A suspended redundant drive robot for taking mash

Abstract

The present invention belongs to the technical field of liquor brewing equipment, and specifically relates to a suspended redundant drive robot for taking mash, comprising a base, which is rotatably mounted on a plane traveling mechanism through a fixed base, and is used for realizing horizontal movement in the plane. The base consists of a top plate, a back plate, and two hinged ears mounted on the lower surface of the top plate, a large arm is hinged between the two hinged ears, a driving end of the large arm is hinged to a No. 1 connecting rod and a No. 2 connecting rod, the other end of the No. 1 connecting rod is hinged to a slider in a No. 1 linear drive mechanism, the end of the large arm is hinged to the middle part of the small arm, the other end of the No. 2 connecting rod is hinged to a slider in a No. 2 linear drive mechanism, the No. 1 linear drive mechanism is mounted on the top plate of the base, and the No. 2 linear drive mechanism is mounted on the back plate of the base. At least 3×3 wine vats in an adjacent area can be taken for mash, which greatly improves work efficiency. Conveyors are arranged in accordance with actual needs to realize adjacent material taking and discharging.

Description

Technical Field

[0001] The invention belongs to the technical field of liquor brewing equipment, and in particular relates to a suspended redundant drive robot for taking mash. Background Art

[0002] The flavor of liquor comes from its unique solid-state fermentation and solid-state distillation process. Among them, the light-fragrant liquor is famous for its unique "steaming and double clarification" and earthenware fermentation. The fermentation raw material, namely "wine mash", is stored in the ceramic jar for fermentation. After the fermentation cycle is over, it needs to be taken out and transferred to the distillation process. The traditional way of taking materials is often for workers to shovel them out with handheld shovels. This method is very labor-intensive and inefficient. The compact arrangement of the wine jars also brings many inconveniences to the transportation of materials by carts. In order to increase production capacity, it has become a mainstream trend to gradually replace manpower with machine material taking, unloading and loading.

[0003] Regarding the design of the device for taking the mash, CN201811255861.9 discloses a solution that combines a universal wheel cart on the ground with a bucket lifting and translation device. After the universal wheel cart is positioned, it takes two cylinders at a time. When taking other cylinders, it needs to move back and forth several times, and a cart is required to transport and unload materials. At the same time, the overall space is large and a load is generated on the underground ceramic cylinders. CN202123128310.6 discloses a solution that combines an AGV vehicle with a six-degree-of-freedom robot, but it occupies a large space, has limited driving space, and has high requirements for the working space. In order to save ground space, the workshop of the wine company also uses an overhead crane to grab the mash, which has high efficiency in taking wine, but this method requires the bucket position to be re-specified for each material collection, and the number of round trips is too many. Summary of the invention

[0004] In view of the above problems, the present invention provides a suspended redundant drive robot for taking mash.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A suspended redundant drive robot for taking mash comprises a base, the base is rotatably mounted on a planar traveling mechanism through a fixed base, and is used to achieve horizontal movement in the plane, the base is composed of a top plate, a rear plate, and two hinged ears mounted on the lower surface of the top plate, a large arm is hinged between the two hinged ears, a driving end of the large arm is hinged with a No. 1 connecting rod and a No. 2 connecting rod, the other end of the No. 1 connecting rod is hinged with a slider in a No. 1 linear driving mechanism, the end of the large arm is hinged with the middle part of the small arm, and the other end of the No. 2 connecting rod is hinged with a slider in a No. 1 linear driving mechanism, the end of the large arm is hinged with the middle part of the small arm, and the other end of the No. 2 connecting rod is hinged with a slider in a No. 1 linear driving mechanism, The first linear drive mechanism is hinged to the slider in the second linear drive mechanism, the first linear drive mechanism is installed on the top plate of the base, the second linear drive mechanism is installed on the back plate of the base, and a rocker is hinged between the two hinge ears, the rocker is coaxially hinged with the big arm, the driving end of the rocker is hinged to one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged to the slider in the third linear drive mechanism, the end of the rocker is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to the driving end of the small arm, and the hinge points at both ends of the third connecting rod are hinged to the first and second linear drive mechanisms. The connecting line between the hinge points at the middle and end of the boom is a parallelogram, the end of the forearm is hinged to the end connecting seat, and a No. 1 auxiliary connecting rod is hinged on one of the hinge ears, and the other end of the No. 1 auxiliary connecting rod is hinged to one end of the No. 2 auxiliary connecting rod, and the connecting line between the hinge points at both ends of the No. 1 auxiliary connecting rod and the hinge point at the end of the boom and the hinge point in the middle of the boom is a parallelogram, the middle part of the No. 2 auxiliary connecting rod is coaxially hinged with the end of the boom and the middle part of the forearm, and the end of the No. 2 auxiliary connecting rod is hinged to the No. 3 auxiliary connecting rod. One end of the No. 3 auxiliary connecting rod is hinged, the No. 2 auxiliary connecting rod is V-shaped, the line connecting the three hinge points on the No. 2 auxiliary connecting rod is a triangle, the other end of the No. 3 auxiliary connecting rod is hinged to the end connecting seat, the lines connecting the hinge points at both ends of the No. 3 auxiliary connecting rod and the hinge points at the end of the forearm and the hinge points in the middle of the forearm are parallelograms, a feeder clamp is installed on the end connecting seat, and an industrial camera and a laser rangefinder are installed on the feeder clamp, which are respectively used for collecting images of the wine jar and obtaining the distance between the feeder clamp and the ground.

