CN205774433U - The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence - Google Patents
The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence Download PDFInfo
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- CN205774433U CN205774433U CN201620644704.7U CN201620644704U CN205774433U CN 205774433 U CN205774433 U CN 205774433U CN 201620644704 U CN201620644704 U CN 201620644704U CN 205774433 U CN205774433 U CN 205774433U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 13
- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 12
- 235000009566 rice Nutrition 0.000 title claims abstract description 12
- 240000007594 Oryza sativa Species 0.000 title abstract 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000003139 buffering effect Effects 0.000 claims description 12
- 241000209094 Oryza Species 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 24
- 238000004821 distillation Methods 0.000 abstract description 4
- 238000005094 computer simulation Methods 0.000 abstract description 2
- 238000011217 control strategy Methods 0.000 abstract description 2
- 238000009826 distribution Methods 0.000 abstract description 2
- 238000011160 research Methods 0.000 abstract description 2
- 235000021419 vinegar Nutrition 0.000 abstract description 2
- 239000000052 vinegar Substances 0.000 abstract description 2
- 239000000872 buffer Substances 0.000 abstract 1
- 230000007480 spreading Effects 0.000 description 12
- 238000003892 spreading Methods 0.000 description 12
- 235000013339 cereals Nutrition 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000855 fermentation Methods 0.000 description 2
- 230000004151 fermentation Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000010025 steaming Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
This utility model relates to the upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence, intelligence Shang Zeng robot includes pedestal, stand, crane, one-level feeding arm, two grades of feeding arms, vertical feeding arms and buffers feeding arm, being provided with driving rotating disk between stand and pedestal, this driving driven by rotary disc stand rotates；Control device for pivoting is installed between one-level feeding arm and two grades of feeding arms, controls two grades of feeding arms and carry out horizontal reciprocating swing, between two grades of feeding arms and vertical feeding arm, control device for pivoting is installed, controls vertical feeding arm and carry out automatic rotating shaft.Robot is based on contents such as hard and soft kinetics, flexible robot's dynamic simulation, Spatial distributions measures and system stiffness is studied, the researchs of non-linear control strategy.Can be precisely controlled, it is possible to realize spilling material thin, soft, even, promote distillation yield.Reach gently to spread thin paving, meeting gas spills material, spill shots accurately, vinegar to put down to form loose uniform microcellular structure.
Description
Technical field
This utility model belongs to Chinese liquor and manufactures field, relates to Brewing equipment, especially a kind of upper rice steamer machine triple axle of intelligence
Multidimensional drive mechanism.
Background technology
Brewed spirit industry is Chinese distinctive manufacturing, and Chinese liquor is with grain as primary raw material, needs through solid-state
The operations such as fermentation, steaming kier distillation, traditional manufacture method relies primarily on and is accomplished manually, strong for artificial experience dependency, needs
Wanting a large amount of manpowers just can complete, labor cost is the highest, and integral production is inefficient.
In loaded steamer step, existing automatic steamer filling equipment is typically with ordering ABB robot and captures and shed material,
It is primarily present following defect: 1, the existing generally open type conveying of material mode of movement, then is captured by Robot for steamer, feeding
Metering, speed and seriality are poor.2, entrance Zhen bucket directly shed above Zhen bucket by material, can cause the existing material quilt of lower floor
Compacting, affects follow-up steaming wine effect.3, during loaded steamer, sequentially spreading or by sensor detection rice steamer in material thickness
Carrying out spreading, in this process, the steam that lower section material steams is that non-homogeneous race emits, and steam can be above unlimited Zhen bucket
Loss, more wastes.
Utility model content
In place of the purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of with make wine industry great need
Asking as core, use virtual Prototype to develop the mode combined with physical prototype model machine, research and development one is based on traditional fermentation
Rice steamer machine triple axle multidimensional drive mechanism in the intelligence of technique.
