CN206185883U - Go up rice steamer manipulator - Google Patents
Go up rice steamer manipulator Download PDFInfo
- Publication number
- CN206185883U CN206185883U CN201621184066.1U CN201621184066U CN206185883U CN 206185883 U CN206185883 U CN 206185883U CN 201621184066 U CN201621184066 U CN 201621184066U CN 206185883 U CN206185883 U CN 206185883U
- Authority
- CN
- China
- Prior art keywords
- cantilever
- rice steamer
- uploading
- lifting arm
- manipulator
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a go up rice steamer manipulator, including support post, first cantilever, second cantilever and lift bar, first cantilever is connected with the support post through a slewer, the second cantilever is connected with first cantilever through the 2nd slewer, the lift bar is through being used for the hoist mechanism who drives the lift bar lift to be connected with the second cantilever, the lift bar through rotation mechanism be connected with with the material loading connecting plate that is used for being connected feed mechanism, rotation mechanism include with lift bar fixed connection's pivot seat axle, with material loading connecting plate fixed connection's roating seat, pivot seat axle passes through bearing spare and is connected with the roating seat, the lift bar overcoat is equipped with telescopic tube, and the second cantilever is connected to telescopic tube's one end, and the other end is connected pivot seat axle. The utility model discloses a go up rice steamer manipulator can be applied to the rice steamer machine, realizes feed mechanism's even material loading, lays evenly.
Description
Technical field
The utility model belongs to Brewing equipment technical field, and in particular to a kind of uploading in rice steamer manipulator.
Background technology
Rice steamer is the steamed wheaten foods apparatus of ancient Chinese, is connected with the grate separated by hollow out, for accommodating food, using the steaming in separating
Food in rice steamer is cooked vapour.At present, rice steamer with it is most commonly used be brewed spirit field, and during uploading in rice steamer is then brewed spirit
One important procedure, it is therefore an objective to by the uniform spreading of vinasse in steamer, existing uploading in rice steamer technology, what is still generally used is artificial
The method of uploading in rice steamer, the uniformity coefficient of vinasse is ensured by the experience of workman, and the shortcoming of artificial uploading in rice steamer is：
1) poor working environment (the indoor highest temperature is 100% up to 40 degree or so, humidity and air quality is poor), sweathouse temperature
Degree high humility is big, and air quality is poor, harsh environmental conditions, and the work of workman's uploading in rice steamer is heavy, and labour intensity is big, is unfavorable for the body of worker
Heart health；
2) cost of labor rises, and labour is reduced；
3) artificial uploading in rice steamer paving spills that vinasse are uneven, because the effusion for having steam in the retort process is not used timely manually
Vinasse covering causes the loss of wine；
4) artificial uploading in rice steamer spreading is in uneven thickness cause rice steamer wine during, the effusion speed ratio of porous spot steam is thicker
Partial effusion is fast, and the loss of wine will certainly be caused in the case where same time is distilled.
Utility model content
The purpose of this utility model is：For problem present in artificial uploading in rice steamer, there is provided a kind of uploading in rice steamer manipulator, realize
Automatic distillation, vinasse spreading is more uniform, effectively improves the utilization rate of vinasse.
To achieve these goals, the technical solution adopted in the utility model is：
A kind of uploading in rice steamer manipulator, including support post, the first cantilever, the second cantilever and lifting arm；First cantilever is by the
Single-revolution device is connected with support post；Second cantilever is connected by the second slewing equipment with the first cantilever；Lifting arm is by using
It is connected with the second cantilever in the hoisting mechanism of lifting arm lifting is driven；Lifting arm by slew gear be connected with for being connected
Expect the feeding connecting plate of mechanism；
Slew gear includes the rotating seat that the shaft seat axle being fixedly connected with lifting arm is fixedly connected with feeding connecting plate,
Shaft seat axle is connected by bearing part with rotating seat；
Telescopic tube is arranged with outside lifting arm, one end of telescopic tube connects the second cantilever, and other end connection is described to be turned
Axle bed axle.
Preferably, the first described slewing equipment and the second slewing equipment are constituted using motor and worm and gear.
Preferably, described lifting arm uses screw mandrel, and hoisting mechanism includes the motor being arranged on the second cantilever, drives
Dynamic motor connection is used for the drive nut coordinated with wire rod thread.
Preferably, also it is each attached to including sonac and temperature sensor, sonac and temperature sensor
Expect the lower section of connecting plate.
Preferably, also including video camera, video camera is fixedly mounted on the lower section of the second cantilever.
By adopting the above-described technical solution, the beneficial effects of the utility model are：
Uploading in rice steamer manipulator of the present utility model, by being provided with support post, the first cantilever, the second cantilever and lifting arm,
First axle is formed between support post and the first cantilever, the second axle, the second cantilever are formed between the first cantilever and the second cantilever
With propose to form the 3rd axle between bar, form a kind of horizontal articulated robot, with three axles and three freedoms of motion, X,
Y, the translational degree of freedom of Z-direction and freely up and down degree about the z axis so that uploading in rice steamer manipulator can drive feed mechanism in steamer
Optional position spreading vinasse, spreading is more uniform；
Uploading in rice steamer machinery hand-motion feed mechanism carries out circular motion around steamer, in layer from the bottom up that vinasse are uniform
Paving be sprinkled upon steamer the inside.Robot band vision system, can according to upper Zhen when actual conditions, discriminate machine in adjust automatically at any time
The upper Zhen action of people, realizes that intelligence is visited and discriminate on gas and gently sprinkle evenly paving.
Brief description of the drawings
Fig. 1 is uploading in rice steamer robot manipulator structure schematic diagram of the present utility model.
Fig. 2 is uploading in rice steamer manipulator partial sectional view of the present utility model.
Fig. 3 is uploading in rice steamer manipulator use state figure of the present utility model.
Reference：
2- boilers, 301- support posts, the cantilevers of 302- first, the cantilevers of 303- second, 304- lifting arms, 305- telescopics
Pipe, 306- feeding connecting plates, the slewing equipments of 307- first, the slewing equipments of 308- second, 309- motors, 310- drives spiral shell
Mother, 311- video cameras, 312- sonacs, 313- temperature sensors, 314- shaft seat axles, 315- bearing parts, 316- rotations
Seat, 4- feed mechanisms.
Specific embodiment
Reference picture 1-3, a kind of uploading in rice steamer manipulator of the present utility model, including support post 301, the first cantilever 302, second
Cantilever 303 and lifting arm 304.
First cantilever 302 is connected by the first slewing equipment 307 with support post 301, the first cantilever 302 and support post
Axle connection is preferably carried out using vertical direction between 301, the first slewing equipment 307 uses motor and the combination side with worm and gear
Formula, motor is arranged on support post 301, motor output end connecting worm, and the connection worm gear of the first cantilever 302, motor passes through snail
When bar drives worm gear wheel, you can drive the first cantilever 302 to be rotated around support post 301.
Second cantilever 303 is connected by the second slewing equipment 308 with the first cantilever 302, the second cantilever 303 and the first cantilever
302 be arranged in parallel, and one end realizes that axle is connected wherein, and the second slewing equipment 308 uses motor and the combination with worm and gear
Mode, motor is arranged on the first cantilever 302, motor output end connecting worm, and the connection worm gear of the second cantilever 303, motor passes through
During worm drive worm gear wheel, you can drive the second cantilever 303 to be rotated around connecting shaft.
Lifting arm 304 is connected by for the hoisting mechanism for driving lifting arm 304 to lift with the second cantilever 303, lifting arm
304 use screw mandrel, and hoisting mechanism includes the motor 309 being arranged on the second cantilever 303, and motor 309 is connected to
The drive nut 310 coordinated with wire rod thread.When the motor 309 on the second cantilever 303 drives drive nut 310 to rotate
When, realize the elevating control to screw mandrel.
Lifting arm 304 is connected with and the feeding connecting plate 306 for being connected feed mechanism 4, feeder by slew gear
Be sent to the materials such as vinasse in boiler 2 by structure 4, by the unloading position of the discharge end of uploading in rice steamer manipulator control feed mechanism 4, from
And realize uniform uploading in rice steamer.
Slew gear includes that the shaft seat axle 314 being fixedly connected with lifting arm 304 is fixedly connected with feeding connecting plate 306
Rotating seat 316, shaft seat axle 314 is connected by bearing part 315 with rotating seat 316.
Telescopic tube 305 is arranged with outside lifting arm 304, one end of telescopic tube 305 connects the second cantilever 303, the other end
The described shaft seat axle 314 of connection.Telescopic tube 305 prevents lifting arm except that can carry out integral sealing to lifting arm 304
The quality of 304 greasing substance leakage influence wine, simultaneous retractable sleeve pipe 305 also has guide effect to lifting arm 304, while also
Can bear to carry out self-supported radial load or radial load.
Uploading in rice steamer manipulator 3 also includes sonac 312 and temperature sensor 313, sonac 312 and TEMP
Device 313 is each attached to the lower section of feeding connecting plate 306.Uploading in rice steamer manipulator 3 also includes video camera 311, and video camera 311 is fixedly mounted
In the lower section of the second cantilever 303.
The paving that sonac 312 can in real time measure vinasse in retort spills thickness.According to survey in manipulator running
The vinasse thickness measured, determines the paving amount of spilling of current location vinasse, i.e. current location vinasse thickness is shallow, just many according to certain algorithm
Paving；Few paving if current location vinasse thickness is deep.
Uploading in rice steamer manipulator 3 also includes alcohol sensitive sensor, for carrying out entire scan to retort, with detecting rice steamer
Whether " race cigarette " situation is occurred.When local alcohol concentration is detected more than certain threshold value, just illustrate that part occurs in that " blasting fume ", that
Controller is accomplished by driving mechanical arm to move to " blasting fume " place and carry out vinasse paving and spills, and paving continues to spread returning to original position after spilling
Spill vinasse.
Temperature sensor 313 uses infrared temperature-test sensor, video camera 311 to use CCD camera, and both coordinate measurable wine
The temperature on poor surface, if it find that local temperature is high, just explanation is herein it is possible that " race cigarette " is, it is necessary to suitably more when paving is spilt
Spread some vinasse.
Claims (5)
1. a kind of uploading in rice steamer manipulator, it is characterised in that including support post (301), the first cantilever (302), the second cantilever (303)
With lifting arm (304)；First cantilever (302) is connected by the first slewing equipment (307) with support post (301)；Second cantilever
(303) it is connected with the first cantilever (302) by the second slewing equipment (308)；Lifting arm (304) is by for driving lifting arm
(304) hoisting mechanism of lifting is connected with the second cantilever (303)；Lifting arm (304) by slew gear be connected with for even
Connect the feeding connecting plate (306) of feed mechanism (4)；
Slew gear includes the shaft seat axle (314) being fixedly connected with lifting arm (304) and the fixed company of feeding connecting plate (306)
The rotating seat (316) for connecing, shaft seat axle (314) is connected by bearing part (315) with rotating seat (316)；
Telescopic tube (305) is arranged with outside lifting arm (304), one end of telescopic tube (305) connects the second cantilever (303), separately
The described shaft seat axle (314) of one end connection.
2. uploading in rice steamer manipulator according to claim 1, it is characterised in that described the first slewing equipment (307) and second
Slewing equipment (308) is constituted using motor and worm and gear.
3. uploading in rice steamer manipulator according to claim 1, it is characterised in that described lifting arm (304) uses screw mandrel, lifting
Mechanism includes the motor (309) being arranged on the second cantilever (303), and motor (309) is connected to and wire rod thread
The drive nut (310) of cooperation.
4. uploading in rice steamer manipulator according to claim 1, it is characterised in that also passed including sonac (312) and temperature
Sensor (313), sonac (312) and temperature sensor (313) are each attached to the lower section of feeding connecting plate (306).
5. uploading in rice steamer manipulator according to claim 1, it is characterised in that also including video camera (311), video camera (311)
It is fixedly mounted on the lower section of the second cantilever (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621184066.1U CN206185883U (en) | 2016-11-03 | 2016-11-03 | Go up rice steamer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621184066.1U CN206185883U (en) | 2016-11-03 | 2016-11-03 | Go up rice steamer manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206185883U true CN206185883U (en) | 2017-05-24 |
Family
ID=58733725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621184066.1U Active CN206185883U (en) | 2016-11-03 | 2016-11-03 | Go up rice steamer manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206185883U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738894A (en) * | 2017-11-09 | 2018-02-27 | 常州机电职业技术学院 | A kind of robotically-driven material-strewing device |
| CN110145576A (en) * | 2018-11-01 | 2019-08-20 | 浙江大学山东工业技术研究院 | Synchronous belt support device |
| CN111674907A (en) * | 2020-05-29 | 2020-09-18 | 株洲优瑞科有色装备有限公司 | Overweight residual polar plate online removing mechanism |
| CN115418299A (en) * | 2022-09-30 | 2022-12-02 | 姚智慧 | Manipulator for pouring fermented grains from vinegar |
-
2016
- 2016-11-03 CN CN201621184066.1U patent/CN206185883U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738894A (en) * | 2017-11-09 | 2018-02-27 | 常州机电职业技术学院 | A kind of robotically-driven material-strewing device |
| CN110145576A (en) * | 2018-11-01 | 2019-08-20 | 浙江大学山东工业技术研究院 | Synchronous belt support device |
| CN111674907A (en) * | 2020-05-29 | 2020-09-18 | 株洲优瑞科有色装备有限公司 | Overweight residual polar plate online removing mechanism |
| CN111674907B (en) * | 2020-05-29 | 2021-09-10 | 株洲优瑞科有色装备有限公司 | Overweight residual polar plate online removing mechanism |
| CN115418299A (en) * | 2022-09-30 | 2022-12-02 | 姚智慧 | Manipulator for pouring fermented grains from vinegar |
| CN115418299B (en) * | 2022-09-30 | 2024-03-22 | 姚智慧 | Vinegar fermented grain pouring manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206185883U (en) | Go up rice steamer manipulator | |
| CN106350341A (en) | Retort distillation robot | |
| CN109483111B (en) | Automatic welding equipment for double-robot roller | |
| CN104925556B (en) | Winding device with vertical lifting function | |
| CN105398592B (en) | Ring rail type film laminating machine | |
| CN107324020B (en) | A kind of turnover device of solar panel | |
| CN107831117A (en) | Adaptive caliber pipeline climbing robot | |
| CN206188777U (en) | Go up rice steamer robot | |
| CN207223597U (en) | One kind is suitable for the clean equipment of compressor cylinder weld seam | |
| CN107258940A (en) | A kind of intelligent tea fresh leaves airing withering equipment | |
| CN107756173A (en) | Whirlpool axle deburring equipment | |
| CN106425195B (en) | A kind of industrial welding robot | |
| CN103392830A (en) | Full-automatic bean stick producing apparatus | |
| CN207746631U (en) | Roller end cover welder | |
| CN110055530A (en) | A kind of enamel tank dusting device | |
| CN207001743U (en) | A kind of flip type piler | |
| CN207606618U (en) | A kind of glass edging equipment | |
| CN203482836U (en) | Full-automatic bean stick production equipment | |
| CN215223190U (en) | Orchard picking operation device | |
| CN206047403U (en) | A kind of welding robot on bed-table pipe fitting automatic assembly line | |
| CN108790230A (en) | A kind of tyre surface automatic feeder | |
| CN213595199U (en) | Adjustable fluorescence permeation detection line moving frame | |
| CN205105834U (en) | Automatic over -and -under type fruit supplies bagging apparatus | |
| CN105123364A (en) | Automatic elevating fruit bag supplying device | |
| CN207914031U (en) | A kind of plank glue spreading apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |