CN106307564A - Using method of intelligent pincers for mandarin orange peeling robot - Google Patents

Using method of intelligent pincers for mandarin orange peeling robot Download PDF

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Publication number
CN106307564A
CN106307564A CN201610712608.6A CN201610712608A CN106307564A CN 106307564 A CN106307564 A CN 106307564A CN 201610712608 A CN201610712608 A CN 201610712608A CN 106307564 A CN106307564 A CN 106307564A
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mandarin orange
pincers
intelligence
controller
sensor
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CN201610712608.6A
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CN106307564B (en
Inventor
林智勇
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Chongqing Qinghongxiang Agricultural Development Co., Ltd.
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Dongguan Haoqi Enterprise Management Services Ltd
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    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • A23N7/02—Peeling potatoes, apples or similarly shaped vegetables or fruit

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  • 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)
  • Manipulator (AREA)

Abstract

The invention discloses a using method for intelligent pincers 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; when the intelligent pincers for the mandarin orange peeling robot are used, the intelligent processing of cutting mandarin orange peel, overturning slices, and separating the mandarin orange peel from pulp is implemented, and the processing efficiency of mandarin orange peeling is improved; the first peeling manipulator consists of the intelligent pincers for the mandarin orange peeling robot; the intelligent pincers for the mandarin orange peeling robot comprise a first machine seat, a rotating motor, a rotating arm seat, a first swinging arm, a first swinging and rotating motor, a second swinging arm, a second swinging and rotating motor and first peel overturning pincers; when the intelligent pincers for the mandarin orange peeling robot are used, a computer of the controller calculates the moving coordinate curve that the first peel overturning pincers imitate human hands to peel the mandarin orange peel according to the size and the shape of a mandarin orange and the position where the mandarin orange is positioned; when the mandarin orange peel is overturned, the first peel overturning pincers move according to the coordinate curve that the first peel overturning pincers imitate the human hands to peel the mandarin orange peel, which is calculated by the computer so as to overturn the mandarin orange peel of the mandarin orange.

Description

The using method of mandarin orange peeling machines people's intelligence pincers
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 pincers.
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 pincers, have become as People shell the needs of Citrus chachiensis Hort. C. Suavissima Tanaka.
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 pincers Using method, for the Citrus chachiensis Hort. C. Suavissima Tanaka of strip off mandarin orange, improves the efficiency of strip off Citrus chachiensis Hort. C. Suavissima Tanaka.
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, conveyer belt is provided with intelligence holder；Charging mechanical hand is provided with mandarin orange gripper, the first cutting mechanics Hands is provided with the first cutting wheel, and the second cutting manipulator is provided with the second cutting wheel, and the first peeling machine hands is by mandarin orange peeling machines people Intelligence pincers are constituted, and mandarin orange peeling machines people's intelligence pincers include the first skull patch pincers, and the second peeling machine hands is provided with the second skull patch pincers, 3rd peeling machine hands 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 pacified Being loaded in frame, sensor is positioned at the lower section of mandarin orange intelligence holder；Controller by control line and 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, go out Material mechanical hand and sensor connect.
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.
Mandarin orange peeling machines people's intelligence clamps, and includes the first support, rotary electric machine, pivoted arm seat, the first swing arm, the first rotation Motor, the second swing arm, the second rotation motor and the first skull patch pincers；The support of rotary electric machine and the first support connect, the first machine Seat is connected with frame, and the motor shaft of rotary electric machine is fixing with pivoted arm seat to be connected, and the motor cabinet of the first rotation motor is solid with pivoted arm seat Fixed connection, the motor shaft of the first rotation motor and the first swing arm are fixing to be connected, the motor cabinet of the second rotation motor and the first swing arm Fixing connection, the motor shaft of the second rotation motor and the second swing arm are fixing to be connected, and the second swing arm is fixing with the first skull patch pincers to be connected； First skull patch pincers include pincers motor, lower pincers motor, upper clamp, lower clamp and upper pincers sensor, upper pincers motor and under The support of pincers motor and the fixing connection of the second swing arm, the motor shaft of upper pincers motor is connected with upper clamp, the motor shaft of lower pincers motor Being connected with lower clamp, upper pincers sensor is installed on clamp, whether has clamped Citrus chachiensis Hort. C. Suavissima Tanaka for detection the first skull patch pincers；Upper clamp It is provided with pincers to hook, for being triggered by Citrus chachiensis Hort. C. Suavissima Tanaka；The axis of rotary electric machine and horizontal line, the first rotation motor and the second rotation electricity The axis of machine is parallel with horizontal line；Rotary electric machine, the first rotation motor, the second rotation motor, pincers motor and upper pincers sensor It is connected with controller by peeling control line.
