CN206156411U - Go up rice steamer robot - Google Patents
Go up rice steamer robot Download PDFInfo
- Publication number
- CN206156411U CN206156411U CN201621140061.9U CN201621140061U CN206156411U CN 206156411 U CN206156411 U CN 206156411U CN 201621140061 U CN201621140061 U CN 201621140061U CN 206156411 U CN206156411 U CN 206156411U
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- Prior art keywords
- large arm
- arm
- forearm
- cloth bucket
- big arm
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- 235000007164 Oryza sativa Nutrition 0.000 title abstract description 33
- 235000009566 rice Nutrition 0.000 title abstract description 33
- 240000007594 Oryza sativa Species 0.000 title 1
- 239000004744 fabric Substances 0.000 claims abstract description 68
- 210000000245 forearm Anatomy 0.000 claims description 36
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 3
- 241000209094 Oryza Species 0.000 abstract description 32
- 239000000463 material Substances 0.000 abstract description 3
- 235000013339 cereals Nutrition 0.000 description 14
- 238000007599 discharging Methods 0.000 description 4
- 208000031481 Pathologic Constriction Diseases 0.000 description 2
- 238000007596 consolidation process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000001215 vagina Anatomy 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004821 distillation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
Landscapes
- Commercial Cooking Devices (AREA)
Abstract
The utility model discloses a go up rice steamer robot, the on -line screen storage device comprises a base, rotary stand column, big arm and control system, rotary stand column's lower extreme and base are connected, the one end of big arm is equipped with big arm telescopic machanism, rotary stand column's upper end is connected with big arm through big arm telescopic machanism, rotary stand column can drive big rotation of arm, it is flexible along big arm length direction that big arm telescopic machanism can drive big arm, the other end of big arm is connected with the cloth fill, big arm includes big arm support and screw conveyer, screw conveyer sets up on big arm support, screw conveyer's feed end is equipped with the feeder hopper, the cloth is fought and is set up in the below of screw conveyer discharge end, it is flexible that control system is used for controlling the rotatory and big arm telescopic machanism of rotary stand column. Can cover whole wine rice steamer cloth face, make the location that material falling point can be more accurate, realize even and accurate cloth.
Description
Technical field
This utility model is related to robotics, and in particular to a kind of Shang Zeng robots.
Background technology
Existing Shang Zeng robots contain base portion, uprights, big arm, little arm, cloth stub bar and switch board etc., whole
Body structure is more complicated, and difficulty of processing is relatively large, and brewed spirit site space highly there are certain requirements, and switch board and machine
The separated cabling of device human body and placement location are both needed to consider that construction at the scene has certain limitation.It is contemplated that above-mentioned
Problem, on existing robot base, carries out structure optimization and upgrading, to reach functional performance optimization, processing stage letter
The purposes such as Yi Hua, maintenance convenient purification.
Current Shang Zeng robots include base portion, uprights, big arm, little arm (including cloth bucket).Uprights are high
Degree is adjustable, and cloth height can be followed to be adjusted robot；The beat of large arm rotation, forearm rotation and cloth bucket is true
The exact position of cloth bucket cloth is determined, it then follows see rice steamer principle in vapour pressure unstrained spirits, exploration steam, such as patent (Patent No.
201620018288.X) described.But find in long-term practical application, during upper rice steamer, paving is spilt each layer of need of fermented grain and accomplished
Shatter value is consistent, and can causing per layer, to emit vapour uniform, original Shang Zeng robots by hopper beat mode cloth, due in wine rice steamer
Fermented grain vertically falls during center, and speed is fast when falling, strength big, more consolidation is pressed to obtain, the closer to wine rice steamer edge, cloth bucket beat
Angle is bigger, and fermented grain is slided along cloth bucket edge, and speed is slow, strength is relatively small, softer.Each layer of fermented grain of this kind of distributing mode
Consolidation gradually becomes loose to wine rice steamer edge in the middle of shatter value, is unfavorable for the distillation of upper rice steamer and overall structure is complex.
The content of the invention
The technical problems to be solved in the utility model is, in view of the foregoing defects the prior art has, there is provided Yi Zhongshang
Rice steamer robot, can cover whole wine rice steamer cloth surface, discharging point is more accurately positioned, and realize uniform accurate cloth
Material.
This utility model is that the technical scheme that solution above-mentioned technical problem is adopted is：
A kind of Shang Zeng robots, including base, Rotary cloumn, large arm and control system, the lower end of Rotary cloumn and base
Connection, one end of large arm is provided with large arm telescoping mechanism, and the upper end of Rotary cloumn is connected by large arm telescoping mechanism with large arm, rotation
Column can drive large arm to rotate, and large arm telescoping mechanism can drive large arm flexible along large arm length direction, the other end connection of large arm
There is cloth bucket, wherein,
Large arm includes large arm bearing and conveying worm, and conveying worm is arranged on large arm bearing, conveying worm
Feed end is provided with feed hopper, and cloth bucket is arranged at the lower section of conveying worm discharge end, and control system is used to control Rotary cloumn
Rotation and large arm telescoping mechanism stretch.
According to above-mentioned technical proposal, Rotary cloumn includes column, the first motor and speed reducer, and the first motor and speed reducer sets
Column upper end is placed in, large arm is set on column, the first motor via reducer drives large arm to rotate on column.
According to above-mentioned technical proposal, large arm telescoping mechanism includes track, screw mandrel and the second motor, and track is arranged at large arm
On seat, the bottom of conveying worm is arranged on track, and along track movement, conveying worm is provided with slide block, and slide block passes through spiral shell
Stricture of vagina is connected with screw mandrel, and the second Motor drive screw mandrel is rotated, and then drives conveying worm to move along track by slide block.
According to above-mentioned technical proposal, forearm is provided between large arm and cloth bucket, forearm includes that forearm connecting seat and forearm revolve
Rotation mechanism, forearm rotating mechanism is connected by forearm connecting seat with large arm, and cloth bucket is connected with forearm rotating mechanism, forearm rotation
Mechanism drives cloth bucket rotation, cloth bucket obliquely to arrange.
According to above-mentioned technical proposal, forearm rotating mechanism includes arm spindle, the 3rd motor and belt or Timing Belt, little
The upper end of arm main shaft is set on forearm, and the upper end of cloth bucket is connected with arm spindle, and the 3rd motor is by belt or Timing Belt
It is connected with arm spindle, arm spindle rotation is driven by belt or Timing Belt, and then drive cloth bucket to rotate, arm spindle is
Hollow, the discharge end of conveying worm connects cloth bucket by arm spindle.
According to above-mentioned technical proposal, described control system includes controller, infrared sensor and laser range sensor,
Infrared sensor and laser range sensor are arranged at the top of cloth bucket, infrared sensor and laser range sensor respectively with
Controller connects.
According to above-mentioned technical proposal, set-up of control system is inside base or large arm bearing.
This utility model has the advantages that：
1st, fermented grain is delivered to cloth bucket, and then the cloth in wine rice steamer through conveying worm, and described Shang Zeng robots lead to
Crossing Rotary cloumn and large arm telescoping mechanism makes cloth bucket move to the top of feeding zone, can cover whole wine rice steamer cloth surface, makes
Discharging point can be positioned more accurately, and to fall speed per hour in wine rice steamer diverse location consistent with strength for fermented grain during cloth, in wine rice steamer
Paving is spilt each layer of fermented grain and accomplishes that shatter value is consistent, realizes uniform accurate cloth.
2nd, wine rice steamer edge is overcome near wine rice steamer edge cloth by forearm rotating mechanism and the inclined mode of cloth bucket
It is curved to be difficult pinpoint problem, make to spill each layer of fermented grain in wine rice steamer middle berth and accomplish that more shatter value is consistent.
Description of the drawings
Fig. 1 is the structural representation of this utility model embodiment Zhong Shang rice steamer robot；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural representation of Rotary cloumn in this utility model embodiment；
Fig. 4 is the structural representation of forearm rotating mechanism in this utility model embodiment；
In figure, 1- bases, 2- columns, 3- large arm, 4- cloth buckets, the motors of 5- first, 6- reductors, the motors of 7- second, 8-
Screw mandrel, 9- tracks, the motors of 10- the 3rd, 11- belts or Timing Belt, 12- arm spindles, 13- bearings or rotating ring.
Specific embodiment
This utility model is described in detail with reference to the accompanying drawings and examples.
With reference to shown in Fig. 1～Fig. 4, the Shang Zeng robots in a kind of embodiment that this utility model is provided, including base 1,
Rotary cloumn, large arm 3 and control system, the lower end of Rotary cloumn is connected with the part of base 1, and one end of large arm 3 is provided with large arm and stretches
Contracting mechanism, the upper end of Rotary cloumn is connected by large arm telescoping mechanism with large arm 3, and Rotary cloumn can drive large arm 3 to realize 360 degree
Rotation, large arm telescoping mechanism can drive large arm 3 flexible along the length direction of large arm 3, and the other end of large arm 3 is connected with cloth bucket 4, its
In,
Large arm 3 includes large arm bearing and conveying worm, and conveying worm is arranged on large arm bearing, conveying worm
Feed end is provided with feed hopper, and cloth bucket 4 is arranged at the lower section of conveying worm discharge end, and control system is used to control Rotary cloumn
Rotation and large arm telescoping mechanism stretch；Fermented grain is delivered to cloth bucket 4, and then the cloth in wine rice steamer through conveying worm, described
Shang Zeng robots make cloth bucket 4 move to the top of feeding zone by Rotary cloumn and large arm telescoping mechanism, can cover whole
Individual wine rice steamer cloth surface, enables discharging point more accurately to position, and fermented grain falls speed per hour and power in wine rice steamer diverse location during cloth
Amount is consistent, spills each layer of fermented grain in wine rice steamer middle berth and accomplishes that shatter value is consistent, realizes uniform accurate cloth.
Further, the other end of large arm 3 is connected by adpting flange with cloth bucket 4.
Further, Rotary cloumn includes column 2, the first motor 5 and reductor 6, and the first motor 5 and reductor 6 are arranged
In the upper end of column 2, large arm 3 is set on column 2, and the first motor 5 drives large arm 3 to rotate on column 2 by reductor 6.
Further, reductor 6 is RV reductors.
Further, large arm telescoping mechanism includes track 9, the motor 7 of screw mandrel 8 and second, and track 9 is arranged at large arm bearing
On, the bottom of conveying worm is arranged on track 9, is moved along track 9, and conveying worm is provided with slide block, and slide block passes through spiral shell
Stricture of vagina is connected with screw mandrel 8, and the drive screw 8 of the second motor 7 is rotated, and then drives conveying worm to move along track 9 by slide block, shape
It is flexible into two-stage.
Further, forearm is provided between large arm 3 and cloth bucket 4, forearm includes forearm connecting seat and forearm rotating mechanism,
Forearm rotating mechanism is connected by forearm connecting seat with large arm 3, and cloth bucket 4 is connected with forearm rotating mechanism, forearm rotating mechanism
Cloth bucket 4 is driven to realize 360 degree of rotations, cloth bucket 4 is obliquely arranged；Inclined by forearm rotating mechanism and cloth bucket 4
Mode near wine rice steamer edge cloth, overcome that wine rice steamer edge is curved to be difficult pinpoint problem, make to be spilt in wine rice steamer middle berth
The each layer of fermented grain accomplishes that more shatter value is consistent.
Further, forearm rotating mechanism includes arm spindle 12, the 3rd motor 10 and belt or Timing Belt 11, forearm master
The upper end of axle 12 is set on forearm, and the upper end of cloth bucket 4 is connected with arm spindle 12, and the 3rd motor 10 is by belt or synchronization
Band 11 is connected with arm spindle 12, drives arm spindle 12 to rotate by belt or Timing Belt 11, and then drives cloth bucket 4 to revolve
Turn, arm spindle 12 is hollow, and the discharge end of conveying worm connects cloth bucket 4 by arm spindle 12.
Further, the first motor 5, the second motor 7 and the 3rd motor 10 are servomotor
Further, bearing or rotating ring 13 are arranged with arm spindle 12, by bearing or rotating ring 13 and forearm set
Connect.
Further, control system include controller, infrared sensor and laser range sensor, infrared sensor and swash
Ligh-ranging sensor is arranged at the top of cloth bucket 4, and infrared sensor and laser range sensor are connected respectively with controller；Control
Device processed perceives temperature in wine rice steamer by infrared sensor, and infrared sensor is used to recognize heat source position and sends real-time to controller
Data, laser range sensor is used for perceived distance and sends real time data to controller, and controller passes through its embedded software
The real time data transmitted with reference to infrared sensor and laser range sensor calculates the absolute coordinate of thermal source, while masking red
The remaining temperature of the inner tank wall of outer sensory-perceptible.
Further, set-up of control system is inside base 1 and large arm bearing；To a greater extent save space, realizes machine
Device people's integrated design, adaptation spatial ability is higher, and cabling is convenient, overcomes because control system and robot body point
The big problem that takes up room is put in opening.
In one embodiment of the present utility model, operation principle of the present utility model：
The Rotary cloumn is connected with base 1, and Rotary cloumn can carry out 360 degree of rotary motions；Fermented grain is entered into from hopper
Large arm 3, carries out helical feed；The end of large arm 3 be provided with can 360 degree of rotations cloth buckets 4, cloth bucket 4 is oblique, is conducive to
The paving of fermented grain is spilt at wine rice steamer inwall；The top of cloth bucket 4 is provided with for perceiving the infrared sensor of temperature in wine rice steamer, for perceiving
The laser range sensor of distance；And whole robot control components and parts are designed installed in upper rice steamer robot base 1 and large arm
Inside bearing, to a greater extent save space, completes robot integrated design；Large arm 3 can be elastic big to adapt to diameter
Little different wine rice steamer.
During present invention work, large arm telescopic arm center and wine rice steamer center superposition, controller is set to pass through infrared sensor first
Determine with temperature in laser range sensor dynamic monitoring rice steamer and rapidly maximum temperature coordinate position, Rotary cloumn rotation and large arm
Telescoping mechanism is flexible to make cloth bucket 4 move to feeding zone, and discharging point is more accurately positioned, and realizes uniform accurate cloth
Material.
Only preferred embodiment of the present utility model above, can not limit the power of this utility model with this certainly
Sharp scope, therefore the equivalence changes made according to this utility model claim, still belong to protection domain of the present utility model.
Claims (8)
1. a kind of Shang Zeng robots, it is characterised in that including base, Rotary cloumn, large arm and control system, under Rotary cloumn
End is connected with base, and one end of large arm is provided with large arm telescoping mechanism, and the upper end of Rotary cloumn is by large arm telescoping mechanism and large arm
Connection, Rotary cloumn can drive large arm to rotate, and large arm telescoping mechanism can drive large arm flexible along large arm length direction, large arm it is another
One end is connected with cloth bucket, wherein,
Large arm includes large arm bearing and conveying worm, and conveying worm is arranged on large arm bearing, the charging of conveying worm
End is provided with feed hopper, and cloth bucket is arranged at the lower section of conveying worm discharge end, and control system is used to control Rotary cloumn rotation
It is flexible with large arm telescoping mechanism.
2. Shang Zeng robots according to claim 1, it is characterised in that Rotary cloumn includes column, the first motor and subtracts
Fast machine, the first motor and speed reducer is arranged at column upper end, and large arm is set on column, and the first motor via reducer drives big
Arm rotates on column.
3. Shang Zeng robots according to claim 1, it is characterised in that large arm telescoping mechanism includes track, screw mandrel and the
Two motors, track is arranged on large arm bearing, and the bottom of conveying worm is arranged on track, along track movement, helical feed
Machine is provided with slide block, and slide block is connected by screw thread with screw mandrel, and the second Motor drive screw mandrel is rotated, and then drives spiral by slide block
Conveyer is moved along track.
4. Shang Zeng robots according to claim 1, it is characterised in that forearm, forearm are provided between large arm and cloth bucket
Including forearm connecting seat and forearm rotating mechanism, forearm rotating mechanism is connected by forearm connecting seat with large arm, cloth bucket with it is little
Arm rotating mechanism connects, and forearm rotating mechanism drives cloth bucket rotation, cloth bucket obliquely to arrange.
5. Shang Zeng robots according to claim 4, it is characterised in that forearm rotating mechanism include arm spindle, the 3rd
Motor and belt or Timing Belt, the upper end of arm spindle is set on forearm, and the upper end of cloth bucket is connected with arm spindle, and the 3rd
Motor is connected by belt or Timing Belt with arm spindle, and by belt or Timing Belt arm spindle rotation is driven, and then is driven
Cloth bucket rotates, and arm spindle is hollow, and the discharge end of conveying worm connects cloth bucket by arm spindle.
6. Shang Zeng robots according to claim 5, it is characterised in that bearing or rotating ring are arranged with arm spindle,
It is socketed with forearm by bearing or rotating ring.
7. Shang Zeng robots according to claim 1, it is characterised in that described control system includes controller, infrared
Sensor and laser range sensor, infrared sensor and laser range sensor are arranged at the top of cloth bucket, infrared sensing
Device and laser range sensor are connected respectively with controller.
8. Shang Zeng robots according to claim 1, it is characterised in that set-up of control system is in base or large arm bearing
Portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140061.9U CN206156411U (en) | 2016-10-19 | 2016-10-19 | Go up rice steamer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140061.9U CN206156411U (en) | 2016-10-19 | 2016-10-19 | Go up rice steamer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206156411U true CN206156411U (en) | 2017-05-10 |
Family
ID=58654894
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621140061.9U Active CN206156411U (en) | 2016-10-19 | 2016-10-19 | Go up rice steamer robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021323A (en) * | 2017-05-27 | 2017-08-08 | 南通弘峰机电有限公司 | Auger material distributing machine |
| CN107858235A (en) * | 2017-12-21 | 2018-03-30 | 邹浩 | A kind of intelligence is continuously automatically upper to discriminate device and its method of work |
| CN108715789A (en) * | 2018-06-29 | 2018-10-30 | 武汉奋进智能机器有限公司 | A kind of uploading in rice steamer robot |
| CN108773689A (en) * | 2018-06-29 | 2018-11-09 | 武汉奋进智能机器有限公司 | A kind of height adaptive uploading in rice steamer robot |
| CN109051853A (en) * | 2018-08-28 | 2018-12-21 | 四川理工学院 | A kind of Robot for steamer for white spirit by solid state method production |
-
2016
- 2016-10-19 CN CN201621140061.9U patent/CN206156411U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021323A (en) * | 2017-05-27 | 2017-08-08 | 南通弘峰机电有限公司 | Auger material distributing machine |
| CN107858235A (en) * | 2017-12-21 | 2018-03-30 | 邹浩 | A kind of intelligence is continuously automatically upper to discriminate device and its method of work |
| CN108715789A (en) * | 2018-06-29 | 2018-10-30 | 武汉奋进智能机器有限公司 | A kind of uploading in rice steamer robot |
| CN108773689A (en) * | 2018-06-29 | 2018-11-09 | 武汉奋进智能机器有限公司 | A kind of height adaptive uploading in rice steamer robot |
| CN108773689B (en) * | 2018-06-29 | 2023-10-10 | 武汉奋进智能机器有限公司 | High self-adaptation goes up rice steamer robot |
| CN108715789B (en) * | 2018-06-29 | 2024-03-12 | 武汉奋进智能机器有限公司 | Steamer feeding robot |
| CN109051853A (en) * | 2018-08-28 | 2018-12-21 | 四川理工学院 | A kind of Robot for steamer for white spirit by solid state method production |
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