CN208632495U - A kind of height-adjustable uploading in rice steamer robot - Google Patents
A kind of height-adjustable uploading in rice steamer robot Download PDFInfo
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- CN208632495U CN208632495U CN201821023164.6U CN201821023164U CN208632495U CN 208632495 U CN208632495 U CN 208632495U CN 201821023164 U CN201821023164 U CN 201821023164U CN 208632495 U CN208632495 U CN 208632495U
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Abstract
The utility model relates to Liquor Making Technology fields, disclose a kind of height-adjustable uploading in rice steamer robot, which includes: big arm, small arm, luffing mechanism and link mechanism；Big arm includes large arm support, one end of large arm support is rotatablely connected by the top of large arm rotating mechanism and column, the top of large arm support and large arm rotating mechanism is rotatablely connected, luffing mechanism is arranged between large arm rotating mechanism and large arm support, and luffing mechanism is for pushing large arm support to carry out pitching type lifting；The other end of small arm and large arm support is rotatablely connected, and link mechanism is arranged between big arm and small arm, and link mechanism in large arm support pitching type lifting process for pushing small arm that small arm is made to keep vertical state.A kind of height-adjustable uploading in rice steamer robot provided by the utility model is gone up and down by large arm support pitching type to adjust large arm height, and structure is simple, convenient for operation；Link mechanism is set, remains small arm vertically, convenient for controlling to adjust.
Description
Technical field
The utility model relates to Liquor Making Technology fields, more particularly to a kind of height-adjustable uploading in rice steamer robot.
Background technique
In brewed spirit, having a critically important link is exactly vinasse uploading in rice steamer, abbreviation uploading in rice steamer.The uploading in rice steamer in traditional handicraft
It is all that vinasse are uniformly taped against in rice steamer pot from level to level with what scoop one shoveled by people, the large labor intensity of people, and work
Environment is also relatively more severe.
The working principle of most common uploading in rice steamer robot is as follows: pass through the height of column up-down mechanism adjusting post first, with
Robot is set to adapt to corresponding operation height, then forearm swing mechanism driving material-falling hopper is swung, and realizes uniform, efficient cloth.
There are following technological deficiencies for existing uploading in rice steamer robot: since uploading in rice steamer robot's arm needs to follow in steamer stone height together
It increases, and the lifting of large arm is all to be driven by a feed screw nut, and the weight in entire large arm is also all by this root
Screw rod support, this results in uploading in rice steamer robot noticeable wear, and the driving electricity of screw rod occurring using a period of time screw rod
Machine is also often burnt out.
Common uploading in rice steamer robot all devises the elevator of vertical direction to solve the problems, such as material smashing currently on the market
Structure, these elevating mechanisms mostly use greatly linear slide rail or the parts such as guiding axis, ball screw or rack-and-pinion, motor to form, knot
Structure is complicated, at high cost, is not easy antirust, is not easy to lubricate.
Utility model content
(1) technical problems to be solved
The purpose of the utility model is to provide a kind of height-adjustable uploading in rice steamer robots, solve for solution or part existing
Common uploading in rice steamer robot all devises the elevating mechanism of vertical direction, these elevating mechanisms are most to solve the problems, such as material smashing
Structure is complicated, at high cost, is not easy antirust, is not easy the problem of lubricating.
(2) technical solution
In order to solve the above-mentioned technical problem, the utility model provides a kind of height-adjustable uploading in rice steamer robot, the robot
It include: big arm, small arm, luffing mechanism and link mechanism；The big arm includes large arm support, and the one of the large arm support
End is rotatablely connected by the top of large arm rotating mechanism and column, and the top of the large arm support and the large arm rotating mechanism turns
Dynamic connection, the luffing mechanism are arranged between the large arm rotating mechanism and the large arm support, and the luffing mechanism is used for
The large arm support is pushed to carry out pitching type lifting；The other end of the small arm and the large arm support is rotatablely connected, described
Link mechanism is arranged between the big arm and small arm, and the link mechanism is used to go up and down in the large arm support pitching type
Push the small arm that small arm is made to keep vertical state in the process.
On the basis of above scheme, the big arm further include: large arm feeding mechanism and feed hopper；The large arm feeding
Mechanism is arranged on the large arm support, and the feed hopper is located at one end of the large arm support, and the large arm feeding mechanism
Feed inlet be connected.
On the basis of above scheme, the large arm rotating mechanism includes: mounting base, the first speed reducer and first motor；
The first motor is vertically arranged, and the first motor bottom end is connected by flange with the first speed reducer, first speed reducer
Bottom be connected with the top of column by speed reducer mounting flange, the one end at the top of the mounting base and the large arm support
Rotation connection, the bottom of the mounting base and first speed reducer are rotatablely connected.
