CN117125495B - Robot material taking mechanism based on ground cylinder fermented grains and material taking control method - Google Patents
Robot material taking mechanism based on ground cylinder fermented grains and material taking control method Download PDFInfo
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- CN117125495B CN117125495B CN202311376569.3A CN202311376569A CN117125495B CN 117125495 B CN117125495 B CN 117125495B CN 202311376569 A CN202311376569 A CN 202311376569A CN 117125495 B CN117125495 B CN 117125495B
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- scraping
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- 239000000463 material Substances 0.000 title claims abstract description 73
- 230000007246 mechanism Effects 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000007790 scraping Methods 0.000 claims abstract description 71
- 230000008569 process Effects 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 235000015096 spirit Nutrition 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 17
- 238000013124 brewing process Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot material taking mechanism and a material taking control method based on ground cylinder fermented grains, which meet the requirements of taking materials of ground cylinders with different shapes, are more intelligent in material taking process, and cannot damage the material taking mechanism or cause equipment failure; the scraping mechanism is arranged on the digging mechanism, a telescopic rod support of the scraping mechanism is fixed on the digging mechanism, a shell is fixed with the telescopic rod support, a speed reducer is connected with a scraping servo motor and is arranged on the top surface of the shell, an output shaft of the speed reducer is connected with a synchronous wheel, an idler wheel is fixed inside the shell, a synchronous belt clamp is arranged on the synchronous belt clamp, a guide shaft is arranged on the synchronous belt clamp, the guide shaft and the telescopic rod are connected in a guide groove of the telescopic rod support to move so as to realize the telescopic state of the telescopic rod, the outer side end of the telescopic rod is fixed with a scraper connecting block, a scraper mounting plate is connected with the scraper connecting block through a hinge pin, and a scraper is pressed and fixed on the scraper mounting plate by a pressing plate.
Description
Technical Field
The invention relates to a robot material taking mechanism based on ground cylinder fermented grains and a control method, and belongs to the technical field of intelligent brewing industry.
Background
The ground jar brewing is used as a traditional brewing process, the brewing mode is different from mud pit and stone pit with larger volume, the ground jar brewing has the characteristics of small volume and fast heat dissipation, and unique advantages are formed in a plurality of brewing processes. Because the brewing ground cylinder is of a special structure with a small opening and a small bottom, the common bucket is difficult to realize the requirements of more digging materials and less residual materials.
The application number is 2023103670451, the application name is a material taking bucket suitable for fermented materials in a ground cylinder, and the material taking bucket is a material taking structure adopted by the applicant at present, but in the using process, because the ground cylinders are all manually fired and are not of the same size, the ground cylinder openings cannot be guaranteed to be round in the firing process, few cylinder openings are in irregular oval shapes, the material scraping is not clean, and the material taking mechanism is easy to damage or equipment failure is easy to cause.
Disclosure of Invention
The invention overcomes the defects of the prior art, and provides the ground cylinder fermented grain material taking mechanism and the material taking control method based on the ground cylinder fermented grain material, which meet the requirements of taking materials from ground cylinders with different shapes, are more intelligent in the material taking process, and cannot damage the material taking mechanism or cause equipment faults.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a robot feeding mechanism based on ground jar unstrained spirits material, includes digs material mechanism and scrapes material mechanism, scrape material mechanism and set up on dig material mechanism, scrape material mechanism including scraping material servo motor, speed reducer, casing, telescopic link support, telescopic link, synchronizing wheel, idler, hold-in range card, guiding axle, scraper blade connecting block, scraper blade mounting panel, hinge pin, scraper blade, clamp plate and apron, the telescopic link support is fixed in dig material mechanism, the casing is fixed with the telescopic link support, the speed reducer is connected with scraping material servo motor and is installed in the top surface of casing, the output shaft and the synchronizing wheel of speed reducer are connected, the idler is fixed in inside the casing, install the hold-in range card on the hold-in range when scraping material servo motor rotates, drive synchronizing wheel rotation drives the hold-in range motion, thereby the hold-in range card carries out reciprocating rectilinear motion along with the hold-in range on the hold-in range card installs the guiding axle, thereby the telescopic link outside end and scraper blade are fixed with the scraper blade, the scraper blade passes through the scraper blade connecting block and is fixed in a certain scope, the scraper blade is realized sealing connection board.