This utility model solves it and technical problem is that and take techniques below scheme to realize:
The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence, intelligence Shang Zeng robot includes pedestal, stand, lifting
Frame, one-level feeding arm, two grades of feeding arms, vertical feeding arms and buffering feeding arm, have stand in pedestal upper end is vertically-mounted,
In stand, drive installation has a crane, and in crane, horizontal boom formula is provided with one-level feeding arm, this one-level feeding arm
Cantilever end is provided with one end of two grades of feeding arms, is provided with the upper end of vertical feeding arm below the other end of two grades of feeding arms, perpendicular
Direct sending material arm lower end is horizontally installed with buffering feeding arm, it is characterised in that:
Being provided with driving rotating disk between stand and pedestal, this driving driven by rotary disc stand rotates；
Being provided with control device for pivoting between one-level feeding arm and two grades of feeding arms, controlling two grades of feeding arms, to carry out level past
Physical pendulum moves,
Between two grades of feeding arms and vertical feeding arm, control device for pivoting is installed, controls vertical feeding arm and automatically turn
Axle.
And, described control device for pivoting is gear train.
And, wheels intermeshing driving gear and driven gear are packed in one-level feeding arm and two grades of feeding arms respectively
On, gear train is by driving motor driving to rotate, thus controls two grades of feeding arms and carry out horizontal rotation.
And, the driving gear of described gear train and driven gear are packed in two grades of feeding arms and vertical feeding arm respectively
On, gear train is by driving motor driving to rotate, thus controls velocity of rotation and the rotational angle of vertical feeding arm.
Advantage of the present utility model and good effect be:
1, this utility model full-automatic can be carried out the conveying of raw material and sow, for not destroying fermented grain physical characteristic, solely
In the arm of wound, twin screw push feed mechanism, compact conformation, can realize spilling material continuously, it is ensured that material transmit safety and stability and
Wholesomeness, effectively controls feeding speed and dosage, and what simulation staff carried out shedding " light, thin, accurate, loose, flat, even " of fermented grain will
Ask, without waiting time to be expected, improve efficiency.
2, robot completes vision data acquisition by infrared camera, and infrared visual pattern treatment technology commander spreads
Material position, owing to the temperature of steam Yu fermented grain exists temperature difference, once has small steam to spill, can pass through infrared camera
Catch, thus provide location information for control system, thus driven machine people moves to Gas leak position, carries out the throwing of fermented grain
Spilling, thus cover air leakage point, accuracy is high, quickly mends paving air leakage point, it is to avoid gas leakage, and distilling effect is good, intelligence is fully achieved raw
Produce, raising efficiency, and promote crudy.
3, robot is ground based on hard and soft kinetics, flexible robot's dynamic simulation, Spatial distributions measurement and system stiffness
Study carefully, the content such as the research of non-linear control strategy.According to determining end given trace, ask for component name configuration variables, then
Using this configuration variables as it is known that build mechanical hand inverse dynamics model, and by discrete Fourier transform (DFT) use numerical method
Solve joint driven torque, and by direct integration under time domain, solve the elastic configuration variables of mechanical hand.
4, the flexible feeding feeding end carrying platform that robot is installed, the highly controllable system of carrying platform, be effectively ensured wine
What unstrained spirits was mild trickles down in discriminating bucket, so that the fermented grain of spreading keeps loose, promotes the processing effect of later stage distillation；And, hold
Carrying platform can spill material without dead angle run with rotation in discriminating bucket.
5, this utility model conveying can be precisely controlled, it is possible to realizes spilling material thin, soft, even, promotes distillation yield.Reach gently to spread thin
Spread, meeting gas spills material, spill shots accurately, vinegar to put down to form loose uniform microcellular structure.
Accompanying drawing explanation
Fig. 1 is robot architecture's front view；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 be in Fig. 3 A-A to sectional view；
Fig. 5 is the B portion enlarged drawing in Fig. 4；
Fig. 6 is robot duty axonometric chart.
Reference represents: 1 stand, 2 feed hoppers, 3 cranes, 4 one-level feeding arms, 5 driving motors, 6 gear trains, 7 two
Level feeding arm, 8 vertical feeding arms, 9 buffering feeding arms, 10 spreading outlets, 11 pedestals, 12 lifting drives, 13 feeding channels,
14 screw feeding bars, 15 feeding motors, 16 conveyer belts, 17 carrying platforms, 18 roll shafts.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings and by specific embodiment, and following example are simply retouched
The property stated, be not determinate, it is impossible to limit protection domain of the present utility model with this.
