CN114405632A - Efficient integrated rotary mechanical arm and control method thereof - Google Patents
Efficient integrated rotary mechanical arm and control method thereof Download PDFInfo
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- CN114405632A CN114405632A CN202210042628.2A CN202210042628A CN114405632A CN 114405632 A CN114405632 A CN 114405632A CN 202210042628 A CN202210042628 A CN 202210042628A CN 114405632 A CN114405632 A CN 114405632A
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- chamber
- mechanical arm
- tool bit
- polygonal
- chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/26—Disintegrating by knives or other cutting or tearing members which chop material into fragments with knives which both reciprocate and rotate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/18—Adding fluid, other than for crushing or disintegrating by fluid energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/102—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration with means for agitating the liquid
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- 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
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- 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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- 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
Abstract
The application relates to a high-efficiency integrated rotary mechanical arm and a control method thereof. The upper end of tool bit is connected to the robotic body lower extreme, and the room is held in the tool bit lower extreme connection, wholly runs through and holds the room, and robotic body upper end is connected with the rotating electrical machines, and the rotating electrical machines is installed in the casing, sets up the lid between casing and the room, and lid central point puts and opens the through-hole that is used for the robotic body to pass. The side wall of the containing chamber is provided with a plurality of flow holes, and the fixing chamber completely wraps the containing chamber. The control center comprises a display end, a function button and a cloud service end. The utility model provides a high-efficient integrated rotary type arm utilizes the control center variable speed rotary mechanical arm body, and the tool bit up-and-down motion is broken up the material evenly or is stirred to set for the rotational speed interval according to material hardness, realize the promotion of machining precision and stability, be convenient for clean after using in addition.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a high-efficiency integrated rotary mechanical arm and a control method thereof.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. With the improvement of living standard, more and more food raw materials or other industrial materials need to be cut, stirred into powder, blocks or liquid, and various evolution of solid and liquid are involved, and part of the materials also need to assist the liquid to be cut or stirred.
The conventional manual mode is replaced by one device for industrial processing or household food processing, a large number of cutting machines, mincing machines and stirring machines are arranged on the market at present, most of the devices have single functions, a motor which rotates at a constant speed is usually used for driving a cutter head to rotate so as to realize the stirring and cutting processes, a rotating power system of the machine is generally arranged at the upper end of the device and is heavier, and food materials or industrial materials are arranged at the lower end of the device and are lighter, so that the gravity center of the whole device is on the upper side, the stability of the whole device is reduced, the device is processed unstably, the processed food is different in size, the quality is different, the whole processing efficiency is seriously influenced, in addition, the sizes of the raw materials are different, the processed finished products are also often different in size, although part of the processing steps are used for preprocessing the raw materials, the production steps are increased, Wasting the production efficiency and increasing the production cost.
Meanwhile, residual materials left in the device are difficult to take out, particularly food residues and solid residues are difficult to clean and take out completely, and material processing with higher precision and stability by using a mechanical arm for variable-speed rotation and a detachable cutter head becomes a better research direction.
Therefore, a mechanical arm with high precision, strong stability and convenient for cleaning food materials is urgently needed. The invention provides a high-efficiency integrated rotary mechanical arm and a control method thereof.A control center adopts a mode of variable-speed rotating mechanical arm body, a tool bit can move up and down in a variable-speed environment to uniformly break up or stir materials, the rotating speed can be set according to the hardness of the materials, a liquid outlet box is arranged on the periphery of the mechanical arm body to move down the center of gravity of the whole device, so that the improvement of precision and stability is realized, and in addition, the arrangement of the liquid outlet box can facilitate the cleaning of a containing chamber and the taking out of solid residues.
Disclosure of Invention
The present invention is directed to a high-efficiency integrated rotary mechanical arm and a control method thereof, so as to solve the problems in the background art.
The invention provides the following technical scheme: the utility model provides a high-efficient integrated rotary type arm, includes rotating electrical machines, the mechanical arm body, holds room, tool bit, casing, lid, fixed room and control center, mechanical arm body lower extreme swing joint tool bit upper end, the tool bit can be dismantled to multiple types such as cutting tool bit, stirring tool bit and clean tool bit have, tool bit lower extreme swing joint holds the room, and the whole room that holds that runs through of tool bit, mechanical arm body upper end and rotating electrical machines are connected. The rotating motor is installed in the shell, the shell is arranged at the upper end of the containing chamber, the cover body is arranged between the shell and the containing chamber, the center of the cover body is provided with a through hole for the mechanical arm body to pass through, and the cover body is used for sealing the containing chamber and the fixing chamber. The side wall of the containing chamber is provided with a plurality of flow holes on the upper part, the processed material flows out of the flow holes and enters the fixed chamber, the side wall of the containing chamber is solid on the lower part, and the unprocessed material is left at the lower end of the containing chamber. The containing chamber is detachably arranged in the fixed chamber, and a user selects and installs the containing chambers with different flow hole diameters according to different sizes of particles formed by materials. The bottom surface and the side surface of the fixed chamber are completely wrapped by the containing chamber, the fixed chamber and the containing chamber are both hollow cylinders, the upper ends of the fixed chamber and the containing chamber are provided with openings which are concentrically arranged, and the cover body seals the openings of the fixed chamber and the containing chamber. The rotating motor is electrically connected with the control center. The control center comprises a display end, a function button and a cloud service end, the control center is used for controlling the rotating speed of the rotating motor, selecting and purchasing processing materials, setting parameters for processing different materials and different processing functions, the cloud service end is connected with an upstream supply chain, a user sets the materials to be processed in advance, and the cloud service end automatically performs ordering and purchasing according to the material types. The control center drives the mechanical arm body through controlling the rotating motor, the mechanical arm body drives the cutter head, the cutter head cuts or stirs materials, and solid or liquid meeting the particle size requirement flows out of the flow hole to the fixed chamber for storage.