On the basis of above scheme, the luffing mechanism includes: electric pushrod, cylinder or hydraulic cylinder；It is described electronic
The side wall of one end of push rod, cylinder or hydraulic cylinder and the large arm rotating mechanism is rotatedly connected, the other end and large arm support turn
It is dynamic to be connected.
On the basis of above scheme, one end bottom of the large arm support is fixedly connected with large arm rotating seat, the large arm
The top of rotating seat and large arm rotating mechanism is articulated and connected；The luffing mechanism includes: the drive being connected with the large arm rotating seat
Motivation structure, the driving mechanism is for driving large arm rotating seat to rotate.
On the basis of above scheme, the small arm includes: forearm support；The top of the forearm support and described big
The lower rotation of the arm support other end connects, and the bottom of the forearm support is connected by forearm rotating mechanism with material-falling hopper.
On the basis of above scheme, the link mechanism includes: balancing pole；One end of the balancing pole and a connecting rod
One end rotation connection, one end of the other end of the connecting rod and the large arm support is rotatablely connected, the balancing pole it is another
One end and the forearm support are rotatablely connected, and the balancing pole, connecting rod, large arm support and forearm support form link mechanism.
On the basis of above scheme, the small arm further include: arm spindle, forearm swing mechanism and cloth bucket；Institute
The top of arm spindle is stated to connect by forearm rotating mechanism with the lower rotation of the forearm support, the material-falling hopper with it is described
The lower rotation of arm spindle connects, and the forearm swing mechanism is connect, for controlling the material-falling hopper with the material-falling hopper
It swings, connects the cloth bucket in the bottom of the material-falling hopper.
On the basis of above scheme, a kind of height-adjustable uploading in rice steamer robot further include: temp measuring system；The thermometric system
System includes temperature sensor, and the temperature sensor is used to detect charge level temperature and determines maximum temperature position coordinates and feed back to
The forearm swing mechanism, the forearm swing mechanism, which controls the material-falling hopper swing according to charge level maximum temperature position coordinates, to be made
The cloth bucket outlet towards at maximum temperature position.
On the basis of above scheme, the forearm rotating mechanism includes: floating bearing, the second motor and the second deceleration
Machine；The top of the floating bearing is connected with the bottom of the forearm support, and the floating bearing passes through second speed reducer
It is connected with second motor, the bottom of the floating bearing is connected with the arm spindle.
(3) beneficial effect
A kind of height-adjustable uploading in rice steamer robot provided by the utility model, by the top of large arm support and large arm rotating mechanism
Portion's rotation connection, and luffing mechanism is set between large arm rotating mechanism and large arm support, it can be rotated in big arm around column
It realizes the lifting of large arm support pitching type simultaneously to adjust large arm height, changes traditional need setting lifting column to adjust height
Mode keeps structure significantly simple, and convenient for operation, cost is relatively low, convenient to be adjusted at any time to the height of large arm support, and pitching
Mechanism is individual component, maintenance and replacement adjustment convenient for safeguarding；
It will be rotatablely connected between small arm and large arm support, and link mechanism be set, can adjusted in large arm support pitching type
The vertical state of small arm is remained during height, so that small arm is made to remain stable, convenient for controlling to adjust, from
And uploading in rice steamer efficiency is improved, guarantee uploading in rice steamer effect.
Detailed description of the invention
Fig. 1 is a kind of front view of height-adjustable uploading in rice steamer robot of the utility model embodiment；
Fig. 2 is a kind of overall schematic of height-adjustable uploading in rice steamer robot of the utility model embodiment；
Fig. 3 is the first signal of driving mechanism in a kind of height-adjustable uploading in rice steamer robot of the utility model embodiment
Figure；
Fig. 4 is the second signal of driving mechanism in a kind of height-adjustable uploading in rice steamer robot of the utility model embodiment
Figure；
Fig. 5 is the third signal of driving mechanism in a kind of height-adjustable uploading in rice steamer robot of the utility model embodiment
Figure；
Fig. 6 is the 4th signal of driving mechanism in a kind of height-adjustable uploading in rice steamer robot of the utility model embodiment
Figure；
Fig. 7 is the structural schematic diagram of small arm in a kind of height-adjustable uploading in rice steamer robot of the utility model embodiment；
Fig. 8 is a kind of height-adjustable uploading in rice steamer robot operation schematic diagram of the utility model embodiment.
Description of symbols:
1-big arm；2-luffing mechanisms；3-large arm rotating mechanisms；
4-small arms；11-large arm supports；12-feed hoppers；
13-large arm feeding mechanisms；41-forearm rotating mechanisms；42-arm spindles；
43-material-falling hoppers；44-cloth buckets；45-forearm swing mechanisms；
46-forearm supports；14-large arm rotating seats；211-third motors；
212-third speed reducers；221-slides；222-rack gears；
223-gears；224-guiding mechanisms；51-balancing poles；
52-connecting rods.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is not intended to limit the scope of the present invention for illustrating the utility model.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
The present embodiment provides a kind of height-adjustable uploading in rice steamer robot according to the utility model, with reference to Fig. 1, the robot packet
It includes: big arm 1, small arm 4, luffing mechanism 2 and link mechanism；The big arm 1 includes large arm support 11, the large arm support
11 one end is rotatablely connected by the top of large arm rotating mechanism 3 and column, the large arm support 11 and the large arm whirler
The top of structure 3 is rotatablely connected, and the luffing mechanism 2 is arranged between the large arm rotating mechanism 3 and the large arm support 11, institute
Luffing mechanism 2 is stated for pushing the large arm support 11 to carry out pitching type lifting；The small arm 4 and the large arm support 11
Other end rotation connection, the link mechanism are arranged between the big arm 1 and small arm 4, and the link mechanism is used for
Push the small arm 4 that small arm 4 is made to keep vertical state in the 11 pitching type lifting process of large arm support.
A kind of height-adjustable uploading in rice steamer robot provided in this embodiment, mainly sets the big arm 1 of uploading in rice steamer robot
Pitching type lifting is set to adjust the height of big arm 1, uploading in rice steamer robot is made to adapt to the wine rice steamer charge level of different height.And on this
On the basis of pitching type is gone up and down, setting link mechanism can keep small arm 4 during large arm 11 pitching of support for rice steamer robot
Vertical state, so as to convenient for being controlled to adjust to small arm 4.
Component in big arm 1 mainly passes through large arm support 11 and is supported fixation.11 one end of large arm support and column turn
It is dynamic to be connected.Large arm rotating mechanism 3 is set between 11 one end of large arm support and column top.Large arm rotating mechanism 3 can drive greatly
Arm support 11 is that each component of big arm 1 carries out rotary motion around column.
Further, one end of large arm support 11 and the top of large arm rotating mechanism 3 are rotatablely connected.Large arm support 11 can
It is rotated upwardly and downwardly around the tie point with 3 top of large arm rotating mechanism.It is arranged between large arm rotating mechanism 3 and large arm support 11 and bows
Mechanism 2 is faced upward for driving and controlling the pitching up and down of large arm support 11.
Luffing mechanism 2 is fixed by large arm rotating mechanism 3 and large arm support 11.Large arm rotating mechanism 3 can drive greatly
Arm support 11 and 2 one of luffing mechanism are rotated around column.Large arm support 11 can also be in pitching while rotating around column
Pitching adjusts the height of large arm support 11 up and down under the drive of mechanism 2.
Because the angle between large arm support 11 and horizontal plane changes, position with the pitching up and down of large arm support 11
It may swing back and forth, be easy to cause when the small arm 4 of 11 other end of large arm support is in about 11 pitching of large arm support
Small 4 position of arm is unstable not easy to control, to influence stone effect in wine rice steamer.Therefore, in large arm rotating mechanism 3, large arm branch
Link mechanism is set between seat 11 and small arm 4.Link mechanism utilizes connecting rod principle, can be in about 11 pitching of large arm support
Small arm 4 is pushed in journey, and small arm 4 is made to remain vertical state.
It should be rotatablely connected between small arm 4 and large arm support 11, i.e., small arm 4 can be clicked through around the connection with large arm support 11
Row rotation pushes small arm 4 to keep vertical state convenient for link mechanism.It can be realized and be rotatablely connected by hinge arrangement, not to this
It limits.
A kind of height-adjustable uploading in rice steamer robot provided in this embodiment, by large arm support 11 and large arm rotating mechanism 3
Top rotation connection, and luffing mechanism 2 is set between large arm rotating mechanism 3 and large arm support 11, it can be in big arm 1 around column
The lifting of 11 pitching type of large arm support is realized while rotation to adjust large arm height, changes traditional need setting lifting column to adjust
The mode for saving height, keeps structure significantly simple, and convenient for operation, cost is relatively low, convenient to carry out at any time to the height of large arm support 11
Adjustment, and luffing mechanism 2 is individual component, maintenance and replacement adjustment convenient for safeguarding；
It will be rotatablely connected between small arm 4 and large arm support 11, and link mechanism be set, it can be in 11 pitching type of large arm support
The vertical state of small arm 4 is remained during adjusting height, to make small arm 4 remain stable, convenient for control
It adjusts, to improve uploading in rice steamer efficiency, guarantees uploading in rice steamer effect.
Further, one end of large arm support 11 and the top of large arm rotating mechanism 3 can be realized by hinge arrangement rotates
Connection for the purpose of being able to achieve large arm support 11 around tie point rotation, can also not limit this by other means.
Further, other structures can also be used to push small arm 4, make small arm 4 in 11 pitching process of large arm support
Middle holding vertical state, does not limit this.
