CN206088411U - Intelligence that material was spilt to flexibility goes up rice steamer robot - Google Patents
Intelligence that material was spilt to flexibility goes up rice steamer robot Download PDFInfo
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- CN206088411U CN206088411U CN201620644767.2U CN201620644767U CN206088411U CN 206088411 U CN206088411 U CN 206088411U CN 201620644767 U CN201620644767 U CN 201620644767U CN 206088411 U CN206088411 U CN 206088411U
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- arm
- feeding
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- feeding arm
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Abstract
The utility model relates to an intelligence that material was spilt to flexibility goes up rice steamer robot, which comprises a base, the grudging post, the crane, one -level pay -off arm, second grade pay -off arm, vertical pay -off arm and buffering pay -off arm, there is the grudging post in the base vertical installation in upper end, the grudging post is improved level the cantilever type and is installed one -level pay -off arm, the cantilever end horizontal rotary drum of this one -level pay -off arm moves the one end of installing second grade pay -off arm, the upper end of installing vertical pay -off arm is sealed to the other end below of second grade pay -off arm, this vertical pay -off arm is hollow tubular structure, the one end of buffering pay -off arm is installed to vertical pay -off underarm end, the other end of buffering pay -off arm is installed and is spilt the material export. The flexible pay -off end load -bearing platform of this robot installation, load -bearing platform is highly steerable, effectively guarantees mild the trickling down in discriminating the bucket of wine unstrained spirits to the wine unstrained spirits that makes the spreading keeps loose, promotes distilling processing effect of later stage, and load -bearing platform can the rotation, and nos dead angle is spilt and is expected to move in discriminating the bucket.
Description
Technical field
The utility model belongs to white wine manufacture field, is related to Brewing equipment, especially rice steamer in a kind of intelligence of flexible spreading
Robot.
Background technology
Brewed spirit industry is Chinese distinctive manufacturing, and white wine is, with grain as primary raw material, to need through solid-state
The operations such as fermentation, steaming kier distillation, traditional manufacture method is relied primarily on and is accomplished manually, and for artificial experience dependence is strong, is needed
Want a large amount of manpowers just can complete, labor cost is very high, overall production efficiency is relatively low.
In loaded steamer step, existing automatic steamer filling equipment is typically with ordering the crawl of ABB robots and sheds material,
It is primarily present following defect：1st, the generally open type conveying of existing material mode of movement, then captured by Robot for steamer, feeding
Metering, speed and continuity are poor.2nd, material is directly shed into bucket is discriminated from Zhen bucket top, can cause the existing material quilt of lower floor
Compacting, affects follow-up steaming wine effect.3rd, during loaded steamer, order spreading or by sensor detect rice steamer in material thickness
Spreading is carried out, in this process, the steam that lower section material is steamed is that non-homogeneous race emits, and steam can be from unlimited Zhen bucket top
Loss, more wastes.
Through retrieval, the relevant patent document of the following existing packaging system being closer to is found.
Full-automatic Robot for steamer system (CN203781376U), including feeder, material-feeding mechanism, Robot for steamer and
Steaming bucket, the feeder includes feed hopper and the feeding device that connects with its its top feed mouth, and the feed hopper bottom is unloaded
Material mouth is opened and closed by cylinder control；The material-feeding mechanism includes the cloth bucket of sector structure and the fan-shaped conveying dress located at its bottom
Put, spreading out device；The Robot for steamer includes drive system, frame and the turning arm I being rotationally connected with frame, material distributing machine
Structure is arranged on turning arm I, and charging aperture and the cloth material mouth of cloth bucket shift respectively the discharge port and steaming bucket charging for being connected feed hopper
Mouthful, the motor and the driving means of cylinder of the drive system signal connection feeding device of the Robot for steamer.This practicality
New to instead of original artificial loaded steamer work completely, loaded steamer is quick, uniform, breaks through the bottle of wine brewing full automatic mechanical development
Neck.
Through contrast, present patent application technology contents required for protection distinguish larger with prior art, actual solution
Technical problem also has larger difference, and present patent application technology contents have stronger novelty.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art part, there is provided a kind of great need with industry of making wine
Ask as core, by the way of virtual Prototype is in combination with the exploitation of physical prototype model machine, research and development are a kind of to be based on traditional fermentation
The intelligent Shang Zeng robots of the flexible spreading of technique.
