CN116491535A - Automatic feeding device for decorating robot - Google Patents
Automatic feeding device for decorating robot Download PDFInfo
- Publication number
- CN116491535A CN116491535A CN202210059334.0A CN202210059334A CN116491535A CN 116491535 A CN116491535 A CN 116491535A CN 202210059334 A CN202210059334 A CN 202210059334A CN 116491535 A CN116491535 A CN 116491535A
- Authority
- CN
- China
- Prior art keywords
- feeding
- driving mechanism
- decorating
- controller
- feed
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 168
- 239000000463 material Substances 0.000 claims abstract description 78
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000003756 stirring Methods 0.000 claims description 8
- 230000007723 transport mechanism Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 244000046052 Phaseolus vulgaris Species 0.000 description 10
- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 10
- 238000005034 decoration Methods 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 244000269722 Thea sinensis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C15/00—Apparatus for handling baked articles
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23P—SHAPING OR WORKING OF FOODSTUFFS, NOT FULLY COVERED BY A SINGLE OTHER SUBCLASS
- A23P30/00—Shaping or working of foodstuffs characterised by the process or apparatus
- A23P30/20—Extruding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Polymers & Plastics (AREA)
- Specific Conveyance Elements (AREA)
- Automatic Assembly (AREA)
Abstract
The invention provides an automatic feeding device for a decorating robot, which comprises: the first feeding mechanism is used for providing materials with specific fluidity; the transfer mechanism comprises a turntable and a first driving mechanism for driving the turntable to rotate, wherein at least two mounting parts are arranged on the turntable, and each mounting part is used for mounting a charging barrel; the second feeding mechanism comprises a material taking part, a second driving mechanism and a feeding assembly connected with the second driving mechanism; the conveying mechanism is connected with the second feeding mechanism; and the controller is electrically connected with the first feeding mechanism, the first driving mechanism, the second driving mechanism and the conveying mechanism respectively. According to the device provided by the embodiment of the invention, accurate automatic feeding is realized during the movement of the decorating track, continuous feeding is realized through continuous rotation of the plurality of charging barrels, and the feeding efficiency is improved.
Description
Technical Field
The invention relates to the field of feeding machinery, in particular to an automatic feeding device for a decorating robot.
Background
The demand of decorating in food industries such as cakes, milk tea and the like is increased and people like the decorating. But the three-dimensional decoration is manually finished at present. The manual extrusion mode is adopted, so that the low-fluidity materials such as the bean paste can be extruded from the container only by manual strong extrusion, the labor intensity is high, and time and labor are wasted. Moreover, the artificial agent material is extremely high in viscosity, so that timing and quantitative accurate feeding is difficult to realize. There is therefore a need to address such issues.
Disclosure of Invention
In view of the above, the invention provides an automatic feeding device for a decorating robot, which can realize automatic feeding, three-dimensional decorating and accurate feeding.
In order to solve the technical problems, the invention provides an automatic feeding device for a decorating robot.
In a first aspect, embodiments of the present invention provide an automatic feed device for a decorating robot, comprising:
the first feeding mechanism is used for providing materials with specific fluidity;
the transfer mechanism comprises a turntable and a first driving mechanism for driving the turntable to rotate, wherein at least two mounting parts are arranged on the turntable, and each mounting part is used for mounting a charging barrel;
the second feeding mechanism comprises a material taking part, a second driving mechanism and a feeding assembly connected with the second driving mechanism;
the conveying mechanism is connected with the second feeding mechanism;
the controller is respectively and electrically connected with the first feeding mechanism, the first driving mechanism, the second driving mechanism and the conveying mechanism,
the controller receives a decorating instruction and controls the first driving mechanism to drive the rotary table to rotate to a first set angle so as to align a discharge hole of the first feeding mechanism with a charging barrel arranged on the rotary table;
the controller controls the first feeding mechanism to add a preset amount of material into the aligned feed cylinders, and controls the rotary table to rotate to a second preset angle so as to align the feed cylinders filled with the material taking part of the second feeding mechanism;
the controller controls the conveying mechanism to drive the material taking part of the second feeding mechanism to be in butt joint and clamping with the material cylinder filled with the material, and controls the conveying mechanism to drive the material cylinder to be separated from the turntable and move to a designated position;
after the second driving mechanism is controlled by the controller to drive the feeding assembly to compact the material in the charging barrel, the material in the charging barrel is fed to the designated position in a timing and quantitative mode by controlling the second driving mechanism to drive the stroke of the feeding assembly.