The using method of mandarin orange peeling machines people's intelligence pincers is: during use, and after intelligence holder put into by mandarin orange, weight senses The data of detection mandarin orange are transferred to controller by device, the first intelligence sensor and the second intelligence sensor, the computer root of controller Big according to the weight sensor detection weight data of mandarin orange and the first intelligence sensor and the second intelligence sensor detection mandarin orange Small data carries out intelligence computing, calculates the size shape of mandarin orange；After computer calculates the size shape of mandarin orange, computer is according to Citrus chachiensis Hort. The size shape of son and mandarin orange location, calculate the first skull patch pincers and imitate the coordinate song that staff stripping mandarin orange skin moves Line；First skull patch pincers stripping mandarin orange skin time, controller according to above-mentioned coordinate curve control rotary electric machine, control the first rotation motor with And the second rotation motor rotation, control the first skull patch pincers and the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is triggered and clamps, and by the rail of above-mentioned coordinate curve Mark moves, the Citrus chachiensis Hort. C. Suavissima Tanaka of strip off mandarin orange.
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 clamps, and uses During work, computer, according to the size shape of mandarin orange and mandarin orange location, calculates the first skull patch pincers and imitates staff stripping Citrus chachiensis Hort. The coordinate curve that sub-skin moves；When mandarin orange peeling machines people's intelligence pincers open Citrus chachiensis Hort. C. Suavissima Tanaka, controller controls the first skull patch and clamps by computer The coordinate curve calculating the first skull patch pincers imitation staff stripping mandarin orange skin moves, and is opened by the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange.
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 pincers.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further detailed:
Mandarin orange peeling machines people's intelligence pincers shown in the structural representation of mandarin orange peeling machines people as shown in Figure 1 and Fig. 2 Structural representation；Mandarin orange peeling machines people, includes conveyer 1, the 3, second cutting of charging mechanical hand the 2, first cutting manipulator Mechanical hand the 4, first peeling machine hands the 5, second peeling machine hands the 6, the 3rd peeling machine hands 7, discharging mechanical hand 8 and controller 9；Charging mechanical hand the 2, first cutting manipulator the 3, second cutting manipulator the 4, first peeling machine hands the 5, second peeling machine hands 6, the 3rd peeling machine hands 7 and discharging mechanical hand 8 are arranged at the side of conveyer 1；Conveyer 1 includes conveyer belt 10, master Driving wheel 11, follower 12, motor 13 and frame 14, drivewheel 11 and follower 12 are installed in frame 14, drivewheel 11 And follower 12 and frame 14 is dynamic is connected, the support of motor 13 is fixing with frame 14 to be connected, the motor shaft of motor 13 and Drivewheel 11 connects.Conveyer belt 10 is connected with drivewheel 11 and follower 12, and conveyer belt 10 is provided with intelligence holder 15, intelligence folder Seat 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, in shrinkage pool 31 It is provided with elastic network(s) 32, carries out peeling processing with applicable mandarin orange；Distance between each intelligence holder 15 is equal；Intelligence holder 15 sets Having sensing bore 33, the conveyer belt 10 of sensing bore 33 correspondence of intelligence holder 15 to be provided with sensing hole 34, sensing bore 33 is facing to sensing Hole 34, the centrage of sensing bore 33 is identical with the centrage of sensing hole 34；Charging mechanical hand 2 is provided with mandarin orange gripper 16, and first cuts Cutting mechanical hand 3 and be provided with the first cutting wheel 17, the second cutting manipulator 4 is provided with the second cutting wheel 18, and the first peeling machine hands 5 is by Citrus chachiensis Hort. Sub-peeling machines people's intelligence pincers are constituted, and mandarin orange peeling machines people's intelligence pincers include the first skull patch pincers 19, the second peeling machine hands 6 Being provided with the second skull patch pincers 20, the 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；Control Device 9 processed is provided with sensor 23, and sensor 23 is installed in frame 14, and sensor 23 is positioned at the lower section of mandarin orange intelligence holder 15；Pass Sensor 23 is shelled with conveyer 1, charging mechanical hand the 2, first cutting manipulator the 3, second cutting manipulator 4, first by control line Skin mechanical hand the 5, second peeling machine hands the 6, the 3rd peeling machine hands 7, discharging mechanical hand 8 and sensor 23 connect；Second stripping The structure of skin mechanical hand 6 and the 3rd peeling machine hands 7 is identical with the structure of the first peeling machine hands 5.