On the basis of the above embodiments, further, with reference to Fig. 2, the big arm 1 further include: large arm feeding mechanism
13 and feed hopper 12；The large arm feeding mechanism 13 is arranged on the large arm support 11, and the feed hopper 12 is located at described big
One end of arm support 11 is connected with the feed inlet of the large arm feeding mechanism 13.
The present embodiment based on the above embodiment, is illustrated the specific structure of big arm 1.Large arm support 11 is large arm
The major support members in portion 1.Large arm feeding mechanism 13 is fixed by large arm support 11.Large arm feeding mechanism 13 may be provided at
On large arm support 11.Feed hopper 12 can be equally fixed by large arm support 11.Feed hopper 12 setting large arm support 11 with
The connected one end of large arm rotating mechanism 3.Feed hopper 12 is connected with the feed inlet of large arm feeding mechanism 13.
Further, large arm feeding mechanism 13 can be spiral conveying mechanism or plate-chain mechanism, not limit this.
On the basis of the above embodiments, further, the large arm rotating mechanism 3 includes: mounting base, the first speed reducer
And first motor；The first motor is vertically arranged, and the first motor bottom end is connected by flange with the first speed reducer, described
The bottom of first speed reducer is connected by speed reducer mounting flange with the top of column, the top of the mounting base and the large arm
One end of support 11 is rotatablely connected, and the bottom of the mounting base and first speed reducer are rotatablely connected.
The present embodiment based on the above embodiment, is illustrated the structure of large arm rotating mechanism 3.First motor and first
Speed reducer is main driving part.First motor can be rotating servo motor；First speed reducer can be RV speed reducer.First electricity
Machine and the first speed reducer are connected by mounting base and flange with large arm support 11 and column.
First motor is connected by flange with the first speed reducer, and the two is vertically arranged, and first motor is located above.The
The bottom of one speed reducer is connected by speed reducer mounting flange with the top of column.Mounting base can be the hollow cylinder of bottom opening
Structure.The top of mounting base is rotatedly connected with 11 one end of large arm support.One end of large arm support 11 can pass through hinge arrangement and peace
The top end face for filling seat is connected.
The bottom of mounting base and the first speed reducer are rotatablely connected, and can be realized by bearing.It is RV deceleration in the first speed reducer
When machine, setting bearing can not had to.First motor and the first speed reducer drive mounting base rotation, to drive 11 turns of large arm support
It is dynamic.First motor and the first speed reducer can drive large arm support 11 to be rotated by mounting base.
Further, other structures can also be used in large arm rotating mechanism 3, are to be able to achieve large arm support 11 around column rotation
Purpose, without limitation to specific structure.
On the basis of the above embodiments, further, with reference to Fig. 1 and Fig. 2, the luffing mechanism 2 includes: electronic pushes away
Bar, cylinder or hydraulic cylinder；The side wall of one end of the electric pushrod, cylinder or hydraulic cylinder and the large arm rotating mechanism 3
It is rotatedly connected, the other end and large arm support 11 are rotatedly connected.
Luffing mechanism 2 is for pushing about 11 pitching of large arm support to go up and down.Luffing mechanism 2 can be electric pushrod, can also be
Cylinder or hydraulic cylinder.The both ends of electric pushrod, cylinder or hydraulic cylinder respectively with large arm rotating mechanism 3 and 11 turns of large arm support
It is dynamic to be connected.Specifically, one end of electric pushrod, cylinder or hydraulic cylinder can turn with the side wall of mounting base in large arm rotating mechanism 3
Dynamic connection.
Electric pushrod, cylinder or hydraulic cylinder are arranged between large arm rotating mechanism 3 and large arm support 11, large arm rotation
Mechanism 3 can drive electric pushrod, cylinder or hydraulic cylinder and 11 unitary rotation of large arm support；And simultaneously electric pushrod, cylinder or
Person's hydraulic cylinder can push and pull large arm support 11, and large arm support 11 is made to carry out pitching lifting up and down.
Electric pushrod, cylinder or hydraulic cylinder both ends can be realized by hinge and are rotatablely connected, and can also be other structures, with energy
For the purpose of realizing rotation, do not limit this.
On the basis of the above embodiments, further, with reference to Fig. 3, one end bottom of the large arm support 11 is fixed to be connected
Large arm rotating seat 14 is connect, the top of the large arm rotating seat 14 and large arm rotating mechanism 3 is articulated and connected；The luffing mechanism packet
Include: the driving mechanism being connected with the large arm rotating seat 14, the driving mechanism is for driving large arm rotating seat 14 to rotate.
One end of large arm support 11 can be connected by hinge arrangement with the top of large arm rotating mechanism 3.It can be in large arm support
The bottom of 11 one end is fixedly connected with large arm rotating seat 14, and the top of large arm rotating seat 14 and large arm rotating mechanism 3 passes through hinge company
It connects.Large arm rotating seat 14 and the integrated around hinge rotation of large arm support 11.
Driving mechanism be may also set up as luffing mechanism to drive 11 pitch rotation of large arm rotating seat 14 and large arm support.Into
One step, driving mechanism can be third motor 211 and third speed reducer 212, can also for synchronous pulley motor-driven or
Sprocket wheel can also be motor-driven gear structure or driving mechanism can be to be driven by electric pushrod, cylinder or hydraulic cylinder
Gear structure etc..
Specifically, with reference to Fig. 3, driving mechanism is third motor 211 and third speed reducer 212.Third motor 211 and third
Speed reducer 212 is connected with large arm rotating seat 14.The starting of third motor 211 drives third speed reducer 212 to run, and then drives large arm
Rotating seat 14 rotates, and rotates large arm support 11 around hinge, to realize large arm pitching motion.
With reference to Fig. 4, driving mechanism is motor-driven synchronous pulley or sprocket wheel.Synchronous pulley or sprocket wheel are revolved with large arm
Swivel base links together, and electric motor starting drives synchronous pulley or sprocket wheel rotation, and large arm rotating seat can be rotated and then, makes large arm branch
Seat is rotated around hinge, to realize large arm pitching motion.Acceleration and deceleration machine can be considered when Motor torque is inadequate.
With reference to Fig. 5, driving mechanism is motor-driven gear structure.Gear links together with large arm rotating seat, motor
Starting band moving gear rotates, and large arm rotating seat can be rotated and then, rotates large arm support around hinge, to realize large arm pitching
Movement.Acceleration and deceleration machine can be considered when Motor torque is inadequate.
With reference to Fig. 6, driving mechanism is the gear structure that electric pushrod, cylinder or hydraulic cylinder drive.Electric pushrod or liquid
The rack gear 222 of cylinder pressure or cylinder on 221 horizontal rectilinear motion of slide, slide 221 is rotated with moving gear 223.Gear 223 and big
Arm rotating seat 14 links together.Guiding mechanism 224 is used to limit the motion track of rack gear 222, moves rack gear 222 along straight line
It is dynamic, to be rotated with moving gear 223.Large arm rotating seat 14 can be rotated and then, rotate large arm around hinge, to realize large arm
Pitching motion.Guiding mechanism 224 can be using linear slide rail, guiding axis, linear bearing etc..
Further, driving mechanism can be any structure for driving large arm rotating seat 14 to rotate, and not limit this.
On the basis of the above embodiments, further, with reference to Fig. 2, the small arm 4 includes: forearm support 46；It is described
The top of forearm support 46 is connect with the lower rotation of 11 other end of large arm support, and the bottom of the forearm support 46 passes through
The forearm rotating mechanism 41 is rotatedly connected with material-falling hopper.
Small arm 4 can be rotatablely connected by forearm support 46 and large arm support 11.The top of forearm support 46 and large arm branch
Seat 11 is rotatablely connected, and can be realized, can not also be limited this by other structures by hinge arrangement.The bottom of forearm support 46
Portion is connected with forearm rotating mechanism 41.
The bottom of forearm rotating mechanism 41 connects material-falling hopper 43, and fermented grain material is spilt by material-falling hopper 43 into wine rice steamer.Pass through
Forearm rotating mechanism 41 can realize the relative rotation between forearm support 46 and material-falling hopper 43, and material-falling hopper 43 can turn around itself rotation
It is dynamic, to improve uploading in rice steamer efficiency.
Forearm support 46 is set, is connected with forearm rotating mechanism 41, material-falling hopper 43 can be realized around own rotation.It is small simultaneously
Arm 4 can relatively large arm 1 around connection spot wobble so that big arm 1 is in pitching, small arm 4 can occur relatively with big arm 1
The vertical state in order to keep small arm 4 is rotated, is conducive to preferably carry out spreading to spill material.
Forearm support 46 can be slab construction, for the purpose of it can connect forearm rotating mechanism 41 and large arm support 11, to this
Without limitation.
On the basis of the above embodiments, further, with reference to Fig. 1 and Fig. 2, the link mechanism includes: balancing pole 51；
One end of the balancing pole 51 and one end of a connecting rod 52 are rotatablely connected, the other end of the connecting rod 52 and the large arm branch
One end rotation connection of seat 11, the other end of the balancing pole 51 and the forearm support 46 are rotatablely connected, the balancing pole 51,
Connecting rod 52, large arm support 11 and forearm support 46 form link mechanism.
Based on the above embodiment, the specific structure of linkage is illustrated the present embodiment.Can big arm 1 with it is small
Balancing pole 51 is set between arm 4.One end of balancing pole 51 and one end of connecting rod 52 are rotatablely connected；The other end of connecting rod 52
It is rotatablely connected with large arm support 11.The other end and forearm support 46 of large arm support 11 are rotatablely connected；Forearm support 46 and balance
The other end of bar 51 is rotatablely connected.
