CN105538321B - Automatic salt turning robot - Google Patents

Automatic salt turning robot Download PDF

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Publication number
CN105538321B
CN105538321B CN201610071798.8A CN201610071798A CN105538321B CN 105538321 B CN105538321 B CN 105538321B CN 201610071798 A CN201610071798 A CN 201610071798A CN 105538321 B CN105538321 B CN 105538321B
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CN
China
Prior art keywords
motor
cylinder
sleeve
controller
support
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201610071798.8A
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Chinese (zh)
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CN105538321A (en
Inventor
刘玉良
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Ocean University ZJOU
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Zhejiang Ocean University ZJOU
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Priority to CN201610071798.8A priority Critical patent/CN105538321B/en
Publication of CN105538321A publication Critical patent/CN105538321A/en
Application granted granted Critical
Publication of CN105538321B publication Critical patent/CN105538321B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0045Manipulators used in the food industry

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Abstract

An automatic salt turning robot belongs to the technical field of mechanical equipment and comprises a first air cylinder, a first motor, a first moving block, a first linear motor, a first support column, a controller, a propeller, a first slide rail, a first slide block, a third motor, a second linear motor, a second moving block, a third air cylinder, a support plate, a column, a broom, an electric push rod, a wheel carrier, a sleeve, a pressing plate, a machine base, a vibration motor, a support rod, a second motor, a second slide block, a second slide rail, a second support column, a second air cylinder, a screw nut and a screw rod, wherein the propeller is arranged on the left side of the sleeve, the first slide rail is respectively arranged on the upper side and the lower side in the sleeve, the first slide rail is provided with the first slide block, the third motor is arranged between the two first slide blocks, the third motor is connected with the screw rod through a coupler, the screw nut is arranged on the screw rod, the right end of the screw, a second support is arranged on the screw rod; the invention has the advantages that: the salt block can be automatically pressed.

