CN101913148B - Numerical control spot-adhering machine of three-dimensional art dry fruit cakes - Google Patents
Numerical control spot-adhering machine of three-dimensional art dry fruit cakes Download PDFInfo
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- CN101913148B CN101913148B CN2010102242030A CN201010224203A CN101913148B CN 101913148 B CN101913148 B CN 101913148B CN 2010102242030 A CN2010102242030 A CN 2010102242030A CN 201010224203 A CN201010224203 A CN 201010224203A CN 101913148 B CN101913148 B CN 101913148B
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- hydraulic cylinder
- guide rail
- horizontal plane
- sucker
- swinging
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Abstract
The invention belongs to the technical field of numerical control food machinery, in particular relates to a numerical control spot-adhering machine of three-dimensional art dry fruit cakes, which is used for adhering dry fruits on the surfaces of cakes with different shapes. The numerical control spot-adhering machine of three-dimensional dry fruit cakes comprises a supporting hydraulic cylinder; the piston rod extension end of the supporting hydraulic cylinder is fixedly connected with the bottom of a base of a single-blade swinging hydraulic cylinder; a blade of the single-blade swinging hydraulic cylinder is connected with a swinging shaft; the top of the extension end of the swinging shaft is fixedly connected with the bottom of a supporting frame of a gear rack swinging hydraulic cylinder; the extension end of a transverse gear shaft of the gear rack swinging hydraulic cylinder is connected with a guide rail; the rear end of the guide rail is provided with a propelling hydraulic cylinder; a piston rod of the propelling hydraulic cylinder is movably sleeved on the guide rail via a connector; the other side of the connector is connected with a vertical mechanical arm rod; the bottom of the mechanical arm rod is fixedly connected with a matrix sucker via the connector; and the hydraulic cylinders and the matrix sucker are connected with an automatic control system. The invention has the advantages of small size, stable transmission and reliable performance.
Description
Technical field
The invention belongs to numerical control food machinery technical field, be specifically related to a kind of lip-deep three-dimensional art dry fruit cakes numerical control spot-adhering machine of cake that the dry fruit multi-angle is adhered to different shape.
Background technology
China is an agricultural byproducts big country, dry fruit of a great variety, and the production of three-dimensional art dry fruit and the business development of process equipment have a high potential.At present, mechanical automation is produced and has been penetrated in the processing of various products, and robot and automatic control technology since the sixties, have been passed through 40 years of development from twentieth century, be widely used in every field, become electromechanical integration equipment main in the manufacturing industry production automation.China has very big development in machinery manufacturing industry field inner machine people's development and application study, and has obtained a lot of achievements, and existing a lot of robots are applied in production practices.The research and development technology of manipulator is also day by day ripe simultaneously, and the structure theory of its high-freedom degree can be applied among a lot of equipment, substantially all is equipped with the industry mechanical arm of corresponding production usefulness on the particularly various automatic assembly lines.If utilize the high-freedom degree flexibility and the digital control technology of industry mechanical arm, cooperate again with specific and various dry fruits can be adsorbed according to the artistic profile of certain three-dimensional and be released to the relevant position and the numerical control dry fruit that bonds is inlayed mechanism, just can realize three-dimensional art cake mold surface being carried out the processes of the sticking art dry fruit cakes of design and three-dimensional point with various dry fruits.
Summary of the invention
The purpose of this invention is to provide a kind of utilize digital control can high-freedom degree the manipulator technology of running, and with combine through custom-designed matrix adsorbent equipment, thereby realize the three-dimensional art dry fruit cakes numerical control spot-adhering machine of multifreedom motion.
