CN110393460B - Servo-driven mechanical arm and knockout machine using same - Google Patents
Servo-driven mechanical arm and knockout machine using same Download PDFInfo
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- CN110393460B CN110393460B CN201910783736.3A CN201910783736A CN110393460B CN 110393460 B CN110393460 B CN 110393460B CN 201910783736 A CN201910783736 A CN 201910783736A CN 110393460 B CN110393460 B CN 110393460B
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- numerical control
- beating
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- 239000000463 material Substances 0.000 claims abstract description 158
- 238000010009 beating Methods 0.000 claims abstract description 89
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 65
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 32
- 238000010438 heat treatment Methods 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000007306 turnover Effects 0.000 claims description 15
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000005485 electric heating Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 abstract 1
- 239000004615 ingredient Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 235000013305 food Nutrition 0.000 description 6
- 238000003756 stirring Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 2
- 239000000796 flavoring agent Substances 0.000 description 2
- 235000019634 flavors Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000219112 Cucumis Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 235000013409 condiments Nutrition 0.000 description 1
- 230000005574 cross-species transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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Classifications
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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
- A47J27/00—Cooking-vessels
- A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
- A47J27/18—Cooking-vessels for use in hotels, restaurants, or canteens heated by water-bath, e.g. pasta-cookers
-
- 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
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/24—Warming devices
- A47J36/2483—Warming devices with electrical heating means
-
- 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
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/044—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven with tools driven from the top side
-
- 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
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/07—Parts or details, e.g. mixing tools, whipping tools
- A47J43/0705—Parts or details, e.g. mixing tools, whipping tools for machines with tools driven from the upper side
- A47J43/0711—Parts or details, e.g. mixing tools, whipping tools for machines with tools driven from the upper side mixing, whipping or cutting tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Crushing And Grinding (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention relates to the field of kitchen equipment, in particular to a servo-driven mechanical arm and a material beating machine using the same, wherein the servo-driven mechanical arm comprises: installing a fixed arm, a middle connecting arm, a swinging operation arm and a screw rod numerical control speed reducer; the lower rotating shaft fixed at the lower end of the middle connecting arm is hinged with the lower rotating hole formed in the mounting fixed arm; an upper rotating shaft fixed at the upper end of the middle connecting arm is hinged with an upper rotating hole arranged at the upper end of the swinging arm; the numerical control speed reducing device for the screw rod comprises: the first screw rod numerical control speed reducing device and the second screw rod numerical control speed reducing device are respectively arranged on the mounting fixed arm and the middle connecting arm; the swing of every robotic arm section of beating material machine all can be independent as required, stable, nimble and accurate drive, and the faster swing of response speed is more accurate, can adapt to more different environment of beating the material, and the artifical action of beating the material of simulation that can be better lets mechanical automation replace the manual work more high-efficient and accurate completion operation of beating the material.
Description
Technical Field
The invention relates to the field of kitchen equipment, in particular to a servo-driven mechanical arm and a material beating machine using the same.
Background
In the catering industry, ingredients are matched with staple food to change the taste of the food and increase the richness and nutrition of the food, and are general terms of various meats, vegetables, melons and fruits, and the ingredients are usually quantitatively added into a bowl according to the needs of customers, so that the bowl is suitable for the eating and taste habits of more different people, and the variety diversity of the whole food is improved.
However, because the batching is of a great variety, the form is not uniform, often can mix with hot water juice again and place in order to guarantee the taste, consequently, the equipment or the device that can realize carrying out automatic beating to it has not appeared among the prior art, still generally adopt the manual work to carry out the manual instrument of gripping, beat the material and add to the bowl in, but adopt the manual work to beat material operating efficiency low, still there is serious health hidden danger, can't be applied to in current automatic food and beverage equipment or the production line, directly use current industry arm to beat the material operation, the flexibility ratio and the swing route of arm can't guarantee again that the operation of beating has the stability and the smooth and easy nature of imitative manual operation.
Disclosure of Invention
In view of the above-mentioned drawbacks, an object of the present invention is to provide a servo-driven mechanical arm and a material beating machine using the same.
In order to achieve the purpose, the invention adopts the following technical scheme:
a servo-driven robotic arm, comprising: installing a fixed arm, a middle connecting arm, a swinging operation arm and a screw rod numerical control speed reducer; the lower rotating shaft fixed at the lower end of the middle connecting arm is hinged with the lower rotating hole formed in the mounting fixed arm; an upper rotating shaft fixed at the upper end of the middle connecting arm is hinged with an upper rotating hole arranged at the upper end of the swinging arm; the numerical control speed reducing device for the screw rod comprises: the first screw rod numerical control speed reducing device and the second screw rod numerical control speed reducing device are arranged on the base; the first screw rod numerical control speed reducing device is fixedly arranged on the mounting fixed arm, and a belt wheel used for outputting rotation and arranged on the first screw rod numerical control speed reducing device are sleeved at one end of the lower rotating shaft to drive the middle connecting arm to swing; the second screw rod numerical control speed reducer is fixedly installed on the middle connecting arm, and a belt wheel sleeve used for outputting rotation and arranged on the second screw rod numerical control speed reducer is arranged at one end of the upper rotating shaft and drives the swing operation arm to swing.
Preferably, the numerical control speed reducer of the screw rod comprises: the first screw rod numerical control speed reducing device and the second screw rod numerical control speed reducing device are arranged on the base; the numerical control retrieval device for the screw rod comprises: the device comprises a screw rod, a movable nut, a transmission belt, a rotation driving device, a bracket and belt wheels respectively arranged at two ends of the bracket; both ends of the screw rod are rotatably arranged on the bracket; the movable nut is sleeved outside the screw rod through threads and moves along the screw rod; the two belt wheels are respectively and rotatably arranged at two ends of the bracket and are respectively positioned at two sides of the movable nut; the transmission belt is used for driving and connecting the two belt wheels; the transmission belt with it is fixed to remove the nut connection, rotate drive arrangement set up in the support outside, the arbitrary one end of lead screw through worm gear slewing mechanism with rotate drive arrangement's pivot transmission and be connected.
Use knockout machine of a servo drive mechanical arm as above, it includes: the material beating device comprises a material beating rotating device, a material beating platform, the servo mechanical arm, a material basin and a material spoon; the top surface of the knockout platform is provided with a central rotating seat; the servo mechanical arm is vertically arranged and fixed on the upper surface of the central swivel base; the feed basin is arranged on the outer side of the central rotary seat; the material spoon is connected to the servo mechanical arm or placed above the material beating platform; one end of the material beating basin, which is far away from the central rotating seat, is a material outlet end, and a bowl placing area is arranged outside the material outlet end; the knockout rotating device is in transmission connection with the central turntable, so that the central turntable horizontally rotates around a central shaft of the central turntable.
Preferably, the number of the material basins is at least two, and each material basin takes the central rotating seat as the center of a circle and is horizontally arranged on the top surface of the material beating platform in a divergent manner along different radial directions of the circle.
Preferably, a placing frame is arranged on the top surface of the material beating platform on one side of the material basin, and when the material spoon is placed on the material spoon frame, the lower end of the material spoon is located in the area right above the material disk.
More preferably, the spoon comprises: the spoon body includes: the transmission box, the transmission lifting rod and the spoon body; the rotation lifting rod comprises: the transmission rod and a sleeve sleeved outside the transmission rod can rotate in the sleeve relative to the sleeve; a worm gear transmission mechanism is arranged in the transmission box; the connecting end of the spoon body is rotatably hinged to the outside of the transmission box body; the lower end of the transmission rod is in transmission connection with the connecting end of the spoon body through the worm and gear transmission mechanism; the servo driving mechanical arm is provided with a spoon holding tail end; the tail end of the spoon holder is provided with a clamping mechanism and a turnover driving device; when the spoon body is assembled with the tail end of the spoon holder, the clamping mechanism fixes the sleeve, and the overturning driving device is connected with the upper end of the transmission rod.
Preferably, the servo-driven mechanical arm further comprises a turning motor; the tail end of the spoon holder is rotatably arranged on the servo driving mechanical arm through a turnover rotating shaft; the overturning motor drives the overturning rotating shaft to rotate to drive the tail end of the spoon holder to swing.