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.
Intelligence holder 15 includes a guide groove 44, left holder 45, right holder 46, left electric pushrod 47, right electric pushrod 48 And weight sensor 49；Left holder 45 is provided with left rail 50, and right holder 46 is provided with right guide rail 51, left rail 50 and right guide rail 51 dynamic with seat guide groove 44 are connected, and the shell of left electric pushrod 47 and the shell of right electric pushrod 48 are fixed with seat guide groove 44 Connecting, the left unit head 52 of left electric pushrod 47 is fixing with left holder 45 to be connected, and the right unit head 53 of right electric pushrod 48 is with right Holder 46 is fixing to be connected, and seat guide groove 44 is fixing with conveyer belt 10 to be connected；Weight sensor 49 is positioned at the lower section of elastic network(s) 32, weight Sensor 49 contacts with elastic network(s) 32, and weight sensor 49 is connected with controller 9 by weight sensing line, and controller 9 is provided with electricity Brain 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 pincers original state is: first sensor the 24, second sensor the 25, the 3rd Sensor the 26, the 4th sensor the 27, the 5th sensor the 28, the 6th sensor 29 and the 7th sensor 30 conveyer belt 10 above On be equipped with an intelligent holder 15；Intelligence holder 15 includes first intelligence holder the 37, second intelligence holder the 38, the 3rd intelligence 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；Utilize controller 9 to start mandarin orange peeling machines people's intelligence pincers worker to make: controller 9 controls charger The mandarin orange of waggon 36 is caught on intelligence holder 15 by tool hands 2, and the mandarin orange on intelligence holder 15 is delivered to the first cutting by conveyer 1 The Working position of mechanical hand 3, the first cutting manipulator 3 utilizes the first cutting wheel 17 to cut out two angles 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 each other；Article two, first line of cut and second of angle hexagonal angle each other is cut After secant 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 folder After the Working position of the second cutting manipulator 4 delivered to by mandarin orange on seat 15, the second cutting manipulator 4 utilizes its second cutting wheel 18 Citrus chachiensis Hort. C. Suavissima Tanaka in this mandarin orange cuts out and the 3rd line of cut of above-mentioned two articles of line of cut hexagonal angles each other；3rd line of cut well cutting After, 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 profit by conveyer 1 With its first skull patch pincers 19 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, intelligence is pressed from both sides by conveyer 1 The Working position of the second peeling machine hands 6 delivered to by mandarin orange on seat 15, and the second peeling machine hands 6 utilizes its second skull patch to clamp 20 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 15 is delivered to the by conveyer 1 The Working position of three peeling machine handss 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； After 3rd 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 by conveyer 1, goes out Material mechanical hand 8 utilizes its sarcocarp gripper 22 to be caught in sarcocarp case 82 by the sarcocarp of mandarin orange；Citrus chachiensis Hort. C. Suavissima Tanaka is made to separate with the sarcocarp of mandarin orange, Citrus chachiensis Hort. After the Citrus chachiensis Hort. C. Suavissima Tanaka that skin separates with sarcocarp separates, conveyer 1 drives intelligence holder 15 to rotate, and makes the shrinkage pool 31 of intelligence holder 15 downwards, Citrus chachiensis Hort. C. Suavissima Tanaka is made to drop in Citrus chachiensis Hort. C. Suavissima Tanaka case 83；The workflow of mandarin orange peeling machines people is as follows: grab Citrus chachiensis Hort. → the first line of cut and second Line of cut 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 → Separate 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 82.