The present invention realizes above-mentioned purpose by the following technical solutions: this three-dimensional art dry fruit cakes numerical control spot-adhering machine is used for the dry fruit multi-angle is adhered to the cake surface of different shape; It comprises a supporting cylinder perpendicular to the horizontal plane installation, the top of the piston rod external part of supporting cylinder and the support of single blade oscillating hydraulic cylinder bottom are connected, the blade of swinging in horizontal plane of single blade oscillating hydraulic cylinder is connected with the swinging axle perpendicular to horizontal plane, the external part top of swinging axle and the bracing frame of rack-and-pinion oscillating motor bottom are connected, the external part of the transverse teeth wheel shaft of rack-and-pinion oscillating motor links to each other with the hole key of a guide rail by guide rail front end one side, the rear end of guide rail is equipped with a PF cylinder pressure, the piston rod of PF cylinder pressure passes through a connector movable set on guide rail, the opposite side of connector then is connected with a vertical manipulator armed lever, and the bottom of manipulator armed lever is by the connector matrix sucker that is connected; Described each hydraulic cylinder is connected with automatic control system with the matrix sucker.
More particularly, described matrix sucker comprises shell, be provided with some square suction pipes in the shell, the square suction pipe is set with one section telescoping tube outward perpendicular to an end of horizontal plane, the bottom of telescoping tube is fixed with sucker, the upper end of telescoping tube is provided with armature, and the middle-end outside of telescoping tube is provided with electromagnet coil, is provided with spring between the upper end of telescoping tube and the armature; The sucker of each square suction pipe evenly is arranged in the outer same horizontal plane in matrix sucking disk outer-shell bottom; The square suction pipe is parallel in the end of horizontal plane and is set with one section expansion link, the outer end of expansion link is fixed with armature, expansion link the inner rubber stopper that is connected is provided with electromagnet coil outside the square suction pipe outside the expansion link middle-end, is provided with spring between electromagnet coil and the armature.
Various hydraulic cylinders among the present invention can realize manipulator moving horizontally on guide rail, in the rotation of vertical plane, in the rotation of horizontal plane, in the folding and unfolding adjustment of vertical direction, or the compound motion that combines of above various motion, thereby realize the multifreedom motion of manipulator.The hydraulic drive of being adopted is a kind of novel kind of drive that is born on mechanically operated basis, it is to be working media with liquid, the mechanical energy of prime mover is converted to the pressure energy of liquid by dynamical element (hydraulic pump), then by the pipeline control element, by executive component (hydraulic cylinder or hydraulic motor) pressure of liquid can be converted to mechanical energy, drive load and realize straight line or gyration.Its advantage is: (1) volume is little, stable drive, and dependable performance can easily realize the action that a lot of machine driving can not be finished.(2) hydraulic means is accomplished the step-less adjustment to speed easily, and speed adjustable range is big, can also carry out in the course of the work the adjusting of speed.(3) hydraulic means stable working, reversing impact is little, is convenient to realize frequent commutation.(4) hydraulic means is easy to realize overload protection, can realize self-lubricating, long service life.(5) hydraulic means easily is automated, and can regulate and control flow direction, pressure and the flow of liquid easily, and can be at an easy rate combine with electric, Electronic Control or Pneumatic Transmission control, realizes complicated motion and operation.(6) Hydraulic Elements in the hydraulic means are easy to realize seriation, standardization and generalization, are convenient to design, make and promote the use of.
The advantage of the matrix sucker that adopts among the present invention is that the dry fruit of the working face that both can realize that large tracts of land, curvature were smaller is inlayed, also can control separately each sucker, promptly inhale and put armature to make telescoping tube drive sucker flexible, thereby the dry fruit of realizing various privileged sites is inlayed by the power on/off of electromagnet coil.
Description of drawings
Fig. 1 is the general structure schematic diagram of the embodiment of the invention.
Fig. 2 is the structural representation of supporting cylinder among Fig. 1.
Fig. 3 is the structural representation of single blade oscillating hydraulic cylinder among Fig. 1.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the structural representation of Fig. 1 middle gear tooth bar oscillating motor.
Fig. 6 is the right view of Fig. 5.
Fig. 7 is the vertical view of PF cylinder pressure and rail sections among Fig. 1.
