CN109044124A - The manipulator that intelligent ball blank makes and places into oil cauldron - Google Patents
The manipulator that intelligent ball blank makes and places into oil cauldron Download PDFInfo
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- CN109044124A CN109044124A CN201811263375.1A CN201811263375A CN109044124A CN 109044124 A CN109044124 A CN 109044124A CN 201811263375 A CN201811263375 A CN 201811263375A CN 109044124 A CN109044124 A CN 109044124A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J37/00—Baking; Roasting; Grilling; Frying
- A47J37/12—Deep fat fryers, e.g. for frying fish or chips
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21B—BAKERS' OVENS; MACHINES OR EQUIPMENT FOR BAKING
- A21B5/00—Baking apparatus for special goods; Other baking apparatus
- A21B5/08—Apparatus for baking in baking fat or oil, e.g. for making doughnuts
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- Food Science & Technology (AREA)
- Chemical & Material Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention belongs to cooking machinery technical fields, are related to a kind of manipulator that intelligent ball blank makes and places into oil cauldron.Twin shaft cylinder cylinder body drives manipulator support to push down on connecting rod, and connecting rod promotion divides valve component to be close together to lower swing, and at a spherical hollow, the inside is filled with batter, forms ball blank for multiple side intrados and the top common inclosure of intrados.Lifting cylinder drives mechanical arm assembly to be lifted up, vertical shift servo motor driving machinery hand component to the surface of oil cauldron；For traversing servo motor driving machinery hand component to some specific position of the surface of oil cauldron, lifting cylinder drives mechanical arm assembly decline, and the driving of twin shaft cylinder cylinder body divides valve component separately to put down ball blank.Intelligent crawl batter and placement ball blank of the invention, effectively keep the temperature of oil uniform, and the intelligent automatic operation of manipulator avoids worker from working near oil cauldron, and working efficiency improves, and labor intensity reduction, risk reduces.
Description
Technical field
The invention belongs to cooking machinery technical fields, are related to a kind of ball blank making apparatus, and in particular to a kind of intelligence
Change the manipulator that ball blank makes and places into oil cauldron.
Background technique
People all over China likes eating a fried ball.In the ingredient of a ball, major ingredient is flour, adds some vegetables
Dish end or minced meat, and other seasonings, are added water and reconcile into batter, batter is more sticky, and batter is only in gravity
Under mobility it is very poor, forming can be pinched with hand, grabs a batter with hand, batter can be flowed out between webs.
Traditional ball blank forming technique is by having been manually done, and batter basin is placed on one side of oil cauldron, and worker is located at same
When close to the position of batter basin and oil cauldron, grab a batter with hand, batter squeezes out one from the ring that index finger and thumb are formed,
It is shoveled to be put into the oil cauldron got away with slice and is just completed.Traditional handicraft is completed by hand completely, and working efficiency compares
Low, labor intensity is bigger, and worker is close to the oil cauldron got away, and operating ambient temperature is relatively high, and worker has the potential danger scalded,
Worker can only be placed on ball blank in oil cauldron close to oneself side, if hand is stretched distant, it is remote can be put into an arm
The increase of a possibility that position, the then oil to splash splashes on arm, worker do not do so generally, but oneself this side ball is too many
When using tools such as bamboo strainers a ball is toggled it into farther away place.A possibility that ball blank is placed at one, increases ball adhesion,
The quality of a ball is influenced, meanwhile, it is more that the increasing of ball blank causes the temperature of oil liquid herein to decline here, and ball blank is few
Position temperature it is higher, the bad control of oil temperature, some regions temperature is higher, and some regions temperature is lower, positioned at each region
A ball fries the bad control of ripe degree, makes troubles to a later period fishing ball.
Summary of the invention
It is an object of the invention in place of improving the deficiencies in the prior art, provide a kind of intelligent crawl batter and place ball
Sub- blank, effectively keep uniform temperature, intelligent automatic operation, working efficiency improves, labor intensity reduces, risk reduces
The manipulator that intelligent ball blank makes and places into oil cauldron.