According to one embodiment of the invention, the automatic feeding device for a decorating robot further comprises:
the decorating table comprises a third driving mechanism and a carrying table connected with the third driving mechanism, wherein the decorating table is arranged at the designated position, the third driving mechanism is electrically connected with the controller, the controller drives the carrying table to move by controlling the third driving mechanism, and controls the second driving mechanism to drive the stroke of the feeding component, so that materials in the charging barrel are fed on the carrying table at fixed time and fixed quantity.
According to one embodiment of the invention, the first feed structure comprises:
the hopper is provided with a containing cavity for loading materials and a discharge hole;
the feeding rod is arranged in the accommodating cavity, and one end of the feeding rod is arranged at the discharge hole;
and the fourth driving mechanism is connected with the other end of the feeding rod, is electrically connected with the controller, and is used for receiving the signal emitted by the controller and driving the feeding rod to rotate so as to feed or stop feeding to the charging barrel.
According to one embodiment of the invention, the stirring blades are arranged on the feeding rod and are used for stirring materials in the hopper.
According to one embodiment of the invention, the transfer mechanism further comprises:
and the first speed reducer is connected with the driving shaft of the first driving mechanism and is used for controlling the rotating speed.
According to one embodiment of the invention, the second feeding mechanism further comprises:
the base, the one end of base with the one end fixed connection of transport mechanism, the other end is equipped with get material portion, second actuating mechanism fixes on the base, the feed subassembly is installed on the base.
According to one embodiment of the invention, the feed assembly comprises:
one end of the screw is rotatably connected with the base, and the other end of the screw is connected with the rotating shaft of the second driving mechanism;
the sliding block is in threaded connection with the screw rod;
and one end of the piston rod is fixedly connected with the sliding block, the other end of the piston rod is connected with a piston head, and the piston head is positioned at one side of the material taking part and used for compacting or pushing materials in the charging barrel under the drive of the second driving mechanism.
According to one embodiment of the invention, the base is provided with at least one guide shaft which is arranged in parallel with the threaded rod, the sliding block is provided with a guide hole, the guide shaft penetrates through the guide hole, and two ends of the guide shaft are fixedly connected with the base and are used for limiting the moving direction of the sliding block.
According to one embodiment of the invention, the automatic feeding device for a decorating robot further comprises a first coupling, through which the screw is connected to the second drive mechanism.
According to one embodiment of the invention, the material taking part is provided with a flange female head which is used for matching with a flange male head on the charging barrel.
The technical scheme of the invention has the following beneficial effects:
according to the automatic feeding device for the decorating robot, through the arrangement of the first feeding mechanism transfer mechanism, the second feeding mechanism, the conveying mechanism, the controller and the connection relation among the components, the operation of the components is controlled through the controller, accurate automatic feeding is realized when the decorating track moves, continuous feeding is realized through continuous rotation of a plurality of charging barrels, and the feeding efficiency is improved.
Drawings
FIG. 1 is a schematic view of an automatic feed device for a decorating robot in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view showing another part of the structure of the automatic feeding apparatus for a decorating robot according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a second feeding mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a process of a transporting mechanism driving a second feeding mechanism to take a material cylinder or a material cylinder according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a transporting mechanism driving a second feeding mechanism to place a barrel according to an embodiment of the present invention.
Reference numerals
The decorating robot uses an automatic feed device 100;
a first feeding mechanism 10; a hopper 11; a feed bar 12; a stirring blade 121; advancing the helical blades 122; a fourth driving mechanism 13; a first frame 14; a second decelerator 15; a second coupling 16; an auxiliary bracket 17; a flange bearing 18;
a transfer mechanism 20; a turntable 21; a first drive mechanism 22; a first decelerator 23; a screw 24;
a second feeding mechanism 30; a base 31; a flange female 311; a screw 32; a slider 33; piston rod 34; a piston head 35; a second drive mechanism 36; a guide shaft 37; a first coupling 38; a drive nut 39;
a transport mechanism 40; a robot tip 41;
a cartridge 50; a flange male 51; a nozzle 52;
a decorating table 60; a third driving mechanism 61; a stage 62; flower 63.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the invention, fall within the scope of protection of the invention.
