CN110624433A

CN110624433A - Stirring device and stirring robot

Info

Publication number: CN110624433A
Application number: CN201911027849.7A
Authority: CN
Inventors: 张晓航; 陈军华
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-25
Filing date: 2019-10-25
Publication date: 2019-12-31

Abstract

The application relates to the field of material stirring, in particular to a stirring device and a stirring robot. The stirring device is arranged on the stirring robot and comprises a hopper and a stirring mechanism for stirring materials in the hopper, and the stirring mechanism comprises a stirring shaft, a first driving device for driving the stirring shaft to rotate and a stirring blade fixed on the stirring shaft; the stirring blade is made of rigid materials and has a gap of 1-3 mm with the inner wall of the hopper; or at least one stirring blade is made of elastic material and can be attached to the inner wall of the hopper to run under the driving of the stirring shaft. The rigid blades can scatter materials with high viscosity, the rigid blades are specially configured into gaps of 1-3 mm, so that the materials on the wall can be removed by using viscous force, and the elastic blades can operate along the wall to further remove the materials on the wall.

Description

Stirring device and stirring robot

Technical Field

The application relates to the field of material stirring, in particular to a stirring device and a stirring robot.

Background

When the existing stirring device is used, materials are easy to hang on a wall and remain, so that material loss is caused, and the inside of the stirring device is not easy to clean.

Disclosure of Invention

The application aims at providing a stirring device and a stirring robot to solve the problem of material wall hanging in the prior art.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a stirring apparatus, which includes a hopper and a stirring mechanism for stirring materials in the hopper, where the stirring mechanism includes a stirring shaft, a first driving device for driving the stirring shaft to rotate, and a stirring blade fixed on the stirring shaft;

the stirring blade is made of rigid materials and has a gap of 1-3 mm with the inner wall of the hopper;

or at least one stirring blade is made of elastic material and can be attached to the inner wall of the hopper to run under the driving of the stirring shaft.

Through set up the stirring vane that elastic material made in agitating unit's hopper to make this elastic stirring vane adherence operation: the stirring blades rotate in the hopper to play a role in stirring materials; when the inner wall of the hopper is not smooth, the elastic stirring blades can smoothly pass through the hopper by utilizing elastic deformation, and the operation of the stirring mechanism is not influenced; still strike off the material from the inner wall of hopper simultaneously, solve the problem of material wall built-up, reduce the material loss, and be convenient for wash agitating unit.

When the material is comparatively thick, a plurality of stirring vane all adopt the rigidity blade, and the rigidity blade has 1 ~ 3 mm's gap with the inner wall of hopper in order to guarantee that the (mixing) shaft normally rotates, and when the material adhesion was on the inner wall of hopper, the material on top layer was stirred to the rigidity blade, utilizes the tension or the viscous force of material to pull down the inner wall of pasting at the hopper to solve the problem of material wall built-up, reduce the material loss.

In an embodiment of the present application, optionally, the discharge hole of the hopper is disposed at the bottom of the hopper, and the bottom of the hopper is in a downwardly arched arc shape.

The bottom of the hopper is arranged into an arc shape which is arched downwards, the discharge hole is formed in the bottom of the hopper, and the material can slide to the discharge hole along the arc-shaped inner wall under the action of gravity, so that wall hanging is reduced, and discharging is smooth.

In an embodiment of the present application, optionally, the stirring blade can be driven by the stirring shaft to run along the arc-shaped inner wall of the bottom of the hopper.

Through making stirring vane move along the arc inner wall of the bottom of hopper, the material is dialled to the rigidity blade, perhaps material is scraped to elastic blade to catch up the material to the discharge gate, further alleviate the problem of material wall built-up.

In an embodiment of the present application, optionally, the stirring device further includes a discharge port cover plate and a third driving device, and the third driving device is configured to drive the discharge port cover plate to move, so that the discharge port cover plate opens or closes the discharge port of the hopper.

