CN104138835A - Tea sifting and grading machine based on spatial three-degree-of-freedom parallel mechanism - Google Patents

Tea sifting and grading machine based on spatial three-degree-of-freedom parallel mechanism Download PDF

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Publication number
CN104138835A
CN104138835A CN201410337696.7A CN201410337696A CN104138835A CN 104138835 A CN104138835 A CN 104138835A CN 201410337696 A CN201410337696 A CN 201410337696A CN 104138835 A CN104138835 A CN 104138835A
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China
Prior art keywords
moving platform
tealeaves
platform
chain
frame
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Pending
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CN201410337696.7A
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Chinese (zh)
Inventor
张艳伟
周海栋
徐丰
崔国华
张海强
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Hebei University of Engineering
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Hebei University of Engineering
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Application filed by Hebei University of Engineering filed Critical Hebei University of Engineering
Priority to CN201410337696.7A priority Critical patent/CN104138835A/en
Publication of CN104138835A publication Critical patent/CN104138835A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a tea sifting and grading machine based on a spatial three-degree-of-freedom parallel mechanism. The tea sifting and grading machine comprises a frame, driving chains, a driven chain, a redundant driving chain, a fixed platform and a moving platform. Three driving chains of the parallel mechanism are respectively connected with the fixed and moving platforms through ball joints and hooke joints, and sliding pairs are driving pairs; a middle just restraint driven chain is fixed with the fixed platform and is connected with the moving platform through a ball joint; the other chain is coplanar with the moving platform in the initial state, one end of the chain is connected with a frame, and the other end of the chain is connected with the moving platform; the frame is fixedly connected with the moving platform through three connecting rods. According to the tea sifting and grading machine, tea can be thrown off a sifter through two rotational freedoms in the radial direction of the sifter and is layered; meanwhile, the rotational freedom in the normal direction of the sifter has scattering and thorough sifting functions. In actual application, three degree-of-freedoms are combined for use, namely a scattering process, a layering process and a thorough sifting process are carried out simultaneously, and the tea sifting and grading efficiency can be greatly improved.