The automatic feeding device for a decorating robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an automatic feeding apparatus 100 for a decorating robot according to an embodiment of the present invention includes a first feeding mechanism 10, a relay mechanism 20, a second feeding mechanism 30, a transport mechanism 40, and a controller (not shown).
Specifically, the first feeding mechanism 10 is configured to provide a material with a specific fluidity, the transferring mechanism 20 includes a turntable 21 and a first driving mechanism 22 for driving the turntable 21 to rotate, at least two mounting portions are disposed on the turntable 21, each mounting portion is configured to mount a charging barrel 50, the second feeding mechanism 30 includes a material taking portion, a second driving mechanism 36, and a feeding assembly connected to the second driving mechanism 36, the transporting mechanism 40 is connected to the second feeding mechanism 30, and the controller is electrically connected to the first feeding mechanism 10, the first driving mechanism 22, the second driving mechanism 36, and the transporting mechanism 40, respectively.
When the controller receives the decorating instruction, the first driving mechanism 22 is controlled to drive the rotary table 21 to rotate to a first set angle so as to align the discharge port of the first feeding mechanism 10 with a feed cylinder 50 installed on the rotary table 21, the controller controls the first feeding mechanism 10 to add a preset amount of material into the aligned feed cylinder 50, and controls the rotary table 21 to rotate to a second preset angle so as to align the feed cylinder 50 filled with the material taking part of the second feeding mechanism 30, the controller controls the transporting mechanism 40 to drive the material taking part of the second feeding mechanism 30 to be in butt joint and clamping with the feed cylinder 50 filled with the material, and controls the transporting mechanism 40 to drive the feed cylinder 50 to be separated from the rotary table 21 and move to a specified position, and after the controller controls the second driving mechanism 36 to drive the material in the feed cylinder 50 to be compacted by the feed assembly, the controller controls the stroke of the second driving mechanism 36 to feed the material in the feed cylinder 50 to the specified position at fixed time.
According to the automatic feeding device 100 for the decorating robot, provided by the embodiment of the invention, the first feeding mechanism 10, the second feeding mechanism 30, the transfer mechanism 20, the conveying mechanism 40 and the controller form the feeding device, so that automatic feeding can be realized, manual participation is not needed, and the labor intensity of operators is reduced. And, carry out control command through the controller, when the robot is cake and mount the flower orbit motion, realize accurate automatic feed, realize full feed cylinder 50 and empty feed cylinder 50's position replacement, and realize the quick replacement of feed cylinder 50, and control first feeding mechanism 10 carries out continuous feed to the empty feed cylinder 50 of feed cylinder revolving stage 21, get the material automatically and carry out accurate feed to mounting the flower position automatically through second feeding mechanism 30, not only realized the accurate feed of timing quantitative automation, and the continuous automatic feed mode has improved the efficiency of feed.
According to one embodiment of the invention, referring to fig. 2, the automatic feeding device 100 for a decorating robot further comprises a decorating station 60, the decorating station 60 comprising a third driving mechanism 61 and a carrier 62 connected to the third driving mechanism 61, the decorating station 60 being arranged in a designated position so that the controller can control the transport mechanism 40 to reach this position. The third driving mechanism 61 is electrically connected with a controller, and the controller controls the third driving mechanism 61 to drive the carrier 62 to move and controls the second driving mechanism 36 to drive the stroke of the feeding assembly, so that the materials in the charging barrel 50 are fed on the carrier 62 in a timing and quantitative mode.
In one embodiment of the present invention, the third driving mechanism 61 may be a servo motor, and the carrier 62 is controlled by the servo motor to rotate at a set rotation speed, and the controller may control the second driving mechanism 36 of the second feeding mechanism 30 to drive the feeding assembly to accumulate the material in the material cylinder 50, for example, as shown in fig. 2, the controller controls the servo motor (the second driving mechanism 36) to drive the piston rod 34 to accumulate the material in the material cylinder 50, and controls the feeding speed by controlling the stroke of the piston rod 34, so as to realize the three-dimensional flower 63 in cooperation with the rotation speed of the carrier 62. The process realizes full automation, does not need manual extrusion, wastes time and labor, and greatly improves the decoration efficiency.