The present invention is achieved through the following technical solutions:
A kind of intelligence ball blank makes and the manipulator placed into oil cauldron, including mechanical arm assembly, traversing support component,
Vertical shift support component and fixed supported slab component；
Mechanical arm assembly includes twin shaft cylinder, manipulator support, multiple connecting rods, central axis component and multiple points of valve components；
Twin shaft cylinder includes twin shaft cylinder cylinder body and twin shaft piston component；Twin shaft piston component includes stretching from the top of twin shaft cylinder cylinder body
Axis and the piston lower axle stretched out from the lower part of twin shaft cylinder cylinder body on piston out；Twin shaft cylinder cylinder body is relative to axis on piston and piston
Lower axle upper and lower translation；
The upper end of manipulator support is fixedly connected with the lower end of twin shaft cylinder cylinder body, and the lower end of manipulator support is equipped on multiple connecting rods
Connecting hole；Connecting hole is around the center line of piston lower axle at uniform circumference array on multiple connecting rods；
The upper end of connecting rod is equipped with connecting rod, and the lower end of connecting rod is equipped with connecting rod lower opening；Connecting hole passes through on connecting rod and connecting rod
Pin shaft joint is at hinge；
The upper end of central axis component and the lower end of piston lower axle are fixedly connected, and the lower end of central axis component is equipped with top intrados,
Pushing up intrados is a piece of Internal Spherical Surface, and the centre of sphere for pushing up intrados is located on the downward extended line of center line of piston lower axle, top inner arc
The projection of face in a top view is circle, and the projection of the center line of piston lower axle in a top view is the circle for pushing up intrados projection
The heart；Around central axis component be equipped with six component valves translate hole one, six component valves translate hole one around piston lower axle center line at
Uniform circumference array；
Valve component is divided to be equipped with mechanical finger, mechanical finger is equipped with side intrados, and side intrados is a piece of Internal Spherical Surface；Multiple sides
Intrados around piston lower axle center line at uniform circumference array；Multiple side intrados and top intrados surround an envelope jointly
The complete Internal Spherical Surface closed；Divide on the outside of the spherical surface of valve component to be equipped with and divide valve translation hole two and divide lobe swing hole, divides lobe swing hole phase
For divide valve translation hole two center line of the position from piston lower axle farther out, it is lower in height；Divide valve translation hole two and divides valve flat
It moves hole one and composition hinge is connected by pin shaft；Lobe swing hole is divided to connect composition hinge by pin shaft with connecting rod lower opening；
Traversing support component includes traversing sliding block, traversing band folder, lifting cylinder and lifter plate；Lifting cylinder is band guide-bar gas
Cylinder, lifting cylinder include lifting air cylinder body and lifting piston rod；Lifting piston rod is downwards；Lifting air cylinder body is fixedly connected on
The lower part of lifter plate, traversing sliding block and traversing band folder are respectively fixedly connected on the top of lifter plate；The upper end of axis and liter on piston
The lower end of drop piston rod is fixedly connected；
Vertical shift support component includes vertical shift sliding block, vertical shift band folder, traversing servo motor, vertical shift movable plate, traversing driving synchronizing wheel, cross
Move passive and synchronous wheel, traversing synchronous belt and traversing linear guide；The housing flange of traversing servo motor and traversing linear guide point
It is not fixedly connected with vertical shift movable plate, traversing linear guide is horizontally disposed, the output of traversing driving synchronizing wheel and traversing servo motor
Axis is fixedly connected, and traversing passive and synchronous wheel is connected with vertical shift movable plate by revolute pair；It is wound on to traversing synchronous belt tensioning traversing
It drives between synchronizing wheel and traversing passive and synchronous wheel；Traversing driving synchronizing wheel, traversing passive and synchronous wheel, traversing synchronous belt and traversing
Linear guide is located at the lower part of vertical shift movable plate；Traversing linear guide and traversing sliding block form line slideway auxiliary, and traversing band folder clamps
On traversing synchronous belt one at；Vertical shift sliding block and vertical shift band folder are fixedly connected on the top of vertical shift movable plate；Traversing servo motor drives
