WO2019210777A1 - 四自由度电磁振动式真空滚揉机 - Google Patents

四自由度电磁振动式真空滚揉机 Download PDF

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Publication number
WO2019210777A1
WO2019210777A1 PCT/CN2019/083110 CN2019083110W WO2019210777A1 WO 2019210777 A1 WO2019210777 A1 WO 2019210777A1 CN 2019083110 W CN2019083110 W CN 2019083110W WO 2019210777 A1 WO2019210777 A1 WO 2019210777A1
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WIPO (PCT)
Prior art keywords
bracket
frame
electromagnetic
cylinder
tensioning
Prior art date
Application number
PCT/CN2019/083110
Other languages
English (en)
French (fr)
Inventor
沈豫浙
王成军
郭永存
郑艳
窦海石
Original Assignee
安徽理工大学
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Filing date
Publication date
Priority claimed from CN201810931904.4A external-priority patent/CN108719414B/zh
Application filed by 安徽理工大学 filed Critical 安徽理工大学
Publication of WO2019210777A1 publication Critical patent/WO2019210777A1/zh
Priority to AU2019101660A priority Critical patent/AU2019101660A4/en

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    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L13/00—Meat products; Meat meal; Preparation or treatment thereof
    • A23L13/70—Tenderised or flavoured meat pieces; Macerating or marinating solutions specially adapted therefor
    • A23L13/77—Tenderised or flavoured meat pieces; Macerating or marinating solutions specially adapted therefor by mechanical treatment, e.g. kneading, rubbing or tumbling
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C9/00—Apparatus for tenderising meat, e.g. ham
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C5/00—Apparatus for mixing meat, sausage-meat, or meat products
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C9/00—Apparatus for tenderising meat, e.g. ham
    • A22C9/004—Apparatus for tenderising meat, e.g. ham by massaging
    • A22C9/005—Tumblers and rotating drums for massaging meat in their interior
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L13/00—Meat products; Meat meal; Preparation or treatment thereof
    • A23L13/10—Meat meal or powder; Granules, agglomerates or flakes
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L13/00—Meat products; Meat meal; Preparation or treatment thereof
    • A23L13/40—Meat products; Meat meal; Preparation or treatment thereof containing additives
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
    • A23L13/00—Meat products; Meat meal; Preparation or treatment thereof
    • A23L13/40—Meat products; Meat meal; Preparation or treatment thereof containing additives
    • A23L13/42—Additives other than enzymes or microorganisms in meat products or meat meals
    • A23L13/428—Addition of flavours, spices, colours, amino acids or their salts, peptides, vitamins, yeast extract or autolysate, nucleic acid or derivatives, organic acidifying agents or their salts or acidogens, sweeteners, e.g. sugars or sugar alcohols; Addition of alcohol-containing products

Definitions

  • the invention belongs to the technical field of vacuum tumbler equipment, and particularly relates to a four-degree-of-freedom electromagnetic vibration type vacuum tumbler.
  • the vacuum refrigeration tumbler is in the vacuum state, using the principle of physical impact, so that the materials can be flipped up and down in the drum, colliding with each other, and generating a large area evenly distributed massage and pickling effect, so that the uniform distribution of the pickling liquid in the material is more favorable.
  • Salt-soluble protein precipitates at the fastest speed and maximizes the water holding capacity of the product, which improves the elasticity, slicing and mouthfeel of the product, and greatly improves the product yield.
  • the existing vacuum tumbler only rotates the roller with a degree of freedom of movement, and the meat product and the seasoning and pickling liquid are not sufficiently mixed in the roller, and the taste is difficult, so that the meat and other materials absorb the seasoning in the drum.
  • the rolling time is long, and the rolling drum has the problem of cumbersome cleaning.
  • the meat may adhere to the surface of the cylinder, and the residue after bonding after rolling It is difficult to remove, and it is also very inconvenient to clean the tumbler; the long rolling time will also cause the heat generated by the friction of the meat in the tumbler, so that the meat is unevenly heated in the drum, which affects the taste.
  • the Chinese utility model patent of the application No. 201320845561.2 discloses a magnetic vibration vacuum tumbler, in which an evenly distributed vibrating core casing is arranged on the outer surface of the inner barrel of the rolling cylinder, and an electromagnetic vibrating core is arranged in the vibrating core casing.
  • An electromagnetic plate is arranged on the upper part of the bracket, heating oil is arranged in the hollow area of the inner barrel and the outer casing, the heating oil is heated by the electromagnetic plate, and the intensity of the electromagnetic field is changed by adjusting the magnetic strength of the electromagnetic plate to achieve heating and vibration.
  • the purpose of the electromagnetic vibration core is the technical solution can realize the vibration of the roller, the vibration direction is single, and the mixing effect of the meat product in the drum is limited.
  • the object of the present invention is to provide a four-degree-of-freedom electromagnetic vibrating vacuum tumbler with the four-degree-of-freedom electromagnetic vibrating vacuum tumbler having a space of three translations and one rotation for a total of four degrees of motion freedom, which can achieve lateral excitation.
  • the invention discloses
  • the roller can be pickled in a short time, and the pickling is thorough, which improves the rolling effect and production efficiency, and the meat product is not easy to adhere to the surface of the cylinder, which is easy to clean, reduces labor intensity and production cost, and can overcome the existing Technical flaws.
  • a four-degree-of-freedom electromagnetic vibration type vacuum tumbler includes a frame, a rotary drive device, a detachment prevention bracket, a rolling cylinder, a support spring group, an electromagnetic vibration exciter group, and a vacuum system.
  • the frame comprises a mounting base and a frame bracket for mounting and supporting the rotary driving device, the rolling cylinder and the vacuum system, and the frame bracket is located above the mounting base and is fixedly connected to the mounting base.
  • the upper end of the rotary drive device is fixedly mounted on the top of the frame bracket in the frame by four bearing seats, and the lower end of the rotary drive device is fixedly mounted on the bottom of the frame bracket for driving the roller to rotate.
  • the anti-off bracket has four sets, symmetrically arranged on the top of the frame bracket, for defining the position of the rolling cylinder and applying a radial pressing force to the rolling cylinder, and the lower end is fixedly connected with the frame bracket, preventing The upper end of the off-bracket is pressed against the roller.
  • the roller cylinder is an end effecting device for vacuum rolling the meat product, and the roller cylinder is located at the top of the frame and is connected to the frame bracket by a rotary driving device.
  • the support spring group and the electromagnetic vibration exciter group are all installed inside the rolling cylinder to respectively support the internal components of the rolling cylinder and generate reciprocating vibration in the rolling cylinder.
  • the vacuum system includes a vacuum pump and an evacuation conduit for creating a vacuum within the roller barrel.
  • the vacuum pump is fixedly mounted on one side of the frame bracket, and the upper end of the vacuum pumping pipe is connected to the rolling cylinder, and the lower end of the vacuuming pipe is connected to the vacuum pump.
  • the rotary drive device includes a rotary motor, a rotary reducer, a chain drive, a tensioning device, a drive shaft and a drive wheel.
  • the rotary motor and the rotary reducer are fixedly mounted on the bottom of the frame bracket by screws, and the output shaft of the rotary motor is connected with the input shaft of the rotary reducer through a coupling for providing the chain transmission device.
  • the upper end of the chain transmission is mounted on the drive shaft, and the lower end of the chain transmission is connected to the output shaft of the rotary reducer for transmitting the power of the rotary motor and the rotary reducer to the drive shaft;
  • the top of the tensioning device is fixedly mounted on the frame bracket to provide tension to the chain transmission, and the chain transmission device is connected to the top of the frame bracket through the tensioning device;
  • the drive shaft has two The roots are arranged in parallel on the top of the frame bracket, and both ends of the drive shaft are fixedly mounted on the frame bracket through the bearing seat; the drive wheels are mounted on both ends of the drive shaft and pass through the drive shaft
  • the key is connected with the positioning pin for supporting and driving the rotation of the roller; an angle sensor is arranged at one end of the drive shaft for measuring the rotational angular velocity of the roller.
  • the chain transmission includes a drive sprocket, a chain and a driven sprocket.
  • the driving sprocket is fixedly mounted on the output shaft of the slewing reducer and is fixedly connected with the output shaft of the slewing reducer;
  • the driven sprocket has two fixed mounting shafts respectively.
  • the driven sprocket and the drive shaft are connected by a flat key and a locking screw; the chain is simultaneously meshed with the driving sprocket and the driven sprocket.
  • the tensioning device comprises a tensioning wheel frame, a tensioning sprocket, a guiding shaft, a tensioning spring, an adjusting bracket, an adjusting screw and a tensioning seat.
  • the tensioning wheel is installed at the bottom of the tensioning wheel frame, and the supporting shaft of the tensioning wheel is connected with the tensioning wheel frame through a bearing;
  • the guiding shaft hole is arranged on the tensioning seat and the adjusting bracket,
  • the lower end of the guiding shaft is fixedly connected to the top of the tensioning wheel frame, and the upper end of the guiding shaft is placed in the guiding shaft hole of the tensioning seat and the adjusting bracket;
  • the tensioning spring is set on the guiding shaft and is located on the adjusting bracket and Between the tensioning wheel frames; the adjusting bracket is located below the tensioning seat, and is connected to the tensioning seat by an adjusting screw, the adjusting screw is connected with the adjusting bracket by a thread; the tensioning seat passes The screws are fixed to the top of the frame bracket.
  • the anti-detachment bracket includes a column, a swing arm and a pinch wheel.
  • the lower end of the column is fixedly connected to the top of the frame bracket, the upper end of the column is connected to the lower end of the swing arm by a hinge, and the middle of the swing arm is connected to the upper end of the column by a compression spring.
  • the lower end of the pressing spring is connected with the column by a pressing force adjusting screw; the pressing wheel is fixedly mounted on the upper end of the swing arm, and is connected with the swing arm through a rolling bearing.
  • the roller cylinder includes an outer cylinder and an inner cylinder.
  • the outer cylinder and the inner cylinder are connected by a support spring group and an electromagnetic exciter group; the front wheel groove and the rear wheel groove are respectively disposed at front and rear ends of the outer cylindrical surface of the outer cylinder,
  • the utility model is characterized in that a pressing wheel is arranged; a front fixing cover is arranged at the front end of the outer cylinder, a circular mounting hole is arranged at the rear end of the outer cylinder for installing and connecting the vacuuming pipe; and a process hole is further arranged on the outer cylindrical surface of the outer cylinder It is used to reduce the weight of the outer cylinder and facilitate inspection and maintenance operations.
  • a discharge cover is disposed at a front end of the inner cylinder, a vacuum cover is disposed at a center of a rear end of the inner cylinder, and a spiral stirring blade is further disposed inside the inner cylinder, and the spiral stirring blade is Conical bumps are arranged on the rear side for multi-point massage of the meat products to make the seasonings better contact with the meat products.
  • the upper end of the evacuation pipe is connected to the inner cylinder of the roller cylinder through a vacuum cover.
  • the discharge cover and the inner cylinder are fixedly connected by a compression screw and a pressure plate, and the vacuum cover and the inner cylinder are connected by a vacuum sealed bearing; the front fixed cover and the outer cylinder pass pressure
  • the screw is fixed to the pressure plate;
  • the spiral stirring blade is fixed to the inner cylinder by welding, and the conical bump and the spiral stirring blade are fixed by welding, and the The number of spiral stirring blades is not less than three.
  • Displacement sensors are arranged in the outer cylinder of the rolling cylinder for respectively measuring the displacement parameters of the inner cylinder of the rolling cylinder in a linear reciprocating motion in the lateral, longitudinal and vertical directions, and the displacement sensor can adopt a non-contact laser Motion detector.
  • the support spring set includes a front support spring, a rear support spring, a horizontal support spring, and a vertical support spring for mounting the inner cylinder support and suspension inside the outer cylinder.
  • the front support spring is located outside the front end of the inner cylinder, and the two ends thereof are respectively connected with the front fixed cover and the discharge cover;
  • the rear support spring is installed outside the rear end of the inner cylinder, and the two ends thereof are respectively
  • the horizontal support spring and the vertical support spring are respectively located between the inner cylindrical surface of the outer cylinder and the outer cylindrical surface of the inner cylinder, and the two ends of the horizontal support spring and the vertical support spring are respectively respectively connected with the outer cylinder,
  • the inner cylinders are connected, the horizontal support springs are horizontally arranged in an initial installation state, and the vertical support springs are arranged in a vertical direction in an initial installation state.
  • the electromagnetic exciter group includes a front electromagnetic vibrator, a rear electromagnetic vibrator, a horizontal electromagnetic exciter and a vertical electromagnetic exciter for reciprocating excitation of the inner cylinder in the lateral, longitudinal and vertical directions.
  • the front electromagnetic vibrator is located between the front fixing cover and the discharge cover, and is fixedly mounted on the front fixing cover;
  • the rear electromagnetic vibration exciter is installed on the inner side of the rear end of the outer cylinder, and is located in the outer cylinder and Between the inner cylinders; the horizontal electromagnetic exciter and the vertical electromagnetic exciter are located between the inner cylindrical surface of the outer cylinder and the outer cylindrical surface of the inner cylinder, and the horizontal electromagnetic vibrator and the vertical electromagnetic exciter are fixed at both ends Mounted on the inner cylindrical surface of the outer cylinder, the horizontal electromagnetic exciters are horizontally arranged in an initial installation state, and the vertical electromagnetic exciters are arranged in a vertical direction in an initial installation state. Further, the front electromagnetic exciter, the rear electromagnetic exciter, the horizontal electromagnetic excit
  • the inner cylinder of the rolling cylinder of the present invention can generate reciprocating excitation in three directions of lateral direction, longitudinal direction and vertical direction and rotation of the axis around the outer cylinder under the action of the rotary driving device and the electromagnetic vibration exciter group. Degree of movement.
  • An angle sensor mounted on the drive shaft and a displacement sensor mounted in the outer cylinder of the roller cylinder collect information about the rotational angular velocity of the roller and the reciprocating displacement information of the inner cylinder in the lateral, longitudinal and vertical directions, respectively.
  • the data line is passed to the control system as a reference for the motion control of the tumbler.
  • the electromagnetic exciter, the rear electromagnetic exciter, the horizontal electromagnetic exciter, the vertical electromagnetic exciter and the rotary motor perform lateral excitation, longitudinal excitation, vertical excitation and rotational driving on the inner cylinder.
  • the meat in the inner tube becomes soft under the action of the massage stirring of the spiral stirring blade and the conical bump, and is fully mixed with the seasoning and pickling liquid to achieve rapid pickling operation.
  • the beneficial effect of the four-degree-of-freedom electromagnetic vibrating vacuum tumbler according to the present invention is that the inner cylinder of the rolling cylinder of the present invention can realize lateral reciprocating excitation, longitudinal reciprocating excitation, and vertical as compared with the prior art.
  • the direction reciprocating excitation and the movement of four degrees of freedom around the axis of the outer cylinder can fully mix the meat products with the seasoning and pickling liquid, and absorb quickly, which can obviously improve the pickling efficiency, production efficiency and taste of the meat products.
  • the invention also has the advantages of high structure, high excitation frequency, small space occupied by equipment, low production cost, low labor intensity, parameter adjustment and simple operation and maintenance, and can overcome the defects of the prior art.
  • a three-degree-of-freedom vacuum tumbler includes a fixed base, a main bracket, a lateral excitation device, a longitudinal excitation device, a rotary drive device, an anti-off bracket, a roller cylinder, and a vacuum system.
  • the main bracket is used for mounting and supporting a longitudinal excitation device, a rotary drive device and a vacuum system
  • the main support comprises a frame bracket, a longitudinal linear guide, a connection base and a transverse linear guide.
  • the lateral linear guide rail is fixedly mounted under the connecting base, and the connecting base and the fixed base are connected by a transverse linear guide and a lateral excitation device, and the longitudinal linear guide rail is fixedly mounted above the connecting base.
  • the frame bracket and the connecting base are connected by a longitudinal linear guide and a longitudinal excitation device; the bottom of the lateral excitation device is fixedly mounted on the fixed base, and the output end thereof and the longitudinal side of the connecting base pass The screws are connected for applying lateral reciprocating vibration to the main bracket and the rolling cylinder; the bottom of the longitudinal excitation device is fixedly mounted on the connecting base, and the output end thereof is connected with the side of the frame bracket by a screw Longitudinal reciprocating excitation is applied to the main bracket and the rolling cylinder; the upper end of the rotary driving device is fixedly mounted on the top of the frame bracket in the main bracket through four bearing seats for driving the rolling cylinder to rotate, And the lower end of the slewing drive device is fixedly mounted on the bottom of the frame bracket; the anti-off bracket has four groups, which are symmetrically arranged on the top of the frame bracket.
  • the cartridge is an end effecting device for vacuum-rolling the meat product
  • the roller cylinder is located at the top of the main bracket, and is connected to the main bracket by a swing driving device
  • the vacuum system includes a vacuum pump and a vacuum pumping pipe. Used to create a vacuum in the barrel.
  • the vacuum pump is fixedly mounted on one side of the frame bracket, and the upper end of the vacuum pumping pipe is connected to the rolling cylinder, and the lower end of the vacuuming pipe is connected to the vacuum pump.
  • Displacement sensors are respectively disposed on the lateral linear guide and the longitudinal linear guide for respectively measuring the displacement parameters of the rolling cylinder in the horizontal and vertical linear reciprocating motion.
  • the displacement sensor may be a linear magnetic grid sensor or a linear grating sensor or a linear inductive synchronizer.
  • the lateral excitation device comprises a transverse motor, a lateral crank frame, a lateral crank adjustment block, a transverse link and a lateral slider device.
  • the transverse motor is fixedly mounted on a longitudinal side of the top of the fixed base by screws for powering the lateral excitation of the roller and the main bracket;
  • the lateral crank frame is fixedly mounted on the output shaft of the transverse motor Attached to the output shaft of the transverse motor
  • the lateral crank adjustment block is fixedly mounted on the lateral crank frame, and the two ends of the transverse link are respectively connected with the lateral crank adjustment block and the lateral slider device through a hinge
  • the lateral slider device is fixedly mounted on one side of the connection base.
  • the transverse crank frame and the lateral crank adjusting block, the transverse connecting rod and the lateral sliding block device form a set of crank slider mechanism for converting the rotary motion of the transverse motor into a transverse linear reciprocating vibration.
  • the transverse motor can be an AC geared motor.
  • Two parallel T-shaped grooves are arranged on the lateral crank frame, and a limiting block is further disposed at one end of the lateral crank frame, and the lateral crank adjusting block is fixedly mounted on the lateral crank frame by two T-shaped screws.
  • the limiting block is connected to the lateral crank adjusting block by a limit adjusting screw.
  • the longitudinal excitation device comprises a longitudinal motor, a longitudinal crank frame, a longitudinal crank adjustment block, a longitudinal link and a longitudinal ear seat.
  • the longitudinal motor is fixedly mounted on a lateral side of the top of the connecting base by screws for powering the longitudinal excitation of the rolling cylinder and the main bracket;
  • the longitudinal crank frame is fixedly mounted on the output shaft of the longitudinal motor Attached to the output shaft of the longitudinal motor, the longitudinal crank adjusting block is fixedly mounted on the longitudinal crank frame, and the two ends of the longitudinal connecting rod are respectively connected with the longitudinal crank adjusting block and the longitudinal ear seat through a hinge.
  • the longitudinal ear mount is fixed to one side of the frame bracket by screws.
  • the longitudinal crank frame and the longitudinal crank adjusting block, the longitudinal link and the longitudinal ear seat constitute a set of crank link mechanisms for converting the rotational motion of the longitudinal motor into longitudinal linear reciprocating vibration.
  • the longitudinal motor can be an AC geared motor.
  • the longitudinal crank frame is identical in structure to the lateral crank frame, and the longitudinal crank adjusting block is identical in structure to the lateral crank adjusting block.
  • the rotary drive device includes a rotary motor, a rotary reducer, a chain drive, a tensioning device, a drive shaft and a drive wheel.
  • the rotary motor and the rotary reducer are fixedly mounted on the bottom of the frame bracket by screws, and the output shaft of the rotary motor is connected with the input shaft of the rotary reducer through a coupling for providing the chain transmission device.
  • the upper end of the chain transmission is mounted on the drive shaft, and the lower end of the chain transmission is connected to the output shaft of the rotary reducer for transmitting the power of the rotary motor and the rotary reducer to the drive shaft;
  • the top of the tensioning device is fixedly mounted on the frame bracket to provide tension to the chain transmission, and the chain transmission device is connected to the top of the frame bracket through the tensioning device;
  • the drive shaft has two The roots are arranged in parallel on the top of the frame bracket, and both ends of the drive shaft are fixedly mounted on the frame bracket through the bearing seat; the drive wheels are mounted on both ends of the drive shaft and pass through the drive shaft
  • the key is connected with the positioning pin for supporting and driving the rotation of the roller; an angle sensor is arranged at one end of the drive shaft for measuring the rotational angular velocity of the roller.
  • the chain transmission includes a drive sprocket, a chain and a driven sprocket.
  • the driving sprocket is fixedly mounted on the output shaft of the slewing reducer and is fixedly connected with the output shaft of the slewing reducer;
  • the driven sprocket has two fixed mounting shafts respectively.
  • the driven sprocket and the drive shaft are connected by a flat key and a locking screw; the chain is simultaneously meshed with the driving sprocket and the driven sprocket.
  • the tensioning device comprises a tensioning wheel frame, a tensioning sprocket, a guiding shaft, a tensioning spring, an adjusting bracket, a tension adjusting screw and a tensioning seat.
  • the tensioning wheel is installed at the bottom of the tensioning wheel frame, and the supporting shaft of the tensioning wheel is connected with the tensioning wheel frame through a bearing;
  • the guiding shaft hole is arranged on the tensioning seat and the adjusting bracket,
  • the lower end of the guiding shaft is fixedly connected to the top of the tensioning wheel frame, and the upper end of the guiding shaft is placed in the guiding shaft hole of the tensioning seat and the adjusting bracket;
  • the tensioning spring is set on the guiding shaft and is located on the adjusting bracket and
  • the tensioning bracket is located below the tensioning seat and is connected to the tensioning seat by a tensioning force adjusting screw, and the tensioning force adjusting screw is connected to the adjusting bracket by a thread.
  • the anti-detachment bracket includes a column, a swing arm and a pinch wheel.
  • the lower end of the column is fixedly connected to the top of the frame bracket, the upper end of the column is connected to the lower end of the swing arm by a hinge, and the middle of the swing arm is connected to the upper end of the column by a compression spring.
  • the upper end of the pressing spring is hooked in the middle of the swing arm, and the lower end of the pressing spring is connected with the column by a pressing force adjusting screw; the pressing wheel is fixedly mounted on the upper end of the swing arm And connected to the swing arm by a rolling bearing.
  • a discharge cover is arranged at a front end of the barrel of the rolling cylinder, and a vacuum cover is arranged at a center of a rear end of the cylinder.
  • the unloading cover and the vacuum cover and the cylinder together form an independent sealing.
  • Space; a front wheel groove and a rear wheel groove are respectively arranged at the front and rear ends of the outer side of the cylinder body, the driving wheel and the pressing wheel at the front end are placed in the front wheel groove, and the driving wheel and the pressing wheel at the rear end are placed on the rear wheel
  • a spiral agitating blade is arranged inside the cylinder, and conical bumps are staggered on the rear side of the spiral stirring blade for multi-point massage rolling of the meat product to make the seasoning
  • the pickling liquid is in better contact with the meat product.
