Mixing device for preparing humanoid robot skin material
By employing a composite motion design involving a multi-bladed stirring rod and gear meshing, the problem of solid raw materials agglomerating in a liquid is solved, achieving efficient and uniform mixing of skin materials.
Patent Information
- Application Number
- CN202511806113.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-01-02
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In existing mixing devices for skin material preparation, solid raw materials tend to agglomerate during the stirring process, and insufficient shear force leads to a decrease in mixing quality.
The design employs a multi-blade stirring rod and gear meshing transmission to achieve a combined rotation and revolution motion. Combined with a torsion component and a multi-dispensing component, it ensures that solid raw materials are evenly distributed and rapidly dispersed in the liquid.
It improves the mixing quality of skin materials, ensures that solid raw materials are evenly distributed in liquid, reduces agglomeration, and enhances mixing efficiency and uniformity.
Smart Images
Figure CN121244052A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of material preparation and mixing technology, and specifically to a mixing device for preparing humanoid robot skin materials. Background Technology
[0002] Humanoid robots are robots with a human-like shape and structure, mimicking human form (such as head, torso, limbs, and hands) and possessing facial features or expressions. Furthermore, their joint and limb layouts are similar to humans, facilitating movement in human environments. Because humanoid robots have numerous sensors and metal shells in their limbs, skin materials are needed to cover the robot's mechanical skeleton, motors, sensors, and other components to prevent external damage such as dust, moisture, and collisions. The preparation of skin materials requires mixing different types of raw materials together using a mixer to ensure uniform bonding of the components, meeting performance, sensing, and biomimetic requirements. Existing raw material mixing devices for skin material preparation primarily use worm gear-type mixing structures. When solid raw materials are added to liquid raw materials for mixing, there is usually only a single rotational motion. The shearing force generated during this motion is insufficient to effectively break up the agglomerates between solid raw materials, affecting the circulation of solids in the liquid and reducing the quality of the mixture. Summary of the Invention
[0003] The purpose of this invention is to provide a mixing apparatus for preparing skin materials for humanoid robots, thereby addressing the aforementioned shortcomings in the technology.
[0004] To achieve the above objectives, the present invention provides the following technical solution: a mixing device for preparing skin materials for a humanoid robot, comprising a mixing tank and an upper arm cover. The upper arm cover is equipped with an inlet and a liquid inlet communicating with its interior. The interior of the upper arm cover is provided with a multi-mixing structure for mixing the materials inside the mixing tank. The multi-mixing structure includes several multi-bladed stirring rods rotatably connected inside the upper arm cover. The multi-bladed stirring rods rotate and revolve within the mixing tank, and are used to uniformly feed the materials from the inlet into the interior of the mixing tank and uniformly stir the materials inside the mixing tank. The interior of the multi-mixing structure is provided with a turbulence component for multi-dimensional stirring of the bottom of the mixing tank. The interior of the inlet is provided with a twisting component for pushing and dispersing the materials, and the twisting component is used to move the materials up and down within the mixing tank.
[0005] Preferably, a first gear is installed at the top of the multi-blade stirring rod, an internal gear ring is installed inside the upper arm cover, a connecting column is connected to the top of the first gear, a gear frame is movably connected inside the upper arm cover and the gear frame is sleeved on the outside of the connecting column, the top of the connecting column is provided with connecting teeth that mesh with the internal gear ring, a servo motor is fixedly connected to the top of the upper arm cover, and the output end of the servo motor passes through the gear frame and is fixedly connected to a second gear that meshes with the first gear. A multi-dispensing component is provided outside the multi-blade stirring rod, and the multi-dispensing component is used to change the material inside the feed inlet from falling to being dispersed and sprinkled in.
[0006] Preferably, the multi-dispensing assembly includes a platform frame fixedly sleeved on the outside of the multi-blade stirring rod, and the platform frame is configured as a trapezoidal structure. A receiving frame is fixedly connected to the side of the platform frame near the feed inlet, and the receiving frame is configured as a conical structure. A receiving groove for material to enter is opened at the top of the receiving frame, and a dispensing hopper communicating with the inside of the receiving frame is fixedly connected inside the receiving frame.