Preferably, the upper end of the transmission rod is detachably connected with the overturning driving device in a magnetic adsorption mode.
Preferably, arc-shaped baffles are arranged between the discharge ends of the plurality of material basins and the placing area; the arc-shaped baffle is provided with an arc-shaped sliding chute, and a bowl placing moving plate is horizontally arranged in the placing area close to the arc-shaped baffle; the ramming platform is further provided with a bowl moving device, the bowl moving device is arranged under the central rotating seat, and the rotating shaft of the bowl moving device is connected with the sliding end of the bowl moving plate in a transmission mode through the L-shaped connecting plate, so that the bowl moving plate is placed under the driving of the bowl moving device and moves along the arc-shaped sliding groove.
Preferably, a water bath heating pot is arranged on the material beating platform; the material mixing basin is placed in the water bath heating pot; the water bath heating pot is provided with an overflow pipe, a drain pipe and an electric heating device; the water bath heating pot is provided with a water level sensor, and the water level sensor and the temperature sensor are electrically connected with a central controller; the material beating machine also comprises a rack, and the material beating platform is arranged at the top of the rack; and the bottom of the rack is provided with a lifting adjusting support leg.
The invention provides a servo-driven mechanical arm, which is applied with a screw rod numerical control speed reducer, so that in the servo-driven mechanical arm of a material beating machine, the swinging of each mechanical arm section can be independently, stably, flexibly and accurately driven according to the requirement, the response speed is higher, the swinging is more accurate, the material beating machine can adapt to more different material beating environments, meanwhile, the manual material beating action can be simulated as much as possible, and the mechanical automation can replace the manual work to more efficiently and accurately finish the material beating operation.
Drawings
FIG. 1 is a schematic structural diagram of a material-beating machine according to an embodiment of the present invention, wherein the material-beating mechanical arm is arranged by using an existing industrial mechanical arm;
FIG. 2 is a schematic diagram of another perspective of the embodiment shown in FIG. 1;
FIG. 3 is a schematic structural view of a part of the structure in the embodiment shown in FIG. 1
FIG. 4 is a schematic view of the embodiment of FIG. 1 with the scoop removed from the drive box;
FIG. 5 is a side view of one embodiment of a servo driven robot of the present invention;
FIG. 6 is a schematic perspective view of the embodiment of FIG. 5;
FIG. 7 is a schematic structural diagram of an embodiment of the screw numerical control reduction gear in the invention;
fig. 8 is a schematic structural diagram of a part of the structure of another embodiment of the screw rod numerical control speed reducing device in the invention.
Wherein: the device comprises a mounting fixing arm 1, a middle connecting arm 2, a swing operating arm 3, a lower rotary shaft 4, an upper rotary shaft 5, a lead screw numerical control speed reducer 6, a support 100, a rotation driving device 110, a lead screw 200, a moving nut 210, a transmission belt 300, an output rotary shaft wheel 410, a rotary wheel 420, a guide wheel 430, a worm and gear transmission mechanism 500, a helical gear 510, a material beating rotation device 10, a material beating platform 20, a material beating mechanical arm 30, a holding spoon tail end 31, a turnover motor 32, a material basin 40, a material spoon 50, a transmission box 51, a transmission lifting rod 52, a worm and gear transmission mechanism 53, a spoon body 54, a turnover driving device 55, a central rotation seat 60, a placing frame 61, an arc baffle 70, an arc chute 71, an L shape, a connecting plate 81, a bowl moving device 82, a water bath heating pot 83, an overflow pipe 84, a drain pipe 85, a heating device 86, a water level sensor 87, a temperature sensor 88, a.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1 and 2, a knockout machine includes: the material beating device comprises a beating rotating device 10, a beating platform 20, a beating mechanical arm 30, a material basin 40 and a material spoon 50; the top surface of the knockout platform 20 is provided with a central rotating seat 60; the material beating mechanical arm 30 is vertically installed and fixed on the upper surface of the central swivel base; the material basin 40 is arranged outside the central rotary seat; the material spoon 50 is connected to the material beating mechanical arm 30 or placed above the material beating platform 20; one end of the material beating basin 40 far away from the central rotating seat 60 is a material outlet end, and a bowl placing area is arranged outside the material outlet end; the knockout rotating device 10 is in transmission connection with the central turntable, so that the central turntable horizontally rotates around a central shaft of the central turntable.
