CN110509431A - Automatic charging machine people - Google Patents
Automatic charging machine people Download PDFInfo
- Publication number
- CN110509431A CN110509431A CN201910824818.8A CN201910824818A CN110509431A CN 110509431 A CN110509431 A CN 110509431A CN 201910824818 A CN201910824818 A CN 201910824818A CN 110509431 A CN110509431 A CN 110509431A
- Authority
- CN
- China
- Prior art keywords
- automatic charging
- machine people
- charging machine
- rabbling mechanism
- hopper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/08—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions using driven mechanical means affecting the mixing
- B28C5/10—Mixing in containers not actuated to effect the mixing
- B28C5/12—Mixing in containers not actuated to effect the mixing with stirrers sweeping through the materials, e.g. with incorporated feeding or discharging means or with oscillating stirrers
- B28C5/16—Mixing in containers not actuated to effect the mixing with stirrers sweeping through the materials, e.g. with incorporated feeding or discharging means or with oscillating stirrers the stirrers having motion about a vertical or steeply inclined axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/04—Supplying or proportioning the ingredients
- B28C7/06—Supplying the solid ingredients, e.g. by means of endless conveyors or jigging conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/04—Supplying or proportioning the ingredients
- B28C7/12—Supplying or proportioning liquid ingredients
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/16—Discharge means, e.g. with intermediate storage of fresh concrete
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C9/00—General arrangement or layout of plant
- B28C9/04—General arrangement or layout of plant the plant being mobile, e.g. mounted on a carriage or a set of carriages
Abstract
The present invention provides a kind of automatic charging machine people.Automatic charging machine people includes support portion；Rabbling mechanism, rabbling mechanism are connected with support portion；Walking mechanism, walking mechanism are connected with support portion, and walking mechanism carries out feeding operation for driving support portion mobile, to drive rabbling mechanism to be moved to the first predetermined position, are then moved to the second predetermined position again and carry out discharge operation.It drives rabbling mechanism to be moved to predetermined position by setting walking mechanism and carries out feeding operation, then agitating device is being driven to be moved to other predetermined position for the material being stirred progress discharging by walking mechanism, so that material realizes automated job during the entire process of feeding and discharging, the efficiency of feeding operation is effectively improved.
Description
Technical field
The present invention relates to charging equipment technical fields, in particular to a kind of automatic charging machine people.
Background technique
Mortar is common binding material in architectural construction technology, be by a certain proportion of sand, cementing material (cement,
Lime paste, clay etc.) and the fluid body that mixes of water.The process flow for being related to mortar operation at present generally includes mortar system
Work, transport and three steps of feeding.Mortar production is usually to use conventional tool (mortar shovel) or semi-automatic by construction worker
Tool (mortar mixer), stirring is made after mortar ingredient is mixed according to a certain percentage.After mortar is made, by manually utilizing hand
Pail or cart carry out mortar transport.After mortar is transported to job site, mortar is made by artificial or ancillary equipment (such as mortar pump)
It uses specified position and completes mortar feeding task.
There are following several defects in above-mentioned process flow:
1, mortar production, transportational process time and effort consuming, need a large amount of costs of labor, and there are security risks.
2, mortar agitating mode and mixing time rely on personal experience mostly, and the stability of mortar quality is difficult to ensure.
3, during manual manufacture mortar, it is easy to appear the powder spreading of mortar powder, fluid mortar is spread to agglomeration etc. on ground and shows
As serious to pollute site operation environment.
4, phenomena such as being also easy to produce isolation, layering during mortar transport or storage, causes mortar uneven.
5, (such as eminence feeding) mortar feeding process operation difficulty is big under given conditions.
6, existing mortar pumping equipment (such as secondary constructional column mortar pump) usually has a single function, no automation function, and
Clean inherent shortcoming is difficult to clean there are pump line.
Summary of the invention
The main purpose of the present invention is to provide a kind of automatic charging machine people, are set with solving mortar feeding in the prior art
Standby the problem of can not achieve self-feeding.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of automatic charging machine people, comprising:
Support portion；Rabbling mechanism, rabbling mechanism are connected with support portion；Walking mechanism, walking mechanism are connected with support portion, vehicle with walking machine
Structure carries out feeding operation for driving support portion mobile, to drive rabbling mechanism to be moved to the first predetermined position, then moves again
It moves to the second predetermined position and carries out discharge operation.
Further, support portion includes chassis overhang, and walking mechanism includes: steering wheel, and steering wheel is connected with chassis overhang, rudder
Wheel is for driving chassis overhang mobile.
Further, walking mechanism further include: driven wheel, driven wheel are connected with chassis overhang, driven wheel and steering wheel position
In the same side of chassis overhang.
Further, support portion further includes lifting support, and lifting support is connected with chassis overhang and sets along the vertical direction
It sets, rabbling mechanism is movably connected with lifting support, automatic charging machine people further include: elevating mechanism, elevating mechanism and bottom
At least one of disc carrier and lifting support are connected, and elevating mechanism can drive rabbling mechanism to move back and forth along the vertical direction.
Further, elevating mechanism includes: upper sprocket wheel shaft, and sprocket wheel shaft passes through the top of shaft fixing block and lifting support
Portion is connected；Lower sprocket shaft, lower sprocket shaft are connected with chassis overhang；Lift chains, lift chains are sheathed on upper sprocket wheel
In shaft and lower sprocket shaft, lift chains are connected with rabbling mechanism；Lifting motor, lifting motor and upper sprocket wheel shaft and under
One in sprocket wheel shaft is connected, and lifting motor is for driving upper sprocket wheel shaft and lower sprocket shaft to rotate, so that lifting chain
Item drives rabbling mechanism to move up or down along the vertical direction.
Further, rabbling mechanism includes: hopper；One end of connection frame, connection frame is connected with hopper, connection frame it is another
One end is connected with lift chains.
Further, on the surface towards the side of lifting support of connection frame at least provided with two the first idler wheels, two
A first idler wheel is positioned apart to form limit space, and the lifting support of part is located in limit space.
Further, the second idler wheel, the second idler wheel are additionally provided on the surface towards the side of lifting support of connection frame
In limit space, the roller bearing of the second idler wheel and the roller bearing of the first idler wheel are perpendicular.
Further, rabbling mechanism further include: it is connected at the top of stirring motor bracket, stirring motor bracket and hopper,
Electric machine support is for installing stirring motor；Stirring blade, stirring blade are set in hopper, the output shaft of stirring motor and stirring
Blade is connected；Water pipe is cleaned, cleaning water pipe is connected with stirring motor bracket.
Further, the bottom of hopper offers discharge port, and discharge outlet is provided with stop mechanism, and stop mechanism is for beating
Discharge port is closed on or off.
Further, stop mechanism includes: baffle, and baffle is movably connected with hopper；Driving push rod, driving push rod
One end be connected with hopper, the other end of driving push rod is connected with baffle, and driving push rod can drive baffle to beat discharge port
On or off is closed.
Further, automatic charging machine people further include: controller, controller are electrically connected with steering wheel；Navigate laser radar,
Navigation laser radar is electrically connected with the controller, and navigation laser radar is connected with one in chassis overhang and lifting support, is led
The laser radar that navigates is used to transmit locating navigation information to controller, and controller is according to navigation information control flaps wheel drive rabbling mechanism
It is moved to from the corresponding position obtained in navigation information.
Further, automatic charging machine people further include: avoidance radar, avoidance radar are electrically connected with the controller, avoidance thunder
It is connected up to one in chassis overhang and lifting support, avoidance radar is used to transmit automatic feeding robot to controller attached
Close environmental information.
