CN107185695B - Automate horseradish grinder - Google Patents
Automate horseradish grinder Download PDFInfo
- Publication number
- CN107185695B CN107185695B CN201710414387.9A CN201710414387A CN107185695B CN 107185695 B CN107185695 B CN 107185695B CN 201710414387 A CN201710414387 A CN 201710414387A CN 107185695 B CN107185695 B CN 107185695B
- Authority
- CN
- China
- Prior art keywords
- fixed
- support arm
- arm
- gripper
- horseradish
- 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.)
- Expired - Fee Related
Links
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 controlling terminal, the controlling terminal and the mechanical arm mechanism communicate to connect, the sand cylinder forms a grinding chamber and a discharge port, the bottom surface of the grinding chamber forms grinding line, the discharge port is formed in the lower section on the side wall of the sand cylinder and being located at the grinding chamber, forms multiple ducts being connected to the discharge port in the middle part of the bottom surface of the grinding chamber.A kind of automation horseradish grinder of the invention, high degree of automation and the advantages of human cost can be reduced.
Description
Technical field
The present invention relates to food materials processing unit field more particularly to a kind of automation horseradish grinders.
Background technique
The radicant that horseradish is a kind of, stem, leaf can be eaten, the part generally used is its rhizome portion.Its
Other than making to eat, there are also immunoregulation effects and the multiple pharmacological effects such as antibacterial, anticancer, anti-oxidant, are directed to processing at present
The method of horseradish is all using underhand polish, and low efficiency increases the cost of horseradish.
Still lack a kind of device for the radicants attrition process such as horseradish currently on the market, and existing artificial treatment
Mode generally has the problem that production efficiency is low, human cost is high.
Summary of the invention
In view of the deficiency of the prior art, the present invention provides a kind of automation horseradish grinder, has automation journey
The advantages of degree is high and can reduce human cost.
To achieve the goals above, the present invention provides a kind of automation horseradish grinder, including a sand cylinder, a mechanical arm
Mechanism and a controlling terminal, the controlling terminal and the mechanical arm mechanism communicate to connect, and the sand cylinder forms a grinding chamber
With a discharge port, the bottom surface of the grinding chamber forms grinding line, and the discharge port is formed on the side wall of the sand cylinder and position
In the lower section of the grinding chamber, multiple ducts being connected to the discharge port are formed in the middle part of the bottom surface of the grinding chamber.
Preferably, the bottom surface of the grinding chamber is from outer to middle part gradually recessed inclination.
Preferably, the mechanical arm mechanism includes a pedestal, a support arm, one first rotating mechanism, a rotating arm, one liter
Descending mechanism, a robot assemblies, one second rotating mechanism and a gripper opening and closing control mechanism, the pedestal include a bottom plate and
The axial direction of one support arm fixed cylinder, 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 pedestal
And it is sequentially connected with the support arm；The first end of the rotating arm and the support arm it is circumferentially fixed be sheathed on the support
Arm is outer and is fixed on the support arm by the elevating mechanism；The second end of the rotating arm forms a mechanical arm installation cavity,
The robot assemblies can be rotated and reciprocally can partially be fixed on the machine along the mechanical arm installation cavity length direction
In tool arm installation cavity, second rotating mechanism and the robot assemblies are sequentially connected, the gripper opening and closing control mechanism
It is sequentially connected with the robot assemblies；First rotating mechanism, the elevating mechanism, second rotating mechanism and described
Gripper opening and closing control mechanism and the controlling terminal communicate to connect.
Preferably, first rotating mechanism includes that a first motor and one first driving member, the first motor are fixed
In the pedestal, the first motor be sequentially connected by first driving member and the support arm and with the controlling terminal
Communication connection.
Preferably, the elevating mechanism includes a mounting platform, a fixed platform, one second motor, one second driving member
With a screw rod, 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 at the top of the support arm along the support arm, and the screw rod is rotatably fixed to institute
It states between mounting platform and the fixed platform, second motor is fixed on the mounting platform and is driven by described second
Part is connect with the screw rod transmission, and the first end of the rotating arm forms support arm sets of holes and a screw rod screw hole, the rotating arm
It is sheathed on the support arm by the support arm sets of holes and circumferentially fixed with the support arm, the interior spiral shell of the screw rod screw hole
The external screw thread of line and the screw rod cooperates, and the screw rod is arranged in the screw rod screw hole.
Preferably, second rotating mechanism includes a third motor and a third driving member, and the third motor is fixed
It is sequentially connected on the rotating arm and by the third driving member and the robot assemblies.