At least two material basins 40 are arranged, and each material basin 40 takes the central rotating seat as the center of a circle and is horizontally arranged on the top surface of the knockout platform 20 in a divergent manner along different radial directions of the circle; a plurality of basins 40 can make the batching kind of reclaimer is more, every basin 40 all has specific place the position, can make the complementary influence of the process of reclaiming of various batching, also lets the accurate of the realization that mechanical arm 30 of reclaiming can be more accurate to every batching is beaten the material.
A placing frame 61 is arranged on the top surface of the knockout platform 20 on one side of the material basin 40, and when the material spoon 50 is placed on the material spoon 50 frame, the lower end of the material spoon 50 is positioned in the area right above the material basin; the accompanying chat that every basin 40 probably held is different in kind, uses same spoon 50 to cause the batching easily to mix the cluster of flavor, influences eating the material taste, consequently places a spoon 50 to each basin 40 outfit, can avoid the cluster of flavor, and spoon 50 can be placed in the basin 40 top after the stirring is accomplished, and remaining edible material can flow into basin 40 on the spoon 50, can not extravagant batching and more sanitary.
As shown in fig. 4, the scoop includes: the spoon body includes: a transmission box 51, a transmission lifting rod 52 and a spoon body 54; the rotating lever 52 includes: the transmission rod and the sleeve are sleeved outside the transmission rod, and the transmission rod can rotate in the sleeve relative to the sleeve; a worm gear transmission mechanism 53 is arranged in the transmission box 51; the connecting end of the spoon body 54 is hinged outside the transmission box body 51 in a rotating way; the lower end of the transmission rod is in transmission connection with the connecting end of the spoon body 54 through the worm and gear transmission mechanism 53; the knockout mechanical arm 30 is provided with a holding spoon tail end 31; the end 31 of the spoon is provided with a clamping mechanism and a turnover driving device 55; when the spoon body 54 is assembled with the spoon holding end 31, the sleeve is fixed by the clamping mechanism, and the overturning driving device 55 is connected with the upper end of the transmission rod.
Although the material stirring mechanical arm 30 can also drive the material spoon 50 to turn over to complete the operation of adding ingredients into a bowl, the operation is completed completely by the drive of the material stirring mechanical arm 30, the swing space of the material stirring mechanical arm 30 needs to be large, the drive of the material stirring mechanical arm 30 is slower than the drive of the turning drive device 53, the precision is lower, the swing range of the material spoon 50 in the swing process is also enlarged and is not accurate, and therefore the operation of adding ingredients into the bowl is not accurate and quick enough; by adopting the above manner, the accuracy and speed can be improved by using the turnover device 53 to specially turn over the spoon body 54.
As shown in fig. 3, the knockout mechanical arm 30 further comprises a turnover motor 32; the tail end 31 of the holding spoon is rotatably arranged on the material beating mechanical arm 30 through a turnover rotating shaft; the overturning motor 32 drives the overturning rotating shaft to rotate so as to drive the tail end 31 of the spoon to swing; the turning driving device 55 is disposed at the end 31 of the spoon; after the driving mechanism is additionally arranged, the overturning motor 32 can accurately control the swing of the tail end 31 of the spoon, and further drives the spoon body 54 to integrally swing to realize more flexible material beating operation.
The upper end of the transmission rod is detachably connected with the overturning driving device 55 in a magnetic adsorption mode; the material spoon 50 and the material beating mechanical arm 30 can be detachably connected in many ways, such as mechanical clamping, threaded engagement and the like; however, considering that the knockout machine needs to improve the knockout efficiency as much as possible, the butt joint process of the material spoon 50 and the knockout mechanical arm 30 needs to be quicker and more accurate; when the electromagnet adsorption mode is adopted for connection, the electromagnet can be arranged on the material beating mechanical arm 30, then the butt joint part 52 of the material spoon 50 is made into iron, only contact or approach is needed in the electromagnet adsorption process, the butt joint precision is not very high, the adsorption force is electrified to generate power failure, and the power failure disappears, so that the material beating mechanical arm is very quick and efficient.