[0007] Furthermore, the first linear drive mechanism, the second linear drive mechanism and the third linear drive mechanism are all screw slider mechanisms.

[0008] Furthermore, the angle between the line between the two hinge points on the hinge ear and the horizontal line is α, the angle between the line between the two hinge points on the end connecting seat and the horizontal line is β, and the angle of the second auxiliary connecting rod is γ, γ=α+β.

[0009] Furthermore, the upper end of the fixed base is fixedly connected to the plane traveling mechanism, and a base flange is fixedly connected to the lower end of the fixed base. The fixed base and the base flange are both rotatably connected to the base, and the lower surface of the base flange is fixedly connected to the output disk of the RV reducer. The body of the RV reducer is connected to the output shell, and the output shell is fixedly connected to the top plate of the base. The input shaft of the RV reducer is connected to the output shaft of the root drive motor through a belt drive, and the root drive motor is fixedly mounted on the output shell.

[0010] Furthermore, the planar crane mechanism includes two symmetrically arranged support frames, two movable beams are arranged between the two support frames, and the movable beams can slide on the support frames by being driven by a driving device, and a saddle is commonly arranged on the two movable beams, and the saddle can slide on the movable beams by being driven by the driving device.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] The base of the present invention can rotate relative to the plane traveling mechanism, and cooperate with the swing of the upper arm and the lower arm, so as to at least take the mash from 3×3 wine vats in the adjacent area, which greatly improves the work efficiency. The conveyor can be arranged according to the actual needs to realize the adjacent material taking and discharging.

[0013] The fixed base of the present invention is suspended and installed on the plane traveling mechanism, and the plane traveling mechanism can drive the big arm and the small arm to move horizontally and vertically as a whole, which can meet the requirements of the working space of large wine enterprises and adapt to the large-scale wine tank material taking operation. With the large working range of the big arm and the small arm themselves, the number of round trips of the traveling crane for taking and unloading materials is reduced. At the same time, through the form of suspension installation, it is easier to realize the lifting and lowering in the depth direction of the grasped materials, and the direct load on the wine tank under the ground is avoided.

[0014] The present invention can ensure that the material picker clamping claw will not tilt and its vertical state remains unchanged through the design of the parallelogram connecting rod and the matching limitation between α, β and γ. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the planeless traveling mechanism of the present invention;

[0016] Figure 2 It is an axonometric view of the non-plane traveling mechanism of the present invention;

[0017] Figure 3 It is a left side view of the planeless traveling mechanism of the present invention;

[0018] Figure 4 For the present invention Figure 3 A partial enlarged view of the middle circle A;

[0019] Figure 5 It is a schematic diagram of the installation of the fixed base, base flange, RV reducer and root drive motor of the present invention;

[0020] Figure 6 It is a structural schematic diagram of the clamping jaws of the material picker of the present invention;

[0021] Figure 7 It is a structural schematic diagram of the present invention;

[0022] Figure 8 For the present invention Figure 7 A partial enlarged view of the middle circle C;

[0023] Fig. 9 A top view of the gripper of the material extractor of the present invention;

[0024] Fig.10 For the present invention Fig. 9 Sectional view of section AA;