  • the discharge cover and the cylinder are fixedly connected by a compression screw and a pressure plate, and the vacuum cover and the cylinder are connected by a vacuum sealed bearing, and the spiral stirring blade and the cylinder are welded.
  • the conical bumps and the spiral agitating blades are fixed by welding; the number of the spiral agitating blades is not less than three.
  • An angle sensor mounted on the drive shaft and a displacement sensor respectively mounted on the transverse linear guide and the longitudinal linear guide collect the rotational angular velocity of the roller and the reciprocating displacement information in the lateral and longitudinal directions respectively through the data line
  • the control system of the vacuum tumbler is used as a reference for the motion control of the tumbler.
  • the transverse motor, the longitudinal motor and the rotary motor are started, and the roller is subjected to lateral excitation, longitudinal excitation and rotational driving, and the meat in the cylinder is under the action of the massage roller of the spiral stirring blade and the conical bump. It becomes soft and blends well with seasonings and pickles for quick pickling.
  • the three-degree-of-freedom vacuum tumbler disclosed in the present invention has the beneficial effects that the rolling cylinder of the present invention can realize lateral reciprocating excitation, longitudinal reciprocating excitation, and rotation about its own axis, compared with the prior art.
  • the freedom of movement can achieve full mixing of meat products, seasonings and pickling liquids, and rapid absorption, which can significantly improve the pickling efficiency, production efficiency and taste of meat products.
  • the invention also has the advantages of the structure being fine, the equipment occupying small space, the production cost is low, the labor intensity is low, the operation and maintenance is simple, and the like, and the defects of the prior art can be overcome.
  • FIG. 1 is a schematic view showing the overall structure of a four-degree-of-freedom electromagnetic vibration type vacuum tumbler
  • FIG. 2 is a schematic structural view of a rotary drive device of a four-degree-of-freedom electromagnetic vibration type vacuum tumbler
  • Figure 3 is a schematic view showing the structure of a tensioning device in a rotary drive device of a four-degree-of-freedom electromagnetic vibration type vacuum tumbler;
  • FIG. 4 is a schematic structural view of a retaining bracket of a four-degree-of-freedom electromagnetic vibrating vacuum tumbler
  • Figure 5 is a schematic structural view of a roller of a four-degree-of-freedom electromagnetic vibration type vacuum tumbler
  • Fig. 6 is a view taken along line A-A of Fig. 5;
  • Figure 7 is a schematic view showing the overall structure of a three-degree-of-freedom vacuum tumbler
  • Figure 8 is a schematic structural view of a rotary drive device of a three-degree-of-freedom vacuum tumbler
  • Figure 9 is a schematic diagram showing the connection relationship between the lateral excitation device, the longitudinal excitation device and the main support of the three-degree-of-freedom vacuum tumbler;
  • Figure 10 is a schematic structural view of a tensioning device in a rotary drive device of a three-degree-of-freedom vacuum tumbler
  • Figure 11 is a schematic structural view of a lateral excitation device of a three-degree-of-freedom vacuum tumbler
  • Figure 12 is a schematic structural view of a longitudinal excitation device of a three-degree-of-freedom vacuum tumbler
  • Figure 13 is a schematic structural view of a retaining bracket of a three-degree-of-freedom vacuum tumbler
  • Figure 14 is a schematic view showing the internal structure of a roller of a three-degree-of-freedom vacuum tumbler.
  • a four-degree-of-freedom electromagnetic vibrating vacuum tumbler includes a frame 1, a rotary driving device 2, a retaining bracket 3, a rolling cylinder 4, and a supporting spring.
  • the rack 1 includes a mounting base 11 and a frame bracket 12 for mounting and supporting the swing driving device 2, the rolling cylinder 4 and the vacuum system 7, and the frame bracket 12 is located above the mounting base 11. And is fixed to the mounting base 11.
  • the upper end of the slewing drive 2 is fixedly mounted on the top of the frame bracket 12 in the frame 1 through four bearing seats, and the lower end of the slewing drive 2 is fixedly mounted on the bottom of the frame bracket 12 for driving the roller 4 rotate.
  • the anti-off brackets 3 have four sets, symmetrically arranged on the top of the frame bracket 12, for defining the position of the rolling cylinder 4 and applying a radial pressing force to the rolling cylinder 4, and the lower end and the frame bracket 12 is fixed, and the upper end of the retaining bracket 3 is pressed against the rolling cylinder 4.
  • the roller cylinder 4 is an end effecting device for vacuum-rolling the meat product.
  • the roller cylinder 4 is located at the top of the frame 1 and is connected to the frame bracket 12 by the swing driving device 2.
  • the support spring group 5 and the electromagnetic vibration exciter group 6 are both mounted inside the roller cylinder 4, respectively serving to support the inner member of the roller cylinder 4 and to generate reciprocating vibration in the roller cylinder 4.
  • the vacuum system 7 includes a vacuum pump 71 and an evacuation conduit 72 for creating a vacuum within the roller barrel 4.
  • the vacuum pump 71 is fixedly mounted on one side of the frame bracket 12, the upper end of the evacuation pipe 72 is connected to the roller cylinder 4, and the lower end of the vacuum pipe 72 is connected to the vacuum pump 71.
  • the rotary drive unit 2 includes a swing motor 21, a swing speed reducer 22, a chain drive unit 23, a tensioning device 24, a drive shaft 25, and a drive wheel 26.
  • the rotary motor 21 and the rotary reducer 22 are all fixed to the bottom of the frame bracket 12 by screws, and the output shaft of the rotary motor 21 is connected to the input shaft of the rotary reducer 22 through a coupling for
  • the chain transmission 23 is powered; the upper end of the chain transmission 23 is mounted on the drive shaft 25, and the lower end of the chain transmission 23 is coupled to the output shaft of the rotary reduction gear 22 for decelerating the rotary motor 21 and the rotation
  • the power of the device 22 is transmitted to the drive shaft 25; the top of the tensioning device 24 is fixedly mounted on the frame bracket 12 to provide a tension to the chain drive 23, and the chain drive 23 is tensioned
  • the device 24 is connected to the top of the frame bracket 12; the drive shaft 25 has two and is arranged in parallel on the top of the frame bracket 12, and both ends of the drive
  • the driving wheel 26 is mounted on both ends of the driving shaft 25, and is connected with the driving shaft 25 through a flat key and a positioning pin for supporting and driving the rotation of the roller cylinder 4;
  • An angle sensor is provided at one end of 25 for The rotational angular velocity of the roller cylinder 4 is measured.
  • the chain transmission 23 includes a drive sprocket 231, a chain 232, and a driven sprocket 233.
  • the driving sprocket 231 is fixedly mounted on the output shaft of the slewing reducer 22 and is fixedly connected to the output shaft of the slewing reducer 22; the driven sprocket 233 has two fixed mountings respectively.
  • the drive shaft 25 is driven, and the driven sprocket 233 and the drive shaft 25 are connected by a flat key and a locking screw; the chain 232 is simultaneously meshed with the drive sprocket 231 and the driven sprocket 233.
  • the tensioning device 24 includes a tensioning wheel frame 241, a tension sprocket 242, a guide shaft 243, a tension spring 244, an adjustment bracket 245, an adjusting screw 246, and a tensioning piece. Tight seat 247.
  • the tensioning wheel 242 is installed at the bottom of the tensioning wheel frame 241, and the supporting shaft of the tensioning wheel 242 is connected to the tensioning wheel frame 241 through a bearing; and is provided on the tensioning seat 247 and the adjusting bracket 245.
  • the 244 is sleeved on the guide shaft 243 and located between the adjusting bracket 245 and the tensioning wheel carrier 541; the adjusting bracket 245 is located below the tensioning seat 547, and is connected to the tensioning seat 247 by the adjusting screw 246.
  • the adjusting screw 246 is connected to the adjusting bracket 245 by a screw; the tensioning seat 247 is fixed to the top of the frame bracket 12 by screws.
  • the retaining bracket 3 includes a column 31, a swing arm 32, and a pinch roller 33.
  • the lower end of the upright 31 is fixed to the top of the frame bracket 12, the upper end of the upright 31 is connected to the lower end of the swing arm 32 by a hinge, and the middle of the swing arm 32 and the upper end of the upright 31 pass.
  • the pressing springs 34 are connected, and the lower end of the pressing springs 34 is connected with the column 31 by a pressing force adjusting screw 35; the pressing wheel 33 is fixedly mounted on the upper end of the swinging arm 32, and is oscillated
  • the arms 32 are connected by rolling bearings.
  • the tumbling cylinder 4 includes an outer cylinder 41 and an inner cylinder 42.
  • the outer cylinder 41 and the inner cylinder 42 are connected by a support spring group 5 and an electromagnetic exciter group 6; front and rear slots are respectively provided at the front and rear ends of the outer cylindrical surface of the outer cylinder 41; 411 and rear wheel groove 412 for placing the pressure roller 33; a front fixing cover 413 at the front end of the outer cylinder 41, and a circular mounting hole 414 at the rear end of the outer cylinder 41 for mounting and connecting the vacuuming pipe 72
  • a process hole 415 is further provided on the outer cylindrical surface of the outer cylinder 41 for reducing the weight of the outer cylinder 41 and facilitating the detection and maintenance operations.
  • a discharge cover 421 is disposed at a front end of the inner cylinder 42
  • a vacuum cover 422 is disposed at a rear end of the inner cylinder 42
  • a spiral stirring blade 43 is further disposed inside the inner cylinder 42 .
  • the rear side of the spiral agitating blade 43 is provided with a conical bump 44 for multi-point massage rolling of the meat product to better contact the seasoning with the meat product.
  • the upper end of the evacuation duct 72 is connected to the inner cylinder 42 of the roller cylinder 4 through a vacuum cover 422.
  • the discharge cover 421 and the inner cylinder 42 are fixedly connected by a compression screw and a pressure plate, and the vacuum cover 422 and the inner cylinder 42 are connected by a vacuum sealed bearing; the front fixed cover 413 and the outer
  • the cylinders 41 are fixed by a compression screw and a pressure plate;
  • the spiral stirring blades 43 and the inner cylinder 42 are fixed by welding, and the conical bumps 44 and the spiral stirring blades 43 are welded.
  • the manner of the solidification is fixed, and the number of the spiral stirring blades 43 is not less than three.
  • Displacement sensors are provided in the outer cylinder 41 of the rolling cylinder 4 for measuring displacement parameters of the inner cylinder 42 in a linear reciprocating motion in the X direction, the Y direction, and the Z direction, and the displacement sensor can be non-contact type. Laser displacement sensor.
  • the support spring group 5 includes a front support spring 51, a rear support spring 52, a horizontal support spring 53, and a vertical support spring 54 for supporting and suspending the inner cylinder 42 in the outer cylinder 41.
  • the front support spring 51 is located outside the front end of the inner cylinder 42, and its two ends are respectively connected with the front fixing cover 413 and the discharge cover 421;
  • the rear support spring 52 is installed at the rear end of the inner cylinder 42
  • the outer side is connected to the outer cylinder 41 and the inner cylinder 52 respectively;
  • the horizontal support spring 53 and the vertical support spring 54 are located between the inner cylindrical surface of the outer cylinder 41 and the outer cylindrical surface of the inner cylinder 42, and the horizontal support spring 53
  • the two ends of the vertical support spring 54 are respectively connected to the outer cylinder 41 and the inner cylinder 42, and the horizontal support springs 53 are horizontally arranged in an initial installation state, and the vertical support springs 54 are in an initial installation state. Arranged in the vertical direction.