An arc baffle plate 70 is arranged between the discharge ends of the plurality of material basins 40 and the placing area; the arc-shaped baffle plates 70 are arranged along the discharge ends of the plurality of material basins 40, and the placement positions of the arc-shaped baffle plates are preferably superposed with a certain circular arc drawn by the geometric center of the central rotary seat; after the arc-shaped baffle plate 70 is arranged, sundries in the area of the material basin 40 can be placed and splashed to the placement area, and the phenomenon that when the lifting height of the material beating mechanical arm 30 is wrong, the material spoon 50 overturns a bowl placed in the placement area can also be avoided.
The arc-shaped baffle plate 70 is provided with an arc-shaped sliding groove 71, and a bowl placing moving plate is horizontally arranged in the placing area tightly attached to the arc-shaped baffle plate; the material beating platform 20 is further provided with a bowl moving device 82, the bowl moving device 82 is arranged right below the central rotating seat, and a rotating shaft of the bowl moving device 82 is in transmission connection with a sliding end of the bowl placing moving plate through an L-shaped connecting plate 81, so that the bowl placing moving plate moves along the arc-shaped sliding groove 71 under the driving of the bowl moving device 82; although the material beating mechanical arm 30 has enough extension space, the ingredients in each material basin 40 can be added to the bowl fixedly placed in the placement area, but the positions of the material basins 40 are different, the distances for the material beating mechanical arm 30 to drive the material spoon 50 filled with the ingredients to move are also different, the ingredients are easy to scatter, and the time consumed in the moving process is longer; as described above, the bowl moving device 82 is utilized to drive the bowl placing moving plate to move, so that the bowls in the placing area can be quickly moved to the discharging ends of the corresponding material basins 40, the moving distance and the driving mode of each material beating of the material beating mechanical arm 30 are basically the same, the moving distance and the probability of falling of the ingredients can be reduced when the material beating mechanical arm 30 carries out the material beating operation on different ingredients in sequence, and programming personnel can more conveniently program the material beating machine in practical application.
A water bath heating pot 83 is arranged on the knockout platform 20; the material mixing basin 40 is placed in the water bath heating pot 83; the water bath heating pot 83 is provided with an overflow pipe 84, a drain pipe 85 and an electric heating device 86; add water in the water bath heating pot 83, when the water yield was too much, unnecessary water can spill over from overflow pipe 84, guarantees that this water level can let the basin 40 place smoothly, heating device 86 is of a great variety, and is common like the heating pipe, heating device 86 can be right as required the water in the water bath heating pot 83 heats to guarantee that the batching temperature in the basin 40 satisfies the demand.
The water bath heating pot 83 is provided with a water level sensor 87, and the water level sensor 87 and the temperature sensor 88 are electrically connected with a central controller; water level sensor 87 can be right water level in the water bath heating pot 83 carries out real-time supervision, avoids the material beating machine burns futilely, temperature sensor 88 can be right temperature in the water bath heating pot 83 carries out real-time supervision, thereby has guaranteed the batching temperature that the material beating machine was expected out satisfies the settlement demand, also makes simultaneously the use of material beating machine is safer.
The knockout machine further comprises a frame 91, and the knockout platform 20 is arranged at the top of the frame 91; the bottom of the frame 91 is provided with a lifting adjusting support leg 92; the overturning of the material spoon 50 and the placing of the material basin 40 and the bowl have requirements on the installation levelness of the material beating machine, and the lifting adjusting support leg 92 ensures that the material beating machine can be adjusted to be in a horizontal installation state under different terrain conditions; thereby further improving the accuracy of the knockout operation of the knockout machine.