Description

Automatic salt turning robot
Technical Field
The invention relates to an automatic salt turning robot, and belongs to the technical field of mechanical equipment.
Background
The method for extracting salt from seawater is mainly a 'salt pan method', which is an old and widely used method up to now. By using the method, a large flat seaside beach needs to be selected in an area with mild climate and sufficient illumination to construct a salt pan, salt needs to be continuously pressed in the sun-curing process, salt is prevented from being agglomerated into large blocks of salt, and salt particles can fully contact with sunlight. At present, salt blocks are manually turned and pressed, and time and labor are consumed. In order to solve the difficulties, a salt turning robot capable of automatically pressing the salt blocks needs to be developed.
Disclosure of Invention
The invention aims to provide an automatic salt turning robot.
The invention aims to solve the problem that the salt blocks are manually turned and pressed at present.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
an automatic salt turning robot comprises a first air cylinder, a first motor, a first moving block, a first linear motor, a first support column, a controller, a propeller, a first slide rail, a first slide block, a third motor, a second linear motor, a second moving block, a third air cylinder, a support plate, a column, a broom, an electric push rod, wheels, a wheel carrier, a sleeve, a pressing plate, a machine base, a vibration motor, a support rod, a second motor, a second slide block, a second slide rail, a second support column, a second air cylinder, a screw nut and a screw rod, wherein the propeller is arranged on the left side of the sleeve, the first slide rail is respectively arranged on the upper side and the lower side in the sleeve, the first slide rail is provided with the first slide block, the third motor is arranged between the two first slide blocks, the third motor is connected with the screw rod through a coupler, the screw nut is arranged on the screw rod, the right end of the screw nut is connected with the sleeve, the right end of, a first linear motor is arranged on the second support, a first support is arranged below the first linear motor, the first support is arranged on the sleeve, a first moving block is arranged on the first linear motor, a first motor is arranged on the first moving block, a first air cylinder is arranged on the first motor, a second air cylinder is arranged on a piston rod of the first air cylinder, a second motor is arranged below the second air cylinder, a pressing plate is arranged on an output shaft of the second motor, base plates are respectively arranged on the left side and the right side of the pressing plate, a vibration motor is arranged on the base plates, an output shaft of the vibration motor is connected with the pressing plate, a second sliding rail is arranged on a piston rod of the second air cylinder, a second sliding block is arranged on the second sliding rail, a support rod is arranged below the second sliding block, the lower end of the support rod is connected with the pressing plate, a wheel carrier is arranged below the sleeve, a wheel is arranged below the wheel carrier, a second linear motor is arranged below, the extension board is installed under the third cylinder, installs electric putter under the extension board, and electric putter's front end installation post installs the broom under the post, and the controller is installed on first pillar, and the controller passes through the wire and links to each other with first motor, second motor, third motor, shock dynamo, first linear electric motor, second linear electric motor, propeller and electric putter respectively.
A first electromagnetic valve is arranged in the first air cylinder and connected with a controller through a lead.
And a second electromagnetic valve is arranged in the second cylinder and is connected with the controller through a lead.
And a third electromagnetic valve is arranged in the third cylinder and is connected with the controller through a lead.
The invention has the advantages that: the controller controls the propeller to start and pushes the sleeve to move forwards; the controller controls the first linear motor to start, so that the first moving block moves and the pressing plate moves; the controller controls the first cylinder to do telescopic motion so that the pressing plate moves forwards; the controller controls the second cylinder to do telescopic motion, so that the pressing plate moves up and down to press the salt blocks; the controller controls the second motor to start, so that the pressing plate rotates to press the salt blocks; the controller controls the vibration motor to start, so that the pressing plate shakes to press the salt blocks; the controller controls the third motor to start, so that the screw rod rotates to move rightwards, the pressure plate moves rightwards, and the first sliding block is driven to move rightwards; the controller controls the second linear motor to start, so that the second moving block moves, and the broom moves; the controller controls the third cylinder to do telescopic motion so as to enable the broom to move up and down; the controller controls the electric push rod to do telescopic motion, so that the scattered salt is swept together by scanning.
Drawings
FIG. 1 is a front view of the overall structure of an automatic salt turning robot of the present invention;
FIG. 2 is a left side view of the overall structure of an automatic salt turning robot according to the present invention;
in the figure: 1. the device comprises a first air cylinder 2, a first motor 3, a first moving block 4, a first linear motor 5, a first support 6, a controller 7, a propeller 8, a first slide rail 9, a first sliding block 10, a third motor 11, a second linear motor 12, a second moving block 13, a third air cylinder 14, a support plate 15, a column 16, a broom 17, an electric push rod 18, a wheel 19, a wheel carrier 20, a sleeve 21, a pressing plate 22, a machine base 23, a vibration motor 24, a support rod 25, a second motor 26, a second sliding block 27, a second slide rail 28, a second support 29, a second air cylinder 30, a screw nut 31 and a screw rod.
Detailed Description
The invention is further described with reference to the following figures and examples.
The invention relates to an automatic salt turning robot which comprises a first air cylinder 1, a first motor 2, a first moving block 3, a first linear motor 4, a first support column 5, a controller 6, a propeller 7, a first slide rail 8, a first sliding block 9, a third motor 10, a second linear motor 11, a second moving block 12, a third air cylinder 13, a support plate 14, a column 15, a broom 16, an electric push rod 17, wheels 18, a wheel carrier 19, a sleeve 20, a pressing plate 21, a machine base 22, a vibration motor 23, a support rod 24, a second motor 25, a second sliding block 26, a second slide rail 27, a second support column 28, a second air cylinder 29, a screw nut 30 and a screw rod 31, wherein the propeller 7 is installed on the left side of the sleeve 20, and the controller 6 controls the propeller 7 to start to push the sleeve 20 to move forwards; the upper side and the lower side in the sleeve 20 are respectively provided with a first slide rail 8, a first slide block 9 is arranged on each first slide rail 8, a third motor 10 is arranged between the two first slide blocks 9, the third motor 10 is connected with a lead screw 31 through a coupler, and the controller 6 controls the start of the third motor 10 to enable the lead screw 31 to rotate and move rightwards, so that the press plate 21 moves rightwards and drives the first slide blocks 9 to move rightwards; a screw nut 30 is arranged on a screw rod 31, the right end of the screw nut 30 is connected with a sleeve 20, the right end of the screw rod 31 extends out of the sleeve 20, a second support 28 is arranged on the screw rod 31, a first linear motor 4 is arranged on the second support 28, and a controller 6 controls the first linear motor 4 to start, so that a first moving block 3 moves and a pressing plate 21 moves; a first support column 5 is arranged below a first linear motor 4, the first support column 5 is arranged on a sleeve 20, a first moving block 3 is arranged on the first linear motor 4, a first motor 2 is arranged on the first moving block 3, a first air cylinder 1 is arranged on the first motor 2, a first electromagnetic valve is arranged in the first air cylinder 1, the first electromagnetic valve is connected with a controller 6 through a lead, and the controller 6 controls the first air cylinder 1 to do telescopic motion so that a pressing plate 21 moves forwards; a piston rod of the first air cylinder 1 is provided with a second air cylinder 29, a second electromagnetic valve is arranged in the second air cylinder 29 and is connected with the controller 6 through a lead, and the controller 6 controls the second air cylinder 29 to do telescopic motion, so that the pressing plate 21 moves up and down to press the salt blocks; a second motor 25 is arranged below the second air cylinder 29, and the controller 6 controls the second motor 25 to start, so that the pressing plate 21 rotates to press the salt blocks; a press plate 21 is arranged on an output shaft of the second motor 25, bases 22 are respectively arranged on the left side and the right side of the press plate 21, a vibration motor 23 is arranged on the bases 22, the output shaft of the vibration motor 23 is connected with the press plate 21, and the controller 6 controls the vibration motor 23 to start, so that the press plate 21 shakes and presses the salt blocks; a piston rod of the second cylinder 29 is provided with a second slide rail 27, the second slide rail 27 is provided with a second slide block 26, a support rod 24 is arranged below the second slide block 26, the lower end of the support rod 24 is connected with a pressure plate 21, a wheel frame 19 is arranged below the sleeve 20, a wheel 18 is arranged below the wheel frame 19, a second linear motor 11 is arranged below the sleeve 20, a second moving block 12 is arranged on the second linear motor 11, and the controller 6 controls the second linear motor 11 to start to move the second moving block 12 so as to move the broom 16; a third cylinder 13 is arranged below the second moving block 12, a third electromagnetic valve is arranged in the third cylinder 13 and connected with the controller 6 through a lead, and the controller 6 controls the third cylinder 13 to do telescopic motion so as to enable the broom 16 to move up and down; a support plate 14 is arranged below a third cylinder 13, an electric push rod 17 is arranged below the support plate 14, a controller 6 controls the electric push rod 17 to do telescopic motion, so that scattered salt is swept together by scanning, a column 15 is arranged at the front end of the electric push rod 17, a broom 16 is arranged below the column 15, the controller 6 is arranged on a first support column 5, and the controller 6 is respectively connected with a first motor 2, a second motor 25, a third motor 10, a vibration motor 23, a first linear motor 4, a second linear motor 11, a propeller 7 and the electric push rod 17 through leads.
The use method of the invention comprises the following steps: the controller 6 controls the propeller 7 to start, and pushes the sleeve 20 to move forwards; the controller 6 controls the first linear motor 4 to start, so that the first moving block 3 moves and the pressing plate 21 moves; the controller 6 controls the first cylinder 1 to do telescopic motion, so that the pressure plate 21 moves forwards; the controller 6 controls the second cylinder 29 to do telescopic motion, so that the pressing plate 21 moves up and down to press the salt blocks; the controller 6 controls the second motor 25 to start, so that the pressing plate 21 rotates to press the salt blocks; the controller 6 controls the vibration motor 23 to start, so that the pressing plate 21 shakes to press the salt blocks; the controller 6 controls the third motor 10 to start, so that the screw rod 31 rotates and moves rightwards, the pressure plate 21 moves rightwards, and the first sliding block 9 is driven to move rightwards; the controller 6 controls the second linear motor 11 to start, so that the second moving block 12 moves and the broom 16 moves; the controller 6 controls the third cylinder 13 to do telescopic motion, so that the broom 16 moves up and down; the controller 6 controls the electric push rod 17 to do telescopic motion, so that the scattered salt is swept together by scanning.

