阅读说明：本技术 一种上料机器人及方法 (Feeding robot and method ) 是由 徐击水 夏强 徐建平 张子蓬 刘文浩 项官军 王文峰 程刚 谈文鑫 于 2019-09-17 设计创作，主要内容包括：本发明涉及机械设备技术领域,公开了一种上料机器人及方法,包括：立柱和关节机构；所述关节机构包括第一机械臂、第二机械臂和翻转斗,所述第一机械臂的第一端与所述立柱的侧壁转动连接,所述第一机械臂的第二端与所述第二机械臂的第一端转动连接,所述翻转斗与所述第二机械臂的第二端转动连接。本发明提供的一种上料机器人及方法,设置关节机构用于物料的输送转移,可实现上料要求,且关节机构伸缩灵活性较强,占用空间较小,能够满足安装空间较少的要求,适用性较强；且物料在翻转斗中进行转移输送,应用于酒醅上料,还可降低上料过程中酒的挥发量,提高出酒率。(The invention relates to the technical field of mechanical equipment, and discloses a feeding robot and a method, wherein the feeding robot comprises the following steps: a column and a joint mechanism; the joint mechanism comprises a first mechanical arm, a second mechanical arm and a turnover bucket, wherein the first end of the first mechanical arm is rotatably connected with the side wall of the upright post, the second end of the first mechanical arm is rotatably connected with the first end of the second mechanical arm, and the turnover bucket is rotatably connected with the second end of the second mechanical arm. According to the feeding robot and the method, the joint mechanism is arranged for conveying and transferring materials, the feeding requirement can be realized, the joint mechanism is high in flexibility and small in occupied space, the requirement of small installation space can be met, and the applicability is high; and the materials are transferred and conveyed in the turnover hopper, so that the turnover hopper is applied to the loading of fermented grains, the volatilization amount of wine in the loading process can be reduced, and the wine yield is improved.)

1. A loading robot, comprising: a column and a joint mechanism; the joint mechanism comprises a first mechanical arm, a second mechanical arm and a turnover bucket, wherein the first end of the first mechanical arm is rotatably connected with the side wall of the upright post, the second end of the first mechanical arm is rotatably connected with the first end of the second mechanical arm, and the turnover bucket is rotatably connected with the second end of the second mechanical arm.

2. The loading robot of claim 1, further comprising: a conveying mechanism; the first end of the conveying mechanism is connected with the top end of the upright post, and the second end of the conveying mechanism is positioned above the feeding port of the retort loading robot.

3. The loading robot as claimed in claim 2, wherein a temporary storage hopper is connected to the top of the conveying mechanism, and the temporary storage hopper is communicated with the conveying mechanism; and a discharge hole is formed in the second end of the conveying mechanism.

4. The loader robot of claim 2, wherein the conveying mechanism comprises a plate chain machine or a belt conveyor.

5. The loader robot of claim 2, wherein the first end of the transport mechanism is rotatably connected to a top end of the column.

6. The loading robot as claimed in any one of claims 1 to 5, wherein a mounting seat is slidably connected to an outer side wall of the upright column in a vertical direction, and the first end of the first mechanical arm is rotatably connected to the mounting seat.

7. The loading robot as claimed in claim 6, wherein the outer side wall of the upright is provided with a guide rail in a vertical direction, the mounting seat is slidably connected with the guide rail, and the mounting seat slides along the guide rail under the driving of the driving structure.

8. The loader robot of claim 1, wherein the second end of the second robotic arm is bent.

9. A loading method based on the loading robot of any one of claims 1-8, comprising:

rotating the joint mechanism to enable the opening of the turnover bucket to face upwards to receive incoming materials;

when the actual material amount in the turnover hopper reaches the preset material amount, the rotary joint mechanism pours the material in the turnover hopper into the conveying mechanism;

the conveying mechanism conveys the materials to the retort loading robot.

10. The feeding method according to claim 9, wherein the rotating joint mechanism pours the material in the tipping bucket into the conveying mechanism specifically comprises:

rotating the second mechanical arm to enable the second mechanical arm and the first mechanical arm to form a certain included angle so as to reduce the overall length of the joint mechanism and keep the opening of the turnover bucket upward;

rotating the first mechanical arm to enable the turnover bucket to be positioned above the conveying mechanism;

and (5) rotating the turnover hopper, and pouring the materials into the conveying mechanism.

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a feeding robot and a method.

