CN105151823A - Tandem type feeding mechanism in mechanical arm and working method thereof - Google Patents
Tandem type feeding mechanism in mechanical arm and working method thereof Download PDFInfo
- Publication number
- CN105151823A CN105151823A CN201510487991.5A CN201510487991A CN105151823A CN 105151823 A CN105151823 A CN 105151823A CN 201510487991 A CN201510487991 A CN 201510487991A CN 105151823 A CN105151823 A CN 105151823A
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- crossbeam
- postbrachium
- feeding
- forearm
- feed cylinder
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000002994 raw material Substances 0.000 claims abstract description 33
- 210000000245 forearm Anatomy 0.000 claims description 42
- 230000007480 spreading Effects 0.000 claims description 35
- 238000003892 spreading Methods 0.000 claims description 35
- 125000003003 spiro group Chemical group 0.000 claims description 17
- 239000000523 sample Substances 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract 1
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 235000014101 wine Nutrition 0.000 description 4
- 235000013339 cereals Nutrition 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000020097 white wine Nutrition 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004821 distillation Methods 0.000 description 1
- 239000010903 husk Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000010563 solid-state fermentation Methods 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- Specific Conveyance Elements (AREA)
Abstract
The invention relates to a tandem type feeding mechanism in a mechanical arm and a working method thereof. The tandem type feeding mechanism comprises a stand column, a rear arm cross beam, a front arm cross beam, a rear arm feeding barrel, a front arm feeding barrel and feeding screws. One end of the rear arm cross beam is mounted on the stand column, and one end of the front arm cross beam is hinged to the other end of the rear arm cross beam. The rear arm feeding barrel is fixedly mounted at the upper end of the rear arm cross beam coaxially, and the front arm feeding barrel is fixedly mounted at the lower end of the front arm cross beam; each of the interior of the rear arm feeding barrel and the interior of the front arm feeding barrel is coaxially provided with one feeding screw driven by a pushing motor, and accordingly raw materials in the feeding barrels can be pushed and conveyed in a directional mode. A feeding through hole is formed in the position where the rear arm cross beam and the front arm cross beam are connected, and the front arm feeding barrel is communicated with the rear arm feeding barrel mounted at the upper end of the rear arm cross beam through the feeding through hole. By means of the tandem type feeding mechanism, the raw materials can be conveyed and spread in a fully-automatic mode, safety, stability and sanitation of material conveying are guaranteed through the creative feeding mechanism in the mechanical arm, the distilling effect is good, intelligent production is completely achieved, and the efficiency is improved.
Description
Technical field
The invention belongs to white wine and manufacture field, relate to Brewing equipment, tandem feed mechanism and method of work thereof in especially a kind of mechanical arm.
Background technology
The white wine of China take grain as primary raw material, need through solid state fermentation, discriminate bucket distillation, main dependence manually completes, comparatively advanced production unit is also that the semi-automation manually coordinated with machinery is produced, strong for artificial dependence, need a large amount of manpower just can complete, labor cost is very high, and integral production efficiency is lower.
Through retrieval, find the patent documentation that following comparatively close existing packaging system is relevant.
Full automaticity Robot for steamer system (CN203781376U), comprise feeder, material-feeding mechanism, Robot for steamer and rice steamer bucket, the feeding device that described feeder comprises feed hopper and connects with its its top feed mouth, the discharge port opening and closing bottom described feed hopper is controlled by cylinder; The cloth bucket that described material-feeding mechanism comprises sector structure and fan-shaped feedway, the spreading out device be located at bottom it; Described Robot for steamer comprises drive system, frame and is rotationally connected with the pivot arm I in frame, material-feeding mechanism is arranged on pivot arm I, inlet point and the cloth mouth of cloth bucket are shifted the discharge port and rice steamer bucket inlet point that are connected feed hopper respectively, and the drive system signal of described Robot for steamer connects the drive motor of feeding device and the actuating device of cylinder.The present invention instead of original artificial loaded steamer work completely, and loaded steamer fast, evenly, breaks through the bottleneck of wine brewing full automatic mechanical development.
With the wine brewing automatic production line (CN203794871U) of full automaticity Robot for steamer, this automatic production line comprises the wine unstrained spirits charger be arranged in factory building, powder grain charger, rice husk charger, elevator chain trigger, upper strata horizontal Two-way Chain trigger, lower floor's horizontal Two-way Chain trigger, upper rice steamer feeder, full automaticity Robot for steamer, rice steamer bucket, cooling vessel, I apron conveyer, transition chain mat machine, spreading-and-cooling machine, adds bent machine, II apron conveyer and wine storage tank.This Production Line Configured is reasonable, and full-automatic mechanical equalization, labour intensity is low, economize energy, and production environment condition is good.
Through contrast, present patent application technology contents required for protection and prior art are distinguished comparatively large, and the actual technical matters solved also has larger difference, and present patent application technology contents has stronger novelty.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, tandem feed mechanism and method of work thereof in a kind of design science, the mechanical arm that rational in infrastructure, reliable operation, work efficiency are high is provided.
The present invention solves its technical matters and takes following technical scheme to realize:
Tandem feed mechanism in a kind of mechanical arm, it is characterized in that: comprise column, postbrachium crossbeam, forearm crossbeam, postbrachium feed cylinder, forearm feed cylinder and feeding spiro rod, column is provided with one end of postbrachium crossbeam, and the other end of this postbrachium crossbeam is hinged with one end of forearm crossbeam;
Coaxially in postbrachium crossbeam upper end be fixed with a postbrachium feed cylinder, also a forearm feed cylinder is fixed with in forearm crossbeam lower end, be coaxially installed with one respectively by pusher motor driving feeding spiro rod in postbrachium feed cylinder and forearm feed cylinder, the raw material in feed cylinder carried out orientation and push transport;
Be shaped with a feeding through hole at the connection location of postbrachium crossbeam and forearm crossbeam, the feed cylinder that feed cylinder and postbrachium crossbeam upper end are installed is interconnected by this feeding through hole.
And, this postbrachium feed cylinder is provided with a hopper; In forearm feed cylinder lower end, one spreading head is installed.
And spreading head lower end is provided with electronic probe for detecting the raw thickness discriminated in bucket.
And be fixed with vertical track in column side, on track, slide-and-guide is provided with lifter plate, this lifter plate pushes away cylinder driving by the lifting be packed on column to carry out moving up and down adjustment along track, and lifter plate upper end is provided with one end of postbrachium crossbeam.
And, in side, column top, control panel is installed.
A method of work for tandem feed mechanism in mechanical arm, is characterized in that: method of work is:
(1) start, according to Zhen bucket position adjustments equipment, lifter plate up-down adjustment is to proper height, and forearm crossbeam and postbrachium crossbeam are rotated in tumbler motor work, spreading head is arrived and discriminates correct position above bucket;
(2) feeding, open the load transfer devices such as belt conveyor and raw material is sent into hopper, the raw material in hopper falls in postbrachium feed cylinder;
(3) raw material pushes, pusher electric machine rotation drives feeding spiro rod to rotate, thus at the uniform velocity directed propelling movement, the raw material of postbrachium feed cylinder is typically oriented horizontally propelling movement, after reaching the made feeding lead to the hole site of postbrachium crossbeam and forearm crossbeam junction, raw material falls, and enters forearm feed cylinder, then proceeds at the uniform velocity directed propelling movement by feeding spiro rod in this forearm feed cylinder;
(4) spreading, raw material is evenly sprinkled into by spreading head to be discriminated in bucket;
(5) control position, forearm crossbeam and postbrachium crossbeam are driven by each self-corresponding tumbler motor respectively and carry out horizontal hunting, make spreading head carry out the parallel motion of multiple track;
(6), after completing the spreading of a Zhen bucket, manually by control panel, adjustment robot is discriminated bucket to next and is carried out feeding; Repeat above-mentioned steps (1) to step (6).
And, step (5) in spreading head carries out that at the uniform velocity involute spiral moves, annular movement or linear reciprocation move;
And the step raw thickness information that (5) middle spreading head feeds back according to electronic probe regulates spreading position automatically.
Advantage of the present invention and good effect are:
The present invention full-automatic can carry out the conveying of raw material and sows, in the arm of original creation, feed mechanism ensures that raw material transmits safety and stability and wholesomeness, and the degree of uniformity of the raw material discriminated in bucket can be ensured by vision-based detection, distilling effect is good, realize intelligence completely to produce, raising efficiency, and promote crudy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is inner structure schematic diagram of the present invention;
Fig. 3 is the inner structure schematic diagram at another visual angle of the present invention.
Reference numeral represents: 1 discriminates bucket, 2 spreading heads, 3 forearm crossbeams, 4 postbrachium crossbeams, 5 postbrachium feed cylinders, 6 hoppers, 7 tumbler motors, 8 pusher motors, 9 lifter plates, 10 columns, 11 control panels, 12 feeding through holes, 13 feeding spiro rods, 14 tracks, and 15 liftings push away cylinder.
Detailed description of the invention
Below in conjunction with accompanying drawing, also by specific embodiment, the invention will be further described, and following examples are descriptive, are not determinate, can not limit protection scope of the present invention with this.
Tandem feed mechanism in a kind of mechanical arm, comprise column 10, postbrachium crossbeam 4, forearm crossbeam 3, postbrachium feed cylinder 5, forearm feed cylinder and feeding spiro rod 13, ground outside Zhen bucket 1 is vertically fixed with column 10, this column side is fixed with vertical track 14, on track, slide-and-guide is provided with lifter plate 9, and this lifter plate pushes away cylinder 15 by the lifting be packed on column and drives and carry out moving up and down adjustment along track;
Lifter plate upper end level hinge dress is provided with one end of postbrachium crossbeam 4, and the other end of this postbrachium crossbeam is hinged with one end of forearm crossbeam 3, and forearm crossbeam and postbrachium crossbeam are driven by two tumbler motors 7 being arranged on postbrachium crossbeam lower end respectively and carry out horizontal rotation;
Coaxially in postbrachium crossbeam upper end be fixed with a postbrachium feed cylinder 5, this postbrachium feed cylinder be provided with a hopper 6, in feed cylinder, carry raw material to be processed by this hopper; Also be fixed with a forearm feed cylinder (in figure non-label) in forearm crossbeam lower end, spreading 2 is installed in forearm feed cylinder lower end;
Spreading head lower end is provided with electronic probe (in figure non-label) for detecting the raw thickness discriminated in bucket, and selects to regulate spreading position according to pre-set programs, ensures even spreading;
Be coaxially installed with a feeding spiro rod respectively in postbrachium feed cylinder and forearm feed cylinder, feeding spiro rod is driven by the pusher motor 8 being arranged on feeding spiro rod one end and rotates, thus the raw material in feed cylinder is carried out orientation propelling movement transport; A feeding through hole 12 is shaped with at the connection location of postbrachium crossbeam and forearm crossbeam, the feed cylinder that feed cylinder and postbrachium crossbeam upper end are installed is interconnected by this feeding through hole, raw material in feed cylinder on postbrachium crossbeam is promoted to arrive feeding lead to the hole site by feeding spiro rod, automatic whereabouts, enter in the feed cylinder of forearm crossbeam lower end, then continued to push by feeding spiro rod, arrive spreading head position, finally be admitted to Zhen bucket, raw material transmits in mechanical arm;
Be provided with control panel 11 in side, column top, for manually setting or reconciling job procedure, described lifting pushes away cylinder, two tumbler motors, two pusher motors and electronic probes connection control system respectively, and controls by control system is unified.
The mechanical arm of robot can freely rotate adjustment operating angle, for multiple Zhen bucket carries out feeding.
Raw material described in present patent application is multiple particulate matter grain raw material.
The method of work of robot is:
(1) start, according to Zhen bucket position adjustments equipment, lifter plate up-down adjustment is to proper height, and forearm crossbeam and postbrachium crossbeam are rotated in tumbler motor work, spreading head is arrived and discriminates correct position above bucket;
(2) feeding, open the load transfer devices such as belt conveyor and raw material is sent into hopper, the raw material in hopper falls in postbrachium feed cylinder;
(3) raw material pushes, pusher electric machine rotation drives feeding spiro rod to rotate, thus at the uniform velocity directed propelling movement, the raw material of postbrachium feed cylinder is typically oriented horizontally propelling movement, after reaching the made feeding lead to the hole site of postbrachium crossbeam and forearm crossbeam junction, raw material falls, and enters forearm feed cylinder, then proceeds at the uniform velocity directed propelling movement by feeding spiro rod in this forearm feed cylinder;
(4) spreading, raw material is evenly sprinkled into by spreading head to be discriminated in bucket;
(5) control position, forearm crossbeam and postbrachium crossbeam are driven by each self-corresponding tumbler motor respectively and carry out horizontal hunting, make spreading head carry out the free parallel motion of multiple track;
As spreading head carry out that at the uniform velocity involute spiral moves, annular movement or linear reciprocation move; Raw thickness according to electronic probe feedback regulates spreading position automatically, ensures that the raw material spreading discriminated in bucket is even, consistency of thickness;
(6), after completing the spreading of a Zhen bucket, manually by control panel, adjustment robot is discriminated bucket to next and is carried out feeding; Repeat above-mentioned steps (1) to step (6).