The working principle of the knockout machine is as follows: the connection modes of the material beating mechanical arm 30 and the material spoon 50 are mainly two, if the material basins 40 are provided with a plurality of materials and the types of the contained ingredients cannot be mixed in the material beating process, when the taste is prevented from being influenced by tainted odor, a special material spoon 50 needs to be arranged on each material tray, and when the ingredients in the material tray need to be beaten, the material beating mechanical arm 30 is in butt joint with the material spoon 50 arranged on one side of the material basin 40; if only one material basin 40 is provided and the types of the contained ingredients can be mixed in the material beating process, and the taste cannot be influenced, the material beating mechanical arm 30 can be butted with a fixed material spoon 50 for a long time; after the material beating mechanical arm 30 and the material spoon 50 are butted, the material beating mechanical arm 30 can scoop up the needed ingredients in the corresponding material basin 40 by using the material spoon 50, then the material spoon 50 scooping up the ingredients moves to the position right above the bowl needing to be added in the placement area under the driving of the material beating mechanical arm 30, and the material spoon 50 realizes the turnover feeding under the driving of the material beating mechanical arm 30 or the driving of the turnover device 53; if certain bowl that needs to add the batching needs to add a plurality of condiments simultaneously, the arm 30 of beating materials can be in proper order with the batching scoop up move add to fixed placing in the bowl of certain position, more preferably, in order to avoid the arm moving distance of beating materials changes and leads to the batching to drop, utilizes preferably bowl utensil mobile device 82 removes the bowl in proper order to near the discharge end that corresponds the basin 40, again by the arm 30 of beating materials accomplishes the operation of beating materials in proper order.
The knockout machine adopts the knockout arm 30 to replace the manual work to place the basin 40 and the placing area and the moving structure of bowl have carried out ingenious design, make the knockout machine can replace the manual work, accomplish accurate knockout operation, make whole knockout process more high-efficient and sanitary simultaneously, can satisfy the automatic application requirement in the food and beverage trade completely.
Although the above embodiment can also complete mechanized material-beating operation, because the material-beating mechanical arm 30 is an existing industrial mechanical arm, which is not ideal in mechanical structure according to optimization of manual material-beating operation, for the deficiency of the embodiment, on the basis of the above embodiment, the material-beating mechanical arm 30 in the material-beating machine is replaced by the servo-driven mechanical arm as shown in fig. 5-7, and other structures may not need to be changed, so that a material-beating machine with more efficient and accurate material-beating operation can be obtained; the specific implementation mode of the servo drive mechanical arm is as follows:
as shown in fig. 5 and 6, a servo-driven robot arm includes: a fixed arm 1, a middle connecting arm 2, a swinging operating arm 3 and a screw rod numerical control speed reducer 6 are installed; the lower rotating shaft 4 fixed at the lower end of the middle connecting arm 2 is hinged with the lower rotating hole arranged on the mounting fixed arm 1; an upper rotating shaft 5 fixed at the upper end of the middle connecting arm 2 is hinged with an upper rotating hole arranged at the upper end of the swinging arm; the first screw rod numerical control speed reducing device 6 is fixedly arranged on the mounting fixed arm 1, and a belt wheel which is arranged on the first screw rod numerical control speed reducing device 6 and used for outputting rotation is sleeved on one end of the lower rotating shaft 4 to drive the middle connecting arm 2 to swing; the second screw rod numerical control speed reducing device 6 is fixedly arranged on the middle connecting arm 2, and a belt wheel for outputting rotation, namely an output rotating shaft wheel 410, which is arranged on the second screw rod numerical control speed reducing device 6 is sleeved at one end of the upper rotating shaft 5 to drive the swing operating arm 3 to swing.