Further, environmental information includes the location information and dynamic disorder of static-obstacle thing neighbouring when support portion is mobile
The location information of object.
Further, automatic charging machine people further include: power distribution cabinet, power distribution cabinet is connected with support portion and/or vision phase
Machine, vision camera are connected with support portion, and vision camera is used to monitor the location information of rabbling mechanism discharging and feeding.
Further, discharge outlet is provided with sealing ring, and when baffle closes discharge port, baffle is abutted with sealing ring.
Further, rabbling mechanism includes: poidometer, and poidometer is used to weigh to the raw material in investment hopper, and/or
Flowmeter, flowmeter are used to measure the amount of the water in cleaning water pipe.
It applies the technical scheme of the present invention, drives rabbling mechanism to be moved to predetermined position by setting walking mechanism and carry out
Feeding operation, then by walking mechanism drive agitating device be moved to other predetermined position by the material being stirred into
Row discharging effectively improves feeding operation so that material realizes automated job during the entire process of feeding and discharging
Efficiency.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the embodiment of automatic charging machine people according to the present invention；
Fig. 2 shows the structural schematic diagrams of the first embodiment of rabbling mechanism according to the present invention；
Fig. 3 shows the structural schematic diagram of the second embodiment of rabbling mechanism according to the present invention；
Fig. 4 shows automatic charging machine people job stream flow chart according to the present invention.
Wherein, the above drawings include the following reference numerals:
1, chassis overhang；2, steering wheel；3, driven wheel；4, power distribution cabinet support；5, power distribution cabinet；6, navigate laser radar；7, it keeps away
Hinder radar；8, hopper；9, stirring motor bracket；10, stirring motor；11, stirring blade；12, baffle；13, driving push rod；14,
Clean water pipe；15, lifting support；16, lift chains；17, shaft fixing block；18, upper sprocket wheel shaft；19, lifting motor；20,
Connection frame；21, vision camera；22, lower sprocket shaft.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Term be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary
Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein
Formula.It should be understood that it is thoroughly and complete to these embodiments are provided so that disclosure herein, and these are shown
The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, it is possible to expand
The big thickness of layer and region, and make that identical device is presented with like reference characters, thus omission retouches them
It states.
In conjunction with shown in Fig. 1 to Fig. 4, according to the specific embodiment of the application, a kind of automatic charging machine people is provided, is wrapped
It includes: support portion；Rabbling mechanism, rabbling mechanism are connected with support portion；Walking mechanism, walking mechanism are connected with support portion, row
Mechanism is walked for driving support portion mobile, carries out feeding operation to drive rabbling mechanism to be moved to the first predetermined position, then
It is moved to the second predetermined position again and carries out discharge operation.
In the present embodiment, it drives rabbling mechanism to be moved to predetermined position by setting walking mechanism and carries out feeding work
Then industry is driving agitating device to be moved to other predetermined position and unload the material being stirred by walking mechanism
Material, so that material realizes automated job during the entire process of feeding and discharging, effectively improves the effect of feeding operation
Rate.
Wherein, as shown in Figure 1, support portion includes chassis overhang 1.Walking mechanism includes steering wheel 2.Steering wheel 2 and chassis overhang 1
It is connected, steering wheel 2 is for driving chassis overhang 1 mobile.I.e. steering wheel 2 can be used for driving robot straight trip, divertical motion, steering wheel 2
The bottom for being fixed on chassis overhang 1 is bolted.Chassis overhang 1 is each component primary load bearing structure of robot, is mainly adopted
It is welded to be formed with rectangular steel tube and high-strength steel sheet.
Walking mechanism further includes driven wheel 3.Driven wheel 3 is connected with chassis overhang 1, and driven wheel 3 and steering wheel 2 are located at chassis
The same side of bracket 1.Driven wheel 3 is for auxiliary robot motion guide and has certain carrying effect, makes car body operation more
Steadily, and can any direction planar moved, driven wheel 3, which is bolted, is fixed on 1 bottom of chassis overhang.
Support portion further includes lifting support 15.Lifting support 15 is connected with chassis overhang 1 and is arranged along the vertical direction, stirs
Mechanism is mixed to be movably connected with lifting support 15.Automatic charging machine people further includes elevating mechanism.Elevating mechanism and chassis branch
At least one of frame 1 and lifting support 15 are connected, and elevating mechanism can drive rabbling mechanism to move back and forth along the vertical direction.Its
In, the embodiment that elevating mechanism is connected with lifting support 15 is shown in Fig. 1.
Specifically, elevating mechanism includes upper sprocket wheel shaft 18, lower sprocket shaft 22, lift chains 16 and lifting motor 19.
Shaft 18 is taken turns on chain to be connected by shaft fixing block 17 with the top of lifting support 15.Lower sprocket shaft 22 and chassis overhang 1
It is connected；Lift chains 16 are sheathed in upper sprocket wheel shaft 18 and lower sprocket shaft 22, and lift chains 16 are connected with rabbling mechanism
It connects.Lifting motor 19 is connected with one in upper sprocket wheel shaft 18 and lower sprocket shaft 22.Lifting motor 19 is for driving
Sprocket wheel shaft 18 and lower sprocket shaft 22 rotate, so that lift chains 16 drive rabbling mechanism to move upward or downward along the vertical direction
It is dynamic.Lifting motor 19 is shown in Fig. 1 to be connected with upper sprocket wheel shaft 18.Lifting support 15 is for providing lifting guiding, wherein
The extension bracket backward of lifting support 15, the fixation for shaft fixing block 17 and lifting motor 19.Lifting support 15 passes through
Bolt connecting mode is fixed on chassis overhang 1.Lift chains 16 are for connecting upper and lower chain shaft, by upper sprocket wheel shaft 18
The circular motion of output is converted into the linear motion of vertical direction.Shaft fixing block 17 is used as support member, and is connected by bolt
The mode of connecing is fixed on chassis overhang 1.Wherein, sprocket wheel shaft is completed power transmitting, is passed through for connecting lifting motor and chain
Bearing is connect with shaft fixing block 17.Lifting motor 19 is rotated for drive sprocket shaft, provides power output, lifting motor 19
It is bolted and is fixed in upper sprocket wheel shaft 18.
Rabbling mechanism includes hopper 8 and connection frame 20.One end of connection frame 20 is connected with hopper 8, connection frame 20 it is another
One end is connected with lift chains 16.Hopper 8 is used to stir and store the container of mortar, is fixed on lifting branch by leading block
Between the column of frame 15.Wherein, leading block includes the first idler wheel A and the second idler wheel B.Connection frame 20 is for connecting 8 He of hopper
Lift chains 16 make the raising and lowering function synchronous with the completion of hopper 8 of connection frame 20, pass through spiral shell between connection frame 20 and hopper 8
Bolt is fixed, and is attached fixation by pressing plate, bolt between connection frame 20 and lift chains 16.
Preferably, as shown in Fig. 2, at least provided with two on the surface of the side towards lifting support 15 of connection frame 20
First idler wheel, two the first idler wheels are positioned apart to form limit space, and the lifting support 15 of part is located in limit space.
The second idler wheel is additionally provided on the surface of the side towards lifting support 15 of connection frame 20, the second idler wheel is located at limit space
Interior, the roller bearing of the second idler wheel and the roller bearing of the first idler wheel are perpendicular.Setting can be reduced between hopper 8 and lifting support 15 in this way
Frictionally damage, effectively improve the service life of the robot.
In order to improve the connective stability of rabbling mechanism, rabbling mechanism further includes stirring motor bracket 9,11 and of stirring blade
Clean water pipe 14.Stirring motor bracket 9 is connected with the top of hopper 8, and stirring motor bracket 9 is for installing stirring motor 10.