Further, the equidistance interval of the fixed outdoor side sets up a plurality of liquid boxes and a plurality of bin, puts through each other between the liquid box, communicates each other between the bin, keeps apart each other between liquid box and the bin. The bottom of the liquid outlet box is provided with a water pump and a water guide pipe, and the other side of the water guide pipe is arranged at the upper end of the cover body. And a filter plate is arranged between the fixed chamber and the storage tank for connection, and the water pump is electrically connected with the control center. The liquid outlet box is filled with auxiliary liquid or cleaning solution in advance for assisting processing and cleaning the accommodating chamber, and the whole gravity center of the high-efficiency integrated rotary mechanical arm is lowered by utilizing the gravity of the liquid at the lower end, so that the stability of the high-efficiency integrated rotary mechanical arm is improved. When the material processing needs to use auxiliary liquid, fill auxiliary liquid in advance in the liquid outlet box, when the rotating electrical machines started, the water pump added the auxiliary liquid in the liquid outlet box to hold indoor, supplementary processing through the aqueduct. When the material processing back needs clean, fill in advance with cleaning solution in the play liquid tank, function button selects clean mode, the tool bit is changed to clean tool bit, hold the discharge hole that the room changed bigger aperture, the rotating electrical machines drives the arm body, the arm body drives the tool bit, tool bit stirring cleaning solution, waste liquid and food waste flow to the stationary chamber in from the discharge hole, get back to the apotheca again through the filter plate waste liquid, the solid is stayed in the stationary chamber, discharge abandonment cleaning solution from the apotheca after the cleanness is accomplished, the residue is discharged from the stationary chamber.
Further, the whole ladder cylinder that is of the mechanical arm body, the upper end is polygon lug A, the casing lower extreme sets up the rotatable polygon recess A that corresponds with polygon lug A, and the rotating electrical machines is connected to polygon recess A upper end, and the rotating electrical machines drives polygon recess A and the mechanical arm body is rotatory simultaneously. The fixed elastomer that sets up in the middle of the arm body, the activity of elastomer lower extreme sets up polygon lug B, and the protective layer is established to the elastomer outer pot head, holds the elastomer inside it, and polygon lug B exposes, and polygon lug B is used for the installation and dismantles different tool bits. The tool bit comprises a polygonal groove B connected with the polygonal bump B, a plurality of blades fixed on the side surface of the tool bit and a polygonal bump C arranged at the lower end of the tool bit and movably connected with the containing chamber. Because the rotating electrical machines sets up to the variable speed and rotates, so the elastomer can reciprocate under the effect of the centrifugal force that the tool bit changes and cutting force to drive the material of tool bit upper and lower cutting accommodation chamber, make the material cut more abundant, even.
Furthermore, a chassis is movably arranged at the bottom of the accommodating chamber, a polygonal groove C is arranged at the center of the upper end of the chassis, the depth of the polygonal groove C is larger than or equal to the telescopic length of the elastic piece, the inner wall of the polygonal groove C corresponds to the polygonal bump C, and the polygonal bump C is partially or completely inserted into the polygonal groove C. The upper surface of the chassis is provided with a plurality of arc-shaped bulges which are symmetrical by taking the center of the chassis as the center, and the extension direction of the arc-shaped bulges is consistent with the direction of the blade. The chassis lower extreme sets up electric putter, can upwards lift the chassis whole, and after the material processing was accomplished, made the chassis whole decline, the biggest height that electric putter rises is for holding the distance of room bottom end discharge hole to holding the room bottom, the flexible length more than or equal to of elastomer holds the distance of room bottom end discharge hole to holding the room bottom. The end, contacted with the side wall of the containing chamber, of the chassis is provided with an elastic check ring, and the elastic check ring is used for an anti-abrasion layer of the chassis rotating relative to the containing chamber and also used for sealing material residues to prevent the material residues from continuously entering the lower end of the chassis downwards. The electric push rod is electrically connected with the control center. When the base plate rotates along with the cutter head, the solid material touches the base plate and is rebounded by the arc-shaped bulge to move upwards, the liquid material forms an upward vortex under the action of the arc-shaped bulge, so that the sunken material moves upwards again to the blade to be cut or stirred again, and the material according with the cutting granularity flows out of the side wall flow hole of the containing chamber and enters the fixed chamber to be stored.