Description

Based on the tea finishing machine of space three-rotation freedom parallel mechanism
Technical field
The present invention relates to a kind of tea sifting and grading mechanism, relate in particular to the tea finishing machine based on space three-rotation freedom parallel mechanism.
Background technology
Tealeaves fine finishining is a very numerous and diverse job, the tea quality that each tealeaves monomer generally will finally obtain through tens roads or more operation guarantee, wherein sieving operation is very important operation in tealeaves fine finishining process, for the tea quality that can make to produce comparatively even, conventionally will sieve, tea screening process mainly can be divided into the dispersion, layering of tealeaves, three processes such as sieve thoroughly.In Tea Processing industry, use more tea screening device to adopt toggle to tea screening at present, but this device can only provide single-degree-of-freedom translation, because freedom of motion is few, be difficult to make tealeaves uniform fast on compass screen surface, thereby reduced the contact area of tealeaves and compass screen surface, simultaneously, because screen frame does plane motion, make tealeaves be difficult to upspring, for the vertical resolution deficiency of tealeaves, directly affect the efficiency of tea screening.
Chinese patent application CN102327870A discloses a kind of four-freedom hybrid vibratory sieve, is made up of side chain and screen box after side chain, X before base, slider-crank mechanism, support, halfpace, the left side chain of Y, the right side chain of Y, X.A slider-crank mechanism is arranged in base top; The bottom of support is arranged on slider-crank mechanism, and support upper end and halfpace are connected; Screen box is arranged in the top of halfpace, is connected with side chain after side chain before the right side chain of Y, X, the left side chain of Y and X between screen box and halfpace, screen box, halfpace and connect the parallel institution of their a 4SPR structure of four side chains compositions.This patent of invention executing agency is comparatively complicated, and continuity deficiency between vibrational degrees of freedom.
Chinese patent application CN102773856A discloses a kind of rotational motion and the translational motion space five-freedom mechanism of control separately, comprises frame, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform and spherical chain.Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain drive translation platform to do three-dimensional translating motion jointly; Described the 4th movement branched chain and the 5th movement branched chain drive spherical chain motion jointly, and spherical chain can be realized around the bidimensional of the centre of sphere and rotating.This mechanism needs to control separately side chain, the kinematics poor-performing of mechanism.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of tea finishing machine based on space three-rotation freedom parallel mechanism is provided, can realize the dispersion and saturating sieve of tealeaves on a large scale around rotating of compass screen surface normal orientation; Can cast tealeaves aside compass screen surface around compass screen surface fine-adjustment rotary radially and realize layering, disperse and thoroughly sieve three processes and carry out simultaneously, the effect of upset tealeaves is played in three rotations simultaneously, destroy the stacked form of tealeaves, be conducive to tealeaves layering, improve tea screening efficiency, shorten sieving time.
For achieving the above object, the present invention proposes following technical scheme:
A kind of tea finishing machine based on space three-rotation freedom parallel mechanism, comprise fixed platform, five parallel kinematic side chains, moving platform, screen frame, collection container and frames, described fixed platform, five parallel kinematic side chains and moving platform form three one-rotation parallel mechanisms; Wherein three movement branched chain are two ends pin joint, two ends pin joint is along fixed platform and moving platform is circular is uniformly distributed, and the upper end of these three movement branched chain connects with fixed platform by Hooke's hinge respectively, lower end connects with moving platform by ball pivot respectively, Article 4 movement branched chain is coplanar with moving platform under original state, one end is cut with scissors with frame and is connected by Hooke, and the other end connects with moving platform by ball pivot; Moving sets in aforesaid four movement branched chain is secondary for driving, and drives secondary servomotor or the servo straight line Driven by Hydraulic Cylinder of adopting; Article 5 movement branched chain is the driven side chain of middle just constraint, and fixed platform center is fixed in this driven side chain upper end, and lower end is connected by ball pivot with moving platform center; Described screen frame is positioned at moving platform bottom, and affixed by three connecting rods and moving platform, and fixed platform and frame are affixed, and collection container is placed under screen frame.Described frame is placed in the most external of whole screening machine.Described screen frame has angular speed in the horizontal direction, comes and goes Plane Rotation on a large scale according to pre-set velocity, default rotational angle, can realize the dispersion and saturating sieve function of tealeaves, and tealeaves is disperseed rapidly; In the vertical direction has two rotational freedoms, and design point is moved upward to the process of midrange speed maximum position by extreme lower position, and the tealeaves in design point accelerates together with sieve bat, and continuing is upwards moderating process.When design point acceleration, a is less than or equal to gravity acceleration g, when a≤g, moves together with screen frame in the tealeaves at design point place; In the time of a > g, the tealeaves in design point place separates with screen frame, and tealeaves is pulled out away from compass screen surface, realizes layer functions; It is 0 o'clock that while design point moves upward to speed, acceleration maximum, and velocity variations is the fastest, is applicable to casting aside of tealeaves.
Described design point is compass screen surface arbitrfary point.
Described servomotor or servo straight line hydraulic cylinder are all connected with control system.
The present invention, compared with CN102327870A, can overcome its vibratory sieve executing agency comparatively complicated, and the technological deficiency of continuity deficiency between vibrational degrees of freedom.The present invention, compared with CN102773856A, eliminates working space singularity by adding redundant drive mode, has good kinematics performance.
The present invention, around compass screen surface normal orientation, comes and goes Plane Rotation on a large scale according to pre-set velocity, default rotational angle, can realize the dispersion and saturating sieve function of tealeaves; Meanwhile, to thering are two rotational freedoms, can cast tealeaves aside compass screen surface by fine-adjustment rotary around two vertical diameters of compass screen surface, realize layering.In practical application, by control system, three rotational freedoms are used in combination to i.e. dispersion, layering and thoroughly sieve three processes and carry out simultaneously, the screening efficiency of raising tealeaves that can be by a relatively large margin.
Brief description of the drawings
Fig. 1 is system architecture schematic diagram of the present invention;
Fig. 2 is screening mechanism schematic diagram in parallel of the present invention;
In figure, 1 fixed platform; 2 first drive side chain; 3 second drive side chain; 8 the 3rd drive side chain; 7 driven side chains; 6 redundant drive side chains; 4 moving platforms; 5 screen frames; 9 collection containers; 10 frames; U 1, U 2, U 3, U 4be Hooke's hinge; P 1, p 2, p 3, p 4be moving sets; S 1, S 2, S 3, S 4, S 5be ball pivot.
Detailed description of the invention
Describe specific embodiment of the invention method in detail below in conjunction with accompanying drawing.
As shown in Figure 1, the pure one-rotation parallel mechanism tea finishing machine of a kind of Three Degree Of Freedom, drives side chain 2,3,8 by 1, three of fixed platform, and driven side chain 7, redundancy branched chain 6 and moving platform 4 form three one-rotation parallel mechanisms; Screen frame 5 is affixed with the moving platform 4 of parallel institution; Redundant drive side chain 6 and Hooke's hinge U 4affixed with frame 10; Collection container 9 is placed under screen frame 5.As shown in Figure 2, first, second, third drive side chain 2,3,8 one end respectively by Hooke's hinge U 1, U 2, U 3connect with fixed platform 1, the other end is by ball pivot S 1, S 2, S 3connect with moving platform 4; Driven side chain 7 one end and fixed platform 1 are fixing, and the other end is by ball pivot S 5connect with moving platform; Redundant drive side chain 6 one end connect with fixed platform 1 by Hooke's hinge, and the other end is by ball pivot S 4connect with moving platform.Driving on side chain 2,3,6,8, drive moving sets P 1, p 2, p 3, p 4can be with drivings such as servomotor or servo straight line hydraulic cylinders.Servomotor or servo straight line hydraulic cylinder are all connected with control system.
Screen frame has angular speed in the horizontal direction, comes and goes Plane Rotation on a large scale according to pre-set velocity, default rotational angle, can realize the dispersion and saturating sieve function of tealeaves, and tealeaves is disperseed rapidly; In the vertical direction has two rotational freedoms, and design point is moved upward to the process of midrange speed maximum position by extreme lower position, and the tealeaves in design point accelerates together with sieve bat, and continuing is upwards moderating process.When design point acceleration, a is less than or equal to gravity acceleration g, when a≤g, moves together with screen frame in the tealeaves at design point place; In the time of a > g, the tealeaves in design point place separates with screen frame, and tealeaves is pulled out away from compass screen surface, realizes layer functions; It is 0 o'clock that while design point moves upward to speed, acceleration maximum, and velocity variations is the fastest, is applicable to casting aside of tealeaves.Design point is compass screen surface arbitrfary point.
Around compass screen surface normal orientation, come and go Plane Rotation on a large scale according to pre-set velocity, default rotational angle, can realize the dispersion and saturating sieve function of tealeaves; Meanwhile, to thering are two rotational freedoms, can cast tealeaves aside compass screen surface by fine-adjustment rotary around two vertical diameters of compass screen surface, realize layering.In practical application, by control system, three rotational freedoms are used in combination to i.e. dispersion, layering and thoroughly sieve three processes and carry out simultaneously, the screening efficiency of raising tealeaves that can be by a relatively large margin.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.

Claims (3)

1. the tea finishing machine based on space three-rotation freedom parallel mechanism, it is characterized in that, comprise fixed platform, five parallel kinematic side chains, moving platform, screen frame, collection container and frames, described fixed platform, five parallel kinematic side chains and moving platform form three one-rotation parallel mechanisms; Wherein three movement branched chain are two ends pin joint, two ends pin joint is along fixed platform and moving platform is circular is uniformly distributed, and the upper end of these three movement branched chain connects with fixed platform by Hooke's hinge respectively, lower end connects with moving platform by ball pivot respectively, Article 4 movement branched chain is coplanar with moving platform under original state, one end is cut with scissors with frame and is connected by Hooke, and the other end connects with moving platform by ball pivot; Moving sets in aforesaid four movement branched chain is secondary for driving, and drives secondary servomotor or the servo straight line Driven by Hydraulic Cylinder of adopting; Article 5 movement branched chain is the driven side chain of middle just constraint, and fixed platform center is fixed in this driven side chain upper end, and lower end is connected by ball pivot with moving platform center; Described screen frame is positioned at moving platform bottom, and affixed by three connecting rods and moving platform, fixed platform and frame are affixed, collection container is placed under screen frame, described frame is placed in the most external of whole screening machine, and described screen frame has angular speed in the horizontal direction, comes and goes Plane Rotation on a large scale according to pre-set velocity, default rotational angle, can realize the dispersion and saturating sieve function of tealeaves, tealeaves is disperseed rapidly; In the vertical direction has two rotational freedoms, and design point is moved upward to the process of midrange speed maximum position by extreme lower position, and the tealeaves in design point accelerates together with sieve bat, and continuing is upwards moderating process.When design point acceleration, a is less than or equal to gravity acceleration g, when a≤g, moves together with screen frame in the tealeaves at design point place; In the time of a > g, the tealeaves in design point place separates with screen frame, and tealeaves is pulled out away from compass screen surface, realizes layer functions; It is 0 o'clock that while design point moves upward to speed, acceleration maximum, and velocity variations is the fastest, is applicable to casting aside of tealeaves.
2. the tea finishing machine based on space three-rotation freedom parallel mechanism according to claim 1, is characterized in that: described design point is compass screen surface arbitrfary point.
3. the tea finishing machine based on space three-rotation freedom parallel mechanism according to claim 1, is characterized in that: described servomotor or servo straight line hydraulic cylinder are all connected with control system.
CN201410337696.7A 2014-07-11 2014-07-11 Tea sifting and grading machine based on spatial three-degree-of-freedom parallel mechanism Pending CN104138835A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105398835A (en) * 2015-11-23 2016-03-16 四川亿欣新材料有限公司 Mineral raw material homogenizing device
CN106423843A (en) * 2016-11-21 2017-02-22 河北工程大学 Vibrating screen mechanism
CN106697339A (en) * 2016-12-31 2017-05-24 重庆大学 Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism
CN106984535A (en) * 2017-03-16 2017-07-28 江苏大学 A kind of vibratory sieve in parallel separated for maggot material

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CN202921560U (en) * 2012-06-19 2013-05-08 江苏大学 Three degree-of-freedom parallel mechanism tea sifting and grading machine
CN203426042U (en) * 2013-08-16 2014-02-12 安徽理工大学 Five-freedom-degree series-parallel vibrating screen
CN203972296U (en) * 2014-07-11 2014-12-03 河北工程大学 Based on the tea finishing machine of space three-rotation freedom parallel mechanism

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CN201470595U (en) * 2009-03-31 2010-05-19 王成军 Four-degree-of-freedom series-parallel vibrating sieve
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105398835A (en) * 2015-11-23 2016-03-16 四川亿欣新材料有限公司 Mineral raw material homogenizing device
CN106423843A (en) * 2016-11-21 2017-02-22 河北工程大学 Vibrating screen mechanism
CN106697339A (en) * 2016-12-31 2017-05-24 重庆大学 Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism
CN106984535A (en) * 2017-03-16 2017-07-28 江苏大学 A kind of vibratory sieve in parallel separated for maggot material
CN106984535B (en) * 2017-03-16 2020-05-01 江苏大学 Parallel vibrating screen for maggot and feed separation

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