According to one embodiment of the present invention, as shown in fig. 1, the first feeding mechanism 10 includes a hopper 11, a feed bar 12, and a fourth driving mechanism 13. The first feeding structure is provided with a containing cavity for loading materials and a discharge hole, the feeding rod 12 is arranged in the containing cavity, one end of the feeding rod 12 is arranged at the discharge hole, and the fourth driving mechanism 13 is connected with the other end of the feeding rod 12 and is electrically connected with the controller. When the fourth driving mechanism 13 receives the feeding command sent by the controller and drives the feeding rod 12 to rotate, the feeding rod 12 may be provided with a pushing screw blade 122, for example, the pushing screw blade 122 is welded on the feeding rod 12 in a welding manner, and the pushing screw blade 122 extrudes the material to gradually convey the material from the accommodating cavity to the discharge hole and feed the material to the charging barrel 50. Alternatively, when the fourth driving mechanism 13 receives a command to stop feeding from the controller, the feed lever 12 stops rotating to stop feeding. The automatic feeding process is realized.
In one embodiment of the present invention, as shown in fig. 1, the first feeding mechanism 10 may further include a first frame 14, a second decelerator 15, a second coupling 16, an auxiliary bracket 17, and a flange bearing 18. Wherein the first frame 14 is used for supporting the hopper 11, the second decelerator 15 and the second coupling 16 are connected with a driving shaft of the fourth driving mechanism 13 (e.g., a servo motor), and the auxiliary bracket 17 is fixed on the first frame 14 and is used for supporting the second coupling 16. The flange bearing 18 is arranged on the auxiliary bracket 17, and the feeding rod 12 passes through the flange bearing 18. Thereby ensuring stable rotation of the feed lever 12 at a set rotational speed when the fourth driving mechanism 13 drives the feed lever 12.
According to one embodiment of the present invention, the feeding rod 12 is provided with a plurality of stirring blades 121, and more specifically, a plurality of stirring blades may be provided to stir the material in the hopper 11, so that uniformity of the material may be ensured.
According to an embodiment of the present invention, as shown in fig. 1, the transferring mechanism 20 further includes a first decelerator 23, and the first decelerator 23 is connected to the driving shaft of the first driving mechanism 22 for controlling the rotation speed, so as to further facilitate the accurate reaching of the preset position of the turntable 21.
Referring to fig. 3, in one embodiment of the present invention, the second feeding mechanism 30 further includes a base 31, one end of the base 31 is fixedly connected to one end of the transporting mechanism 40, the other end is provided with a material taking part, the second driving mechanism 36 is fixed on the base 31, and the feeding assembly is mounted on the base 31.
Referring to fig. 2 and 3, the feed assembly includes a screw 32, a slider 33, and a piston rod 34. One end of the screw rod 32 is rotatably connected with the base 31, the other end is connected with a rotating shaft of the second driving mechanism 36, the sliding block 33 is in threaded connection with the screw rod 32, one end of the piston rod 34 is fixedly connected with the sliding block 33, the other end is connected with the piston head 35, and the piston head 35 is positioned on one side of the material taking part and used for compacting or pushing materials in the material barrel 50 under the driving of the second driving mechanism 36. The sliding block 33 is driven by the screw rod 32, and the sliding block 33 drives the piston rod 34 to accumulate the materials in the charging barrel 50, so that the structure is simple, the low-fluidity materials can be extruded and fed automatically and effectively, and the manufacturing of mounting patterns of the materials such as sweetened bean paste can be realized.
As shown in fig. 2 and 3, wherein the screw 32 may be a ball screw 32, the slider 33 may be fixedly connected with a drive nut 39, and the drive nut 39 is connected with the ball screw 32. The ball screw 32 is driven by the second driving mechanism 36 to rotate, and the transmission nut 39 moves under the action of threads and drives the sliding block 33 or the piston rod 34 to move, so that the stroke of the piston rod 34 is controlled by controlling the rotating speed of the second driving mechanism 36, and the feeding or stopping action of feeding is realized.
Referring to fig. 3, at least one guide shaft 37 parallel to the threaded rod is disposed on the base 31, a guide hole is disposed on the sliding block 33, the guide shaft 37 passes through the guide hole, and two ends of the guide shaft are fixedly connected with the base 31 to limit the moving direction of the sliding block 33, so that the sliding block 33 is ensured to drive the moving track of the piston rod 34 not to deviate, and accurate and effective feeding is facilitated.
The feeding process of the second feeding mechanism 30 will be described below by taking the second driving mechanism 36 as a servo motor as an example.
As shown in fig. 2 and 3, when the servo motor rotates in the forward direction, the sliding block 33 moves linearly forward along the guide shaft by the screw 32 nut mechanism consisting of the ball screw 32 and the transmission nut 39, and the piston head 35 at the front end of the piston rod 34 moves axially along the corresponding barrel 50, so that the sweetened bean paste is extruded from the nozzle 52 of the corresponding barrel 50. When the servo motor rotates reversely, the piston rod 34 is made to move back along the corresponding charging barrel 50 along the same mechanical transmission route, and charging is stopped.
Referring to fig. 3, the automatic feeding device 100 for a decorating robot further includes a first coupling 38, and the screw 32 is connected to the second driving mechanism 36 through the first coupling 38, so that the second driving mechanism 36 is connected to the screw. In some embodiments, the cartridge 50 may be secured to the turntable 21 by screws 24.
Referring to fig. 4 and 5, the material take-out portion is provided with a female flange 311, the female flange 311 being adapted to mate with a male flange 51 on the cartridge 50. Adopt the quick change of the public head of flange and the female head of flange, the connection mode that closes soon is favorable to the quick installation and the dismantlement of feed cylinder 50 and second feeding mechanism 30, through rotatory mode, can realize the quick installation and the dismantlement of feed cylinder 50 and second feeding mechanism 30.
The process of decorating the decorating robot with the automatic feed device 100 is described below with reference to the accompanying drawings.
Taking the transport mechanism 40 as an example of a decorating robot, when the robot receives a decorating command from the controller, the first feeding mechanism 10 is started and the sweetened bean paste material is extruded to fill the corresponding barrel 50 on the turntable 21. After loading is completed, the turntable 21 rotates 180 degrees, the filled material cartridge 50 rotates to the other side, and the empty cartridge 50 rotates directly under the first feeding mechanism 10. The controller controls the robot end 41 to move to the turntable 21 with the quick-change flange female head 311 in preparation for automatically installing the cartridge 50 filled with the material, at which time, as shown in fig. 1, the slider 33 drives the piston rod 34 to be in the original state, and the piston head 35 (disc) at the top of the piston rod 34 does not protrude from the surface of the quick-change flange female head 311. As shown in fig. 4, the quick-change flange female head 311 is concentrically opposite to the quick-change flange male head 51 contacting the upper end of the material-filled barrel 50, and rotates counterclockwise by a certain angle in a plan view, and the installation and the matching are completed. The decorating robot extracts the filled cartridge 50 vertically upwards, out of the station of the turntable 21 of the cartridge 50. As shown in fig. 2, the robot carrying cylinder 50 moves to the position of the decorating table 60, starts to finish decorating according to the instruction sent by the controller, controls the second driving mechanism 36 (servo motor) to rotate positively, the second driving mechanism 36 rotates positively by a specified stroke according to the speed required by the program instruction, the coupler drives the driving screw 32 to rotate, the sliding block 33 moves forward along the guiding axis, the piston rod 34 is fixed at the bottom end of the threaded sliding block 33 to move forward together, the piston at the front end of the piston rod 34 slides in clearance fit with the inner wall of the full cylinder 50, the sweetened bean paste material in the cylinder 50 is extruded, and the sweetened bean paste is extruded from the mouth part of the material mouth 52 by the piston extrusion of the piston rod 34. In actual use, the material nozzles 52 with different nozzle shapes can be selected according to the requirements of manufacturing different flowers 63, timing and quantitative bean paste with different shapes can be extruded, the path action of the tail end 41 of the robot is matched, and meanwhile, the controller controls the rotation speed of the decorating table 60 according to the shape of the flowers 63, so that one step of decorating process is completed. After the one-step process is completed, the second driving mechanism 36 immediately stops receiving the signal and rotates for one turn, drives the piston rod 34 to retract a little, releases the residual pressure formed by the extrusion of the bean paste by the piston rod 34, and realizes that the mouth part of the material nozzle 52 also stops discharging. When the tail end 41 of the robot carries the charging barrel 50 to move to the designated position of the next process, the second driving mechanism 36 receives a signal to start working and rotating, and the operation is repeated, so that the process of accurately completing the production of a flower on the surface of the decorating rotary table 21 is realized by matching the path planning of the tail end 41 of the robot and the forward and reverse rotation of the decorating rotary table 21.
