Fermentation frame manipulator

Abstract

The invention discloses a fermentation frame mechanical arm which comprises a supporting frame, and a supporting frame is fixed to the supporting frame and supports the supporting frame on the ground. An X-axis moving device, a Y-axis moving device and a Z-axis moving device, wherein the Z-axis moving device is mounted on the Y-axis moving device; the grabbing device comprises a grabbing upper plate, a grabbing lower plate and a grabbing lower plate; the grabbing middle plate is fixed below the grabbing upper plate; the grabbing rotating shaft is rotationally connected to the grabbing middle plate, and an upper grabbing gear and a lower grabbing gear are fixed to the grabbing rotating shaft; a grabbing upper driving rack is fixed to the output end of a grabbing transverse pushing hydraulic cylinder on the grabbing middle plate and meshed with a grabbing upper gear, grabbing sliding blocks are installed on the two grabbing guide rails below the grabbing middle plate, grabbing lower driving racks are fixed to the two grabbing sliding blocks and meshed with a grabbing lower gear, and the grabbing lower driving racks are meshed with the grabbing lower gear. A grabbing claw is further fixed to each grabbing sliding block. And the mechanical arm can realize movement of the fermentation frame.

Description

Technical Field

[0001] The invention belongs to the technical field of tea production, and in particular relates to a fermentation frame manipulator. Background Art

[0002] The traditional pile fermentation process includes five steps: tide → stacking → covering → turning the pile to separate the blocks → digging trenches and spreading to dry. Workers use iron shovels to turn the tea leaves continuously. During the turning process, they manually inject a certain amount of water (tide) into the tea leaves according to a certain fixed ratio. After adding water, workers use iron shovels to pile the tea leaves on the ground into a rectangular tea pile with a certain volume. After a certain period of fermentation, workers spread out the tea pile and then pile it into a tea pile. After another period of fermentation, the whole fermentation process is over.

[0003] There is now automated equipment for Pu'er tea production and fermentation, but there is no corresponding robot to move the fermentation frame. Summary of the invention

[0004] The object of the present invention is to provide a fermentation frame manipulator capable of moving the fermentation frame.

[0005] To achieve the above object, the present invention provides the following technical solution: a fermentation frame manipulator, comprising: A support frame, on which a support frame is fixed, and the support frame supports the support frame on the ground; An X-axis moving device, the X-axis moving device is installed on the upper side of the supporting frame; A Y-axis moving device, wherein the Y-axis moving device is installed on the X-axis moving device; A Z-axis moving device, wherein the Z-axis moving device is installed on the Y-axis moving device; A gripping device, the gripping device comprising: Grab an upper plate, wherein the grab upper plate is fixed to the output end of the Z-axis moving device; A grabbing middle plate, wherein the grabbing middle plate is fixed below the grabbing upper plate through a connecting column; A grabbing shaft, the grabbing shaft is rotatably connected to the grabbing middle plate, and a grabbing upper gear and a grabbing lower gear are respectively fixed at the upper and lower ends of the grabbing shaft; A grabbing horizontal push hydraulic cylinder is fixed on the grabbing middle plate, and a grabbing upper driving rack is fixed on the output end of the grabbing horizontal push hydraulic cylinder. The grabbing upper driving rack is meshed with the grabbing upper gear. Two grabbing guide rails are fixed below the grabbing middle plate, and the two grabbing guide rails are located on the left and right sides of the grabbing lower gear. Grabbing sliders are installed on the two grabbing guide rails, and grabbing lower drive racks are fixed on the two grabbing sliders. The grabbing lower drive racks are meshed with the grabbing lower gear. A grabbing claw is also fixed on each grabbing slider, and the two grabbing claws are located at both ends of the grabbing middle plate.

[0006] Furthermore, the X-axis moving device comprises: Two X-axis guide rails, the two X-axis guide rails are fixed in parallel on the upper side of the support frame, and each of the X-axis guide rails is equipped with an X-axis slider; An X-axis cross plate, the X-axis cross plate is fixed on the X-axis slider; An X-axis driving motor, wherein the X-axis driving motor is fixed on the X-axis horizontal plate, and an X-axis driving gear is fixed on the rotating shaft of the X-axis driving motor; An X-axis rack is fixed to the upper side of the support frame, and the X-axis driving gear is meshed with the X-axis rack.

