CN2815632Y

CN2815632Y - Stuffing robot

Info

Publication number: CN2815632Y
Application number: CN 200520080901
Authority: CN
Inventors: 关多友
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-03-15
Filing date: 2005-03-15
Publication date: 2006-09-13
Anticipated expiration: 2015-03-15

Abstract

The utility model discloses a stuffing robot which is an industrial robot used for processing stuffing food, which is composed of a control system, a detection system, a drive system and an execution mechanism, wherein a first shaping part of the execution mechanism is composed of a stuffing material conveying mechanism, a flour material conveying mechanism and a shaping mechanism; a secondary shaping part of the execution mechanism is composed of a secondary shaping mould and an output mechanism; a pendulum disc part of the execution mechanism is formed by that a driving pendulum disc makes transverse and longitudinal orderly pause motion. The stuffing material conveying mechanism is a blade plunger pump with a pressing and poking head. The flour material conveying mechanism is a variety screw rod pump. The shaping mechanism is composed of a tray, a machine hand and a shaping roller which make changing screw motion. The robot can complete all the tasks of the processing of stuffing food of various kinds of stuffing and wrappers and various specifications in a full automatic way under the precondition of ensuring both quality and quantity; the tasks comprise the first shaping operation of the stuffing food, the continuative completion of the secondary shaping operation of the stuffing food on the basis of the first shaping operation and the final procedure of orderly and uniformly placing the stuffing food processed in a disc.

Description

Faric robot

Affiliated technical field

The utility model relates to the industrial robot of processing various cored foods, is applicable to that particularly food factory processes the industrial robot of various cored foods.

Background technology

By the cored food moulding process, the machinery of past processing belt filling food has three kinds.A kind of moulding process is not considered the rheological body character of filling and skin, by the standard machinery method of processing solid, two kinds of single station multiple operation and multistation list operations is arranged fully.So-called single station multiple operation, promptly all operations are all finished a position, similar machining center.So-called multistation list operation is promptly only finished technology one in each position, and similar machine tool is as lathe, planer etc.By such processing method, the moulding process of stuffing-wrapping machine is: the musculus cutaneus blanking, roll skin, advance filling, seal, moulding.With single station multiple operation design stuffing-wrapping machine, all process steps is all finished a position.With multistation list operation design stuffing-wrapping machine, each station is only finished a procedure, realizes intermittent movement with pure mechanical means control between each station, have with its mechanism controls of horse ear, the full-depth tooth wheel that toos many or too much for use that has is controlled cam control etc.But musculus cutaneus is a rheological body, and its physical and mechanical properties is relevant with factors such as flour kind, water content and face times, very easily adhesion in forming process, no matter which procedure, as long as place ixoderm breakage is arranged, entire machine just must be shut down and be cleaned.Have only to increase and spill dry powder mechanism for reducing breakage, band and be that machine cost has increased; As face and very hard, make its viscosity very little, band and be that the food of working it out is not very good eating.Therefore, in any case this class stuffing-wrapping machine is the contradiction that also can't resolve finished product breakage rate and output, quality and machine cost.

The machinery of other two class processing belt filling foods has been considered the rheological body character of musculus cutaneus face to be extruded into the face tube, and filling is uniform in the face tube to be bowel lavage shape.Different is that a Cai Yong Lure leads theoretical moulding, as the N207 type automatic stuffing machine of Japan; Another adopts mould molding, as bun stuffing machine.The machine of this two classes processing belt filling food is all than above-mentioned first kind advanced person.But because filling is bowel lavage shape in that intracutaneous is uniform, therefore poor to filling skin adaptive capacity, product quality and output are carried not high.Employing is touched in the tool forming process, and the face tube is that face contacts with touching between tool, even add and spill dry powder mechanism, the chance of ixoderm still is many.The more important thing is that the face tube is done the time spent touching tool, the bottom is stretched.The steamed stuffed bun of working it out like this must be that the thin group in the end is thick, has both made living not breaking, and ripe also breaks, and damaging problem does not still thoroughly solve.Simultaneously, the steamed stuffed bun Zhe that works it out like this touches the seal that tool is pressed, and the steamed stuffed bun of giving birth to has Zhe, and ripe steamed stuffed bun has not just had Zhe.And the diameter of face tube must need greater than the steamed stuffed bun diameter.Therefore shaping speed can not be too fast, otherwise can increase breakage rate, and promptly steamed stuffed bun output can not be too high.The N207 type stuffing-wrapping machine of theoretical moulding is induced in employing, and its moulding process is: spin the motion the face tube under the effect of trochoid spiral moulding rod and the face tube diameter of moulding rod contact position diminish gradually.The tube diameter is reduced to a certain degree face to face, under pallet and manipulator effect, finishes the processing of glomerular zone filling food.Press relative motion principle, can regard this forming process as on the lathe spherical workpiece of processing, the similar cylinder Mao of band filling face tube Pei, the similar lathe tool of format roll.In this molding mode face tube and format roll be moment line contact, add and spill the effect of dry powder mechanism, can solve very ideally because the damaging problem that the musculus cutaneus adhesion causes.But in such forming process, filling is uniform in the face tube, and this does not just allow filling that the hard thing of shelled peanut class is arranged in the face tube, and shaping speed can not be too high, otherwise can increase breakage.The straight warp of face tube can not be less than the straight warp of glomerular zone filling food, and the straight warp of this forming roll of will hoping for success can not be too little.And format roll determines the key component of stuffing-wrapping machine size exactly.Such stuffing-wrapping machine can not be too little, and cost just can not be too low, otherwise its technical indicator is just undesirable.

Above-mentioned three kinds of stuffing-wrapping machine can only be finished the cored food one-shot forming.As further finishing the cored food post forming, be processed into the moon cake of different shape, also need one-time formed cored food is transported to an other make-up machine, on this make-up machine, finish the cored food post forming.As again the food after the last moulding fitly being put in the Sheng dish, can only lean on workman's manual operations.Like this, not only increased the cost of machine own, and actual use very inconvenient, more can not be different with lining according to the filling material, food size is different with specification, selection different operating scheme.

Summary of the invention

The purpose of the faric robot of the utility model is to overcome above-mentioned shortcoming, and a kind of all industrial robots of work of processing belt filling food of automatically finishing are provided.This robot not only adaptive capacity to filling material and lining is strong, and can according to the requirement of user to product specification, select the best effort scheme according to the concrete condition of filling material and lining, guarantees that output is the highest under the low situation of product breakage rate.The more important thing is that this robot can successively finish, the one-shot forming of cored food, post forming, last, the cored food after the moulding neatly and is equably put in the Sheng dish of containing this food.What the user took is the Sheng dish that neatly occupies cored food, directly enters further work.The not only cost of this robot own is low, and can finish whole tasks of processing belt filling food with automatically guaranteeing both quality and quantity.For reaching this purpose, the faric robot of the utility model is made of control system, detection system, drive system and executing agency.Detection system detects processing belt filling food quality at any time, and the work progress situation of processing belt filling food is converted into electric current to detected various information and is transported to robot control system.This robot control system is made up of control system software and control system hardware, and the various information that it can provide according to detection system are at any time selected the best effort scheme, and by the programme of work of selecting, send various instructions to drive system.Drive system is made up of six bunchers, and its door can drive each executing agency by the control system requirement, finishes one-shot forming, post forming and the balance work of cored food.One-time formed executing agency matches by defeated filling mechanism, flour conveying mechanism, with defeated filling mechanism and flour conveying mechanism and finishes the one-time formed shaping mechanism of cored food to accept filling material and lining, spills dry powder mechanism to what dry powder spilt in one-shot forming mechanism.The executing agency of post forming is made up of post forming mould and the output mechanism that cooperates with this mould.Pendulum disk mechanism is made up of two separately-driven worm drive of buncher, and the Sheng dish of cored food is accepted in control, does horizontal intermittent movement or vertically intermittent movement respectively, finishes at last and fitly occupy cored food work in the Sheng dish.This robot has finished like this automatically, whole tasks of processing belt filling food.

Stuffings conveying mechanism is by the hopper that is fastened on the frame, with the rack-mounted filling pump shaft of bearing, the rotor that is connected through safety pin and filling pump shaft, the pressure shifting block that is connected with rotor, be installed in the rotor hole 2 pistons that can axially-movable and be installed in the rotor slot can radial motion 1 blade, be pressed in the epitrochanterian filling dish of joining, be enclosed within the rotor lining of rotor outside, with the rack-mounted adjustable skid of screw thread, the connecting plate that links to each other with adjustable skid and pitch, the stuffing filling horn that is connected with the rotor lining constitutes.Hopper is used to contain the filling material, presses shifting block to be used for pressing material toggling bucket filling material that it is entered in the rotor hole, and the interior piston of rotor hole this moment just moves downward under the magnetic field force effect.When rising under the effect of piston at pitch, the filling material is extruded in the feeding chamber of rotor lining in the rotor hole by piston, this moment, the rotor slot intra vane entered rapidly under the magnetic field force effect in the feeding chamber of rotor lining, and the filling material that promotes in the feeding chamber passes through stuffing filling horn entering surface tube, finished once defeated filling work.Adjust threaded adjustable skid in the stuffings conveying mechanism, can adjust the position of pitch, change piston stroke, thereby reach the purpose of adjusting defeated filling amount through connecting plate.

Fabric conveying mechanism is the mutation screw pump, and it is by dextrorotation varying pitch circular cone screw feeder, the screw feeder housing, and face tube formed body, the face jacket casing pipe of face tube shaping cover and band helicoid constitutes.Several adjustment pads are equipped with at screw feeder housing two ends respectively.Change screw feeder housing two ends and adjust the number of pad, just can change the axial location of screw feeder housing, promptly change the gap of screw feeder and its housing, thereby reach fine setting chances of losing games amount, cause the purpose that the gap changes because of wearing and tearing between benefit reward auger housing and auger.

Shaping mechanism is by conical surface thread forming roller, be contained in the manipulator on the moulding roll shaft, the plane cam that manual work of control machinery and frame are connected, the pallet of under format roll, spinning and moving, with the rack-mounted adjusting slider of key, with the swinging mounting of hinge form connection adjusting slider and pallet, the swing slide block that is installed on the swinging mounting with screw thread is constituted with the space cam that connects firmly on left moulding roll shaft.The direction of rotation of pallet is opposite with the direction of rotation of format roll, and it fits in forming roll accelerated band filling food and forms at last.Manipulator is by pivoted arm, and torsionspring and pivoted arm support constitute.The pivoted arm support is connected by key and left moulding roll shaft, and pivoted arm can freely swing on the little axle that is connected with the pivoted arm support, and an end and the support of torsionspring are connected, and the other end and pivoted arm are connected.Under the effect of torsionspring, pivoted arm one end moves along plane cam all the time, thereby the realization manipulator is shifted the food of moulding just onto output mechanism output from pallet under plane cam control.Contact with space cam and make swinging mounting all the time under space cam control with magnetic field force that permanent magnet that swinging mounting is connected produces, the time and the bottom at the uniform velocity, the time and go up pendulum fast, thereby when making pallet and at the uniform velocity descend, the time and fast rise.Format roll is that the wheel hub that the left-handed conical surface screw thread done by pottery and metal are done is constituted.Every curved surface screw thread is by two sections compositions, from the top section of beginning, and the descending significantly variation of the pitch of screw thread and lead angle, another section spiral line pitch of following remains unchanged.Its tooth form section bottom is two sections straight lines and a small-radius arc, and top is a large radius arc and a straight line tangent with it.Its number has single head, and 2 statures or 4 statures are also arranged.The manipulator number is corresponding with the format roll number of starts with the space cam type.Shaping mechanism and the synchronous operation of filling material mechanism.During work, two format rolls rotate around its axis, pallet, and manipulator and the stuffings conveying mechanism close fit that is synchronized with the movement with it with cored food moulding one by one, are delivered to output mechanism output, are unlikely to disorderly.Adjust the adjusting slider and the swing slide block of shaping mechanism, can adjust the contact point of swinging mounting and space cam, thereby change the swinging mounting pivot angle, reach the purpose that changes the pallet dropping distance, make it adapt to the various cored food needs of processing.