In some embodiments, one cartridge 50 can only hold 1 to 2 decorative flowers, and after one flower is produced, as shown in fig. 4, the robot tip 41 moves the cartridge 50 to a position just above the concentric circular holes of the cartridge turntable 21, and square columns protruding from both sides of the cartridge 50 are aligned with square grooves on both sides of the circular holes of the cartridge turntable 21. As shown in fig. 5, the barrel 50 is vertically lowered into place by the robot terminal 41, the robot terminal 41 controls the quick-change flange female head 311 to rotate clockwise by a certain angle in a top view, the convex column of the barrel 50 contacts with the screw 24, the quick-change flange female head 311 is completely detached from the quick-change flange male head 51 at the upper end of the barrel 50, the robot terminal 41 carries the quick-change flange female head 311 to vertically lift by a certain height, and the barrel 50 is completely separated from the quick-change flange female head 311. Another cartridge 50 and a corresponding nozzle 52 are carried on the other end of the cartridge turntable 21, and the feeding process of the cartridge 50 is the same as that of the cartridge 50 described above, when the cartridge 50 is full. The drum turntable 21 rotates 180 degrees to rotate the empty drum 50 to just below the outlet of the first feeding mechanism 10, thereby completing the loading of the sweetened bean paste material. The barrel 50 filled with the bean paste is rotated to the position right below the quick-change flange female head 311, the robot tail end 41 carries the quick-change flange female head 311 to be matched with the corresponding quick-change flange male head 51 of the barrel 50 filled with the material, and the process is repeated in such a way, so that continuous automation of a decoration process is realized, continuous decoration is realized, and full-automatic three-dimensional decoration is realized.
Thus, the decorating robot is provided with an automatic feed device 100 according to an embodiment of the present invention. The controller executes control instructions, when the robot moves along a cake decorating track, accurate automatic feeding is realized, position replacement of the full feed cylinder 50 and the empty feed cylinder 50 is realized, quick replacement of the feed cylinder 50 is realized, continuous feeding is carried out on the empty feed cylinder 50 of the feed cylinder turntable 21 by the first feeding mechanism 10, accurate feeding is carried out by the second feeding mechanism 30 in an automatic material taking and automatic decorating position, timing and quantitative automatic accurate feeding is realized, and feeding efficiency is improved in a continuous automatic feeding mode.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate a relative positional relationship, which changes accordingly when the absolute position of the object to be described changes.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (10)
1. Automatic feed device for decorating robot, its characterized in that includes:
the first feeding mechanism is used for providing materials with specific fluidity;
the transfer mechanism comprises a turntable and a first driving mechanism for driving the turntable to rotate, wherein at least two mounting parts are arranged on the turntable, and each mounting part is used for mounting a charging barrel;
the second feeding mechanism comprises a material taking part, a second driving mechanism and a feeding assembly connected with the second driving mechanism;
the conveying mechanism is connected with the second feeding mechanism;
the controller is respectively and electrically connected with the first feeding mechanism, the first driving mechanism, the second driving mechanism and the conveying mechanism,
the controller receives a decorating instruction and controls the first driving mechanism to drive the rotary table to rotate to a first set angle so as to align a discharge hole of the first feeding mechanism with a charging barrel arranged on the rotary table;
the controller controls the first feeding mechanism to add a preset amount of material into the aligned feed cylinders, and controls the rotary table to rotate to a second preset angle so as to align the feed cylinders filled with the material taking part of the second feeding mechanism;
the controller controls the conveying mechanism to drive the material taking part of the second feeding mechanism to be in butt joint and clamping with the material cylinder filled with the material, and controls the conveying mechanism to drive the material cylinder to be separated from the turntable and move to a designated position;
after the second driving mechanism is controlled by the controller to drive the feeding assembly to compact the material in the charging barrel, the material in the charging barrel is fed to the designated position in a timing and quantitative mode by controlling the second driving mechanism to drive the stroke of the feeding assembly.
2. The apparatus as recited in claim 1, further comprising:
the decorating table comprises a third driving mechanism and a carrying table connected with the third driving mechanism, wherein the decorating table is arranged at the designated position, the third driving mechanism is electrically connected with the controller, the controller drives the carrying table to move by controlling the third driving mechanism, and controls the second driving mechanism to drive the stroke of the feeding component, so that materials in the charging barrel are fed on the carrying table at fixed time and fixed quantity.