Claims (4)

1. The utility model provides an automatic salt turning robot, includes first cylinder (1), first motor (2), first movable block (3), first linear electric motor (4), first pillar (5), controller (6), propeller (7), first slide rail (8), first slider (9), third motor (10), second linear electric motor (11), second movable block (12), third cylinder (13), extension board (14), post (15), broom (16), electric putter (17), wheel (18), wheel carrier (19), sleeve (20), clamp plate (21), frame (22), shock dynamo (23), branch (24), second motor (25), second slider (26), second slide rail (27), second pillar (28), second cylinder (29), screw (30) and lead screw (31), characterized by: the propeller (7) is arranged on the left side of the sleeve (20), first sliding rails (8) are respectively arranged on the upper side and the lower side in the sleeve (20), first sliding blocks (9) are arranged on the first sliding rails (8), a third motor (10) is arranged between the two first sliding blocks (9), the third motor (10) is connected with a lead screw (31) through a coupler, a screw nut (30) is arranged on the lead screw (31), the right end of the screw nut (30) is connected with the sleeve (20), the right end of the lead screw (31) extends out of the sleeve (20), a second support (28) is arranged on the lead screw (31), a first linear motor (4) is arranged on the second support (28), a first support (5) is arranged below the first linear motor (4), the first support (5) is arranged on the sleeve (20), a first moving block (3) is arranged on the first linear motor (4), and a first motor (2) is arranged on the first moving block (3), a first cylinder (1) is arranged on a first motor (2), a second cylinder (29) is arranged on a piston rod of the first cylinder (1), a second motor (25) is arranged below the second cylinder (29), a pressing plate (21) is arranged on an output shaft of the second motor (25), bases (22) are respectively arranged on the left side and the right side of the pressing plate (21), a vibration motor (23) is arranged on the bases (22), an output shaft of the vibration motor (23) is connected with the pressing plate (21), a second sliding rail (27) is arranged on the piston rod of the second cylinder (29), a second sliding block (26) is arranged on the second sliding rail (27), a supporting rod (24) is arranged below the second sliding block (26), the lower end of the supporting rod (24) is connected with the pressing plate (21), a wheel carrier (19) is arranged below a sleeve (20), wheels (18) are arranged below the wheel carrier (19), a second linear motor (11) is arranged below the sleeve (20), and a second moving block (12) is arranged on, install third cylinder (13) under second movable block (12), install extension board (14) under third cylinder (13), install electric putter (17) under extension board (14), the front end installation post (15) of electric putter (17), install broom (16) under post (15), controller (6) are installed on first pillar (5), controller (6) pass through the wire respectively with first motor (2), second motor (25), third motor (10), shock dynamo (23), first linear electric motor (4), second linear electric motor (11), propeller (7) and electric putter (17) link to each other.
2. The automatic salt turning robot as claimed in claim 1, wherein: a first electromagnetic valve is arranged in the first air cylinder (1) and connected with a controller (6) through a lead.
3. The automatic salt turning robot as claimed in claim 1, wherein: and a second electromagnetic valve is arranged in the second cylinder (29) and is connected with the controller (6) through a lead.
4. The automatic salt turning robot as claimed in claim 1, wherein: and a third electromagnetic valve is arranged in the third cylinder (13) and is connected with the controller (6) through a lead.
CN201610071798.8A 2016-02-02 2016-02-02 Automatic salt turning robot Expired - Fee Related CN105538321B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610071798.8A CN105538321B (en) 2016-02-02 2016-02-02 Automatic salt turning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610071798.8A CN105538321B (en) 2016-02-02 2016-02-02 Automatic salt turning robot

Publications (2)

Publication Number Publication Date
CN105538321A CN105538321A (en) 2016-05-04
CN105538321B true CN105538321B (en) 2020-05-05

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106264343A (en) * 2016-08-24 2017-01-04 合肥凌翔信息科技有限公司 A kind of robot with intelligent sound identification system
CN106925766B (en) * 2017-02-21 2018-11-16 浙江海洋大学 A kind of automatic casting equipment
IT201900001321A1 (en) * 2019-01-30 2020-07-30 Ima Spa METHOD FOR THE REALIZATION OF AN ARTICULATED AUTOMATIC OPERATING DEVICE AND RELATIVE ARTICULATED AUTOMATIC OPERATING DEVICE.

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007007783A (en) * 2005-06-30 2007-01-18 Sharp Corp Conveyor
CN202129615U (en) * 2011-04-25 2012-02-01 上海天合汽车安全系统有限公司 Press button detection and lock bolt assembly device
CN102642204A (en) * 2012-03-27 2012-08-22 西安交通大学 Alternating-current servo direct drive type series-parallel composite robot
CN203958751U (en) * 2014-07-02 2014-11-26 上海松川远亿机械设备有限公司 Case equipment is pressed in vibrations
CN104260403A (en) * 2014-09-19 2015-01-07 河北力通能源科技有限公司 Material compactor
CN104527120A (en) * 2014-06-13 2015-04-22 江苏大学 Straw wall brick forming device
CN204936272U (en) * 2015-07-14 2016-01-06 芜湖奕辰模具科技有限公司 A kind of mould improving yield rate

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Publication number Priority date Publication date Assignee Title
US8727410B2 (en) * 2009-02-24 2014-05-20 Irobot Corporation Method and device for manipulating an object

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007007783A (en) * 2005-06-30 2007-01-18 Sharp Corp Conveyor
CN202129615U (en) * 2011-04-25 2012-02-01 上海天合汽车安全系统有限公司 Press button detection and lock bolt assembly device
CN102642204A (en) * 2012-03-27 2012-08-22 西安交通大学 Alternating-current servo direct drive type series-parallel composite robot
CN104527120A (en) * 2014-06-13 2015-04-22 江苏大学 Straw wall brick forming device
CN203958751U (en) * 2014-07-02 2014-11-26 上海松川远亿机械设备有限公司 Case equipment is pressed in vibrations
CN104260403A (en) * 2014-09-19 2015-01-07 河北力通能源科技有限公司 Material compactor
CN204936272U (en) * 2015-07-14 2016-01-06 芜湖奕辰模具科技有限公司 A kind of mould improving yield rate

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