Traversing synchronous belt operation is moved, traversing synchronous belt dragging lifter plate is translated along traversing linear guide；
Fixed supported slab component includes fixed supported slab, vertical shift linear guide, vertical shift servo motor, vertical shift driving synchronizing wheel, vertical shift quilt
Dynamic synchronizing wheel and vertical shift synchronous belt；Fixed supported slab is fixedly connected with rack；The housing flange and vertical shift straight line of vertical shift servo motor
Guide rail is fixedly connected with fixed supported slab respectively；Vertical shift linear guide is horizontally disposed；Vertical shift driving synchronizing wheel is fixedly connected on vertical shift
On the output shaft of servo motor；The passive and synchronous wheel of vertical shift is connected with fixed supported slab by revolute pair；Vertical shift synchronous belt tensioning ground around
It is driven in synchronizing wheel and the passive and synchronous wheel of vertical shift in vertical shift；Vertical shift linear guide and vertical shift sliding block form line slideway auxiliary, vertical shift
At clamp vertical shift synchronous belt with folder one；Vertical shift servo motor drives the operation of vertical shift synchronous belt, and vertical shift synchronous belt passes through vertical shift band
Folder dragging vertical shift movable plate is translated along vertical shift linear guide；
One end of vertical shift linear guide is located at the surface of batter basin, the other end of vertical shift linear guide be located at oil cauldron just on
Side, the direction of traversing linear guide are vertical with the direction of vertical shift linear guide；
It is above-described it is multiple refer to three to eight, if mechanical finger quantity is very little, the area of single side intrados compares
Greatly, ball blank is possible to adhere on one of side intrados and will not automatically fall off, if quantity can make to manufacture too much
Technique becomes complicated, improves the manufacturing cost of equipment, improves out of order chance.
The course of work of the invention is as described below.
1) mechanical arm assembly is located at the surface of batter basin, and lifting piston rod stretches down out, and multiple points of valve components open
Ground is extend into inside batter.
2) twin shaft cylinder is passed through compressed air, and twin shaft cylinder cylinder body drives manipulator support to translate downwards, and manipulator support pushes away
Dynamic connecting rod, connecting rod promotion divide valve component to lower swing, and multiple points of valve components are close together, multiple side intrados and top intrados
Common inclosure is at a spherical hollow, and the inside is filled with batter, forms ball blank, and extra batter can be from adjacent machinery
Gap between finger squeezes out.
3) lifting cylinder is passed through compressed air, and lifting piston rod is retracted lifting air cylinder body, and mechanical arm assembly is driven to mention upwards
It rises.
4) vertical shift servo motor starts, and dragging vertical shift movable plate is moved to mechanical arm assembly along vertical shift linear guide and is located at oil
The surface of pot.
5) traversing servo motor starting, dragging lifter plate are moved to mechanical arm assembly along traversing linear guide and are located at oil cauldron
Some specific position of surface.
6) lifting cylinder is reversely passed through compressed air, and lifting piston rod stretches out lifting air cylinder body, drive mechanical arm assembly to
Decline.
7) twin shaft cylinder is reversely passed through compressed air, and twin shaft cylinder cylinder body drives manipulator support to translate up, manipulator branch
Frame pulls connecting rod, and connecting rod pulling divides valve component to be swung up, and multiple points of valve components are separated from each other, and ball blank falls to oil cauldron
In the interior oil got away.
According to above step, the batter in batter basin is made into ball blank can bit by bit and be transported in oil cauldron
The oil got away in.
By computer programmed, grab multiple side intrados and top intrados from the specific position of batter basin every time
It takes, the specific position being then put into again in oil cauldron, is not repeated in the position of batter basin crawl, effectively avoid using leisure moments, in oil cauldron
The position of placement disperses as far as possible, for example can be randomly placed in oil cauldron by process control, effectively avoids in certain collection
Middle placement ball blank, is just avoided that the non-uniform temperature of oil, and the ball blank of each region is fried ripe simultaneously, and pulling out together can
With.