Spill dry powder mechanism and be positioned on the right format roll, it spills dried noodle support and dried noodle basin by what connect firmly with frame, with the face of the dialling wheel that right moulding roll shaft connects firmly, and the support plate of control dried noodle amount and deliver to the face cam that pushes away of assigned address and constitute being spread across dried noodle on the format roll.Like this, in shaping mechanism when work,, dry powder is spread across on the right format roll continuously dialling the effect of face wheel, at the right format roll of rotation with press thereon but motionless pushing away just shifted onto under the face cam synergy on the cored food in moulding, thereby avoids format roll and musculus cutaneus adhesion.

Detection system is converted into electric current to various information at any time and is transported to robot control system, various information and customer requirements that robot control system provides according to detection system, select the best effort scheme, and send various instructions to relevant drive system by selected scheme, each executing agency just under drive system drives, successively finishes work such as one-shot forming, post forming and balance.During work, lining is formation face tube under the effect of face jacket casing pipe, and with the form entering surface tube of pulsation, the face tube of this belt transect filling and spills dry powder mechanism and cooperates the one-shot forming of finishing cored food under the shaping mechanism effect filling material under defeated filling mechanism urges.As the food after the one-shot forming is exactly finished product, and this food is directly imported balance through output mechanism; Otherwise this food is imported balance after post forming.What the operator took at last is the balance that neatly occupies band county food.

The face tube descends while rotating, and the filling material is with pulsation form entering surface tube, in a moulding circulation, the filling time is arranged into and does not advance the filling time, and its forming process and Japanese N207 type stuffing-wrapping machine form similarity.They all utilize the rheological body character of filling and face to form the face tube, and filling is in the face tube.Difference, when Japanese N207 type stuffing-wrapping machine was worked, filling was uniform in the face tube, is the bowel lavage shape, filling of the present utility model is the form appearance with pulsation in the face tube.The spherical bulb of the similar processing of forming process, its shape are that " blowing " comes out, and promptly the steamed stuffed bun diameter depends on chances of losing games amount and defeated filling amount, and be irrelevant with face tube diameter.Cored food after the one-shot forming under the manipulator effect of one-shot forming mechanism, is directly fallen on the output mechanism with post forming mould cooperating.The food that has is exactly end product after one-shot forming, and as smashed bean bun, this food just enters balance through output mechanism; The food that has also is not end product after one-shot forming, also will pass through post forming, as moon cake, pie etc.Need be after the food of post forming to be fallen output mechanism, detection system the cored food motion conditions information after the one-shot forming, is converted into electric current and is transported to robot control system at any time.When control system obtains cored food and has been sent to the precalculated position, send relevant instructions to two motors that drive the post forming mould and drive output mechanism at once, output mechanism stops to export at once, and post forming work begins.When detection system was notified control system the completed information of post forming, control system sent relevant instruction to output mechanism at once, and output mechanism begins output, and the cored food of moulding at last just is sent to pendulum disk mechanism and carries out balance.Cored food one-shot forming of the present utility model, post forming and balance have been finished like this at last.

The faric robot of the utility model, because of filling occurs with the pulsation form in the face tube, appearance opportunity and shaping mechanism close fit, in inducing theoretical forming process, can not increase breakage rate because of accelerating in shaping speed or the filling material bigger hard thing to be arranged, promptly the adaptive capacity to filling material and lining is strong, the output height.Simultaneously, under detection system and control system synergy, executing agency can be according to the user to finished product size and specification requirement, and filling material and lining concrete condition are selected the best effort scheme, is guaranteeing that output is the highest under the end product quality situation.Adopt composite to replace expensive stainless steel again in a large number, adopt sub-assembly on the structure again in a large number, make its manufacturing process, assembly technology, maintenance process reach the simplest.Because filling occurs with the pulsation form, make little format roll and the renunciation of face tube diameter of the faric machine National People's Congress of decision in the face tube.Adopt the special construction bearing to create condition again, make the faric robot of the utility model, producing under the same product situation with guaranteeing both quality and quantity for reducing structure, the volume minimum of machine own, cost is minimum, and output is the highest, and function is maximum.The more important thing is that the utility model patent can successively be finished one-shot forming, post forming and the balance work of cored food on a machine, the operator can hold the balance that neatly occupies cored food, directly delivers to baking box and goes.That is to say that the cost of machine own is not high, but multiple functional.Below in conjunction with drawings and Examples, do further just bright to the utility model.

Description of drawings

Fig. 1 is defeated filling, the chances of losing games and moulding transmission and a structural representation of the one-shot forming of the utility model embodiment.

Fig. 2 is the stuffings conveying mechanism schematic diagram of the utility model embodiment.

Fig. 3 is post forming transmission and the structural representation of the utility model embodiment.

Fig. 4 is format roll and the robot manipulator structure schematic diagram of the utility model embodiment.

Fig. 5 is the face jacket casing tubular construction schematic diagram of the utility model embodiment.

Fig. 6 is the bearing arrangement schematic diagram of the utility model embodiment.

Fig. 7 is the pendulum disk mechanism schematic diagram of the utility model embodiment.

Fig. 8 is the balance location of the utility model embodiment, fixing and work schematic diagram.