As shown in fig. 7, the screw numerical control reduction gear 6 includes: a first screw numerical control speed reducer 6 and a second screw numerical control speed reducer 6; the numerical control retrieval device of the screw rod 200 comprises: the device comprises a screw rod 200, a moving nut 210, a transmission belt 300, a rotation driving device 110, a bracket 100 and belt wheels which are respectively arranged at two ends of the bracket 100, wherein the belt wheels are not specifically an output rotating shaft wheel 410, a rotating wheel 420 and a guide wheel 430; both ends of the screw rod 200 are rotatably arranged on the bracket 100; the moving nut 210 is sleeved outside the lead screw 200 through a thread and moves along the lead screw 200; the two belt pulleys are respectively rotatably arranged at two ends of the bracket 100, and are respectively positioned at two sides of the movable nut 210; the transmission belt 300 is used for connecting the two pulleys in a transmission way; the transmission belt 300 is fixedly connected with the movable nut 210, the rotation driving device 110 is arranged outside the support 100, any end of the screw rod 200 is in transmission connection with a rotating shaft of the rotation driving device 110 through a worm and gear rotating mechanism 500, and two bevel gears 510 can be additionally arranged for meshing transmission due to power transmission in a ninety-degree direction. The screw rod numerical control speed reducing device 6 is a speed reducing transmission mechanism which is disclosed in the prior art, the rotation of a quick shaft of a rotation driving device 110, namely a servo motor, is converted into axial movement of a screw rod 200, then the axial movement transmission of the screw rod 200 is ingeniously converted into shaft rotation output of belt wheels, the screw rod 200 and the two belt wheels with different parameters can be selected according to actual requirements, so that the final output speed and torque are different, the screw rod numerical control speed reducing device 6 with a compact structure has high precision, a larger speed reducing and speed regulating range and a larger torque range capable of stably outputting.
The invention provides a servo-driven mechanical arm, which is applied with a screw rod numerical control speed reducer 6, so that in the servo-driven mechanical arm of a material beating machine, the swinging of each mechanical arm section can be independently, stably, flexibly and accurately driven according to the requirement, the response speed is higher, the swinging is more accurate, the material beating machine can adapt to more different material beating environments, meanwhile, the manual material beating action can be simulated as much as possible, and the mechanical automation replaces the manual work to more efficiently and accurately finish the material beating operation.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (8)
1. A knockout machine, comprising: the device comprises a beating rotating device, a beating platform, a servo mechanical arm, a material basin and a material spoon; the top surface of the knockout platform is provided with a central rotating seat; the servo mechanical arm is vertically arranged and fixed on the upper surface of the central swivel base; the feed basin is arranged on the outer side of the central rotary seat; the material spoon is connected to the servo mechanical arm or placed above the material beating platform; one end of the material beating basin, which is far away from the central rotating seat, is a material outlet end, and a bowl placing area is arranged outside the material outlet end; the knockout rotating device is in transmission connection with the central turntable, so that the central turntable horizontally rotates around a central shaft of the central turntable;
the servo drive mechanical arm is characterized by comprising: installing a fixed arm, a middle connecting arm, a swinging operation arm and a screw rod numerical control speed reducer; the lower rotating shaft fixed at the lower end of the middle connecting arm is hinged with the lower rotating hole formed in the mounting fixed arm; an upper rotating shaft fixed at the upper end of the middle connecting arm is hinged with an upper rotating hole arranged at the upper end of the swinging arm; the numerical control speed reducing device for the screw rod comprises: the first screw rod numerical control speed reducing device and the second screw rod numerical control speed reducing device are arranged on the base; the first screw rod numerical control speed reducing device is fixedly arranged on the mounting fixed arm, and a belt wheel which is arranged on the first screw rod numerical control speed reducing device and used for outputting rotation is sleeved at one end of the lower rotating shaft to drive the middle connecting arm to swing; the second screw rod numerical control speed reducer is fixedly arranged on the middle connecting arm, and a belt wheel for outputting rotation is arranged on the second screw rod numerical control speed reducer and sleeved at one end of the upper rotating shaft to drive the swinging operation arm to swing;
the material spoon includes: the transmission box, the transmission lifting rod and the spoon body; the rotation lifting rod comprises: the transmission rod and a sleeve sleeved outside the transmission rod can rotate in the sleeve relative to the sleeve; a worm gear transmission mechanism is arranged in the transmission box; the connecting end of the spoon body is rotatably hinged to the outside of the transmission box body; the lower end of the transmission rod is in transmission connection with the connecting end of the spoon body through the worm and gear transmission mechanism; the servo driving mechanical arm is provided with a spoon holding tail end; the tail end of the spoon holder is provided with a clamping mechanism and a turnover driving device; when the spoon body is assembled with the tail end of the spoon holder, the clamping mechanism fixes the sleeve, and the overturning driving device is connected with the upper end of the transmission rod.