Beneficial effects of the present invention: intelligence crawl batter and placement ball blank avoid using leisure moments, avoid the temperature of oil not
Uniformly, the ball of each region is fried ripe simultaneously, can be pulled out together, the intelligent automatic operation of manipulator avoids worker in oil cauldron
Work nearby, working efficiency improve, and labor intensity reduces, and risk reduces.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of the embodiment of the present invention；
Fig. 2 is the front view of the embodiment of the present invention；
Fig. 3 is A direction view in Fig. 2；
Fig. 4 is B direction view in Fig. 2；
Fig. 5 is the front view of mechanical arm assembly 1；
Fig. 6 is the cross-sectional view in Fig. 5 along line C-C, and lifting piston rod 232 is retracted lifting air cylinder body 231, six points of valve components 15
It is close together the situation to form ball blank 7；
Fig. 7 is the cross-sectional view in Fig. 5 along line C-C, and lifting piston rod 232 stretches out lifting air cylinder body 231, six points of valve components 15
Situation separated from each other；
Fig. 8 is the three-dimensional structure schematic cross-sectional view of twin shaft cylinder 11；
Fig. 9 is the three dimensional structure diagram of manipulator support 12；
Figure 10 is the front view of connecting rod 13；
Figure 11 is the three-dimensional structure partial schematic sectional view of central axis component 14；
Figure 12 is a point three dimensional structure diagram for valve component 15；
Figure 13 is the positive broken section view of traversing support component 2；
Figure 14 is the three dimensional structure diagram at 3 first visual angle of vertical shift support component；
Figure 15 is the three dimensional structure diagram at 3 second visual angle of vertical shift support component；
Figure 16 is the three dimensional structure diagram of fixed supported slab component 4；
It is as shown in the figure: 1. mechanical arm assemblies；11. twin shaft cylinder；111. twin shaft cylinder cylinder body；112. twin shaft piston component；1121. living
Axis beyond the Great Wall；1122. piston lower axle；12. manipulator support；121. connecting hole on connecting rod；13. connecting rod；131. connecting rod；132.
Connecting rod lower opening；14. central axis component；141. points of valves translate hole one；142. top intrados；15. point valve component；151. manipulator
Refer to；1511. side intrados；152. points of valves translate hole two；153. points of lobe swing holes；2. traversing support component；21. traversing sliding block；
22. traversing band folder；23. lifting cylinder；231. lifting air cylinder bodies；232. lifting piston rod；24. lifter plate；3. vertical shift support group
Part；31. vertical shift sliding block；32. vertical shift band presss from both sides；33. traversing servo motor；34. vertical shift movable plate；35. traversing driving synchronizing wheel；36.
Traversing passive and synchronous wheel；37. traversing synchronous belt；38. traversing linear guide；4. fixed supported slab component；41. fixed supported slab；42. vertical
Move linear guide；43. vertical shift servo motor；44. vertical shift drives synchronizing wheel；45. the passive and synchronous wheel of vertical shift；46. vertical shift synchronous belt；
5. oil cauldron；6. batter basin；7. ball blank.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
Embodiment: referring to Fig. 1 to Figure 16.
A kind of manipulator that intelligence ball blank makes and places into oil cauldron, including mechanical arm assembly 1, traversing support
Component 2, vertical shift support component 3 and fixed supported slab component 4；
Mechanical arm assembly 1 includes twin shaft cylinder 11,12, six connecting rods 13 of manipulator support, central axis component 14 and six points of valves
Component 15；
Twin shaft cylinder 11 includes twin shaft cylinder cylinder body 111 and twin shaft piston component 112；Twin shaft piston component 112 includes from twin shaft cylinder
Axis 1121 and the piston lower axle 1122 stretched out from the lower part of twin shaft cylinder cylinder body 111 on the piston that the top of cylinder body 111 is stretched out；Twin shaft
Cylinder cylinder body 111 is relative to 1122 upper and lower translation of axis 1121 on piston and piston lower axle；
The upper end of manipulator support 12 is fixedly connected with the lower end of twin shaft cylinder cylinder body 111, and the lower end of manipulator support 12 is equipped with six
Connecting hole 121 on a connecting rod；Connecting hole 121 is around the center line of piston lower axle 1122 at uniform circumference array on six connecting rods；
The upper end of connecting rod 13 is equipped with connecting rod 131, and the lower end of connecting rod 13 is equipped with connecting rod lower opening 132；Connecting rod 131 and connecting rod
Upper connecting hole 121 is by pin shaft joint at hinge；
The upper end of central axis component 14 and the lower end of piston lower axle 1122 are fixedly connected, and the lower end of central axis component 14 is equipped with top
Intrados 142, top intrados 142 is a piece of Internal Spherical Surface, the centre of sphere of top intrados 142 be located at the center line of piston lower axle 1122 to
Under extended line on, the projection in a top view of top intrados 142 be it is round, the center line of piston lower axle 1122 is in a top view
Projection be push up intrados 142 project the center of circle；Around central axis component 14 be equipped with six component valves translate hole 1, six groups
Divide valve translation hole 1 around the center line of piston lower axle 1122 at uniform circumference array；
Valve component 15 is divided to be equipped with mechanical finger 151, mechanical finger 151 is equipped with side intrados 1511, and side intrados 1511 is
A piece of Internal Spherical Surface；Six side intrados 1511 around piston lower axle 1122 center line at uniform circumference array；Six side inner arcs
Face 1511 and top intrados 142 surround a closed complete Internal Spherical Surface jointly；Divide to be equipped on the outside of the spherical surface of valve component 15 and divide
Valve translation and divides lobe swing hole 153 at hole 2 152, divide lobe swing hole 153 relative to divide the position in valve translation hole 2 152 under piston
The center line of axis 1122 is farther out, lower in height；Point valve translation hole 2 152 and divide valve to translate hole 1 to connect group by pin shaft
At hinge；Lobe swing hole 153 is divided to connect composition hinge by pin shaft with connecting rod lower opening 132；
Traversing support component 2 includes traversing sliding block 21, traversing band folder 22, lifting cylinder 23 and lifter plate 24；Lifting cylinder 23 is
Band guide-bar cylinder, lifting cylinder 23 include lifting air cylinder body 231 and lifting piston rod 232；The vertical court of lifting piston rod 232
Under；Lifting air cylinder body 231 is fixedly connected on the lower part of lifter plate 24, and traversing sliding block 21 and traversing band folder 22 are respectively fixedly connected with
The top of lifter plate 24；The upper end of axis 1121 is fixedly connected with the lower end of lifting piston rod 232 on piston；
Vertical shift support component 3 includes vertical shift sliding block 31, vertical shift band folder 32, traversing servo motor 33, vertical shift movable plate 34, traversing driving
Synchronizing wheel 35, traversing passive and synchronous wheel 36, traversing synchronous belt 37 and traversing linear guide 38；The outer shell process of traversing servo motor 33
Blue and traversing linear guide 38 is fixedly connected with vertical shift movable plate 34 respectively, and traversing linear guide 38 is horizontally disposed, and traversing driving is same
Step wheel 35 is fixedly connected with the output shaft of traversing servo motor 33, and traversing passive and synchronous wheel 36 and vertical shift movable plate 34 pass through revolute pair
It is connected；It is wound between traversing driving synchronizing wheel 35 and traversing passive and synchronous wheel 36 to the traversing tensioning of synchronous belt 37；Traversing driving
Synchronizing wheel 35, traversing passive and synchronous wheel 36, traversing synchronous belt 37 and traversing linear guide 38 are located at the lower part of vertical shift movable plate 34；It is horizontal
It moves linear guide 38 and traversing sliding block 21 forms line slideway auxiliary, traversing band folder 22 clamps at one on traversing synchronous belt 37；It is vertical
It moves sliding block 31 and vertical shift band folder 32 is fixedly connected on the top of vertical shift movable plate 34；Traversing servo motor 33 drives traversing synchronous belt 37
Operation, traversing synchronous belt 37 drag lifter plate 24 and translate along traversing linear guide 38；
Fixed supported slab component 4 includes fixed supported slab 41, vertical shift linear guide 42, vertical shift servo motor 43, vertical shift driving synchronizing wheel
44, the passive and synchronous wheel 45 of vertical shift and vertical shift synchronous belt 46；Fixed supported slab 41 is fixedly connected with rack；Outside vertical shift servo motor 43
Shell process orchid and vertical shift linear guide 42 are fixedly connected with fixed supported slab 41 respectively；Vertical shift linear guide 42 is horizontally disposed；Vertical shift is driven
Dynamic synchronizing wheel 44 is fixedly connected on the output shaft of vertical shift servo motor 43；The passive and synchronous wheel 45 of vertical shift and fixed supported slab 41 pass through
Revolute pair is connected；It is wound on to the tensioning of vertical shift synchronous belt 46 in vertical shift driving synchronizing wheel 44 and the passive and synchronous wheel 45 of vertical shift；Vertical shift is straight
Line guide rail 42 and vertical shift sliding block 31 form line slideway auxiliary, and vertical shift band folder 32 clamps at the one of vertical shift synchronous belt 46；Vertical shift servo
Motor 43 drives vertical shift synchronous belt 46 to run, and vertical shift synchronous belt 46 is straight along vertical shift by 32 dragging vertical shift movable plate 34 of vertical shift band folder
Line guide rail 42 translates；
One end of vertical shift linear guide 42 is located at the surface of batter basin 6, and the other end of vertical shift linear guide 42 is located at oil cauldron 5
The direction of surface, traversing linear guide 38 is vertical with the direction of vertical shift linear guide 42.
The course of work of the present embodiment is as described below.
1) mechanical arm assembly 1 is located at the surface of batter basin 6, and lifting piston rod 232 stretches down out, six points of valve components
15 extend into inside batter with opening.
2) twin shaft cylinder 11 is passed through compressed air, and twin shaft cylinder cylinder body 111 drives manipulator support 12 to translate downwards, manipulator
Bracket 12 pushes connecting rod 13, and the promotion of connecting rod 13 divides valve component 15 to lower swing, and six points of valve components 15 are close together, six sides
At a spherical hollow, the inside is filled with batter for intrados 1511 and the top common inclosure of intrados 142, forms ball blank 7,
Extra batter can be squeezed out from the gap between adjacent mechanical finger 151.
3) lifting cylinder 23 is passed through compressed air, and lifting piston rod 232 is retracted lifting air cylinder body 231, drives manipulator group
Part 1 is lifted up.
4) vertical shift servo motor 43 starts, and drags vertical shift movable plate 34 along vertical shift linear guide 42 and is moved to mechanical arm assembly
1 is located at the surface of oil cauldron 5.
5) traversing servo motor 33 starts, and drags lifter plate 24 along traversing linear guide 38 and is moved to mechanical arm assembly 1
Positioned at some specific position of the surface of oil cauldron 5.
6) lifting cylinder 23 is reversely passed through compressed air, and lifting piston rod 232 stretches out lifting air cylinder body 231, drives mechanical
Hand component 1 is to decline.
7) twin shaft cylinder 11 is reversely passed through compressed air, and twin shaft cylinder cylinder body 111 drives manipulator support 12 to translate up, machine
Tool hand bracket 12 pulls connecting rod 13, and the pulling of connecting rod 13 divides valve component 15 to be swung up, and six points of valve components 15 are separated from each other, ball
Sub- blank 7 is fallen in the oil got away in oil cauldron 5.
According to above step, the batter in batter basin 6 is made into ball blank 7 can bit by bit and be transported to oil cauldron
In the oil got away in 5.
By computer programmed, keep six side intrados 1511 and top intrados 142 specific from batter basin 6 every time
Position crawl, the specific position being then put into again in oil cauldron 5 do not repeat in the position that batter basin 6 grabs, effectively avoid using leisure moments,
The position placed in oil cauldron 5 disperses as far as possible, for example can be randomly placed in oil cauldron 5 by process control, effectively avoids
Ball blank 7 is centrally placed in certain, is just avoided that the non-uniform temperature of oil, the ball blank 7 of each region fry simultaneously it is ripe,
It pulls out together.
The present embodiment the utility model has the advantages that intelligent crawl batter and place ball blank 7, avoid using leisure moments, avoid the temperature of oil
Degree is uneven, and the ball of each region is fried ripe simultaneously, can pull out together, the intelligent automatic operation of manipulator avoids worker from existing
Oil cauldron nearby works, and working efficiency improves, and labor intensity reduces, and risk reduces.
Claims (1)
1. a kind of intelligence ball blank makes and the manipulator placed into oil cauldron, which is characterized in that including mechanical arm assembly,
Traversing support component, vertical shift support component and fixed supported slab component；
Mechanical arm assembly includes twin shaft cylinder, manipulator support, multiple connecting rods, central axis component and multiple points of valve components；
Twin shaft cylinder includes twin shaft cylinder cylinder body and twin shaft piston component；Twin shaft piston component includes stretching from the top of twin shaft cylinder cylinder body
Axis and the piston lower axle stretched out from the lower part of twin shaft cylinder cylinder body on piston out；Twin shaft cylinder cylinder body is relative to axis on piston and piston
Lower axle upper and lower translation；
The upper end of manipulator support is fixedly connected with the lower end of twin shaft cylinder cylinder body, and the lower end of manipulator support is equipped on multiple connecting rods
Connecting hole；Connecting hole is around the center line of piston lower axle at uniform circumference array on multiple connecting rods；
The upper end of connecting rod is equipped with connecting rod, and the lower end of connecting rod is equipped with connecting rod lower opening；Connecting hole passes through on connecting rod and connecting rod
Pin shaft joint is at hinge；
The upper end of central axis component and the lower end of piston lower axle are fixedly connected, and the lower end of central axis component is equipped with top intrados,
Pushing up intrados is a piece of Internal Spherical Surface, and the centre of sphere for pushing up intrados is located on the downward extended line of center line of piston lower axle, top inner arc
The projection of face in a top view is circle, and the projection of the center line of piston lower axle in a top view is the circle for pushing up intrados projection
The heart；Around central axis component be equipped with six component valves translate hole one, six component valves translate hole one around piston lower axle center line at
Uniform circumference array；
Valve component is divided to be equipped with mechanical finger, mechanical finger is equipped with side intrados, and side intrados is a piece of Internal Spherical Surface；Multiple sides
Intrados around piston lower axle center line at uniform circumference array；Multiple side intrados and top intrados surround an envelope jointly
The complete Internal Spherical Surface closed；Divide on the outside of the spherical surface of valve component to be equipped with and divide valve translation hole two and divide lobe swing hole, divides lobe swing hole phase
For divide valve translation hole two center line of the position from piston lower axle farther out, it is lower in height；Divide valve translation hole two and divides valve flat
It moves hole one and composition hinge is connected by pin shaft；Lobe swing hole is divided to connect composition hinge by pin shaft with connecting rod lower opening；
Traversing support component includes traversing sliding block, traversing band folder, lifting cylinder and lifter plate；Lifting cylinder is band guide-bar gas
Cylinder, lifting cylinder include lifting air cylinder body and lifting piston rod；Lifting piston rod is downwards；Lifting air cylinder body is fixedly connected on
The lower part of lifter plate, traversing sliding block and traversing band folder are respectively fixedly connected on the top of lifter plate；The upper end of axis and liter on piston
The lower end of drop piston rod is fixedly connected；
Vertical shift support component includes vertical shift sliding block, vertical shift band folder, traversing servo motor, vertical shift movable plate, traversing driving synchronizing wheel, cross
Move passive and synchronous wheel, traversing synchronous belt and traversing linear guide；The housing flange of traversing servo motor and traversing linear guide point
It is not fixedly connected with vertical shift movable plate, traversing linear guide is horizontally disposed, the output of traversing driving synchronizing wheel and traversing servo motor
Axis is fixedly connected, and traversing passive and synchronous wheel is connected with vertical shift movable plate by revolute pair；It is wound on to traversing synchronous belt tensioning traversing