Furthermore, a pressure sensor A is arranged on the lower side of the inner wall of the accommodating chamber and used for detecting extrusion force generated after the blade cuts the material and feeding back the extrusion force to the control center, and a pressure sensor B is arranged on the chassis and used for detecting the weight of the material in the accommodating chamber. Casing inner wall sets up the detector A that tests the speed for detect the rotational speed of rotating electrical machines, holds the room bottom and sets up the detector B that tests the speed for detect the rotational speed on chassis, pressure sensor A, pressure sensor B, detector A that tests the speed, detector B and control center electric connection test the speed. The control center sets up different maximum hardness bearing capacity and minimum shearing force according to the hardness of different materials to convert it into maximum pressure value and minimum pressure value, when pressure sensor detects that pressure reaches maximum pressure value, the control center control rotating electrical machines slows down, when pressure detector detects that pressure reaches minimum pressure value, control rotating electrical machines and accelerate, the regulation and control pressure value is in the round trip change between maximum pressure value and minimum pressure value. The chassis rotating speed should be synchronous with the rotating electrical machines, but receives twice driven influence, and the chassis rotating speed can be less than the rotating electrical machines rotating speed, and the rotating electrical machines rotating speed is big more, and the speed deviation of chassis and rotating electrical machines is big more, and the bearing strength of the mechanical arm body is just higher, for the life of extension mechanical arm body, sets up the standard error value of chassis and rotating electrical machines, when the registration of detecting the appearance B that tests the speed and detecting the appearance A that tests the speed exceeds standard error value, control center control rotating electrical machines speed reduction. In addition, the control center controls the electric push rod to lift the chassis according to the residual weight of the materials detected by the pressure sensor B, and the residual materials are discharged from the flow hole.
Furthermore, the cross sections of the polygonal convex blocks A and the polygonal convex blocks B are respectively formed by a plurality of sectors which are centrosymmetric, the centers of the sectors are cylinders, and the polygonal grooves A and the polygonal grooves B correspond to the sectors one by one. The fan-shaped one side horizontal straight line, the opposite side is the arcwall face, and the arcwall face presents for helical surface in vertical direction. When the rotating motor rotates, the linear surfaces are mutually contacted and push the mechanical arm body, the tool bit and the chassis to synchronously rotate, when the tool bit needs to be disassembled, the mechanical arm body and the tool bit are reversely rotated, and the rotating motion is converted into linear motion by utilizing the spiral surface, so that the tool bit is separated from the chassis and the mechanical arm body. The cross section of polygon lug C is plum blossom form, and the lateral wall is vertical bead, and polygon lug C can cooperate the elastomer to reciprocate in polygon recess C.
Further, the cloud service end further comprises a storage system, the storage system records the materials processed by the efficient integrated rotary mechanical arm and set parameters, generates the weight parameters with the highest single processing efficiency of the materials, and is used as reference parameters for processing the materials again, the storage system can also store the materials to be processed by a user in the period T, and the cloud service end can make the processing sequence of different materials and the processing number and times of the materials according to the processing materials in the period T. And adjusting the processing sequence of the material in real time according to the predetermined arrival time of the purchased material.
A control method of an efficient integrated rotary mechanical arm comprises the following steps:
the method for processing the solid material without using auxiliary liquid comprises the following steps:
A. setting the type and the single processing amount of a material to be processed in advance, adding the material to be processed into the accommodating chamber according to the single processing amount, displaying the weight of the material in the accommodating chamber in real time by the display end, selecting the accommodating chamber according to the granularity of a finished material product, then installing the accommodating chamber into the fixed chamber, and installing a tool bit corresponding to the material processing;
B. the control center controls the rotation of the rotating motor, the rotating motor drives the mechanical arm body, the mechanical arm body drives the cutter head, the cutter head cuts or stirs materials, the cutter head simultaneously drives the chassis to rotate, the chassis rebounds the solid materials upwards to form the liquid materials into upwards vortex, and the solid or liquid which meets the particle size diameter flows out of the flow holes to the fixed chamber to be stored;
C. the control center controls the electric push rod to lift upwards according to a feedback signal of the pressure sensor A, and controls the rotating motor to rotate at a variable speed according to the pressure sensor B, the speed measurement detector A and the speed measurement detector B;
D. when the electric push rod does not lift after reaching the maximum stroke, and when the pressure sensor A detects that all materials in the accommodating chamber are taken out, the control center controls the rotating motor to stop running and takes out the processed materials from the fixed chamber.
Further, the control method using the auxiliary liquid or the cleaning solution is:
the liquid outlet box is filled with auxiliary liquid or cleaning solution in advance,
when the auxiliary liquid is needed to be used in material processing, the liquid outlet box is filled with the auxiliary liquid in advance, when the rotating motor is started, the auxiliary liquid in the liquid outlet box is added into the containing chamber through the water guide pipe by the water pump, the processing is assisted, the auxiliary liquid returns to the storage chamber from the fixing chamber through the filter plate, and the processed material is kept in the fixing chamber;
when the material processing back needs clean, fill in advance with cleaning solution in the liquid outlet box, the user selects clean mode at function button, the tool bit is changed to clean tool bit, install the room that holds in bigger aperture discharge orifice, the rotating electrical machines drives the arm body, the arm body drives the tool bit, tool bit stirring cleaning solution, the tool bit drives the chassis simultaneously and rotates, the chassis forms ascending vortex with cleaning solution, flow to the stationary chamber in from the discharge orifice, discharge abandonment cleaning solution from the apotheca after the cleanness is accomplished, the residue is discharged from the stationary chamber.
Further, the speed change method of the rotating electric machine is as follows: the control center sets different maximum hardness bearing force and minimum shearing force according to the hardness of different materials, and converts the maximum hardness bearing force and the minimum shearing force into a maximum pressure value and a minimum pressure value;
when the pressure sensor detects that the pressure reaches the maximum pressure value, the control center controls the rotating motor to decelerate, when the pressure detector detects that the pressure reaches the minimum pressure value, the rotating motor is controlled to accelerate, and the regulation and control pressure value is changed back and forth between the maximum pressure value and the minimum pressure value;
and setting a standard error value of the chassis and the rotating motor, and when the readings of the speed measurement detector B and the speed measurement detector A exceed the standard error value, controlling the rotating motor to decelerate by the control center so that the rotating speed of the rotating motor simultaneously meets the standard error value of the speed measurement detector B and the speed measurement detector A.