Balancing pole 51, connecting rod 52, large arm support 11 and forearm support 46 form link mechanism.Based on connecting rod principle,
When luffing mechanism pushes 11 pitching of large arm support lifting, balancing pole 51 can push forearm support 46 that it is made to remain horizontal
State makes forearm rotating mechanism 41 and material-falling hopper 43 to guarantee the stabilization of the associated components connected in 46 bottom of forearm support
Keep vertical state.
On the basis of the above embodiments, further, with reference to figs. 2 and 7, the small arm 4 further include: arm spindle
42, forearm swing mechanism 45 and cloth bucket 44；The top of the arm spindle 42 passes through forearm rotating mechanism 41 and the forearm
The lower rotation of support 46 connects, and the material-falling hopper 43 is connect with the lower rotation of the arm spindle 42, the small arm swing
Mechanism 45 connect with the material-falling hopper 43, the swing for controlling the material-falling hopper 43, connects in the bottom of the material-falling hopper 43
The cloth bucket 44.
The present embodiment based on the above embodiment, further explains the structure of small arm 4.Small arm 4 is set
Be equally used for it is more uniform preferably carry out paving spill fermented grain material.Small arm 4 is located at the opposite end of large arm support 11 with column.
Forearm support 46 and material-falling hopper 43 are rotatablely connected by forearm rotating mechanism 41, and material-falling hopper 43 itself can carry out rotary motion.
Arm spindle 42 is connected in the bottom of forearm rotating mechanism 41；The bottom of arm spindle 42 connects material-falling hopper 43；It falls
The bottom of hopper 43 connects cloth bucket 44.Forearm rotating mechanism 41 is for driving arm spindle 42, material-falling hopper 43 and cloth bucket 44
It is rotated.Material-falling hopper 43 should be located at the lower section of 11 material outlet of large arm support, so that material is fallen into after big arm 1
In hopper 43, and then spill by cloth bucket 44 into wine rice steamer.
Further, forearm rotating mechanism 41 and arm spindle 42 can be hollow mechanism, and the two should be located at big arm 1 and go out
Below material mouth, smoothly fallen into material-falling hopper 43 convenient for material.
Further, it is rotatablely connected, can be connected by a hinge between material-falling hopper 43 and arm spindle 42.Material-falling hopper 43 and cloth
Bucket 44 can be rotated around with the tie point of arm spindle 42, so that cloth bucket 44 can swing back and forth, convenient for each position into wine rice steamer
Paving spills material, is conducive to the uniform laying of material.
Setting forearm swing mechanism 45 is connected with material-falling hopper 43, for driving and controlling the pendulum of material-falling hopper 43 and cloth bucket 44
Dynamic direction and swing angle.Forearm swing mechanism 45 can be fixed by arm spindle 42.
Further, forearm swing mechanism 45 may include RV speed reducer and servo motor.
Further, settable dispersing device in cloth bucket 44 can be arranged in cloth bucket 44 and break up stick.Settable motor
Stick rotation is broken up in drive, and material is futher stirred loosely, material is sent to corresponding position by cloth bucket 44.
Or belt lace machine can be set in 44 bottom of cloth bucket.Settable motor drives belt rotation, when material passes through cloth
Bucket 44 enters on belt, and material can be sent to corresponding position by the movement of belt.Setting dispersing device or belt lace machine are convenient for
Material is uniformly fallen, and guarantees the laying effect of material in wine rice steamer, improves uploading in rice steamer efficiency.
On the basis of the above embodiments, further, a kind of height-adjustable uploading in rice steamer robot further include: thermometric system
System；The temp measuring system includes temperature sensor, and the temperature sensor is for detecting charge level temperature and determining maximum temperature position
It sets coordinate and feeds back to the forearm swing mechanism 45, the forearm swing mechanism 45 is according to charge level maximum temperature position coordinates control
The material-falling hopper 43 is made to swing so that the outlet of the cloth bucket 44 is towards at maximum temperature position.
Temp measuring system is set, and for charge level temperature in real-time monitoring wine rice steamer, the direction and position for spilling material for forearm paving are mentioned
For guidance.Temp measuring system specifically includes that temperature sensor.Temperature sensor can the entire charge level of real-time monitoring Temperature Distribution, and
Determine the space coordinate at maximum temperature position.
Forearm swing mechanism 45 controls the pendulum of material-falling hopper 43 and cloth bucket 44 according to the coordinate of charge level maximum temperature position
Dynamic direction and swing angle, so that the outlet of cloth bucket 44 keeps the material fallen every time equal towards at charge level maximum temperature position
It can fall at maximum temperature position, can preferably carry out the uploading in rice steamer of fermented grain material, improve efficiency.