The utility model solves its technical problem and takes technical scheme below to realize：
A kind of intelligent Shang Zeng robots of flexible spreading, it is characterised in that：Including pedestal, stand, crane, one-level feeding
Arm, two grades of feeding arms, vertical feeding arm and buffering feeding arms, have stand in pedestal upper end is vertically-mounted, drive in stand
One crane is installed, the crane is moved up and down by lifting drive drives edge stand；The horizontal boom formula in crane
One-level feeding arm is installed, the cantilever end of the one-level feeding arm horizontally rotates the one end for being provided with two grades of feeding arms, two grades of feedings
The other end closed downwards of arm are provided with the upper end of vertical feeding arm, and the vertical feeding arm is hollow tubular construction, is vertically sent
Material arm lower end is provided with one end of buffering feeding arm, and the other end for buffering feeding arm is provided with spreading outlet.
And, control device for pivoting is installed between the one-level feeding arm and two grades of feeding arms, specially：One-level feeding
The sealing joint of the interface channel of arm and two grades of feeding arms and freely rotate, and pacify between one-level feeding arm and two grades of feeding arms
Equipped with gear train, the gear train is driven by motor and is rotated, and two grades of feeding arms of control carry out horizontal rotation；Send at two grades
Control device for pivoting is installed between material arm and vertical feeding arm, controlling vertical feeding arm by control system carries out automatic rotating shaft, band
Dynamic buffering feeding arm carries out 360 ° of rotations.
And, 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 one
Feed hopper；Screw feeding bar is coaxially installed with one-level feeding arm, one end of screw feeding bar is stretched out after one-level feeding arm
Feeding motor is held and be coaxially installed with, on the one-level feeding arm below the other end of screw feeding bar feeding channel is formed with, this send
Material passage lower end connects two grades of feeding arms, and in two grades of feeding arms another screw feeding bar and feeding motor are coaxially installed with.
And, horizontally disposed a carrying is installed in the corresponding buffering feeding arm of vertical feeding arm lower end outlet and is put down
Platform, the carrying platform before and after both sides be separately installed with two roll shafts and on two roll shafts drive installation have a transmission
Band.
Advantage of the present utility model and good effect are：
1st, the utility model can carry out the conveying of raw material and sow with full-automation, be not destroy fermented grain physical characteristic, solely
Twin-screw push feed mechanism in the arm of wound, compact conformation, be capable of achieving continuously spill material, it is ensured that material transmission safety and stability and
Wholesomeness, effective control feeding speed and dosage, simulating staff carries out shedding wanting for " light, thin, accurate, loose, flat, even " of fermented grain
Ask, without waiting time to be expected, improve efficiency.
2nd, robot completes vision data acquisition by infrared camera, and infrared visual pattern treatment technology commander spreads
Discharge position, because the temperature of steam and fermented grain has temperature difference, once there is small steam to spill, can pass through infrared camera
Caught, so as to provide location information for control system, people moves to Gas leak position so as to driven machine, carried out the throwing of fermented grain
Spill, so as to cover air leakage point, the degree of accuracy is high, quick to mend paving air leakage point, it is to avoid gas leakage, distilling effect is good, fully achieves intelligent life
Produce, raising efficiency, and lift crudy.
3rd, robot is ground based on hard and soft dynamics, 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, component name configuration variables are asked for, then
Using the configuration variables as, it is known that build the inverse dynamics model of manipulator, and numerical method is adopted by DFT
Joint driven torque is solved, and the elastic configuration variables of manipulator have been solved by direct integration under time domain.
4th, the flexible feeding feeding end carrying platform that robot is installed, the highly controllable system of carrying platform is effectively ensured wine
Gentle the trickling down of unstrained spirits is being discriminated in bucket, so that the fermented grain of spreading keeps loose, lifts the processing effect of later stage distillation；And, hold
Carrying platform can spill material operation discriminating in bucket with rotation without dead angle.
5th, the utility model conveying can be precisely controlled, and can realize spilling and expect thin, soft, even, lift distillation yield.Reach gently spread it is thin
Spread, meeting gas spills material, accurate, vinegar will put down to form loose uniform microcellular structure to spill shots.
Description of the drawings
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 is A-A in Fig. 3 to sectional view；
Fig. 5 is the B portions enlarged drawing in Fig. 4；
Fig. 6 is robot working condition stereogram.
Reference is represented：1 stand, 2 feed hoppers, 3 cranes, 4 one-level feeding arms, 5 motors, 6 gear trains, 7 two
Level feeding arm, 8 vertical feeding arms, 9 buffering feeding arms, 10 spreadings outlet, 11 pedestals, 12 lifting drives, 13 feeding channels,
14 screw feeding bars, 15 feeding motors, 16 conveyer belts, 17 carrying platforms, 18 roll shafts.
Specific embodiment
Below in conjunction with the accompanying drawings and by specific embodiment the utility model is described in further detail, and following examples are simply retouched
The property stated, be not determinate, it is impossible to limit protection domain of the present utility model with this.
A kind of intelligent Shang Zeng robots of flexible spreading, including pedestal 11, stand 1, crane 3, one-level feeding arm 4, two
Level feeding arm 7, vertical feeding arm 8 and buffering feeding arm 9,
Hold on the base 11 it is vertically-mounted in have stand 1, stand can be entered with vertical stand central shaft on pedestal as axle
Row rotation, drive installation in stand has a crane 3, and the crane is moved up and down by the drives edge stand of lifting drive 12；
Horizontal boom formula is provided with one-level feeding arm 4 in crane, and the cantilever end of the one-level feeding arm horizontally rotates and is provided with two grades
One end of feeding arm 7, the other end closed downwards of two grades of feeding arms are provided with the upper end of vertical feeding arm 8, the vertical feeding arm
For hollow tubular construction, vertical feeding arm lower end is provided with one end of buffering feeding arm 9, buffers the other end installation of feeding arm
There is spreading outlet 10；
Control device for pivoting is installed between one-level feeding arm and two grades of feeding arms, two grades of feeding arms are controlled by control system
Horizontal reciprocating swing is carried out, specially：The sealing joint of the interface channel of one-level feeding arm and two grades of feeding arms and freely turn
It is dynamic, and gear train 6 is installed between one-level feeding arm and two grades of feeding arms, the gear train is driven by motor 5 and is rotated,
Two grades of feeding arms of control carry out horizontal rotation；
Control device for pivoting is installed between two grades of feeding arms and vertical feeding arm, vertical feeding arm is controlled by control system
Automatic rotating shaft is carried out, velocity of rotation and rotational angle are controllable, so as to drive buffering feeding arm to carry out 360 ° of rotations, discriminated in bucket
Without dead angle spreading；
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 to be input into material；Screw feeding bar 14 is coaxially installed with one-level feeding arm, one end of screw feeding bar is stretched out one-level and sent
The rear end of material arm is simultaneously coaxially installed with feeding motor 15, and on the one-level feeding arm below the other end of screw feeding bar feeding is formed with
Passage 13, the feeding channel lower end connects two grades of feeding arms 7, be coaxially installed with two grades of feeding arms another screw feeding bar and
Feeding motor；
A horizontally disposed carrying platform 17 is installed in the corresponding buffering feeding arm of vertical feeding arm lower end outlet, should
Carrying platform before and after both sides be separately installed with two roll shafts and on two roll shafts drive installation have a conveyer belt 16, have
The material that top falls drops on a moving belt, is moved horizontally by belt-driven and finally gently sends spreading outlet.
Present patent application is not described in detail for electric-control system.
Robot method of work：
(1) lifting drive control crane is moved up and down, and adjusts 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 is pushed and forward pushes the material in one-level feeding arm, and material is fallen by the feeding channel of one-level feeding arm front end
Into two grades of feeding arms, the screw feeding bar in two grades of feeding arms drives material to push forward, vertical feeding arm is fallen into, under freedom
Fall in buffering feeding arm, finally gentle being spilled in Zhen bucket is exported by spreading；
The velocity of rotation of feeding motor is controlled by control system Intelligent adjustment；
(3) the spreading of material loosening is being discriminated in bucket, and one-level feeding arm, two grades of feeding arms and buffering feeding arm coordinate rotation,
Neatly material can be sent to into optional position in Zhen bucket；
Meanwhile, the steam Gas leak position in bucket is discriminated by infrared camera detecting system real-time detection, quick supplementary fermented grain
Shed, prevent gas leakage；
(4) according to spreading situation, crane is moved up, layer by layer spreading fermented grain, until filling Zhen bucket, adds a cover Zhen bung.
Although disclosing embodiment of the present utility model and accompanying drawing for the purpose of illustration, those skilled in the art can be with
Understand：In without departing from the utility model and spirit and scope of the appended claims, various replacements, change and modifications all be can
Can, therefore, scope of the present utility model is not limited to embodiment and accompanying drawing disclosure of that.
Claims (3)
1. intelligent Shang Zeng robots of a kind of flexible spreading, it is characterised in that：Including pedestal, stand, crane, one-level feeding
Arm, two grades of feeding arms, vertical feeding arm and buffering feeding arms, have stand in pedestal upper end is vertically-mounted, drive in stand
One crane is installed, the crane is moved up and down by lifting drive drives edge stand；The horizontal boom formula in crane
One-level feeding arm is installed, the cantilever end of the one-level feeding arm horizontally rotates the one end for being provided with two grades of feeding arms, two grades of feedings
The other end closed downwards of arm are provided with the upper end of vertical feeding arm, and the vertical feeding arm is hollow tubular construction, is vertically sent
Material arm lower end is provided with one end of buffering feeding arm, and the other end for buffering feeding arm is provided with spreading outlet；
A horizontally disposed carrying platform is installed in the corresponding buffering feeding arm of vertical feeding arm lower end outlet, the carrying is put down
Platform before and after both sides be separately installed with two roll shafts and on two roll shafts drive installation have a conveyer belt.
2. intelligent Shang Zeng robots of flexible spreading according to claim 1, it is characterised in that：The one-level feeding arm with
Control device for pivoting is installed between two grades of feeding arms, specially：One-level feeding arm connects with the interface channel of two grades of feeding arms
Mouthful sealing and freely rotate, and gear train is installed between one-level feeding arm and two grades of feeding arms, the gear train is by driving electricity
Machine drives and is rotated, and two grades of feeding arms of control carry out horizontal rotation；
Control device for pivoting is installed between two grades of feeding arms and vertical feeding arm, controlling vertical feeding arm by control system is carried out
Automatically rotating shaft, drives buffering feeding arm to carry out 360 ° of rotations.
3. intelligent Shang Zeng robots of flexible spreading according to claim 1, it is characterised in that：One-level feeding arm and two grades
Feeding arm is hollow circle tube structure, and one-level feeding arm upper end is fixed with a feed hopper；It is co-axially mounted in one-level feeding arm
The one end for having screw feeding bar, screw feeding bar is stretched out the rear end of one-level feeding arm and is coaxially installed with feeding motor, and spiral send
Feeding channel is formed with one-level feeding arm below the other end of material bar, two grades of feeding arms of feeding channel lower end connection, two grades
Another screw feeding bar and feeding motor are coaxially installed with feeding arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620644767.2U CN206088411U (en) | 2016-06-22 | 2016-06-22 | Intelligence that material was spilt to flexibility goes up rice steamer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620644767.2U CN206088411U (en) | 2016-06-22 | 2016-06-22 | Intelligence that material was spilt to flexibility goes up rice steamer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206088411U true CN206088411U (en) | 2017-04-12 |
Family
ID=59974937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620644767.2U Expired - Fee Related CN206088411U (en) | 2016-06-22 | 2016-06-22 | Intelligence that material was spilt to flexibility goes up rice steamer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206088411U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923410A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Intelligent grain loading robot for flexible spreading |
| CN111747137A (en) * | 2020-07-21 | 2020-10-09 | 中国科学院自动化研究所 | One-machine multi-steamer feeding system |
-
2016
- 2016-06-22 CN CN201620644767.2U patent/CN206088411U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923410A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Intelligent grain loading robot for flexible spreading |
| CN111747137A (en) * | 2020-07-21 | 2020-10-09 | 中国科学院自动化研究所 | One-machine multi-steamer feeding system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20190622 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |