Robot for adding granular, bulk and liquid materials

Abstract

The present invention discloses a robot suitable for adding granular, block and liquid materials, comprising at least two parallel material taking units, a linkage beam and a first lifting device; the material taking unit comprises a hopper with a first through hole arranged at the bottom, a sleeve vertically slidably installed in the first through hole, a push block slidably nested in the sleeve, a material channel arranged just above the first through hole and inclined from top to bottom, a pushing device, a latch connected to the pushing device and a second lifting device for driving the push block to slide; the second lifting device drives the push block to slide in the sleeve, so that the push block and the inner wall of the sleeve are combined to form a accommodating cavity C with an opening upward; the pushing device of each material taking unit is fixed to the linkage beam.

Description

Technical Field

[0001] The invention relates to a robot suitable for adding granular, block and liquid materials. Background Art

[0002] In the prior art, spiral feeding is often used for the feeding technology of granular or block materials. This feeding method is often suitable for occasions such as feed that require a large amount of material and do not have high requirements on material quality.

[0003] For quantitative grabbing of auxiliary materials (such as beef brisket, meat dishes, etc.) for catering, the total amount of auxiliary materials to be grabbed is generally not large, and the auxiliary materials cannot be guaranteed to fill the pitch gap of the spiral. The spiral material taking is often unstable, and the spiral movement will cause excessive stirring, which may crush the auxiliary materials and affect the appearance or taste. In addition, in the prior art, there has never been a time-sharing or simultaneous extraction system or equipment for multiple materials, which seriously restricts the development of fields that require material taking and adding technology, such as automatic cooking and catering automatic vending. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a robot suitable for adding granular, block and liquid materials.

[0005] The robot for adding granular, block and liquid materials provided by the present invention comprises at least two parallel material taking units, a linkage beam and a first lifting device; the material taking unit comprises a hopper with a first through hole at the bottom, a sleeve vertically slidably installed in the first through hole, a push block slidably embedded in the sleeve, a material channel arranged just above the first through hole and inclined from top to bottom, a pushing device, a latch connected to the pushing device and a second lifting device for driving the push block to slide; the second lifting device drives the push block to slide in the sleeve, so that the push block and the inner wall of the sleeve are combined to form a receiving cavity C with an opening upward; the pushing device of each material taking unit is fixed to the linkage beam;

[0006] The pushing device of the material taking unit that needs to take material pushes the pin to support the sleeve, and the first lifting device drives the linkage beam to rise, thereby driving the sleeve to rise. After the accommodating chamber C rises from the bottom of the hopper to the height of the material channel, the second lifting device drives the push block to rise, so that the material in the accommodating chamber C falls into the material channel.

[0007] As for the working principle of the material taking unit: the sleeve slides along the first through hole. Since the first through hole is arranged at the bottom of the hopper, the sleeve can drive the accommodating chamber C to sink under the material in the hopper. Then, when loading is needed, the material falls into the accommodating chamber C through the upward opening under the action of gravity. When discharging, the first lifting device drives the sleeve to slide upward along the first through hole. In this process, the material above the opening that blocks the sliding of the sleeve can further fall into the accommodating chamber C, and the sleeve continues to rise. As the sleeve is extended, the accommodating chamber C arranged on the sleeve leaves the hopper with the loaded material, and extends the material in the hopper to complete the material taking process.

[0008] The material can be in granular, block or liquid form, more specifically, it can be meat and vegetables, beef brisket, soup, etc. As described above, the amount of material taken is determined by the volume of the containing chamber C, which can achieve the purpose of quantitative material taking, and the material discharge is relatively stable (as long as there is material in the hopper, the material can easily fill the containing chamber C), and the material will not be over-stirred, thereby affecting the material quality.