[0007] Preferably, a large-mesh mesh plate is fixedly connected inside the receiving trough, and the receiving rack keeps the material inside the receiving trough in a surrounding state.
[0008] Preferably, a central column is fixedly connected to the bottom end of the second gear, and a diagonal support arm is fixedly connected to the bottom of the central column. The diagonal support arm and the central column are configured as an L-shaped structure. A side support rod is fixedly connected to the bottom of the multi-blade stirring rod, and a receiving column is movably connected to the top of the side support rod. A deflecting blade is fixedly connected to the outside of the receiving column. An abutting ring is fixedly connected to the outside of the diagonal support arm. The abutting ring is used to push the deflecting blade to tilt and swing. A torsion spring is connected between the receiving column and the side support rod. The torsion spring is used to push the receiving column to move and reset.
[0009] Preferably, the dispersing assembly includes a connecting sleeve sleeved outside the feed inlet, and the connecting sleeve sleeve communicates with the interior of the feed inlet. A collar is rotatably connected inside the connecting sleeve sleeve, and a dispersing cavity is opened at one end of the collar sleeve. The dispersing cavity is funnel-shaped, and several rotating blades are fixedly connected inside the dispersing cavity.
[0010] Preferably, the connecting sleeve is movably connected to a guide ring, the guide ring has a guide groove communicating with the interior of the dispersion cavity, and a plurality of guide vanes are fixedly connected to the interior of the guide groove.
[0011] Preferably, both the collar and the guide ring are fixedly fitted with external toothed rings, and the connecting sleeve has a centering groove for the external toothed ring to rotate inside. One end of the connecting sleeve is fixedly connected to a drive motor, and the output end of the drive motor extends into the centering groove and is fixedly fitted with a guide toothed ring that meshes with the external toothed ring.
[0012] The technical effects and advantages provided by the present invention in the above technical solution are as follows: 1. This invention, through the arrangement of a multi-bladed stirring rod, a first gear, a second gear, a mixing tank, and connecting teeth, uses the meshing transmission between the first gear and the second gear to drive the multi-bladed stirring rod to rotate. The rotation of the multi-bladed stirring rod provides strong shearing and dispersion in localized areas, which can quickly disperse solid particles and prevent them from forming large clumps due to mutual adhesion or agglomeration. The meshing transmission between the connecting teeth and the inner toothed ring drives the multi-bladed stirring rod to revolve. The revolve motion of the multi-bladed stirring rod generates a spiral fluid flow, which pushes the liquid and solid raw materials upward from the bottom of the container, enhances the circulation flow of solids in the liquid, and improves the mixing quality of the skin material. 2. The present invention, through the arrangement of multi-blade stirring rod, first gear and second gear, enables the multi-blade stirring rod to not only rotate around its own axis, but also to revolve around the center of the mixing tank, so that the material forms a complex flow trajectory in the mixing tank, with both axial up and down flow and radial in and out flow. This compound motion enables the stirrer to cover all areas in the container, especially the bottom and edges where solids are easily deposited, further improving the mixing quality of the skin material. 3. The present invention, through the setting of the feed inlet, the multi-dispensing component and the multi-blade stirring rod, allows the solid raw materials inside the feed inlet to fall freely into the mixing tank by inertia, and to be dispensed at a fixed position inside the mixing tank. Then, the multi-dispensing component, under the rotation of the multi-blade stirring rod, dispenses the raw materials inside the feed inlet into the mixing tank, changing the dispensing range of the solid raw materials, ensuring that the solid raw materials are evenly distributed in the liquid, and improving the uniformity of the skin material in the preparation process; 4. The present invention, through the setting of the feed inlet, receiving rack, platform rack and multi-blade stirring rod, enables the raw materials to be dispersed and fed under the action of the platform rack and receiving rack, so that they can work together with the rotation and revolution of the multi-blade stirring rod. The high shear force generated by the rotation of the multi-blade stirring rod can break larger solid particles into smaller particles, increase the contact area between solid and liquid, promote the dissolution and dispersion of solid, and ensure that the skin material in the entire mixing tank is in a dynamic mixing state. 5. The present invention, through the arrangement of multi-blade stirring rod, side support rod, contact ring, inclined support arm and agitator blade, enables the convection formed during the rotation of multi-blade stirring rod, side support rod and contact ring to drive the liquid and solid raw materials to continuously circulate. The liquid and solid materials in the lower layer will be carried to the upper layer, and the materials in the upper layer will replenish the lower layer, leaving no dead corners in the mixing, and ensuring that the materials in the entire mixing tank are in a dynamic mixing state. 6. The present invention, through the setting of the feed inlet, the twisting component, the multi-blade stirring rod and the receiving rack, can refine the solid particles inside the feed inlet. The dispersed solid particles have better dispersion and will not exist in the form of agglomeration. When they enter the liquid later, they can come into contact with the liquid more quickly, laying the foundation for uniform mixing. The diffusion speed in the liquid is accelerated, reducing the time required for mixing skin materials. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.