Compared with the prior art, the invention has the following beneficial effects:
1. the control center adopts a mode of rotating the mechanical arm body in a variable speed mode, the cutter head can move up and down by utilizing the elastic body in a variable speed environment, materials are scattered or stirred uniformly, and the rotating speed can be set according to the hardness of the materials. The tool bit, the mechanical arm body, the rotating motor and the chassis are movably connected by matching polygonal lugs with spiral surfaces and grooves, so that the connection stability in the rotating process is ensured, and the disassembly is convenient;
2. the liquid outlet box and the containing chamber are arranged on the periphery of the mechanical arm body, so that the center of gravity of the whole device is moved downwards, the stability of the operation of the mechanical arm body is improved, and in addition, the liquid outlet box can also assist in processing materials and cleaning the containing chamber, so that the use is convenient;
3. the bottom of the accommodating chamber is provided with a chassis, the upper surface of the chassis is provided with a plurality of arc-shaped bulges, when the chassis rotates along with the cutter head, the solid material touches the chassis and is rebounded by the arc-shaped bulges to move upwards, and the liquid material forms an upward vortex under the action of the arc-shaped bulges, so that the sunken material is moved upwards to the blade again to be cut and stirred, and the material can be fully processed without being accumulated at the bottom of the accommodating chamber;
4. the chassis sets up pressure sensor B, and control center can lift on with the chassis according to the weight of surplus material to the material that makes the processing accomplish is changeed from the discharge orifice outflow, has promoted the efficiency of material processing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a highly efficient integrated rotary robot arm of the present invention;
FIG. 2 is a cross-sectional view of a high efficiency integrated rotary robot arm of the present invention;
FIG. 3 is a top view of a high efficiency integrated rotary robot arm of the present invention;
fig. 4 is a cross-sectional view of a polygonal projection a of a high-efficiency integrated rotational robot arm according to the present invention;
in the figure: 1. rotating electrical machines, 2, the robotic arm body, 201, polygon lug A, 202, the elastomer, 203, polygon lug B, 3, hold the room, 301, discharge orifice, 4, the tool bit, 401, the blade, 402, polygon lug C, 5, the casing, 6, the lid, 7, the fixed room, 8, the play liquid case, 9, the bin, 10, the chassis, 101, the arc is protruding, 11, electric putter, 12, circlip.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-4, the present invention provides the following technical solutions: the invention discloses a high-efficiency integrated rotary mechanical arm which comprises a rotary motor 1, a mechanical arm body 2, an accommodating chamber 3, a tool bit 4, a shell 5, a cover body 6, a fixing chamber 7 and a control center. The lower end of the mechanical arm body 2 is connected with the upper end of the cutter head 4 through a polygonal groove B and a polygonal convex block B203, and the cutter head 4 can be detached and has various types such as a cutting cutter head, a stirring cutter head and a cleaning cutter head. The lower end of the tool bit 4 is movably connected with the accommodating chamber 3 through a polygonal convex block C402 and a polygonal groove C, the tool bit 4 integrally penetrates through the accommodating chamber 3, and the upper end of the mechanical arm body 2 is movably connected with the rotating motor 1. The rotating motor 1 is installed in a shell 5, the shell 5 is arranged at the upper end of the accommodating chamber 3, a cover body 6 is arranged between the shell 5 and the accommodating chamber 3, a through hole for the mechanical arm body 2 to pass through is formed in the center of the cover body 6, and the cover body 6 is used for sealing the accommodating chamber 3 and the fixing chamber 7. The upper part of the side wall of the accommodating chamber 3 is provided with a plurality of flow holes 301, the processed material flows out from the flow holes 301, the lower part of the side wall of the accommodating chamber 3 is solid, and the unprocessed material is left at the lower end of the accommodating chamber 3. The containing chamber 3 is detachably arranged in the fixed chamber 7 and is provided with three groups of containing chambers 3 with flow holes 301 with different particle diameters, and a user selects and installs the containing chambers 3 with the different flow holes 301 according to the different sizes of particles formed by materials. The bottom surface and the side surface of the fixed chamber 7 are completely wrapped by the containing chamber 3, materials enter the fixed chamber 7 from the flow hole 301 after being processed and are stored, the fixed chamber 7 and the containing chamber 3 are both hollow cylinders, the upper ends of the fixed chamber 7 and the containing chamber 3 are provided with openings which are concentrically arranged, and the cover body 6 seals the openings of the fixed chamber 7 and the containing chamber. The rotating electrical machine 1 is electrically connected with the control center. The control center comprises a display end, a function button and a cloud service end, the control center controls the rotating speed of the rotating motor 1, a user sets parameters and different processing functions for processing different materials through the display end and the function button, the cloud service end is connected with an upstream supply chain, the user sets the materials to be processed in advance, and the cloud service end automatically performs ordering purchase according to the types of the materials. The rotating motor 1 rotates and drives the mechanical arm body 2, the mechanical arm body 2 drives the cutter head 4, the cutter head 4 cuts or stirs materials, and solid or liquid meeting the particle size requirement flows out of the flow hole 301 to the fixing chamber 7 for storage. The function buttons include various functions of processing fixing, processing liquid, processing solid with auxiliary liquid, processing liquid with auxiliary liquid and cleaning mode, and selection buttons of large particles, medium particles and small particles.
Three liquid outlet boxes 8 and three storage boxes 9 are arranged on the outer side of the fixed chamber 7 at equal intervals, the liquid outlet boxes 8 and the storage boxes 9 are three fan-shaped rings formed by spacing each other, and the central angle of each fan-shaped ring is 60 degrees. Switch on each other between the liquid outlet box 8, communicate each other between the bin 9, keep apart each other between liquid outlet box 8 and the bin 9, liquid outlet box 8 bottom sets up water pump and aqueduct, and the aqueduct opposite side is installed in 6 upper ends of lid. Set up the filter switch-on between fixed chamber 7 and the bin 9, when processing solid material needs auxiliary liquid, the solid material after the processing gets into fixed chamber 7 and stores, and auxiliary liquid gets into bin 9 through the filter and stores. The water pump is electrically connected with the control center. Fill up auxiliary liquid or cleaning solution in advance in the play liquid tank 8, utilize the gravity of the liquid in play liquid tank 8 and the bin 9 with the whole focus of high-efficient integrated rotary type arm decline to improve its stability.
The whole ladder cylinder that is of the arm body 2, the upper end is polygon lug A201, and 5 lower extremes of casing set up the rotatable polygon recess A that corresponds with polygon lug A201, and rotating electrical machines 1 is connected to polygon recess A upper end, and rotating electrical machines 1 drives polygon recess A and arm body 2 simultaneously and rotates. The elastic body 202 is fixedly arranged in the middle of the arm body 2, the elastic body 202 is a spring, the lower end of the elastic body 202 is movably provided with a polygonal bump B203, the outer end of the elastic body 202 is sleeved with a protective layer to contain the elastic body 202 in the elastic body, and the polygonal bump B203 is exposed. The cutter head 4 comprises a polygonal groove B which is inserted with the polygonal bump B203, four groups of blades 401 which are fixed on the side surface of the cutter head 4 and a polygonal bump C402 which is arranged at the lower end of the cutter head 4 and is movably connected with the accommodating chamber 3. The elastic body 202 moves up and down by the centrifugal force and the cutting force varying in the cutter head 4, thereby driving the cutter head 4 to cut the material in the housing chamber 3 up and down. The cross sections of the polygonal convex blocks A201 and the polygonal convex blocks B203 are four fan-shaped sections which are centrosymmetric, the fan-shaped centers are cylinders, and the polygonal grooves A and the polygonal grooves B correspond to the polygonal grooves A and the polygonal grooves B one by one. The fan-shaped one side horizontal straight line, the opposite side is the arcwall face, and the arcwall face presents for helical surface in vertical direction. When the rotating motor 1 rotates, the linear surfaces are contacted with each other and push the mechanical arm body 2, the tool bit 4 and the chassis 10 to synchronously rotate, when the tool bit 4 needs to be disassembled, the mechanical arm body 2 and the tool bit 4 are manually rotated in the reverse direction, the rotating motion is converted into the linear motion by utilizing the spiral surface, and the tool bit 4 is separated from the chassis 10 and the mechanical arm body 2.
A chassis 10 is movably arranged at the bottom of the accommodating chamber 3, a polygonal groove C is arranged at the central position of the upper end of the chassis 10, the depth of the polygonal groove C is equal to the telescopic length of the elastic part, and the inner wall of the polygonal groove C corresponds to the polygonal bump C402. The cross section of the polygonal convex block C402 is plum blossom-shaped, the side wall is a vertical convex edge, and the polygonal convex block C402 can be matched with the elastic body 202 to move up and down in the polygonal groove C and be partially or completely inserted into the polygonal groove C. Six arc-shaped protrusions 101 which are symmetrical by taking the center of the chassis 10 as a center are arranged on the upper surface of the chassis 10, and the extending direction of the arc-shaped protrusions 101 is consistent with the direction of the blade 401. The fixed electric putter 11 that sets up of chassis 10 lower extreme, electric putter 11 can be with the whole upwards lift of chassis 10, and after the material processing was accomplished, control center control electric putter 11 made chassis 10 descend, and the maximum height that electric putter 11 rose is the distance that holds 3 bottommost discharge hole 301 of room to holding 3 bottoms, and the flexible length of elastomer 202 equals the distance that holds 3 bottommost discharge hole 301 of room to holding 3 bottoms. The contact end of the chassis 10 and the side wall of the accommodating chamber 3 is provided with a flexible retainer ring 12. The electric push rod 11 is electrically connected with the control center. When the base plate 10 rotates with the cutter head 4, the solid material touches the base plate 10 and is rebounded by the arc-shaped protrusion 101 to move upwards, the liquid material forms an upward vortex under the action of the arc-shaped protrusion 101, so that the sunken material moves upwards again to the blade 401 to be cut or stirred again, and the material according with the cutting granularity flows out of the side wall flow hole 301 of the accommodating chamber 3 and enters the fixed chamber 7 to be stored.
A pressure sensor A is arranged on the lower side of the inner wall of the accommodating chamber 3, and a pressure sensor B is arranged on the chassis 10. 5 inner walls of casing set up the detector A that tests the speed, hold 3 bottoms in room and set up the detector B that tests the speed, and pressure sensor A, pressure sensor B, detector A that tests the speed, detector B and control center electric connection test the speed. The control center sets up different maximum hardness bearing capacity and minimum shearing force according to the hardness of different materials to convert it into maximum pressure value and minimum pressure value, when pressure sensor detects that pressure reaches maximum pressure value, control center control rotating electrical machines 1 slows down, when pressure detector detects that pressure reaches minimum pressure value, control rotating electrical machines 1 and accelerate, the regulation and control pressure value is in the round trip change between maximum pressure value and minimum pressure value. The control center is provided with a standard error value of the chassis 10 and the rotating motor 1, and when the readings of the speed measurement detector B and the speed measurement detector A exceed the standard error value, the control center controls the rotating motor 1 to decelerate. In addition, the control center detects the remaining weight of the material according to the pressure sensor B, and controls the electric push rod 11 to lift the chassis 10 according to the weight, thereby helping the remaining material to be rapidly discharged from the flow hole 301.
The cloud service end further comprises a storage system, the storage system records the materials processed by the efficient integrated rotary mechanical arm and set parameters, generates the weight parameters with the highest single processing efficiency of the materials, the weight parameters serve as reference parameters for processing the materials again, the storage system can also store the materials to be processed by the user every week, and the cloud service end can make the processing sequence of different materials and the processing number and times of the materials according to the processing materials added every week. And adjusting the processing sequence of the material in real time according to the predetermined arrival time of the purchased material.
A control method of an efficient integrated rotary mechanical arm comprises the following steps:
the method for mincing the radish comprises the following steps:
A. the cloud service end recommends the setting parameters of grinding the radishes last time, a user selects a function button as a processing solid at a display end, the single processing amount is 2KG, the radishes to be processed are added into the accommodating chamber 3, the display end displays the weight of the radishes in the accommodating chamber 3 in real time, the particle accommodating chamber 3 is installed, and a cutting tool bit is installed;
B. the control center controls the rotating motor 1 to rotate at variable speed, the speed is between 5 revolutions per second and 50 revolutions per second, the rotating motor 1 drives the mechanical arm body 2, the mechanical arm body 2 drives the cutting head, the cutting head cuts the radish, the cutting head simultaneously drives the chassis 10 to rotate, the chassis 10 rebounds the radish blocks to move upwards to be in contact with the blade 401, and the radish blocks which accord with the granularity diameter flow out of the flow holes 301 to the fixed chamber 7 to be stored;
C. radish blocks which do not accord with the particle size diameter are left in the containing chamber 3 to fall, rebound and cut again, the weight of the radish blocks in the containing chamber 3 is reduced gradually, the control center controls the electric push rod 11 to lift upwards according to a feedback signal of the pressure sensor A, the lifting height is in direct proportion to information of the pressure sensor A, and meanwhile, the rotating speed of the rotating motor 1 is controlled to be between 5 revolutions per second and 50 revolutions per second according to the pressure sensor B, the speed measuring detector A and the speed measuring detector B;
D. when the electric push rod 11 does not lift after reaching the maximum stroke, and when the pressure sensor A detects that the radish blocks in the accommodating chamber 3 are all taken out, the control center controls the rotating motor 1 to stop running and takes out the radish blocks from the fixing chamber 7.
The method for cleaning the radish blocks comprises the following steps:
A. the liquid outlet box 8 is filled with cleaning solution in advance, a function button is selected at the display end to be in a cleaning mode, the large-particle containing chamber 3 is installed, and a cleaning tool bit is installed;
B. control center control rotating electrical machines 1 variable speed rotates, speed is between 10 commentaries on classics per second-100 commentaries on classics per second, rotating electrical machines 1 drives the mechanical arm body 2, mechanical arm body 2 drives cleaning tool bit, cleaning tool bit stirring cleaning solution and remaining turnip piece, cleaning tool bit drives chassis 10 simultaneously and rotates, chassis 10 forms ascending vortex with cleaning solution, cleaning solution drives remaining turnip piece simultaneously and flows out to fixed room 7 from discharge orifice 301 in, cleaning solution passes through the filter and gets into the apotheca, remaining turnip piece is stayed in fixed room 7, discharge abandonment cleaning solution from the apotheca after the cleanness is accomplished, remaining turnip piece is discharged from fixed room 7.
The method for stirring the milk powder comprises the following steps:
A. the liquid outlet box 8 is filled with water, milk powder is placed in the accommodating chamber 3, a function button is selected at the display end to process solid with auxiliary liquid, the small particle accommodating chamber 3 is installed, and a stirring tool bit is installed;
B. the control center controls the rotating motor 1 to rotate transversely at a speed of 50 revolutions per second for 5 minutes, the rotating motor 1 drives the mechanical arm body 2, the mechanical arm body 2 drives the stirring tool bit to rotate, when the rotating motor 1 is started, the water pump adds water in the liquid outlet box 8 into the accommodating chamber 3 through the water guide pipe, and the stirring tool bit stirs milk powder and water;
C. the stirring tool bit drives chassis 10 to rotate simultaneously, and chassis 10 forms ascending vortex with milk powder solution, and control center is after the stirring is accomplished, and control electric putter 11 upwards lifts up, and milk powder solution flows to in the fixed chamber 7 from discharge orifice 301.