[0009] The second lifting device drives the push block to slide in the sleeve, and can adjust the volume of the accommodating chamber C formed by the end face of the push block and the inner wall of the sleeve to meet the needs of taking materials of different volumes. In addition, after the end face of the push block and the inner wall of the sleeve are combined to form an accommodating chamber C of a specific volume, the second lifting device is stationary relative to the sleeve, and the second lifting device can rise with the sleeve. When the accommodating chamber C with the material extends out of the material plane in the hopper and moves to the appropriate height of the material channel, the second lifting device drives the push block to move, so that the volume of the accommodating chamber C is reduced, and the material is squeezed out of the accommodating chamber C at the same time. The squeezed material falls into the inclined material channel and slides into the bowl or other container at the bottom of the material channel. Then, when taking materials for the next time, the second lifting device drives the push block to slide in the sleeve in the opposite direction to re-form the accommodating chamber C, and the first lifting device drives the sleeve to retract into the bottom of the material channel to reload the material.

[0010] The present invention has more than two material taking units arranged in parallel. Different materials can be placed in the hopper of each material taking unit. It is also possible to take out any material taking unit or take out materials in multiple material taking units at the same time as needed. The principle is as follows:

[0011] The first lifting device drives the linkage beam to lift and lower, and is used to drive the sleeve on any material-taking unit to lift and lower. Since each material-taking unit is provided with a pushing device and a latch (installed on the linkage beam), when the first lifting device descends to the bottom of the material-taking unit, the driving device of any material-taking unit can drive the latch to extend and hold the outer wall of the sleeve of the unit. When the first lifting device rises, the held sleeve follows the first lifting device to rise under the action of friction or other baffles, thereby completing the material-taking action. Here, a single power is adopted (the first lifting device drives the linkage beam), and a pushing device and a latch that can select actions are provided, so as to finally realize the material-taking function of any material-taking unit. Its advantages in cost, space occupation and simplified design are self-evident.

[0012] In some embodiments, the material picking unit also includes a lifting seat fixed to the sleeve, and the lifting seat is provided with a socket corresponding to the pin; the pushing device of the material picking unit that needs to pick up materials pushes the pin into the socket, and the first lifting device drives the linkage beam to rise, thereby driving the sleeve to rise, and after the accommodating chamber C rises from the bottom of the hopper to the height of the material channel, the second lifting device drives the pushing block to rise, so that the material in the accommodating chamber C falls into the material channel.

[0013] The adoption of the lifting seat can facilitate the latch to push the sleeve up and down, and avoid the latch squeezing the outer wall of the sleeve and causing the sleeve to deform.

[0014] In some embodiments, a rotating shaft for driving the material channel to rotate is also included, and the rotating shaft spans the parallel material taking units, and the material channel of each material taking unit is fixed to the rotating shaft. The rotating shaft is used to flip the inclined material channel. When the material taking unit is idle, the rotating shaft can drive the material channel to rotate, so that the slideway is set horizontally, or tilted in the opposite direction to the hopper at a certain angle to prevent the material adhering to the slideway from dripping freely. Since the rotating shaft spans the parallel material taking units, it can use a single power to drive a rotating shaft, saving costs and optimizing the structure.

[0015] In some embodiments, a telescopic protective cover is further included, one end of which is mounted on the edge of the first through hole at the back of the hopper, and the telescopic protective cover is nested outside the sleeve, and the other end of the telescopic protective cover is fixed to the lifting seat.

[0016] The back of the hopper is understood as the back of the bottom of the hopper (it is separated from the inner surface of the bottom of the hopper by the thickness of the hopper). Since the sleeve will extend or shorten through the first through hole, when the sleeve moves with the accommodating chamber C and sinks into the material in the hopper, the other end of the sleeve and the accommodating chamber C will extend out of the hopper. When the sleeve moves with the accommodating chamber C and extends out of the material plane of the hopper, the other end of the sleeve and the accommodating chamber C will move in the direction of entering the hopper, that is, the outer wall of the sleeve that moves out of the hopper through the first through hole is in contact with the material in the hopper when it is in the hopper, and when it extends out, it contacts the air outside the hopper. In this way, as the sleeve rises and falls, the outer arm of the sleeve may be contaminated with dust and other debris and brought into the material. Therefore, a protective cover is provided here, one end of which is fixed near the first through hole of the outer arm of the hopper, and the other end can move telescopically with the lifting seat. It can prevent the sleeve from bringing pollutants in the air into the material in the hopper.

[0017] In some embodiments, the material channel includes a slideway and a retaining ring connected to the slideway, a notch is provided on the side wall of the retaining ring facing the slideway, and a second through hole for the sleeve to pass through is provided in the vertical direction of the retaining ring; the upper end surface of the push block is an inclined surface consistent with the inclined direction of the material channel; the first lifting device drives the linkage beam to rise, thereby driving the sleeve to rise, and after the accommodating chamber C rises from the bottom of the hopper to the height of the material channel and enters the second through hole, the second lifting device drives the push block to rise, so that the material in the accommodating chamber C falls into the material channel. The sleeve extends into the second through hole with the accommodating chamber C, and the second lifting device drives the push block to rise, and the side wall of the retaining ring can block the material, preventing the material from leaving the side wall of the sleeve when rising and falling back into the hopper.

[0018] In some embodiments, the second driving device is a cylinder, the cylinder body of the cylinder is fixed to the cross plate, and the telescopic rod of the cylinder is connected to the bottom of the push block; the cross plate is fixed to the inner wall of the sleeve.

[0019] The cylinder can move with the sleeve, and when it reaches a specific position, its telescopic rod can push the push block to send the material in the accommodating chamber C out, and retract the telescopic rod to form the accommodating chamber C.

[0020] In some embodiments, a drain port is also provided at the bottom of the hopper of each material taking unit, and the drain port is connected to a water pipe to facilitate cleaning and drainage of the hopper.

[0021] In some embodiments, the side wall of the hopper is an inclined surface, and the bottom of the side wall of the hopper is adjacent to the first through hole. The inclined side wall can guide the material in the hopper to fall near the first through hole in real time, so as to facilitate material removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 , Figure 2It is a three-dimensional schematic diagram of a robot suitable for adding granular, block and liquid materials according to one embodiment of the present invention;

[0023] Figure 3 It is a schematic plan view of a robot suitable for adding granular, block and liquid materials according to another embodiment of the present invention;

[0024] Figure 4 for Figure 3 Schematic diagram of the cross section at point A;

[0025] Figure 5 It is a three-dimensional schematic diagram of a material taking unit according to an embodiment of the present invention;

[0026] Figure 6 for Figure 5 Schematic diagram of the disassembly of the reclaiming unit;

[0027] Figure 7 to Figure 9 The figure is a schematic cross-sectional view of the positional relationship and the sectional view of the sleeve, the push block and the accommodating cavity according to one embodiment of the present invention;

[0028] Figure 10 to Figure 14 It is a schematic diagram of the working principle of the material taking unit of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0031] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, which can be said to be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances. The technical solution of the invention is further explained below in conjunction with the drawings and embodiments.

[0032] refer to Figures 1 to 14The present invention provides a robot suitable for adding granular, block or liquid materials, which includes at least two parallel material taking units 13, a linkage beam 11 and a first lifting device 15 for driving the linkage beam 11 to rise and fall; the material taking unit 13 includes a hopper 10 with a first through hole 101 at the bottom, a sleeve 30 vertically slidably installed in the first through hole 101, a push block 20 slidably nested in the sleeve 30, a material channel 60 arranged above the first through hole 101 and inclined from top to bottom, a pushing device 12 (specifically, a cylinder can be used), a latch 121 connected to the pushing device 12 and a second lifting device for driving the push block 20 to slide; the second lifting device drives the push block 20 to slide in the sleeve 30, so that the push block 20 and the inner wall of the sleeve 30 are surrounded by an upward-opening material channel. The accommodating chamber C is open at the upper end of the sleeve 30, and the push block 20 sinks into the upper end of the sleeve 30, thereby forming an accommodating chamber C with the top of the push block 20 as the bottom and the inner wall of the sleeve 30 as the side wall, which is open upward; the pushing device 12 of each material-retrieving unit 13 is fixed to the side wall of the linkage beam 11; the pushing device 12 of the material-retrieving unit 13 that needs to retrieve materials pushes the latch 121 to support the sleeve 30 (the latch 121 extends from the side and moves in a direction perpendicular to the axis of the sleeve 30), and the first lifting device 15 drives the linkage beam 11 to rise, thereby driving the sleeve 30 to rise, and after the accommodating chamber C rises from the bottom of the hopper 10 to the height of the material channel 60 (it can be higher than the material channel 60, or it can be flush, and finally it is based on the convenience of material dropping), the second lifting device drives the push block 20 to rise, so that the material in the accommodating chamber C is pushed out and falls into the material channel 60. For the first lifting device 15, a lead screw can be used.

[0033] As mentioned above, the material picking unit 13 may also include a lifting seat 50 fixed to the sleeve 30, and the lifting seat 50 is provided with a socket 502 corresponding to the pin 121; after the pushing device 12 of the material picking unit 13 that needs to pick up materials pushes the pin 121 into the socket 502, the first lifting device 15 drives the linkage beam 11 to rise, thereby driving the sleeve 30 to rise, and after the accommodating chamber C rises from the bottom of the hopper 10 to the height of the material channel 60, the second lifting device drives the push block 20 to rise, so that the material in the accommodating chamber C falls into the material channel 60.

[0034] When the sleeve 30 of each material taking unit 13 is in the initial position (at this time, the accommodating chamber C is located at the bottom of the hopper 10 waiting for material taking), the lifting seats 50 of each material taking unit are at the same level, that is, the insertion holes 502 of each material taking unit 13 are at the same horizontal plane, waiting for the linkage beam 11 to drive the pushing devices 12 of each material taking unit 13 to descend to the same horizontal plane as the insertion holes 502, and the pushing devices 12 corresponding to the material taking units 13 that need to take materials drive the corresponding latch 121 to extend outward and insert into the insertion holes 502 of the material taking units 13 that need to take materials. The linkage beam 11 rises and can drive the sleeve 30 of the material taking units 13 that need to take materials to rise; here, multiple material taking units 13 can also be made to take materials at the same time, and the pushing devices 12 corresponding to the material taking units that require material taking drive the corresponding latch 121 to extend outward and insert into the insertion holes 502 on each lifting seat 50, and the corresponding sleeve 30 can rise synchronously with the linkage beam 11 to take materials.

[0035] In this way, different materials can be placed in each retrieving unit 13. When retrieving materials, materials on a single retrieving unit 13 can be retrieved, or materials in multiple retrieving units 13 can be retrieved at the same time, that is, materials can be retrieved selectively.

[0036] For the design of the material channel 60, a through hole for the sleeve to enter can be set at the bottom of the material channel 60. After the sleeve 30 enters the through hole, the push block 20 pushes the material in the accommodating chamber C out, and the material falls on the edge of the through hole and slides down under the guidance of the inclined hopper. The following implementation method can also be adopted:

[0037] The material channel 60 includes a slide 602 and a retaining ring 601 connected to the slide 602. The retaining ring 601 has a notch 611 on its side wall facing the slide 602, and a second through hole for the sleeve 30 to pass through is provided in the vertical direction of the retaining ring 601. The upper end face of the push block 20 is an inclined surface consistent with the inclination direction of the material channel 60. The first lifting device 15 drives the linkage beam 11 to rise, thereby driving the sleeve 30 to rise. After the accommodating chamber C rises from the bottom of the hopper 10 to the height of the retaining ring 601 of the material channel 60 and enters the second through hole, the second lifting device drives the push block 20 to rise, so that the material in the accommodating chamber C is pushed out and falls into the material channel 60.

[0038] More preferably, it further comprises a rotating shaft 14 for driving the material channel 60 to rotate, the rotating shaft 14 spanning the parallel material taking units 13, and the material channel 60 of each material taking unit 13 is fixed to the rotating shaft 14. Fig.14When the material taking unit 13 is idle, the rotating shaft 14 can simultaneously drive the material channels 60 of each material taking unit 13 to rotate, so that the slide 602 is in a horizontal state, or tilted at a certain angle in the opposite direction to the hopper 10 to prevent the material adhering to the slide 602 from dripping randomly, especially for the application scenario of taking beef brisket or vegetable meat, if there is no bowl at the lowest end of the slide 602, the juice remaining on the slide 602 will flow down with the inclined slide 602 and accumulate on the table surface, dirtying or corroding the table surface.

[0039] More preferably, a drain port 104 is further provided at the bottom of the hopper 10 of each material taking unit 13 , and the drain port 104 is connected to a water pipe 103 , on which a valve 102 for controlling the opening and closing of the water pipe 130 is provided.

[0040] More preferably, the side wall of the hopper 10 is an inclined surface, and the bottom of the side wall of the hopper 10 is adjacent to the edge of the first through hole 101 .

[0041] The technical principle of the present invention is further described below with reference to the accompanying drawings:

[0042] For the working principle of the material taking monomer: Figures 5 to 14 The sleeve 30 slides along the first through hole 101. Since the first through hole 101 is arranged at the bottom of the hopper 10, the sleeve 30 can drive the accommodating chamber C (the accommodating chamber is arranged at the top of the sleeve) to sink under the material in the hopper 10. Figure 7 and Fig.10 At this time, the material can fall into the accommodating chamber C through the upward opening under the action of gravity. When discharging the material, refer to Fig.11 and Fig.12 The first lifting device drives the sleeve 30 to slide upward along the first through hole 101. The arrow M in the figure indicates the sliding direction of the sleeve 30. During this process, the material above the opening of the accommodating chamber C that blocks the sliding of the sleeve 30 can be further "shoveled" into the accommodating chamber C. The sleeve 30 continues to rise, and the accommodating chamber C is filled with the material. As the sleeve 30 extends, the accommodating chamber C provided in the sleeve 30 leaves the hopper 10 with the filled material, and extends the material in the hopper 10, completing the material taking process.

[0043] The second lifting device drives the push block 20 to slide in the sleeve 30, and the volume of the accommodating chamber C formed by the end surface of the push block 20 and the inner wall of the sleeve 30 can be adjusted to meet the needs of taking materials of different volumes. In addition, after the end surface of the push block 20 and the inner wall of the sleeve 30 are combined to form the accommodating chamber C of a specific volume, refer to Fig.11 and Fig.12, the second lifting device is stationary relative to the sleeve 30 (to keep the volume of the formed accommodating chamber C constant), and the second lifting device can rise with the sleeve; following the above-mentioned material taking process, when the accommodating chamber C with the material extends out of the material plane in the hopper 10 and moves to an appropriate height of the material channel 60, refer to Figure 8 , Fig. 9 as well as Fig.13 , the second lifting device drives the push block 20 to move, as shown in the N direction in the figure, so that the volume of the accommodating chamber C is reduced, and the material is squeezed out of the accommodating chamber C at the same time. The squeezed material falls into the inclined material channel 60 and slides into the bowl or other container (not shown in the figure) at the bottom of the material channel 60, completing the material dropping. Then, when taking the material next time, the second lifting device drives the push block 20 in the reverse direction to retract it into the sleeve 30 to re-form the accommodating chamber C, and the first lifting device drives the sleeve 30 to retract into the bottom of the hopper 10 to reload the material.

[0044] For the installation of the second drive device, refer to Figure 7 , it can be that the second driving device is a cylinder 80, the cylinder body 802 of the cylinder 80 is fixed to the horizontal plate 202, and the telescopic rod 801 of the cylinder 80 is connected to the bottom of the push block 20; the horizontal plate 202 is fixed to the inner wall of the sleeve 30. The cylinder 80 (the air pipe adopts a hose) can move with the sleeve 30, and when the first lifting device drives the sleeve 30 (the cylinder 80 moves with it) to rise to a specific position, the telescopic rod 801 of the cylinder 80 can push the push block 20 to send the material of the accommodating chamber C out, refer to Figure 8 and Fig. 9 and Fig.13 , the direction of arrow N in the figure is the moving direction of the push block 20. After the material is delivered, the telescopic rod 801 is retracted to re-form the accommodating chamber C for the next material extraction. A sealing ring 201 can also be installed on the side wall of the push block 20 to prevent the material in the accommodating chamber C from penetrating into the sleeve 30 through the gap between the push block 20 and the sleeve 30.

[0045] The material can be in granular, block or liquid form, more specifically, it can be meat and vegetables, beef brisket, soup, etc. As described above, the amount of material taken is determined by the volume of the containing chamber C, which can achieve the purpose of quantitative material taking, and the material discharge is relatively stable (as long as there is material in the hopper, the material can easily fill the containing chamber C), and the material will not be over-stirred to affect the material quality.

[0046] refer to Figures 1 to 4 The present invention provides two or more material taking monomers 13 arranged in parallel. Figure 3 As shown, seven material taking units 13 are specifically used. Different types of materials can be placed in the hopper 10 of each material taking unit 13 as needed. When taking materials, any material taking unit 13 can be taken out as needed, or materials in multiple material taking units can be taken out at the same time. The principle is as follows:

[0047] The first lifting device 15 drives the linkage beam 11 to rise and fall, and is used to drive the sleeve 30 on any one of the material-taking monomers 13 to rise and fall. Since each material-taking monomer 13 is provided with a pushing device 12 and a latch 121 (installed on the linkage beam 11), when the first lifting device 15 drives the linkage beam 11 to descend to the bottom of the material-taking monomer 13, the driving device 12 of any one of the material-taking monomers 13 can drive the corresponding latch 121 to extend and support the outer wall of the sleeve 30 of the monomer. When the first lifting device 15 rises, the supported sleeve 30 is under the action of friction or under the action of other baffles. Preferably, there is a socket that cooperates with the latch, and the sleeve 30 supported by the latch 121 follows the first lifting device 15 to rise, thereby completing the material-taking action (the material-taking monomer that has not extended the latch will not follow the linkage beam 11 to rise). Here, a single power is adopted (the first lifting device drives the linkage beam), and is equipped with a push device 12 and a latch 121 that can select actions, and finally realizes the material taking function of any material taking unit, which has the effects of low cost, small space occupation and simplified design.

[0048] Considering that a portion of the sleeve 30 intermittently enters or slides out of the hopper 10, cyclically contacts the air outside the hopper 10 and the material inside the hopper 10, refer to Figure 6 The present invention further includes a telescopic protective cover 40, which is arranged on the outer side wall of the sleeve 30, and one end of the telescopic protective cover is fixed to the outer side wall of the back side of the hopper 10, specifically located at the edge of the first through hole, and the telescopic protective cover 40 is extended or shortened with the sliding of the sleeve 30. More specifically, one end of the telescopic protective cover 40 can be connected to the edge of the first through hole 101 on the outer wall of the hopper 10, and the other end is fixed to the lifting seat 50; the protective cover can adopt a mutually nested and telescopic inner cylinder 401, middle cylinder 402 and outer cylinder 403 structure.

[0049] Since the sleeve 30 will extend or shorten through the first through hole 101, when the sleeve 30 moves with the accommodating chamber C, the accommodating chamber C sinks into the material in the hopper 10, and the other end of the sleeve 30 opposite to the accommodating chamber C will extend out of the hopper 10 from the back of the first through hole 101. When the sleeve 30 moves with the accommodating chamber C and extends out of the material plane in the hopper 10, the other end of the sleeve 30 opposite to the accommodating chamber C will move along the first through hole 101 toward the direction of entering the hopper 10. In this way, the outer sleeve 30 that moves out of the hopper 10 through the first through hole 101 is Since the wall is in contact with the material in the hopper 10 when it is in the hopper 10, and when it extends outward, it contacts the air outside the hopper 10. In this way, as the sleeve rises and falls, the outer arm of the sleeve may be contaminated with dust and other debris and brought into the material. Therefore, a telescopic protective cover is provided here, one end of the telescopic protective cover is fixed near the first through hole 101 on the outer wall of the hopper, and the other end can follow the sleeve 30 to make telescopic movements. It can always cover the part of the sleeve 10 extending out of the hopper 30 through the first through hole 101, thereby preventing the sleeve 30 from bringing pollutants in the air into the material in the hopper 10.

[0050] In the figure, the description of the positional relationship is only for illustrative purposes and should not be understood as a limitation on this patent; obviously, the above embodiments of the present invention are only examples for clearly illustrating the invention, and are not limitations on the implementation methods of the invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the invention claims.

Claims

1. A robot suitable for adding granular, block and liquid materials, characterized in that: It comprises at least two parallel material taking units (13), a linkage beam (11) and a first lifting device (15); The material taking unit (13) comprises a hopper (10) with a first through hole (101) arranged at the bottom, a sleeve (30) vertically slidably mounted on the first through hole (101), a push block (20) slidably nested in the sleeve (30), a material channel (60) arranged above the first through hole (101) and inclined from top to bottom, a pushing device (12), a latch (121) connected to the pushing device (12), and a second lifting device for driving the push block (20) to slide; The second lifting device drives the push block (20) to slide in the sleeve (30), so that the push block (20) and the inner wall of the sleeve (30) are combined to form a receiving cavity C with an opening facing upward; The pushing device (12) of each material taking unit (13) is fixed to the linkage beam (11); The pushing device (12) of the material taking unit (13) that needs to take materials pushes the latch (121) to press against the sleeve (30), and the material taking unit (13) also includes a lifting seat (50) fixed to the sleeve (30), and the lifting seat (50) is provided with a plug hole (502) corresponding to the latch (121); the pushing device (12) of the material taking unit (13) that needs to take materials pushes the latch (121) to enter the plug hole (502), and the first lifting device (15) drives the linkage beam (11) to rise, thereby driving the sleeve (30) to rise, and after the accommodating chamber C rises from the bottom of the hopper (10) to the height of the material channel (60), the second lifting device drives the push block (20) to rise, so that the material in the accommodating chamber C falls into the material channel (60); It also includes a rotating shaft (14) for driving the material channel (60) to rotate, wherein the rotating shaft (14) spans the parallel material taking units (13), and the material channel (60) of each material taking unit (13) is fixed to the rotating shaft (14); The material channel (60) comprises a slideway (602) and a retaining ring (601) connected to the slideway (602); a notch (611) is arranged on the side wall of the retaining ring (601) facing the slideway (602); a second through hole for the sleeve (30) to pass through is arranged in the vertical direction of the retaining ring (601); and the upper end surface of the push block (20) is an inclined surface consistent with the inclination direction of the material channel (60).

2. The robot suitable for adding granular, block and liquid materials according to claim 1, characterized in that: It also includes a telescopic protective cover (40), one end of which is mounted on the edge of the first through hole (101) on the back of the hopper (10), and the telescopic protective cover (40) is nested outside the sleeve (30), and the other end of the telescopic protective cover (40) is fixed to the lifting seat (50).

3. The robot suitable for adding granular, block and liquid materials according to claim 1 or 2, characterized in that: The second lifting device is a cylinder (80), a cylinder body (802) of the cylinder (80) is fixed to the horizontal plate (202), and a telescopic rod (801) of the cylinder (80) is connected to the bottom of the push block (20); The transverse plate (202) is fixed to the inner wall of the sleeve (30).

4. The robot suitable for adding granular, block and liquid materials according to claim 1 or 2, characterized in that: A drainage port (104) is also provided at the bottom of the hopper (10) of each material taking unit (13), and the drainage port (104) is connected to the water pipe (103).

5. The robot suitable for adding granular, block and liquid materials according to claim 1 or 2, characterized in that: The side wall of the hopper (10) is an inclined surface, and the bottom of the side wall of the hopper (10) is close to the first through hole (101).

Images