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 82；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 82；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 82 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 82 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 82；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 82 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 82 by the sarcocarp of mandarin orange on the 7th intelligence holder 43；As This constantly circulates.
When intelligence holder 15 uses, after the elastic network(s) 32 of intelligence holder 15 grabbed by mandarin orange by charging mechanical hand 2, mandarin orange quilt Being put on weight sensor 49, its weight signal is transferred to controller 9 by weight sensor 49, and controller 9 is according to the weight of mandarin orange Amount data calculate the size shape of mandarin orange；After controller 9 calculates the size shape of mandarin orange, controller 9 controls left electronic push away Bar 47 and right electric pushrod 48 work, and left electric pushrod 47 drives left holder 45 to move to mandarin orange, and right electric pushrod 48 drives Right holder 46 moves to mandarin orange, utilizes left holder 45 and right holder 46, and the mandarin orange being put in elastic network(s) 32 is clamped in intelligence folder On seat 15；After mandarin orange is clamped in intelligence holder 15, its signal is transferred to control by sensor 23 corresponding to intelligence holder 15 Device 9, controller 9 controls conveyer 1 and drives conveyer belt 10 to rotate, and the mandarin orange clamped by intelligence holder 15 is delivered to the first cutting machine The Working position of tool hands 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, left holder 45 is provided with a gap 57 with right holder 46, a left side The distance in holder 45 and the seat gap 57 of right holder 46 more than left holder 45 and the stroke of right holder 46, make left holder 45 and Mandarin orange, by enough mobile spaces, is clamped by right holder 46；Left holder 45 is provided with levorotation chamber 58, and right holder 46 is provided with right die cavity 59, elastic network(s) 32 is 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；Elastic network(s) The surface area of 32 is 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 located at the first intelligence sensor 63 and the second intelligence Sensor 64, the first intelligence sensor 63 is located at the top of left holder 45, and the upper of right holder 46 be located at by the second intelligence sensor 64 Portion；First intelligence sensor 63 and the second intelligence 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 intelligence sensor 63 and the second intelligence 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 82 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.
First peeling machine hands 5 is made up of mandarin orange peeling machines people's intelligence pincers, and mandarin orange peeling machines people's intelligence clamps, and includes First support 66, rotary electric machine 67, the 68, first swing arm the 69, first rotation motor the 70, second swing arm the 71, second rotation of pivoted arm seat Motor 72 and the first skull patch pincers 19；Support and first support 66 of rotary electric machine 67 connect, and the first support 66 is with frame 14 even Connecing, the motor shaft of rotary electric machine 67 is fixing with pivoted arm seat 68 to be connected, and the motor cabinet of the first rotation motor 70 is fixed with pivoted arm seat 68 Connect, the motor shaft of the first rotation motor 70 and the first fixing connection of swing arm 69, the motor cabinet and first of the second rotation motor 72 Swing arm 69 is fixing to be connected, and the motor shaft of the second rotation motor 72 and the second fixing connection of swing arm 71, the second swing arm 71 is turned over first Skin pincers 19 are fixing to be connected；First skull patch pincers 19 include pincers motor 73, lower pincers motor 79, upper clamp 74, lower clamp 75 and Upper pincers sensor 76, upper pincers motor 73 and the support of lower pincers motor 79 and the second fixing connection of swing arm 71, upper pincers motor 73 Motor shaft is connected with upper clamp 74, and the motor shaft of lower pincers motor 79 is connected with lower clamp 75, and upper pincers sensor 76 is installed on folder On pincers 74, whether clamp Citrus chachiensis Hort. C. Suavissima Tanaka for detection the first skull patch pincers 19；Upper clamp 74 is provided with pincers hook 77, for being triggered by Citrus chachiensis Hort. C. Suavissima Tanaka； The axis of rotary electric machine 67 and horizontal line, the axis of the first rotation motor 70 and the second rotation motor 72 is put down with horizontal line OK；Rotary electric machine the 67, first rotation motor the 70, second rotation motor 72, pincers motor 73 and upper pincers sensor 76 are by cutting Control line is connected with controller 9.