Preferably, the robot assemblies include a mechanical arm, a rotary sleeve, two first bearings, two second bearings and
One reset spring, the mechanical arm include a main shaft, a gripper and an end cap, and the first end of the main shaft is fixed with the machine
Machinery claw, the second end of the main shaft form the end cap, and the main shaft is rotatably penetrated and arranged in institute by two first bearings
It states in rotary sleeve, the reset spring pressure is set 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 rotary sleeve prolongs to the direction of the gripper
It stretches to form a driving section, the driving section is for pushing the gripper to rotate in a circumferential direction；The third motor passes through the third
Driving member and the rotary sleeve are sequentially connected, when the end cap is located at the default highest distance position when institute with the rotary sleeve
Gripper closure is stated, and the aperture of the gripper increases as the end cap reduces at a distance from the rotary sleeve.
Preferably, the gripper opening and closing control mechanism uses a cam motor, the profile of the cam of the cam motor
Face is bonded with the end cap, and the cam motor is fixed on the mechanical arm installation cavity and communicates to connect with the controlling terminal.
The present invention due to use above technical scheme, make it have it is following the utility model has the advantages that
Duct is used for as the channel between grinding chamber and discharge port, while only being allowed logical less than the particle in duct aperture
It crosses, ensure that the grain fineness of discharging, the quality of grinding has been turned up.Incline from outer to middle part is gradually recessed the bottom surface of grinding chamber
Tiltedly, enable the horseradish sauce that obtains after grinding to assemble along inclined surface from the middle part of trend, accelerate the efficiency of grinding and effective
Reduce the waste of material.The cooperation of sand cylinder, mechanical arm mechanism and a controlling terminal realizes the automatic grinding of horseradish, has
High degree of automation and the advantages of human cost can be reduced.First rotating mechanism, elevating mechanism, the second rotating mechanism and gripper
Opening and closing control mechanism and controlling terminal communicate to connect, so that controlling terminal realizes the position control and folding control to gripper.
The cooperation of second motor and screw rod is realized and is driven by elevating control of second motor to rotating arm.The cam of cam motor,
The cooperation of end cap and reset spring realizes the control to gripper folding.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the automation horseradish grinder of the embodiment of the present invention；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the schematic diagram of internal structure of the automation horseradish grinder of the embodiment of the present invention.
Specific embodiment
Below according to attached FIG. 1 to FIG. 3, presently preferred embodiments of the present invention is provided, and is described in detail, is enabled more preferable geographical
Solve function of the invention, feature.
It is mechanical to please refer to FIG. 1 to FIG. 3, a kind of automation horseradish grinder that the present invention is implemented, including a sand cylinder 1, one
Arm mechanism 2 and a controlling terminal (not shown), controlling terminal and mechanical arm mechanism 2 communicate to connect, and sand cylinder 1 forms a grinding
Chamber 11 and a discharge port 12, the bottom surface of grinding chamber 11 form grinding line, and discharge port 12 is formed on the side wall of sand cylinder 1 and is located at
The bottom surface middle part of the lower section of grinding chamber 11, grinding chamber 11 forms multiple ducts being connected to discharge port 12.The bottom surface of grinding chamber 11
From outer to middle part gradually recessed inclination.
Duct is used for as the channel between grinding chamber 11 and discharge port 12, while only allowing the particle less than duct aperture
Pass through, ensure that the grain fineness of discharging, the quality of grinding has been turned up.The bottom surface of grinding chamber 11 is gradually recessed from outer to middle part
Inclination enables the horseradish sauce obtained after grinding to assemble along inclined surface from the middle part of trend, accelerates the efficiency of grinding and have
Effect reduces the waste of material.The cooperation of sand cylinder 1, mechanical arm mechanism 2 and a controlling terminal realizes the automatic grinding of horseradish,
Have the advantages that high degree of automation and human cost can be reduced.
Mechanical arm mechanism 2 includes a pedestal 21, a support arm 22, one first rotating mechanism 23, a rotating arm 24, one lifting
Mechanism 25, a robot assemblies 26, one second rotating mechanism 27 and a gripper opening and closing control mechanism 28, pedestal 21 include a bottom
Plate 211 and a support arm fixed cylinder 212, 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 pedestal 21 and with
Support arm 22 is sequentially connected；The first end and support arm 22 of rotating arm 24 are sheathed on outside support arm 22 circumferentially fixedly and pass through liter
Descending mechanism 25 is fixed on support arm 22；The second end of rotating arm 24 forms a mechanical arm installation cavity 241, and robot assemblies 26 can turn
It moves and reciprocally can be partially fixed in mechanical arm installation cavity 241 along 241 length direction of mechanical arm installation cavity, the second rotation
Mechanism 27 and robot assemblies 26 are sequentially connected, and gripper opening and closing control mechanism 28 and robot assemblies 26 are sequentially connected；First
Rotating mechanism 23, elevating mechanism 25, the second rotating mechanism 27 and gripper opening and closing control mechanism 28 and controlling terminal communicate to connect.