Background

After fermented grains are fermented in the tank wagon, the fermented grains need to enter the wine retort through a plurality of devices. At present, the fermented grain feeding mode matched with the retort feeding robot mainly comprises the following two modes: and in the plate chain feeding mode, fermented grains are directly conveyed to a receiving hopper of the retort robot through an inclined plate chain. In the feeding method, fermented grains can slip due to the large inclined angle of the plate chain, so that the inclined angle of the conveying plate chain machine cannot be large, the conveying plate chain machine occupies a large installation field, and the harsh requirement of small installation space at the feeding position of the fermented grains in a winery cannot be met; because the inclination angle of the plate chain machine cannot be large, the conveying climbing section length of the plate chain machine is longer, and the time of exposure to the air is longer when the fermented grains are fed, so that the volatilization amount of the wine is increased, and the wine yield is reduced.

The fermented grain feeding mode is mainly characterized in that fermented grains are scraped by the scraper and conveyed to a receiving hopper of a retort feeding robot by combining the scraper. In the feeding method, the scraper blade of the scraper machine continuously turns over the fermented grains in the conveying process of the fermented grains, so that the volatilization of the wine is increased, and the wine yield is reduced.

Disclosure of Invention

Technical problem to be solved

The invention aims to provide a feeding robot and a method, which are used for solving or partially solving the problems that the prior fermented grains are mainly fed by a scraper or a plate chain machine, wine volatilization exists and the wine yield is reduced.

(II) technical scheme

In order to solve the above technical problem, a first aspect of the present invention provides a loading robot, including: a column and a joint mechanism; the joint mechanism comprises a first mechanical arm, a second mechanical arm and a turnover bucket, wherein the first end of the first mechanical arm is rotatably connected with the side wall of the upright post, the second end of the first mechanical arm is rotatably connected with the first end of the second mechanical arm, and the turnover bucket is rotatably connected with the second end of the second mechanical arm.

On the basis of the scheme, the method further comprises the following steps: a conveying mechanism; the first end of the conveying mechanism is connected with the top end of the upright post, and the second end of the conveying mechanism is positioned above the feeding port of the retort loading robot.

On the basis of the scheme, a temporary storage hopper is connected to the top of the conveying mechanism and communicated with the conveying mechanism; and a discharge hole is formed in the second end of the conveying mechanism.

On the basis of the scheme, the conveying mechanism comprises a plate chain machine or a belt conveyor.

On the basis of the scheme, the first end of the conveying mechanism is rotatably connected with the top end of the upright post.

On the basis of the scheme, the outer side wall of the upright post is connected with a mounting seat in a sliding mode in the vertical direction, and the first end of the first mechanical arm is connected with the mounting seat in a rotating mode.

On the basis of the scheme, the outer side wall of the upright post is provided with a guide rail in the vertical direction, the mounting seat is connected with the guide rail in a sliding manner, and the mounting seat slides along the guide rail under the driving of the driving structure.

On the basis of the scheme, the second end of the second mechanical arm is bent.

In a second aspect of the present invention, a feeding method based on the above feeding robot is provided, including: rotating the joint mechanism to enable the opening of the turnover bucket to face upwards to receive incoming materials; when the actual material amount in the turnover hopper reaches the preset material amount, the rotary joint mechanism pours the material in the turnover hopper into the conveying mechanism; the conveying mechanism conveys the materials to the retort loading robot.

On the basis of the scheme, the material in the turnover bucket is poured into the conveying mechanism by the rotary joint mechanism, and the conveying mechanism specifically comprises: rotating the second mechanical arm to enable the second mechanical arm and the first mechanical arm to form a certain included angle so as to reduce the overall length of the joint mechanism and keep the opening of the turnover bucket upward; rotating the first mechanical arm to enable the turnover bucket to be positioned above the conveying mechanism; and (5) rotating the turnover hopper, and pouring the materials into the conveying mechanism.

(III) advantageous effects

According to the feeding robot and the method, the joint mechanism is arranged for conveying and transferring materials, the feeding requirement can be realized, the joint mechanism is high in flexibility and small in occupied space, the requirement of small installation space can be met, and the applicability is high; and the materials are transferred and conveyed in the turnover hopper, so that the turnover hopper is applied to the loading of fermented grains, the volatilization amount of wine in the loading process can be reduced, and the wine yield is improved.

Drawings

Fig. 1 is an overall schematic view of a loading robot according to an embodiment of the present invention;

fig. 2 is a schematic material receiving diagram of a feeding robot according to an embodiment of the present invention;

fig. 3 is a schematic material pouring diagram of a loading robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of the joint mechanism in the embodiment of the invention.

Description of reference numerals:

1-upright column; 2-a first mechanical arm; 3-a second mechanical arm;

4, turning over the bucket; 5, a conveying mechanism; 6, temporary storage hopper;

7, discharging a material outlet; 8, mounting seats; 9-bending part;

10-front process conveyor.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

An embodiment of the present invention provides a feeding robot, and with reference to fig. 1, the feeding robot includes: an upright post 1 and a joint mechanism; the joint mechanism comprises a first mechanical arm 2, a second mechanical arm 3 and a turning bucket 4, wherein the first end of the first mechanical arm 2 is rotatably connected with the side wall of the upright post 1, the second end of the first mechanical arm 2 is rotatably connected with the first end of the second mechanical arm 3, and the turning bucket 4 is rotatably connected with the second end of the second mechanical arm 3.

The feeding robot can be used for feeding fermented grains, the fermented grains are conveyed into the retort robot before the retort robot, and then the fermented grains are fed and distributed through the retort robot. The upright post 1 is arranged on one side of the retort loading robot. The feeding robot is provided with a joint mechanism for conveying fermented grains. Through the rotation of first arm 2, second arm 3 and turnover fill 4, can control the regulation to the position and the specific state of turnover fill 4, realize the change and the upset of turnover fill 4 position, can carry the material through turnover fill 4.

According to the feeding robot provided by the embodiment, the joint mechanism is arranged for conveying and transferring materials, the feeding requirement can be realized, the joint mechanism is high in flexibility and small in occupied space, the requirement of small installation space can be met, and the applicability is high; and the materials are transferred and conveyed in the turning hopper 4, so that the device is applied to the feeding of the fermented grains, the turning and the flat conveying of the fermented grains can be avoided, the volatilization amount of the wine in the feeding process is reduced, and the wine yield is improved.

On the basis of the above embodiment, further, referring to fig. 2 and 3, a feeding robot further includes: a conveying mechanism 5; the first end of the conveying mechanism 5 is connected with the top end of the upright post 1, and the second end of the conveying mechanism 5 is positioned above the feeding port of the retort feeding robot. The joint mechanism can convey the materials in the turnover hopper 4 to the conveying mechanism 5, and then the materials are loaded into the retort robot by the conveying mechanism 5. The conveying mechanism 5 is arranged, so that uniform and controllable feeding is facilitated to the retort feeding robot, and the feeding can be better adapted to the retort feeding robot; and the position of the conveying mechanism 5 is fixed, so that the conveying path of the joint mechanism can be kept stable, and smooth and efficient conveying of materials by the joint mechanism is facilitated.

On the basis of the above embodiment, further, the top of the conveying mechanism 5 is connected with a temporary storage hopper 6, and the temporary storage hopper 6 is communicated with the conveying mechanism 5; the second end of the conveying mechanism 5 is provided with a discharge hole 7. The joint mechanism can transfer materials to the temporary storage hopper 6, the temporary storage hopper 6 can play a role in buffering, smooth and efficient material conveying of the joint mechanism can be guaranteed, and uniform and controllable feeding to the retort robot can be guaranteed. The material in the temporary storage hopper 6 falls into the conveying mechanism 5, and the conveying mechanism 5 conveys the material to the second end and falls into the retort loading robot through the discharge port 7.

On the basis of the above embodiment, further, the conveying mechanism 5 includes a plate chain machine or a belt conveyor. And other mechanisms capable of realizing material conveying can be adopted, and the mechanism is not limited specifically. Specifically, the working surface of the plate chain machine or the belt conveyor can be enclosed by the shell to prevent the materials from falling. The temporary storage hopper 6 and the discharge opening 7 can be arranged on the housing.

On the basis of the above embodiment, further, the first end of the conveying mechanism 5 is rotatably connected with the top end of the upright 1. The top end of the upright post 1 can be provided with a bearing structure, and the first end of the conveying mechanism 5 is connected with the top end of the upright post 1 through the bearing structure so as to realize the rotation of the conveying mechanism 5. Set up conveying mechanism 5 rotatable locate stand 1, can adjust conveying mechanism 5's position according to concrete application environment to retort robot's position in the better adaptation improves this material loading robot's suitability and flexibility.

On the basis of the above embodiment, further, the outer side wall of the upright post 1 is connected with the mounting seat 8 in a sliding manner along the vertical direction, and the first end of the first mechanical arm 2 is connected with the mounting seat 8 in a rotating manner. The first end of the first mechanical arm 2 can be rotatably connected with the upright post 1 through the mounting seat 8, and the mounting seat 8 can facilitate the connection and fixation of the first mechanical arm 2.

Further, referring to fig. 4, the first end of the first robot arm 2 may be connected to the mounting base 8 by a pin or a hinge, or may be in other connection structures, so as to achieve the purpose that the first end of the first robot arm 2 can rotate. And the first end of the first mechanical arm 2 can be connected with a first motor, and the rotation of the first mechanical arm 2 can be controlled by the first motor.

Similarly, the first end of the second mechanical arm 3 may be connected to the second end of the first mechanical arm 2 by a pin or a hinge, or may be connected to other structures, so as to achieve the purpose of rotating the second mechanical arm 3. And the first end of the second mechanical arm 3 can be connected with a second motor, and the rotation of the second mechanical arm 3 is controlled by the second motor. Referring to fig. 4, the first end of the second mechanical arm 3 may also be rotated by a belt conveyor.

The tipping bucket 4 can be connected with the second end of the second mechanical arm 3 by a pin or a hinge, and can also be in other connecting structures, so that the purpose of rotating the tipping bucket 4 can be achieved. And the turning bucket 4 is connected with a third motor at the position connected with the second mechanical arm 3, and the rotation of the turning bucket 4 is controlled by the third motor.

The rotation of the first mechanical arm 2, the rotation of the second mechanical arm 3 and the rotation of the turnover bucket 4 are mutually independent, and the rotation of each mechanical arm can be independently controlled, so that the joint mechanism is flexible in movement and wide in reachable range.

On the basis of the above embodiment, further, the outer side wall of the upright post 1 is provided with a guide rail along the vertical direction, the mounting seat 8 is connected with the guide rail in a sliding manner, and the mounting seat 8 slides along the guide rail under the driving of the driving structure. The driving mechanism can be a motor, directly drives the mounting seat 8 to slide along the guide rail, and controls and adjusts the position of the mounting seat 8. The driving mechanism can also be a vertically arranged cylinder, and the mounting base 8 is driven to slide along the guide rail through the vertical extension of the cylinder; the driving mechanism can also be a vertically arranged screw and nut seat structure and the like without limitation.

In addition to the above embodiment, the second end of the second mechanical arm 3 is bent. The bent portion forms a bent portion 9. Referring to fig. 3, when the material in the flip bucket 4 is poured into the conveying mechanism 5, the flip bucket 4 can reach the upper side of the conveying mechanism 5 more conveniently because of the bending part 9 at the second end of the second mechanical arm 3, so that the material can be transferred to the conveying mechanism 5 smoothly. When the second end of the second arm 3 is not bent, the second arm 3 needs to be raised to a higher height and a greater bending degree in order to reach the turning bucket 4 above the conveying mechanism 5, and thus, a greater amount of power is consumed.

On the basis of the foregoing embodiments, further, the present embodiment provides a feeding method based on the feeding robot in any of the foregoing embodiments, including: the joint mechanism is rotated, so that the opening of the turnover bucket 4 faces upwards to receive incoming materials; when the actual material amount in the turnover hopper 4 reaches the preset material amount, the rotary joint mechanism pours the material in the turnover hopper 4 into the conveying mechanism 5; the conveying mechanism 5 conveys the materials to the retort loading robot. The inside of turnover fill 4 can set up gravity sensor, carries out real-time supervision to the material that gets into turnover fill 4 to the material volume of transferring the transport at every turn to turnover fill 4 is controlled, realizes more orderly efficient material loading.

On the basis of the above embodiment, further, the turning joint mechanism pouring the material in the tipping bucket 4 into the conveying mechanism 5 specifically includes: rotating the second mechanical arm 3 to enable the second mechanical arm 3 and the first mechanical arm 2 to form a certain included angle so as to reduce the overall length of the joint mechanism and keep the opening of the turnover bucket 4 upward; rotating the first mechanical arm 2 to enable the overturning bucket 4 to be positioned above the conveying mechanism 5; the tipping bucket 4 is rotated to pour the material into the conveying mechanism 5.

That is, after the tipping bucket 4 receives the incoming material, when the material in the tipping bucket 4 needs to be transferred to the conveying mechanism 5, the second mechanical arm 3 can be rotated first to shorten the overall length of the joint mechanism, so that when the first mechanical arm 2 is rotated, the load of the driving device can be reduced, and the power consumption is saved. During the rotation process of the second mechanical arm 3 and the first mechanical arm 2, namely before the turnover bucket 4 reaches the upper part of the conveying mechanism 5, the position of the turnover bucket 4 is adjusted in real time, so that the opening of the turnover bucket 4 is kept upward to prevent the materials from being turned over.

On the basis of the above embodiments, further, the present embodiment provides an articulated automatic fermented grain feeding robot, which realizes the comprehensive mechanization and automation of brewing; the problems of small field installation space and low applicability are solved; the problem of reduction of wine yield caused in the feeding process is avoided as much as possible; in addition, combine elevating system, enable this robot to adapt to the not co-altitude supplied materials, can shorten the rotary arm length and can empty the wine unstrained spirits material to the fill 6 of keeping in, reduced rotary joint department drive arrangement load.

The embodiment provides a fermented grain automatic feeding robot of brewing industry, and this material loading robot material loading part adopts joint mechanism to realize, including base 1 promptly, conveyor 5 promptly is adorned to belt conveyor portion, movable joint mechanism portion dress promptly joint mechanism. The belt conveying part mainly comprises a belt conveyor, a temporary storage hopper 6 and a discharge port 7; the temporary storage hopper 6 is used for receiving and collecting fermented grains discharged by the lifting turnover hopper 4, the conveying belt conveyor conveys the fermented grains collected in the temporary storage hopper 6 to the discharge port 7, and the fermented grains at the discharge port 7 are conveyed to the receiving hopper of the retort loading robot; the movable joint feeding mechanism mainly comprises a movable joint mechanical arm, a lifting power mechanism and a sliding block are arranged on the stand column 1, and the movable joint mechanical arm adopts three joints, namely three rotating nodes.

Referring to fig. 2, the turnover hopper 4 is used for receiving fermented grains conveyed by the front process conveyor 10, and after reaching a suitable weight, the turnover hopper 4 is combined with the multi-joint rotating mechanism to dump the received fermented grains to the temporary storage hopper 6 of the belt conveying part.

When the feeding robot works, the robot can meet the conveying requirements of different heights in front through the multi-joint rotating mechanism, meanwhile, the overturning hopper 4 can dump fermented grains to the temporary storage hopper 6 through shortening the arm length of the multi-joint rotating mechanism, and the power required by a driving device at the position of a rotating joint can be reduced; through the multi-joint rotating mechanism, the turnover hopper 4 can receive incoming materials and unload the materials in a flexible posture.

The feeding robot has a simple and compact structure, and can meet the harsh requirement of less mounting space at the retort loading position in a winery; the multi-joint rotating mechanism can enable the overturning hopper 4 to receive incoming materials and unload fermented materials in a flexible posture, and can reduce volatilization of the fermented materials caused by long distance and overturning in the conveying process.

This embodiment simple structure uses with last rice steamer robot cooperation, can satisfy the less harsh requirement of lees material loading department installation space in the winery, also can reduce the active material of lees material loading in-process and volatilize, can realize that this lees material loading robot integrates in an organic whole with last rice steamer robot, can improve cloth efficiency. And the robot can adapt to the coming materials with different heights, shorten the length of the rotary arm and dump the fermented grains to the temporary storage hopper 6, thereby reducing the load of the driving device at the rotary joint.

The multi-joint fermented grain feeding robot main body is designed in a nonstandard mode, namely the size is not limited, the multi-joint fermented grain feeding robot main body can be specifically arranged according to the application environment, mechanisms such as a multi-joint mechanism and a belt conveyor are integrated into a whole, the structure is simple, and the field applicability is high; the system is driven by a servo motor, the response is quick and flexible, and the high-efficiency automation of the fermented grain feeding process can be realized.

The belt conveying and the multi-joint mechanism are integrated together, so that the fermented grain feeding mode has a compact structure, and the problems of small field installation space and low applicability are solved. The belt conveying and the multi-joint mechanism are integrated together, so that the turning of fermented grains is reduced, and the wine yield of the fermented grains in the retort is ensured. The joint mechanism can automatically adjust the height up and down by a large margin through the track on the upright post 1.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.