Stirring blade 11 is set in hopper 8, and the output shaft of stirring motor 10 is connected with stirring blade 11.Clean water pipe 14 and stirring
Electric machine support 9 is connected.For fixing stirring motor, stirring motor bracket 9 is fixed with bolts stirring motor bracket 9
On hopper 8.For driving the rotation of stirring blade 11 to complete mortar stirring, stirring motor 10 is bolted solid stirring motor 10
It is scheduled on stirring motor bracket 9.Stirring blade 11 guarantees that mortar is uniformly mixed, and can will stir evenly for stirring mortar
Mortar push to far from hopper axis direction, to complete mortar feeding, stirring blade 11 is connected by axis connection and electric machine assembly
It connects.For cleaning after mortar feeding to hopper 8, cleaning water pipe 14 is fixed on by metal plate bracket to be stirred cleaning water pipe 14
It mixes on electric machine support 9.
Further, the bottom of hopper 8 offers discharge port, and discharge outlet is provided with stop mechanism.Stop mechanism is used for
Open or close discharge port.Stop mechanism includes baffle 12 and driving push rod 13.Baffle 12 is movably connected with hopper 8.
One end of driving push rod 13 is connected with hopper 8, and the other end of driving push rod 13 is connected with baffle 12, and driving push rod 13 can drive
Dynamic baffle 12 opens or closes discharge port.Mortar is produced, is sealed in transportational process to hopper 8, and when mortar feeding opens
Discharging, is connected by a hinge on hopper 8.Driving push rod 13 drives baffle 12 to complete the opening and closing function of feeding port, leads to
Pin shaft is crossed to be connected on hopper 8.
Automatic charging machine people further includes controller, navigation laser radar 6 and avoidance radar 7.Controller is electrically connected with steering wheel 2
It connects.Navigation laser radar 6 is electrically connected with the controller.Navigation laser radar 6 and a phase in chassis overhang 1 and lifting support 15
Connection.The laser radar 6 that navigates is used to transmit locating navigation information to controller.Controller controls steering wheel 2 according to navigation information and drives
Dynamic rabbling mechanism is moved to from the corresponding position obtained in navigation information.Avoidance radar 7 is electrically connected with the controller.Avoidance thunder
It is connected up to 7 with one in chassis overhang 1 and lifting support 15, avoidance radar 7 is used to transmit automatic charging machine to controller
Environmental information near device people.Environmental information includes that the location information of static-obstacle thing neighbouring when support portion is mobile and dynamic hinder
Hinder the location information of object.
Wherein, fixation is bolted in navigation laser radar 6 location navigation function on site, navigation laser radar 6
On lifting support 15.The either statically or dynamically barrier in working environment for identification of avoidance radar 7, prevents robot from hitting
Damage, avoidance radar 7, which is bolted, to be fixed on chassis overhang 1.
Automatic charging machine people further includes power distribution cabinet 5 and vision camera 21.Power distribution cabinet 5 passes through power distribution cabinet support 4 and support
Portion is connected.Vision camera 21 is connected with support portion, and vision camera 21 is used to monitor the position of rabbling mechanism discharging and feeding
Information.Preferably, power distribution cabinet support 4 is connect by welding manner with chassis overhang 1.Power distribution cabinet 5 is for fixing battery, control mould
Block assembly etc. is fixed on power distribution cabinet support 4 by modes such as bolt, Auxiliary supports.
In the present embodiment, which is used to producing and transporting at least one in liquid coating and pulpous state fluid body
Kind.Wherein, in order to improve the reliability of rabbling mechanism, discharge outlet is provided with sealing ring.When baffle 12 closes discharge port
When, baffle 12 is abutted with sealing ring.
Rabbling mechanism includes poidometer and flowmeter.Poidometer is used to weigh to the raw material in investment hopper 8.Flowmeter
For measuring the amount of the water in cleaning water pipe 14.
As shown in figure 4, carrying out feeding operation using the robot of the structure, mortar feeding robot passes through self-navigation point
Not Yun Hang to mortar powder supplying system and water system (or the mortar premixing station that can provide mortar finished product), adjust position until
Meet mortar ingredient and obtains condition.Then mortar powder weight and water flow are carried out respectively by poidometer and flowmeter automatic
Monitoring (such as also can human assistance without automation condition) realizes that quantitatively obtaining mortar ingredient matches.It is finally automatically complete by robot
It is stirred at mortar, and mortar is transported to mortar feeding operation end by self-navigation and completes mortar feeding.
Wherein, in addition to mortar, the liquid coatings such as the rabbling mechanism of the application can also paint, putty, bonding agent or
The producing of pulpous state fluid body is transported and feeding function.Speed regulation automatic stirring can be realized using the robot of the structure, it can be by stirring
Mixing motor can be servo motor, and by Serve Motor Control mortar mixing speed, high-speed stirred mode is used when mortar makes,
Quickly and efficiently complete mortar production.After mortar completes, automatic switchover stirs at low speed mode, prevents mortar in transportational process
Isolation, lamination occurs, guarantees that mortar is uniformly mixed.As shown in figure 3, blade shape be it is spiral, share three pieces, can make
Mortar is moved along hopper is radial and axial, guarantees mortar mixed effect.When feeding port baffle is opened, mortar can be made to exist
Done under centrifugal force effect far from hopper axle center and flow to the radial motion of discharge port, enable mortar persistent movement to feeding port simultaneously
Feeding is completed by mortar gravity.By discharge position in vision camera real-time monitoring, location information is then fed back into control
System processed is analyzed, and adjusts hopper lift height according to the highly automated control servo motor in feeding end, until meeting feeding
It is required that.Electric putter is driven to realize that baffle opens and closes automatically by driving motor, sealing ring is arranged in discharge port, and sealing ring is packed into
In reserved sealing card slot, when discharge baffle is closed, discharge baffle and sealing ring are in close contact, it is ensured that when discharge baffle is closed
No mortar or liquid leak out.After the completion of the completion of single feeding or stage feeding task, the aqueduct valve of automatic cleaning system is opened
It opens, meanwhile, stirring motor opens high-speed rotation mode, and agitation water flow cleans hopper inner surface, prevents mortar to be long placed in solidifying
Solid is at the agglomeration for being difficult to clear up.Wherein, mortar manufacturing process also can be by being capable of providing mortar premixing station generation of mortar finished product
It replaces,.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
1, mortar manufacturing process uses full-automatic stirring technique, and transportational process is replaced completely using automatic positioning airmanship
In generation, is artificial, time-saving and efficiency.
2, mortar production process standardization each time, mortar quality are stablized.
3, mortar production is completed in special container, not will cause site operation environmental pollution.
4, still achievable automatic stirring mixed function, guarantee mortar quality are uniform in the process for mortar transport and storage.
5, using adjustable up-down feeding executing agency, versatile, mortar feeding process is simple and efficient.
6, material cylinder structure is simple, easily cleans, and has automatic cleaning function.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Than that described above, it is also necessary to which explanation is " one embodiment " spoken of in the present specification, " another implementation
Example ", " embodiment " etc. refer to that specific features, structure or the feature of embodiment description is combined to be included in the application summary
Property description at least one embodiment in.It is not centainly to refer to the same reality that statement of the same race, which occur, in multiple places in the description
Apply example.Furthermore, it is understood that is advocated is knot when describing a specific features, structure or feature in conjunction with any embodiment
Other embodiments are closed to realize that this feature, structure or feature are also fallen within the scope of the present invention.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (17)
1. a kind of automatic charging machine people characterized by comprising
Support portion；
Rabbling mechanism, the rabbling mechanism are connected with the support portion；
Walking mechanism, the walking mechanism are connected with the support portion, and the walking mechanism is for driving the support portion to move
It is dynamic, feeding operation is carried out to drive the rabbling mechanism to be moved to the first predetermined position, is then moved to the second default position again
It sets place and carries out discharge operation.