  • the electromagnetic exciter group 6 includes a front electromagnetic vibrator 61, a rear electromagnetic vibrator 62, a horizontal electromagnetic vibrator 63, and a vertical electromagnetic vibrator 64 for
  • the inner cylinder 42 reciprocates in the X direction, the Y direction, and the Z direction.
  • the front electromagnetic vibrator 61 is located between the front fixing cover 413 and the discharge cover 421, and is fixedly mounted on the front fixing cover 413;
  • the rear electromagnetic vibration exciter 62 is mounted on the inner side of the rear end of the outer cylinder 41 And between the outer cylinder 41 and the inner cylinder 42;
  • the horizontal electromagnetic vibrator 63 and the vertical electromagnetic vibrator 64 are located between the inner cylindrical surface of the outer cylinder 41 and the outer cylindrical surface of the inner cylinder 42, horizontal electromagnetic excitation
  • the two ends of the vertical electromagnetic exciter 64 are fixedly mounted on the inner cylindrical surface of the outer cylinder 41, and the horizontal electromagnetic exciter 63 is horizontally arranged in an initial installation state, and the vertical electromagnetic exciter 64 is arranged in a vertical direction in the initial installation state.
  • the front electromagnetic vibrator 61, the rear electromagnetic vibrator 62, the horizontal electromagnetic vibrator 63, and the vertical electromagnetic vibrator 64 each employ a magnetic electromagnetic exciter.
  • the inner cylinder 42 of the rolling drum 4 of the present invention can generate reciprocating excitation in three directions of X, Y and Z directions and the outer cylinder 41 under the action of the rotary driving device 2 and the electromagnetic exciter group 6.
  • the rotation of the axis has a total of four degrees of freedom of motion.
  • An angle sensor mounted on the drive shaft 25 and a displacement sensor mounted in the outer cylinder 41 of the roller cylinder 4 will collect the angular angular velocity of the roller 4 and the inner cylinder 42 in the X and Y directions, respectively.
  • the Z-direction reciprocating displacement information is transmitted to the control system through the data line as a reference for the tumbler motion control.
  • a three-degree-of-freedom vacuum tumbler includes a fixed base 01, a main bracket 02, a lateral excitation device 03, a longitudinal excitation device 04, a rotary drive device 05, and a detachment prevention device.
  • the main bracket 02 is used for mounting and supporting a longitudinal excitation device 04, a rotary drive device 05 and a vacuum system 08.
  • the main support 02 includes a frame bracket 021, a longitudinal linear guide 022, a connection base 023, and a lateral direction. Linear guide 024.
  • the lateral linear guide 024 is fixedly mounted under the connecting base 023, and the connecting base 023 and the fixed base 01 are connected by a transverse linear guide 024 and a lateral excitation device 03, and the longitudinal linear guide 022 is fixed.
  • the output end thereof is connected to the Y-direction side of the connection base 023 by screws for applying X-direction reciprocating excitation to the main bracket 02 and the roller cylinder 07;
  • the bottom of the longitudinal vibration excitation device 04 is fixed Mounted on the connection base 023, the output end of which is connected to the X-direction side of the frame bracket 021 by screws for applying Y-direction reciprocating excitation to the main bracket 02 and the roller cylinder 07;
  • the upper end of the 05 is fixedly mounted on the top of the frame bracket 021 in the main bracket 02 through four bearing seats for driving the roller cylinder 07 to rotate, and the lower end of the swing driving device 05 is fixedly mounted on the bottom of the frame bracket 021;
  • There are four sets of anti-off brackets 06 which are symmetrically arranged on the top of the frame bracket 021 for defining the position of the roller cylinder 07 and applying a radial pressing force to the roller cylinder 07, and the lower end of the retaining bracket 06 and the frame
  • the vacuum pump 081 is fixedly mounted on one side of the frame bracket 021, the upper end of the vacuuming pipe 082 is connected to the roller cylinder 07, and the lower end of the vacuuming pipe 082 is connected to the vacuum pump 081.
  • Displacement sensors are provided on the lateral linear guide 024 and the longitudinal linear guide 022 for measuring the displacement parameters of the roller cylinder 07 in the linear reciprocating motion in the X direction and the Y direction, respectively.
  • the displacement sensor may be a linear magnetic grid sensor or a linear grating sensor or a linear inductive synchronizer.
  • the lateral excitation device 03 includes a lateral motor 031, a lateral crank frame 032, a lateral crank adjustment block 033, a transverse link 034, and a lateral slider device 035.
  • the transverse motor 031 is fixedly mounted on the side of the top Y of the fixed base 01 by screws, and is used for powering the X-direction excitation of the roller cylinder 07 and the main bracket 02;
  • the lateral crank frame 032 is fixed Mounted on the output shaft of the transverse motor 031 and fixed to the output shaft of the transverse motor 031,
  • the lateral crank adjusting block 033 is fixedly mounted on the lateral crank frame 032, and the two ends of the transverse link 034 are respectively laterally
  • the crank adjusting block 033 and the lateral slider device 035 are connected by a hinge, and the lateral slider device 035 is fixedly mounted on one side of the connecting base 023.
  • the lateral crank frame 032 and the lateral crank adjusting block 033, the lateral link 034, and the lateral slider device 035 constitute a set of crank slider mechanisms for converting the rotational motion of the lateral motor 031 into X-direction linear reciprocating vibration.
  • the lateral motor 031 can employ an AC deceleration motor.
  • Two parallel T-shaped grooves 0221 are disposed on the lateral crank frame 032, and a limiting block 0322 is further disposed at one end of the lateral crank frame 032.
  • the lateral crank adjusting block 033 is fixedly mounted by two T-shaped screws.
  • the limiting block 0322 is coupled to the lateral crank adjusting block 033 by a limit adjusting screw 0323.
  • the longitudinal vibration excitation device 04 includes a longitudinal motor 041, a longitudinal crank frame 042, a longitudinal crank adjustment block 043, a longitudinal link 044, and a longitudinal ear seat 045.
  • the longitudinal motor 041 is fixedly mounted on one side of the top of the connection base 023 by screws, and is used for powering the Y-direction excitation of the roller cylinder 07 and the main bracket 02; the longitudinal crank frame 042 is fixed.
  • the longitudinal crank adjusting block 043 is fixedly mounted on the longitudinal crank frame 042, and the two ends of the longitudinal link 044 are respectively longitudinally cranked
  • the adjusting block 043 and the longitudinal lug 045 are connected by a hinge, and the longitudinal lug 045 is fixed to one side of the frame bracket 021 by screws.
  • the longitudinal crank frame 042 and the longitudinal crank adjusting block 043, the longitudinal link 044, and the longitudinal ear seat 045 constitute a set of crank link mechanisms for converting the rotational motion of the longitudinal motor 041 into a Y-direction linear reciprocating vibration.
  • the longitudinal motor 041 can be an AC geared motor.
  • the longitudinal crank frame 042 is identical in structure to the lateral crank frame 032, and the longitudinal crank adjusting block 043 is identical in structure to the lateral crank adjusting block 033.
  • the swing drive unit 05 includes a swing motor 051, a swing speed reducer 052, a chain drive 053, a tensioning device 054, a drive shaft 055, and a drive wheel 056.
  • the rotary motor 051 and the rotary reducer 052 are respectively fixed to the bottom of the frame bracket 021 by screws, and the output shaft of the rotary motor 051 is connected to the input shaft of the rotary reducer 052 through a coupling for
  • the chain transmission 053 is powered; the upper end of the chain transmission 053 is mounted on the drive shaft 055, and the lower end of the chain transmission 053 is connected to the output shaft of the rotary reducer 052 for decelerating the rotary motor 051 and the rotation
  • the power of the 052 is transmitted to the drive shaft 055; the top of the tensioning device 054 is fixedly mounted on the frame bracket 021 to provide a tension to the chain transmission 053, and the chain transmission 053 is tensioned.
  • the device 054 is connected to the top of the frame bracket 021; the drive shaft 055 has two and is arranged in parallel on the top of the frame bracket 021, and both ends of the drive shaft 055 are fixedly mounted on the frame through the bearing housing.
  • the driving wheel 056 is mounted on both ends of the driving shaft 055, and is connected with the driving shaft 055 through a flat key and a positioning pin for supporting and driving the rotation of the roller cylinder 07;
  • One end of 055 An angle sensor for measuring the angular velocity of drum rotation tumbling 07.
  • the chain transmission 053 includes a drive sprocket 0531, a chain 053, and a driven sprocket 0533.
  • the driving sprocket 0531 is fixedly mounted on the output shaft of the slewing reducer 052 and is fixedly connected to the output shaft of the slewing reducer 052;
  • the driven sprocket 0533 has two fixed mountings respectively.
  • the drive shaft 055 is mounted, and the driven sprocket 0533 and the drive shaft 055 are connected by a flat key and a locking screw; the chain 0532 is simultaneously meshed with the drive sprocket 0531 and the driven sprocket 0533.
  • the tensioning device 054 includes a tensioning wheel frame0541, a tensioning sprocket 0542, a guiding shaft 0543, a tensioning spring 0454, an adjusting bracket 0545, and a tension adjusting screw. 0546 and tensioning seat 0547.
  • the tensioning wheel 0542 is mounted on the bottom of the tensioning wheel frame0541, and the supporting shaft of the tensioning wheel 0542 is connected to the tensioning wheel frame 0451 through a bearing; and is provided on both the tensioning seat 0547 and the adjusting bracket 0545.
  • the lower end of the guide shaft 0453 is fixed to the top of the tensioning wheel frame 0451, and the upper end of the guide shaft 0543 is placed in the guide shaft hole of the tensioning seat 0547 and the adjusting bracket 0545;
  • 0544 is set on the guide shaft 0543 and is located between the adjusting bracket 0545 and the tensioning wheel frame 0451;
  • the adjusting bracket 0545 is located below the tensioning seat 0547, and is adjusted by the tension adjusting screw 0546 and the tensioning seat 0547.
  • the tension adjusting screw 0546 is connected to the adjusting bracket 0545 by threads.
  • the retaining bracket 06 includes a post 061, a swing arm 062, and a pinch roller 063.
  • the lower end of the column 061 is fixed to the top of the frame bracket 021
  • the upper end of the column 061 is connected to the lower end of the swing arm 062 by a hinge
  • the middle of the swing arm 062 and the upper end of the column 061 pass.
  • the pressing springs 064 are connected to each other, and the upper end of the pressing spring 064 is hooked in the middle of the swinging arm 062, and the lower end of the pressing spring 064 is connected with the column 061 by a pressing force adjusting screw 065;
  • the pressing wheel 063 is fixedly mounted on the upper end of the swing arm 062 and is connected to the swing arm 062 by a rolling bearing.
  • a discharge cover 072 is provided at the front end of the cylindrical body 071 of the above-mentioned roller cylinder 07, and a vacuum cover 073 is provided at the center of the rear end of the cylindrical body 071, and the unloading after installation and fixation is provided.
  • the cover 072 and the vacuum cover 073 together with the cylinder 071 form an independent closed space; the front and rear ends of the outer casing 071 are respectively provided with a front wheel groove 074 and a rear wheel groove 075, and the driving wheel 056 at the front end is pressed.
  • the wheel 063 is disposed in the front wheel groove 074, and the driving wheel 056 and the pressing wheel 063 at the rear end are disposed in the rear wheel groove 075; a spiral stirring blade 076 is further disposed inside the cylinder 071, and the spiral type is The rear side of the stirring blade 076 is staggered with conical bumps 077 for multi-point massage rolling of the meat products, so that the seasoning and pickling liquid are in better contact with the meat products.
  • the discharge cover 072 and the cylinder 071 are fixedly connected by a compression screw and a pressure plate, and the vacuum cover 073 and the cylinder 071 are connected by a vacuum sealing bearing, and the spiral stirring blade 076 is
  • the cylindrical body 071 is fixed by welding, and the conical bumps 077 and the spiral stirring blades 076 are fixed by welding; the number of the spiral stirring blades 076 is not less than three.