Further, the excavating mechanism comprises a robot tail end connecting plate, an excavating bucket electric cylinder, a herringbone connecting rod, an excavating bucket main shaft, an excavating bucket connecting shaft and an excavating bucket, wherein the cylinder body of the excavating bucket electric cylinder is fixed at the lower side of the robot tail end connecting plate, the upper side of the robot tail end connecting plate is connected with the execution end of the robot, the multi-degree-of-freedom motion comprising rotation and movement is realized, the execution end of the excavating bucket electric cylinder is connected with the upper end of at least one herringbone connecting rod through a lifting cross rod, the lower ends of the herringbone connecting rods are connected with the excavating bucket connecting shaft, the two ends of the excavating bucket main shaft are connected with the lifting sections of two excavating buckets which are symmetrically arranged, the two excavating buckets are driven to open and close by the excavating bucket electric cylinder, a supporting rod is vertically arranged on the tail end connecting plate, and the lower end of the supporting rod is sleeved on the excavating bucket main shaft.
The invention also relates to a material taking control method of the robot material taking mechanism based on the ground cylinder fermented grains, wherein the servo motor of the bucket electric cylinder is controlled in a moment mode, meanwhile, the speed value of the moment mode is changed through the position of the servo motor encoder, the starting process is the maximum moment and maximum speed (ensuring that the output force is larger and the speed is higher) of the servo motor, and when the bucket is closed to a certain position, the moment and the speed of the servo motor are small, so that the bucket is prevented from being deformed due to collision caused by larger speed when the bucket is closed.
Further, the scraping servo motor is controlled in a moment mode, meanwhile, the moment value of the moment mode is changed through the position of the scraping servo motor encoder, the starting process is the maximum moment and the maximum speed of the scraping servo motor (the output force is guaranteed to be larger and the speed is guaranteed to be higher), when the telescopic rod and the scraping plate stretch to a certain position, the telescopic rod is small moment of the scraping servo motor, and the speed is unchanged, so that the elongation can be changed along with the change of the ground cylinder wall in time when the fermented grains on the ground cylinder wall are scraped.
Further, in the process of excavating and taking the fermented grains by the excavating mechanism, when the telescopic rod stretches to a certain position, the center of the excavating mechanism is basically coincided with the center of the ground cylinder, the stretching amount of the telescopic rod in the ground cylinder is different, the stretching amount recorded based on a plurality of fixed-height positions of the ground cylinder when the scraping plates contact the ground cylinder wall is used as a scraping plate in-place signal, when the scraping plates do not contact the ground cylinder wall, the scraping plates need to be cut into the fermented grains by a larger moment, and when the scraping plates contact the ground cylinder wall, smaller moment is needed, so that the damage to the scraping mechanism in the process of scraping the fermented grains on the cylinder wall can be avoided, the moment of six axes of the robot when the robot scrapes the fermented grains on the cylinder wall can be reduced, and the robot shaft alarm is avoided.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the related servo motor is controlled in a moment mode, different moments and speeds are adopted according to the actual state, so that equipment running in the material taking process is protected, the material taking process is more intelligent, a material taking mechanism is not damaged or equipment faults are not caused, moreover, the scraping plate extends out according to the actual use state, and the scraping plate can be completely attached to the inner wall of the ground cylinder, so that the device is suitable for the ground cylinders in different shapes.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the scraping mechanism in the invention when the scraping mechanism extends.
Fig. 3 is a schematic structural view of the scraping mechanism when retracted.
FIG. 4 is a schematic view of the structure of the interior of the bucket of the present invention.
Fig. 5 is a schematic perspective view of a scraping mechanism in the present invention.
Fig. 6 is a schematic front view of a scraping mechanism in the present invention.