Although disclose embodiments of the invention and accompanying drawing for the purpose of illustration, but it will be appreciated by those skilled in the art that: in the spirit and scope not departing from the present invention and claims, various replacement, change and amendment are all possible, therefore, scope of the present invention is not limited to the content disclosed in embodiment and accompanying drawing.
Claims (8)
1. tandem feed mechanism in a mechanical arm, it is characterized in that: comprise column, postbrachium crossbeam, forearm crossbeam, postbrachium feed cylinder, forearm feed cylinder and feeding spiro rod, column is provided with one end of postbrachium crossbeam, and the other end of this postbrachium crossbeam is hinged with one end of forearm crossbeam; Coaxially in postbrachium crossbeam upper end be fixed with a postbrachium feed cylinder, also a forearm feed cylinder is fixed with in forearm crossbeam lower end, be coaxially installed with one respectively by pusher motor driving feeding spiro rod in postbrachium feed cylinder and forearm feed cylinder, the raw material in feed cylinder carried out orientation and push transport; Be shaped with a feeding through hole at the connection location of postbrachium crossbeam and forearm crossbeam, the feed cylinder that feed cylinder and postbrachium crossbeam upper end are installed is interconnected by this feeding through hole.
2. tandem feed mechanism in mechanical arm according to claim 1, is characterized in that: this postbrachium feed cylinder is provided with a hopper; In forearm feed cylinder lower end, one spreading head is installed.
3. tandem feed mechanism in mechanical arm according to claim 2, is characterized in that: spreading head lower end is provided with electronic probe for detecting the raw thickness discriminated in bucket.
4. tandem feed mechanism in mechanical arm according to claim 1, it is characterized in that: be fixed with vertical track in column side, on track, slide-and-guide is provided with lifter plate, this lifter plate pushes away cylinder driving by the lifting be packed on column to carry out moving up and down adjustment along track, and lifter plate upper end is provided with one end of postbrachium crossbeam.
5. tandem feed mechanism in mechanical arm according to claim 1, is characterized in that: be provided with control panel in side, column top.
6. the method for work of tandem feed mechanism in mechanical arm, is characterized in that: method of work is:
(1) start, according to Zhen bucket position adjustments equipment, lifter plate up-down adjustment is to proper height, and forearm crossbeam and postbrachium crossbeam are rotated in tumbler motor work, spreading head is arrived and discriminates correct position above bucket;
(2) feeding, open the load transfer devices such as belt conveyor and raw material is sent into hopper, the raw material in hopper falls in postbrachium feed cylinder;
(3) raw material pushes, pusher electric machine rotation drives feeding spiro rod to rotate, thus at the uniform velocity directed propelling movement, the raw material of postbrachium feed cylinder is typically oriented horizontally propelling movement, after reaching the made feeding lead to the hole site of postbrachium crossbeam and forearm crossbeam junction, raw material falls, and enters forearm feed cylinder, then proceeds at the uniform velocity directed propelling movement by feeding spiro rod in this forearm feed cylinder;
(4) spreading, raw material is evenly sprinkled into by spreading head to be discriminated in bucket;
(5) control position, forearm crossbeam and postbrachium crossbeam are driven by each self-corresponding tumbler motor respectively and carry out horizontal hunting, make spreading head carry out the parallel motion of multiple track;
(6), after completing the spreading of a Zhen bucket, manually by control panel, adjustment robot is discriminated bucket to next and is carried out feeding; Repeat above-mentioned steps (1) to step (6).
7. the method for work of tandem feed mechanism in mechanical arm according to claim 6, is characterized in that: step (5) in spreading head carries out that at the uniform velocity involute spiral moves, annular movement or linear reciprocation move.
8. the method for work of tandem feed mechanism in mechanical arm according to claim 6, is characterized in that: step (5) in the raw thickness information fed back according to electronic probe of spreading head automatically regulate spreading position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510487991.5A CN105151823A (en) | 2015-08-10 | 2015-08-10 | Tandem type feeding mechanism in mechanical arm and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510487991.5A CN105151823A (en) | 2015-08-10 | 2015-08-10 | Tandem type feeding mechanism in mechanical arm and working method thereof |
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| Publication Number | Publication Date |
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| CN105151823A true CN105151823A (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510487991.5A Pending CN105151823A (en) | 2015-08-10 | 2015-08-10 | Tandem type feeding mechanism in mechanical arm and working method thereof |
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| Country | Link |
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| CN (1) | CN105151823A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690369A (en) * | 2015-12-31 | 2016-06-22 | 中国科学院自动化研究所 | Robot system for feeding white spirit to cooking pot full automatically |
| CN105923410A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Intelligent grain loading robot for flexible spreading |
| CN105925419A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Full-automatic steamer filling system based on flexible sprinkling robot |
| CN106118955A (en) * | 2016-06-22 | 2016-11-16 | 天津荣新佳科技有限公司 | A kind of wine production line brewing method installing flexible spreading robot |
| CN106144666A (en) * | 2016-08-12 | 2016-11-23 | 攀枝花市九鼎智远知识产权运营有限公司 | A kind of solid material uniform feeding system |
| CN106956942A (en) * | 2017-05-03 | 2017-07-18 | 常州机电职业技术学院 | Connecting rod type fixed-point feeding system |
| CN111893009A (en) * | 2020-07-28 | 2020-11-06 | 醉清风酒业股份有限公司 | Automatic fermentation system for wine brewing |
| CN113636472A (en) * | 2021-08-09 | 2021-11-12 | 浙江风驰机械有限公司 | Double-rotating-arm lifting and moving mechanism |
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| US4066175A (en) * | 1975-03-07 | 1978-01-03 | Hartung, Kuhn & Co Maschinenfabrik Gmbh | Coke-oven filling system |
| JP2002137815A (en) * | 2000-11-07 | 2002-05-14 | Handa Kikai Kk | Storage facility for antifreezing agent |
| CN201908082U (en) * | 2010-11-30 | 2011-07-27 | 四川宜宾岷江机械制造有限责任公司 | Solid-state liquor-making fermented grain two-section type semiautomatic steamer |
| CN203112798U (en) * | 2013-01-30 | 2013-08-07 | 四川宜宾岷江机械制造有限责任公司 | Full-automatic steamer feeding device for solid brewing grain groove |
| CN103625950A (en) * | 2013-12-18 | 2014-03-12 | 河北衡水老白干酒业股份有限公司 | Retort filling distributing device for making white spirit |
| CN205114556U (en) * | 2015-08-10 | 2016-03-30 | 吕桂财 | Serial -type feeding mechanism in arm |
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2015
- 2015-08-10 CN CN201510487991.5A patent/CN105151823A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4066175A (en) * | 1975-03-07 | 1978-01-03 | Hartung, Kuhn & Co Maschinenfabrik Gmbh | Coke-oven filling system |
| JP2002137815A (en) * | 2000-11-07 | 2002-05-14 | Handa Kikai Kk | Storage facility for antifreezing agent |
| CN201908082U (en) * | 2010-11-30 | 2011-07-27 | 四川宜宾岷江机械制造有限责任公司 | Solid-state liquor-making fermented grain two-section type semiautomatic steamer |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690369A (en) * | 2015-12-31 | 2016-06-22 | 中国科学院自动化研究所 | Robot system for feeding white spirit to cooking pot full automatically |
| CN105923410A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Intelligent grain loading robot for flexible spreading |
| CN105925419A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Full-automatic steamer filling system based on flexible sprinkling robot |
| CN106118955A (en) * | 2016-06-22 | 2016-11-16 | 天津荣新佳科技有限公司 | A kind of wine production line brewing method installing flexible spreading robot |
| CN106144666A (en) * | 2016-08-12 | 2016-11-23 | 攀枝花市九鼎智远知识产权运营有限公司 | A kind of solid material uniform feeding system |
| CN106144666B (en) * | 2016-08-12 | 2018-07-27 | 佛山市南海思必拓塑机有限公司 | A kind of solid material uniform feeding system |
| CN106956942A (en) * | 2017-05-03 | 2017-07-18 | 常州机电职业技术学院 | Connecting rod type fixed-point feeding system |
| CN111893009A (en) * | 2020-07-28 | 2020-11-06 | 醉清风酒业股份有限公司 | Automatic fermentation system for wine brewing |
| CN113636472A (en) * | 2021-08-09 | 2021-11-12 | 浙江风驰机械有限公司 | Double-rotating-arm lifting and moving mechanism |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20170704 Address after: 300380, Tianjin District, Xiqing District,, Tai Cheng Road, No. 37 District Applicant after: Tianjin Rong Xinjia Machinery Co. Ltd. Address before: 300380 Tianjin city Xiqing District Zhangjiawo Town Road No. 37. Applicant before: Lv Guicai |
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Application publication date: 20151216 |