The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence, intelligence Shang Zeng robot includes pedestal 11, stand 1, rises
Fall frame 3,4, two grades of feeding arms 7 of one-level feeding arm, vertical feeding arm 8 and buffering feeding arm 9, hold vertically-mounted on the base 11
In have stand 1, in stand, drive installation has a crane 3, and this crane is driven by lifting drive 12 and moves down in stand
Dynamic；In crane, horizontal boom formula is provided with one-level feeding arm 4, and the cantilever end of this one-level feeding arm horizontally rotates and is provided with two
One end of level feeding arm 7, the other end closed downwards of two grades of feeding arms is provided with the upper end of vertical feeding arm 8, this vertical feeding
Arm is the tubular construction of hollow, and vertical feeding arm lower end is provided with one end of buffering feeding arm 9, the other end peace of buffering feeding arm
10 are exported equipped with spreading；
Triple axle driving structure:
Being provided with driving rotating disk between stand and pedestal, stand can carry out freely turning with vertical axes for axle center on pedestal
Dynamic, rotational angle can control；
Between one-level feeding arm and two grades of feeding arms, control device for pivoting is installed, control system controls two grades of feeding arms
Carry out horizontal reciprocating swing, particularly as follows: the sealing joint of the interface channel of one-level feeding arm and two grades of feeding arms and freely turn
Dynamic, and be provided with gear train 6 between one-level feeding arm and two grades of feeding arms, this gear train rotates by driving motor 5 to drive,
Gear train intermeshing driving gear and driven gear are packed on one-level feeding arm and two grades of feeding arms respectively, gear train by
Drive motor to drive to rotate, thus control two grades of feeding arms and carry out horizontal rotation.
Between two grades of feeding arms and vertical feeding arm, control device for pivoting is installed, control system controls vertical feeding arm
Carrying out automatic rotating shaft, the driving gear of described gear train and driven gear are packed in two grades of feeding arms and vertical feeding arm respectively
On, gear train is by driving motor driving to rotate, thus controls velocity of rotation and the rotational angle of vertical feeding arm, and buffering is sent
Material arm can carry out 360 ° of rotations, without dead angle spreading in discriminating bucket.
In arm, the concrete structure of feed mechanism is:
One-level feeding arm and two grades of feeding arms are hollow circle tube structure, and one-level feeding arm upper end is fixed with a feed hopper
2 are used for inputting material；Being coaxially installed with screw feeding bar 14 in one-level feeding arm, one end of screw feeding bar is stretched out one-level and is sent
Expect the rear end of arm and be coaxially installed with feeding motor 15, the one-level feeding arm below the other end of screw feeding bar is shaped with feeding
Passage 13, this feeding channel lower end connection two grades of feeding arms 7, be coaxially installed with in two grades of feeding arms another screw feeding bar and
Feeding motor；
In the buffering feeding arm that the outlet of vertical feeding arm lower end is corresponding, a horizontally disposed carrying platform 17 is installed, should
Before and after carrying platform both sides be separately installed with two roll shafts and on these two roll shafts drive installation have a conveyer belt 16, have
The material that top falls drops on a moving belt, belt-driven move horizontally and finally gently send spreading outlet.
Robot method of work:
(1) lifting drive control crane moves up and down, regulation spreading height；
(2) material enters one-level feeding arm by feed hopper, and the feeding motor in one-level feeding arm drives screw feeding bar to turn
Dynamic, orientation pushes and is pushed forward by the material in one-level feeding arm, and material is fallen by the feeding channel of one-level feeding arm front end
Entering two grades of feeding arms, the screw feeding bar in two grades of feeding arms drives material to push forward, falls into vertical feeding arm, under freedom
Fall in buffering feeding arm, finally exported mild being spilled in Zhen bucket by spreading；
The velocity of rotation of feeding motor is controlled by control system Intelligent adjustment；
(3) the spreading of material loosening is in discriminating bucket, and one-level feeding arm, two grades of feeding arms and buffering feeding arm coordinate rotation,
Can deliver to material neatly discriminate optional position in bucket；
Meanwhile, detected the steam Gas leak position discriminated in bucket in real time by infrared camera detecting system, quickly supplement fermented grain
Shed, prevent gas leakage；
(4) according to spreading situation, crane moves up, layer by layer spreading fermented grain, until filling Zhen bucket, adds a cover Zhen bung.