Further, setting controller carries out intelligent control to temperature sensor.Controller can respectively with temperature sensor
It is connected with forearm swing mechanism 45, controls it.
Further, temperature sensor may be provided on the associated components of big arm 1, such as on large arm support 11；It can also
It is arranged on the associated components of small arm 4, such as on arm spindle 42, does not limit this.
On the basis of the above embodiments, further, the forearm rotating mechanism 41 includes: floating bearing, the second electricity
Machine and the second speed reducer；The top of the floating bearing is connected with the bottom of the forearm support 46, and the floating bearing is logical
It crosses second speed reducer to be connected with second motor, the bottom of the floating bearing is connected with the arm spindle 42.
The specific structure of forearm rotating mechanism 41 is illustrated in the present embodiment.Forearm rotating mechanism 41 mainly passes through back
Shaft holds to realize the relative rotation between small arm 4 and big arm 1.Band of the floating bearing in the second speed reducer and the second motor
It is rotated under dynamic.Second speed reducer can be planetary reducer.
Floating bearing includes relatively turnable inside and outside two layers of cyclic structure.Second speed reducer and the second motor can be with revolutions
The lateral wall of bearing is connected, and layer structure is driven to be rotated.It the top of floating bearing endothecium structure can be with forearm support 46
Bottom is connected.
The bottom of floating bearing is connected with arm spindle 42.Arm spindle 42 can be used for being connected and fixed material-falling hopper 43.Forearm
Main shaft 42 can be connected with the layer structure of floating bearing, under the drive of the second motor with the layer structure of floating bearing one into
Row rotation, and then material-falling hopper 43 and cloth bucket 44 is driven to be rotated.
Further, forearm support 46 can also have through-hole corresponding with floating bearing centre, so that 4 middle part of small arm
With a through-hole.The through-hole is used to be connected to the discharge port of big 1 material of arm.
Further, forearm rotating mechanism 41 can also be gear structure, can be made of gear drive and servo motor, can also
It is made of belt wheel transmission and servo motor, for the purpose of being able to achieve small arm 4 around itself rotary motion, does not limit this.
Rotation connection in the various embodiments described above can be realized by hinge arrangement, can also be by other structures, with can be real
For the purpose of now rotating, do not limit this.
On the basis of the above embodiments, further, a kind of height-adjustable uploading in rice steamer robot by luffing mechanism 2 come
Substitute the elevating function of vertical direction.The distance between settable range-measurement system real-time monitoring cloth bucket 44 and charge level are adjusted in real time
The height of whole large arm support 11.
The specific operation process of the uploading in rice steamer robot luffing mechanism 2 are as follows: when range-measurement system can be laser ranging system, monitoring
When being less than or greater than set distance to the distance of big arm 1 or cloth bucket 44 to charge level, electric pushrod will be pushed, large arm
Support 11 will be around the tie point pitching with large arm rotating mechanism 3.Make cloth bucket 44 in cloth process always with material
Face is maintained in certain distance, during 11 pitching of large arm support small arm 4 link mechanism effect under around with large arm
The tie point rotation of support 11 makes forearm remain vertical direction.
With reference to Fig. 8, the operating process of the uploading in rice steamer robot are as follows: original state large arm support 11 is driven by luffing mechanism 2 and protected
Hold the state of steeving；Small arm 4 keeps vertical direction under link mechanism effect, and wherein forearm support 46 is horizontality.Large arm
The driving large arm support 11 of rotating mechanism 3 rotates, and when running to the top of wine rice steamer, fermented grain is entered by the feed hopper 12 of robot
In large arm feeding mechanism 13.
When determining maximum temperature coordinate position when temperature in temp measuring system and range-measurement system dynamic monitoring rice steamer and rapidly, forearm
Rotating mechanism 41 is started to rotate by driving；Forearm swing mechanism 45 drives 43 swing of forearm material-falling hopper simultaneously, makes cloth bucket
44 into wine rice steamer maximum temperature position move.
During into wine rice steamer, maximum temperature position moves cloth bucket 44, large arm luffing mechanism 2 drives large arm support
11 drive large arm pitching, are maintained at cloth bucket 44 and charge level in a certain distance.Near in target position, that is, rice steamer most
High-temperature coordinate position, the large arm feeding mechanism 13 in large arm start to work, fermented grain are transported at arm spindle 42, fermented grain by
Arm spindle 42 enters in forearm material-falling hopper 43, and material is dispensed in maximum temperature position in wine rice steamer by cloth bucket 44.
The height-adjustable uploading in rice steamer robot can realize the rotation of forearm while large arm rotates, while can adjust in real time
The pitching height of large arm support 11 and the swaying direction and swing angle of material-falling hopper 43, can be achieved at the same time each portion, uploading in rice steamer robot
The operation of part and in real time adjustment, can preferably carry out cloth uploading in rice steamer, improve efficiency, and the big arm configuration and uploading in rice steamer robot architecture
Simply, easy to operate, it is controlled convenient for intelligent automation, practicability is stronger.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of height-adjustable uploading in rice steamer robot characterized by comprising big arm, small arm, luffing mechanism and connecting rod machine
Structure；The big arm includes large arm support, and one end of the large arm support is rotated by the top of large arm rotating mechanism and column
The top of connection, the large arm support and the large arm rotating mechanism is rotatablely connected, and the luffing mechanism is arranged in the large arm
Between rotating mechanism and the large arm support, the luffing mechanism is for pushing the large arm support to carry out pitching type lifting；
The other end of the small arm and the large arm support is rotatablely connected, and the link mechanism setting is in the big arm and small
Between arm, the link mechanism in the large arm support pitching type lifting process for pushing the small arm to make small arm
Keep vertical state.
2. height-adjustable uploading in rice steamer robot according to claim 1, which is characterized in that the big arm further include: big
Arm feeding mechanism and feed hopper；The large arm feeding mechanism is arranged on the large arm support, and the feed hopper is located at described big
One end of arm support is connected with the feed inlet of the large arm feeding mechanism.
3. height-adjustable uploading in rice steamer robot according to claim 1, which is characterized in that the large arm rotating mechanism packet
It includes: mounting base, the first speed reducer and first motor；The first motor is vertically arranged, and the first motor bottom end passes through flange
It is connected with the first speed reducer, the bottom of first speed reducer is connected by speed reducer mounting flange with the top of column, described
The top of mounting base and one end of the large arm support are rotatablely connected, and the bottom of the mounting base and first speed reducer rotate
Connection.
4. height-adjustable uploading in rice steamer robot according to any one of claims 1 to 3, which is characterized in that the luffing mechanism
It include: electric pushrod, cylinder or hydraulic cylinder；One end of the electric pushrod, cylinder or hydraulic cylinder and the large arm rotate
The side wall of mechanism is rotatedly connected, the other end and large arm support are rotatedly connected.
5. height-adjustable uploading in rice steamer robot according to any one of claims 1 to 3, which is characterized in that the large arm support
One end bottom be fixedly connected with large arm rotating seat, the top of the large arm rotating seat and large arm rotating mechanism is articulated and connected；It is described
Luffing mechanism includes: the driving mechanism being connected with the large arm rotating seat, and the driving mechanism is for driving large arm rotating seat to turn
It is dynamic.
6. height-adjustable uploading in rice steamer robot according to any one of claims 1 to 3, which is characterized in that the small arm packet
It includes: forearm support；The top of the forearm support is connect with the lower rotation of the large arm support other end, the forearm support
Bottom be connected with material-falling hopper by forearm rotating mechanism.
7. height-adjustable uploading in rice steamer robot according to claim 6, which is characterized in that the link mechanism includes: flat
Weigh bar；One end of the balancing pole and one end of a connecting rod are rotatablely connected, the other end of the connecting rod and the large arm branch
One end rotation connection of seat, the other end of the balancing pole and the forearm support are rotatablely connected, the balancing pole, connecting rod,
Large arm support and forearm support form link mechanism.
8. height-adjustable uploading in rice steamer robot according to claim 6, which is characterized in that the small arm further include: small
Arm main shaft, forearm swing mechanism and cloth bucket；The top of the arm spindle passes through forearm rotating mechanism and the forearm support
Lower rotation connection, the material-falling hopper connect with the lower rotation of the arm spindle, the forearm swing mechanism with it is described
Material-falling hopper connection, the swing for controlling the material-falling hopper connect the cloth bucket in the bottom of the material-falling hopper.
9. height-adjustable uploading in rice steamer robot according to claim 8, which is characterized in that further include: temp measuring system；It is described
Temp measuring system includes temperature sensor, and the temperature sensor is for detecting charge level temperature and determining maximum temperature position coordinates simultaneously
The forearm swing mechanism is fed back to, the forearm swing mechanism controls the material-falling hopper according to charge level maximum temperature position coordinates
It swings so that the outlet of the cloth bucket is towards at maximum temperature position.
10. height-adjustable uploading in rice steamer robot according to claim 8, which is characterized in that the forearm rotating mechanism packet
It includes: floating bearing, the second motor and the second speed reducer；The bottom phase at the top of the floating bearing and the forearm support
Even, the floating bearing is connected by second speed reducer with second motor, the bottom of the floating bearing with it is described
Arm spindle is connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821023164.6U CN208632495U (en) | 2018-06-29 | 2018-06-29 | A kind of height-adjustable uploading in rice steamer robot |
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| CN201821023164.6U CN208632495U (en) | 2018-06-29 | 2018-06-29 | A kind of height-adjustable uploading in rice steamer robot |
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