Fig. 7 is a schematic top view of a scraping mechanism according to the present invention.
Fig. 8 is a schematic side view of a scraping mechanism in the present invention.
In the figure: 1. a robot end connecting plate; 2. a bucket electric cylinder; 3. a herringbone connecting rod; 4. a bucket main shaft; 5. a bucket connecting shaft; 6. a bucket; 7. lifting the cross bar; 8. a brace rod; 9. a scraping mechanism; 10. a scraping servo motor; 11. a speed reducer; 12. a housing; 13. a telescopic rod bracket; 14. a telescopic rod; 15. a synchronizing wheel; 16. an idler; 17. a synchronous belt; 18. a synchronous belt clip; 19. a guide shaft; 20. a scraper connecting block; 21. a scraper mounting plate; 22. a hinge pin; 23. a scraper; 24. a pressing plate; 25. and a cover plate.
Detailed Description
The invention is further illustrated below in conjunction with specific examples.
Examples
As shown in fig. 1 to 8, the robot material taking mechanism based on ground cylinder fermented grains according to the invention comprises a material digging mechanism and a material scraping mechanism 9, wherein the material scraping mechanism 9 is arranged on the material digging mechanism, the robot material taking mechanism is characterized in that the material scraping mechanism 9 comprises a material scraping servo motor 10, a speed reducer 11, a shell 12, a telescopic rod bracket 13, a telescopic rod 14, a synchronous wheel 15, an idler wheel 16, a synchronous belt 17, a synchronous belt clamp 18, a guide shaft 19, a scraper connecting block 20, a scraper mounting plate 21, a hinge pin 22, a scraper 23, a pressing plate 24 and a cover plate 25, the telescopic rod bracket 13 is fixed on a supporting rod 8 of the material digging mechanism, the shell 12 is fixed with the telescopic rod bracket 13, the speed reducer 11 and the material scraping servo motor 10 are connected and arranged on the top surface of the shell 12, an output shaft of the speed reducer 11 is connected with the synchronous wheel 15, the idler wheel 16 is fixed inside the shell 12, the synchronous belt clamp 18 is arranged on the synchronous belt 17,
when the scraping servo motor 10 rotates, the synchronous wheel 15 is driven to rotate so as to drive the synchronous belt 17 to move, the synchronous belt clamp 18 moves linearly along with the reciprocating motion of the synchronous belt 17, the guide shaft 19 is arranged on the synchronous belt clamp 18, the guide shaft 19 and the telescopic rod 14 are connected in a guide groove of the telescopic rod bracket 13 so as to move to realize the telescopic state of the telescopic rod 14, the outer side end of the telescopic rod 14 is fixed with the scraper connecting block 20, the scraper mounting plate 21 is connected with the scraper connecting block 20 through the hinge pin 22, the scraper can swing within a certain range, the scraper 23 is pressed and fixed on the scraper mounting plate 21 by the pressing plate 24, and the cover plate 25 is arranged on the top surface of the shell 12 so as to play a sealing role.
The utility model provides a bucket mechanism includes terminal connecting plate 1 of robot, bucket electric jar 2, chevron shape connecting rod 3, bucket main shaft 4, bucket connecting axle 5 and bucket 6, the cylinder body of bucket electric jar 2 is fixed in the downside of terminal connecting plate 1 of robot, the upside of terminal connecting plate 1 of robot is connected with the robot execution end, realizes including rotating and moving multi freedom action including, the execution end of bucket electric jar 2 is connected with the upper end of at least one chevron shape connecting rod 3 through lifting cross rod 7, the lower extreme of chevron shape connecting rod 3 all is connected with bucket connecting axle 5, bucket main shaft 4's both ends all are connected with the rotation center of bucket 6 that two symmetries set up, two bucket connecting axle 5's both ends are connected with the lifting section of two buckets 6 respectively for two buckets 6 realize opening and shutting through bucket electric jar 2 drive, vertical being provided with vaulting pole 8 on the terminal connecting plate 1 of robot, the lower extreme setting of vaulting pole 8 is on bucket main shaft 4, bucket 6 is the multiaspect body structure suit.
According to the material taking control method of the robot material taking mechanism based on the ground cylinder fermented grains, the servo motor of the bucket electric cylinder 2 is controlled in a moment mode, meanwhile, the speed value of the moment mode is changed through the position of the servo motor encoder, the starting process is the maximum moment and the maximum speed (the output force is ensured to be larger and the speed is higher) of the servo motor, when the bucket 6 is closed to a certain position, the working condition is that the working condition is the small moment and the small speed of the servo motor, and the situation that the bucket 6 is deformed due to collision caused by larger speed when the bucket 6 is closed is avoided.
The scraping servo motor 10 is controlled by adopting a moment mode, meanwhile, the moment value of the moment mode is changed through the position of a scraping servo motor encoder, the starting process is the maximum moment and the maximum speed (ensuring that the output force is larger and the speed is faster) of the scraping servo motor 10, when the telescopic rod 14 and the scraping plate 23 stretch to a certain position, the moment of the scraping servo motor is small, and the speed is unchanged, so that the elongation can be changed along with the change of the ground cylinder wall in time when the fermented grains on the ground cylinder wall are scraped.
In the process of excavating and taking fermented grains by the excavating mechanism, when the telescopic rod 14 stretches to a certain position, the center of the excavating mechanism is basically coincided with the center of the ground cylinder, the stretching amount of the telescopic rod 14 in the ground cylinder is different, the stretching amount recorded based on a plurality of fixed-height positions of the ground cylinder when the scraping plate 23 contacts the ground cylinder wall is used as a scraping plate 23 in-place signal, when the scraping plate 23 does not contact the ground cylinder wall, a large moment is needed to enable the scraping plate to cut into the fermented grains, and a small moment is needed when the scraping plate 23 contacts the ground cylinder wall, so that the damage to the scraping mechanism 9 in the process of scraping the fermented grains on the cylinder wall can be avoided, the moment of a six-axis robot when the robot scrapes the fermented grains on the cylinder wall can be reduced, and the robot axis alarm is avoided.
The scraping method of the scraping mechanism 9 in the invention is as follows: firstly, visually identifying the center of a ground cylinder and the height of unstrained materials in the cylinder, determining the position of a robot driving a bucket to insert into the ground cylinder and the depth of the inserted materials, stopping digging when the bucket enters the center of the ground cylinder to dig materials, visually beating a cavity with a certain depth on the unstrained materials in the ground cylinder, visually determining the height of the materials between the cavity and the cylinder wall, scraping the materials by a scraping mechanism, preventing the scraping mechanism from damaging too much materials in the lower cylinder, and continuously digging and scraping the materials by the bucket when the cavity with a certain depth becomes shallow to a certain range along with scraping until the materials in the ground cylinder are completely taken out.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (3)
1. The utility model provides a robot feeding mechanism based on ground jar unstrained spirits material, includes digs material mechanism and scrapes material mechanism (9), scrape material mechanism (9) and set up on dig material mechanism, a serial communication port, scrape material mechanism (9) including scrape material servo motor (10), speed reducer (11), casing (12), telescopic link support (13), telescopic link (14), synchronizing wheel (15), idler (16), hold-in range (17), hold-in range card (18), guiding axle (19), scraper blade connecting block (20), scraper blade mounting panel (21), hinge pin (22), scraper blade (23), clamp plate (24) and apron (25), telescopic link support (13) are fixed in dig material mechanism, casing (12) are fixed with telescopic link support (13), the top surface of casing (12) is installed in connection with scraping material servo motor (10), the output shaft and the synchronizing wheel (15) of speed reducer (11) are connected, idler (16) are fixed in casing (12) inside, install on hold-in range (17) hold-in range card (18) on hold-in range card (18), the guide shaft (19) and the telescopic rod (14) are connected in a guide groove of the telescopic rod bracket (13) to move so as to realize the telescopic state of the telescopic rod (14), the outer side end of the telescopic rod (14) is fixed with the scraper connecting block (20), the scraper mounting plate (21) is connected with the scraper connecting block (20) through a hinge pin (22) to swing in a set range, the scraper (23) is pressed and fixed on the scraper mounting plate (21) by the pressing plate (24), and the cover plate (25) is mounted on the top surface of the shell (12) to play a sealing role;