First rotating mechanism 23, elevating mechanism 25, the second rotating mechanism 27 and gripper opening and closing control mechanism 28 and control
Terminal communication connection, so that controlling terminal realizes the position control and folding control to gripper 2652.
Wherein, the first rotating mechanism 23 includes a first motor 231 and one first driving member (not shown), first motor
231 are fixed on pedestal 21, first motor 231 be sequentially connected by the first driving member and support arm 22 and with controlling terminal communication link
It connects.
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 rod 254, mounting platform 251 can rotationally be arranged that be fixed on support arm solid along support arm fixed cylinder 212
Outside safety barrel 212, fixed platform 252 can be rotatably secured to 22 top of support arm along support arm 22, and screw rod 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 rod 254 is sequentially connected, and the first end of rotating arm 24 forms support arm sets of holes and a screw rod screw hole (not shown), rotating arm 24
It is sheathed on support arm 22 by support arm sets of holes and circumferentially fixed with support arm 22, the internal screw thread and screw rod 254 of screw rod screw hole
External screw thread cooperation, screw rod 254 is arranged in screw rod screw hole.
The cooperation of second motor 253 and screw rod 254 realizes the elevating control by the second motor 253 to rotating arm 24
Transmission.
Second rotating mechanism 27 includes that a third motor 271 and a third driving member 272, third motor 271 are fixed on rotation
It is sequentially connected on pivoted arm 24 and by third driving member 272 and robot assemblies 26.
Robot assemblies 26 include a mechanical arm, a rotary sleeve 261, two first bearings 262, two second bearings, 263 and
One reset spring 264, mechanical arm include a main shaft 2651, a gripper 2652 and an end cap 2653, the first end of main shaft 2651
It is fixed with gripper 2652, the second end of main shaft 2651 forms end cap 2653, and main shaft 2651 can be rotated by two first bearings 262
Ground is arranged in rotary sleeve 261, and the pressure of reset spring 264 is set between rotary sleeve 261 and end cap 2653, rotary sleeve 261
It is rotatably fixed in mechanical arm installation cavity 241 by two second bearings 263, rotary sleeve 261 is to the side of gripper 2652
To a driving section 2611 is extended to form, driving section 2611 is for pushing gripper 2652 to rotate in a circumferential direction；Third motor 271 passes through the
Three driving members 272 are sequentially connected with rotary sleeve 261, when end cap 2653 is located at the default highest distance position with rotary sleeve 261
When gripper 2652 be closed, and the aperture of gripper 2652 increases as end cap 2653 reduces at a distance from rotary sleeve 261.
Gripper opening and closing control mechanism 28 uses a cam motor, the contoured surface and end cap of the cam 281 of cam motor
2653 fittings, cam motor are fixed on mechanical arm installation cavity 241 and communicate to connect with controlling terminal.
The cooperation of cam 281, end cap 2653 and reset spring 264 realizes the control opened and closed to gripper 2652, when convex
When the contoured surface of wheel 281 and the contact portion of end cap 2653 are the protrusion of cam 281, cam 281 is by end cap 2653 to gripper
2652 directions push, and gripper 2653 is opened.When the contoured surface of cam 281 and the contact portion of end cap 2653 go to contoured surface with it is convex
When turbin generator shaft is apart from smaller part, reset spring 264 pushes up end cap 2653 on the direction far from gripper 2652, gripper
2653 closures.
The course of work of the automation horseradish grinder of the present embodiment is as follows:
Firstly, gripper 2652 is adjusted to one in advance by the first rotating mechanism 23 and elevating mechanism 25 by controlling terminal
If height and rotate to the top for the storage container for being placed with horseradish to be processed, then controlling terminal driving elevating mechanism 25 will
Storage container is protruded into the decline of gripper 2652, and then controlling terminal driving gripper opening and closing control mechanism 28 completes gripper 2652
Crawl and gripping；Then controlling terminal control elevating mechanism 25 and the first rotating mechanism 23 by 2652 lifting rotation of gripper extremely
1 entrance top of sand cylinder, then elevating mechanism 25 controls rotating arm 24 and declines, until the horseradish held of 2652 pawl of gripper and grinding
The grinding line contact that the bottom surface of chamber 11 is formed, then controlling terminal controls gripper 2652 by the second rotating mechanism 27 and rotates,
Elevating mechanism 25 controls gripper 2652 and slowly declines until a preset height, realizes the automatic grinding of horseradish, after grinding simultaneously
The horseradish sauce for reaching required granular size is exported by duct from discharge port 12.
The automation horseradish grinder of the present embodiment can be used for producing in enormous quantities the assembly line of horseradish grinding sauce, can also be with
It realizes the grinding of small home horseradish, can be used for the radicant of carrot sauce etc.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (7)
1. a kind of automation horseradish grinder, which is characterized in that including a sand cylinder, a mechanical arm mechanism and a controlling terminal,
The controlling terminal and the mechanical arm mechanism communicate to connect, and the sand cylinder forms a grinding chamber and a discharge port, described to grind
The bottom surface of mill chamber forms grinding line, and the discharge port is formed on the side wall of the sand cylinder and is located under the grinding chamber
The bottom surface middle part of side, the grinding chamber forms multiple ducts being connected to the discharge port；
The mechanical arm mechanism includes a pedestal, a support arm, one first rotating mechanism, a rotating arm, an elevating mechanism, a machine
Tool arm component, one second rotating mechanism and a gripper opening and closing control mechanism, the pedestal include that a bottom plate and a support arm are solid
The axial direction of safety barrel, the support arm fixed cylinder is vertical with the bottom plate, and the sand cylinder is fixed on the bottom plate, the support
Arm is rotationally fixed in the support arm fixed cylinder, first rotating mechanism be fixed on the pedestal and with the support
Arm transmission connection；The first end of the rotating arm and the support arm it is circumferentially fixed to be sheathed on the support arm outer and pass through institute
It states elevating mechanism and is fixed on the support arm；The second end of the rotating arm forms a mechanical arm installation cavity, the mechanical arm group
Part can be rotated and reciprocally can partially be fixed in the mechanical arm installation cavity along the mechanical arm installation cavity length direction,
Second rotating mechanism and the robot assemblies are sequentially connected, the gripper opening and closing control mechanism and the mechanical arm group
Part transmission connection；First rotating mechanism, the elevating mechanism, second rotating mechanism and the gripper folding control
Mechanism and the controlling terminal communicate to connect.
2. automation horseradish grinder according to claim 1, which is characterized in that the bottom surface of the grinding chamber from outer to
Middle part gradually recessed inclination.
3. automation horseradish grinder according to claim 2, which is characterized in that first rotating mechanism includes one the
One motor and one first driving member, the first motor are fixed on the pedestal, and the first motor is driven by described first
Part and the support arm are sequentially connected and communicate to connect with the controlling terminal.
4. automation horseradish grinder according to claim 3, which is characterized in that the elevating mechanism includes that an installation is flat
Platform, a fixed platform, one second motor, one second driving member and a screw rod, 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
It states at the top of support arm, the screw rod is rotatably fixed between the mounting platform and the fixed platform, second electricity
Machine is fixed on the mounting platform and is connect by second driving member with the screw rod transmission, the first end of the rotating arm
Form support arm sets of holes and a screw rod screw hole, the rotating arm be sheathed on the support arm by the support arm sets of holes and with
The support arm is circumferentially fixed, and the internal screw thread of the screw rod screw hole and the external screw thread of the screw rod cooperate, and the screw rod is arranged in
In the screw rod screw hole.
5. automation horseradish grinder according to claim 4, which is characterized in that second rotating mechanism includes one the
Three motors and a third driving member, the third motor be fixed on the rotating arm and by the third driving member with it is described
Robot assemblies transmission connection.
6. automation horseradish grinder according to claim 5, which is characterized in that the robot assemblies include one mechanical
Arm, a rotary sleeve, two first bearings, two second bearings and a reset spring, the mechanical arm include a main shaft, a gripper
With an 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
Axis is rotatably penetrated and arranged in the rotary sleeve by two first bearings, and the reset spring pressure is set to the rotary shaft
Between set and the end cap, the rotary sleeve is rotatably fixed to the mechanical arm installation cavity by two second bearings
Interior, the rotary sleeve extends to form a driving section to the direction of the gripper, and the driving section is for pushing the machinery
Pawl rotates in a circumferential direction；The third motor is sequentially connected by the third driving member and the rotary sleeve, when the end cap position
Gripper closure when a default highest distance position with the rotary sleeve, and the aperture of the gripper is with the end
Cap reduces at a distance from the rotary sleeve and is increased.
7. automation horseradish grinder according to claim 6, which is characterized in that the gripper opening and closing control mechanism is adopted
With a cam motor, the contoured surface of the cam of the cam motor is bonded with the end cap, and the cam motor is fixed on described
Mechanical arm installation cavity is simultaneously communicated to connect with the controlling 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 CN107185695A (en) | 2017-09-22 |
| CN107185695B true 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) |
Families Citing this family (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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| CN201659013U (en) * | 2010-03-30 | 2010-12-01 | 复旦大学附属华东医院 | Medicine pulverizer |
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| JP2013107251A (en) * | 2011-11-18 | 2013-06-06 | Sumitomo Rubber Ind Ltd | Cut polymer automatic feeder |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107185695A (en) | 2017-09-22 |
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Granted publication date: 20190219 |
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| CF01 | Termination of patent right due to non-payment of annual fee |