  • the angle sensor mounted on the drive shaft 055 and the displacement sensors respectively mounted on the transverse linear guide 024 and the longitudinal linear guide 022 will collect the rotational angular velocity of the roller 7 and the reciprocation in the X and Y directions, respectively.
  • the displacement information is transmitted to the control system of the vacuum tumbler through the data line as a reference for the motion control of the tumbler.
  • the roller cylinder 07 and the main bracket 02, the lateral excitation device 03, the longitudinal excitation device 04, the rotary drive device 05 and the fixed base 01 form a space with two translations and one rotation. A total of three motion degrees of freedom of the mechanism.

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Abstract

本发明公开了一种四自由度电磁振动式真空滚揉机，包括机架、回转装置、防脱支架、滚揉筒、支撑弹簧组、电磁激振器组和真空系统。机架用于安装、支撑回转装置和滚揉筒，回转驱动装置用于驱动滚揉筒进行旋转，防脱支架用于限定滚揉筒的位置并对滚揉筒施加径向压紧力，滚揉筒的外筒和内筒之间通过支撑弹簧组和电磁激振器组连接，使内筒相对于外筒产生横向、纵向和垂直方向的往复激振。本发明的滚揉筒的内筒具有三个移动一个转动共四个运动自由度，可促进内筒里的肉制品在真空状态下蓬松，有利于肉制品对调味料的吸收，滚揉效果好，缩短腌渍时间，提高了生产效率和腌制效果，且清洗方便，降低了操作人员的劳动强度和生产成本。

Description

四自由度电磁振动式真空滚揉机 技术领域
本发明属于真空滚揉机设备技术领域，特别涉及一种四自由度电磁振动式真空滚揉机。
背景技术
真空制冷滚揉机是在真空状态下，利用物理冲击原理，让物料在滚筒内上下翻动，相互撞击摩擦，产生大面积均匀分布的按摩和腌渍作用，使腌渍液在物料内均匀分布更加有利于盐溶性蛋白质以最快的速度和最大限度地析出，从而增加产品的持水性，很好地改善产品的弹性、切片性和口感，极大程度上提高产品的出品率。然而，但现有的真空滚揉机只有滚揉筒旋转一个运动自由度，肉制品和调料、腌渍液在滚揉筒内混合不够充分均匀，入味困难，使得肉食品等物料在滚筒中吸收调料的效果不佳，滚揉耗时较长，且滚揉筒存在清洗较为麻烦的问题，在滚揉的过程中可能会出现肉质粘接在筒体表面的情况，滚揉后粘接的残留物难以去除，对滚揉机的清洗也很不方便；滚揉时间较长还会导致肉食品在滚揉机中摩擦产生的热，使肉食品在滚筒中受热不均匀，影响了口感。
针对滚揉筒运动自由度少的问题，现有专利文献也提出了一些解决方案。如申请号为201320845561.2的中国实用新型专利公开了一种磁力振动真空滚揉机，在滚揉筒的内桶外表面设置有均匀分布的振动芯套壳，在振动芯套壳内设置有电磁振动芯，在支架中上部设置有电磁板，在内桶和外壳的中空区域内设置有加热油，通过电磁板来对加热油进行加热，通过调节电磁板的磁力强度实现电磁场的强度变化，达到加热和振动电磁振动芯的目的。该技术方案尽管可实现滚揉筒的振动，但振动方向单一，肉制品在滚筒内的混合效果有限。
发明内容
本发明的目的是针对现有技术的不足，提供一种四自由度电磁振动式真空滚揉机，其滚揉筒的内筒具有空间三平移一转动共四个运动自由度，能够实现横向激振、纵向激振、垂直方向激振以及绕滚揉筒轴线的旋转，还提供一种三自 由度真空滚揉机，其滚筒具有空间两平移一转动共三个运动自由度，该发明所公开的滚揉筒可在短时间内完成腌渍，并且腌渍透彻，提高滚揉效果和生产效率，而且肉制品不易粘接在筒体表面，便于清理，降低了劳动强度和生产成本，可克服现有技术的缺陷。
本发明所要解决的技术问题采用以下技术方案来实现。
一种四自由度电磁振动式真空滚揉机，包括机架、回转驱动装置、防脱支架、滚揉筒、支撑弹簧组、电磁激振器组和真空系统。其中，所述的机架包括安装底座和框式支架，用于安装和支撑回转驱动装置、滚揉筒和真空系统，所述的框式支架位于安装底座的上方且与安装底座固连。所述的回转驱动装置的上端通过四个轴承座固定安装在机架中框式支架的顶部，回转驱动装置的下端固定安装在框式支架的底部，用于驱动滚揉筒进行旋转。所述的防脱支架有四组，对称布置在框式支架的顶部，用于限定滚揉筒的位置并对滚揉筒施加径向压紧力，且其下端与框式支架固连，防脱支架的上端压紧在滚揉筒上。所述的滚揉筒是对肉制品进行真空滚揉处理的末端执行装置，所述的滚揉筒位于机架的顶部，且通过回转驱动装置与框式支架相连接。支撑弹簧组、电磁激振器组均安装在滚揉筒的内部，分别起支撑滚揉筒内部构件和在滚揉筒内产生往复激振的作用。所述的真空系统包括真空泵和抽真空管道，用于在滚揉筒内形成真空。所述的真空泵固定安装在框式支架的一侧，所述的抽真空管道的上端与滚揉筒相连接，抽真空管道的下端与真空泵相连接。
所述的回转驱动装置包括回转电机、回转减速器、链传动装置、张紧装置、驱动轴和驱动轮。其中，所述的回转电机、回转减速器均通过螺钉固定安装在框式支架的底部，且回转电机的输出轴与回转减速器的输入轴通过联轴器相连接，用于为链传动装置提供动力；所述的链传动装置的上端安装在驱动轴上，链传动装置的下端与回转减速器的输出轴相连接，用于将回转电机和回转减速器的动力传递到驱动轴上；所述的张紧装置的顶部固定安装在框式支架上，为链传动装置提供张紧力，且所述的链传动装置通过张紧装置与框式支架的顶部相连接；所述的驱动轴有两根且平行布置在框式支架的顶部，所述的驱动轴的两端均通过轴承座固定安装在框式支架上；所述的驱动轮安装在驱动轴的两端，且与驱动轴通过平键和定位销相连接，用于支撑并驱动滚揉筒旋转；在所述的驱动轴的一端 设有角度传感器，用于测量滚揉筒的转动角速度。
所述的链传动装置包括主动链轮、链条和从动链轮。其中，所述的主动链轮固定安装在回转减速器的输出轴上，且与回转减速器的输出轴固连；所述的从动链轮有两个，分别固定安装两根驱动轴上，且从动链轮与驱动轴通过平键和锁紧螺钉相连接；所述的链条同时与主动链轮、从动链轮保持啮合。
所述的张紧装置包括张紧轮架、张紧链轮、导向轴、张紧弹簧、调节支架、调节螺钉和张紧座。其中，所述的张紧轮安装在张紧轮架的底部，且张紧轮的支撑轴通过轴承与张紧轮架相连接；在张紧座和调节支架上均设有导向轴孔，所述的导向轴下端与张紧轮架的顶部固连，导向轴的上端置于张紧座和调节支架的导向轴孔内；所述的张紧弹簧套装在导向轴上，且位于调节支架与张紧轮架之间；所述的调节支架位于张紧座的下方，且通过调节螺钉与张紧座相连接，所述的调节螺钉与调节支架通过螺纹相连接；所述的张紧座通过螺钉固定安装在框式支架的顶部。
所述的防脱支架包括立柱、摆动臂和压紧轮。其中，所述的立柱的下端与框式支架的顶部相固连，立柱的上端与摆动臂的下端通过铰链相连接，且所述的摆动臂的中部与立柱的上端通过压紧弹簧相连接，所述的压紧弹簧的下端与立柱之间通过压紧力调节螺钉相连接；所述的压紧轮固定安装在摆动臂的上端，且与摆动臂之间通过滚动轴承相连接。
所述的滚揉筒包括外筒和内筒。其中，所述的外筒与内筒之间通过支撑弹簧组和电磁激振器组相连接；在所述的外筒的外侧圆柱面的前后两端分别设有前轮槽和后轮槽，用于放置压紧轮；在外筒的前端设有前固定盖，在外筒的后端设有圆形安装孔，用于安装和连接抽真空管道；在外筒的外侧圆柱面上还设有工艺孔，用于减轻外筒的重量和方便检测、维修操作。在所述的内筒的前端设有卸料盖，在内筒的后端中心位置设有真空盖，在内筒的内部还设有螺旋式搅拌叶片，且在所述的螺旋式搅拌叶片的后侧布置有圆锥形凸块，用于对肉制品进行多点按摩式滚揉，使调料与肉制品更好地接触。所述的抽真空管道的上端通过真空盖与滚揉筒的内筒相连接。所述的卸料盖与内筒通过压紧螺钉和压板相固连，所述的真空盖与内筒之间通过真空用密封轴承相连接；所述的前固定盖与外筒之间通过压紧螺钉和压板相固连；所述的螺旋式搅拌叶片与内筒通过焊接的方式相固 连，所述的圆锥形凸块与螺旋式搅拌叶片通过焊接的方式相固连，且所述的螺旋式搅拌叶片的数量不少于三。在滚揉筒的外筒内设有位移传感器，分别用于测量滚揉筒的内筒在横向、纵向和垂直方向的直线往复运动时的位移参数，所述的位移传感器可采用非接触式激光位移传感器。
所述的支撑弹簧组包括前支撑弹簧、后支撑弹簧、水平支撑弹簧和垂直支撑弹簧，用于将内筒支撑和悬挂安装在外筒的内部。其中，所述的前支撑弹簧位于内筒的前端外侧，且其两端分别与前固定盖和卸料盖相连接；所述的后支撑弹簧安装在内筒的后端外侧，其两端分别与外筒、内筒相连接；水平支撑弹簧、垂直支撑弹簧均位于外筒的内圆柱面与内筒的外圆柱面之间，水平支撑弹簧、垂直支撑弹簧的两端均分别与外筒、内筒相连接，所述的水平支撑弹簧在初始安装状态下呈水平布置，所述的垂直支撑弹簧在初始安装状态下呈垂直方向布置。
所述的电磁激振器组包括前电磁激振器、后电磁激振器、水平电磁激振器和垂直电磁激振器，用于对内筒进行横向、纵向和垂直方向的往复激振。其中，所述的前电磁激振器位于前固定盖和卸料盖之间，且固定安装在前固定盖上；所述的后电磁激振器安装在外筒后端的内侧，且位于外筒与内筒之间；水平电磁激振器、垂直电磁激振器均位于外筒的内圆柱面与内筒的外圆柱面之间，水平电磁激振器、垂直电磁激振器的两端均固定安装在外筒的内圆柱面上，所述的水平电磁激振器在初始安装状态下呈水平布置，所述的垂直电磁激振器在初始安装状态下呈垂直方向布置。进一步地，前电磁激振器、后电磁激振器、水平电磁激振器和垂直电磁激振器均采用磁吸式电磁激振器。
