin orange gripper 16 to catch defeated by first mandarin orange on waggon 34
Send with on the first intelligence holder 37 on 10；After first intelligence holder 37 puts into first mandarin orange, below the first intelligence holder 37
Its signal is transferred to controller 9 by corresponding first sensor 24, and controller 9 controls conveyer 1 and rotates, the first intelligence holder 37
Following conveyer belt 10 to move, mandarin orange is followed the first intelligence holder 37 and is moved；
First line of cut and the processing of the second line of cut: the first intelligence holder 37 is followed conveyer belt 10 and moved to the second sensor 25
During corresponding above position, its signal is transferred to controller 9 by the second sensor 25, and controller 9 controls conveyer 1 and stops；Defeated
After sending machine 1 to stop, controller 9 controls the first cutting manipulator 3 and utilizes its first cutting wheel 17 to cut out in the Citrus chachiensis Hort. C. Suavissima Tanaka of this mandarin orange
First line of cut of angle hexagonal angle each other and the second line of cut；After first line of cut and the second line of cut well cutting, control
Device 9 processed controls conveyer 1 and rotates, and the first intelligence holder 37 is followed conveyer belt 10 and moved, cutting of well cutting two hexagonal angle each other
The mandarin orange of secant is followed the first intelligence holder 37 and is moved；
3rd line of cut processing: the first intelligence holder 37 is followed conveyer belt 10 and moved to the 3rd position corresponding to sensor 26
Time, its signal is transferred to controller 9 by the 3rd sensor 26, and controller 9 controls conveyer 1 and rotates stopping；Conveyer 1 rotates and stops
After Zhi, controller 9 controls the second cutting manipulator 4 and utilizes its second cutting wheel 18 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on the first intelligence holder 37
Cut out and the first line of cut and the 3rd line of cut of the second line of cut hexagonal angle each other；After 3rd line of cut well cutting, control
Device 9 processed controls conveyer 1 and rotates, and the first intelligence holder 37 is followed conveyer belt 10 and moved, cutting of well cutting three hexagonal angle each other
The mandarin orange of secant is followed the first intelligence holder 37 and is moved；
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch: the first intelligence holder 37 is followed conveyer belt 10 and moved to the 4th position corresponding to sensor 27
Time, its signal is transferred to controller 9 by the 4th sensor 27, and controller 9 controls conveyer 1 and rotates stopping；Conveyer 1 rotates and stops
After Zhi, controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；Mandarin orange
The first lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off after, controller 9 controls conveyer 1 and rotates, and the first intelligence holder 37 is followed conveyer belt 10 and moved, and is shelled
Open the mandarin orange of the first lobe Citrus chachiensis Hort. C. Suavissima Tanaka to follow the first intelligence holder 37 and move；
Second lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch: the first intelligence holder 37 is followed conveyer belt 10 and moved to the 5th position corresponding to sensor 28
Time, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls conveyer 1 and rotates stopping；Conveyer 1 rotates and stops
After Zhi, controller 9 controls the second peeling machine hands 6 and utilizes its second skull patch pincers 20 by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；Mandarin orange
The second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off after, controller 9 controls conveyer 1 and rotates, and the first intelligence holder 37 is followed conveyer belt 10 and moved, and is shelled
Open the mandarin orange of the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka to follow the first intelligence holder 37 and move；
3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka skull patch: the first intelligence holder 37 is followed conveyer belt 10 and moved to the 6th position corresponding to sensor 29
Time, its signal is transferred to controller 9 by the 6th sensor 29, and controller 9 controls conveyer 1 and rotates stopping；Conveyer 1 rotates and stops
After Zhi, controller 9 controls the 3rd peeling machine hands 7 and utilizes its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；Mandarin orange
The 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off after, controller 9 controls conveyer 1 and rotates, and the first intelligence holder 37 is followed conveyer belt 10 and moved, and is shelled
Open the mandarin orange of the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka to follow the first intelligence holder 37 and move；
Separate Citrus chachiensis Hort. C. Suavissima Tanaka: when the first intelligence holder 37 follows the position that conveyer belt 10 moves to the 7th sensor 30 correspondence above, the
Its signal is transferred to controller 9 by seven sensors 30, and controller 9 controls conveyer 1 and rotates stopping；Conveyer 1 rotates after stopping,
Controller 9 controls discharging mechanical hand 8 and utilizes its pressure skin hands 35 to be pushed down by the Citrus chachiensis Hort. C. Suavissima Tanaka opened on the first intelligence holder 37, then profit
With its sarcocarp gripper 22, the sarcocarp of mandarin orange is caught in sarcocarp case 66.
In order to constantly recycle the intelligent holder that the mandarin orange on waggon 34 is caught on conveyer belt 10 by charging mechanical hand 2
On 15；While first intelligence holder 37 follows the position that conveyer belt 10 moves to the second sensor 25 correspondence above, the second intelligence
Energy holder 38 is followed conveyer belt 10 and is moved to position corresponding to first sensor 24, and its signal is transmitted by first sensor 24
To controller 9, controller 9 controls charging mechanical hand 2 and utilizes its mandarin orange gripper 16 to be caught by second mandarin orange on waggon 34
On the second intelligence holder 38 on conveyer belt 10；Second intelligence holder 38 is followed conveyer belt 10 and is moved to above the second sensor 25
While corresponding position, the 3rd intelligence holder 39 is followed conveyer belt 10 and is moved to position corresponding to first sensor 24,
Its signal is transferred to controller 9 by first sensor 24, and controller 9 controls charging mechanical hand 2 and utilizes its mandarin orange gripper 16 by defeated
The on car 34 the 3rd mandarin orange is sent to catch on the intelligent holder 39 of the 3rd on conveyer belt 10；3rd intelligence holder 39 follows conveyer belt
While 10 move to the second position corresponding to sensor 25, the 4th intelligence holder 40 is followed conveyer belt 10 and is moved to first
Position corresponding to sensor 24, its signal is transferred to controller 9 by first sensor 24, and controller 9 controls charging machinery
Hands 2 utilizes on the 4th intelligence holder 40 that the 4th mandarin orange on waggon 34 is caught on conveyer belt 10 by its mandarin orange gripper 16；
While 4th intelligence holder 40 follows the position that conveyer belt 10 moves to the second sensor 25 correspondence above, the 5th intelligence holder
41 follow conveyer belt 10 moves to position corresponding to first sensor 24, and its signal is transferred to control by first sensor 24
Device 9, controller 9 controls charging mechanical hand 2 and utilizes its mandarin orange gripper 16 that the 5th mandarin orange on waggon 34 is caught conveyer belt
On the 5th intelligence holder 41 on 10；5th intelligence holder 41 is followed conveyer belt 10 and is moved to the second sensor 25 correspondence above
While position, the 6th intelligence holder 42 is followed conveyer belt 10 and is moved to position corresponding to first sensor 24, and first passes
Its signal is transferred to controller 9 by sensor 24, and controller 9 controls charging mechanical hand 2 and utilizes its mandarin orange gripper 16 by waggon 34
On the 6th mandarin orange catch on conveyer belt 10 the 6th intelligence holder 42 on；6th intelligence holder 42 is followed conveyer belt 10 and is moved
While position corresponding above the second sensor 25, the 7th intelligence holder 43 is followed conveyer belt 10 and is moved to first sensor
24 the most corresponding positions, its signal is transferred to controller 9 by first sensor 24, and controller 9 controls charging mechanical hand 2 and utilizes
The 7th mandarin orange on waggon 34 is caught on the 7th intelligence holder 43 on conveyer belt 10 by its mandarin orange gripper 16；The most constantly
Circulation.
In order to recycle the first cutting manipulator 3 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on intelligence holder 15 is carried out the first line of cut and
Second line of cut cutting；After second intelligence holder 38 follows the position that conveyer belt 10 moves to the second sensor 25 correspondence above,
Its signal is transferred to controller 9 by the second sensor 25, and controller 9 controls the first cutting manipulator 3 and utilizes its first cutting wheel
17 on the second intelligence holder 38 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cut out first line of cut and second of two angle hexagonal angles each other and cut
Secant；After 3rd intelligence holder 39 follows the position that conveyer belt 10 moves to the second sensor 25 correspondence above, the second sensor
Its signal is transferred to controller 9 by 25, and controller 9 controls the first cutting manipulator 3 and utilizes its first cutting wheel 17 in the 3rd intelligence
On energy holder 39, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cuts out the first line of cut and second line of cut of two angle hexagonal angles each other；4th intelligence
After energy holder 40 follows the position that conveyer belt 10 moves to the second sensor 25 correspondence above, its signal is passed by the second sensor 25
Being defeated by controller 9, controller 9 controls the first cutting manipulator 3 and utilizes its first cutting wheel 17 Citrus chachiensis Hort. on the 4th intelligence holder 40
The Citrus chachiensis Hort. C. Suavissima Tanaka of son cuts out the first line of cut and second line of cut of two angle hexagonal angles each other；5th intelligence holder 41 is followed
After conveyer belt 10 moves to the second position corresponding to sensor 25, its signal is transferred to controller 9 by the second sensor 25,
Controller 9 controls the first cutting manipulator 3 and utilizes the Citrus chachiensis Hort. C. Suavissima Tanaka cutting of mandarin orange on the 5th intelligence holder 41 of its first cutting wheel 17
Go out the first line of cut and second line of cut of two angle hexagonal angles each other；6th intelligence holder 42 is followed conveyer belt 10 and is moved
Behind position corresponding above the second sensor 25, its signal is transferred to controller 9 by the second sensor 25, and controller 9 controls
It is mutual that first cutting manipulator 3 utilizes its first cutting wheel 17 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on the 6th intelligence holder 42 to cut out two articles of angles
The first line of cut and the second line of cut for hexagonal angle；7th intelligence holder 43 is followed conveyer belt 10 and is moved to the second sensor
Behind 25 the most corresponding positions, its signal is transferred to controller 9 by the second sensor 25, and controller 9 controls the first cutting mechanics
Hands 3 utilizes its first cutting wheel 17 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on the 7th intelligence holder 43 to cut out the of two articles of angle hexagonal angles each other
One line of cut and the second line of cut；The most constantly circulation.
The Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on intelligence holder 15 is carried out the 3rd line of cut cut to recycle the second cutting manipulator 4
Cut；After second intelligence holder 38 follows the position that conveyer belt 10 moves to the 3rd sensor 26 correspondence above, the 3rd sensor 26
Its signal is transferred to controller 9, and controller 9 controls the second cutting manipulator 4 and utilizes its second cutting wheel 18 in the second intelligence
On holder 38, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cuts out one article and cuts with the 3rd of the first line of cut and the second line of cut angle hexagonal angle each other
Secant；After 3rd intelligence holder 39 follows the position that conveyer belt 10 moves to the 3rd sensor 26 correspondence above, the 3rd sensor
Its signal is transferred to controller 9 by 26, and controller 9 controls the second cutting manipulator 4 and utilizes its second cutting wheel 18 in the 3rd intelligence
Can on holder 39 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cut out one article with the first line of cut and the 3rd of the second line of cut angle hexagonal angle each other the
Line of cut；After 4th intelligence holder 40 follows the position that conveyer belt 10 moves to the 3rd sensor 26 correspondence above, the 3rd sensing
Its signal is transferred to controller 9 by device 26, and controller 9 controls the second cutting manipulator 4 and utilizes its second cutting wheel 18 in the 4th
On intelligence holder 40, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cuts out the of one article and the first line of cut and the second line of cut angle hexagonal angle each other
Three lines of cut；After 5th intelligence holder 41 follows the position that conveyer belt 10 moves to the 3rd sensor 26 correspondence above, the 3rd passes
Its signal is transferred to controller 9 by sensor 26, and controller 9 controls the second cutting manipulator 4 and utilizes its second cutting wheel 18 in the
On five intelligence holders 41 Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cut out one with the first line of cut and the second line of cut angle hexagonal angle each other
3rd line of cut；After 6th intelligence holder 42 follows the position that conveyer belt 10 moves to the 3rd sensor 26 correspondence above, the 3rd
Its signal is transferred to controller 9 by sensor 26, controller 9 control the second cutting manipulator 4 utilize its second cutting wheel 18 in
On 6th intelligence holder 42, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cuts out one article and the first line of cut and the second line of cut angle hexagonal angle each other
The 3rd line of cut；After 7th intelligence holder 43 follows the position that conveyer belt 10 moves to the 3rd sensor 26 correspondence above, the
Its signal is transferred to controller 9 by three sensors 26, and controller 9 controls the second cutting manipulator 4 and utilizes its second cutting wheel 18
On the 7th intelligence holder 43, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange cuts out one article and the first line of cut and the second line of cut angle 120 ° each other
3rd line of cut at angle；The most constantly circulation.