[0025] Fig.11 For the present invention Fig.10 A partial enlarged view of the middle frame A;

[0026] Fig.12 For the present invention Fig.10 A partial enlarged view of the middle circle B;

[0027] Fig.13 For the present invention Fig. 9 Cross-sectional view of the middle BB section;

[0028] Fig.14 It is a schematic diagram of the connection between the rotating disk and the lead screw nut in the clamping jaw of the material picker of the present invention;

[0029] Fig.15 It is a schematic diagram of the installation between the inner barrel, the movable shovel and the plate-type slide rail in the clamping jaw of the material extractor of the present invention;

[0030] Fig.16 It is a schematic diagram of the structure of the movable shovel in the clamping jaw of the material picker of the present invention;

[0031] Fig.17 It is a schematic diagram of the connection between the limit guide rail and the guide rail mounting plate in the clamping jaw of the material picker of the present invention;

[0032] Fig.18 It is a structural schematic diagram of the planetary gear set in the clamping jaw of the present invention;

[0033] Fig.19 It is a structural schematic diagram of the material pushing mechanism in the clamping jaws of the material picker of the present invention;

[0034] Fig. 20 It is a structural schematic diagram of a limit retaining ring in the clamping jaws of the material picker of the present invention;

[0035] Fig.21 It is a schematic diagram of the structure of the inner barrel in the clamping jaws of the material extractor of the present invention;

[0036] Fig. 22 It is a schematic structural diagram of the lower part of the rotating shell in the clamping jaw of the material picker of the present invention;

[0037] Fig.23 It is a structural schematic diagram of the shell three in the clamping jaws of the material picker of the present invention;

[0038] In the figure, base 001, fixed base 002, plane travel mechanism 003, big arm 004, connecting rod No. 1 005, connecting rod No. 2 006, linear drive mechanism No. 1 007, linear drive mechanism No. 2 008, rocker 009, linear drive mechanism No. 3 010, small arm 011, connecting rod No. 3 012, end connecting seat 013, auxiliary connecting rod No. 1 014, auxiliary connecting rod No. 2 015, auxiliary connecting rod No. 3 016, material grabber claw 017, industrial camera 018, laser rangefinder 019, base flange 020, RV reducer - 021, output housing - 022, root drive motor - 024, No. 4 connecting rod - 025, top plate - 0011, rear plate - 0012, hinge ear - 0013, support frame - 0031, moving beam - 0032, saddle - 0033, travel gear - 0034, travel rack - 0035, travel motor - 0036, guide rail - 0037, travel reducer - 0038, positioning block - 0039, output disk - 0211, fuselage - 0212, input shaft - 0213, fixed housing - 1, rotating housing - 2, hollow screw mechanism - 3, follow-up mechanism - 4, inner barrel - 5, Planetary gear set—6, bearing retaining ring—7, pusher mechanism—8, slide seat—9, mounting plate—10, sliding groove—11, sliding guide rail—12, roller mounting block—13, supporting roller—14, housing one—101, housing two—102, housing three—103, notch—104, lead screw nut—301, motor number one—302, driving gear number one—303, driven gear number one—304, lead screw flange—305, hollow lead screw—306, nut baffle—307, slide groove—308, limiting guide rail—309, guide rail mounting plate—310, rotating disk—401, rotating disk baffle— 402, plate slide rail—403, movable shovel—404, movable sheet—414, torsion spring—424, limiting protrusion—434, pin shaft—444, No. 2 motor—601, No. 2 driving gear—602, planetary carrier—603, No. 2 driven gear—604, planetary gear—606, inner ring gear—607, push plate—801, push rod—802, limiting retaining ring—803, extension barrel—804, push nut—805, push screw—806, No. 3 driven gear—807, No. 3 driving gear—808, No. 3 motor—809, limiting groove—810, limiting block—811. DETAILED DESCRIPTION

[0039] In order to further illustrate the technical solution of the present invention, the present invention is further described below through embodiments.

[0040] like Figures 1 to 7As shown, a suspended redundant drive robot for taking mash includes a base 001, wherein the base 001 is rotatably mounted on a planar traveling mechanism 003 via a fixed base 002, and is used to achieve horizontal movement within a plane, wherein the upper end of the fixed base 002 is fixedly connected to a saddle 0033 in the planar traveling mechanism 003, and a base flange 020 is fixedly connected to the lower end of the fixed base 002, wherein the fixed base 002 and the base flange 020 are both rotatably connected to the base 001, and the lower surface of the base flange 020 is fixedly connected to an output disk 0211 of an RV reducer 021, and a body 0212 of the RV reducer 021 is connected to an output housing 022, and the output housing 022 is fixedly connected to the base 001. On the top plate 0011, the input shaft 0213 of the RV reducer 021 is connected to the output shaft of the root drive motor 024 by belt transmission, and the root drive motor 024 is fixedly installed on the output housing 022. The base 001 consists of a top plate 0011, a rear plate 0012 and two hinged ears 0013 installed on the lower surface of the top plate 0011, and a large arm 004 is hinged between the two hinged ears 0013. The driving end of the large arm 004 is hinged to a No. 1 connecting rod 005 and a No. 2 connecting rod 006, and the other end of the No. 1 connecting rod 005 is hinged to a slider in a No. 1 linear drive mechanism 007. The end of the large arm 004 is hinged to the middle part of the small arm 011, and the other end of the No. 2 connecting rod 006 is hinged to the No. 2 linear drive mechanism. The slider in the driving mechanism 008 is hinged, the No. 1 linear driving mechanism 007 is installed on the top plate 0011 of the base 001, the No. 2 linear driving mechanism 008 is installed on the back plate 0012 of the base 001, and a rocker 009 is hinged between the two hinge ears 0013, the rocker 009 is coaxially hinged with the upper arm 004, the driving end of the rocker 009 is hinged to one end of the No. 4 connecting rod 025, the other end of the No. 4 connecting rod 025 is hinged to the slider in the No. 3 linear driving mechanism 010, the end of the rocker 009 is hinged to one end of the No. 3 connecting rod 012, the other end of the No. 3 connecting rod 012 is hinged to the driving end of the forearm 011, the hinge points at both ends of the No. 3 connecting rod 012 are hinged to the middle and end of the upper arm 004. The connecting line between the joints is a parallelogram, the end of the forearm 011 is hinged to the end connecting seat 013, and a first auxiliary link 014 is hinged to one of the hinge ears 0013. The angle between the connecting line between the two hinge points on the hinge ear 0013 and the horizontal line is α, the other end of the first auxiliary link 014 is hinged to one end of the second auxiliary link 015, and the connecting lines between the hinge points at both ends of the first auxiliary link 014 and the hinge points at the end of the boom 004 and the hinge points in the middle of the boom 004 are parallelograms, the middle part of the second auxiliary link 015 is coaxially hinged with the end of the boom 004 and the middle part of the forearm 011, and the end of the second auxiliary link 015 is hinged to one end of the third auxiliary link 016.The second auxiliary link 015 is V-shaped, the angle of the second auxiliary link 015 is γ, the line connecting the three hinge points on the second auxiliary link 015 is a triangle, the other end of the third auxiliary link 016 is hinged to the end connection seat 013, the angle between the line connecting the two hinge points on the end connection seat 013 and the horizontal line is β, satisfying γ=α+β, the lines connecting the hinge points at both ends of the third auxiliary link 016 and the hinge points at the end of the forearm 011 and the hinge points in the middle of the forearm 011 are parallelograms, a material grabber jaw 017 is installed on the end connection seat 013, and an industrial camera 0 is installed on the material grabber jaw 017. 18 and laser rangefinder 019 are used to collect images of the wine vat and obtain the distance between the picker jaw 017 and the ground, respectively. After the picker jaw 017 moves to the vicinity of the vat mouth, the industrial camera 018 takes multiple images, extracts the contour features of the vat, and transmits them back to the computer through the image acquisition card. The deviation between the center position of the vat mouth and the position of the picker jaw 017 is calculated, and then the upper arm 004 and the lower arm 011 are controlled to swing for deviation correction. After locking the position of the vat mouth, the picker jaw 017 is controlled to be lowered, and the laser rangefinder 19 obtains the distance between the picker jaw 017 and the ground to determine the digging depth. When the distance is less than the preset threshold, the wine mash digging action is stopped and the subsequent process is executed.

[0041] The planar crane mechanism 003 includes two symmetrically arranged support frames 0031, two movable crossbeams 0032 are arranged between the two support frames 0031, and the movable crossbeams 0032 can slide on the support frames 0031 by the drive of the drive device, and a saddle 0033 is arranged on the two movable crossbeams 0032, and the saddle 0033 can slide on the movable crossbeams 0032 by the drive of the drive device. Specifically, a traveling beam 0032 is fixed on the movable crossbeam 0032. A walking rack 0035 and a guide rail 0037 are installed on the saddle 0033. A walking motor 0036 and a walking reducer 0038 are installed on the saddle 0033. The output shaft of the walking motor 0036 is connected to the input shaft of the walking reducer 0038. The two outputs of the walking reducer 0038 are both installed with a walking gear 0034 meshing with the walking rack 0035. A positioning block 0039 corresponding to the guide rail 0037 is also installed on the saddle 0033 to guide the movement of the saddle 0033.

[0042] The first linear drive mechanism 007, the second linear drive mechanism 008 and the third linear drive mechanism 010 are all screw slider mechanisms.

[0043] The material picker clamp 017 includes a fixed housing 1, a rotating housing 2 and a material pushing mechanism 8. The rotating housing 2 is rotatably connected to the fixed housing 1 through a bearing, and the rotating housing 2 is driven to rotate through a planetary gear set 6. The material pushing mechanism 8 is used to push out the fermented grains in the inner barrel 5 after the material is picked up.

[0044] The fixed shell 1 includes a shell 1 101, a shell 2 102 and a shell 3 103. The shell 2 102 is fixedly connected to the shell 1 101, and the shell 3 103 is fixedly connected to the shell 2 102. The upper part of the rotating shell 2 is sleeved on the shell 1 101 and the shell 2 102. Bearings are provided between the rotating shell 2 and the shell 1 101 and between the rotating shell 2 and the shell 2 102. The bearings between the rotating shell 2 and the shell 1 101 are limited by the shoulder structures of the rotating shell 2 and the shell 1 101. The rotating shell The bearing between the first and second housings 102 is limited by a bearing retaining ring 7 and a shaft shoulder inside the rotating housing 2. The bearing retaining ring 7 is fixedly mounted on the lower end surface of the second housing 102 by screws. A hollow screw mechanism 3 is mounted on the third housing 103. A follower mechanism 4 is rotatably connected to the screw nut 301 of the hollow screw mechanism 3 to drive the follower mechanism 4 to rise and fall. An inner barrel 5 is fixedly connected to the lower part of the inner cavity of the rotating housing 2. The inner barrel 5 is a regular polygonal structure. The lower part of the follower mechanism 4 is slidably arranged between the inner barrel 5 and the interlayer of the rotating housing 2.

[0045] The follower mechanism 4 includes a rotating disk 401, which is rotatably connected to the screw nut 301. A rotating disk baffle 402 is fixedly connected to the rotating disk 401 for limiting the bearing between the rotating disk 401 and the screw nut 301. A plurality of plate slide rails 403 are evenly distributed on the side surface of the rotating disk 401. A slide seat 9 corresponding to the plate slide rails 403 is provided on the inner surface of the rotating shell 2. A sliding groove 11 corresponding to the plate slide rails 403 is provided on the mounting plate 10 for fixing the inner barrel 5 in the rotating shell 2. A movable shovel 404 is fixedly connected to the lower end of the plate slide rail 403. The movable shovel 404 is composed of a plurality of movable sheets 414, and adjacent movable sheets 414 are connected to each other. It is hinged through a pin 444, and a torsion spring 424 is arranged on the pin 444 to facilitate automatic relative rotation between adjacent movable pieces 414. A limiting protrusion 434 is arranged on the upper part of the movable piece 414 except the uppermost one to limit the maximum rotation angle between adjacent movable pieces 414. A sliding guide rail 12 is arranged on the left and right sides of each movable shovel 404, and the sliding guide rail 12 is fixedly installed on the outer surface of the inner barrel 5. The uppermost movable plate of the movable shovel 404 is slidably connected to the sliding guide rail 12. A plurality of roller mounting blocks 13 corresponding to the limiting guide rails 309 are fixedly arranged on the lower end surface of the inner barrel 5, and a supporting roller 14 is rotatably installed between adjacent roller mounting blocks 13 to assist the sliding of the movable shovel 404.

