Tie rod connector, robot and cam groove determination method

Abstract

The present invention provides a pull rod connector, a robot and a cam groove determination method, wherein the pull rod connector includes: a mounting plate, a cam groove is formed on the mounting plate, and the mounting plate is used to connect with a blanking part; a linear bearing assembly, including a bearing seat and a connecting rod movably arranged in the bearing seat, the connecting rod has a movable stroke in the vertical direction, the bearing seat is hinged on the mounting plate, and the bearing seat has a rotating movable stroke; one end of the connecting rod away from the bearing seat is slidably arranged in the cam groove; and an extension rod, one end of which is connected to the connecting rod and the other end is used to be hinged with a cloth part. The pull rod connector, robot and cam groove determination method provided by the present invention are intended to solve the technical problem that the cloth part of the traditional upper steamer robot has a limited range of motion and cannot remain parallel to the material surface during cloth laying, which affects the cloth effect.

Description

Technical Field

[0001] The present invention relates to the technical field of wine brewing equipment, and in particular to a pull rod connector, a robot and a cam groove determination method. Background Art

[0002] In the modern wine brewing industry, the steamer robot mainly relies on the rotation and forward and backward movement of the blanking part and the material distribution part to achieve the material distribution at any position in the steamer pot. The blanking part uses a motor to control the forward and backward swing, and the material distribution part is connected to the blanking part and swings back and forth with the blanking part. During the material distribution process, it is necessary to ensure that the material distribution part is always parallel to the material surface and as close to the material surface as possible, so as to improve the material distribution effect. Therefore, providing a suitable power transmission mechanism is the key research direction of technicians in this field. Summary of the invention

[0003] The present invention provides a pull rod connector, a robot and a cam groove determination method, aiming to solve the technical problem that the cloth-laying part of a traditional upper steamer robot has a limited range of movement and cannot remain parallel to the material surface during cloth-laying, thus affecting the cloth-laying effect.

[0004] In view of the problems existing in the prior art, an embodiment of the present invention provides a pull rod connector for a steamer loading robot, wherein the pull rod connector comprises:

[0005] A mounting plate, wherein a cam groove is formed on the mounting plate and the mounting plate is used for connecting with the blanking part;

[0006] A linear bearing assembly comprises a bearing seat and a connecting rod movably arranged in the bearing seat, wherein the connecting rod has a movable stroke in a vertical direction, the bearing seat is hinged to the mounting plate, and the bearing seat has a rotating movable stroke; an end of the connecting rod away from the bearing seat is slidably arranged in the cam groove; and,

[0007] An extension rod has one end connected to the connecting rod and the other end used for hinged connection with the cloth part.

[0008] According to a pull rod connector provided by the present invention, the linear bearing assembly also includes a connecting seat, the connecting seat is arranged at one end of the connecting rod away from the bearing seat, a cylindrical roller is provided on the connecting seat, and the cylindrical roller is slidably connected to the cam groove.

[0009] According to a pull rod connector provided by the present invention, the cam groove is V-shaped, so that the cam groove has a high point and a low point.

[0010] According to a pull rod connector provided by the present invention, the inner wall surface of the cam groove is smoothly transitionally connected.

[0011] According to a pull rod connector provided by the present invention, a deep groove ball bearing is provided on the mounting plate, and the bearing seat is hinged to the mounting plate through the deep groove ball bearing.

[0012] According to a pull rod connector provided by the present invention, the pull rod connector further comprises a connecting plate provided at one end of the extension rod away from the connecting rod, and the connecting plate is used to be connected to the cloth part.

[0013] The present invention also provides a steamer loading robot, comprising:

[0014] Blanking installation;

[0015] a material distribution assembly, the material distribution assembly comprising a connecting arm hinged to the material distribution assembly and a material distribution machine hinged to the connecting arm; and

[0016] A tie rod connector, the tie rod connector is a tie rod connector as described in any one of the above items, the mounting plate of the tie rod connector is arranged on the blanking portion, the extension rod of the tie rod connector is hinged to the material placing machine, and the connecting plate of the tie rod connector is hinged to the material placing machine.

[0017] The present invention also provides a method for determining the position of a cam groove of a steamer upper robot, comprising:

[0018] Set the connection point O between the mounting plate and the blanking part, set the hinge point D between the bearing seat and the mounting plate, set the connection point C between the connecting rod and the cam groove, set the connection point A between the connecting plate and the fabric part, and set the connection point B between the extension rod and the fabric part;

[0019] Determine the length of AO L1, the length of AD L2, the length of AB L3, and the length of BC L4;

[0020] Set the angle θ of ∠AOD in sequence 1 -θ n , and determine the vertical distance h1-hn of BD in turn;

[0021] According to L1, L2, L3, h 1 -h n and θ 1 -θ n Determine the length L5 of BD 1 -L5 n ;

[0022] Establish a rectangular coordinate system with O as the origin, according to L1, L4, L5 1 -L5 n and h 1 -h n , determine the horizontal coordinate x of point C in turn 1 -x n , according to L4, L51 -L5 n and h 1 -h n Determine the y coordinate 1 -y n ;

[0023] The determined points are connected to form the position locus of the cam groove.

[0024] The pull rod connecting piece provided by the present invention can connect the blanking part and the cloth-making part, and assist the movement of the cloth-making part; wherein, the connecting rod is movably arranged in the bearing seat, so that the connecting rod can move in the vertical direction; and because the bearing seat is hinged on the mounting plate, the connecting rod can also make circular motion; and then the movement of the connecting rod is guided and restricted by the cam groove, so that the cloth-making part can swing up and down under the driving action of the blanking part and the transmission action of the pull rod connecting piece, thereby ensuring that the cloth-making part is as close to the material surface as possible, thereby improving the cloth-making effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of a first partial three-dimensional structure of the steamer loading robot provided by the present invention;

[0027] Figure 2 It is a second partial three-dimensional structural schematic diagram of the steamer loading robot provided by the present invention;

[0028] Figure 3 yes Figure 1 A schematic diagram of a first partial three-dimensional structure;

[0029] Figure 4 yes Figure 1 A schematic diagram of a second partial three-dimensional structure;

[0030] Figure 5 yes Figure 1 A schematic diagram of the structure in a first state;

[0031] Figure 6 yes Figure 1 A schematic diagram of the structure in the second state;

[0032] Figure numerals: 1: steamer loading robot; 10: pull rod connector; 100: mounting plate; 110: cam groove; 120: deep groove ball bearing; 200: linear bearing assembly; 210: bearing seat; 220: connecting rod; 230: connecting seat; 240: cylindrical roller; 300: extension rod; 400: connecting plate; 20: blanking assembly; 30: cloth assembly. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0035] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" 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 a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0036] In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] Combine the following Figure 1-Figure 6 The tie rod connection, robot and cam groove determination method of the present invention are described.

[0039] The material distribution part of the conventional steamer loading robot has a limited range of movement, and cannot remain parallel to the material surface during material distribution, which affects the material distribution effect. In view of this, the present invention provides a pull rod connector 10 for the steamer loading robot 1. Figure 1 and Figure 2 The steamer loading robot 1 includes a blanking part 20; a material distribution part 30; the blanking part 20 is controlled by a motor to swing forward and backward, and the material distribution part 30 includes a connecting arm hinged to the blanking part 20 and a material distribution machine hinged to the connecting arm, and the connecting arm and the material distribution machine swing with the blanking part 20; please refer to Figure 1-Figure 4 A pull rod connector 10 is provided between the blanking part 20 and the cloth part 30, and the pull rod connector 10 includes: a mounting plate 100, a cam groove 110 is provided on the mounting plate 100, and the mounting plate 100 is used to connect with the blanking part 20; a linear bearing assembly 200, including a bearing seat 210 and a connecting rod 220 movably arranged in the bearing seat 210, the connecting rod 220 has a movable stroke along the vertical direction, the bearing seat 210 is hinged on the mounting plate 100, and the bearing seat 210 has a rotating movable stroke; one end of the connecting rod 220 away from the bearing seat 210 is slidably arranged in the cam groove 110; and an extension rod 300, one end of which is connected to the connecting rod 220, and the other end is used to be hinged with the cloth part 30.

[0040] It should be noted that the pull rod connector 10 provided by the present invention can connect the blanking portion 20 and the cloth portion 30, and assist the movement of the cloth portion 30; wherein, the connecting rod 220 is movably arranged in the bearing seat 210, so that the connecting rod 220 can move in the vertical direction; and because the bearing seat 210 is hinged on the mounting plate 100, the connecting rod 220 can also make a circular motion; and then the movement of the connecting rod 220 is guided and restricted by the cam groove 110, so that the cloth portion 30 can swing up and down under the driving action of the blanking portion 20 and the transmission action of the pull rod connector 10, to ensure that the cloth portion 30 is as close to the material surface as possible, thereby improving the cloth effect.

[0041] Specifically, see Figure 3 The linear bearing assembly 200 also includes a connecting seat 230, which is arranged at one end of the connecting rod 220 away from the bearing seat 210. A cylindrical roller 240 is provided on the connecting seat 230. The cylindrical roller 240 is connected to the connecting seat 230 by bolts, and the cylindrical roller 240 is slidably connected to the cam groove 110, and can swing in the groove defined by the cam groove 110.