3. The apparatus of claim 1 or 2, wherein the first feed structure comprises:
the hopper is provided with a containing cavity for loading materials and a discharge hole;
the feeding rod is arranged in the accommodating cavity, and one end of the feeding rod is arranged at the discharge hole;
and the fourth driving mechanism is connected with the other end of the feeding rod, is electrically connected with the controller, and is used for receiving the signal emitted by the controller and driving the feeding rod to rotate so as to feed or stop feeding to the charging barrel.
4. A device according to claim 3, wherein the feed bar is provided with stirring blades for stirring the material in the hopper.
5. The apparatus of claim 1, wherein the relay mechanism further comprises:
and the first speed reducer is connected with the driving shaft of the first driving mechanism and is used for controlling the rotating speed.
6. The apparatus of claim 1, wherein the second feed mechanism further comprises:
the base, the one end of base with the one end fixed connection of transport mechanism, the other end is equipped with get material portion, second actuating mechanism fixes on the base, the feed subassembly is installed on the base.
7. The apparatus of claim 6, wherein the feed assembly comprises:
one end of the screw is rotatably connected with the base, and the other end of the screw is connected with the rotating shaft of the second driving mechanism;
the sliding block is in threaded connection with the screw rod;
and one end of the piston rod is fixedly connected with the sliding block, the other end of the piston rod is connected with a piston head, and the piston head is positioned at one side of the material taking part and used for compacting or pushing materials in the charging barrel under the drive of the second driving mechanism.
8. The device according to claim 7, wherein the base is provided with at least one guide shaft arranged in parallel with the threaded rod, the slide block is provided with a guide hole, the guide shaft passes through the guide hole, and two ends of the guide shaft are fixedly connected with the base for limiting the moving direction of the slide block.
9. The apparatus according to claim 7 or 8, further comprising: the screw rod is connected with the second driving mechanism through the first coupling.
10. The apparatus of claim 1, wherein the take-off portion is provided with a female flange head for mating with a male flange head on the cartridge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210059334.0A CN116491535A (en) | 2022-01-19 | 2022-01-19 | Automatic feeding device for decorating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210059334.0A CN116491535A (en) | 2022-01-19 | 2022-01-19 | Automatic feeding device for decorating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116491535A true CN116491535A (en) | 2023-07-28 |
Family
ID=87320709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210059334.0A Pending CN116491535A (en) | 2022-01-19 | 2022-01-19 | Automatic feeding device for decorating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116491535A (en) |
-
2022
- 2022-01-19 CN CN202210059334.0A patent/CN116491535A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200282596A1 (en) | Interlayer mixing apparatus for texturing man-made stone slabs | |
| CN113752554B (en) | High-efficient quick coupling mechanism for 3D printer nozzle | |
| CN105127423A (en) | Selective laser melting three-dimensional printing device | |
| CN113182516A (en) | Feeding and forming system and forming method for powder metallurgy friction block | |
| CN111633785A (en) | Automatic weighing and distributing system for refractory bricks | |
| CN216674486U (en) | Mount colored robot with automatic feed device | |
| CN116491535A (en) | Automatic feeding device for decorating robot | |
| CN204898074U (en) | Three -dimensional printing apparatus of SLM | |
| CN111418995B (en) | Lipstick mould falls former block equipment | |
| CN109333388A (en) | A kind of feeding-discharging mechanism producing the rotary production line of soft abrasive disk | |
| CN219112055U (en) | Quantitative glue discharging device | |
| CN213435383U (en) | Double-pressure-disc pump dispenser | |
| EP0919525B1 (en) | Mechanism for driving plungers of metal molds in a bottle-making machine | |
| CN213198133U (en) | Automatic weighing and distributing device for refractory bricks | |
| CN111822242A (en) | Rotary dispensing device and rotary dispensing method thereof | |
| CN212018399U (en) | Multi-station automatic coating machine | |
| CN2803668Y (en) | Distributing appts of bricks maker | |
| CN111805807A (en) | Feeding and discharging device combined with sizing material adding mold | |
| CN215320055U (en) | Plastic raw material adding device for injection mold | |
| CN114073902B (en) | Accurate automatic feeding device of superfine powder | |
| CN115555195A (en) | Visual guide device and method for dispenser | |
| CN109848686B (en) | Full-automatic assembling equipment for inductor | |
| CN219051889U (en) | Mixed glue supplying machine | |
| CN219738862U (en) | Assembling device for fuse copper cap | |
| CN220681118U (en) | Spreading device for tray processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |