CN206188777U - Go up rice steamer robot - Google Patents
Go up rice steamer robot Download PDFInfo
- Publication number
- CN206188777U CN206188777U CN201621184068.0U CN201621184068U CN206188777U CN 206188777 U CN206188777 U CN 206188777U CN 201621184068 U CN201621184068 U CN 201621184068U CN 206188777 U CN206188777 U CN 206188777U
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- cantilever
- rice steamer
- uploading
- rotating base
- lifting arm
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Abstract
The utility model discloses a go up rice steamer robot, its characterized in that, including supporting platform, supporting platform is last to be provided with feed mechanism, boiling bulb and to go up the rice steamer manipulator, feed mechanism including installing the rotating base on supporting platform, the last last silo of being connected with the rotating base rotary type that is provided with of rotating base, the discharge end of last silo is connected with the lower feed cylinder that inserts in the boiling bulb, last rice steamer machinery handbag draw together 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. The utility model discloses a go up rice steamer robot can realize the automatic rice steamer of going up to the boiling bulb, and it is efficient to go up the rice steamer, 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 robot.
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 existing artificial uploading in rice steamer, there is provided a kind of uploading in rice steamer machine
People, realizes that the spreading thing spreading such as automatic distillation, upper high distillation efficiency, vinasse is more uniform.
To achieve these goals, the technical solution adopted in the utility model is：
A kind of uploading in rice steamer robot, it is characterised in that feed mechanism, distillation are provided with including support platform, in support platform
Pot and uploading in rice steamer manipulator；
Described feed mechanism includes the rotating base in support platform, is provided with rotating base and rotation bottom
The feeding groove of seat rotary type connection, the discharge end of feeding groove is connected with the blanking tube in insertion boiler；
Described uploading in rice steamer manipulator includes 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 that the shaft seat axle being fixedly connected with lifting arm and feeding connecting plate are fixed and connects
The rotating seat for connecing, shaft seat axle is connected by bearing part with rotating seat；Telescopic tube, the one of telescopic tube are arranged with outside lifting arm
The second cantilever of end connection, the described shaft seat axle of other end connection.
Preferably, described boiler includes still head, and support platform includes the hanger bracket above boiler, suspension
Guide rail is provided with frame, still head is suspended on described guide rail.
Preferably, runing rest is provided with described rotating base, the bottom of runing rest has connection axle portion, connection
It is connected with rotating base rotary type in the described rotating base of axle portion insertion, the top of runing rest has prong portion, feeding groove
It is arranged in prong portion and is connected with prong portion axle.
Preferably, described boiler is provided with two.
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 robot of the present utility model, circular motion is carried out by uploading in rice steamer machinery hand-motion feed mechanism around steamer,
From the bottom up uniformly spreading vinasse in layer is sprinkled upon steamer the inside.Robot band vision system, can according to upper Zhen when
Actual conditions, the at any time upper Zhen action of adjust automatically Shang Zhen robots realizes that intelligence is visited and discriminate on gas and gently sprinkle evenly paving；
And then uploading in rice steamer manipulator is by being provided with support post, the first cantilever, the second cantilever and lifting arm, in support post
Formed between the first cantilever first axle, formed between the first cantilever and the second cantilever the second axle, the second cantilever with propose bar it
Between form the 3rd axle, form a kind of horizontal articulated robot, with three axles and three freedoms of motion, X, Y, Z-direction
Translational degree of freedom and freely up and down degree about the z axis so that uploading in rice steamer manipulator can drive feed mechanism optional position in steamer
Spreading vinasse, spreading is more uniform.
Brief description of the drawings
Fig. 1 is uploading in rice steamer robot architecture schematic diagram of the present utility model.
Fig. 2 is uploading in rice steamer manipulator uploading in rice steamer schematic diagram of the present utility model.
Fig. 3 is uploading in rice steamer robot manipulator structure schematic diagram of the present utility model.
Fig. 4 is uploading in rice steamer manipulator partial sectional view of the present utility model.
Fig. 5 is blanking tube structural representation of the present utility model.
Reference：
1- support platforms, 101- hanger brackets, 2- boilers, 201- still heads, 3- uploading in rice steamer manipulators, 301- support posts,
The cantilevers of 302- first, the cantilevers of 303- second, 304- lifting arms, 305- telescopic tubes, 306- feeding connecting plates, 307- first is turned round
Device, the slewing equipments of 308- second, 309- motors, 310- drive nuts, 311- video cameras, 312- sonacs,
313- temperature sensors, 314- shaft seat axles, 315- bearing parts, 316- rotating seats, 4- feed mechanisms, 401- feeding grooves, 402-
Rotating base, 403- runing rests, 404- blanking tubes.
Specific embodiment
Reference picture 1-5, a kind of uploading in rice steamer robot of the present utility model, including support platform 1, are provided with support platform 1
Feed mechanism 4, boiler 2 and uploading in rice steamer manipulator 3.
Reference picture 2, feed mechanism 4 includes the rotating base 402 in support platform 1, is set on rotating base 402
Under thering is the feeding groove 401 being connected with the rotary type of rotating base 402, the discharge end of feeding groove 401 to be connected with insertion boiler 2
Barrel 404.Specifically, runing rest 403 is provided with rotating base 402, the bottom of runing rest 403 has connection axle portion,
It is connected with the rotary type of rotating base 402 in the described rotating base 402 of connection axle portion insertion, the top of runing rest 403 has
Prong portion, feeding groove 401 is arranged in prong portion and is connected with prong portion axle.So, feeding groove 401 and blanking tube 404
Realize left rotation and right rotation and swing up and down.Reference picture 5, is provided with spiral cutting machine structure in blanking tube 404 so that the material such as vinasse is not
Easily formed in blanking tube 404 and blocked, while being provided with rabbling mechanism in the bottom of spiral cutting machine structure, enable to out
The uniform spreading of material, and the thicker place of laying depth can be stirred, it is ensured that laying depth is more uniform.
Boiler 2 includes still head 201, and support platform 1 includes the hanger bracket 101 positioned at the top of boiler 2, hanger bracket
Guide rail is provided with 101, still head 201 is suspended on described guide rail, and before uploading in rice steamer and after the completion of uploading in rice steamer, still head 201 is equal
Can be by being slided on the guide rail of hanger bracket 101 come lid and lower cover on realizing.
The quantity of boiler 2 could be arranged to two in the present embodiment, naturally it is also possible to set other quantity.
Reference picture 3, Fig. 4, uploading in rice steamer manipulator 3 includes support post 301, the first cantilever 302, the second cantilever 303 and lifting
Bar 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, turn-around machine by slew gear
Structure includes the rotating seat 316 that the shaft seat axle 314 being fixedly connected with lifting arm 304 is fixedly connected with feeding connecting plate 306, turns
Axle bed 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.Described telescopic tube 305 manages telescopic being formed by connecting using four sections.
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 (8)
1. a kind of uploading in rice steamer robot, it is characterised in that including support platform (1), support platform is provided with feed mechanism on (1)
(4), boiler (2) and uploading in rice steamer manipulator (3)；
Described feed mechanism (4) includes the rotating base (402) in support platform (1), and rotating base sets on (402)
The feeding groove (401) being connected with rotating base (402) rotary type is equipped with, the discharge end of feeding groove (401) is connected with insertion distillation
Blanking tube (404) in pot (2)；
Described uploading in rice steamer manipulator (3) includes support post (301), the first cantilever (302), the second cantilever (303) and lifting arm
(304)；First cantilever (302) is connected by the first slewing equipment (307) with support post (301)；Second cantilever (303) passes through
Second slewing equipment (308) is connected with the first cantilever (302)；Lifting arm (304) is by for driving what lifting arm (304) was lifted
Hoisting mechanism is connected with the second cantilever (303)；Lifting arm (304) by slew gear be connected with for being connected feed mechanism
(4) feeding connecting plate (306)；Slew gear includes the shaft seat axle (314) and feeding that are fixedly connected with lifting arm (304)
The rotating seat (316) that connecting plate (306) is fixedly connected, shaft seat axle (314) is connected by bearing part (315) and rotating seat (316)
Connect；Telescopic tube (305) is arranged with outside lifting arm (304), one end of telescopic tube (305) connects the second cantilever (303), another
Hold the shaft seat axle (314) described in connection.
2. uploading in rice steamer robot according to claim 1, it is characterised in that described boiler (2) is including still head
(201), support platform (1) includes the hanger bracket (101) above boiler (2), and hanger bracket is provided with guide rail on (101),
Still head (201) is suspended on described guide rail.
3. uploading in rice steamer robot according to claim 1, it is characterised in that be provided with rotation on described rotating base (402)
Turn support (403), the bottom of runing rest (403) has connection axle portion, in the described rotating base (402) of connection axle portion insertion
It is connected with rotating base (402) rotary type, the top of runing rest (403) has prong portion, and feeding groove (401) is arranged on prong
It is connected in portion and with prong portion axle.
4. uploading in rice steamer robot according to claim 1, it is characterised in that described boiler (2) is provided with two.
5. uploading in rice steamer robot 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.
6. uploading in rice steamer robot 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.
7. uploading in rice steamer robot 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).
8. uploading in rice steamer robot 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 |
|---|---|---|---|
| CN201621184068.0U CN206188777U (en) | 2016-11-03 | 2016-11-03 | Go up rice steamer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621184068.0U CN206188777U (en) | 2016-11-03 | 2016-11-03 | Go up rice steamer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206188777U true CN206188777U (en) | 2017-05-24 |
Family
ID=58733723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621184068.0U Active CN206188777U (en) | 2016-11-03 | 2016-11-03 | Go up rice steamer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206188777U (en) |
Cited By (2)
| 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 |
| CN110425389A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of holder up-down swing mechanism and its inspecting robot |
-
2016
- 2016-11-03 CN CN201621184068.0U patent/CN206188777U/en active Active
Cited By (2)
| 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 |
| CN110425389A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of holder up-down swing mechanism and its inspecting robot |
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