The speed change method of the rotating electric machine 1 includes: the control center sets a maximum pressure value T1 and a minimum pressure value T2 according to the hardness of the radish;
when the pressure sensor detects that the pressure reaches the maximum pressure value T1, the control center controls the rotating motor 1 to decelerate, when the pressure detector detects that the pressure reaches the minimum pressure value T2, the rotating motor 1 is controlled to accelerate, the regulation and control pressure value is changed back and forth between the maximum pressure value T1 and the minimum pressure value T2, and the change of the rotating speed is visually represented at the display end;
and setting a standard error value P between the chassis 10 and the rotary motor 1, and when the readings of the speed measurement detector B and the speed measurement detector A exceed the standard error value P, controlling the speed of the rotary motor 1 to be reduced by the control center so that the rotating speed of the rotary motor 1 simultaneously meets the standard error value P of the speed measurement detector B and the speed measurement detector A.
It is noted that, in this document, relational terms such as front, back, up, down, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a high-efficient integrated rotary type arm, includes rotating electrical machines (1), the mechanical arm body (2), accommodation chamber (3) and tool bit (4), the upper end of the mechanical arm body (2) lower extreme swing joint tool bit (4), tool bit (4) lower extreme swing joint accommodation chamber (3), whole run through accommodation chamber (3), the mechanical arm body (2) upper end and rotating electrical machines (1) swing joint, its characterized in that: the efficient integrated rotary mechanical arm further comprises a shell (5), a cover body (6), a fixed chamber (7) and a control center, wherein the rotating motor (1) is installed in the shell (5), the shell (5) is arranged at the upper end of the accommodating chamber (3), the cover body (6) is arranged between the shell (5) and the accommodating chamber (3), and a through hole for the mechanical arm body (2) to pass through is formed in the center of the cover body (6); the side wall of the containing chamber (3) is provided with a plurality of flow holes (301) in an upward direction, the side wall is solid in a downward direction, the containing chamber (3) is detachably mounted in the fixed chamber (7), the bottom surface and the side surface of the fixed chamber (7) completely wrap the containing chamber (3), and the rotating motor (1) is electrically connected with the control center; the control center comprises a display end, a function button and a cloud service end and is used for controlling the rotating speed of the rotating motor (1), selecting and purchasing processing materials, and setting parameters and different processing functions for processing different materials; the cloud service end is connected with an upstream supply chain, a user sets materials to be processed in advance, and the cloud service end can place orders and purchase according to the types of the materials.
2. A highly efficient integrated rotary manipulator as claimed in claim 1, further comprising: a plurality of liquid outlet boxes (8) and a plurality of storage boxes (9) are arranged on the outer side of the fixed chamber (7) at equal intervals, the liquid outlet boxes (8) are communicated with one another, the storage boxes (8) are communicated with one another, the liquid outlet boxes (8) are isolated from the storage boxes (8), a water pump and a water guide pipe are arranged at the bottom of the liquid outlet boxes (8), and the other side of the water guide pipe is arranged at the upper end of the cover body (6); and a filter plate is arranged between the fixed chamber (7) and the storage tank (8) for connection, and the water pump is electrically connected with the control center.
3. A highly efficient integrated rotary manipulator as claimed in claim 2, further comprising: the whole mechanical arm body (2) is a stepped cylinder, the upper end of the mechanical arm body is provided with a polygonal lug A (201), the lower end of the shell (5) is provided with a rotatable polygonal groove A corresponding to the polygonal lug A (201), the upper end of the polygonal groove A is connected with the rotating motor (1), an elastic body (202) is fixedly arranged in the middle of the mechanical arm body (2), the lower end of the elastic body (202) is movably provided with a polygonal lug B (203), the outer end of the elastic body (202) is sleeved with a protective layer to accommodate the elastic body (202) in the elastic body, and the polygonal lug B (203) is exposed; the tool bit (4) comprises a polygonal groove B connected with the polygonal bump B (203), a plurality of blades (401) fixed on the side surface of the tool bit (4) and a polygonal bump C (402) arranged at the lower end of the tool bit (4) and movably connected with the accommodating chamber (3).
4. A highly efficient integrated rotary manipulator as claimed in claim 3, further comprising: a chassis (10) is movably arranged at the bottom of the accommodating chamber (3), a polygonal groove C is arranged at the central position of the upper end of the chassis (10), the depth of the polygonal groove C is greater than or equal to the telescopic length of the elastic part, the inner wall of the polygonal groove C corresponds to the polygonal bump C (402), and the polygonal bump C (402) is partially or completely inserted into the polygonal groove C; the upper surface of the chassis (10) is provided with a plurality of arc-shaped bulges (101) which are symmetrical by taking the center of the chassis (10) as the center, and the extension direction of the arc-shaped bulges (101) is consistent with the direction of the blade (401); the lower end of the chassis (10) is provided with an electric push rod (11), the electric push rod (11) can lift the chassis (10) upwards integrally, the maximum height of the electric push rod (11) in the lifting process is the distance from the lowest end flow hole (301) of the accommodating chamber (3) to the bottom of the accommodating chamber (3), and the telescopic length of the elastic body (202) is more than or equal to the distance from the lowest end flow hole (301) of the accommodating chamber (3) to the bottom of the accommodating chamber (3); an elastic retainer ring (12) is arranged at the contact end of the chassis (10) and the side wall of the accommodating chamber (3), and the electric push rod (11) is electrically connected with the control center.
5. A highly efficient integrated rotary manipulator as claimed in claim 4, further comprising: a pressure sensor A is arranged on the lower side of the inner wall of the accommodating chamber (3) and used for detecting extrusion force generated after the material is cut by the blade (401) and feeding back the extrusion force to a control center, and a pressure sensor B is arranged on the chassis (10) and used for detecting the weight of the material in the accommodating chamber (3); casing (5) inner wall sets up the detector A that tests the speed for detect the rotational speed of rotating electrical machines (1), it sets up the detector B that tests the speed to hold room (3) bottom, is used for detecting the rotational speed on chassis (10), pressure sensor A, pressure sensor B, detector A, the detector B and the control center electric connection that test the speed.
6. A highly efficient integrated rotary manipulator as claimed in claim 4, further comprising: the cross sections of the polygonal convex block A (201) and the polygonal convex block B (203) are respectively formed by a plurality of central symmetrical sectors, the centers of the sectors are cylinders, and the polygonal grooves A and the polygonal grooves B correspond to the sectors one by one; one side of the fan-shaped body is a horizontal straight line, the other side of the fan-shaped body is an arc-shaped surface, and the arc-shaped surface is a spiral curved surface in the vertical direction; the cross section of the polygonal convex block C (402) is plum blossom-shaped, and the side wall of the polygonal convex block C is a vertical convex rib.
7. A highly efficient integrated rotary manipulator as claimed in claim 1, further comprising: the cloud server also comprises a storage system, wherein the storage system records the materials and the set parameters of the high-efficiency integrated rotary mechanical arm machining, generates the weight parameters with the highest single machining efficiency of the materials, can also store the materials which need to be machined by a user in a period T, and can make the machining sequence of different materials and the machining quantity and times of the materials according to the machining materials in the period T.
8. A control method of an efficient integrated rotary mechanical arm comprises the following steps:
A. the method comprises the steps of setting the type and the single processing amount of a material to be processed in advance, adding the material to be processed into an accommodating chamber (3) according to the single processing amount, displaying the weight of the material in the accommodating chamber (3) in real time by a display end, selecting the accommodating chamber (3) according to the granularity of a finished material, installing the accommodating chamber (3) into a fixed chamber (7), and installing a tool bit (4) corresponding to material processing;
B. the control center controls the rotating motor (1) to rotate, the rotating motor (1) drives the mechanical arm body (2), the mechanical arm body (2) drives the tool bit (4), the tool bit (4) cuts or stirs materials, the tool bit (4) simultaneously drives the chassis (10) to rotate, the chassis (10) rebounds solid materials upwards to form an upward vortex for liquid materials, and the solid or liquid according with the particle size diameter flows out of the flow hole (301) to the fixed chamber (7) to be stored;
C. the control center controls the electric push rod (11) to lift upwards according to a feedback signal of the pressure sensor A, and controls the rotating motor (1) to rotate at a variable speed according to the pressure sensor B, the speed measuring detector A and the speed measuring detector B;
D. when the electric push rod (11) does not lift after reaching the maximum stroke, and when the pressure sensor A detects that the materials in the accommodating chamber (3) are all taken out, the control center controls the rotating motor (1) to stop running and takes out the processed materials from the fixed chamber (7).
9. The method of controlling a high efficiency, all-in-one, rotary robotic arm of claim 8, wherein: the liquid outlet box (8) is filled with auxiliary liquid or cleaning solution in advance,
when the auxiliary liquid is needed to be used in material processing, the liquid outlet box (8) is filled with the auxiliary liquid in advance, when the rotating motor (1) is started, the water pump adds the auxiliary liquid in the liquid outlet box (8) into the accommodating chamber (3) through the water guide pipe, the auxiliary processing is assisted, the auxiliary liquid returns to the storage chamber (9) from the fixing chamber (7) through the filter plate, and the processed material is retained in the fixing chamber (7);
when the material processing back needs clean, fill up cleaning solution in advance in play liquid tank (8), select clean mode, tool bit (4) are changed into clean tool bit (4), chamber (3) that hold of installation bigger aperture discharge orifice (301), rotating electrical machines (1) drive the mechanical arm body (2), the mechanical arm body (2) drive tool bit (4), tool bit (4) stirring cleaning solution, tool bit (4) drive chassis (10) simultaneously and rotate, chassis (10) form ascending vortex with cleaning solution, flow to in fixed chamber (7) from discharge orifice (301), discharge abandonment cleaning solution from apotheca (9) after the cleanness is accomplished, the residue is discharged from fixed chamber (7).
10. The method of controlling a high efficiency, all-in-one, rotary robotic arm of claim 9, wherein: the speed change method of the rotating electric machine (1) comprises the following steps: the control center sets different maximum hardness bearing force and minimum shearing force according to the hardness of different materials, and converts the maximum hardness bearing force and the minimum shearing force into a maximum pressure value and a minimum pressure value,
when the pressure sensor detects that the pressure reaches the maximum pressure value, the control center controls the rotating motor (1) to decelerate, when the pressure detector detects that the pressure reaches the minimum pressure value, the control center controls the rotating motor (1) to accelerate, and the regulation and control pressure value is changed back and forth between the maximum pressure value and the minimum pressure value;
the control center is provided with a standard error value of the chassis (10) and the rotating motor (1), and when the readings of the speed measurement detector B and the speed measurement detector A exceed the standard error value, the control center controls the rotating motor (1) to decelerate, so that the rotating speed of the rotating motor (1) simultaneously meets the standard error value of the speed measurement detector B and the speed measurement detector A.
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