[0014] Figure 1 This is a schematic diagram of the feed inlet structure of the present invention; Figure 2 This is a schematic diagram of the internal toothed ring of the present invention; Figure 3 This is a schematic diagram of the structure of the multi-blade stirring rod of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of section A in the image; Figure 5 This is a schematic diagram of the torsion spring of the present invention; Figure 6 This is a schematic diagram of the material receiving rack near the feed inlet of the present invention; Figure 7 This is a schematic diagram of the material receiving rack of the present invention; Figure 8 This is a schematic diagram of the structure of the collar of the present invention; Figure 9 This is a schematic diagram of the platform frame of the present invention near the feed inlet.
[0015] Explanation of reference numerals in the attached figures: 1. Mixing tank; 11. Upper arm cover; 12. Feed inlet; 13. Liquid inlet; 2. Multi-mixing structure; 21. Multi-blade stirring rod; 22. Internal gear ring; 23. Gear frame; 24. Connecting column; 25. Connecting tooth; 26. First gear; 27. Second gear; 28. Servo motor; 3. Tamper assembly; 31. Central column; 32. Diagonal brace arm; 33. Contact ring; 34. Side support rod; 35. Support column; 36. Actuating blade; 37. Torsion spring; 4. Dispersion assembly; 41. Connecting sleeve; 42. Centering groove; 43. Collar; 44. Rotating vane; 45. Dispersion chamber; 46. External gear ring; 47. Drive motor; 48. Guide gear ring; 49. Guide ring; 401. Guide vane; 402. Guide groove; 5. Multiple material spreading components; 51. Platform frame; 52. Material receiving frame; 53. Material receiving trough; 54. Material distribution hopper; 55. Large mesh screen. Detailed Implementation
[0016] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.
[0017] This invention provides, for example Figure 1 , Figure 2 and Figure 3 The apparatus shown is a mixing device for preparing skin material for a humanoid robot. It includes a mixing tank 1 and an upper arm cover 11. The upper arm cover 11 has an external inlet 12 and a liquid inlet 13 communicating with its interior. The interior of the upper arm cover 11 is equipped with a multi-mixing structure 2 for mixing the materials inside the mixing tank 1. The multi-mixing structure 2 includes several multi-bladed stirring rods 21 rotatably connected inside the upper arm cover 11. The multi-bladed stirring rods 21 rotate and revolve within the mixing tank 1, uniformly feeding the material from the inlet 12 into the mixing tank 1 and agitating the material inside the mixing tank 1. The top of the multi-blade stirring rod 21 is equipped with a first gear 26, the inside of the upper arm cover 11 is equipped with an internal gear ring 22, the top of the first gear 26 is connected to a connecting post 24, the inside of the upper arm cover 11 is movably connected with a gear frame 23, and the gear frame 23 is sleeved on the outside of the connecting post 24. The top of the connecting post 24 is provided with a connecting tooth 25 that meshes with the internal gear ring 22. The top of the upper arm cover 11 is fixedly connected with a servo motor 28, and the output end of the servo motor 28 passes through the gear frame 23 and is fixedly connected with a second gear 27 that meshes with the first gear 26. refer to Figure 1 , Figure 2 and Figure 3 As shown, there are three multi-blade stirring rods 21, and the number of the first gear 26, connecting teeth 25 and connecting column 24 is consistent with the number of multi-blade stirring rods 21. In addition, the three multi-blade stirring rods 21 are set into a triangular structure under the action of the gear frame 23, so that the three multi-blade stirring rods 21 are distributed in different positions inside the mixing tank 1. The servo motor 28 and the gear frame 23 are connected by bearings to reduce the friction between the servo motor 28 and the gear frame 23 and improve its service life. refer to Figure 1 , Figure 2 and Figure 3As shown, when it is necessary to uniformly mix the liquid and solid inside the mixing tank 1, the solid raw material is first collected inside the feed inlet 12. At this time, the feed inlet 12 guides and transports the solid raw material inside to a specific position inside the mixing tank 1, so that the solid raw material comes into contact with the liquid raw material inside the mixing tank 1. Then, the servo motor 28 drives the second gear 27 to rotate synchronously, and the rotation of the second gear 27 meshes with the three first gears 26, so that the three multi-blade stirring rods 21 rotate synchronously under the action of the three first gears 26, which is used to stir the surrounding raw material. Moreover, the rotation of the three first gears 26 drives the three connecting columns 24 to rotate in the gear frame 23, so that the three connecting teeth 25 mesh with the inner gear ring 22. As the three connecting teeth 25 are driven, the connecting columns 24, the gear frame 23 and the first gears 26 rotate along the bottom of the inner gear ring 22; then the first gears 26 and the second gears 27 mesh with each other. The intermediate drive is used to drive the multi-blade stirring rod 21 to rotate. The rotation of the multi-blade stirring rod 21 provides strong shearing and dispersion in local areas, which can quickly disperse solid particles and prevent them from forming large lumps due to mutual adhesion or agglomeration. The meshing drive between the connecting tooth 25 and the inner tooth ring 22 is used to drive the multi-blade stirring rod 21 to revolve. The revolve motion of the multi-blade stirring rod 21 generates a spiral fluid flow, which pushes the liquid and solid raw materials from the bottom of the container upwards. Then, through the rotation of the multi-blade stirring rod 21, its outer blades push the raw materials back to the bottom, forming a circulating flow and ensuring that the solid materials are always suspended in the liquid. It not only rotates around its own axis but also revolves around the center of the mixing tank 1, so that the materials form a complex flow trajectory in the mixing tank 1, with both axial up-and-down flow and radial in-and-out flow. This composite motion allows the stirrer to cover all areas in the container, especially the bottom and edges where solids are prone to accumulate.
[0018] refer to Figure 3 , Figure 4 and Figure 5 As shown, the multi-mixing structure 2 is internally equipped with a turbulence assembly 3 for multi-dimensional stirring at the bottom of the mixing tank 1. The bottom end of the second gear 27 is fixedly connected to a central column 31, and the bottom of the central column 31 is fixedly connected to a slanted support arm 32. The slanted support arm 32 and the central column 31 are configured as an L-shaped structure. The bottom of the multi-blade stirring rod 21 is fixedly connected to a side support rod 34, and the top of the side support rod 34 is movably connected to a receiving column 35. The outside of the receiving column 35 is fixedly connected to a deflecting blade 36. The outside of the slanted support arm 32 is fixedly connected to a contact ring 33, and the contact ring 33 is used to push the deflecting blade 36 to tilt and swing. A torsion spring 37 is connected between the receiving column 35 and the side support rod 34, and the torsion spring 37 is used to push the receiving column 35 to move and reset. refer to Figure 3 , Figure 4 and Figure 5As shown, the number of receiving column 35, agitator blade 36, side support rod 34 and torsion spring 37 is equal to that of multi-blade stirring rod 21, and the number of contact ring 33, inclined support arm 32 and central column 31 is a set, and they are used in a matching manner. The central column 31 is located in the middle of the three multi-blade stirring rods 21, and the contact ring 33 maintains intermittent contact with the three agitator blades 36 in sequence. refer to Figure 3 , Figure 4 and Figure 5 As shown, when the multi-blade stirring rod 21 rotates, it drives the side support rod 34 to rotate synchronously. Then, the central column 31 rotates synchronously under the rotation of the second gear 27. At this time, the rotation of the central column 31 drives the inclined support arm 32 and the contact ring 33 to rotate synchronously. Simultaneously, the side support rod 34 rotates under the rotation of the multi-blade stirring rod 21, and the rotation of the side support rod 34 drives the receiving column 35 and the agitator blade 36 to rotate. During the rotation of the contact ring 33, it contacts the rotating agitator blade 36. The outer surface of the contact ring 33 pushes the agitator blade 36, causing the receiving column 35 to rotate along the inside of the side support rod 34. During the rotation of the receiving column 35, it contacts the torsion spring 37. This causes the tilting state of the receiving column 35 and the agitator 36 to change during rotation. As the contact ring 33 slides past the outside of the agitator 36, the torsion spring 37 elastically resets itself, driving the receiving column 35 to rotate and reset along the outside of the side support rod 34. Then, the agitator 36 and the contact ring 33 engage in the next round of contact, so that the convection formed by the multi-blade stirring rod 21, the side support rod 34, the inclined support arm 32 and the agitator 36 during rotation can drive the liquid and solid raw materials to continuously circulate. The liquid and solid materials in the lower layer will be carried to the upper layer, and the materials in the upper layer will replenish the lower layer, leaving no dead corners in the mixing, ensuring that the materials in the entire mixing tank 1 are in a dynamic mixing state.
[0019] refer to Figure 3 , Figure 6 , Figure 8 and Figure 9As shown, a material-pushing and dispersing assembly 4 is installed inside the feed inlet 12, and the material-pushing assembly 4 is used to move the material up and down inside the mixing tank 1. The material-pushing assembly 4 includes a connecting sleeve 41 sleeved outside the feed inlet 12, and the connecting sleeve 41 communicates with the inside of the feed inlet 12. A collar 43 is rotatably connected inside the connecting sleeve 41, and a dispersion chamber 45 is opened at one end of the collar 43. The dispersion chamber 45 is funnel-shaped, and several rotating blades 44 are fixedly connected inside the dispersion chamber 45. The internal movement of the connecting sleeve 41 is... A guide ring 49 is connected, and a guide groove 402 communicating with the interior of the dispersion chamber 45 is opened inside the guide ring 49. Several guide vanes 401 are fixedly connected inside the guide groove 402. External toothed rings 46 are fixedly sleeved on the outside of both the collar 43 and the guide ring 49. A centering groove 42 for the external toothed ring 46 to rotate is opened inside the connecting sleeve 41. A drive motor 47 is fixedly connected to one end of the connecting sleeve 41. The output end of the drive motor 47 extends into the interior of the centering groove 42 and is fixedly sleeved with a guide toothed ring 48 that meshes with the external toothed ring 46. refer to Figure 8 and Figure 9 As shown, there are two centering grooves 42, and guide rings 49 and collars 43 are respectively installed inside the two centering grooves 42. There are also two guide toothed rings 48 and two outer toothed rings 46. The outer teeth of the two guide toothed rings 48 and the outer teeth of the two outer toothed rings 46 are kept in relative meshing, so that one of the outer toothed rings 46 rotates clockwise and the other outer toothed ring 46 rotates counterclockwise. refer to Figure 3 , Figure 6 , Figure 8 and Figure 9As shown, when solid raw materials are added to the feed inlet 12, the drive motor 47 drives the two guide toothed rings 48 to rotate synchronously. The two guide toothed rings 48 then mesh with the two outer toothed rings 46. At this time, one outer toothed ring 46 rotates clockwise along one centering groove 42, and the other outer toothed ring 46 rotates counterclockwise along the other centering groove 42. The rotation of the two outer toothed rings 46 drives the collar 43 and guide ring 49 to rotate synchronously and alternately. The collar 43 drives the rotating blade 44 to perform the first crushing of the solid raw materials. The crushed raw materials move into the guide groove 402 through the dispersion chamber 45, thereby causing the guide ring 49 to rotate and drive the guide blade 46 to rotate. 01 The raw material inside the guide channel 402 is crushed for a second crushing of the solid raw material, which is used to refine the solid particles inside the feed inlet 12. The dispersed solid particles have better dispersion and will not exist in the form of agglomeration. When they enter the liquid later, they can come into contact with the liquid more quickly, laying the foundation for uniform mixing. Their diffusion speed in the liquid is accelerated, reducing the mixing time required. And by refining the solid raw material inside the feed inlet 12, the solid raw material is prevented from entering the mixing tank 1 in the form of large pieces or agglomeration, reducing the energy consumption of the multi-blade stirring rod 21 and the servo motor 28, reducing the burden on the multi-blade stirring rod 21 and reducing energy consumption.
[0020] refer to Figure 3 , Figure 6 , Figure 7 and Figure 9 As shown, the multi-blade stirring rod 21 is provided with a multi-downward feeding assembly 5 on its outside, and the multi-downward feeding assembly 5 is used to change the material inside the feed inlet 12 from falling to being dispersed and sprinkled in; the multi-downward feeding assembly 5 includes a platform frame 51 fixedly sleeved on the outside of the multi-blade stirring rod 21, and the platform frame 51 is configured as a trapezoidal structure. A receiving frame 52 is fixedly connected to the side of the platform frame 51 near the feed inlet 12, and the receiving frame 52 is configured as a conical structure. A receiving groove 53 for material to enter is opened at the top of the receiving frame 52, and a distributing hopper 54 communicating with its interior is fixedly connected inside the receiving frame 52; Furthermore, the number of multiple feeding components 5 is the same as the number of multi-blade stirring rods 21, and the three multiple feeding components 5 maintain intermittent contact with the feed inlet 12 under the action of the multi-blade stirring rods 21, so as to maintain multiple feeding methods for the solid raw materials inside the feed inlet 12 when they are in the mixing tank 1. refer to Figure 3 , Figure 6 , Figure 7 and Figure 9As shown, during the rotation and revolution of the multi-blade stirring rod 21, it drives the multi-dispensing assembly 5 and the feed inlet 12 to maintain different receiving methods. The rotation of the multi-blade stirring rod 21 drives the platform frame 51 and the receiving frame 52 to rotate synchronously. Then, the revolution of the multi-blade stirring rod 21 drives the platform frame 51 and the receiving frame 52 to move closer to the feed inlet 12. During this process, the solid raw materials inside the feed inlet 12 fall freely into the mixing tank 1 due to inertia and are discharged at a fixed position inside the mixing tank 1. At this time, the revolution of the multi-blade stirring rod 21 drives the receiving frame 52 and the platform frame 51 to move closer to the inside of the feed inlet 12. Under the rotation of the multi-blade stirring rod 21, the platform frame 51 moves closer to the bottom of the feed inlet 12, causing the solid raw materials inside the feed inlet 12 to fall onto the top of the platform frame 51. Then, the platform frame 51, under the rotation, sprinkles the raw materials on its top into the mixing tank 1, changing the solid raw material discharge. The multi-blade stirring rod 21 rotates, causing the platform frame 51 and the receiving frame 52 to alternate along the bottom of the feed inlet 12, so that the raw material inside the feed inlet 12 falls into the receiving trough 53. As the large mesh plate 55 discharges the raw material inside the receiving trough 53 into the distribution hopper 54, the distribution hopper 54 discharges the raw material inside it around the multi-blade stirring rod 21. Then, it moves back and forth in sequence to disperse the raw material inside the feed inlet 12 at different positions in the mixing tank 1. Multiple dispersion and feeding methods ensure that the solid raw material is evenly distributed in the liquid. In addition, the dispersion and feeding can work in synergy with the rotation and revolution of the multi-blade stirring rod 21. The high shear force generated when the multi-blade stirring rod 21 rotates can break larger solid particles into smaller particles, increase the contact area between the solid and the liquid, promote the dissolution and dispersion of the solid, and ensure that the material in the entire mixing tank 1 is in a dynamic mixing state. refer to Figure 6 and Figure 7 As shown, a large-mesh mesh plate 55 is fixedly connected inside the receiving trough 53, and the receiving rack 52 keeps the material inside the receiving trough 53 in a surrounding state. When the raw material falls into the receiving trough 53, there is a height difference of the raw material inside the receiving trough 53, so that the receiving trough 53 forms a fence around the raw material inside, preventing the raw material from being thrown out when rotating, and ensuring that the raw material inside the receiving trough 53 slides naturally into the mixing tank 1 through the distributing hopper 54, avoiding the accumulation of raw material, thereby achieving efficient and stable receiving and dispersing operations.
[0021] Working principle: When using; refer to Figure 1 , Figure 2 and Figure 3As shown, when it is necessary to uniformly mix the liquid and solid inside the mixing tank 1, the solid raw material is first collected inside the feed inlet 12. At this time, the feed inlet 12 guides and transports the solid raw material inside to a specific position inside the mixing tank 1, so that the solid raw material comes into contact with the liquid raw material inside the mixing tank 1. Then, the servo motor 28 drives the second gear 27 to rotate synchronously, and the rotation of the second gear 27 meshes with the three first gears 26, so that the three multi-blade stirring rods 21 rotate synchronously under the action of the three first gears 26 to stir the surrounding raw material. Moreover, the rotation of the three first gears 26 drives the three connecting columns 24 to rotate inside the gear frame 23, so that the three connecting teeth 25 mesh with the inner gear ring 22. As the three connecting teeth 25 are driven, the connecting columns 24, the gear frame 23 and the first gears 26 rotate along the bottom of the inner gear ring 22.
[0022] refer to Figure 6 , Figure 8 and Figure 9 As shown, when solid raw materials are added to the feed inlet 12, the drive motor 47 drives the two guide toothed rings 48 to rotate synchronously. Then, the two guide toothed rings 48 mesh with the two outer toothed rings 46. At this time, one of the outer toothed rings 46 rotates clockwise along one of the centering grooves 42, and the other outer toothed ring 46 rotates counterclockwise along the other centering groove 42. The rotation of the two outer toothed rings 46 drives the collar 43 and the guide ring 49 to rotate synchronously and alternately. Moreover, the collar 43 drives the rotating blade 44 to perform the first crushing of the solid raw materials. The crushed raw materials move into the interior of the guide groove 402 through the dispersion chamber 45. Thus, the rotation of the guide ring 49 drives the guide blade 401 to crush the raw materials inside the guide groove 402, which is used to perform the second crushing of the solid raw materials, and to refine the solid particles inside the feed inlet 12.
[0023] refer to Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the rotation of the multi-blade stirring rod 21 and the second gear 27 drives the tamping assembly 3 to rotate synchronously. The convection generated during the rotation of the tamping assembly 3 drives the liquid and solid raw materials to circulate continuously. The liquid and solid materials in the lower layer are carried to the upper layer, and the materials in the upper layer are replenished to the lower layer, leaving no dead corners in the mixing. The rotation of the multi-blade stirring rod 21 drives the multi-feeding assembly 5 to rotate synchronously, so that the solid raw materials inside the feed inlet 12 fall freely into the interior of the mixing tank 1 by inertia and are fed into a fixed position inside the mixing tank 1. Then, under the rotation of the multi-blade stirring rod 21, the multi-feeding assembly 5 sprinkles the raw materials inside the feed inlet 12 into the interior of the mixing tank 1, changing the feeding range of the solid raw materials and ensuring that the solid raw materials are evenly distributed in the liquid.
[0024] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.
Claims
1. A mixing device for preparing skin material for a humanoid robot, comprising a mixing tank and an upper arm cover, wherein the upper arm cover is externally fitted with a feed inlet and a liquid inlet communicating with the interior, characterized in that: The upper arm cover is internally equipped with a multi-mixing structure for mixing materials inside the mixing tank. The multi-mixing structure includes several multi-bladed stirring rods rotatably connected inside the upper arm cover. The multi-bladed stirring rods rotate and revolve within the mixing tank, and are used to uniformly feed the material from the feed inlet into the mixing tank and evenly stir the material inside the mixing tank. The multi-mixing structure is internally equipped with a tumbling component for multi-dimensional stirring at the bottom of the mixing tank. The feed inlet is internally equipped with a twisting component for pushing and dispersing the material, and the twisting component is used to move the material up and down within the mixing tank.
2. The mixing apparatus for preparing humanoid robot skin material according to claim 1, characterized in that: The top of the multi-blade stirring rod is equipped with a first gear, and the inside of the upper arm cover is equipped with an internal gear ring. The top of the first gear is connected to a connecting column, and the inside of the upper arm cover is movably connected with a gear frame, which is sleeved on the outside of the connecting column. The top of the connecting column is provided with connecting teeth that mesh with the internal gear ring. The top of the upper arm cover is fixedly connected with a servo motor, and the output end of the servo motor passes through the gear frame and is fixedly connected with a second gear that meshes with the first gear. The outside of the multi-blade stirring rod is provided with a multi-downward material spreading assembly, which is used to change the material inside the feed inlet from falling to being dispersed and sprinkled in.
3. The mixing device for preparing humanoid robot skin material according to claim 2, characterized in that: The multi-dispensing assembly includes a platform frame fixedly sleeved on the outside of the multi-blade stirring rod, and the platform frame is configured as a trapezoidal structure. A receiving frame is fixedly connected to the side of the platform frame near the feed inlet, and the receiving frame is configured as a conical structure. A receiving groove for material to enter is opened at the top of the receiving frame, and a dispensing hopper communicating with the inside of the receiving frame is fixedly connected inside the receiving frame.
4. The mixing device for preparing humanoid robot skin material according to claim 3, characterized in that: The receiving trough is fixedly connected to a large-mesh mesh plate, and the receiving rack keeps the material inside the receiving trough in a surrounding state.
5. The mixing apparatus for preparing humanoid robot skin material according to claim 3, characterized in that: The bottom end of the second gear is fixedly connected to a central column, the bottom of the central column is fixedly connected to a diagonal support arm, and the diagonal support arm and the central column are configured as an L-shaped structure. The bottom of the multi-blade stirring rod is fixedly connected to a side support rod, the top of the side support rod is movably connected to a receiving column, the outside of the receiving column is fixedly connected to a deflecting blade, the outside of the diagonal support arm is fixedly connected to a contact ring, and the contact ring is used to push the deflecting blade to tilt and swing. A torsion spring is connected between the receiving column and the side support rod, and the torsion spring is used to push the receiving column to move and reset.
6. The mixing apparatus for preparing humanoid robot skin material according to claim 1, characterized in that: The dispersing assembly includes a connecting sleeve sleeved outside the feed inlet, and the connecting sleeve sleeve communicates with the inside of the feed inlet. A collar is rotatably connected inside the connecting sleeve sleeve, and a dispersion cavity is opened at one end of the collar sleeve. The dispersion cavity is funnel-shaped, and several rotating blades are fixedly connected inside the dispersion cavity.
7. The mixing apparatus for preparing humanoid robot skin material according to claim 6, characterized in that: The connecting sleeve is movably connected to a guide ring, and the guide ring has a guide groove that communicates with the interior of the dispersion cavity. Several guide vanes are fixedly connected inside the guide groove.
8. The mixing apparatus for preparing humanoid robot skin material according to claim 7, characterized in that: Both the collar and the guide ring are fixedly fitted with external toothed rings. The inside of the connecting sleeve is provided with a centering groove for the external toothed ring to rotate. One end of the connecting sleeve is fixedly connected to a drive motor. The output end of the drive motor extends into the centering groove and is fixedly fitted with a guide toothed ring that meshes with the external toothed ring.