2. automatic charging machine people according to claim 1, which is characterized in that the support portion includes chassis overhang (1),
The walking mechanism includes:
Steering wheel (2), the steering wheel (2) are connected with the chassis overhang (1), and the steering wheel (2) is for driving the chassis branch
Frame (1) is mobile.
3. automatic charging machine people according to claim 2, which is characterized in that the walking mechanism further include:
Driven wheel (3), the driven wheel (3) are connected with the chassis overhang (1), the driven wheel (3) and the steering wheel (2)
Positioned at the same side of the chassis overhang (1).
4. automatic charging machine people according to claim 2, which is characterized in that the support portion further includes lifting support
(15), the lifting support (15) is connected with the chassis overhang (1) and is arranged along the vertical direction, the rabbling mechanism and institute
It states lifting support (15) to be movably connected, the automatic charging machine people further include:
Elevating mechanism, the elevating mechanism are connected at least one of the chassis overhang (1) and the lifting support (15)
It connects, the elevating mechanism can drive the rabbling mechanism to move back and forth along the vertical direction.
5. automatic charging machine people according to claim 4, which is characterized in that the elevating mechanism includes:
Upper sprocket wheel shaft (18), the sprocket wheel shaft (18) pass through the top of shaft fixing block (17) and the lifting support (15)
It is connected；
Lower sprocket shaft (22), the lower sprocket shaft (22) are connected with the chassis overhang (1)；
Lift chains (16), the lift chains (16) are sheathed on the upper sprocket wheel shaft (18) and the lower sprocket shaft (22)
On, the lift chains (16) are connected with the rabbling mechanism；
In lifting motor (19), the lifting motor (19) and the upper sprocket wheel shaft (18) and the lower sprocket shaft (22)
One is connected, and the lifting motor (19) is for driving the upper sprocket wheel shaft (18) and the lower sprocket shaft (22) to turn
It is dynamic, so that the lift chains (16) drive the rabbling mechanism to move up or down along the vertical direction.
6. automatic charging machine people according to claim 5, which is characterized in that the rabbling mechanism includes:
Hopper (8)；
One end of connection frame (20), the connection frame (20) is connected with the hopper (8), the other end of the connection frame (20)
It is connected with the lift chains (16).
7. automatic charging machine people according to claim 6, which is characterized in that the connection frame (20) towards the liter
At least provided with two the first idler wheels on the surface of the side of descending branch frame (15), two first idler wheels are positioned apart from shape
At limit space, the lifting support (15) of part is located in the limit space.
8. automatic charging machine people according to claim 7, which is characterized in that the connection frame (20) towards the liter
The second idler wheel is additionally provided on the surface of the side of descending branch frame (15), second idler wheel is located in the limit space, described
The roller bearing of second idler wheel and the roller bearing of first idler wheel are perpendicular.
9. automatic charging machine people according to claim 6, which is characterized in that the rabbling mechanism further include:
Stirring motor bracket (9) is connected at the top of the stirring motor bracket (9) and the hopper (8), the stirring motor
Bracket (9) is for installing stirring motor (10)；
Stirring blade (11), the stirring blade (11) are set in the hopper (8), the output shaft of the stirring motor (10)
It is connected with the stirring blade (11)；
It cleans water pipe (14), the cleaning water pipe (14) is connected with the stirring motor bracket (9).
10. automatic charging machine people according to claim 6, which is characterized in that the bottom of the hopper (8) offers out
Material mouth, the discharge outlet are provided with stop mechanism, and the stop mechanism is used to open or closes the discharge port.
