Using method of intelligent pincers for mandarin orange peeling robot

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

technical field [0001] The invention relates to a method of using a citrus peel processing equipment, in particular to a method of using a robot intelligent pliers for peeling citrus seeds specially for peeling citrus peels. Background technique [0002] A traditional Chinese medicine, tangerine peel is formed by drying the tangerine peel of tangerine seeds for a long time, especially Xinhui tangerine peel, which is world-famous; The petals include the first, second and third petals, each of which is connected to each other, and then the citrus peel is dried as a traditional Chinese medicine. Two cutting lines, after cutting the two cutting lines from the citrus peel, insert your fingers into the position between the citrus peel and the pulp, open the citrus peel and take out three petals, and then take out the pulp; due to the low efficiency of manual operation, a A citrus peeling robot for peeling citrus peels and a method of using the intelligent pliers of the citrus pee...

AI Technical Summary

Problems solved by technology

[0002] A kind of traditional Chinese medicine tangerine peel is formed by drying the peel of mandarin oranges for a long time, especially the tangerine peel of Xinhui, which is famous all over the world; at present, during the harvest season of tangerines in Xinhui every year, there are a large number of mandarin oranges that need to be peeled off. The petals include the first petal, the second petal and the third petal, and each petal is connected to each other, and then the orange peel is dried as the traditional Chinese medicine tangerine peel; now, the peeling method of the mandarin orange is: use a knife to cut the mandarin peel of the mandarin orange Two cutting lines, after cutting the two cutting lines on the citrus peel, insert your fingers between the citrus peel and the pulp, open the citrus peel to form three petals, and then take out the pulp; due to the low efficiency of manual operation, one A kind of citrus peeling robot for peeling citrus peeling and the use method of citrus peeling robot intelligent pliers have become the needs of people peeling citrus peeling

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