Present patent application is not described in detail for electric-control system.
Although disclosing embodiment of the present utility model and accompanying drawing for the purpose of illustration, but those skilled in the art being permissible
Understanding: without departing from this utility model and spirit and scope of the appended claims, various replacements, to change and modifications be all can
Can, therefore, scope of the present utility model is not limited to embodiment and accompanying drawing disclosure of that.
Claims (4)
1. a rice steamer machine triple axle multidimensional drive mechanism in intelligence, intelligence Shang Zeng robot include pedestal, stand, crane,
One-level feeding arm, two grades of feeding arms, vertical feeding arms and buffering feeding arm, have stand in pedestal upper end is vertically-mounted, vertical
On frame, drive installation has a crane, and in crane, horizontal boom formula is provided with one-level feeding arm, hanging of this one-level feeding arm
Arm end is provided with one end of two grades of feeding arms, is provided with the upper end of vertical feeding arm, vertically below the other end of two grades of feeding arms
Feeding arm lower end is horizontally installed with buffering feeding arm, it is characterised in that:
Being provided with driving rotating disk between stand and pedestal, this driving driven by rotary disc stand rotates；
Control device for pivoting is installed between one-level feeding arm and two grades of feeding arms, controls two grades of feeding arms and carry out horizontal reciprocating pendulum
It is dynamic,
Between two grades of feeding arms and vertical feeding arm, control device for pivoting is installed, controls vertical feeding arm and carry out automatic rotating shaft.
Rice steamer machine triple axle multidimensional drive mechanism in intelligence the most according to claim 1, it is characterised in that: described rotation is controlled
Device processed is gear train.
Rice steamer machine triple axle multidimensional drive mechanism in intelligence the most according to claim 2, it is characterised in that: gear train is mutual
Driving gear and the driven gear of engagement are packed on one-level feeding arm and two grades of feeding arms respectively, and gear train drives by driving motor
Move and rotate, thus control two grades of feeding arms and carry out horizontal rotation.
Rice steamer machine triple axle multidimensional drive mechanism in intelligence the most according to claim 2, it is characterised in that: described gear train
Driving gear and driven gear be packed in respectively on two grades of feeding arms and vertical feeding arm, gear train by drive motor drive into
Row rotates, thus controls velocity of rotation and the rotational angle of vertical feeding arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620644704.7U CN205774433U (en) | 2016-06-22 | 2016-06-22 | The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620644704.7U CN205774433U (en) | 2016-06-22 | 2016-06-22 | The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205774433U true CN205774433U (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620644704.7U Active CN205774433U (en) | 2016-06-22 | 2016-06-22 | The upper rice steamer machine triple axle multidimensional drive mechanism of a kind of intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205774433U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552908A (en) * | 2018-12-11 | 2019-04-02 | 常州机电职业技术学院 | A kind of Novel rotary truss-like loaded steamer mechanism |
| CN115581135A (en) * | 2022-09-30 | 2023-01-10 | 扬州大学 | Intelligent unmanned sowing and fertilizing device and method based on machine vision |
-
2016
- 2016-06-22 CN CN201620644704.7U patent/CN205774433U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552908A (en) * | 2018-12-11 | 2019-04-02 | 常州机电职业技术学院 | A kind of Novel rotary truss-like loaded steamer mechanism |
| CN115581135A (en) * | 2022-09-30 | 2023-01-10 | 扬州大学 | Intelligent unmanned sowing and fertilizing device and method based on machine vision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170710 Address after: 300111, Tianjin District, Xiqing District,, Tai Cheng Road, No. 37 District Patentee after: TIANJIN RONGXINJIA MACHINERY Co.,Ltd. Address before: 300499, No. 20, Shuang Chuan Road, Beichen economic and Technological Development Zone, Tianjin Patentee before: TIANJIN RONGXINJIA TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240226 Address after: No. 139 Peitianmen Street, Tai'an High-tech Zone, Tai'an City, Shandong Province, 271000 Patentee after: Zhongke Hengxin Intelligent Technology (Taian) Co.,Ltd. Country or region after: China Address before: 300111 area B, 37 Taijin Road, Zhangjiawo Industrial Zone, Xiqing District, Tianjin Patentee before: TIANJIN RONGXINJIA MACHINERY Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |