CN108043285A - A kind of robot with blender - Google Patents
A kind of robot with blender Download PDFInfo
- Publication number
- CN108043285A CN108043285A CN201711352651.7A CN201711352651A CN108043285A CN 108043285 A CN108043285 A CN 108043285A CN 201711352651 A CN201711352651 A CN 201711352651A CN 108043285 A CN108043285 A CN 108043285A
- Authority
- CN
- China
- Prior art keywords
- robot
- blender
- rodless cylinder
- controller
- driving
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
- B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
- B01F27/90—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with paddles or arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
- B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
- B01F27/805—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis wherein the stirrers or the receptacles are moved in order to bring them into operative position; Means for fixing the receptacle
- B01F27/806—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis wherein the stirrers or the receptacles are moved in order to bring them into operative position; Means for fixing the receptacle with vertical displacement of the stirrer, e.g. in combination with means for pivoting the stirrer about a vertical axis in order to co-operate with different receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
- B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
- B01F27/88—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with a separate receptacle-stirrer unit that is adapted to be coupled to a drive mechanism
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot with blender, including robot body and blender, it is characterized in that, robot moving mechanism is installed on the robot body, arm, camera and controller, moving mechanism's driving device, camera, blender is connected with controller, the arm is connected with blender by rodless cylinder, the rodless cylinder is driven by rodless cylinder driving mechanism, rodless cylinder driving mechanism is connected with controller, the present invention provides a kind of design for changing a previous agitator and needing to configure a blender, so as to save cost, and with good mobility, facilitate production, improve a kind of robot with blender of production efficiency.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of robot with blender.
Background technology
In general chemical production, it is often required to use blender, general blender includes agitator and stirring dress
It puts, agitating device is general and agitator is all one-to-one, if, it is necessary to many such stirrings when being mass produced
Device, if can realize, an agitating device stirs multiple agitators, can save many costs, although there is some designs to realize
One agitating device stirs multiple agitators, but is required for agitator being moved to below agitating device, works as agitator
In when being put into the substance for needing to stir, in mobile agitator, it is necessary to spend very big strength, and the weight of agitating device is often
Be less than be packed into substance agitator weight, if agitating device is moved at agitator, can save labour and
Save cost.
The content of the invention
For above-mentioned technical problem, present invention offer one kind changes a previous agitator and needs to configure a blender
Design, so as to save cost, and with good mobility, facilitate production, the one kind for improving production efficiency is carried and stirred
Mix the robot of device.
Realize that technical scheme is as follows：
A kind of robot with blender, including robot body and blender, robot body is connected with blender,
Robot moving mechanism, arm, camera and controller, the robot moving mechanism peace are installed on the robot body
Mounted in the bottom of robot body, arm is mounted on the side of robot body, and camera is mounted on robot body the upper surface of,
Moving mechanism's driving device, camera, blender are connected with controller, and the arm is connected with blender by rodless cylinder
It connects, the rodless cylinder is driven by rodless cylinder driving mechanism, and rodless cylinder driving mechanism is connected with controller.
The blender includes agitating shaft, stirring motor and paddle, and paddle is mounted on agitating shaft, and stirring motor is defeated
Shaft is connected with stirring axis connection, agitating shaft with rodless cylinder, and bearing and bearing block, axis are equipped between noninductive cylinder and agitating shaft
It holds in bearing block, bearing holder (housing, cover) is on agitating shaft, and bearing block is connected with rodless cylinder, the stirring motor and controller
Connection.
The rodless cylinder is equipped with guide rail, and guide rail is equipped with movable block, and movable block is connected with bearing block.
The robot moving mechanism includes idler wheel and driving motor, and idler wheel includes two driving wheels and a universal wheel,
Described two driving wheels are arranged on behind robot body, and a universal wheel is arranged on before robot body, two drives
Driving wheel is connected respectively with two driving motors, and the driving motor is connected with controller, the controller and driving motor it
Between be equipped with machine governor.
Using the above program, by the environment outside camera irradiation robot, the picture signal of irradiation is sent to control
Device processed, controller control robot moving mechanism when robot autonomous mobile, prevent robot body from touching according to picture signal
Other things are bumped against, the seat up and down of blender is controlled by rodless cylinder, when robot is moved to beside agitator, control
Device processed controls rodless cylinder driving device so that the movable block on rodless cylinder moves downward, and the agitating shaft in blender is stretched
Enter in agitator, the substance in agitator is stirred, after the completion of stirring, controller control rodless cylinder driving device makes
Movable plate on rodless cylinder moves upwards so that blender leaves agitator, controller according to camera shooting pictorial information,
Drive robot mobile device movement so that robot body is moved to before next agitator, is changed using the present invention
A previous agitator needs to design the design of a blender, saves cost, is had using robot blender good
Mobility facilitates production, improves production efficiency, using robot movable stirring device, can improve its dynamic role and flexibility,
More convenient production.
Description of the drawings
Through the following detailed description taken in conjunction with the accompanying drawings, the present invention is foregoing will become with other objects, features and advantages
Obviously.Wherein：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structure diagram of bottom robot moving mechanism of the present invention；
Fig. 3 is the electric controller figure of the present invention.
1 is robot body in figure, and 2 be blender, and 3 be arm, and 4 be camera, 5 devices in order to control, and 6 be rodless cylinder, 7
It is stirring motor for agitating shaft, 8,9 be paddle, and 10 be bearing, and 11 be bearing block, and 12 be movable block, and 13 be driving wheel, and 14 are
Universal wheel, 15 be driving motor, and 16 be machine governor.
Specific embodiment
As shown in the figure：A kind of robot with blender, including robot body 1 and blender 2, robot body 1
It is connected with blender 2, robot moving mechanism, arm 3, camera 4 and controller 5, robot is installed on robot body 1
Moving mechanism is mounted on the bottom of robot body 1, and arm 3 is mounted on the side of robot body 1, and camera 4 is mounted on machine
Device human body 1 the upper surface of, camera 4 and arm 3 are same direction, moving mechanism's driving device, camera 4, blender 2 with
Controller 5 connects, and the image feedback that camera 4 will be seen that controls moving mechanism as the case may be to controller 5, controller 5
Movement, robot body 1 is avoided to encounter other things, and can accurately be moved to beside agitator, arm 3 and blender
1 is connected by rodless cylinder 6, and rodless cylinder 6 is driven by rodless cylinder driving mechanism, rodless cylinder driving mechanism and controller 5
Connection, controller 5 control rodless cylinder 6, realize moving up and down for the blender 2 being connected with rodless cylinder 6, the present apparatus is by taking the photograph
As the environment outside first 4 irradiation robots, the picture signal of irradiation is sent to controller 5, picture processing is set inside controller 5
System, controller 5 control robot moving mechanism when robot autonomous mobile, prevent robot body 1 according to picture signal
Other things are collided, the seat up and down of blender 2 is controlled by rodless cylinder 6, when robot is moved to beside agitator
When, controller 5 controls rodless cylinder driving device so that the blender 2 being connected with rodless cylinder 6 moves downward, by blender 2
In agitating shaft 7 stretch into agitator, the substance in agitator is stirred, after the completion of stirring, controller control without bar gas
Cylinder driving device so that the blender 2 being connected with rodless cylinder 6 moves upwards, so that blender 2 leaves agitator, control
Device 5 processed is according to camera shooting pictorial information, driving robot mobile device movement so that robot body 1 is moved to next agitator
Before, the present invention, which changes a previous agitator, to be needed to design the design of a blender, cost is saved, using machine
People's blender has good mobility, facilitates production, improves production efficiency.
Preferably, blender 2 includes agitating shaft 7, stirring motor 8 and paddle 9, and paddle 9 is mounted on agitating shaft 7,
8 output shaft of stirring motor is connected with agitating shaft 7, and agitating shaft 7 is connected with rodless cylinder 6, is set between rodless cylinder 6 and agitating shaft 7
There are bearing 10 and bearing block 11, bearing 10 is mounted in bearing block 11, and bearing 10 is sleeved on agitating shaft 7, bearing block 11 and nothing
Bar cylinder 6 connects, and stirring motor 8 is connected with controller 5, after agitating shaft 7 is stretched into agitator, the control stirring electricity of controller 5
Machine 8 rotates, and stirring motor 8 rotates the rotation for driving agitating shaft 7 and paddle 9, due to agitating shaft 7 and 6 movable block of rodless cylinder
It is connected between 12 by bearing 10 and bearing block 11, therefore during the rotation of agitating shaft 7, movable block 12 and bearing block 11 do not rotate.
Further, rodless cylinder 6 is equipped with guide rail, and guide rail is equipped with movable block 12, and movable block 12 connects with bearing block 11
It connects, movable block 12 moves up and down on rodless cylinder driving device driving guide rail, so as to driving the bearing being connected with movable block 12
Moving up and down for blender 5 is realized in the movement of seat 11.
Further, robot moving mechanism includes idler wheel and driving motor 15, and idler wheel includes two driving wheels 13 and one
A universal wheel 14, two driving wheels 13 are arranged on behind robot body 1, and a universal wheel 14 is arranged on robot body 1
Before, universal wheel 14 is arranged on the centre of two driving wheels 13, and two driving wheels 13 are connected respectively with two driving motors 15, drives
Dynamic motor 15 is connected with controller 5, and machine governor 16 is equipped between controller 5 and driving motor 15, and controller 5 passes through electricity
Machine governor 16 controls the rotating speed of driving motor 15, and when robot body 1 will turn to, one of them is controlled by controller 5
Machine governor 16 makes the rotating speed of one of driving motor 15 change, by the speed discrepancy of two driving wheels 13 come real
It now rotates, when robot does not turn to, controller 5 controls two machine governors 16 to be transferred to identical numerical value so that two
The rotating speed of a driving motor 15 is identical, by controller 5 according to the movement of the feedback control robot moving mechanism of camera 4,
It realizes higher automation, improves mobility.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
According to above example is made in the technical spirit of the present invention any simple modification, equivalent variations, each fall within the guarantor of the present invention
Within the scope of shield.
Claims (4)
1. a kind of robot with blender, including robot body and blender, robot body is connected with blender,
It is characterized in that, robot moving mechanism, arm, camera and controller, the robot is installed on the robot body
Moving mechanism is mounted on the bottom of robot body, and arm is mounted on the side of robot body, and camera is mounted on robot
Body the upper surface of, moving mechanism's driving device, camera, blender are connected with controller, and the arm passes through with blender
Rodless cylinder connects, and rodless cylinder is driven by rodless cylinder driving mechanism, and rodless cylinder driving mechanism is connected with controller.
2. a kind of robot with blender according to claim 1, which is characterized in that the blender includes stirring
Axis, stirring motor and paddle, paddle be mounted on agitating shaft on, stirring motor output shaft with stirring axis connection, agitating shaft with
Rodless cylinder connects, and bearing and bearing block are equipped between rodless cylinder and agitating shaft, and bearing is mounted in bearing block, bearing suit
On agitating shaft, bearing block is connected with rodless cylinder, and the stirring motor is connected with controller.
3. a kind of robot with blender according to claim 2, which is characterized in that the rodless cylinder is equipped with
Guide rail, guide rail are equipped with movable block, and movable block is connected with bearing block.
A kind of 4. robot with blender according to claim 1, which is characterized in that the robot moving mechanism
Including idler wheel and driving motor, idler wheel includes two driving wheels and a universal wheel, described two driving wheels are arranged on robot
Behind body, a universal wheel is arranged on before robot body, and two driving wheels are connected respectively with two driving motors,
The driving motor is connected with controller, and machine governor is equipped between the controller and driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352651.7A CN108043285A (en) | 2017-12-15 | 2017-12-15 | A kind of robot with blender |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352651.7A CN108043285A (en) | 2017-12-15 | 2017-12-15 | A kind of robot with blender |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108043285A true CN108043285A (en) | 2018-05-18 |
Family
ID=62133409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711352651.7A Pending CN108043285A (en) | 2017-12-15 | 2017-12-15 | A kind of robot with blender |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108043285A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111797872A (en) * | 2019-04-09 | 2020-10-20 | 深圳市家家分类科技有限公司 | Control method, electronic device, computer-readable storage medium and degradation equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204816311U (en) * | 2015-06-24 | 2015-12-02 | 常州信息职业技术学院 | Robot with agitator |
| CN206366325U (en) * | 2017-01-06 | 2017-08-01 | 广东猛人高科技防火保温材料有限公司 | A kind of High-efficient Stirrer |
-
2017
- 2017-12-15 CN CN201711352651.7A patent/CN108043285A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204816311U (en) * | 2015-06-24 | 2015-12-02 | 常州信息职业技术学院 | Robot with agitator |
| CN206366325U (en) * | 2017-01-06 | 2017-08-01 | 广东猛人高科技防火保温材料有限公司 | A kind of High-efficient Stirrer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111797872A (en) * | 2019-04-09 | 2020-10-20 | 深圳市家家分类科技有限公司 | Control method, electronic device, computer-readable storage medium and degradation equipment |
| CN111797872B (en) * | 2019-04-09 | 2023-08-01 | 深圳市家家分类科技有限公司 | Control method, electronic device, computer-readable storage medium, and degradation apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180518 |
|
| WD01 | Invention patent application deemed withdrawn after publication |