CN107185695A - Automate horseradish grinder - Google Patents
Automate horseradish grinder Download PDFInfo
- Publication number
- CN107185695A CN107185695A CN201710414387.9A CN201710414387A CN107185695A CN 107185695 A CN107185695 A CN 107185695A CN 201710414387 A CN201710414387 A CN 201710414387A CN 107185695 A CN107185695 A CN 107185695A
- Authority
- CN
- China
- Prior art keywords
- fixed
- support arm
- arm
- horseradish
- gripper
- Prior art date
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/02—Feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of automation horseradish grinder, including a sand cylinder, a mechanical arm mechanism and a control terminal, the control terminal is communicated to connect with the mechanical arm mechanism, sand cylinder one grinding chamber of formation and a discharging opening, the bottom surface of the grinding chamber forms grinding line, the discharging opening is formed on the side wall of the sand cylinder and multiple ducts connected with the discharging opening is formed in the middle part of the lower section of the grinding chamber, the bottom surface of the grinding chamber.A kind of automation horseradish grinder of the present invention, automaticity is high and can reduce the advantage of human cost.
Description
Technical field
The present invention relates to food materials processing unit field, more particularly to a kind of automation horseradish grinder.
Background technology
The radicant that horseradish is a kind of, stem, leaf can be eaten, the part typically used is its rhizome portion.Its
Except make it is edible in addition to, also immunoregulation effect and the multiple pharmacological effect such as antibacterial, anticancer, anti-oxidant, currently in processing
The method of horseradish is all to use underhand polish, and efficiency is low, adds the cost of horseradish.
Still lack a kind of device for the radicant attrition process such as horseradish in the market, and existing artificial treatment
The problem of mode generally has low production efficiency, human cost is high.
The content of the invention
For above-mentioned deficiency of the prior art, the present invention provides a kind of automation horseradish grinder, with automation journey
Degree is high and can reduce the advantage of human cost.
To achieve these goals, the present invention provides a kind of automation horseradish grinder, including a sand cylinder, a mechanical arm
Mechanism and a control terminal, the control terminal are communicated to connect with the mechanical arm mechanism, one grinding chamber of the sand cylinder formation
With a discharging opening, the bottom surface of the grinding chamber forms grinding line, and the discharging opening is formed on the side wall of the sand cylinder and position
Multiple ducts connected with the discharging opening are formed in the middle part of the lower section of the grinding chamber, the bottom surface of the grinding chamber.
Preferably, the bottom surface of the grinding chamber is tilted from outer to middle part is gradually recessed.
Preferably, the mechanical arm mechanism include a base, a support arm, one first rotating mechanism, a turning arm, one liter
Descending mechanism, a robot assemblies, one second rotating mechanism and a gripper folding control mechanism, the base include a bottom plate and
One support arm fixed cylinder, the axial direction of the support arm fixed cylinder is vertical with the bottom plate, and the sand cylinder is fixed on the bottom plate
On, the support arm is rotationally fixed in the support arm fixed cylinder, and first rotating mechanism is fixed on the base
And be connected with the support arm；The first end of the turning arm is sheathed on the support circumferentially fixedly with the support arm
Arm is outer and is fixed on the support arm by the elevating mechanism；Second end of the turning arm forms a mechanical arm installation cavity,
The robot assemblies are rotatable and reciprocally can partly be fixed on the machine along the mechanical arm installation cavity length direction
In tool arm installation cavity, second rotating mechanism is connected with the robot assemblies, the gripper folding control mechanism
It is connected with the robot assemblies；First rotating mechanism, the elevating mechanism, second rotating mechanism and described
Gripper folding control mechanism is communicated to connect with the control terminal.
Preferably, first rotating mechanism includes one first motor and one first driving member, and first motor is fixed
In the base, first motor be connected by first driving member and the support arm and with the control terminal
Communication connection.
Preferably, the elevating mechanism includes a mounting platform, a fixed platform, one second motor, one second driving member
With a screw mandrel, the mounting platform can be rotationally arranged along the support arm fixed cylinder to be fixed on outside the support arm fixed cylinder,
The fixed platform can be rotatably secured to along the support arm at the top of the support arm, and the screw mandrel is rotatably fixed to institute
State between mounting platform and the fixed platform, second motor is fixed on the mounting platform and is driven by described second
Part is connected with the screw rod transmission, the first end formation support arm set hole of the turning arm and a screw mandrel screw, the turning arm
Borehole jack is covered by the support arm to be located on the support arm and, the interior spiral shell of the screw mandrel screw circumferentially fixed with the support arm
The external screw thread of line and the screw mandrel coordinates, and the screw mandrel is arranged in the screw mandrel screw.