[0007] Furthermore, the Y-axis moving device comprises: Two Y-axis guide rails, the two Y-axis guide rails are fixed in parallel on the upper side of the X-axis cross plate, and each of the Y-axis guide rails is equipped with a Y-axis slider; A Y-axis cross plate, the Y-axis cross plate is fixed on the Y-axis slider; A Y-axis driving motor, wherein the Y-axis driving motor is fixed on the Y-axis horizontal plate, and a Y-axis driving gear is fixed on the rotating shaft of the Y-axis driving motor; The Y-axis rack is fixed on the upper side of the X-axis horizontal plate, and the Y-axis driving gear is meshed with the Y-axis rack.

[0008] Furthermore, the grabbing claw comprises an upper claw plate, a middle claw plate and a lower claw plate which are connected in sequence, and a claw groove is formed between the upper claw plate, the middle claw plate and the lower claw plate.

[0009] Furthermore, a nylon layer is fixed to the upper side of the lower claw plate.

[0010] Compared with the prior art, the present invention has the following beneficial effects: (1) The X-axis moving device can drive the two grabbing claws to move along the X-axis direction, the Y-axis moving device can drive the two grabbing claws to move along the Y-axis direction, and the Z-axis moving device can drive the two grabbing claws to move along the Z-axis direction, so that the grabbing claws can be moved to a suitable position; (2) When it is necessary to grab, the grabbing horizontal push hydraulic cylinder drives the grabbing upper drive rack to move horizontally, drives the grabbing upper gear to rotate, and the grabbing upper gear drives the grabbing lower gear to rotate, thereby driving the two grabbing lower drive racks to move at the same time. The two grabbing lower drive racks will move toward and in the opposite direction. When moving toward each other, the grabbing claws can grab the protrusions outside the fermentation frame, and then the X-axis moving device, the Y-axis moving device and the Z-axis moving device can move the fermentation frame to a suitable position, and then the two grabbing lower drive racks move in the opposite direction, thereby placing the fermentation frame in a suitable position. A grabbing horizontal push hydraulic cylinder can drive the two grabbing claws to move toward and in the opposite direction, which has a simple structure and is convenient for grabbing; (3) The X-axis drive motor can drive the X-axis drive gear to rotate, and the X-axis drive gear moves relative to the X-axis rack, driving the X-axis cross plate to move, thereby realizing the movement of the grabbing claw; (4) The Y-axis drive motor can drive the Y-axis drive gear to rotate, and the Y-axis drive gear moves relative to the Y-axis rack, thereby driving the Y-axis cross plate to move; (5) The nylon layer is used to provide high friction force to the fermentation frame during the clamping and lifting process and to prevent the surface from being damaged due to stress of rigid components. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the structure of the fermentation frame manipulator of the present invention; Figure 2 for Figure 1 A partial enlarged view of point I in the middle; Figure 3 for Figure 1 Schematic diagram of the structure from another angle; Figure 4 for Figure 3 A partial enlarged view of position II in the middle; Figure 5 for Figure 1 Front view of Figure 6 for Figure 5 Cross-sectional view at AA in the middle; Figure 7 for Figure 6 A partial enlarged view of the part III in the middle; Figure 8 for Figure 5 A partial enlarged view of the IV in the middle; Fig. 9 for Figure 1 A partial enlarged view of the middle V; Fig.10 Schematic diagram of the structure of the fermentation frame.

[0012] In the figure: 1. Support frame; 2. Support frame; 3. Grab the upper plate; 4. Grab the middle plate; 5. Grab the rotating shaft; 6. Grab the upper gear; 7. Grab the lower gear; 8. Connecting column; 9. Grab the horizontal push hydraulic cylinder; 10. Grab the upper drive rack; 11. Grab the guide rail; 12. Grab the slider; 13. Grab the lower drive rack; 14. X-axis guide rail; 15. X-axis slider; 16. X-axis horizontal plate; 17. X Axis drive motor; 18, X-axis drive gear; 19, X-axis rack; 20, Y-axis guide rail; 21, Y-axis slider; 22, Y-axis cross plate; 23, Y-axis drive motor; 24, Y-axis drive gear; 25, Y-axis rack; 26, upper claw plate; 27, middle claw plate; 28, lower claw plate; 29, claw groove; 30, nylon layer; 31, Z-axis moving device; 32, fermentation frame; 33, protrusion outside the frame. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0014] See also Figure 1-Figure 9 The present invention provides a fermentation frame robot technical solution.

[0015] A fermentation frame robot, comprising: A support frame 1, on which a support frame 2 is fixed, and the support frame 2 supports the support frame 1 on the ground; An X-axis moving device, the X-axis moving device is installed on the upper side of the support frame 1, and the X-axis moving device can move on the upper side of the support frame 1; A Y-axis moving device, the Y-axis moving device is installed on the X-axis moving device, and the Y-axis moving device can move on the X-axis moving device; A Z-axis moving device 31, wherein the Z-axis moving device 31 is mounted on the Y-axis moving device; The grabbing device comprises: Grab the upper plate 3, and fix the grab upper plate 3 on the output end of the Z-axis moving device 31. The Z-axis moving device 31 can drive the grab upper plate 3 to move up and down; Grab the middle plate 4, and fix the middle plate 4 below the grab upper plate 3 through the connecting column 8; A grabbing shaft 5, which is rotatably connected to the grabbing middle plate 4, and an upper grabbing gear 6 and a lower grabbing gear 7 are respectively fixed to the upper and lower ends of the grabbing shaft 5, the upper grabbing gear 6 is located above the grabbing middle plate 4, and the lower grabbing gear 7 is located below the grabbing middle plate 4; A grabbing horizontal push hydraulic cylinder 9 is fixed on the grabbing middle plate 4, and a grabbing upper driving rack 10 is fixed on the output end of the grabbing horizontal push hydraulic cylinder 9. The grabbing upper driving rack 10 is meshed with the grabbing upper gear 6. Two grabbing guide rails 11 are fixed under the grabbing middle plate 4, and the two grabbing guide rails 11 are located on the left and right sides of the grabbing lower gear 7. Grabbing sliders 12 are installed on the two grabbing guide rails 11, and grabbing lower driving racks 13 are fixed on the two grabbing sliders 12. The grabbing lower driving racks 13 are meshed with the grabbing lower gear 7. A grabbing claw is also fixed on each grabbing slider 12, and the two grabbing claws are located at both ends of the grabbing middle plate 4.

[0016] The X-axis moving device can drive the two grabbing claws to move along the X-axis direction, the Y-axis moving device can drive the two grabbing claws to move along the Y-axis direction, and the Z-axis moving device 31 can drive the two grabbing claws to move along the Z-axis direction, so that the grabbing claws can be moved to a suitable position. When grabbing is required, the grabbing horizontal push hydraulic cylinder 9 drives the grabbing upper driving rack 10 to move horizontally, drives the grabbing upper gear 6 to rotate, and the grabbing upper gear 6 drives the grabbing lower gear 7 to rotate, thereby driving the two grabbing lower driving racks 13 to move at the same time, and the two grabbing lower driving racks 13 will move toward and against each other. When moving toward each other, the grabbing claws can grab the outer protrusion 33 of the fermentation frame 32, and then the X-axis moving device, the Y-axis moving device and the Z-axis moving device 31 can move the fermentation frame 32 to a suitable position, and then the two grabbing lower driving racks 13 move in the opposite direction, thereby placing the fermentation frame 32 in a suitable position.

[0017] The two grabbing claws can be driven to move toward and in opposite directions by a grabbing horizontal push hydraulic cylinder 9, which has a simple structure and is convenient for grabbing.

[0018] The X-axis moving device includes: Two X-axis guide rails 14, the two X-axis guide rails 14 are fixed in parallel to the upper side of the support frame 1, and each X-axis guide rail 14 is installed with an X-axis slider 15; An X-axis cross plate 16 is fixed on the X-axis slider 15 so that the X-axis cross plate 16 can move relative to the X-axis guide rail 14 through the X-axis slider 15; An X-axis driving motor 17, the X-axis driving motor 17 is fixed on the X-axis horizontal plate 16, and an X-axis driving gear 18 is fixed on the rotating shaft of the X-axis driving motor 17; An X-axis rack 19 is fixed to the upper side of the support frame 1 , and an X-axis driving gear 18 is meshed with the X-axis rack 19 .

[0019] The X-axis driving motor 17 can drive the X-axis driving gear 18 to rotate, and the X-axis driving gear 18 moves relative to the X-axis rack 19, driving the X-axis cross plate 16 to move, thereby realizing the movement of the grabbing claw.

[0020] The Y-axis moving device includes: Two Y-axis guide rails 20, the two Y-axis guide rails 20 are fixed in parallel to the upper side of the X-axis horizontal plate 16, and each Y-axis guide rail 20 is installed with a Y-axis slider 21; A Y-axis cross plate 22, the Y-axis cross plate 22 is fixed on the Y-axis slider 21; A Y-axis driving motor 23, the Y-axis driving motor 23 is fixed on the Y-axis horizontal plate 22, and a Y-axis driving gear 24 is fixed on the rotating shaft of the Y-axis driving motor 23; The Y-axis rack 25 is fixed to the upper side of the X-axis horizontal plate 16 , and the Y-axis driving gear 24 is meshed with the Y-axis rack 25 .

[0021] The Y-axis driving motor 23 can drive the Y-axis driving gear 24 to rotate, and the Y-axis driving gear 24 moves relative to the Y-axis rack 25, thereby driving the Y-axis cross plate 22 to move.

[0022] The grabbing claw includes an upper claw plate 26, a middle claw plate 27 and a lower claw plate 28 connected in sequence, and a claw groove 29 is formed between the upper claw plate 26, the middle claw plate 27 and the lower claw plate 28. When the grabbing claw grabs the fermentation frame 32, the claw groove 29 of the outer protrusion 33 of the fermentation frame 32 is plugged, so that the fermentation frame 32 can be better lifted.

[0023] A nylon layer 30 is fixed to the upper side of the lower claw plate 28. The nylon layer 30 is used to provide a large friction force and prevent the rigid component stress from causing surface damage during the fermentation frame 32 clamping and lifting process.

[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fermentation frame robot, characterized in that: include, A support frame, on which a support frame is fixed, and the support frame supports the support frame on the ground; An X-axis moving device, the X-axis moving device is installed on the upper side of the supporting frame; A Y-axis moving device, wherein the Y-axis moving device is installed on the X-axis moving device; A Z-axis moving device, wherein the Z-axis moving device is installed on the Y-axis moving device; A gripping device, the gripping device comprising: Grab an upper plate, wherein the grab upper plate is fixed to the output end of the Z-axis moving device; A grabbing middle plate, wherein the grabbing middle plate is fixed below the grabbing upper plate through a connecting column; A grabbing shaft, the grabbing shaft is rotatably connected to the grabbing middle plate, and a grabbing upper gear and a grabbing lower gear are respectively fixed at the upper and lower ends of the grabbing shaft; A grabbing horizontal push hydraulic cylinder is fixed on the grabbing middle plate, and a grabbing upper driving rack is fixed on the output end of the grabbing horizontal push hydraulic cylinder. The grabbing upper driving rack is meshed with the grabbing upper gear. Two grabbing guide rails are fixed below the grabbing middle plate, and the two grabbing guide rails are located on the left and right sides of the grabbing lower gear. Grabbing sliders are installed on the two grabbing guide rails, and grabbing lower drive racks are fixed on the two grabbing sliders. The grabbing lower drive racks are meshed with the grabbing lower gear. A grabbing claw is also fixed on each grabbing slider, and the two grabbing claws are located at both ends of the grabbing middle plate.

2. A fermentation frame manipulator according to claim 1, characterized in that: The X-axis moving device comprises: Two X-axis guide rails, the two X-axis guide rails are fixed in parallel on the upper side of the support frame, and each of the X-axis guide rails is equipped with an X-axis slider; An X-axis cross plate, the X-axis cross plate is fixed on the X-axis slider; An X-axis driving motor, wherein the X-axis driving motor is fixed on the X-axis horizontal plate, and an X-axis driving gear is fixed on the rotating shaft of the X-axis driving motor; An X-axis rack is fixed to the upper side of the support frame, and the X-axis driving gear is meshed with the X-axis rack.

3. A fermentation frame manipulator according to claim 2, characterized in that: The Y-axis moving device comprises: Two Y-axis guide rails, the two Y-axis guide rails are fixed in parallel on the upper side of the X-axis cross plate, and each of the Y-axis guide rails is equipped with a Y-axis slider; A Y-axis cross plate, the Y-axis cross plate is fixed on the Y-axis slider; A Y-axis driving motor, wherein the Y-axis driving motor is fixed on the Y-axis horizontal plate, and a Y-axis driving gear is fixed on the rotating shaft of the Y-axis driving motor; The Y-axis rack is fixed on the upper side of the X-axis horizontal plate, and the Y-axis driving gear is meshed with the Y-axis rack.

4. A fermentation frame manipulator according to claim 1, characterized in that: The grabbing claw comprises an upper claw plate, a middle claw plate and a lower claw plate which are connected in sequence, and a claw groove is formed between the upper claw plate, the middle claw plate and the lower claw plate.

5. A fermentation frame robot according to claim 4, characterized in that: A nylon layer is fixed to the upper side of the lower claw plate.

Images