[0046] The hollow screw mechanism 3 includes a No. 1 motor 302, which is fixedly mounted on the upper surface of the housing 101, and the output shaft of the No. 1 motor 302 passes downward through the housing 101 to be installed with a No. 1 driving gear 303, which is meshed with a No. 1 driven gear 304, which is fixedly mounted on a screw flange 305, which is rotatably mounted inside the housing 3 103 through a bearing, and a notch 104 for meshing and connecting the No. 1 driving gear 303 and the No. 1 driven gear 304 is provided on the housing 3 103. The lower end surface of the screw flange 305 is fixedly connected to the hollow screw 306, and a screw nut 301 is threadedly connected to the hollow screw 306. A nut baffle 307 is fixedly arranged on the screw nut 301 for limiting the bearing between the rotating disk 401 and the screw nut 301. Two slide grooves 308 are symmetrically arranged on the screw nut 301, and a limiting guide rail 309 is arranged in the slide groove 308. Both ends of the two limiting guide rails 309 are commonly connected to a guide rail mounting plate 310, and one of the guide rail mounting plates 310 is fixedly connected to the shell three 103.

[0047] The planetary gear set 6 includes a No. 2 motor 601, a No. 2 driving gear 602, a planet carrier 603, a No. 2 driven gear 604, a planetary gear 606 and an inner gear ring 607. The No. 2 motor 601 is fixedly mounted on the upper surface of the housing 101. The No. 2 driving gear 602 is mounted on the output shaft of the No. 2 motor 601 and is located inside the housing 101. The planet carrier 603 is fixedly mounted in the middle of the inner cavity of the housing 101. The No. 2 driven gear 604 is mounted on the planet carrier 603. The No. 2 driven gear 604 is a double-row gear. The upper part of the No. 2 driven gear 604 is meshed and connected with the No. 2 driving gear 602. There are three planetary gears 606, which are evenly distributed and installed between the No. 2 driven gear 604 and the inner gear ring 607. The planetary gear 606 is meshed and connected with the lower part of the No. 2 driven gear 604 and the inner gear ring 607. The inner gear ring 607 is fixedly mounted on the inner circumferential surface of the rotating housing 2.

[0048] The pushing mechanism 8 includes a pushing plate 801, a pushing rod 802, a limiting retaining ring 803, an extension barrel 804, a pushing nut 805, a pushing screw 806, a No. 3 driven gear 807, a No. 3 driving gear 808 and a No. 3 motor 809. The pushing plate 801 is arranged inside the inner barrel 5, and the lower end of the pushing rod 802 is fixedly connected to the center of the upper surface of the pushing plate 801. The pushing rod 802 is a hollow structure, and a limiting groove 810 is arranged on the outer circumferential surface of the pushing rod 802. A limiting block 811 corresponding to the limiting groove 810 is arranged on the limiting retaining ring 803. It is fixedly installed at the lower end of the inner cavity of the extension barrel 804, and the upper end of the extension barrel 804 is fixedly connected to the shell three 103. The push nut 805 is fixed to the upper end of the push rod 802 and is threadedly connected to the push screw 806. The push screw 806 is rotatably installed on the shell three 103. The upper end of the push screw 806 passes through the shell three 103 and is fixedly connected to the third driven gear 807. The third driving gear 808 is installed on the output shaft of the third motor 809 and is meshed with the third driven gear 807. The third motor 809 is fixedly installed on the upper surface of the shell one 101.

[0049] When the material picker clamp 017 is extracted, the material picker clamp 017 is extended into a certain position in the ceramic cylinder, and then the rotating shell 2 is driven to rotate by the No. 2 motor 601, and the material picker clamp 017 continues to descend to a certain height under the action of the upper arm 004 and the lower arm 011 to complete the material picking of the inner barrel 5, and then the No. 1 motor 302 works to drive the plate slide rail 403 to extend, and the movable shovel 404 automatically curls under the action of the torsion spring 424 to complete the wrapping of the mash particles, and then the upper arm 004 and the lower arm 011 drive the material picker clamp 017 to move from the cylinder to the specified position, and then the No. 3 motor 809 drives the push plate 801 to extend, and the mash particles in the inner barrel 5 are pushed out to achieve the removal of the mash particles.