It drives between synchronizing wheel and traversing passive and synchronous wheel；Traversing driving synchronizing wheel, traversing passive and synchronous wheel, traversing synchronous belt and traversing
Linear guide is located at the lower part of vertical shift movable plate；Traversing linear guide and traversing sliding block form line slideway auxiliary, and traversing band folder clamps
On traversing synchronous belt one at；Vertical shift sliding block and vertical shift band folder are fixedly connected on the top of vertical shift movable plate；Traversing servo motor drives
Traversing synchronous belt operation is moved, traversing synchronous belt dragging lifter plate is translated along traversing linear guide；
Fixed supported slab component includes fixed supported slab, vertical shift linear guide, vertical shift servo motor, vertical shift driving synchronizing wheel, vertical shift quilt
Dynamic synchronizing wheel and vertical shift synchronous belt；Fixed supported slab is fixedly connected with rack；The housing flange and vertical shift straight line of vertical shift servo motor
Guide rail is fixedly connected with fixed supported slab respectively；Vertical shift linear guide is horizontally disposed；Vertical shift driving synchronizing wheel is fixedly connected on vertical shift
On the output shaft of servo motor；The passive and synchronous wheel of vertical shift is connected with fixed supported slab by revolute pair；Vertical shift synchronous belt tensioning ground around
It is driven in synchronizing wheel and the passive and synchronous wheel of vertical shift in vertical shift；Vertical shift linear guide and vertical shift sliding block form line slideway auxiliary, vertical shift
At clamp vertical shift synchronous belt with folder one；Vertical shift servo motor drives the operation of vertical shift synchronous belt, and vertical shift synchronous belt passes through vertical shift band
Folder dragging vertical shift movable plate is translated along vertical shift linear guide；
One end of vertical shift linear guide is located at the surface of batter basin, the other end of vertical shift linear guide be located at oil cauldron just on
Side, the direction of traversing linear guide are vertical with the direction of vertical shift linear guide；
It is above-described multiple to refer to three to eight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811263375.1A CN109044124A (en) | 2018-10-28 | 2018-10-28 | The manipulator that intelligent ball blank makes and places into oil cauldron |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811263375.1A CN109044124A (en) | 2018-10-28 | 2018-10-28 | The manipulator that intelligent ball blank makes and places into oil cauldron |
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| Publication Number | Publication Date |
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| CN109044124A true CN109044124A (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811263375.1A Withdrawn CN109044124A (en) | 2018-10-28 | 2018-10-28 | The manipulator that intelligent ball blank makes and places into oil cauldron |
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| Country | Link |
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| CN (1) | CN109044124A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110786752A (en) * | 2019-10-17 | 2020-02-14 | 袁利峰 | Machine is sold in fried chicken food processing of intelligence |
| CN111318839A (en) * | 2020-04-06 | 2020-06-23 | 杜宗英 | Automatic installation intelligent welding equipment of flange type aluminum template secondary rib for building |
| CN111903725A (en) * | 2020-08-31 | 2020-11-10 | 安徽和县太阳岛食品有限公司 | Frying equipment for processing bagged snacks for bean products and working method of frying equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110786752A (en) * | 2019-10-17 | 2020-02-14 | 袁利峰 | Machine is sold in fried chicken food processing of intelligence |
| CN110786752B (en) * | 2019-10-17 | 2022-09-23 | 袁利峰 | Machine is sold in fried chicken food processing of intelligence |
| CN111318839A (en) * | 2020-04-06 | 2020-06-23 | 杜宗英 | Automatic installation intelligent welding equipment of flange type aluminum template secondary rib for building |
| CN111903725A (en) * | 2020-08-31 | 2020-11-10 | 安徽和县太阳岛食品有限公司 | Frying equipment for processing bagged snacks for bean products and working method of frying equipment |
| CN111903725B (en) * | 2020-08-31 | 2022-04-05 | 安徽和县太阳岛食品有限公司 | Frying equipment for processing bagged snacks for bean products and working method of frying equipment |
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Application publication date: 20181221 |
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