[0042] Furthermore, since the fabric assembly 30 needs to swing up and down, in the technical solution provided by the present invention, the cam groove 110 is V-shaped, so that the cam groove 110 has a high point and a low point, so that when the cylindrical roller 240 moves along the cam groove 110, it will drive the fabric assembly 30 to swing up and down and keep it parallel to the material surface. Figure 4 The opening direction of the cam groove 110 faces downward. In order to maintain the smooth and stable movement of the cylindrical roller 240, the inner wall surface of the cam groove 110 is smoothly transitioned and connected, so that the corner transitions smoothly, reducing friction and collision force.

[0043] As mentioned above, the bearing seat 210 is hinged to the mounting plate 100. In the technical solution provided by the present invention, a deep groove ball bearing 120 is provided on the mounting plate 100, and the bearing seat 210 is hinged to the mounting plate 100 through the deep groove ball bearing 120. Of course, a component such as an articulated seat can also be provided to enable the bearing seat 210 to be hinged to the mounting plate 100, and the present invention is not limited to this.

[0044] Furthermore, one end of the extension rod 300 away from the connecting rod 220 needs to be connected to the cloth assembly 30. In order to improve the stability of the connection, a connecting plate 400 is provided at the end of the extension rod 300 away from the connecting rod 220. The connecting plate 400 and the cloth assembly 30 have two connection points set at intervals. One connection point is hinged to the cloth assembly 30 through a pin shaft, and the other connection point is hinged to the cloth assembly 30 through a connecting shaft set at the end of the extension rod 300 and passes through the connecting plate 400.

[0045] As described above, the present invention also provides a steamer loading robot 1, comprising: a blanking portion 20; a material distribution portion 30, the material distribution portion 30 comprising a connecting arm hinged to the blanking portion 20 and a material distribution machine hinged to the connecting arm; and a pull rod connector 10, the mounting plate 100 of the pull rod connector 10 is arranged on the blanking portion 20, the extension rod 300 of the pull rod connector 10 is hinged to the material distribution machine, and the connecting plate 400 of the pull rod connector 10 is hinged to the material distribution machine.

[0046] Since the steamer loading robot 1 provided by the present invention involves multiple components, the multiple components are fixedly connected and also movably hinged, in order to ensure that the cylindrical roller 240 can move in the cam groove 110 so that the cloth assembly 30 can swing up and down, the present invention also provides a method for determining the position of the cam groove 110 of the steamer loading robot 1, which is used to determine the setting position of the cam groove 110, and the method includes:

[0047] S100, setting the connection point O between the mounting plate 100 and the blanking assembly 20, setting the hinge point D between the bearing seat 210 and the mounting plate 100, setting the connection point C between the connecting rod 220 and the cam groove 110, setting the connection point A between the connecting plate 400 and the cloth assembly 30, and setting the connection point B between the extension rod 300 and the cloth assembly 30;

[0048] S200, determine the length of AO L1, the length of AD L2, the length of AB L3, and the length of BC L4;

[0049] S300, set the angle θ of ∠AOD in sequence 1 -θ n , and determine the vertical distance h1-hn of BD in turn;

[0050] S400, according to L1, L2, L3, h 1 -h n and θ 1 -θ n , determine the length L5 of BD 1 -L5 n ;

[0051] S500, establish a rectangular coordinate system with O as the origin, according to L1, L4, L5 1 -L5 n and h 1 -h n , determine the horizontal coordinate x of point C in turn 1 -x n , according to L4, L5 1 -L5 n and h 1 -h n Determine the y coordinate 1 -y n ;

[0052] S600 , connecting the determined points to form a position track of the cam groove 110 .

[0053] Specifically, see Figure 5 and Figure 6 , Figure 5 and Figure 6 All of them are simplified schematic diagrams of the motion structure of the steamer loading robot 1. In the steamer loading robot 1 provided by the present invention, the blanking part 20, the pull rod connector 10 and the cloth part 30 approximately form a four-bar linkage. Figure 5 to Figure 6 , the cloth assembly 30 is swung, and the shape of the four-bar linkage is changed.

[0054] It should be noted that there are some fixed points and moving points among the above-mentioned multiple points. Although some points are in active hinge relationship with the corresponding mechanism, there is no up and down movement or left and right movement of the point position during the movement, so they are regarded as fixed points. In this way, among the above-mentioned multiple points, except for the connection point C between the connecting rod 220 and the cam groove 110 which is a moving point, all the points are fixed points. Since there are fixed points among the above-mentioned multiple points, the distance of some fixed points can be determined according to the working conditions, and then the coordinate position of point C under different swing angles can be calculated by using trigonometric functions through the set swing angle (angle of ∠AOD), and the setting of the cam groove 110 can be determined by connecting multiple calculated points through multiple calculations.

[0055] Specifically, see Figure 5 , this manual takes θ as an example to illustrate the calculation of the coordinates of point C:

[0056] Point A and point O are fixed points, the length of L1 is determined, D is a fixed point, the length of L2 is determined, θ is determined, in △ADO,

[0057]

[0058] L2 / sin∠ADO=LAD / sinθ;

[0059] ∠ADO=arcsin(L2sinθ / LAD);

[0060] Take B as the starting point and draw a perpendicular line to the extension line of OD to form point P. At this point, the vertical distance BP of BD can be determined, that is, h;

[0061] In △BDP, ∠BDP = arcsin(h / LBD);

[0062] ∠ADB=π-∠ADO-∠BDP;

[0063] In △ADB, the length of AB, i.e., L3, is determined;

[0064] L3 2 =LAD 2 +LBD 2 -2LADLBDcos(π-∠ADO-∠BDP);

[0065] L3 2 =L1 2 +L2 2 -2L1L2cosθ+LBD 2 +2LADLBDcos(∠ADO+∠BDP);

[0066] ∠ADO=arcsin(L2sinθ / LAD);

[0067] ∠BDP=arcsin(h / LBD);

[0068] Then LBD, i.e. L5, can be obtained;

[0069] The length of LBC is determined to be L4, LCD = LBD-LBC = L5-L4;

[0070] For point C, the abscissa x=L1+LCD*cos(arcsin(h / LBD));

[0071] That is, x=L1+(L5-L4)*cos(arcsin(h / L5));

[0072] The vertical coordinate y=h*LCD / LBD=h(L5-L4) / L5.

[0073] In summary, when multiple angles θ are set, multiple coordinates of point C can be obtained according to testing and calculation, so that the position trajectory of point C can be determined.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pull rod connector for a steamer loading robot, characterized in that: The pull rod connecting piece comprises: A mounting plate, wherein a cam groove is formed on the mounting plate and the mounting plate is used for connecting with the blanking part; A linear bearing assembly comprises a bearing seat and a connecting rod movably arranged in the bearing seat, wherein the connecting rod has a movable stroke in a vertical direction, the bearing seat is hinged to the mounting plate, and the bearing seat has a rotating movable stroke; an end of the connecting rod away from the bearing seat is slidably arranged in the cam groove; and, An extension rod, one end of which is connected to the connecting rod, and the other end of which is used for hinged connection with the fabric part; The linear bearing assembly further comprises a connecting seat, the connecting seat being arranged at one end of the connecting rod away from the bearing seat, the connecting seat being provided with a cylindrical roller, and the cylindrical roller being slidably connected to the cam groove; The cam groove is V-shaped so that the cam groove has a high point and a low point; A deep groove ball bearing is arranged on the mounting plate, and the bearing seat is hinged to the mounting plate through the deep groove ball bearing.

2. The tie rod connector according to claim 1, characterized in that: The inner wall surface of the cam groove is smoothly transitionally connected.

3. The tie rod connector according to claim 1, characterized in that: The pull rod connector also includes a connecting plate arranged at one end of the extension rod away from the connecting rod, and the connecting plate is used to be connected to the cloth part.

4. A steamer loading robot, characterized in that: include: Blanking installation; a material distribution assembly, the material distribution assembly comprising a connecting arm hinged to the material distribution assembly and a material distribution machine hinged to the connecting arm; and The tie rod connector is the tie rod connector as described in any one of claims 1 to 3, the mounting plate of the tie rod connector is arranged on the blanking portion, the extension rod of the tie rod connector is hinged to the material placing machine, and the connecting plate of the tie rod connector is hinged to the material placing machine.

5. A method for determining the position of the cam groove of the retort loading robot based on the retort loading robot according to claim 4, characterized in that: include: Set the connection point O between the mounting plate and the blanking part, set the hinge point D between the bearing seat and the mounting plate, set the connection point C between the connecting rod and the cam groove, set the connection point A between the connecting plate and the fabric part, and set the connection point B between the extension rod and the fabric part; Determine the length of AO L1, the length of AD L2, the length of AB L3, and the length of BC L4; Set the angles of ∠AOD θ1-θ in sequence n , and determine the vertical distance h1-h of BD in turn n ; According to L1, L2, L3, h1-h n and θ1-θ n Determine the length of BD L51-L5 n ; Establish a rectangular coordinate system with O as the origin, according to L1, L4, L51-L5 n and h1-h n , determine the horizontal coordinate x1-x of point C in turn n , according to L4, L51-L5 n and h1-h n Determine the vertical coordinate y1-y n ; The determined points are connected to form the position locus of the cam groove.

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