The using method of mandarin orange peeling machines people's intelligence pincers is: during use, and after intelligence holder 15 put into by mandarin orange, weight senses The data of detection mandarin orange are transferred to controller 9, controller 9 by device the 49, first intelligence sensor 63 and the second intelligence sensor 64 Computer 54 detect weight data and first intelligence sensor 63 and second intelligent sensing of mandarin orange according to weight sensor 49 Device 64 detects the size data of mandarin orange and carries out intelligence computing, calculates the size shape of mandarin orange；Computer 54 calculates the big of mandarin orange After little shape, computer 54, according to the size shape of mandarin orange and mandarin orange location, calculates the first skull patch pincers 19 imitation people The coordinate curve that hands stripping mandarin orange skin moves；During the first skull patch pincers 19 stripping mandarin orange skin, controller 9 controls to turn according to above-mentioned coordinate curve Galvanic electricity machine 67, control the first rotation motor 70 and the second rotation motor 72 rotation, control the first skull patch pincers 19 by the Citrus chachiensis Hort. of mandarin orange Skin triggers and clamps, and moves by the track of above-mentioned coordinate curve, the Citrus chachiensis Hort. C. Suavissima Tanaka of strip off mandarin orange.
When mandarin orange peeling machines people's intelligence pincers use, controller 9 controls rotary electric machine 67 and drives pivoted arm seat 68 to horizontally rotate, Pivoted arm seat 68 drives the first swing arm 69 and the second horizontal rotation of swing arm 71, controls the first rotation motor 70 and drive the first swing arm 69 Vertical oscillation, the second rotation motor 72 drive the second swing arm 71 vertical oscillation, make the first skull patch pincers 19 calculate the by computer 54 The coordinate curve of one skull patch pincers 19 imitation staff stripping mandarin orange skin moves.
In order to implement to utilize the first skull patch pincers 19 that the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange is clamped and dug, the lower clamp 75 of the first skull patch pincers 19 Identical with the axis of upper clamp 74, the length of lower clamp 75 is shorter than the length of upper clamp 74, in order to avoid lower clamp 75 blocks clamp The pincers of 74 hook 77 and buy Citrus chachiensis Hort. C. Suavissima Tanaka；The most having clamped Citrus chachiensis Hort. C. Suavissima Tanaka to detect lower clamp 75, lower clamp 75 is provided with clamping sensor 78, folder Tight sensor 78 is connected with controller 9 by clamping control line.
During the first skull patch pincers 19 use, controller 9 needs to dig the position of Citrus chachiensis Hort. C. Suavissima Tanaka according to mandarin orange, controls the first skull patch pincers 19 Upper clamp 74 move to need to dig the position of Citrus chachiensis Hort. C. Suavissima Tanaka, then control upper pincers motor 73 and drive upper clamp 74 to swing, make folder The pincers of pincers 74 hook 77 and buy Citrus chachiensis Hort. C. Suavissima Tanaka, and Citrus chachiensis Hort. C. Suavissima Tanaka triggers set position, the more lower pincers motor 79 of control drives lower clamp 75 to put Dynamic, utilize lower clamp 75 to be clamped by Citrus chachiensis Hort. C. Suavissima Tanaka with upper clamp 74, after Citrus chachiensis Hort. C. Suavissima Tanaka is clamped by lower clamp 75 with upper clamp 74, controller 9 is controlled Make the first skull patch pincers 19 to move, by Citrus chachiensis Hort. by the coordinate curve calculating the first skull patch pincers 19 imitation staff stripping mandarin orange skin by computer 54 Skin is dug.