In the accompanying drawings, drive the motor 1 of shaping mechanism, shaping mechanism 2, spill dry powder mechanism 3, stuffings conveying mechanism 4, drive the motor 5 of flour conveying mechanism, fabric conveying mechanism 6, screw feeder 7, face jacket casing pipe 8, face tube formed body 9, face tube shaping cover 10, face tube 11, auger housing 12, adjust pad 13, stuffing filling horn 15, rotor 16, piston 17, pitch 18 is pressed shifting block 19, rotor hole 20, filling material 21 in the rotor hole, forming rolls 22, pallet 23, manipulator 24, support 25, left side moulding roll shaft 26, pivoted arm 27, the little axle 28 that connects firmly with support, torsionspring 29, cam 30, space cam 31, swing slide block 32, with the permanent magnet 33 that connects firmly of swing slide block, adjusting slider 34, cylindrical hinge 35, swinging mounting 36, thumb wheel 37, right moulding roll shaft 38, bearing 40, filling pump shaft 46, safety pin 47, piston head 48, piston rod 49, the end 50 of piston head, blade 51, rotor slot 52, rotor lining 53, hopper 54, join filling dish 55, connecting plate 56, the projection 57 of adjustable skid, adjustable skid 58, the groove 59 that the adjustable skid projection slides, press the cylinder helical plane 60 of shifting block, dial panel 61, with the cylindrical protrusion part 62 of the rotor of pressing shifting block to connect, with the cylindrical hole 63 of slotting on the rotor that the filling pump shaft connects, spring leaf 64 with frame connects firmly connects firmly permanent magnet 65 with spring leaf, the curved surface groove 66 of rotor, connect the straight pin 68 of pressing shifting block and rotor, rotor and join filling dish contact position 69, inclination disk cover 70, pitch seat 71, steel ball 72, balancing frame 73, the last hole 74 of pitch seat, the projection 75 on the pitch seat, the inclined-plane 76 on blade top, the projection 77 on blade top, the permanent magnet 78 that the blade bottom connects firmly, the permanent magnet 79 that blade bottom opposite side connects firmly, the protrusion part 80 of joining filling dish middle part, the feeding chamber 81 of rotor lining, the glomerular zone filling food 82 after the one-shot forming, the motor 83 of driving output mechanism, output mechanism 84, the glomerular zone filling food enters the position 85 of post forming, and mould 86 drives the linear electric motors 87 that tool is touched in moulding, cored food 88 after the post forming, the axial groove 89 on mould top, the axle 90 of linear electric motors, the straight pin 91 that connects firmly with the linear electric motors axle, the permanent magnet 92 that connects firmly with fork, fork 93 connects fork and the bearing pin 94 of touching tool, the curved surface screw thread 96 of moulding rod, the wheel hub 97 of moulding rod, the small-radius arc 98 of curved surface form of thread bottom, the vertical line 99 that form of thread bottom and curved surface small-radius arc are tangent, the large radius arc 100 on curved surface form of thread top, the vertical straight line 101 that curved surface form of thread top and large radius arc are tangent, the lead angle 102 on curved surface screw thread top, the lead angle 103 of curved surface screw thread bottom, the floor 104 of curved surface threaded interior, the groove 105 corresponding on the wheel hub with floor, the hole 106 of manipulator medium-height trestle, format roll. the hole 107 of wheel hub, the key 108 that connects with manipulator support, the key 109 that connects with the format roll wheel hub, the helicoid 110 on top, face jacket casing tube outside, the garden awl curved surface 111 of bottom, face jacket casing tube outside, the garden curved surface of column 112 on top, face jacket casing pipe the inside, the conical surface 113 of bottom, face jacket casing pipe the inside, the axial groove 114 of face jacket casing pipe, the radial slot 115 of face jacket casing pipe, steel ball cover 116, the axle 117 that connects with the steel ball cover, steel ball 118, steel ball seat 119, the shaft shoulder 120, nut 121, accept the Sheng dish 122 of cored food, the support 123 of Sheng dish is installed, drive the worm drive 125 that the Sheng dish is done transverse movement, drive the Sheng dish and do the nut 126 of transverse movement, support the Sheng dish and do the support 127 of lengthwise movement, drive the Sheng dish and do lengthwise movement worm drive 128, drive the nut 129 that the Sheng dish is done lengthwise movement, robot housing 130, drive the Sheng dish and make the motor 131 of transverse movement, drive the motor 132 that the Sheng dish is done lengthwise movement, fall the cored food 133 in the Sheng dish, in running order but also do not occupy the balance 135 of cored food, be in the empty balance 136 for the treatment of duty, connect vertical bearing pin 137 of vertical fork, connect the horizontal bearing pin 138 of horizontal fork, vertical fork 139, horizontal fork 140, with the permanent magnet 141 that fork connects firmly, the cylinder 142 of fork bottom, the plane 143 of fork bottom, the vertical cam 144 that contacts with vertical fork, the transverse cam 145 that contacts with horizontal fork connects the extension spring 146 of fork and support.

The specific embodiment

In Fig. 1, the motor 1 that drives shaping mechanism drives shaping mechanism 2, spills dry powder mechanism 3 and stuffings conveying mechanism 4 after slowing down, and the motor 5 that drives lining mechanism drives fabric conveying mechanism 6 after slowing down.During work, lining squeezes under the promotion of screw feeder 7 in the outside of face jacket casing pipe 8, then the face tube shaping cover 10 formation face tubes 11 by being connected with face tube formed body 9.The quantity that changes the adjustment pad 13 at auger housing 12 two ends can be finely tuned chances of losing games amount, mends between reward auger housing and auger to cause the purpose that the gap changes because of wearing and tearing.Be stuffing filling horn 15 in the face jacket casing pipe 8.When rotor 16 rotations, piston 17 rises under the effect of pitch 18.At this moment the filling material 21 that enters under the effect of pressing shifting block 19 in the rotor hole 20 just passes through the form entering surface tube 11 of stuffing filling horn 15 with pulsation, and the face tube of band filling is shaped through forming rolls 22 and pallet 23.Finished product after the shaping is sent to output mechanism output through manipulator 24.Support 25 is connected with left moulding roll shaft 26.Pivoted arm 27 can freely swing on the little axle 28 that is connected with support 25, is enclosed within little axle 28 outer torsionsprings 29 the one end is contacted with cam 30 all the time.Pallet 23 at the uniform velocity descends and is that space cam 31 on the left shaping roll shaft 26 realizes by being connected in, and it is that magnetic field force by the permanent magnet 33 that is fastened on the swing slide block 32 produces is realized that pallet 23 upwards returns fast.The move up and down adjustment of distance of pallet 23, be to move the adjusting slider 34 that can not rotate or the position of swing slide block 32 is realized by changing, but the move up and down trace adjustment of distance of pallet 23 can only be realized in the position that changes adjusting slider 34, and bigger adjustment can be realized in the position that changes swing slide block 32.By cylindrical hinge 35, adjusting slider 34 is hinge with swinging mounting 36 and is connected.The magnetic field force that permanent magnet 33 on the swing slide block 32 produces makes swing slide block 32 remain with space cam 31 and contacts.Spill that thumb wheel 37 and right moulding roll shaft 38 are connected in the dry powder mechanism 3.

In Fig. 2, be connected through safety pin 47 and rotor 16 with bearing 40 rack-mounted filling pump shafts 46.Pressure pull out 19 and rotor 16 be connected.Piston 17 can axially motion in rotor hole 20.Piston 17 is made up of piston head 48 and piston rod 49, and the end 50 of piston head 48 is the permanent magnets that are ball-type.Blade 51 can radial motion in rotor slot 52, and what be enclosed within that rotor 16 outsides and frame be connected is rotor lining 53.Be pressed in above the rotor 16 and what be connected through hopper 54 and frame is to join filling dish 55.The magnetic field force that piston head 48 permanent magnets produce makes piston 17 downward.The pitch 18 that promotion piston 17 makes progress has the screw thread other end to have the adjustable skid 58 of cross projection 57 to be connected through a connecting plate 56 and an end.The cross projection 57 of adjustable skid 58 can slide in the groove 59 of frame.Pressure is pulled out the cylinder helical plane 60 that 19 top is two statures, and the bottom of each helicoid 60 respectively has one to dial panel 61, and dialling panel 61 is 45 degree inclined-planes near accessory tray 55 places.Rotor hole 20 for piston 17 axially-movables is arranged on the rotor 16,, supply the cylindrical hole 63 of cylindrical protrusion part 62 that connects with pressure shifting block 19 and the fluting that connects with filling pump shaft axle head for the groove 52 of blade 51 radial motions.One end of spring leaf 64 and machine are reinforced chain, and another section is equipped with permanent magnet 65.Correspondence position axial and permanent magnet 65 at rotor has curved surface groove 66.The original position of curved surface groove 66 is blade 51 movement slots 52, rises in the counterclockwise direction.Press the end of shifting block to be equipped with and its straight pin that connects firmly 68.Rotor 16 is 90 degree cone angles with joining filling dish 55 contact positions 69.Pitch 18 is by inclination disk cover 70, pitch seat 71, and steel ball 72 and balancing frame 73 are formed.The diameter two ends of pitch seat 71 respectively have a hole 74 to be connected with frame by bearing pin, have a projection 75 to be connected with connecting plate 56 by straight pin with two hole 74 vertical end on the pitch seat 71.Blade 51 is two halves, and the shape of these two halves is just the same.Per half top, one side is the inclined-plane 76 of 45 degree, opposite side is the projection 77 that is embedded with rubber slab, and the both sides of per half bottom have permanent magnet 78 and permanent magnet 79 respectively, and joining the hole of filling dish 55 middle part projections 80 and the cylinder ledge 62 of rotor is movingly.During work, filling pump shaft 46 drives rotor 16 and rotates.When rotor 16 forwards shown position to, the permanent magnet of piston head 48 produces the magnetic field force that makes piston 17 downward, piston begins to move downward, the filling material enters rotor hole 20 through joining filling dish 55 under the effect of pressing shifting block 19, another one piston 17 rises under the effect of pitch 18, make filling material 21 in the rotor hole 20 at piston 17 with join under the synergy of filling dish 55 and enter in the feeding chamber 81 of rotor lining 53, an end of blade 51 in the while rotor slot 52, the projection 77 that makes top be embedded with rubber slab under the magnetic field force effect of spring leaf 64 restoring forces and magnet 78 enters feeding chamber 81 rapidly, and the filling material is by the form entering surface tube 11 of stuffing filling horn 15 with pulsation in the promotion feeding chamber 81.

In Fig. 3, the cored food 82 after the one-shot forming under the effect of a forming machine hand 24, is fallen on the output mechanism 84 under motor 83 drivings.As this food is the smashed bean bun that need not post forming, and this food is just directly exported through output mechanism 84.As this food is the spherical food 82 that needs through post forming, and detection system and control system are kept in touch at any time, understand the position and the speed of this food at any time.When this food movement arrived precalculated position 85, control system sent relevant instruction to drive system at once, and output mechanism 84 stops output services at once, and mould 86 begins shaping work under linear electric motors 87 drive.After shaping work was finished, mould 86 was got back to the origin-location, and output mechanism 84 is proceeded its output services again, and cored food 88 is output after post forming.In the post forming process, mould needs constantly to change.For more mold exchange is convenient, reliable again during mold work, have a pair of axial groove 89 on mould top, after axial groove 89 moves a segment distance vertically, again along radially moving a segment distance counterclockwise.The size of axial groove 89 is consistent with the size of the straight pin 91 that connects firmly with motor shaft 90, and the two is movingly.When mold work, with straight pin 91 correspondence positions are forks 93 that permanent magnet 92 is housed.Fork 93 is hinge by bearing pin 94 with mould 86 and is connected, and fork can freely swing for axle by bearing pin 94.During mold work, permanent magnet 92 is near straight pin 91, and the magnetic field force that permanent magnet 92 produces has all the time along the trend of moving clockwise mould, and just all the time near the end of radial slot, the position reliably provides assurance to straight pin 91 during for mold work.More during mold exchange, only need make fork 93 leave near the positions straight pin 91, promptly along bearing pin 94 swings, make mould along the magnetic field force cancellation that clockwise rotates, mould 86 armrest very easily is moving, after moving counterclockwise, moves vertically and takes out.

In Fig. 4, curved surface screw thread 96 that format roll 22 is done by pottery and the wheel hub of being done by metal 97 are constituted.The thread form of curved surface screw thread 96; The bottom vertical line 99 tangent that be a small-radius arc 98 and with small-radius arc 98; The top vertical straight line 101 tangent that be a large radius arc 100 and with large radius arc 100.The lead angle of curved surface screw thread 96; 102 to begin lead angle bigger from top, is reduced to 103 1 constants very soon.There are 4 uniform floors 104 inside of curved surface screw thread 96, and wheel hub 97 also has 4 grooves 105 with floor 104 corresponding positions.The support 25 of manipulator 24 is that two halves are formed, and the hole 106 of support 25 is the same with the diameter in the hole 107 of wheel hub 97, and they connect firmly with left moulding roll shaft 26 by key 108 and key 109 respectively.

In Fig. 5, the outside of face jacket casing pipe 8, left-handed helicoid 110 is arranged at top, and the bottom is smooth garden awl curved surface 111.The inside of face jacket casing pipe 8, top are smooth garden curved surface of column 112, and the bottom also is smooth garden awl curved surface 113.The axial groove 114 of 2 correspondences is arranged at the top of face jacket casing pipe 8, after each axial groove 114 has a segment distance vertically, one section radial slot 115 that the edge is counterclockwise is arranged.

In Fig. 6, steel ball cover 116 and axle 117 are excessive cooperations of pine.Steel ball 118 contacts with steel ball seat 119 with steel ball cover 116 simultaneously.Same bearing has 116, one in two steel balls cover to contact with the shaft shoulder 120, and another contacts with nut 121.Adjust nut 121 positions and just can adjust steel ball 118, the gap of steel ball seat 119 and steel ball cover 116, thus reach the purpose of adjusting the bearing clearance.

In Fig. 7, Sheng dish 122 and the support 123 of accepting cored food connect firmly, and support 123 connects firmly with the nut 126 of doing the worm drive 125 of transverse movement.Support 127 connects firmly with the nut 129 of doing lengthwise movement worm drive 128, and what supporting bracket 127 moved is robot housing 130.The tooth form of worm drive 125 and worm drive 128 all is the high rectangle of transmission efficiency.Like this, when motor 131 drives worm drive 125 several same angles that turn clockwise continuously, or be rotated counterclockwise several same angles, or motor 132 drives worm drive 128 several same angles that turn clockwise continuously, or be rotated counterclockwise several same angles, after Sheng dish 122 is just realized the several same distances of continuous transverse intermittent movement, vertical same distance of intermittent movement.The position of output mechanism 84 is fixed, and the position that is fallen cored food 82 by output mechanism 84 is fixed.Detection system the size, specification and the information such as position and speed thereof that detect the cored food 82 on the output mechanism 84, is converted into the information electric current at any time, is transported to faric robot control system.Control system is according to the various information that detect cored food 82, successively send various instructions to relevant drive system, motor 131 and motor 132 just rotate on request, Sheng dish 122 is just done horizontal or vertical equidistant intermittent movement on request, and the cored food of falling in the Sheng dish 122 133 is just neatly put the precalculated position on request equidistantly.When previous Sheng dish 122 was about to occupy, next Sheng dish 122 had been put into the precalculated position, has carried out the preparation of accepting cored food 82.When previous Sheng dish 122 occupied and takes away, next Sheng dish 122 just began to accept cored food 82.

In Fig. 8, the balance 122 that connects firmly with support 123 has 2 all the time, and one of them is in running order but the balance 135 that also do not occupy, and another is to be in the empty balance 136 for the treatment of duty.When in running order balance 135 occupied, another was in the balance 136 for the treatment of duty and just enters duty.After the balance 135 that has just occupied was taken away, the balance of a sky just is put into took balance 135 positions away, and is converted into the balance for the treatment of duty.Like this, faric robot works without cessation, and the balance that neatly occupies cored food one by one just is removed successively.For making the balance location reliably, take away and convenient fixing, at place, support 123 diagonal angle, there is one respectively at vertical and horizontal, be hinged vertical fork 139 and horizontal fork 140 by vertical bearing pin 137 and horizontal bearing pin 138 with support 123.A permanent magnet that connects firmly 141 is all arranged at each fork top, and each fork bottom all is one side and vertically bearing pin 137 or laterally bearing pin 138 coaxial clyinders 142, and another side is plane 143.What contact with plane 143 with Cylinder 142 is vertical cam 144 and the transverse cam 145 that connects firmly with support 123.One end all is housed at each fork middle part and fork connects firmly, the extension spring 146 that the other end and support 123 connect firmly.During balance work, vertically fork 139 and laterally fork 140 all under the synergy of separately extension spring 146 and cam 145, be locked in the precalculated position, vertically fork 139 and the laterally permanent magnet 141 on fork 140 tops balance, are locked at precalculated position at vertical and horizontal by magnetic field force.When balance occupies, making vertical fork 139 and horizontal fork 140 with hand, serves as that axle leaves the precalculated position with vertical bearing pin 137 and horizontal bearing pin 138 respectively, and fixedly the magnetic field force of balance has been cancelled, and fills the balance of cored food and just can take away like a cork.Then, vertically fork 139 and laterally fork 140 get back to original separately precalculated position again respectively under extension spring 146 effects, for next balance location with fixedly get ready.

Claims

1, a kind of industrial robot of processing belt filling food-faric robot, this robot is made up of control system, detection system, drive system and executing agency; It is characterized in that, the one-shot forming part of its executing agency, by fabric conveying mechanism (6), stuffings conveying mechanism (4), accept filling material and lining and be processed into the shaping mechanism (2) of glomerular zone filling food, the dry powder mechanism (3) of spilling of spilling dry powder to shaping mechanism constitutes; The post forming part of its executing agency is made of output mechanism (84) and post forming mould (86), and its balance part is done the screw thread transmission (125) and the screw thread transmission (128) of horizontal or vertical intermittent movement and constituted by driving balance (122) respectively; This robot control system commander, under the detection system close fit, output mechanism (84) has two functions, is exactly finished product as the cored food after the one-shot forming, its output mechanism (84) is carried out the output task at once, and the cored food that processes is directly delivered in the balance (122); As cored food after the one-shot forming is not finished product, also need secondary operations, its output mechanism (84) is just this robot control system commander, under the detection system close fit, carry out the output task again after finishing the cored food post forming, again the cored food after the post forming is delivered in the balance (122);

Stuffings conveying mechanism (4) is to have to press the blade plunger displacement pump that pulls out head, it is by the hopper (54) that is fastened on the frame, with the rack-mounted filling pump shaft of bearing (40) (46), the rotor (16) that connects firmly through safety pin (47) and filling pump shaft (46), pull out head (19) with the pressure that rotor connects firmly, what be contained in that rotor (16) top and frame connect firmly joins filling dish (55), connect firmly rotor lining (53) in rotor (16) outside and frame, axially movable piston (17) in rotor hole (20), the blade (51) that in rotor slot (52), can move radially, promote the push rod (65) that blade (51) moves radially rapidly, press the adjustable skid (58) that links movingly with the groove of opening on cross projection (57) and the frame (59), with adjustable skid (58) with promote the connecting plate (56) that pitch (18) that piston (17) makes progress is connected, and serve as a contrast the stuffing filling horn (15) that (53) be connected with rotor and constitute;

Fabric conveying mechanism (6) is the mutation screw pump, it is by the screw feeder housing (12) that is connected with frame, face tube formed body (9), adjust pad (13), be contained in rotatable screw feeder (7) in the screw feeder housing (12), being contained in the face tube shaping cover (10) that rotatable bobbin (8) and face tube formed body (9) connect firmly in the face tube formed body (9) constitutes;

Shaping mechanism (2) is by two homodromal format rolls (22), the pallet (23) of under two forming rolls (22), spinning and moving, be contained in the manipulator (24) on the left side one-tenth rod axle (26), the plane cam (38) of control manipulator (24) work, the space cam (31) that the control pallet moves up and down, one end with can only move the adjusting slider (34) that can not rotate and be hinge and be connected, the other end and pallet (23) are hinged swinging mounting (36), are connected the swing slide block (32) that keeps again simultaneously contacting with space cam (31) with swinging mounting (36) with bearing pin and are constituted.

2. faric robot according to claim 1 is characterized in that the piston (17) that axially moves in the rotor hole (20) is 2, and the blade (51) that radially moves in the rotor slot (52) is one; Piston (17) is made of piston rod (49) and piston head (48) that permanent magnet (50) are housed, and the lower shape of piston head (48) is a sphere, is to be threaded between piston rod (49) and piston head (48); One end and the frame of spring leaf (64) connect firmly, and the other end is equipped with permanent magnet (65);

Axial and permanent magnet (65) correspondence position at rotor (16), have and promote the curved surface groove (66) that push rod (65) resets, curved surface groove (66) original position is blade (51) movement slots (a 52) raised position in the counterclockwise direction, the shape of curved surface groove (66) is an Archimedes' helicoid in the direction of the clock, and each rotor (16) has two curved surface grooves (66); Rotor (16) top is the matrixs of 90 degree, and matrix middle part has with holes cylindrically protrudes part (62) and the cylindrical center line that protrudes the straight pin (68) that part (62) connects firmly is an angle of 90 degrees with the groove (52) that blade (51) moves; The cylindrical hole (63) of a trough of belt is arranged at the bottom at rotor (16) center; For the groove (52) of blade (51) motion and the line of centres of two rotor holes (20) that move for piston (16) is vertical;

Blade (51) is two halves, and the shape of two halves is just the same; Per half top, a side are 45 degree inclined-planes (76), and opposite side is the projection (77) that is embedded with rubber slab; One side of per half bottom and projection correspondence has the permanent magnet (79) and 45 sides of spending the inclined-plane correspondences that connect firmly with it that a permanent magnet (78) that connects firmly with it is also arranged.

3, faric robot according to claim 1, it is characterized in that pitch (18) is to be made of inclination disk cover (70), pitch seat (71), steel ball (72) and balancing frame (73), the diameter two ends of pitch seat (71) respectively have a hole (74) to connect by bearing pin and frame, pitch seat (71) is gone up has a projection (75) to be connected with connecting plate (56) by straight pin with two hole (74) vertical end, steel ball (72) is positioned in the middle of inclination disk cover (70) and the pitch seat (71), and inclination disk cover (70) and balancing frame (73) are fastening by screw; The top that pressure is pulled out head (19) is the cylinder helical plane (60) of 2 statures, and the bottom of each helicoid (60) has one to dial panel (61), and dialling panel (61) is 45 degree inclined-planes near joining that filling dish (55) locates.

4, faric robot according to claim 1, it is characterized in that format roll (22) be by pottery curved surface screw thread of doing (96) and the wheel hub of doing by metal (97) through the bearing pin bolt be connected constitute; Two wheel hubs (97) to same faric robot all are the same with curved surface screw thread (96), wheel hub (97) and moulding roll shaft all are key connecting, the hole (106) of support (25) and the hole (107) of wheel hub (97), diameter is the same, and they connect firmly with left moulding roll shaft (26) by key (108) and key (109) respectively; Curved surface screw thread (96) is to be distributed on the taper seat, tooth form is the left hand thread of curved surface, the tooth form bottom of curved surface screw thread (96) is the circular arc (98) by a minor radius, erectting straight line (99) with this small-radius arc tangent respectively forms, top is a large radius arc (100) and one and the tangent vertical straight line (101) of large radius arc (100) is formed, the lead angle of curved surface screw thread (96): it is bigger that top begins place (102), very fast little to a constant (103) and keep this constant value constant; A number of curved surface screw thread is: three kinds of situations of 1 stature, 2 statures or 4 statures, a number of curved surface screw thread (96) is consistent with the number of manipulator (24), promptly the manipulator (24) that the curved surface screw thread (96) of a stature is corresponding is one, the manipulator that the curved surface screw thread (96) of two statures is corresponding is two, by that analogy;

Manipulator (24) is by the support (25) that connects firmly with left moulding roll shaft (26), the pivoted arm (27) that on the little axle (27) that connects firmly with support (25), can freely swing, an end and support (25) connect firmly outside little axle (28), and the torsion spring (29) that the other end and pivoted arm (27) connect firmly constitutes; The manipulator number is identical with the curved surface number of starts, and is different except support (25) to the part shape of two above manipulators and a manipulator, and remaining is all the same; For example in two manipulators, two identical pivoted arms of shape (27), little axle (28) and torsionspring (29) are arranged, have one to have the support (25) that two little axle (28) positions are installed, these two positions that little axle (28) is installed are uniform on support (25), and all the other manipulators are analogized.

5, faric robot according to claim 1, it is characterized in that fabric conveying mechanism (6) is the mutation screw pump, it is by the screw feeder housing (12) that is connected with frame, face tube formed body (9), adjust pad (13), be contained in rotatable screw feeder (7) in the screw feeder housing (12), be contained in the face tube shaping cover (10) that rotatable bobbin (8) and face tube formed body (9) connect firmly in the face tube formed body (9) and constitute; Screw feeder (7) is left-handed varying pitch trochoid spiral face, the small end pitch of trochoid spiral face is little, big end pitch is big, screw feeder housing (12) is the conical bore with identical tapering with screw feeder (7) contact portion, the inlet of lining is at the big end of screw feeder housing (12), and it is formed with the tangent perpendicular of the perpendicular of screw feeder housing (12) axis normal and two and the conical surface of screw feeder housing (12) by two;

There is left-handed helicoid (110) outside of face jacket casing pipe (8), top, and the bottom is smooth garden awl curved surface (111); The inside of face jacket casing pipe (8), top is smooth garden curved surface of column (112), the bottom also is smooth garden awl curved surface (113): the axial groove (114) of 2 correspondences is arranged at the top of face jacket casing pipe (8), after each axial groove (114) has a segment distance vertically, one section radial slot (115) that the edge is counterclockwise is arranged.

6, faric robot according to claim 1, it is characterized in that adjustable skid (58) is that an end has screw thread, the other end has cross projection (57), the end of cross projection (57) has the groove that can hold connecting plate (56), and the hole that the straight pin of connecting plate (56) can be installed, reconcile slide block (34) one end and have the groove that can hold swinging mounting (36) end, the cylinder pin hole that connects swinging mounting (36) can be installed, the other end is the cylinder that keyway is arranged.

7, faric robot according to claim 1, it is characterized in that bearing (40) is by steel ball cover (116) steel ball (118), steel ball seat (119) and nut (121) are formed, same bearing has 2 steel ball covers (116), 1 contacts with the shaft shoulder (120), another contacts with nut (121), steel ball (118) and axle (117) are loose interference fits, adjust the position of nut (121), just can adjust steel ball (118), the gap of steel ball seat (119) and steel ball cover (116), thus reach the purpose of adjusting the bearing clearance.

8, faric robot according to claim 1 is characterized in that, under forming machine hand (24) effect, the cored food after the one-shot forming (82) is fallen, and motor (83) drives the output mechanism (84) that has two functions down; Need not post forming as cored food (82), cored food (82) is just directly exported through output mechanism (84); Need be as cored food (82) through the spherical food (82) of post forming, under the close fit of detection system and control system, when the cored food (82) on the output mechanism (84) moves to precalculated position (85), control system sends relevant instruction to drive system at once, output mechanism (84) stops output at once, and mould (86) begins post forming under linear electric motors (87) drive; After moulding was finished, mould (86) was got back to the origin-location, and output mechanism (84) begins output again, and cored food after post forming (88) is output; For ease of changing mould (86), reliable again during mould (86) work, have a pair of axial groove (89) on mould top, after axial groove (89) moves a segment distance vertically, again along radially moving a segment distance counterclockwise; The size of axial groove (89), with and the size of the straight pin (91) that connects firmly of motor shaft (90) be consistent, the two is movingly, with straight pin (91) correspondence position be the fork (93) that permanent magnet (92) are housed; Fork (93) is hinge by bearing pin (94) with mould (86) and is connected, and fork (93) can freely swing for axle by bearing pin (94); During mold work, permanent magnet (92) is near straight pin (91), the magnetic field force that permanent magnet (92) produces has all the time along the trend of moving clockwise mould, straight pin (91) is just all the time near the end of radial slot, mould is with regard to firm being fixed on the motor shaft (90), thereby the position is definitely reliable when making mold work; More during mold exchange, only fork (93) is swung around bearing pin (94), and the permanent magnet (92) that fork (93) connects firmly leaves near the position of straight pin (91), mould (86) is cancelled along the magnetic field force that clockwise rotates, mould (86) armrest very easily is moving, after moving counterclockwise, move vertically again and take out.

9, faric robot according to claim 1 is characterized in that Sheng dish (122) and the support (123) of accepting cored food connect firmly, and support (123) and the nut (126) of doing lateral movement knob transmission (125) connect firmly; Support (127) and the nut (129) of doing lengthwise movement worm drive (128) connect firmly, supporting bracket (127) motion be robot housing (130); The tooth form of worm drive (125) and worm drive (128) all is the high rectangle of transmission efficiency; The position of output mechanism (84) is fixed, and the position that is fallen cored food (82) by output mechanism (84) is fixed; The various information of the cored food that control system provides according to detection system (82), successively send various instructions to relevant drive system, motor (131) and motor (132) just rotate on request, Sheng dish (122) is just done horizontal or vertical equidistant intermittent movement on request, and the cored food of falling in the Sheng dish (122) (133) is just neatly put the precalculated position on request equidistantly.

10, according to claim 1,9 described faric robots, it is characterized in that the balance (122) that connects firmly with support (123) has 2 all the time, one is in running order balance (135), another is to be in the empty balance (136) for the treatment of duty; When in running order balance (135) when occupying, another is in the balance (136) for the treatment of duty and just enters duty; After the balance (135) that has just occupied cored food was taken away, the balance of a sky just is put into to be taken balance (135) position away and is converted into the balance for the treatment of duty; Be contained in support (123) place, diagonal angle, be hinged by vertical bearing pin (137) and horizontal bearing pin (138) with support (123), vertical fork (139) and the horizontal fork (140) of bearing balance (122) vertical and horizontal location and fixation have two pairs; A permanent magnet that connects firmly (141) is all arranged at each fork top, and the bottom of each fork all is one side and vertically bearing pin (137) or laterally bearing pin (138) coaxial clyinder (142), and another side is plane (143); With Cylinder (142) contacts with plane (143) be and vertical cam (144) transverse cam (145) that support (123) connects firmly; One end all is housed at each fork middle part and fork connects firmly, the extension spring (146) that the other end and support (123) connect firmly; In balance (122) when work,, vertically fork (139) and horizontal fork (140) all under the synergy of separately extension spring (146) and cam (145), are locked in the precalculated position; Vertically fork (139) and the laterally permanent magnet (141) on fork (140) top are locked at the precalculated position to balance (122) at vertical and horizontal by magnetic field force; Balance (122) makes vertical fork (139) and horizontal fork (140) with hand when occupying, and serves as that axle leaves the precalculated position with vertical bearing pin (137) and horizontal bearing pin (138) respectively; The magnetic field force of locking balance just is cancelled, the balance of filling cored food just be easy to removed after, vertical then fork (139) and horizontal fork (140) are again respectively under extension spring (145) effect, get back to originally precalculated position separately, for next balance (122) location with fixedly get ready.