Preferably, second rotating mechanism includes one the 3rd motor and one the 3rd driving member, and the 3rd motor is fixed
It is connected on the turning arm and by the 3rd driving member and the robot assemblies.
Preferably, the robot assemblies include a mechanical arm, a rotary sleeve, two clutch shaft bearings, two second bearings and
One back-moving spring, the mechanical arm includes a main shaft, a gripper and one end cap, and the first end of the main shaft is fixed with the machine
Machinery claw, the second end of the main shaft forms the end cap, and the main shaft is rotationally arranged in institute by clutch shaft bearing described in two
State in rotary sleeve, the back-moving spring pressure is located between the rotary sleeve and the end cap, and the rotary sleeve passes through two
The second bearing is rotatably fixed in the mechanical arm installation cavity, and the direction of the rotary sleeve to the gripper is prolonged
Stretch to form a driving section, the driving section is used to promote the gripper to rotate in a circumferential direction；3rd motor passes through the described 3rd
Driving member is connected with the rotary sleeve, and highest distance position when institute is preset with the one of the rotary sleeve when the end cap is located at
Gripper closure is stated, and the aperture of the gripper increases with the distance reduction of the end cap and the rotary sleeve.
Preferably, the gripper folding control mechanism uses a cam motor, the profile of the cam of the cam motor
Face is fitted with the end cap, and the cam motor is fixed on the mechanical arm installation cavity and communicated to connect with the control terminal.
The present invention makes it have following beneficial effect as a result of above technical scheme：
Duct is used for as the passage between grinding chamber and discharging opening, while only allowing the particle less than duct aperture to lead to
Cross, it is ensured that the grain fineness of discharging, heightened the quality of grinding.Incline from outer to middle part is gradually recessed the bottom surface of grinding chamber
Tiltedly so that the horseradish sauce obtained after grinding can be assembled in the middle part of the trend along inclined plane, the efficiency of grinding is accelerated and effective
Reduce the waste of material.Sand cylinder, the cooperation of mechanical arm mechanism and a control terminal realize the automatic grinding of horseradish, have
Automaticity is high and can reduce the advantage of human cost.First rotating mechanism, elevating mechanism, the second rotating mechanism and gripper
Folding control mechanism is communicated to connect with control terminal so that control terminal realizes the position control and folding control to gripper.
The cooperation of second motor and screw mandrel, realizes and the elevating control of turning arm is driven by the second motor.The cam of cam motor,
The cooperation of cap and back-moving spring is held, the control to gripper folding is realized.
Brief description of the drawings
Fig. 1 is the structural representation of the automation horseradish grinder of the embodiment of the present invention；
Fig. 2 is Fig. 1 right view；
Fig. 3 is the internal structure schematic diagram of the automation horseradish grinder of the embodiment of the present invention.
Embodiment
Below according to 1~Fig. 3 of accompanying drawing, presently preferred embodiments of the present invention is provided, and is described in detail, is enabled more preferably geographical
Solve function, the feature of the present invention.
Refer to Fig. 1~Fig. 3, a kind of automation horseradish grinder that the present invention is implemented, including the machinery of a sand cylinder 1, one
The control terminal (not shown) of arm mechanism 2 and one, control terminal is communicated to connect with mechanical arm mechanism 2, and the formation of sand cylinder 1 one is ground
The discharging opening 12 of chamber 11 and one, the bottom surface of grinding chamber 11 forms grinding line, and discharging opening 12 is formed on the side wall of sand cylinder 1 and is located at
Multiple ducts connected with discharging opening 12 are formed in the middle part of the lower section of grinding chamber 11, the bottom surface of grinding chamber 11.The bottom surface of grinding chamber 11
Tilted from outer to middle part is gradually recessed.