When Citrus chachiensis Hort. C. Suavissima Tanaka dug by first skull patch pincers 19, controller 9 controls upper pincers motor 73 and drives upper clamp 74 clockwise oscillation, on When the pincers hook 77 of clamp 74 buys Citrus chachiensis Hort. C. Suavissima Tanaka, Citrus chachiensis Hort. C. Suavissima Tanaka is close or contact is upper clamps sensor 76, and its signal is passed by upper pincers sensor 76 Being defeated by controller 9, controller 9 controls upper clamp 74 Citrus chachiensis Hort. C. Suavissima Tanaka and triggers the position set, and meanwhile, controller 9 clamps motor under controlling 79 drive lower clamp 75 counter-clockwise swing, and in utilization, Citrus chachiensis Hort. C. Suavissima Tanaka is clamped by clamp 74 with lower clamp 75, lower clamp 75 and upper clamp 74 When being clamped by Citrus chachiensis Hort. C. Suavissima Tanaka, the clamping sensor 78 of lower clamp 75 is close or contacts Citrus chachiensis Hort. C. Suavissima Tanaka, and its signal is transmitted by clamping sensor 78 To controller 9, controller 9 controls the first skull patch pincers 19 and calculates the first skull patch pincers 19 imitation staff stripping mandarin orange skin by by computer 54 Coordinate curve move, Citrus chachiensis Hort. C. Suavissima Tanaka is dug.
Open the operation of mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka to implement the first skull patch pincers 19 imitation staff, the first rotation motor 70 is rotating electricity The top of machine 67, the axis of the first rotation motor 70 is 90 ° of angles with the angle of rotary electric machine 67 axis；First rotation motor 70 Axis is vertical with the first swing arm 69；When the motor shaft of rotary electric machine 67 rotates, rotary electric machine 67 followed by the first rotation motor 70 Motor shaft swings, and the angle that the first rotation motor 70 swings is identical with the angle that rotary electric machine 67 motor shaft rotates；First swing arm 69 follow the first rotation motor 70 swings, and the angle that the first swing arm 69 swings is identical with the angle that the first rotation motor 70 swings, The angle that rotary electric machine 67 rotates is less than 360 ° of angles.
In order to implement the control to the first different amplitude of oscillation of swing arm the 69, second swing arm 71, the length of the first swing arm 69 is more than the The length of two swing arms 71, the distance of the axis of the first rotation motor 70 to the axis of the second rotation motor 72 is more than the second rotation electricity The distance of the axis to pincers motor 73 of the axis of machine 72；When first skull patch clamps the Citrus chachiensis Hort. C. Suavissima Tanaka of 19 strip off mandarin oranges, controller 9 controls One swing arm 69 swings, and drives the first skull patch pincers 19 to follow the swing of the first swing arm 69 and move, and utilizes the first swing arm 69 to control the One skull patch pincers 19 work basis is mobile；Controller 9 controls the second swing arm 71 and swings, and drives the first skull patch pincers 19 to follow the second swing arm 71 Swing and move, utilize the first swing arm 69 to control the first skull patch pincers 19 work fine setting mobile.
Descending clamp 75 and upper clamp 74 clamp Citrus chachiensis Hort. C. Suavissima Tanaka and avoid crushing Citrus chachiensis Hort. C. Suavissima Tanaka for convenience, upper clamp 74 is provided with clip tooth 80, lower clamp 75 is provided with lower clip tooth 81；Upper clamp 74 and lower clip tooth 81 are made up of rubber or silica gel or plastics.

Claims (7)

1. the using method of mandarin orange peeling machines people intelligence pincers, a kind of mandarin orange peeling machines people, include 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), conveyer (1) includes conveyer belt (10), Conveyer belt (10) is provided with intelligence holder (15), and intelligence holder (15) is provided with weight sensor (49), the first intelligence sensor (63) And second intelligence sensor (64), the first peeling machine hands (5) is made up of mandarin orange peeling machines people's intelligence pincers；Mandarin orange peeling machine Device people's intelligence clamps, and includes the first support (66), rotary electric machine (67), pivoted arm seat (68), the first swing arm (69), the first rotation electricity Machine (70), the second swing arm (71), the second rotation motor (72) and the first skull patch pincers (19)；First skull patch pincers (19) includes Pincers motor (73), lower pincers motor (79), upper clamp (74), lower clamp (75) and upper pincers sensor (76), rotary electric machine (67), First rotation motor (70), the second rotation motor (72), pincers motor (73) and upper pincers sensor (76) are by peeling control line It is connected with controller (9)；It is characterized in that: the using method of described mandarin orange peeling machines people's intelligence pincers is: during use, mandarin orange After putting into intelligence holder (15), weight sensor (49), the first intelligence sensor (63) and the second intelligence sensor (64) will inspections The data surveying mandarin orange are transferred to controller (9), and the computer (54) of controller (9) is according to the weight of weight sensor (49) detection mandarin orange The size data of amount data and the first intelligence sensor (63) and the second intelligence sensor (64) detection mandarin orange carries out intelligence fortune Calculate, calculate the size shape of mandarin orange；After computer (54) calculates the size shape of mandarin orange, computer (54) is according to the size of mandarin orange Shape and mandarin orange location, calculate the first skull patch pincers (19) and imitate the coordinate curve that staff stripping mandarin orange skin moves；The During one skull patch pincers (19) stripping mandarin orange skin, controller (9) controls rotary electric machine (67) according to above-mentioned coordinate curve, controls the first rotation Motor (70) and the second rotation motor (72) rotation, control the first skull patch pincers (19) and the Citrus chachiensis Hort. C. Suavissima Tanaka of mandarin orange triggered and clamped, and Move by the track of above-mentioned coordinate curve, the Citrus chachiensis Hort. C. Suavissima Tanaka of strip off mandarin orange.
2. the using method of mandarin orange peeling machines people intelligence pincers, it is characterised in that: described mandarin orange peeling machines people's intelligence pincers make Used time, controller (9) controls rotary electric machine (67) and drives pivoted arm seat (68) to horizontally rotate, and pivoted arm seat (68) drives the first swing arm (69) and the second swing arm (71) horizontal rotation, control the first rotation motor (70) drive the first swing arm (69) vertical oscillation, Two rotation motors (72) drive the second swing arm (71) vertical oscillation, make the first skull patch pincers (19) calculate first by computer (54) and turn over Skin pincers (19) imitates the coordinate curve of staff stripping mandarin orange skin and moves.
The using method of mandarin orange peeling machines people's intelligence the most according to claim 1 pincers, it is characterised in that: described first When skull patch pincers (19) uses, controller (9) needs to dig the position of Citrus chachiensis Hort. C. Suavissima Tanaka according to mandarin orange, controls the upper folder of the first skull patch pincers (19) Pincers (74) move to need to dig the position of Citrus chachiensis Hort. C. Suavissima Tanaka, then clamp clamp (74) in motor (73) drive in control and swing, make folder The pincers of pincers (74) hook (77) and buy Citrus chachiensis Hort. C. Suavissima Tanaka, are triggered by Citrus chachiensis Hort. C. Suavissima Tanaka and clamp folder under motor (79) drives under set position, then control Pincers (75) swing, and utilize lower clamp (75) to be clamped by Citrus chachiensis Hort. C. Suavissima Tanaka with upper clamp (74), and lower clamp (75) and upper clamp (74) are by Citrus chachiensis Hort. C. Suavissima Tanaka After clamping, controller (9) controls the first skull patch pincers (19) and calculates the first skull patch pincers (19) imitation staff stripping by by computer (54) The coordinate curve of mandarin orange skin moves, and is dug by Citrus chachiensis Hort. C. Suavissima Tanaka.