In order to recycle the first peeling machine hands 5, the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange on intelligence holder 15 is carried out three lobe peelings；Second
After intelligence holder 38 follows the position that conveyer belt 10 moves to the 4th sensor 27 correspondence above, the 4th sensor 27 is by its signal
Being transferred to controller 9, controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the second intelligence holder 38
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange；Second intelligence holder 38 is followed conveyer belt 10 and is moved to the 5th position corresponding to sensor 28
Postponing, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hands 6 and utilizes it second to turn over
Skin pincers 20 are by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the second intelligence holder 38；Second intelligence holder 38 is followed conveyer belt 10 and is moved to
Behind the position that 6th sensor 29 is the most corresponding, its signal is transferred to controller 9 by the 6th sensor 29, and controller 9 controls the
Three peeling machine handss 7 utilize its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the second intelligence holder 38；
After 3rd intelligence holder 39 follows the position that conveyer belt 10 moves to the 4th sensor 27 correspondence above, the 4th sensor 27
Its signal is transferred to controller 9, and controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the 3rd intelligence
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on holder 39；3rd intelligence holder 39 is followed conveyer belt 10 and is moved to above the 5th sensor 28
Behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hands 6 and utilizes
Its second skull patch pincers 20 are by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 3rd intelligence holder 39；3rd intelligence holder 39 follows conveyer belt
After 10 move to the 6th position corresponding to sensor 29, its signal is transferred to controller 9, controller by the 6th sensor 29
9 control the 3rd peeling machine hands 7 utilizes its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 3rd intelligence holder 39；
After 4th intelligence holder 40 follows the position that conveyer belt 10 moves to the 4th sensor 27 correspondence above, the 4th sensor 27
Its signal is transferred to controller 9, and controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the 4th intelligence
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on holder 40；4th intelligence holder 40 is followed conveyer belt 10 and is moved to above the 5th sensor 28
Behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hands 6 and utilizes
Its second skull patch pincers 20 are by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 4th intelligence holder 40；4th intelligence holder 40 follows conveyer belt
After 10 move to the 6th position corresponding to sensor 29, its signal is transferred to controller 9, controller by the 6th sensor 29
9 control the 3rd peeling machine hands 7 utilizes its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 4th intelligence holder 40；
After 5th intelligence holder 41 follows the position that conveyer belt 10 moves to the 4th sensor 27 correspondence above, the 4th sensor 27
Its signal is transferred to controller 9, and controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the 5th intelligence
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on holder 41；5th intelligence holder 41 is followed conveyer belt 10 and is moved to above the 5th sensor 28
Behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hands 6 and utilizes
Its second skull patch pincers 20 are by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 5th intelligence holder 41；5th intelligence holder 41 follows conveyer belt
After 10 move to the 6th position corresponding to sensor 29, its signal is transferred to controller 9, controller by the 6th sensor 29
9 control the 3rd peeling machine hands 7 utilizes its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 5th intelligence holder 41；
After 6th intelligence holder 42 follows the position that conveyer belt 10 moves to the 4th sensor 27 correspondence above, the 4th sensor 27
Its signal is transferred to controller 9, and controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the 6th intelligence
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on holder 42；6th intelligence holder 42 is followed conveyer belt 10 and is moved to above the 5th sensor 28
Behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hands 6 and utilizes
Its second skull patch pincers 20 are by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 6th intelligence holder 42；6th intelligence holder 42 follows conveyer belt
After 10 move to the 6th position corresponding to sensor 29, its signal is transferred to controller 9, controller by the 6th sensor 29
9 control the 3rd peeling machine hands 7 utilizes its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 6th intelligence holder 42；
After 7th intelligence holder 43 follows the position that conveyer belt 10 moves to the 4th sensor 27 correspondence above, the 4th sensor 27
Its signal is transferred to controller 9, and controller 9 controls the first peeling machine hands 5 and utilizes its first skull patch pincers 19 by the 7th intelligence
First lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on holder 43；7th intelligence holder 43 is followed conveyer belt 10 and is moved to above the 5th sensor 28
Behind corresponding position, its signal is transferred to controller 9 by the 5th sensor 28, and controller 9 controls the second peeling machine hands 6 and utilizes
Its second skull patch pincers 20 are by the second lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 7th intelligence holder 43；7th intelligence holder 43 follows conveyer belt
After 10 move to the 6th position corresponding to sensor 29, its signal is transferred to controller 9, controller by the 6th sensor 29
9 control the 3rd peeling machine hands 7 utilizes its 3rd skull patch pincers 21 by the 3rd lobe Citrus chachiensis Hort. C. Suavissima Tanaka strip off of mandarin orange on the 7th intelligence holder 43；
The most constantly circulation.
In order to recycle discharging mechanical hand 8, the sarcocarp of mandarin orange on intelligence holder 15 is caught in sarcocarp case 66；Second intelligence
After energy holder 38 follows the position that conveyer belt 10 moves to the 7th sensor 30 correspondence above, its signal is passed by the 7th sensor 30
Being defeated by controller 9, controller 9 controls conveyer 1 and rotates stopping；Controller 9 controls discharging mechanical hand 8 and utilizes its pressure skin hands 35 to incite somebody to action
The Citrus chachiensis Hort. C. Suavissima Tanaka opened is pushed down on the second intelligence holder 38, then utilizes its sarcocarp gripper 22 by mandarin orange on the second intelligence holder 38
Sarcocarp is caught in sarcocarp case 66；3rd intelligence holder 39 is followed conveyer belt 10 and is moved to the 7th position corresponding to sensor 30
After, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls conveyer 1 and rotates stopping；Controller 9 controls
Material mechanical hand 8 utilizes its pressure skin hands 35 to be pushed down by the Citrus chachiensis Hort. C. Suavissima Tanaka opened on the 3rd intelligence holder 39, then utilizes its sarcocarp gripper
The sarcocarp of mandarin orange on 3rd intelligence holder 39 is caught in sarcocarp case 66 by 22；4th intelligence holder 40 is followed conveyer belt 10 and is moved to
Behind 7th position corresponding to sensor 30, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls defeated
Send machine 1 to rotate to stop；Controller 9 controls discharging mechanical hand 8 and utilizes its pressure skin hands 35 to be pushed down by the Citrus chachiensis Hort. C. Suavissima Tanaka opened in the 4th intelligence
On holder 40, its sarcocarp gripper 22 is then utilized to be caught in sarcocarp case 66 by the sarcocarp of mandarin orange on the 4th intelligence holder 40；5th
After intelligence holder 41 follows the position that conveyer belt 10 moves to the 7th sensor 30 correspondence above, the 7th sensor 30 is by its signal
Being transferred to controller 9, controller 9 controls conveyer 1 and rotates stopping；Controller 9 controls discharging mechanical hand 8 and utilizes it to press skin hands 35
The Citrus chachiensis Hort. C. Suavissima Tanaka opened is pushed down on the 5th intelligence holder 41, then utilize its sarcocarp gripper 22 by mandarin orange on the 5th intelligence holder 41
Sarcocarp catch in sarcocarp case 66；6th intelligence holder 42 is followed conveyer belt 10 and is moved to the 7th position corresponding to sensor 30
Postponing, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls conveyer 1 and rotates stopping；Controller 9 controls
Discharging mechanical hand 8 utilizes its pressure skin hands 35 to be pushed down by the Citrus chachiensis Hort. C. Suavissima Tanaka opened on the 6th intelligence holder 42, then utilizes its sarcocarp to grab
The sarcocarp of mandarin orange on 6th intelligence holder 42 is caught in sarcocarp case 66 by pawl 22；7th intelligence holder 43 is followed conveyer belt 10 and is moved
Behind position corresponding above the 7th sensor 30, its signal is transferred to controller 9 by the 7th sensor 30, and controller 9 controls
Conveyer 1 rotates and stops；Controller 9 controls discharging mechanical hand 8 and utilizes its pressure skin hands 35 to push down the Citrus chachiensis Hort. C. Suavissima Tanaka opened in the 7th intelligence
On energy holder 43, its sarcocarp gripper 22 is then utilized to be caught in sarcocarp case 66 by the sarcocarp of mandarin orange on the 7th intelligence holder 43；As
This constantly circulates.
The using method of mandarin orange peeling machines people's intelligence holder, the using method of mandarin orange peeling machines people's intelligence holder is:
During use, after the elastic network(s) 32 of intelligence holder 15 grabbed by mandarin orange by charging mechanical hand 2, mandarin orange is placed to weight sensor 49
On, its weight signal is transferred to controller 9 by weight sensor 49, and controller 9 calculates mandarin orange according to the weight data of mandarin orange
Size shape；After controller 9 calculates the size shape of mandarin orange, controller 9 controls left electric pushrod 47 and right electronic pushes away
Bar 48 works, and left electric pushrod 47 drives left holder 45 to move to mandarin orange, and right electric pushrod 48 drives right holder 46 to move to mandarin orange
Dynamic, utilize left holder 45 and right holder 46, the mandarin orange being put in elastic network(s) 32 is clamped on intelligence holder 15；Mandarin orange is clamped in
After intelligence holder 15, its signal is transferred to controller 9 by sensor 23 corresponding to intelligence holder 15, and controller 9 controls defeated
Send machine 1 to drive conveyer belt 10 to rotate, the mandarin orange clamped by intelligence holder 15 is delivered to the Working position of the first cutting manipulator 3.
In order to mandarin orange is clamped in intelligence holder 15, also avoiding mandarin orange to be crushed, left holder 45 is provided with left outstanding hook 55 simultaneously,
Right holder 46 is provided with right outstanding hook 56, and elastic network(s) 32 hangs on the left side of left holder 45 and hangs and hook the right side of 55 and right holder 46 and hang hook 56
On；In order to avoid hindering moving towards of left holder 45 and right holder 46, between left holder 45 and right holder 46, it is provided with a gap
57, left holder 45 is more than left holder 45 and the stroke of right holder 46 with the distance in the seat gap 57 of right holder 46, makes left holder
45 and right holder 46 by enough mobile spaces, mandarin orange is clamped；Left holder 45 is provided with levorotation chamber 58, and right holder 46 is provided with the right side
Die cavity 59, elastic network(s) 32 is positioned at levorotation chamber 58 and right die cavity 59；Shrinkage pool 31 is made up of levorotation chamber 58 and right die cavity 59；Bullet
Property net 32 surface area be hemispherical, the volume that the hemispheric volume of elastic network(s) 32 adds up to right die cavity 59 less than levorotation chamber 58.
In order to control to be put in the height and position of intelligence holder 15 mandarin orange, to meet wanting of the Citrus chachiensis Hort. C. Suavissima Tanaka lobe that cuts out 2/3rds
Asking, intelligence holder 15 is provided with intelligence folder top 60, and intelligence folder top 60 is made up of with intelligence folder 62 electronic push rod 61, intelligence folder 62 and bullet
Property net 32 bottom contact, intelligence folder 62 is connected with the unit head of electronic push rod 61, the shell of electronic push rod 61 and seat guide groove 44
Fixing connection.
In order to more accurately detect the size of mandarin orange, intelligence holder 15 is provided with the first distance measuring sensor 63 and the second range finding
Sensor 64, the first distance measuring sensor 63 is located at the top of left holder 45, and the second distance measuring sensor 64 is located at the upper of right holder 46
Portion；First distance measuring sensor 63 and the second distance measuring sensor 64 are connected with controller 9 by range finding sensing line；Charging mechanical hand
After 2 elastic network(s)s 32 that mandarin orange is grabbed intelligence holder 15, the computer 54 of controller 9 detects mandarin orange according to weight sensor 49
Weight data and the first distance measuring sensor 63 and the second distance measuring sensor 64 detect the size data of mandarin orange and carry out intelligence computing,
Calculate the size shape of mandarin orange.
Open to implement to cut the Citrus chachiensis Hort. C. Suavissima Tanaka of 2/3rds, be put in intelligence holder 15 mandarin orange need expose three/
The Citrus chachiensis Hort. C. Suavissima Tanaka of two, when the Citrus chachiensis Hort. C. Suavissima Tanaka of the upper seat surface 65 being exposed to intelligence holder 15 is less than 2/3rds of whole mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka, controller 6
Controlling intelligence folder 62 rising of electronic push rod 61, elastic network(s) 32 and mandarin orange are followed intelligence folder 62 rising, are exposed to intelligence holder 15
Upper seat surface 65 Citrus chachiensis Hort. C. Suavissima Tanaka increase；The stroke that electronic push rod 61 rises by the computer 54 of controller 9 according to the weight of mandarin orange and
Size controls；When the Citrus chachiensis Hort. C. Suavissima Tanaka of the upper seat surface 65 being exposed to intelligence holder 15 is more than 2/3rds of whole mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka, control
Device 6 controls intelligence folder 62 decline of electronic push rod 61, and elastic network(s) 32 and mandarin orange are followed intelligence folder 62 decline, be exposed to intelligence holder
The Citrus chachiensis Hort. C. Suavissima Tanaka of the upper seat surface 65 of 15 reduces；The stroke that electronic push rod 61 declines by the computer 54 of controller 9 according to the weight of mandarin orange with
And size controls.
In order to avoid mandarin orange is hung by elastic network(s) 32, affect weight sensor 49 and detect the weight of mandarin orange, elastic network(s) 32
Vertical dimension to the distance of upper seat surface 65 of intelligence holder 15, makes elastic network(s) 32 be in pine more than the intelligence folder 62 of electronic push rod 61
Dynamic state；When controller 9 controls left electric pushrod 47 and right electric pushrod 48 works, left electric pushrod 47 drives left holder
45 move along seat guide groove 44 holder 46 to the right, and right electric pushrod 48 drives right holder 46 to move along seat guide groove 44 holder 45 to the left,
Left holder 45 moves towards along seat guide groove 44 with right holder 46；
After the sarcocarp of the mandarin orange on intelligence holder 15 is caught sarcocarp case 66 by discharging mechanical hand 8, controller 9 controls left electric pushrod
47 drive left holder 45 and right electric pushrod 48 to drive right holder 46 to reset, and left holder 45 is carried on the back along seat guide groove 44 with right holder 46
To movement.
Claims (10)
1. the using method of mandarin orange peeling machines people intelligence holder, a kind of mandarin orange peeling machines people includes conveyer (1), charging
Mechanical hand (2), the first cutting manipulator (3), the second cutting manipulator (4), the first peeling machine hands (5), the second peeling machine
Hands (6), the 3rd peeling machine hands (7), discharging mechanical hand (8) and controller (9)；Controller (9) passes through control line and conveying
Machine (1), charging mechanical hand (2), the first cutting manipulator (3), the second cutting manipulator (4), the first peeling machine hands (5), the
Two peeling machine handss (6), the 3rd peeling machine hands (7), discharging mechanical hand (8) and sensor (23) connect；Mandarin orange peeling machine
Device people's intelligence holder is made up of the intelligent holder (15) on the conveyer belt (10) being installed on conveyer (1), intelligence holder (15) bag
Include a guide groove (44), left holder (45), right holder (46), left electric pushrod (47), right electric pushrod (48) and weight to pass
Sensor (49), weight sensor (49) is connected with controller (9) by pressure sensing line, and controller (9) is provided with computer (54)；Intelligence
The first distance measuring sensor (63) and the second distance measuring sensor (64) can be provided with by holder (15), the first distance measuring sensor (63) and
Second distance measuring sensor (64) is connected with controller (9) by range finding sensing line；Intelligence holder (15) is provided with intelligence folder top (60),
Intelligence folder top (60) is made up of with intelligence folder (62) electronic push rod (61)；
It is characterized in that: the using method of described mandarin orange peeling machines people's intelligence holder is: during use, charging mechanical hand (2)
After mandarin orange is grabbed the elastic network(s) (32) of intelligence holder (15), mandarin orange is placed on weight sensor (49), weight sensor
(49) its weight signal being transferred to controller (9), controller (9) calculates the size shape of mandarin orange according to the weight data of mandarin orange
Shape；After controller (9) calculates the size shape of mandarin orange, controller (9) controls left electric pushrod (47) and right electric pushrod
(48) work, left electric pushrod (47) drives left holder (45) to move to mandarin orange, and right electric pushrod (48) drives right holder (46)
Move to mandarin orange, utilize left holder (45) and right holder (46), the mandarin orange being put in elastic network(s) (32) is clamped in intelligence holder
(15) on.
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: a described left side
Be provided with a gap (57) between holder (45) and right holder (46), the seat gap (57) of left holder (45) and right holder (46) away from
From more than left holder (45) and the stroke of right holder (46).
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: described enters
After the elastic network(s) (32) of intelligence holder (15) grabbed by mandarin orange by material mechanical hand (2), the computer (54) of controller (9) is according to weight
The weight data of sensor (49) detection mandarin orange and the first distance measuring sensor (63) and the second distance measuring sensor (64) detect Citrus chachiensis Hort.
The size data of son carries out intelligence computing, calculates the size shape of mandarin orange.
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: described dew
For intelligence holder (15) upper seat surface (65) Citrus chachiensis Hort. C. Suavissima Tanaka less than whole mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka 2/3rds time, controller (6) control
Intelligence folder (62) of electronic push rod (61) rises, and elastic network(s) (32) and mandarin orange are followed intelligence folder (62) and risen, and is exposed to intelligence folder
The Citrus chachiensis Hort. C. Suavissima Tanaka of the upper seat surface (65) of seat (15) increases.
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 4, it is characterised in that: described electricity
The stroke that dynamic push rod (61) rises is controlled according to weight and the size of mandarin orange by the computer (54) of controller (9).
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: described dew
For intelligence holder (15) upper seat surface (65) Citrus chachiensis Hort. C. Suavissima Tanaka more than whole mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka 2/3rds time, controller (6) control
Intelligence folder (62) of electronic push rod (61) declines, and elastic network(s) (32) and mandarin orange are followed intelligence folder (62) and declined, and is exposed to intelligence folder
The Citrus chachiensis Hort. C. Suavissima Tanaka of the upper seat surface (65) of seat (15) reduces.
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 6, it is characterised in that: described electricity
The stroke that dynamic push rod (61) declines is controlled according to weight and the size of mandarin orange by the computer (54) of controller (9).
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: described control
When device processed (9) controls left electric pushrod (47) and right electric pushrod (48) work, left electric pushrod (47) drives left holder
(45) mobile along seat guide groove (44) holder to the right (46), right electric pushrod (48) drives right holder (46) along seat guide groove (44) to the left
Holder (45) is mobile, and left holder (45) moves towards along seat guide groove (44) with right holder (46).
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: described intelligence
After the sarcocarp of the mandarin orange on energy holder (15) is caught sarcocarp case (66) by discharging mechanical hand (8), controller (9) control left side is electronic to push away
Bar (47) drives left holder (45) and right electric pushrod (48) to drive right holder (46) to reset, left holder (45) and right holder
(46) move dorsad along seat guide groove (44).
The using method of mandarin orange peeling machines people's intelligence holder the most according to claim 1, it is characterised in that: described
After mandarin orange is clamped in intelligence holder (15), its signal is transferred to controller by the sensor (23) of intelligence holder (15) correspondence below
(9), controller (9) controls conveyer (1) and drives conveyer belt (10) to rotate, and will be delivered to the by intelligence holder (15) mandarin orange that clamps
The Working position of one cutting manipulator (3).
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| CN201610712606.7A CN106307563B (en) | 2016-08-23 | 2016-08-23 | The application method of mandarin orange peeling machines people's intelligence holder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107136526A (en) * | 2017-05-15 | 2017-09-08 | 湖南尔瞻智能科技有限公司 | The peeling method of Multifunctional peeler |
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| CN106307563B (en) | 2018-04-03 |
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