本发明的滚揉筒的内筒在回转驱动装置和电磁激振器组的作用下，共可以产生横向、纵向和垂直方向三个方向的往复激振和绕外筒轴线的转动共四个自由度的运动。安装在所述的驱动轴上的角度传感器以及安装在滚揉筒的外筒内的位移传感器将采集到有关滚揉筒的转动角速度以及内筒分别在横向、纵向和垂直方向的往复位移信息通过数据线传递给控制系统，作为滚揉机运动控制的参考。
使用时，先根据真空滚揉机滚揉作业的任务要求选择合适的横向激振参数、纵向激振参数、垂直方向的振动参数和回转速度，并完成前电磁激振器、后电磁激振器、水平电磁激振器和垂直电磁激振器的参数调节。然后，将肉制品、调料和腌渍液倒入滚揉筒的内筒内，将前固定盖固定安装在外筒的前端，将卸料 盖固定安装在内筒的前端。接着，启动真空泵，通过抽真空管道将内筒内的空气抽出，在滚揉筒的内筒内形成真空滚揉作业环境。最后，启动前电磁激振器、后电磁激振器、水平电磁激振器、垂直电磁激振器和回转电机，对内筒进行横向激振、纵向激振、垂直方向激振以及旋转驱动，内筒里的肉制品在螺旋式搅拌叶片和圆锥形凸块的按摩式滚揉作用下变得松软，并和调料、腌渍液充分的混合，实现快速腌渍作业。
本发明所开的四自由度电磁振动式真空滚揉机的有益效果是，与现有的技术相比，本发明的滚揉筒的内筒能够实现横向往复激振、纵向往复激振、垂直方向往复激振和绕外筒轴线旋转共四个自由度的运动，可实现肉制品和调料、腌渍液充分的混合，并快速吸收，可明显提高肉制品的腌渍效率、生产效率，并改善口感。本发明还具有结构节凑、激振频率高，设备占用空间小、生产成本低、劳动强度低、参数调节及操作维护简便等优点，可克服现有技术的缺陷。
一种三自由度真空滚揉机，包括固定底座、主支架、横向激振装置、纵向激振装置、回转驱动装置、防脱支架、滚揉筒和真空系统。其中，所述的主支架用于安装和支撑纵向激振装置、回转驱动装置和真空系统，所述的主支架包括框式支架、纵向直线导轨、连接底座和横向直线导轨。所述的横向直线导轨固定安装在连接底座的下方，所述的连接底座与固定底座之间通过横向直线导轨和横向激振装置相连接，所述的纵向直线导轨固定安装在连接底座的上方，所述的框式支架与连接底座之间通过纵向直线导轨和纵向激振装置相连接；所述的横向激振装置的底部固定安装在固定底座上，其输出端与连接底座纵向的一侧通过螺钉相连接，用于对主支架和滚揉筒施加横向往复激振；所述的纵向激振装置的底部固定安装在连接底座上，其输出端与框式支架横向的一侧通过螺钉相连接，用于对主支架和滚揉筒施加纵向往复激振；所述的回转驱动装置的上端通过四个轴承座固定安装在主支架中框式支架的顶部，用于驱动滚揉筒进行旋转，且回转驱动装置的下端固定安装在框式支架的底部；所述的防脱支架有四组，对称布置在框式支架的顶部，用于限定滚揉筒的位置并对滚揉筒施加径向压紧力，且防脱支架的下端与框式支架固连，防脱支架的上端压紧在滚揉筒上；所述的滚揉筒是对肉制品进行真空滚揉处理的末端执行装置，所述的滚揉筒位于主支架的顶部，且通过回转驱动装置与主支架相连接；所述的真空系统包括真空泵和抽真空管道，用 于在滚揉筒内形成真空。所述的真空泵固定安装在框式支架的一侧，所述的抽真空管道的上端与滚揉筒相连接，抽真空管道的下端与真空泵相连接。在横向直线导轨和纵向直线导轨上均设有位移传感器，分别用于测量滚揉筒在横向和纵向的直线往复运动时的位移参数。所述的位移传感器可采用直线式磁栅传感器或直线型光栅传感器或直线式感应同步器。
所述的横向激振装置包括横向电机、横向曲柄架、横向曲柄调节块、横向连杆和横向滑块装置。其中，所述的横向电机通过螺钉固定安装在固定底座顶部纵向的一侧，用于为滚揉筒和主支架的横向激振提供动力；所述的横向曲柄架固定安装在横向电机的输出轴上且与横向电机的输出轴固连，所述的横向曲柄调节块固定安装在横向曲柄架上，所述的横向连杆的两端分别与横向曲柄调节块、横向滑块装置通过铰链相连接，所述的横向滑块装置固定安装在连接底座的一侧。横向曲柄架与横向曲柄调节块、横向连杆、横向滑块装置构成了一组曲柄滑块机构，用于将横向电机的旋转运动转换为横向直线往复振动。具体地，所述的横向电机可采用交流减速电机。在所述的横向曲柄架上设有两条平行的T型槽，在横向曲柄架的一端还设有限位块，所述的横向曲柄调节块通过两个T型螺钉固定安装在横向曲柄架上，所述的限位块通过限位调节螺钉与横向曲柄调节块相连接。
所述的纵向激振装置包括纵向电机、纵向曲柄架、纵向曲柄调节块、纵向连杆和纵向耳座。其中，所述的纵向电机通过螺钉固定安装在连接底座顶部横向的一侧，用于为滚揉筒和主支架的纵向激振提供动力；所述的纵向曲柄架固定安装在纵向电机的输出轴上且与纵向电机的输出轴固连，所述的纵向曲柄调节块固定安装在纵向曲柄架上，所的纵向连杆的两端分别与纵向曲柄调节块、纵向耳座通过铰链相连接，所述的纵向耳座通过螺钉固定安装在框式支架的一侧。纵向曲柄架与纵向曲柄调节块、纵向连杆和纵向耳座构成一组曲柄连杆机构，用于将纵向电机的旋转运动转换为纵向直线往复振动。具体地，所述的纵向电机可采用交流减速电机。所述的纵向曲柄架与横向曲柄架的结构完全相同，所述的纵向曲柄调节块与横向曲柄调节块的结构完全相同。
所述的回转驱动装置包括回转电机、回转减速器、链传动装置、张紧装置、驱动轴和驱动轮。其中，所述的回转电机、回转减速器均通过螺钉固定安装 在框式支架的底部，且回转电机的输出轴与回转减速器的输入轴通过联轴器相连接，用于为链传动装置提供动力；所述的链传动装置的上端安装在驱动轴上，链传动装置的下端与回转减速器的输出轴相连接，用于将回转电机和回转减速器的动力传递到驱动轴上；所述的张紧装置的顶部固定安装在框式支架上，为链传动装置提供张紧力，且所述的链传动装置通过张紧装置与框式支架的顶部相连接；所述的驱动轴有两根且平行布置在框式支架的顶部，所述的驱动轴的两端均通过轴承座固定安装在框式支架上；所述的驱动轮安装在驱动轴的两端，且与驱动轴通过平键和定位销相连接，用于支撑并驱动滚揉筒旋转；在所述的驱动轴的一端设有角度传感器，用于测量滚揉筒的转动角速度。
所述的链传动装置包括主动链轮、链条和从动链轮。其中，所述的主动链轮固定安装在回转减速器的输出轴上，且与回转减速器的输出轴固连；所述的从动链轮有两个，分别固定安装两根驱动轴上，且从动链轮与驱动轴通过平键和锁紧螺钉相连接；所述的链条同时与主动链轮、从动链轮保持啮合。
所述的张紧装置包括张紧轮架、张紧链轮、导向轴、张紧弹簧、调节支架、张紧力调节螺钉和张紧座。其中，所述的张紧轮安装在张紧轮架的底部，且张紧轮的支撑轴通过轴承与张紧轮架相连接；在张紧座和调节支架上均设有导向轴孔，所述的导向轴下端与张紧轮架的顶部固连，导向轴的上端置于张紧座和调节支架的导向轴孔内；所述的张紧弹簧套装在导向轴上，且位于调节支架与张紧轮架之间；所述的调节支架位于张紧座的下方，且通过张紧力调节螺钉与张紧座相连接，所述的张紧力调节螺钉与调节支架通过螺纹相连接。
所述的防脱支架包括立柱、摆动臂和压紧轮。其中，所述的立柱的下端与框式支架的顶部相固连，立柱的上端与摆动臂的下端通过铰链相连接，且所述的摆动臂的中部与立柱的上端通过压紧弹簧相连接，所述的压紧弹簧的上端钩挂在摆动臂的中部，所述的压紧弹簧的下端与立柱之间通过压紧力调节螺钉相连接；所述的压紧轮固定安装在摆动臂的上端，且与摆动臂之间通过滚动轴承相连接。
在所述的滚揉筒的筒体的前端设有卸料盖，在筒体的后端中心位置设有真空盖，安装固定后的卸料盖、真空盖与筒体一起构成一个独立的密闭空间；在筒体外侧的前后两端分别设有前轮槽和后轮槽，位于前端的驱动轮、压紧轮置于前轮槽内，位于后端的驱动轮、压紧轮置于后轮槽内；在筒体内部还设有螺旋式搅 拌叶片，且在所述的螺旋式搅拌叶片的后侧交错布置有圆锥形凸块，用于对肉制品进行多点按摩式滚揉，使调料、腌渍液与肉制品更好地接触。所述的卸料盖与筒体通过压紧螺钉和压板相固连，所述的真空盖与筒体之间通过真空用密封轴承相连接，所述的螺旋式搅拌叶片与筒体通过焊接的方式相固连，所述的圆锥形凸块与螺旋式搅拌叶片通过焊接的方式相固连；所述的螺旋式搅拌叶片的数量不少于三。
安装在所述的驱动轴上的角度传感器以及分别安装在横向直线导轨和纵向直线导轨上的位移传感器将采集到有关滚揉筒的转动角速度以及分别在横向、纵向的往复位移信息通过数据线传递给真空滚揉机的控制系统，作为滚揉机运动控制的参考。
使用时，先根据真空滚揉机的滚揉作业的任务选择合适的横向激振参数、纵向激振参数和旋转速度，并完成横向激振装置、纵向激振装置和回转驱动装置的参数调节。然后，将肉制品、调料和腌渍液倒入滚揉筒内，将卸料盖固定安装在筒体上。接着，启动真空泵，通过抽真空管道将滚揉筒内的空气抽出，在滚揉筒内形成真空滚揉作业环境。最后，启动横向电机、纵向电机和回转电机，对滚揉筒进行横向激振、纵向激振和旋转驱动，筒体内的肉制品在螺旋式搅拌叶片和圆锥形凸块的按摩式滚揉作用下变得松软，并与调料、腌渍液充分的混合，实现快速腌渍作业。
本发明所公开的三自由度真空滚揉机的有益效果是，与现有的技术相比，本发明的滚揉筒能够实现横向往复激振、纵向往复激振和绕自身轴线旋转共三个自由度的运动，可实现肉制品和调料、腌渍液充分的混合，并快速吸收，可明显提高肉制品的腌渍效率、生产效率，并改善口感。本发明还具有结构节凑，设备占用空间小、生产成本低、劳动强度低、操作维护简便等优点，可克服现有技术的缺陷。
附图说明
图1为四自由度电磁振动式真空滚揉机的总体结构示意图；
图2为四自由度电磁振动式真空滚揉机的回转驱动装置的结构示意图；
图3为四自由度电磁振动式真空滚揉机的回转驱动装置中张紧装置的结 构示意图；
图4为四自由度电磁振动式真空滚揉机的防脱支架的结构示意图；
图5为四自由度电磁振动式真空滚揉机的滚揉筒的结构示意图；
图6为图5的A-A向视图。
图7为三自由度真空滚揉机的总体结构示意图；
图8为三自由度真空滚揉机的回转驱动装置的结构示意图；
图9为三自由度真空滚揉机的横向激振装置、纵向激振装置与主支架的连接关系示意图；
图10为三自由度真空滚揉机的回转驱动装置中张紧装置的结构示意图；
图11为三自由度真空滚揉机的横向激振装置的结构示意图；
图12为三自由度真空滚揉机的纵向激振装置的结构示意图；
图13为三自由度真空滚揉机的防脱支架的结构示意图；
图14为三自由度真空滚揉机的滚揉筒的内部结构示意图。
具体实施方式
为了使本发明所实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施例和图示，进一步阐述本发明。
如图1、图2、图5和图6所示，一种四自由度电磁振动式真空滚揉机，包括机架1、回转驱动装置2、防脱支架3、滚揉筒4、支撑弹簧组5、电磁激振器组6和真空系统7。其中，所述的机架1包括安装底座11和框式支架12，用于安装、支撑回转驱动装置2、滚揉筒4和真空系统7，所述的框式支架12位于安装底座11的上方且与安装底座11固连。所述的回转驱动装置2的上端通过四个轴承座固定安装在机架1中框式支架12的顶部，回转驱动装置2的下端固定安装在框式支架12的底部，用于驱动滚揉筒4进行旋转。所述的防脱支架3有四组，对称布置在框式支架12的顶部，用于限定滚揉筒4的位置并对滚揉筒4施加径向压紧力，且其下端与框式支架12固连，防脱支架3的上端压紧在滚揉筒4上。所述的滚揉筒4是对肉制品进行真空滚揉处理的末端执行装置，所述的滚揉筒4位于机架1的顶部，且通过回转驱动装置2与框式支架12相连接。支撑弹簧组5、电磁激振器组6均安装在滚揉筒4的内部，分别起支撑滚揉筒4内 部构件和在滚揉筒4内产生往复激振的作用。所述的真空系统7包括真空泵71和抽真空管道72，用于在滚揉筒4内形成真空。所述的真空泵71固定安装在框式支架12的一侧，所述的抽真空管道72的上端与滚揉筒4相连接，抽真空管道72的下端与真空泵71相连接。
如图1、图2和图3所示，所述的回转驱动装置2包括回转电机21、回转减速器22、链传动装置23、张紧装置24、驱动轴25和驱动轮26。其中，所述的回转电机21、回转减速器22均通过螺钉固定安装在框式支架12的底部，且回转电机21的输出轴与回转减速器22的输入轴通过联轴器相连接，用于为链传动装置23提供动力；所述的链传动装置23的上端安装在驱动轴25上，链传动装置23的下端与回转减速器22的输出轴相连接，用于将回转电机21和回转减速器22的动力传递到驱动轴25上；所述的张紧装置24的顶部固定安装在框式支架12上，为链传动装置23提供张紧力，且所述的链传动装置23通过张紧装置24与框式支架12的顶部相连接；所述的驱动轴25有两根且平行布置在框式支架12的顶部，所述的驱动轴25的两端均通过轴承座固定安装在框式支架12上；所述的驱动轮26安装在驱动轴25的两端，且与驱动轴25通过平键和定位销相连接，用于支撑并驱动滚揉筒4旋转；在所述的驱动轴25的一端设有角度传感器，用于测量滚揉筒4的转动角速度。
如图1和图2所示，所述的链传动装置23包括主动链轮231、链条232和从动链轮233。其中，所述的主动链轮231固定安装在回转减速器22的输出轴上，且与回转减速器22的输出轴固连；所述的从动链轮233有两个，分别固定安装两根驱动轴25上，且从动链轮233与驱动轴25通过平键和锁紧螺钉相连接；所述的链条232同时与主动链轮231、从动链轮233保持啮合。
如图1、图2和图3所示，所述的张紧装置24包括张紧轮架241、张紧链轮242、导向轴243、张紧弹簧244、调节支架245、调节螺钉246和张紧座247。其中，所述的张紧轮242安装在张紧轮架241的底部，且张紧轮242的支撑轴通过轴承与张紧轮架241相连接；在张紧座247和调节支架245上均设有导向轴孔，所述的导向轴243下端与张紧轮架241的顶部固连，导向轴243的上端置于张紧座247和调节支架245的导向轴孔内；所述的张紧弹簧244套装在导向轴243上，且位于调节支架245与张紧轮架541之间；所述的调节支架245位于 张紧座547的下方，且通过调节螺钉246与张紧座247相连接，所述的调节螺钉246与调节支架245通过螺纹相连接；所述的张紧座247通过螺钉固定安装在框式支架12的顶部。
如图1和图4所示，所述的防脱支架3包括立柱31、摆动臂32和压紧轮33。其中，所述的立柱31的下端与框式支架12的顶部相固连，立柱31的上端与摆动臂32的下端通过铰链相连接，且所述的摆动臂32的中部与立柱31的上端通过压紧弹簧34相连接，所述的压紧弹簧34的下端与立柱31之间通过压紧力调节螺钉35相连接；所述的压紧轮33固定安装在摆动臂32的上端，且与摆动臂32之间通过滚动轴承相连接。
如图1、图5和图6所示，所述的滚揉筒4包括外筒41和内筒42。其中，所述的外筒41与内筒42之间通过支撑弹簧组5和电磁激振器组6相连接；在所述的外筒41的外侧圆柱面的前后两端分别设有前轮槽411和后轮槽412，用于放置压紧轮33；在外筒41的前端设有前固定盖413，在外筒41的后端设有圆形安装孔414，用于安装和连接抽真空管道72；在外筒41的外侧圆柱面上还设有工艺孔415，用于减轻外筒41的重量和方便检测、维修操作。在所述的内筒42的前端设有卸料盖421，在内筒42的后端中心位置设有真空盖422，在内筒42的内部还设有螺旋式搅拌叶片43，且在所述的螺旋式搅拌叶片43的后侧布置有圆锥形凸块44，用于对肉制品进行多点按摩式滚揉，使调料与肉制品更好地接触。所述的抽真空管道72的上端通过真空盖422与滚揉筒4的内筒42相连接。所述的卸料盖421与内筒42通过压紧螺钉和压板相固连，所述的真空盖422与内筒42之间通过真空用密封轴承相连接；所述的前固定盖413与外筒41之间通过压紧螺钉和压板相固连；所述的螺旋式搅拌叶片43与内筒42通过焊接的方式相固连，所述的圆锥形凸块44与螺旋式搅拌叶片43通过焊接的方式相固连，且所述的螺旋式搅拌叶片43的数量不少于三。在滚揉筒4的外筒41内设有位移传感器，分别用于测量内筒42在X向、Y向和Z向的直线往复运动时的位移参数，所述的位移传感器可采用非接触式激光位移传感器。
如图5和图6所示，所述的支撑弹簧组5包括前支撑弹簧51、后支撑弹簧52、水平支撑弹簧53和垂直支撑弹簧54，用于将内筒42支撑和悬挂安装在外筒41的内部。其中，所述的前支撑弹簧51位于内筒42的前端外侧，且其两 端分别与前固定盖413和卸料盖421相连接；所述的后支撑弹簧52安装在内筒42的后端外侧，其两端分别与外筒41、内筒52相连接；水平支撑弹簧53、垂直支撑弹簧54均位于外筒41的内圆柱面与内筒42的外圆柱面之间，水平支撑弹簧53、垂直支撑弹簧54的两端均分别与外筒41、内筒42相连接，所述的水平支撑弹簧53在初始安装状态下呈水平布置，所述的垂直支撑弹簧54在初始安装状态下呈垂直方向布置。
如图5和图6所示，所述的电磁激振器组6包括前电磁激振器61、后电磁激振器62、水平电磁激振器63和垂直电磁激振器64，用于对内筒42进行X向、Y向和Z向的往复激振。其中，所述的前电磁激振器61位于前固定盖413和卸料盖421之间，且固定安装在前固定盖413上；所述的后电磁激振器62安装在外筒41后端的内侧，且位于外筒41与内筒42之间；水平电磁激振器63、垂直电磁激振器64均位于外筒41的内圆柱面与内筒42的外圆柱面之间，水平电磁激振器63、垂直电磁激振器64的两端均固定安装在外筒41的内圆柱面上，所述的水平电磁激振器63在初始安装状态下呈水平布置，所述的垂直电磁激振器64在初始安装状态下呈垂直方向布置。进一步地，前电磁激振器61、后电磁激振器62、水平电磁激振器63和垂直电磁激振器64均采用磁吸式电磁激振器。
本发明的滚揉筒4的内筒42在回转驱动装置2和电磁激振器组6的作用下，共可以产生X向、Y向和Z向三个方向的往复激振和绕外筒41轴线的转动共四个自由度的运动。安装在所述的驱动轴25上的角度传感器以及安装在滚揉筒4的外筒41内的位移传感器将采集到有关滚揉筒4的转动角速度以及内筒42分别在X向、Y向和Z向的往复位移信息通过数据线传递给控制系统，作为滚揉机运动控制的参考。
如图7、图8和图9所示，一种三自由度真空滚揉机，包括固定底座01、主支架02、横向激振装置03、纵向激振装置04、回转驱动装置05、防脱支架06、滚揉筒07和真空系统08。其中，所述的主支架02用于安装和支撑纵向激振装置04、回转驱动装置05和真空系统08，所述的主支架02包括框式支架021、纵向直线导轨022、连接底座023和横向直线导轨024。所述的横向直线导轨024固定安装在连接底座023的下方，所述的连接底座023与固定底座01之间通过横向直线导轨024和横向激振装置03相连接，所述的纵向直线导轨022固定安 装在连接底座023的上方，所述的框式支架021与连接底座023之间通过纵向直线导轨022和纵向激振装置04相连接；所述的横向激振装置03的底部固定安装在固定底座01上，其输出端与连接底座023的Y向的一侧通过螺钉相连接，用于对主支架02和滚揉筒07施加X向往复激振；所述的纵向激振装置04的底部固定安装在连接底座023上，其输出端与框式支架021的X向的一侧通过螺钉相连接，用于对主支架02和滚揉筒07施加Y向往复激振；所述的回转驱动装置05的上端通过四个轴承座固定安装在主支架02中框式支架021的顶部，用于驱动滚揉筒07进行旋转，且回转驱动装置05的下端固定安装在框式支架021的底部；所述的防脱支架06有四组，对称布置在框式支架021的顶部，用于限定滚揉筒07的位置并对滚揉筒07施加径向压紧力，且防脱支架06的下端与框式支架021固连，防脱支架06的上端压紧在滚揉筒07上；所述的滚揉筒07是对肉制品进行真空滚揉处理的末端执行装置，所述的滚揉筒07位于主支架02的顶部，且通过回转驱动装置05与主支架02相连接；所述的真空系统08包括真空泵081和抽真空管道082，用于在滚揉筒07内形成真空。所述的真空泵081固定安装在框式支架021的一侧，所述的抽真空管道082的上端与滚揉筒07相连接，抽真空管道082的下端与真空泵081相连接。在横向直线导轨024和纵向直线导轨022上均设有位移传感器，分别用于测量滚揉筒07在X向和Y向的直线往复运动时的位移参数。所述的位移传感器可采用直线式磁栅传感器或直线型光栅传感器或直线式感应同步器。
如图7、图9和图11所示，所述的横向激振装置03包括横向电机031、横向曲柄架032、横向曲柄调节块033、横向连杆034和横向滑块装置035。其中，所述的横向电机031通过螺钉固定安装在固定底座01顶部Y向的一侧，用于为滚揉筒07和主支架02的X向激振提供动力；所述的横向曲柄架032固定安装在横向电机031的输出轴上且与横向电机031的输出轴固连，所述的横向曲柄调节块033固定安装在横向曲柄架032上，所述的横向连杆034的两端分别与横向曲柄调节块033、横向滑块装置035通过铰链相连接，所述的横向滑块装置035固定安装在连接底座023的一侧。横向曲柄架032与横向曲柄调节块033、横向连杆034、横向滑块装置035构成了一组曲柄滑块机构，用于将横向电机031的旋转运动转换为X向直线往复振动。具体地，所述的横向电机031可采用交流减 速电机。在所述的横向曲柄架032上设有两条平行的T型槽0321，在横向曲柄架032的一端还设有限位块0322，所述的横向曲柄调节块033通过两个T型螺钉固定安装在横向曲柄架032上，所述的限位块0322通过限位调节螺钉0323与横向曲柄调节块033相连接。