the scraping servo motor (10) is controlled by adopting a moment mode, meanwhile, the moment value of the moment mode is changed through the position of a scraping servo motor encoder, the starting process is set to be the maximum moment and the maximum speed of the scraping servo motor (10), when the telescopic rod (14) and the scraping plate (23) are stretched to the condition that the scraping plate (23) contacts the ground cylinder wall, the scraping servo motor (10) automatically reduces the moment to keep the speed unchanged, and the speed unchanged is used for ensuring that the elongation can be changed along with the change of the ground cylinder wall in time when the fermented grains on the ground cylinder wall are scraped;
in the process of digging and taking fermented grains, when the telescopic rod (14) stretches to the condition that the scraping plate (23) contacts the ground cylinder wall, the center of the digging mechanism coincides with the center of the ground cylinder, the stretching amounts of the telescopic rod (14) in the ground cylinder are different, the stretching amounts recorded based on the positions of the ground cylinder, which are set in the set positions, of the scraping plate (23) are used as signals for enabling the scraping plate (23) to be in place, when the scraping plate (23) does not contact the ground cylinder wall, a large moment is needed to enable the scraping plate to cut into fermented grains, and when the scraping plate (23) does not contact the ground cylinder wall, the moment is reduced, so that damage to the scraping mechanism (9) in the process of scraping the fermented grains on the cylinder wall can be avoided, and meanwhile, the moment of a robot six-axis robot for scraping the fermented grains on the cylinder wall can be reduced.
2. The robot reclaimer mechanism based on ground jar unstrained spirits material according to claim 1, characterized in that, dig material mechanism includes terminal connecting plate (1) of robot, bucket electric jar (2), chevron shaped connecting rod (3), bucket main shaft (4), bucket connecting axle (5) and bucket (6), the cylinder body of bucket electric jar (2) is fixed in the downside of terminal connecting plate (1) of robot, the upside of terminal connecting plate (1) of robot is connected with the actuating end of robot, realizes including rotating and removing the multi freedom degree action including, the actuating end of bucket electric jar (2) is connected with the upper end of at least one chevron shaped connecting rod (3) through carrying pull rod (7), the lower extreme of chevron shaped connecting rod (3) all is connected with bucket connecting axle (5), the both ends of bucket main shaft (4) all are connected with the rotation center of two bucket (6) that set up symmetrically, two the both ends of bucket connecting axle (5) are connected with two bucket (6) respectively, make bucket electric pole (8) are equipped with support rod (8) for holding up the top-down, support rod (8) is equipped with in the top-up end of the vertical connecting plate (8).
3. The method for controlling the material taking of the robot material taking mechanism based on the ground cylinder fermented grains according to claim 2, wherein the bucket electric cylinder (2) is driven by a servo motor, the servo motor is controlled by a moment mode, meanwhile, the speed value of the moment mode is changed through the position of a servo motor encoder, the starting process is set to be the maximum moment and the maximum speed of the servo motor, and when the bucket (6) is closed in place, the moment and the speed are automatically reduced by the servo motor, so that the bucket (6) is prevented from being deformed due to collision caused by high speed when being closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311376569.3A CN117125495B (en) | 2023-10-24 | 2023-10-24 | Robot material taking mechanism based on ground cylinder fermented grains and material taking control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311376569.3A CN117125495B (en) | 2023-10-24 | 2023-10-24 | Robot material taking mechanism based on ground cylinder fermented grains and material taking control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117125495A CN117125495A (en) | 2023-11-28 |
| CN117125495B true CN117125495B (en) | 2024-01-23 |
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| CN202311376569.3A Active CN117125495B (en) | 2023-10-24 | 2023-10-24 | Robot material taking mechanism based on ground cylinder fermented grains and material taking control method |
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