Through setting up the discharge gate apron of being driven the switching by third drive arrangement, seal the discharge gate and prevent that the material from spilling when the stirring, be convenient for open the ejection of compact when the ejection of compact.

In an embodiment of the present application, optionally, the stirring device further includes a feed port cover plate and a fourth driving device, and the fourth driving device is configured to drive the feed port cover plate to move, so that the feed port cover plate opens or closes the feed port of the hopper.

Through setting up the feed inlet apron by fourth drive arrangement drive switching, seal the feed inlet when the stirring and prevent that the material from splashing, be convenient for open the ejection of compact when the ejection of compact. In the process of transporting the stirring device to different places with materials, or when the stirring device is in an open-air state, the feed inlet cover plate also has the effects of shielding and sealing, so that the materials are protected.

In an embodiment of the present application, optionally, the stirring device further includes a screw shaft for extruding the material in the hopper from the discharge port of the hopper, and a second driving device for driving the screw shaft to rotate.

The screw shaft connected with the discharge port is arranged, so that the screw shaft has a certain material blocking effect when not rotating, and the material leakage is prevented; when the screw shaft rotates, the material is conveyed to the discharge hole, the more the revolution of the screw shaft, the more the material is output, and the effect of controlling the material output quantity is achieved.

In one embodiment of the present application, optionally, the screw shaft is disposed at a bottom of the hopper.

Through setting up the screw axis in the bottom of hopper for the screw axis is close to the discharge gate, and the bottom material of hopper is more concentrated, is convenient for export.

In an embodiment of the present application, optionally, the second driving device is a servo motor.

Through setting up servo motor control screw axis and rotating, servo motor can the accurate control revolution, and the accurate control load is avoided the too much waste of ejection of compact, or the ejection of compact is too little to influence the use.

In one embodiment of the present application, optionally, the elastic material is a polyurethane material.

The polyurethane material has excellent rubber characteristic, and density is low, elasticity is good, the shock attenuation is effectual, makes agitating unit whole dead weight light, and the elastic blade that it was made has the absorbing effect when scraping the not smooth position of the inner wall of hopper, or during the hopper vibrations, is difficult to transmit vibrations to the (mixing) shaft for the (mixing) shaft operation is stable.

In a second aspect, an embodiment of the present application provides a stirring robot, which includes a carrying device and the stirring device, where the hopper of the stirring device is mounted on the carrying device.

This stirring robot utilizes carrying device drive agitating unit to remove, also can stir the material in the transportation, plays better effect of mixing, prevents that the material from component separation or segregation in the transportation, maintains the service property of material. The materials are directly transported to the dumping position after being mixed, and are discharged by combining the stirring blades made of the elastic materials, so that the transfer equipment is reduced, and the loss of material wall hanging is reduced as much as possible.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic external structural view of a stirring device provided in an embodiment of the present application from one perspective;

fig. 2 is a schematic external structural diagram of an agitation apparatus provided in an embodiment of the present application from another perspective;

FIG. 3 is a schematic view of an internal structure of a stirring device provided in an embodiment of the present application from a viewing angle;

fig. 4 is a schematic internal structure view of an agitating device provided in an embodiment of the present application from another perspective;

FIG. 5 is a schematic structural diagram of an agitating mechanism provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a stirring robot provided in an embodiment of the present application.

Icon: 10-a stirring device; 20-a carrier; 30-a lifting device; 100-a hopper; 110-a feed inlet; 120-a discharge hole; 200-a feed inlet cover plate; 210-a third drive; 300-cover plate of discharge port; 310-a second drive; 400-a stirring mechanism; 410-a stirring shaft; 420-stirring blades; 430-a first drive; 500-helical axis; 510-fourth drive means.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.

Examples

The stirring device 10 is used for stirring materials, such as building fluid materials like mortar, putty and paint, and the materials in the stirring device 10 are not easy to hang on the wall, so that the loss caused by hanging the materials on the wall can be reduced, and the stirring device is easy to clean.

As shown in fig. 1, 2 and 3, the stirring device 10 includes a hopper 100, the hopper 100 having an inlet port 110 and an outlet port 120. The material enters the hopper 100 from the feeding hole 110 and is output from the discharging hole 120, the feeding hole 110 is provided with a feeding hole cover plate 200, and the discharging hole 120 is provided with a discharging hole cover plate 300. When adding materials, the feed inlet cover plate 200 is opened, and the feed inlet cover plate 200 closes the feed inlet 110 in the rest of time; when the mixed material is discharged, the discharge port cover plate 300 is opened, and the discharge port cover plate 300 closes the discharge port 120 in the rest of the time.

In order to open and close the feeding hole 110, the stirring device 10 is provided with a fourth driving device 510, and the fourth driving device 510 is used for driving the feeding hole cover plate 200 to move to open and close the feeding hole 110. Referring to fig. 1, the fourth driving device 510 is an electric push rod installed on the hopper 100, the inlet cover 200 is hinged to the hopper 100, a piston rod of the electric push rod is hinged to the inlet cover 200, when the piston rod of the electric push rod is shortened, the inlet cover 200 is pulled to rotate to open the inlet 110, and when the piston rod of the electric push rod is lengthened, the inlet cover 200 is pushed to rotate to close the inlet 110.

In order to open and close the discharge hole 120, the stirring device 10 is provided with a third driving device 210, and the third driving device 210 is used for driving the discharge hole cover 300 to move to open and close the discharge hole 120. Referring to fig. 2 and 4, the third driving device 210 is another electric push rod installed on the hopper 100, a piston rod of the electric push rod is fixedly connected to the discharge hole cover 300, when the piston rod of the electric push rod extends, the discharge hole cover 300 is pushed away from the discharge hole 120 to open the discharge hole 120, and when the piston rod of the electric push rod shortens, the discharge hole cover 300 is pulled close to the discharge hole 120 to close the discharge hole 120.

The discharge port 120 is disposed at the bottom of the hopper 100, the feed port 110 is disposed at the top of the hopper 100, and the bottom of the hopper 100 is in a downwardly arched shape. The material gets into inside hopper 100 from feed inlet 110, can follow curved inner wall and slide to discharge gate 120 under the action of gravity, and the ejection of compact is smooth and easy, can reduce the material wall built-up.

Fig. 3 shows the internal structure of the hopper 100 in the present embodiment, the hopper 100 is U-shaped, the inlet 110 is located at the position of the U-shaped opening, and the outlet 120 is located at the bottom of the U-shaped opening.

The mixing apparatus 10 further includes a mixing mechanism 400 for mixing the materials before they are output from the discharge port 120. As shown in fig. 1 and 5, the stirring structure includes a stirring shaft 410 disposed inside the hopper 100, and a first driving device 430 installed outside the hopper 100, the first driving device 430 being configured to drive the stirring shaft 410 to rotate.

The stirring shaft 410 is provided with stirring blades 420, and the stirring blades 420 include blades made of rigid material (hereinafter referred to as rigid blades) and blades made of elastic material (hereinafter referred to as elastic blades). The elastic material may be various as long as these conditions are satisfied: can stir the material, strike off adnexed material on the inner wall, and have certain elasticity for when the elastic blade interfered with the inner wall of hopper 100 or the protruding position on the inner wall, can utilize elastic deformation smoothly to pass through. In this embodiment, the elastic material is a polyurethane material.

The stirring blades 420 may be all rigid blades, or all elastic blades, or may be partly rigid blades or partly elastic blades.

In order to avoid the rigid blade interfering with the inner wall of the hopper 100 to cause rotation obstacle, the rigid blade is set to always have a gap with the inner wall of the hopper 100, and in order to play a role of removing wall-hanging materials by stirring, the gap between the rigid blade and the inner wall of the hopper 100 is set to be 1-3 mm.

When the viscosity of the material to be treated is high, rigid blades may be used in their entirety. The rigid blade overcomes the surface tension or viscous force of the materials, continuously breaks up the materials and plays a role in stirring. For the materials adhered to the inner wall of the hopper 100, the rigid blades stir the materials on the surface layer, and the deep materials leave the inner wall of the hopper 100 under the pulling of tension or viscous force, so that the problem of material wall hanging is solved, and the material loss is reduced.

When the viscosity of the material is small and the material can be scattered by using the elastic blades, the elastic blades can be adopted completely.

The flexible blades are attached to the inner wall of the hopper 100, the first driving device 430 drives the stirring shaft 410 to rotate so as to drive all the stirring blades 420 to rotate, and the flexible blades are attached to the inner wall of the hopper 100 to operate. As shown in fig. 3, the elastic blade is driven by the stirring shaft 410 to move along the arc-shaped inner wall of the bottom of the hopper 100, so as to drive the material toward the discharge hole 120, and further alleviate the problem of material wall hanging.

Of course, the form of a part of rigid blades and a part of elastic blades may also be adopted, so that the stirring blade 420 and the stirring device 10 can be suitable for the stirring work of materials with different viscosities, that is, the rigid blades are used for scattering the materials, so as to reduce the material tension or viscous force that the elastic blades need to overcome, so that the elastic blades can stir the materials, and meanwhile, the elastic blades are attached to the inner wall of the hopper 100 to scrape off the residual materials.

In this embodiment, the stirring blades 420 are all elastic blades, as shown in fig. 5, two groups of stirring blades 420 are disposed on the stirring shaft 410, each group of blades is in a straight shape, the middle of the straight shape is connected to the stirring shaft 410, and elastic materials are disposed at two ends of the straight shape to form the elastic blades. The projections of the two groups of stirring blades 420 on the radial plane of the stirring shaft 410 are staggered in a crossed manner, and the angles of the two groups of stirring blades 420 in the material are different, so that uniform stirring is facilitated.

Alternatively, the operation mode of the stirring mechanism 400 in the present embodiment may be three, i.e., a preparation mode, a maintenance mode, and a cleaning mode. The aforementioned first driving device 430 is configured as a servo motor capable of adjusting the rotational speed.

While mixing the materials, the stirring mechanism 400 enters a preparation mode. In the preparation mode, the first driving device 430 drives the stirring shaft 410 and the blades thereof to rotate at a high speed so as to rapidly mix the materials.

When the materials are completely mixed but not used, the stirring mechanism 400 enters a maintaining mode, and in the maintaining mode, the first driving device 430 drives the stirring shaft 410 and the stirring blades 420 to rotate at a lower speed, so as to prevent the mixed materials from standing until the raw materials are separated, for example, the mortar is easy to separate solid from liquid when standing for a long time.

Due to the special design of the hopper 100 and the special design of the blades, the materials are not easy to be hung and remained on the wall, but a small amount of materials are still not avoided to be remained at the gap between the upper part and the inner part of the structural component arranged in the hopper 100, so that the materials are required to be stored for the next use after the inner part of the hopper 100 is cleaned. At the time of cleaning, the agitation mechanism 400 enters a cleaning mode. In the cleaning mode, clean water is fed into the hopper 100 from the feeding port 110, and then the first driving device 430 drives the stirring shaft 410 and the blades thereof to rotate at a high speed, even in a forward direction and a reverse direction alternately, so as to stir the clean water to flow at a high speed in the hopper 100 for cleaning. Under the cleaning mode, the inner wall of the hopper 100, the structural components in the hopper 100 and the residual materials in gaps can be effectively cleaned by matching with the elastic blades capable of operating against the wall.

In order to control the material output, the stirring apparatus 10 further includes a screw shaft 500 and a second driving means 310. The screw shaft 500 is used for extruding the material in the hopper 100 out of the discharge port 120 of the hopper 100, and the second driving device 310 is used for driving the screw shaft 500 to rotate.

As shown in fig. 3 and 4, the bottom of the hopper 100 is provided with a concave groove, the end of the concave groove is the discharge port 120 of the hopper 100, the screw shaft 500 is arranged in the concave groove, and the material can enter the concave groove when sliding down along the arc-shaped inner wall of the bottom of the hopper 100. When the screw shaft 500 does not rotate, the screw shaft has a certain material blocking effect to prevent the materials from leaking; when the screw shaft 500 rotates, the material is pushed toward the discharge hole 120. The more the screw shaft 500 rotates, the more the material is output, and the screw shaft 500 plays a role in controlling the output amount of the material.

In order to control the discharging amount more precisely, the second driving means 310 is a servo motor installed on the outer wall of the hopper 100, and an output shaft of the servo motor is connected to the screw shaft 500.

The stirring device 10 provided by the embodiment is installed on a stirring robot, the stirring robot comprises a carrier device 20, the stirring device 10 is installed on the carrier device 20, and the carrier device 20 can carry the stirring device 10 to move and transfer.

As shown in fig. 6, the carrier 20 is provided with a lifting device 30, and the stirring device 10 is mounted on the lifting device 30. The lifting device 30 can move the stirring device 10 up or down, thereby changing the height of the feed inlet 110 or the discharge outlet 120, so as to add the materials to be mixed into the hopper 100, or to output the mixed materials at a suitable height.

The carrier 20 carries the lifting device 30 and the stirring device 10 mounted on the lifting device 30, and a battery or other external power source known in the art is provided on the carrier 20 for supplying power to the lifting device 30 and the stirring device 10.

The stirring device 10 may be operated in one of a preparation mode, a maintenance mode, and a cleaning mode while the carrying device 20 is in transport.

That is to say, stirring robot can transport while stirring the material, shortens the material and is by preparation to the time of using, guarantees the promptness. If the materials are mixed, the stirring device 10 is operated at a low speed in a maintaining mode in the process of transferring to the field, so that the materials are prevented from being separated. The stirring robot can complete the whole process from preparation to transportation to use, reduces transfer equipment, and reduces material wall hanging loss as much as possible.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A stirring device is characterized by comprising a hopper and a stirring mechanism for stirring materials in the hopper, wherein the stirring mechanism comprises a stirring shaft, a first driving device for driving the stirring shaft to rotate and a stirring blade fixed on the stirring shaft;

or at least one stirring blade is made of elastic material and can be driven by the stirring shaft to move along the inner wall of the hopper.

2. The mixing device of claim 1, wherein the outlet of the hopper is disposed at the bottom of the hopper, and the bottom of the hopper is downwardly arched.

3. The stirring device of claim 2, wherein the stirring blade can move along the arc-shaped inner wall of the bottom of the hopper under the driving of the stirring shaft.

4. The mixing device of claim 1, further comprising a discharge port cover plate and a second driving device for driving the discharge port cover plate to move so that the discharge port cover plate opens or closes the discharge port of the hopper.

5. The stirring device of claim 1, further comprising a feed inlet cover plate and a third driving device, wherein the third driving device is used for driving the feed inlet cover plate to move so as to open or close the feed inlet of the hopper.

6. The stirring device of claim 1, further comprising a screw shaft for extruding the material in the hopper from the discharge port of the hopper, and a fourth driving device for driving the screw shaft to rotate.

7. The stirring device according to claim 6, wherein the screw shaft is provided at a bottom of the hopper.

8. The blending apparatus of claim 6, wherein the fourth drive is a servo motor.

9. The mixing device of claim 1, wherein the resilient material is a polyurethane material.

10. A mixing robot comprising a carrier and a mixing apparatus according to any one of claims 1 to 9, wherein the hopper of the mixing apparatus is mounted to the carrier.