2. A knockout machine according to claim 1, characterized in that said screw numerical control reduction gear comprises: the first screw rod numerical control speed reducing device and the second screw rod numerical control speed reducing device are arranged on the base; the numerical control retrieval device for the screw rod comprises: the device comprises a screw rod, a movable nut, a transmission belt, a rotation driving device, a bracket and belt wheels respectively arranged at two ends of the bracket; both ends of the screw rod are rotatably arranged on the bracket; the movable nut is sleeved outside the screw rod through threads and moves along the screw rod; the two belt wheels are respectively and rotatably arranged at two ends of the bracket and are respectively positioned at two sides of the movable nut; the transmission belt is used for driving and connecting the two belt wheels; the transmission belt with it is fixed to remove the nut connection, rotate drive arrangement set up in the support outside, the arbitrary one end of lead screw through worm gear slewing mechanism with rotate drive arrangement's pivot transmission and be connected.
3. A knockout machine according to claim 1, characterized in that there are at least two said material basins, and each material basin uses the central rotation seat as the center, and they are horizontally arranged on the top surface of said knockout platform along different radial directions of the circle in a divergent manner.
4. The material beating machine according to claim 3, wherein a placing frame is arranged on the top surface of the material beating platform on one side of the material basin, and when the material spoon is placed on the material spoon frame, the lower end of the material spoon is located in the area right above the material basin.
5. A knockout machine according to claim 1 wherein said servo-driven robotic arm further comprises a flipping motor; the tail end of the spoon holder is rotatably arranged on the servo driving mechanical arm through a turnover rotating shaft; the overturning motor drives the overturning rotating shaft to rotate to drive the tail end of the spoon holder to swing.
6. A knockout machine according to claim 1, characterized in that the upper end of the transmission rod is detachably connected with the turnover drive device by magnetic adsorption.
7. The blanking machine as recited in claim 3, wherein arc-shaped baffles are arranged between the discharge ends of the plurality of material basins and the placing area; the arc-shaped baffle is provided with an arc-shaped sliding chute, and a bowl placing moving plate is horizontally arranged in the placing area close to the arc-shaped baffle; the ramming platform is further provided with a bowl moving device, the bowl moving device is arranged under the central rotating seat, and the rotating shaft of the bowl moving device is connected with the sliding end of the bowl moving plate in a transmission mode through the L-shaped connecting plate, so that the bowl moving plate is placed under the driving of the bowl moving device and moves along the arc-shaped sliding groove.
8. The knockout machine of claim 1, wherein the knockout platform is provided with a water bath heating pot; the material mixing basin is placed in the water bath heating pot; the water bath heating pot is provided with an overflow pipe, a drain pipe and an electric heating device; the water bath heating pot is provided with a water level sensor, and the water level sensor and the temperature sensor are electrically connected with the central controller; the material beating machine also comprises a rack, and the material beating platform is arranged at the top of the rack; and the bottom of the rack is provided with a lifting adjusting support leg.
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| CN201910783736.3A CN110393460B (en) | 2019-08-23 | 2019-08-23 | Servo-driven mechanical arm and knockout machine using same |
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| CN201910783736.3A CN110393460B (en) | 2019-08-23 | 2019-08-23 | Servo-driven mechanical arm and knockout machine using same |
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| CN110393460B true CN110393460B (en) | 2021-04-27 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112336223A (en) * | 2020-10-29 | 2021-02-09 | 上海明略人工智能(集团)有限公司 | System for be used for beating bittern |
| CN112336171A (en) * | 2020-10-29 | 2021-02-09 | 上海明略人工智能(集团)有限公司 | System for be used for beating bittern |
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Effective date of registration: 20220425 Address after: 100094 room 7107, floor 7, building 1, Dongbeiwang village south, Haidian District, Beijing Patentee after: Beijing fastend Technology Co.,Ltd. Address before: 519000 area a, 3rd floor, building 3, 4333 Zhuhai Avenue, Xiangzhou District, Zhuhai City, Guangdong Province Patentee before: Zhuhai Fast-end Technology Co.,Ltd. |