[0050] The above shows and describes the main features and advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0051] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A suspended redundant drive robot for taking mash, characterized in that: The invention comprises a base (001), wherein the base (001) is rotatably mounted on a plane traveling mechanism (003) through a fixed base (002) for realizing horizontal movement in a plane, wherein the base (001) is composed of a top plate (0011), a rear plate (0012) and two hinged ears (0013) mounted on the lower surface of the top plate (0011), a large arm (004) is hinged between the two hinged ears (0013), a driving end of the large arm (004) is hinged with a first connecting rod (005) and a second connecting rod (006), the other end of the first connecting rod (005) is hinged with a slider in a first linear driving mechanism (007), and the end of the large arm (004) is hinged with the middle of a small arm (011). The second connecting rod (006) is hinged with the slider in the second linear drive mechanism (008), the first linear drive mechanism (007) is installed on the top plate (0011) of the base (001), the second linear drive mechanism (008) is installed on the rear plate (0012) of the base (001), and a rocker (009) is hinged between the two hinge ears (0013), the rocker (009) is coaxially hinged with the upper arm (004), the driving end of the rocker (009) is hinged with one end of the fourth connecting rod (025), the other end of the fourth connecting rod (025) is hinged with the slider in the third linear drive mechanism (010), and the end of the rocker (009) is hinged with the third connecting rod ( 012), one end of the No. 3 connecting rod (012) is hinged, the other end of the No. 3 connecting rod (012) is hinged to the driving end of the forearm (011), the lines connecting the hinge points at both ends of the No. 3 connecting rod (012) and the hinge points at the middle and end of the upper arm (004) are parallelograms, the end of the forearm (011) is hinged to the end connecting seat (013), and a No. 1 auxiliary connecting rod (014) is hinged on one of the hinge ears (0013), the other end of the No. 1 auxiliary connecting rod (014) is hinged to one end of the No. 2 auxiliary connecting rod (015), the lines connecting the hinge points at both ends of the No. 1 auxiliary connecting rod (014) and the hinge points at the end of the upper arm (004) and the hinge points in the middle of the upper arm (004) are parallelograms, The middle part of the second auxiliary link (015) is coaxially hinged with the end of the upper arm (004) and the middle part of the lower arm (011); the end of the second auxiliary link (015) is hinged with one end of the third auxiliary link (016); the second auxiliary link (015) is V-shaped; the connection line between the three hinge points on the second auxiliary link (015) is triangular; the other end of the third auxiliary link (016) is hinged with the end connection seat (013); the connection lines between the hinge points at both ends of the third auxiliary link (016) and the hinge points at the end of the lower arm (011) and the hinge points in the middle part of the lower arm (011) are parallelograms; a material grabber clamp (017) is installed on the end connection seat (013);An industrial camera (018) and a laser rangefinder (019) are installed on the picker clamp (017), which are used to collect images of the wine tank and obtain the distance between the picker clamp (017) and the ground respectively.

2. The suspended redundant drive robot for taking mash according to claim 1, characterized in that: The first linear drive mechanism (007), the second linear drive mechanism (008) and the third linear drive mechanism (010) are all lead screw slider mechanisms.

3. The suspended redundant drive robot for taking mash according to claim 1, characterized in that: The angle between the line between the two hinge points on the hinge ear (0013) and the horizontal line is α, the angle between the line between the two hinge points on the end connecting seat (013) and the horizontal line is β, and the angle of the second auxiliary connecting rod (015) is γ, γ=α+β.

4. The suspended redundant drive robot for taking mash according to claim 1, characterized in that: The upper end of the fixed base (002) is fixedly connected to the planar traveling mechanism (003), and a base flange (020) is fixedly connected to the lower end of the fixed base (002). The fixed base (002) and the base flange (020) are both rotatably connected to the base (001). The lower surface of the base flange (020) is fixedly connected to the output disk (0211) of the RV reducer (021). The body (0212) of the RV reducer (021) is connected to the output housing (022), and the output housing (022) is fixedly connected to the top plate (0011) of the base (001). The input shaft (0213) of the RV reducer (021) is connected to the output shaft of the root drive motor (024) by belt transmission, and the root drive motor (024) is fixedly mounted on the output housing (022).

5. The suspended redundant drive robot for taking mash according to claim 1, characterized in that: The planar traveling mechanism (003) comprises two symmetrically arranged support frames (0031), two movable crossbeams (0032) are arranged between the two support frames (0031), and the movable crossbeams (0032) can slide on the support frames (0031) by being driven by a driving device, and a saddle (0033) is commonly arranged on the two movable crossbeams (0032), and the saddle (0033) can slide on the movable crossbeams (0032) by being driven by the driving device.

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