11. automatic charging machine people according to claim 10, which is characterized in that the stop mechanism includes:
Baffle (12), the baffle (12) are movably connected with the hopper (8)；
One end of driving push rod (13), the driving push rod (13) is connected with the hopper (8), the driving push rod (13)
The other end is connected with the baffle (12), and the driving push rod (13) can drive the baffle (12) to open the discharge port
Or it closes.
12. automatic charging machine people according to claim 4, which is characterized in that the automatic charging machine people further include:
Controller, the controller are electrically connected with the steering wheel (2)；
It navigates laser radar (6), the navigation laser radar (6) is electrically connected with the controller, the navigation laser radar (6)
It is connected with one in the chassis overhang (1) and the lifting support (15), the navigation laser radar (6) is used for institute
Controller transmission locating navigation information is stated, the controller is stirred according to navigation information control steering wheel (2) driving
Mechanism is mixed to be moved to from the corresponding position obtained in the navigation information.
13. automatic charging machine people according to claim 12, which is characterized in that the automatic charging machine people also wraps
It includes:
Avoidance radar (7), the avoidance radar (7) are electrically connected with the controller, the avoidance radar (7) and the chassis branch
Frame (1) is connected with one in the lifting support (15), and the avoidance radar (7) is used for described in controller transmission
Environmental information near automatic charging machine people.
14. automatic charging machine people according to claim 13, which is characterized in that the environmental information includes the support
The location information of portion's static-obstacle thing neighbouring when mobile and the location information of dynamic barrier.
15. automatic charging machine people according to claim 1, which is characterized in that the automatic charging machine people further include:
Power distribution cabinet (5), the power distribution cabinet (5) are connected with the support portion, and/or
Vision camera (21), the vision camera (21) are connected with the support portion, and the vision camera (21) is for monitoring
The location information of the rabbling mechanism discharging and feeding.
16. automatic charging machine people according to claim 11, which is characterized in that the discharge outlet is provided with sealing
Circle, when the baffle (12) closes the discharge port, the baffle (12) abuts with the sealing ring.
17. automatic charging machine people according to claim 9, which is characterized in that the rabbling mechanism includes:
Poidometer, the poidometer are used to weigh to the raw material put into the hopper (8), and/or
Flowmeter, the flowmeter are used to measure the amount of the water in cleaning water pipe (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910824818.8A CN110509431B (en) | 2019-09-02 | 2019-09-02 | Automatic feeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910824818.8A CN110509431B (en) | 2019-09-02 | 2019-09-02 | Automatic feeding robot |
Publications (2)
| Publication Number | Publication Date |
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| CN110509431A true CN110509431A (en) | 2019-11-29 |
| CN110509431B CN110509431B (en) | 2021-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910824818.8A Active CN110509431B (en) | 2019-09-02 | 2019-09-02 | Automatic feeding robot |
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| Country | Link |
|---|---|
| CN (1) | CN110509431B (en) |
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| CN111750960A (en) * | 2020-07-02 | 2020-10-09 | 广东博智林机器人有限公司 | Weighing and transporting equipment and weight monitoring method |
| CN111939831A (en) * | 2020-07-24 | 2020-11-17 | 盐城鼎恒机械有限公司 | Automatic feeding device for paint line with anti-blocking and anti-cracking functions |
| CN112428414A (en) * | 2020-11-23 | 2021-03-02 | 金烨 | A conveyer for building engineering |
| CN112478480A (en) * | 2019-09-11 | 2021-03-12 | 广东博智林机器人有限公司 | Lifting feeding device |
| CN113908764A (en) * | 2020-06-22 | 2022-01-11 | 广东博智林机器人有限公司 | Discharging component of container and stirring equipment with discharging component |
| CN113908765A (en) * | 2020-06-22 | 2022-01-11 | 广东博智林机器人有限公司 | Discharging component of container and stirring equipment with discharging component |
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|---|---|
| CN110509431B (en) | 2021-06-15 |
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