Duct is used for as the passage between grinding chamber 11 and discharging opening 12, while only allowing the particle less than duct aperture
Pass through, it is ensured that the grain fineness of discharging, heightened the quality of grinding.The bottom surface of grinding chamber 11 is gradually recessed from outer to middle part
Tilt so that the horseradish sauce obtained after grinding can be assembled along inclined plane from trend middle part, accelerate the efficiency of grinding and have
Effect reduces the waste of material.Sand cylinder 1, the cooperation of the control terminal of mechanical arm mechanism 2 and one realize the automatic grinding of horseradish,
Have the advantages that automaticity is high and can reduce human cost.
Mechanical arm mechanism 2 includes a base 21, a support arm 22, one first rotating mechanism 23, a turning arm 24, one lifting
Mechanism 25, a robot assemblies 26, one second rotating mechanism 27 and a gripper folding control mechanism 28, base 21 include a bottom
The support arm fixed cylinder 212 of plate 211 and one, the axial direction of support arm fixed cylinder 212 is vertical with bottom plate 211, and sand cylinder 1 is fixed on bottom plate
On 211, support arm 22 is rotationally fixed in support arm fixed cylinder 212, the first rotating mechanism 23 be fixed on base 21 and with
Support arm 22 is connected；The first end of turning arm 24 is sheathed on outside support arm 22 and by rising circumferentially fixedly with support arm 22
Descending mechanism 25 is fixed on support arm 22；Second end of turning arm 24 forms a mechanical arm installation cavity 241, and robot assemblies 26 can turn
Move and reciprocally can be partly fixed in mechanical arm installation cavity 241 along the length direction of mechanical arm installation cavity 241, the second rotation
Mechanism 27 is connected with robot assemblies 26, and gripper folding control mechanism 28 is connected with robot assemblies 26；First
Rotating mechanism 23, elevating mechanism 25, the second rotating mechanism 27 and gripper folding control mechanism 28 are communicated to connect with control terminal.
First rotating mechanism 23, elevating mechanism 25, the second rotating mechanism 27 and gripper folding control mechanism 28 and control
Terminal communication is connected so that control terminal realizes the position control and folding control to gripper 2652.
Wherein, the first rotating mechanism 23 includes one first motor 231 and one first driving member (not shown), the first motor
231 are fixed on base 21, the first motor 231 be connected by the first driving member and support arm 22 and with control terminal communication link
Connect.
Elevating mechanism 25 includes a mounting platform 251, a fixed platform 252, one second motor 253, one second driving member
(not shown) and a screw mandrel 254, mounting platform 251 can be rotationally arranged along support arm fixed cylinder 212 be fixed on support arm consolidate
Outside safety barrel 212, fixed platform 252 can be rotatably secured to the top of support arm 22 along support arm 22, and screw mandrel 254 is rotatably fixed
Between mounting platform 251 and fixed platform 252, the second motor 253 be fixed on mounting platform 251 and by the second driving member with
Screw mandrel 254 is connected, the first end formation support arm set hole of turning arm 24 and a screw mandrel screw (not shown), turning arm 24
Borehole jack is covered by support arm and is located on support arm 22 and circumferentially fixed with support arm 22, internal thread and the screw mandrel 254 of screw mandrel screw
External screw thread coordinate, screw mandrel 254 is arranged in screw mandrel screw.
The cooperation of second motor 253 and screw mandrel 254, realizes the elevating control to turning arm 24 by the second motor 253
Transmission.
Second rotating mechanism 27 includes one the 3rd motor 271 and one the 3rd driving member 272, and the 3rd motor 271 is fixed on rotation
It is connected on pivoted arm 24 and by the 3rd driving member 272 and robot assemblies 26.
Robot assemblies 26 include a mechanical arm, a rotary sleeve 261, two clutch shaft bearings 262, the and of two second bearing 263
One back-moving spring 264, mechanical arm includes a main shaft 2651, a gripper 2652 and one end cap 2653, the first end of main shaft 2651
Gripper 2652 is fixed with, the second end of main shaft 2651 forms end cap 2653, and main shaft 2651 is rotatable by two clutch shaft bearings 262
Ground is arranged in rotary sleeve 261, and the pressure of back-moving spring 264 is between rotary sleeve 261 and end cap 2653, rotary sleeve 261
It is rotatably fixed to by two second bearings 263 in mechanical arm installation cavity 241, rotary sleeve 261 is to the side of gripper 2652
A driving section 2611 is formed to extension, driving section 2611 is used to promote gripper 2652 to rotate in a circumferential direction；3rd motor 271 passes through
Three driving members 272 are connected with rotary sleeve 261, and highest distance position is preset with the one of rotary sleeve 261 when end cap 2653 is located at
When gripper 2652 close, and gripper 2652 aperture as the distance of end cap 2653 and rotary sleeve 261 reduces and increases.