The using method of mandarin orange peeling machines people's intelligence the most according to claim 3 pincers, it is characterised in that: described first When skull patch pincers (19) digs Citrus chachiensis Hort. C. Suavissima Tanaka, controller (9) control clamps clamp (74) clockwise oscillation, upper clamp in motor (73) drive (74) pincers hook (77) when buying Citrus chachiensis Hort. C. Suavissima Tanaka, Citrus chachiensis Hort. C. Suavissima Tanaka close to or contact on clamp sensor (76), upper pincers sensor (76) is believed Number being transferred to controller (9), in controller (9) control, clamp (74) Citrus chachiensis Hort. C. Suavissima Tanaka triggers the position set, meanwhile, controller (9) Clamping motor (79) under control and drive lower clamp (75) counter-clockwise swing, in utilization, Citrus chachiensis Hort. C. Suavissima Tanaka is pressed from both sides by clamp (74) with lower clamp (75) Tightly, when Citrus chachiensis Hort. C. Suavissima Tanaka is clamped by lower clamp (75) and upper clamp (74), the clamping sensor (78) of lower clamp (75) is close or contacts Citrus chachiensis Hort. C. Suavissima Tanaka, its signal is transferred to controller (9) by clamping sensor (78), and controller (9) controls the first skull patch pincers (19) by by electricity Brain (54) calculates the coordinate curve of the first skull patch pincers (19) imitation staff stripping mandarin orange skin and moves, and is dug by Citrus chachiensis Hort. C. Suavissima Tanaka.
The using method of mandarin orange peeling machines people's intelligence the most according to claim 1 pincers, it is characterised in that: described rotation When the motor shaft of motor (67) rotates, the first rotation motor (70) is followed the motor shaft of rotary electric machine (67) and is swung, the first rotation The angle that the angle that motor (70) swings rotates with rotary electric machine (67) motor shaft is identical；The first rotation is followed in first swing arm (69) Motor (70) swings, and the angle that the angle that the first swing arm (69) swings swings with the first rotation motor (70) is identical.
The using method of mandarin orange peeling machines people's intelligence the most according to claim 1 pincers, it is characterised in that: described rotation The angle that motor (67) rotates is less than 360 ° of angles.
The using method of mandarin orange peeling machines people's intelligence the most according to claim 1 pincers, it is characterised in that: described first Skull patch pincers (19) strip off mandarin orange Citrus chachiensis Hort. C. Suavissima Tanaka time, controller (9) control the first swing arm (69) swing, drive first skull patch pincers (19) with Mobile with the swing of the first swing arm (69), utilize the first swing arm (69) to control the first skull patch pincers (19) and make basic mobile；Control Device (9) controls the second swing arm (71) and swings, and drives the first skull patch pincers (19) to follow the swing of the second swing arm (71) and move, utilizes It is mobile that first swing arm (69) controls the first skull patch pincers (19) work fine setting.
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CN105476426A (en) * 2015-12-20 2016-04-13 重庆平伟朝阳农业发展有限公司 Mechanism for peeling off pomelos
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EP0453388A1 (en) * 1990-03-22 1991-10-23 Clemente Del Ser Gonzalez Fruit-peeling machine
CN2753166Y (en) * 2004-12-30 2006-01-25 象山双鱼轻工机械有限公司 Orange peeling machine
CN203074244U (en) * 2013-01-18 2013-07-24 王圣智 Fruit peeler
CN103989387A (en) * 2013-02-16 2014-08-20 范光平 Skin peeling device
CN204259777U (en) * 2014-11-10 2015-04-15 江西信明坊食品发展有限公司 Navel orange device for peeling
CN204444143U (en) * 2015-03-06 2015-07-08 象山双鱼轻工机械有限公司 Chain-plate type orange automatic peeling device
CN105105292A (en) * 2015-08-05 2015-12-02 江苏大学 Automatic pomelo peel-flesh separating device and method
CN205052784U (en) * 2015-08-27 2016-03-02 昆山亨少食品机械有限公司 Full -automatic orange peeler
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112964056A (en) * 2021-02-02 2021-06-15 陈俊杰 Orange peel turning device for preparing orange peel tea

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