如图7、图8、图9和图12所示，所述的纵向激振装置04包括纵向电机041、纵向曲柄架042、纵向曲柄调节块043、纵向连杆044和纵向耳座045。其中，所述的纵向电机041通过螺钉固定安装在连接底座023顶部X向的一侧，用于为滚揉筒07和主支架02的Y向激振提供动力；所述的纵向曲柄架042固定安装在纵向电机041的输出轴上且与纵向电机041的输出轴固连，所述的纵向曲柄调节块043固定安装在纵向曲柄架042上，所的纵向连杆044的两端分别与纵向曲柄调节块043、纵向耳座045通过铰链相连接，所述的纵向耳座045通过螺钉固定安装在框式支架021的一侧。纵向曲柄架042与纵向曲柄调节块043、纵向连杆044和纵向耳座045构成一组曲柄连杆机构，用于将纵向电机041的旋转运动转换为Y向直线往复振动。具体地，所述的纵向电机041可采用交流减速电机。所述的纵向曲柄架042与横向曲柄架032的结构完全相同，所述的纵向曲柄调节块043与横向曲柄调节块033的结构完全相同。
如图7、图8和图10所示，所述的回转驱动装置05包括回转电机051、回转减速器052、链传动装置053、张紧装置054、驱动轴055和驱动轮056。其中，所述的回转电机051、回转减速器052均通过螺钉固定安装在框式支架021的底部，且回转电机051的输出轴与回转减速器052的输入轴通过联轴器相连接，用于为链传动装置053提供动力；所述的链传动装置053的上端安装在驱动轴055上，链传动装置053的下端与回转减速器052的输出轴相连接，用于将回转电机051和回转减速器052的动力传递到驱动轴055上；所述的张紧装置054的顶部固定安装在框式支架021上，为链传动装置053提供张紧力，且所述的链传动装置053通过张紧装置054与框式支架021的顶部相连接；所述的驱动轴055有两根且平行布置在框式支架021的顶部，所述的驱动轴055的两端均通过轴承座固定安装在框式支架021上；所述的驱动轮056安装在驱动轴055的两端，且与驱动轴055通过平键和定位销相连接，用于支撑并驱动滚揉筒07旋转；在所述的驱动轴055的一端设有角度传感器，用于测量滚揉筒07的转动角速度。
如图7和图8所示，所述的链传动装置053包括主动链轮0531、链条0532和从动链轮0533。其中，所述的主动链轮0531固定安装在回转减速器052的输出轴上，且与回转减速器052的输出轴固连；所述的从动链轮0533有两个，分别固定安装两根驱动轴055上，且从动链轮0533与驱动轴055通过平键和锁紧螺钉相连接；所述的链条0532同时与主动链轮0531、从动链轮0533保持啮合。
如图7、图8和图10所示，所述的张紧装置054包括张紧轮架0541、张紧链轮0542、导向轴0543、张紧弹簧0544、调节支架0545、张紧力调节螺钉0546和张紧座0547。其中，所述的张紧轮0542安装在张紧轮架0541的底部，且张紧轮0542的支撑轴通过轴承与张紧轮架0541相连接；在张紧座0547和调节支架0545上均设有导向轴孔，所述的导向轴0543下端与张紧轮架0541的顶部固连，导向轴0543的上端置于张紧座0547和调节支架0545的导向轴孔内；所述的张紧弹簧0544套装在导向轴0543上，且位于调节支架0545与张紧轮架0541之间；所述的调节支架0545位于张紧座0547的下方，且通过张紧力调节螺钉0546与张紧座0547相连接，所述的张紧力调节螺钉0546与调节支架0545通过螺纹相连接。
如图7和图13所示，所述的防脱支架06包括立柱061、摆动臂062和压紧轮063。其中，所述的立柱061的下端与框式支架021的顶部相固连，立柱061的上端与摆动臂062的下端通过铰链相连接，且所述的摆动臂062的中部与立柱061的上端通过压紧弹簧064相连接，所述的压紧弹簧064的上端钩挂在摆动臂062的中部，所述的压紧弹簧064的下端与立柱061之间通过压紧力调节螺钉065相连接；所述的压紧轮063固定安装在摆动臂062的上端，且与摆动臂062之间通过滚动轴承相连接。
如图7和图14所示，在所述的滚揉筒07的筒体071的前端设有卸料盖072，在筒体071的后端中心位置设有真空盖073，安装固定后的卸料盖072、真空盖073与筒体071一起构成一个独立的密闭空间；在筒体071外侧的前后两端分别设有前轮槽074和后轮槽075，位于前端的驱动轮056、压紧轮063置于前轮槽074内，位于后端的驱动轮056、压紧轮063置于后轮槽075内；在筒体071内部还设有螺旋式搅拌叶片076，且在所述的螺旋式搅拌叶片076的后侧交错布置有圆锥形凸块077，用于对肉制品进行多点按摩式滚揉，使调料、腌渍液与肉 制品更好地接触。所述的卸料盖072与筒体071通过压紧螺钉和压板相固连，所述的真空盖073与筒体071之间通过真空用密封轴承相连接，所述的螺旋式搅拌叶片076与筒体071通过焊接的方式相固连，所述的圆锥形凸块077与螺旋式搅拌叶片076通过焊接的方式相固连；所述的螺旋式搅拌叶片076的数量不少于三。
安装在所述的驱动轴055上的角度传感器以及分别安装在横向直线导轨024和纵向直线导轨022上的位移传感器将采集到有关滚揉筒07的转动角速度以及分别在X向、Y向的往复位移信息通过数据线传递给真空滚揉机的控制系统，作为滚揉机运动控制的参考。
从机构学的角度看，所述的滚揉筒07与主支架02、横向激振装置03、纵向激振装置04、回转驱动装置05和固定底座01一起构成一个具有空间两个平移和一个转动共三个运动自由度的串联机构。
在本发明的描述中，需要理解的是，术语“上”、“下”、“顶”、“底”、“内”、“外”、“前”、“后”、“水平”、“垂直”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (6)

  1. 一种四自由度电磁振动式真空滚揉机，包括机架、回转驱动装置、防脱支架、滚揉筒、支撑弹簧组、电磁激振器组和真空系统，其特征在于：所述的机架包括安装底座和框式支架，所述的框式支架位于安装底座的上方且与安装底座固连；所述的回转驱动装置的上端通过四个轴承座固定安装在机架中框式支架的顶部，回转驱动装置的下端固定安装在框式支架的底部；所述的防脱支架有四组，对称布置在框式支架的顶部，且其下端与框式支架固连，防脱支架的上端压紧在滚揉筒上；所述的滚揉筒位于机架的顶部，且通过回转驱动装置与框式支架相连接；支撑弹簧组、电磁激振器组均固定安装在滚揉筒的内部；所述的真空系统包括真空泵和抽真空管道，所述的真空泵固定安装在框式支架的一侧，所述的抽真空管道的上端与滚揉筒相连接，抽真空管道的下端与真空泵相连接；
    所述的回转驱动装置包括回转电机、回转减速器、链传动装置、张紧装置、驱动轴和驱动轮，所述的回转电机、回转减速器均通过螺钉固定安装在框式支架的底部，且回转电机的输出轴与回转减速器的输入轴通过联轴器相连接；所述的链传动装置的上端安装在驱动轴上，链传动装置的下端与回转减速器的输出轴相连接；所述的张紧装置的顶部固定安装在框式支架上，且所述的链传动装置通过张紧装置与框式支架的顶部相连接；所述的驱动轴有两根且平行布置在框式支架的顶部，所述的驱动轴的两端均通过轴承座固定安装在框式支架上；所述的驱动轮安装在驱动轴的两端，且与驱动轴通过平键和定位销相连接；
    所述的防脱支架包括立柱、摆动臂和压紧轮，所述的立柱的下端与框式支架的顶部相固连，立柱的上端与摆动臂的下端通过铰链相连接，所述的摆动臂的中部与立柱的上端通过压紧弹簧相连接；所述的压紧轮固定安装在摆动臂的上端，且与摆动臂之间通过滚动轴承相连接；
    所述的滚揉筒包括外筒和内筒，外筒与内筒之间通过支撑弹簧组和电磁激振器组相连接；在所述的外筒的外侧圆柱面的前后两端分别设有前轮槽和后轮槽，在外筒的前端设有前固定盖，在外筒的后端设有圆形安装孔，在外筒的外侧圆柱面上还设有工艺孔；在所述的内筒的前端设有卸料盖，在内筒的后端中心位置设有真空盖，在内筒的内部还设有螺旋式搅拌叶片，且在所述的螺旋式搅拌叶片的后侧布置有圆锥形凸块；所述的抽真空管道的上端通过真空盖与滚揉筒的内筒相连接；
    所述的支撑弹簧组包括前支撑弹簧、后支撑弹簧、水平支撑弹簧和垂直支撑弹簧，所述的前支撑弹簧位于内筒的前端外侧，且其两端分别与前固定盖和卸料盖相连接；所述的后支撑弹簧安装在内筒的后端外侧，其两端分别与外筒、内筒相连接；水平支撑弹簧、垂直支撑弹簧均位于外筒的内圆柱面与内筒的外圆柱面之间，水平支撑弹簧、垂直支撑弹簧的两端均分别与外筒、内筒相连接，所述的水平支撑弹簧在初始安装状态下呈水平布置，所述的垂直支撑弹簧在初始安装状态下呈垂直方向布置；
    所述的电磁激振器组包括前电磁激振器、后电磁激振器、水平电磁激振器和垂直电磁激振器，所述的前电磁激振器位于前固定盖和卸料盖之间，且固定安装在前固定盖上；所述的后电磁激振器安装在外筒后端的内侧，且位于外筒与内筒之间；水平电磁激振器、垂直电磁激振器均位于外筒的内圆柱面与内筒的外圆柱面之间，水平电磁激振器、垂直电磁激振器的两端均固定安装在外筒的内圆柱面上，所述的水平电磁激振器在初始安装状态下呈水平布置，所述的垂直电磁激振器在初始安装状态下呈垂直方向布置。
  2. 根据权利要求1所述的一种四自由度电磁振动式真空滚揉机，其特征在于：所述的链传动装置包括主动链轮、链条和从动链轮，所述的主动链轮固定安装在回转减速器的输出轴上，且与回转减速器的输出轴固连；所述的从动链轮有两个，分别固定安装两根驱动轴上，且从动链轮与驱动轴通过平键和锁紧螺钉相连接；所述的链条同时与主动链轮、从动链轮保持啮合。
  3. 根据权利要求1所述的一种四自由度电磁振动式真空滚揉机，其特征在于：所述的张紧装置包括张紧轮架、张紧链轮、导向轴、张紧弹簧、调节支架、调节螺钉和张紧座，所述的张紧轮安装在张紧轮架的底部，且张紧轮的支撑轴通过轴承与张紧轮架相连接；在张紧座和调节支架上均设有导向轴孔，所述的导向轴下端与张紧轮架的顶部固连，导向轴的上端置于张紧座和调节支架的导向轴孔内；所述的张紧弹簧套装在导向轴上，且位于调节支架与张紧轮架之间；所述的调节支架位于张紧座的下方，且通过调节螺钉与张紧座相连接，所述的调节螺钉与调节支架通过螺纹相连接；所述的张紧座通过螺钉固定安装在框式支架的顶部。
  4. 根据权利要求1所述的一种四自由度电磁振动式真空滚揉机，其特征在 于：所述的螺旋式搅拌叶片的数量不少于三。
  5. 根据权利要求1所述的一种四自由度电磁振动式真空滚揉机，其特征在于：在所述的驱动轴的一端设有角度传感器，在滚揉筒内设有位移传感器。
  6. 根据权利要求1所述的一种四自由度电磁振动式真空滚揉机，其特征在于：前电磁激振器、后电磁激振器、水平电磁激振器和垂直电磁激振器均采用磁吸式电磁激振器。
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