Gripper folding control mechanism 28 uses a cam motor, contoured surface and the end cap of the cam 281 of cam motor
2653 laminatings, cam motor is fixed on mechanical arm installation cavity 241 and communicated to connect with control terminal.
The cooperation of cam 281, end cap 2653 and back-moving spring 264, realizes the control to the folding of gripper 2652, when convex
When the contact site of the contoured surface of wheel 281 and end cap 2653 is the protuberance of cam 281, cam 281 is by end cap 2653 to gripper
2652 directions are pushed, and gripper 2653 is opened.When cam 281 contoured surface and hold cap 2653 contact site go to contoured surface with it is convex
During turbin generator rotating shaft place in small distance, back-moving spring 264 will hold cap 2653 to pushing up on the direction away from gripper 2652, gripper
2653 closures.
The course of work of the automation horseradish grinder of the present embodiment is as follows：
First, gripper 2652 is adjusted to one pre- by the first rotating mechanism 23 and elevating mechanism 25 by control terminal
If height and rotate to the top for the storage container for being placed with horseradish to be processed, then control terminal driving elevating mechanism 25 will
Gripper 2652, which declines, stretches into storage container, and then control terminal driving gripper folding control mechanism 28 completes gripper 2652
Crawl and gripping；Then control terminal control the rotating mechanism 23 of elevating mechanism 25 and first by the lifting rotation of gripper 2652 extremely
The entrance top of sand cylinder 1, then the control of elevating mechanism 25 turning arm 24 declines, until the horseradish held of the pawl of gripper 2652 and grinding
The grinding line contact that the bottom surface of chamber 11 is formed, then control terminal is rotated by the control machine machinery claw 2652 of the second rotating mechanism 27,
The control machine machinery claw 2652 of elevating mechanism 25 slowly declines until a preset height, realizes the automatic grinding of horseradish, after grinding simultaneously
The horseradish sauce of granular size is exported by duct from discharging opening 12 needed for reaching.
The automation horseradish grinder of the present embodiment can be used for producing the streamline that horseradish grinds sauce in enormous quantities, can also
Realize that small home horseradish is ground, can be used for the radicant of carrot sauce etc.
The present invention is described in detail above in association with accompanying drawing embodiment, those skilled in the art can be according to upper
State it is bright the present invention is made many variations example.Thus, some of embodiment details should not constitute limitation of the invention, this
Invention regard the scope defined using appended claims as protection scope of the present invention.
Claims (8)
1. one kind automation horseradish grinder, it is characterised in that including a sand cylinder, a mechanical arm mechanism and a control terminal,
The control terminal is communicated to connect with the mechanical arm mechanism, sand cylinder one grinding chamber of formation and a discharging opening, described to grind
The bottom surface of mill chamber forms grinding line, and the discharging opening is formed on the side wall of the sand cylinder and under the grinding chamber
Multiple ducts connected with the discharging opening are formed in the middle part of side, the bottom surface of the grinding chamber.
2. it is according to claim 1 automation horseradish grinder, it is characterised in that the bottom surface of the grinding chamber from outer to
Middle part is gradually recessed to be tilted.
3. automation horseradish grinder according to claim 2, it is characterised in that the mechanical arm mechanism includes a bottom
Seat, a support arm, one first rotating mechanism, a turning arm, an elevating mechanism, a robot assemblies, one second rotating mechanism and
One gripper folding control mechanism, the base includes a bottom plate and a support arm fixed cylinder, the axle of the support arm fixed cylinder
To vertical with the bottom plate, the sand cylinder is fixed on the bottom plate, and the support arm is rotationally fixed to the support
In arm fixed cylinder, first rotating mechanism is fixed on the base and is connected with the support arm；The turning arm
First end is sheathed on outside the support arm and is fixed on the branch by the elevating mechanism circumferentially fixedly with the support arm
Brace；Second end of the turning arm forms a mechanical arm installation cavity, and the robot assemblies are rotatable and can be along the machinery
Arm installation cavity length direction is reciprocally partly fixed in the mechanical arm installation cavity, second rotating mechanism with it is described
Robot assemblies are connected, and the gripper folding control mechanism is connected with the robot assemblies；First rotation
Rotation mechanism, the elevating mechanism, second rotating mechanism and the gripper folding control mechanism lead to the control terminal
Letter connection.