Fig. 8 is the front view of Fig. 7.
Fig. 9 is the structural representation of matrix sucker among Fig. 1.
Figure 10 is the upward view of Fig. 9.
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Referring to Fig. 1, be general structure schematic diagram of the present invention.As seen from the figure, the external part top of the piston rod 2 of supporting cylinder 1 is connected by spline 3 with the support of single blade oscillating hydraulic cylinder 4 bottom, the blade 5 of single blade oscillating hydraulic cylinder 4 is connected with swinging axle 6, the external part top of swinging axle 6 is connected by spline 8 with bracing frame 9 bottoms of rack-and-pinion oscillating motor 7, the external part of the gear shaft 10 of rack-and-pinion oscillating motor 7 links to each other with the hole key of a guide rail by guide rail front end one side, the rear end of guide rail is equipped with a PF cylinder pressure 11, the piston rod 12 of PF cylinder pressure 11 passes through a connector movable set on guide rail, the opposite side of connector then is connected with a vertical manipulator armed lever 13, and the bottom of manipulator armed lever 13 is by the connector 14 matrix sucker 15 that is connected.
Referring to Fig. 2, be the structural representation of supporting cylinder 1.It comprises: cylinder body 110, and flange end cap 105, drive end bearing bracket 111, hydraulic fluid port 101, spring collar 102, semi-ring 103, axle sleeve 104, fixing with hex screw 106, y-type seal ring 107, O RunddichtringO 108, felt collar oil sealing 112, piston rod 2 and spline 3.According to the size of fluid mosaic model, by the folding and unfolding adjustment of supporting cylinder 1 at vertical direction, adjustable full employment height, and this hydraulic cylinder plays a supportive role in whole system.
Referring to Fig. 3 and Fig. 4, single blade oscillating hydraulic cylinder 4 comprises: support 401, and cylinder bucket 403, end cap 407, fixing with hex screw 402, rubber ring 406, O RunddichtringO 409, blade 5, swinging axle 6, plug cock 411, oil pipe 414, spline 3, T RunddichtringO 413.The blade 5 and the swinging axle 6 of single blade oscillating hydraulic cylinder 4 link together, and when oil enters in the cylinder from left side hydraulic fluid port, blade 5 is pushed and drives swinging axle 6 and do turning anticlockwise.By the 120 degree revolutions of single blade oscillating hydraulic cylinder 4 in horizontal plane, make the promotion hydraulic cylinder 11 and the rack-and-pinion oscillating motor 7 that are connected with single blade oscillating hydraulic cylinder realize revolution 120 degree in the overall horizontal plane.
Referring to Fig. 5 and Fig. 6, rack-and-pinion oscillating motor 7 comprises: casing 707, housing 702, piston 705, rack piston bar 706, gear shaft 10 is adjusted screw 701, hex nut 703, T RunddichtringO 704, trip bolt 709, the key 710 that links to each other with the hole key of guide rail front end one side.Rack-and-pinion oscillating motor 7 is converted into 180 degree reciprocating rotating motions of gear shaft 10 with the linear reciprocating motion of piston 705 through rack-and-pinion, thereby realizes the 180 degree gyrations of manipulator armed lever 13 in vertical plane by the guide rail that is attached thereto.
Referring to Fig. 7 and Fig. 8, PF cylinder pressure 11 is fixedly installed in the rear end of guide rail 16, the piston rod 12 of PF cylinder pressure 11 passes through connector 17 movable sets on guide rail 16, the opposite side of connector 17 connects mechanical arm bar 13, by piston rod 12 the stretching on guide rail 16 of PF cylinder pressure 11, thereby the horizontal direction of realization manipulator armed lever 13 is mobile.
Referring to Fig. 9 and Figure 10, matrix sucker 15 comprises shell 151, be provided with ten six roots of sensation square suction pipes 152 in the shell 151, square suction pipe 152 is set with one section telescoping tube 153 outward perpendicular to an end of horizontal plane, the bottom of telescoping tube 153 is fixed with sucker 154, the upper end of telescoping tube 153 is provided with armature 155, the middle-end outside of telescoping tube 153 is provided with electromagnet coil 156, be provided with spring 157 between the upper end of telescoping tube 153 and the armature 155, in order to strengthen the motion of armature 155, the top of armature 155 also is provided with spring; Sucker 154 adopts the rubber materials, and disk track can be 8mm, 10mm and 12mm, and 16 suckers 154 are 4 * 4 matrixes and are arranged in the same horizontal plane outside shell 151 bottoms; Square suction pipe 152 is parallel in the end of horizontal plane and is set with one section expansion link 158, the outer end of expansion link 158 is fixed with armature 159, expansion link 158 the inners rubber stopper 1510 that is connected, be provided with electromagnet coil 1511 outside the square suction pipe outside expansion link 158 middle-ends, be provided with spring 1512 between electromagnet coil 1511 and the armature 159.Therefore, matrix sucker 15 can be controlled separately 16 suckers, generates an electromagnetic field armature 155 to be moved downward cause spring 157 compressions, drive telescoping tube 153 and stretch downwards when electromagnet coil 156 energising; When electromagnet coil 156 outages, the while spring 157 that do not generate an electromagnetic field flicks, and drives upwards withdrawal of telescoping tube 153.In like manner, when electromagnet coil 1511 energising, generate an electromagnetic field and make armature 159 moving handle spring 1512 compressions left get up to drive rubber stopper 1510 by square suction pipe 152 air to be ejected and make sucker 154 not adsorb material object; In like manner, not generating an electromagnetic field when electromagnet coil 1511 outage causes spring 1512 to flick armature 159 is moved right to drive rubber stopper 1510 and absorbs air, makes sucker 154 absorption in kind.
Claims (1)
1. three-dimensional art dry fruit cakes numerical control spot-adhering machine is used for the dry fruit multi-angle is adhered to the cake surface of different shape; It is characterized in that: it comprises a supporting cylinder perpendicular to the horizontal plane installation, the top of the piston rod external part of supporting cylinder and the support of single blade oscillating hydraulic cylinder bottom are connected, the blade of swinging in horizontal plane of single blade oscillating hydraulic cylinder is connected with the swinging axle perpendicular to horizontal plane, the external part top of swinging axle and the bracing frame of rack-and-pinion oscillating motor bottom are connected, the external part of the transverse teeth wheel shaft of rack-and-pinion oscillating motor links to each other with the hole key of a guide rail by guide rail front end one side, the rear end of guide rail is equipped with a PF cylinder pressure, the piston rod of PF cylinder pressure passes through a connector movable set on guide rail, the opposite side of connector is connected with a vertical manipulator armed lever, and the bottom of manipulator armed lever is by the connector matrix sucker that is connected; Described each hydraulic cylinder is connected with automatic control system with the matrix sucker;
Described matrix sucker comprises shell, be provided with some square suction pipes in the shell, the square suction pipe is set with one section telescoping tube outward perpendicular to an end of horizontal plane, the bottom of telescoping tube is fixed with sucker, the upper end of telescoping tube is provided with armature, the middle-end outside of telescoping tube is provided with electromagnet coil, is provided with spring between the upper end of telescoping tube and the armature; The sucker of each square suction pipe evenly is arranged in the outer same horizontal plane in matrix sucking disk outer-shell bottom; The square suction pipe is parallel in the end of horizontal plane and is set with one section expansion link, the outer end of expansion link is fixed with armature, expansion link the inner rubber stopper that is connected is provided with electromagnet coil outside the square suction pipe outside the expansion link middle-end, is provided with spring between electromagnet coil and the armature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102242030A CN101913148B (en) | 2010-07-12 | 2010-07-12 | Numerical control spot-adhering machine of three-dimensional art dry fruit cakes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102242030A CN101913148B (en) | 2010-07-12 | 2010-07-12 | Numerical control spot-adhering machine of three-dimensional art dry fruit cakes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101913148A CN101913148A (en) | 2010-12-15 |
| CN101913148B true CN101913148B (en) | 2011-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102242030A Expired - Fee Related CN101913148B (en) | 2010-07-12 | 2010-07-12 | Numerical control spot-adhering machine of three-dimensional art dry fruit cakes |
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| CN (1) | CN101913148B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108112653A (en) * | 2017-10-26 | 2018-06-05 | 同济大学 | A kind of spray equipment for cake surface aesthetics moulding |
| CN109397322A (en) * | 2018-12-12 | 2019-03-01 | 深圳市瓦力自动化有限公司 | A kind of manipulator picks and places the structure and control method of work head |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2439193Y (en) * | 2000-07-20 | 2001-07-18 | 潘力军 | Automatic machine for coating of embossed layer on cakes |
| CN2693015Y (en) * | 2004-04-02 | 2005-04-20 | 庞济生 | Mounting machine of colorful cream auxiliary materials decorative pattern for multipurpose cake |
| US7036427B2 (en) * | 2001-11-29 | 2006-05-02 | Les Aliments T & N Foods Inc. | Rising crust manufacturing apparatus |
| CN2925662Y (en) * | 2006-07-28 | 2007-07-25 | 中色科技股份有限公司 | Automatic rotary table for transporating roller channel |
| CN201736226U (en) * | 2010-07-12 | 2011-02-09 | 卢利亚 | Numerical control point bonding machine for three dimensional artistic dried fruits and cakes |
-
2010
- 2010-07-12 CN CN2010102242030A patent/CN101913148B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2439193Y (en) * | 2000-07-20 | 2001-07-18 | 潘力军 | Automatic machine for coating of embossed layer on cakes |
| US7036427B2 (en) * | 2001-11-29 | 2006-05-02 | Les Aliments T & N Foods Inc. | Rising crust manufacturing apparatus |
| CN2693015Y (en) * | 2004-04-02 | 2005-04-20 | 庞济生 | Mounting machine of colorful cream auxiliary materials decorative pattern for multipurpose cake |
| CN2925662Y (en) * | 2006-07-28 | 2007-07-25 | 中色科技股份有限公司 | Automatic rotary table for transporating roller channel |
| CN201736226U (en) * | 2010-07-12 | 2011-02-09 | 卢利亚 | Numerical control point bonding machine for three dimensional artistic dried fruits and cakes |
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| Publication number | Publication date |
|---|---|
| CN101913148A (en) | 2010-12-15 |
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| C06 | Publication | ||
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| ASS | Succession or assignment of patent right |
Free format text: FORMER OWNER: LIU JUNAN HU KEHONG Owner name: HUNAN INSTITUTE OF ENGINEERING Free format text: FORMER OWNER: LU LIYA Effective date: 20111014 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Junan Inventor after: Huang Jusheng Inventor after: Li Jianjun Inventor after: Tang Huanqing Inventor after: Lu Liya Inventor after: Hu Kehong Inventor before: Lu Liya Inventor before: Liu Junan Inventor before: Hu Kehong |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LU LIYA LIU JUNAN HU KEHONG TO: LIU JUNAN HUANG JUSHENG LI JIANJUN TANG HUANQING LU LIYA HU KEHONG Free format text: CORRECT: ADDRESS; FROM: 410003 CHANGSHA, HUNAN PROVINCE TO: 411104 XIANGTAN, HUNAN PROVINCE |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20111014 Address after: 411104 Fuxing East Road, Hunan, Xiangtan, No. 88 Applicant after: Hunan Institute Of Engineering Address before: 410003 room 18, building 402, Hunan Academy of Social Sciences, Hunan, Changsha Applicant before: Lu Liya Co-applicant before: Liu Junan Co-applicant before: Hu Kehong |
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| C14 | Grant of patent or utility model | ||
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111207 Termination date: 20120712 |