CN113942002A - 上甑机器人及其控制方法 - Google Patents
上甑机器人及其控制方法 Download PDFInfo
- Publication number
- CN113942002A CN113942002A CN202111222614.0A CN202111222614A CN113942002A CN 113942002 A CN113942002 A CN 113942002A CN 202111222614 A CN202111222614 A CN 202111222614A CN 113942002 A CN113942002 A CN 113942002A
- Authority
- CN
- China
- Prior art keywords
- shovel
- thickness
- retort
- loading robot
- mechanical arm
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 120
- 230000007480 spreading Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 abstract description 23
- 230000009471 action Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000004140 cleaning Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 9
- 238000003756 stirring Methods 0.000 description 6
- 238000010025 steaming Methods 0.000 description 5
- 235000013339 cereals Nutrition 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009975 flexible effect Effects 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000003670 easy-to-clean Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010073 coating (rubber) Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12H—PASTEURISATION, STERILISATION, PRESERVATION, PURIFICATION, CLARIFICATION OR AGEING OF ALCOHOLIC BEVERAGES; METHODS FOR ALTERING THE ALCOHOL CONTENT OF FERMENTED SOLUTIONS OR ALCOHOLIC BEVERAGES
- C12H6/00—Methods for increasing the alcohol content of fermented solutions or alcoholic beverages
- C12H6/02—Methods for increasing the alcohol content of fermented solutions or alcoholic beverages by distillation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biochemistry (AREA)
- Bioinformatics & Cheminformatics (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Genetics & Genomics (AREA)
- Food Science & Technology (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111222614.0A CN113942002B (zh) | 2021-10-20 | 2021-10-20 | 上甑机器人及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111222614.0A CN113942002B (zh) | 2021-10-20 | 2021-10-20 | 上甑机器人及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113942002A true CN113942002A (zh) | 2022-01-18 |
CN113942002B CN113942002B (zh) | 2022-09-27 |
Family
ID=79331916
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111222614.0A Active CN113942002B (zh) | 2021-10-20 | 2021-10-20 | 上甑机器人及其控制方法 |
Country Status (1)
Country | Link |
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CN (1) | CN113942002B (zh) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06292559A (ja) * | 1993-02-15 | 1994-10-21 | Shizuoka Prefecture | 製麹装置 |
CN110759128A (zh) * | 2018-07-10 | 2020-02-07 | 泸州智通自动化设备有限公司 | 上甑装置 |
CN210064539U (zh) * | 2019-05-22 | 2020-02-14 | 普洱创农农业开发有限公司 | 一种茶叶加工用上料装置 |
CN111187689A (zh) * | 2020-03-11 | 2020-05-22 | 泸州智通自动化设备有限公司 | 自动上甑装置 |
CN111747137A (zh) * | 2020-07-21 | 2020-10-09 | 中国科学院自动化研究所 | 一机多甑上甑系统 |
CN112573223A (zh) * | 2020-11-27 | 2021-03-30 | 中国科学院自动化研究所 | 仿人智能上甑方法、系统、装置 |
CN212955053U (zh) * | 2020-07-08 | 2021-04-13 | 武汉奋进智能机器有限公司 | 一种摆动布料装置及上甑机器人 |
-
2021
- 2021-10-20 CN CN202111222614.0A patent/CN113942002B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06292559A (ja) * | 1993-02-15 | 1994-10-21 | Shizuoka Prefecture | 製麹装置 |
CN110759128A (zh) * | 2018-07-10 | 2020-02-07 | 泸州智通自动化设备有限公司 | 上甑装置 |
CN210064539U (zh) * | 2019-05-22 | 2020-02-14 | 普洱创农农业开发有限公司 | 一种茶叶加工用上料装置 |
CN111187689A (zh) * | 2020-03-11 | 2020-05-22 | 泸州智通自动化设备有限公司 | 自动上甑装置 |
CN212955053U (zh) * | 2020-07-08 | 2021-04-13 | 武汉奋进智能机器有限公司 | 一种摆动布料装置及上甑机器人 |
CN111747137A (zh) * | 2020-07-21 | 2020-10-09 | 中国科学院自动化研究所 | 一机多甑上甑系统 |
CN112573223A (zh) * | 2020-11-27 | 2021-03-30 | 中国科学院自动化研究所 | 仿人智能上甑方法、系统、装置 |
Also Published As
Publication number | Publication date |
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CN113942002B (zh) | 2022-09-27 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221205 Address after: 271000 No.139, peitianmen street, high tech Zone, Tai'an City, Shandong Province Patentee after: Zhongke Hengxin Intelligent Technology (Taian) Co.,Ltd. Address before: 101400 room 103, building 1, yard 33, Yanqi Road, Yanqi Economic Development Zone, Huairou District, Beijing (cluster registration) Patentee before: Zhongke jiuchuang Intelligent Technology (Beijing) Co.,Ltd. |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: The steaming robot and its control method Granted publication date: 20220927 Pledgee: Taixi sub branch of Taian Bank Co.,Ltd. Pledgor: Zhongke Hengxin Intelligent Technology (Taian) Co.,Ltd. Registration number: Y2024980020322 |