4. automation horseradish grinder according to claim 3, it is characterised in that first rotating mechanism includes one the
One motor and one first driving member, first motor are fixed on the base, and first motor is driven by described first
Part is connected with the support arm and communicated to connect with the control terminal.
5. automation horseradish grinder according to claim 4, it is characterised in that the elevating mechanism includes one and installs flat
Platform, a fixed platform, one second motor, one second driving member and a screw mandrel, the mounting platform can be fixed along the support arm
Cylinder, which is rotationally arranged, to be fixed on outside the support arm fixed cylinder, and the fixed platform can be rotatably secured to institute along the support arm
State at the top of support arm, the screw mandrel is rotatably fixed between the mounting platform and the fixed platform, second electricity
Machine is fixed on the mounting platform and is connected by second driving member with the screw rod transmission, the first end of the turning arm
Form a support arm set hole and screw mandrel screw, the turning arm by the support arm cover borehole jack on the support arm and with
The support arm is circumferentially fixed, and the internal thread of the screw mandrel screw coordinates with the external screw thread of the screw mandrel, and the screw mandrel is arranged in
In the screw mandrel screw.
6. automation horseradish grinder according to claim 5, it is characterised in that second rotating mechanism includes one the
Three motors and one the 3rd driving member, the 3rd motor be fixed on the turning arm and by the 3rd driving member with it is described
Robot assemblies are connected.
7. automation horseradish grinder according to claim 6, it is characterised in that the robot assemblies include a machinery
Arm, a rotary sleeve, two clutch shaft bearings, two second bearings and a back-moving spring, the mechanical arm include a main shaft, a gripper
With one end cap, the first end of the main shaft is fixed with the gripper, and the second end of the main shaft forms the end cap, the master
Axle is rotationally arranged in the rotary sleeve by clutch shaft bearing described in two, and the back-moving spring pressure is located at the rotary shaft
Between set and the end cap, the rotary sleeve is rotatably fixed to the mechanical arm installation cavity by second bearing described in two
Interior, the direction of the rotary sleeve to the gripper extends to form a driving section, and the driving section is used to promote the machinery
Pawl rotates in a circumferential direction；3rd motor is connected by the 3rd driving member and the rotary sleeve, when end cap position
The gripper is closed when with the one of the rotary sleeve default highest distance position, and the gripper aperture with the end
The distance of cap and the rotary sleeve reduces and increased.
8. automation horseradish grinder according to claim 7, it is characterised in that the gripper folding control mechanism is adopted
A cam motor is used, the contoured surface of the cam of the cam motor is fitted with the end cap, the cam motor is fixed on described
Mechanical arm installation cavity is simultaneously communicated to connect with the control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414387.9A CN107185695B (en) | 2017-06-05 | 2017-06-05 | Automate horseradish grinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414387.9A CN107185695B (en) | 2017-06-05 | 2017-06-05 | Automate horseradish grinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107185695A true CN107185695A (en) | 2017-09-22 |
| CN107185695B CN107185695B (en) | 2019-02-19 |
Family
ID=59877797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710414387.9A Expired - Fee Related CN107185695B (en) | 2017-06-05 | 2017-06-05 | Automate horseradish grinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107185695B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036963A (en) * | 2017-11-17 | 2018-05-15 | 湖南三德科技股份有限公司 | A kind of method of sampling and sampling apparatus for evading compartment lacing wire |
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| CN202427527U (en) * | 2011-10-31 | 2012-09-12 | 国能生物发电集团有限公司 | Manipulator for crusher |
| JP2013107251A (en) * | 2011-11-18 | 2013-06-06 | Sumitomo Rubber Ind Ltd | Cut polymer automatic feeder |
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| CN108036963A (en) * | 2017-11-17 | 2018-05-15 | 湖南三德科技股份有限公司 | A kind of method of sampling and sampling apparatus for evading compartment lacing wire |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107185695B (en) | 2019-02-19 |
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