Efficient integrated rotary mechanical arm

Abstract

The invention relates to an efficient integrated rotary type mechanical arm and a control method thereof. The efficient integrated rotary type mechanical arm comprises a rotary motor, a mechanical arm body, a containing chamber, a tool bit, a shell, a cover body, a fixing chamber and a control center. The lower end of the mechanical arm body is connected with the upper end of the tool bit, the lower end of the tool bit is connected with the containing chamber and integrally penetrates through the containing chamber, the upper end of the mechanical arm body is connected with the rotating motor, the rotating motor is installed in the shell, the cover body is arranged between the shell and the containing chamber, and a through hole allowing the mechanical arm body to penetrate through is formed in the center of the cover body. A plurality of flow holes are formed in the side wall of the containing chamber, and the fixing chamber completely wraps the containing chamber. The control center comprises a display end, a function button and a cloud service end. According to the efficient integrated rotary mechanical arm, the mechanical arm body is rotated at a variable speed through the control center, the tool bit moves up and down to evenly scatter or stir materials, the rotating speed interval is set according to the hardness of the materials, the machining precision and stability are improved, and in addition, cleaning is convenient after use.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, specifically to a highly efficient, integrated rotary robotic arm. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields, and other areas. With the improvement of living standards, more and more food ingredients or other industrial materials need to be cut and mixed into powder, block, or liquid forms, involving various solid and liquid transformations. Some materials also require the assistance of liquids for cutting or mixing.

[0003] Whether for industrial processing or household food preparation, a machine is needed to replace the traditional manual mode. Currently, there are a large number of cutters, grinders, and mixers on the market, but most of them are single-function. They usually use a constant-speed motor to drive the blades to achieve the mixing and cutting process. Because the machine's own rotation power system is generally located at the top of the device and is relatively heavy, while food or industrial materials are placed at the bottom and are relatively light, the overall center of gravity of the equipment is high, which reduces the stability of the entire device. Unstable processing results in food of inconsistent size and quality, seriously affecting the overall processing efficiency. In addition, the size of the raw materials often varies, which also often leads to inconsistent sizes of the finished products. Although some processing steps pre-treat the raw materials, this adds production steps, wastes production efficiency, and increases production costs.

[0004] Meanwhile, the remaining materials inside the device are difficult to remove, especially food residue and solid residue, which are difficult to clean and completely remove. Using robotic arms for variable speed rotation and detachable cutter heads for higher precision and stability material processing has become a better research direction.

[0005] Therefore, there is an urgent need for a high-precision, highly stable, and easy-to-clean robotic arm for food materials. This invention provides a highly efficient, integrated rotary robotic arm and its control method. The control center employs a variable-speed rotating robotic arm body, allowing the blade to move up and down at varying speeds to evenly disperse or stir the material. The rotation speed can be set according to the material hardness. A liquid outlet tank is installed around the robotic arm body, lowering the overall center of gravity of the device and improving precision and stability. Furthermore, the liquid outlet tank facilitates cleaning the receiving chamber and removing solid residue. Summary of the Invention

[0006] The purpose of this invention is to provide a highly efficient integrated rotary robotic arm and its control method to solve the problems mentioned in the background art.

[0007] This invention provides the following technical solution: a highly efficient integrated rotary robotic arm, comprising a rotary motor, a robotic arm body, a receiving chamber, a cutting head, a housing, a cover, a fixed chamber, and a control center. The lower end of the robotic arm body is movably connected to the upper end of the cutting head, which is detachable and has various types such as a cutting head, a stirring head, and a cleaning head. The lower end of the cutting head is movably connected to the receiving chamber, and the cutting head extends entirely through the receiving chamber. The upper end of the robotic arm body is connected to the rotary motor. The rotary motor is installed inside the housing, which is located above the receiving chamber. A cover is placed between the housing and the receiving chamber, with a through hole at the center of the cover for the robotic arm body to pass through. The cover seals the receiving chamber and the fixed chamber. Several flow holes are opened on the upper side wall of the receiving chamber, through which processed material flows into the fixed chamber. The lower side wall of the receiving chamber is solid, leaving unprocessed material at the lower end of the receiving chamber. The receiving chamber is detachably installed in the fixed chamber, and the user can select receiving chambers with different flow hole diameters according to the particle size of the material to be formed. The fixed chamber completely encloses the receiving chamber on its bottom and sides. Both the fixed chamber and the receiving chamber are hollow cylinders with openings at the top, concentrically positioned, and sealed by a cover. The rotary motor is electrically connected to the control center. The control center includes a display, function buttons, and a cloud server. The control center controls the rotary motor's speed, selects and purchases processing materials, sets parameters for different materials, and configures various processing functions. The cloud server connects to the upstream supply chain; users pre-set the materials to be processed, and the cloud server automatically places orders based on the material type. The control center controls the rotary motor, which drives the robotic arm, which in turn drives the cutter head. The cutter head cuts or stirs the material, and solids or liquids meeting the particle size requirements flow out through the flow orifice into the fixed chamber for storage.

[0008] Furthermore, several outlet tanks and several storage tanks are equidistantly arranged on the outer side of the fixed chamber. The outlet tanks are interconnected, the storage tanks are interconnected, and the outlet tanks and storage tanks are isolated from each other. A water pump and a water guide pipe are installed at the bottom of the outlet tank, with the other end of the water guide pipe installed on the upper end of the cover. A filter plate is installed between the fixed chamber and the storage tank, and the water pump is electrically connected to the control center. The outlet tank is pre-filled with auxiliary liquid or cleaning solution to assist in processing and cleaning the receiving chamber. The gravity of the liquid at the lower end lowers the overall center of gravity of the highly efficient integrated rotary robotic arm, thereby improving its stability. When auxiliary liquid is required for material processing, the outlet tank is pre-filled with auxiliary liquid. When the rotary motor starts, the water pump adds the auxiliary liquid from the outlet tank to the receiving chamber through the water guide pipe to assist in processing. When cleaning is required after material processing, the liquid outlet tank is pre-filled with cleaning solution. The function button is selected to select the cleaning mode, the blade is replaced with a cleaning blade, and the receiving chamber is replaced with a flow orifice with a larger diameter. The rotating motor drives the robotic arm, which in turn drives the blade. The blade stirs the cleaning solution, and waste liquid and food residue flow out from the flow orifice into the fixed chamber. After passing through the filter plate, the waste liquid returns to the storage tank, while the solid remains in the fixed chamber. After cleaning is completed, the waste cleaning solution is discharged from the storage tank, and the residue is discharged from the fixed chamber.

[0009] Furthermore, the robotic arm body is a stepped cylinder with a polygonal protrusion A at the top. A rotatable polygonal groove A corresponding to the polygonal protrusion A is provided at the lower end of the housing. A rotary motor is connected to the upper end of the polygonal groove A, and the rotary motor simultaneously drives the polygonal groove A and the robotic arm body to rotate. An elastic body is fixedly installed inside the middle of the robotic arm body. A polygonal protrusion B is movably installed at the lower end of the elastic body. A protective layer is fitted over the outer end of the elastic body, housing the elastic body within it, while the polygonal protrusion B is exposed. The polygonal protrusion B is used for installing and removing different cutting heads. The cutting head includes a polygonal groove B connected to the polygonal protrusion B, several blades fixed to the side of the cutting head, and a polygonal protrusion C movably connected to the receiving chamber at the lower end of the cutting head. Because the rotary motor is configured for variable speed rotation, the elastic body moves up and down under the action of the changing centrifugal force and cutting force of the cutting head, thereby driving the cutting head to cut the material inside the receiving chamber more thoroughly and evenly.

[0010] Furthermore, a chassis is movably mounted at the bottom of the receiving chamber. A polygonal groove C is provided at the center of the upper end of the chassis. The depth of the polygonal groove C is greater than or equal to the extension length of the elastic element, and the inner wall corresponds to a polygonal protrusion C. The polygonal protrusion C is partially or completely inserted into the polygonal groove C. Several arc-shaped protrusions symmetrical about the center of the chassis are provided on the upper surface of the chassis. The extension direction of the arc-shaped protrusions is consistent with the direction of the blade. An electric push rod is provided at the lower end of the chassis, which can lift the entire chassis upward. After the material processing is completed, the entire chassis is lowered. The maximum height to which the electric push rod rises is the distance from the lowest flow hole of the receiving chamber to the bottom of the receiving chamber. The extension length of the elastic element is greater than or equal to the distance from the lowest flow hole of the receiving chamber to the bottom of the receiving chamber. An elastic retaining ring is provided at the contact end between the chassis and the side wall of the receiving chamber. The elastic retaining ring serves as both an anti-wear layer for the chassis to rotate relative to the receiving chamber and a seal for material residue, preventing material residue from continuing to enter the lower end of the chassis. The electric push rod is electrically connected to the control center. As the chassis rotates with the cutter head, solid materials that touch the chassis are bounced upwards by the arc-shaped protrusions, while liquid materials form an upward vortex under the action of the arc-shaped protrusions. This causes the sinking material to be moved back up to the blade for further cutting or stirring. Material that meets the cutting particle size flows out from the side wall flow holes of the receiving chamber and enters the fixed chamber for storage.

[0011] Furthermore, a pressure sensor A is installed on the lower side of the inner wall of the receiving chamber to detect the compressive force generated after the blade cuts the material and feeds it back to the control center. A pressure sensor B is installed on the chassis to detect the weight of the material inside the receiving chamber. A speed measuring instrument A is installed on the inner wall of the housing to detect the rotational speed of the rotary motor, and a speed measuring instrument B is installed at the bottom of the receiving chamber to detect the rotational speed of the chassis. The pressure sensor A, pressure sensor B, speed measuring instrument A, and speed measuring instrument B are electrically connected to the control center. The control center sets different maximum hardness bearing capacity and minimum shear force according to the hardness of different materials and converts them into maximum and minimum pressure values. When the pressure sensor detects that the pressure has reached the maximum pressure value, the control center controls the rotary motor to decelerate; when the pressure measuring instrument detects that the pressure has reached the minimum pressure value, the control center controls the rotary motor to accelerate, regulating the pressure value to fluctuate between the maximum and minimum pressure values. The chassis rotation speed should be synchronized with the rotary motor. However, due to the influence of two transmissions, the chassis rotation speed will be lower than the rotary motor speed. Furthermore, the higher the rotary motor speed, the greater the speed deviation between the chassis and the rotary motor, and the higher the load-bearing capacity of the robotic arm. To extend the service life of the robotic arm, a standard error value is set between the chassis and the rotary motor. When the readings of speed measuring instruments B and A exceed the standard error value, the control center controls the rotary motor to decelerate. Additionally, based on the remaining weight of the material detected by pressure sensor B, the control center controls the electric push rod to lift the chassis, discharging the remaining material through the flow orifice.

[0012] Furthermore, the cross-sections of polygonal protrusions A and B are each composed of several centrally symmetrical sectors, with the center of each sector being a cylinder. Polygonal grooves A and B correspond one-to-one with each sector. One side of each sector is a horizontal straight line, and the other side is an arc-shaped surface, with the arc-shaped surface exhibiting a helical curve in the vertical direction. When the rotary motor rotates, the straight surfaces contact each other, pushing the robotic arm, cutter head, and chassis to rotate synchronously. When the cutter head needs to be disassembled, the robotic arm and cutter head are rotated in the opposite direction, using the helical surface to convert the rotational motion into linear motion, causing the cutter head to detach from the chassis and robotic arm. The cross-section of polygonal protrusion C is plum blossom-shaped, with vertical protruding ridges on its sidewalls. Polygonal protrusion C can move up and down within polygonal groove C in conjunction with an elastic body.

[0013] Furthermore, the cloud server also includes a storage system. This storage system records the materials and settings processed by the efficient integrated rotary robotic arm, and generates the weight parameter that maximizes the processing efficiency of a single material, serving as a reference parameter for reprocessing the material. The storage system can also store the materials that the user needs to process within a cycle T. The cloud server can determine the processing sequence, quantity, and number of processing operations for different materials based on the materials processed within cycle T. It can also adjust the processing sequence of materials in real time according to the scheduled arrival time of the purchased materials.

[0014] A highly efficient, integrated control method for a rotary robotic arm: The steps for processing solid materials without using auxiliary liquids are as follows: A. Pre-set the types of materials to be processed and the amount to be processed at one time. Add the materials to be processed into the receiving chamber according to the amount to be processed at one time. The display shows the weight of the materials in the receiving chamber in real time. Select the receiving chamber according to the particle size of the finished material. Then install the receiving chamber into the fixed chamber and install the corresponding cutting head for material processing. B. The control center controls the rotation of the rotary motor, which drives the robotic arm, which in turn drives the cutter head. The cutter head cuts or stirs the material, and at the same time, it drives the chassis to rotate. The chassis bounces the solid material upward and forms an upward vortex for the liquid material. Solids or liquids that meet the particle size requirements flow out from the flow holes into the fixed chamber for storage. C. Based on the feedback signal from pressure sensor A, the control center controls the electric push rod to lift upwards, and simultaneously controls the rotary motor to rotate at different speeds based on the feedback signals from pressure sensor B, speed measuring instrument A, and speed measuring instrument B. D. When the electric push rod reaches its maximum stroke and stops lifting, and when pressure sensor A detects that all the material in the containment chamber has been removed, the control center controls the rotary motor to stop running and removes the processed material from the fixed chamber.

[0015] Furthermore, the control method for using auxiliary liquids or cleaning solutions is as follows: The dispensing tank should be pre-filled with auxiliary liquid or cleaning solution. When auxiliary liquid is required for material processing, the outlet tank is filled with auxiliary liquid in advance. When the rotary motor starts, the water pump adds the auxiliary liquid in the outlet tank to the receiving chamber through the water guide pipe to assist in processing. The auxiliary liquid then returns from the filter plate from the fixed chamber to the storage tank. The processed material is retained in the fixed chamber. When cleaning is required after material processing, the outlet tank is pre-filled with cleaning solution. The user selects the cleaning mode using the function button, the cutter head is replaced with a cleaning cutter head, and a receiving chamber with a larger diameter flow orifice is installed. The rotating motor drives the robotic arm, which in turn drives the cutter head. The cutter head stirs the cleaning solution and simultaneously drives the chassis to rotate. The chassis creates an upward vortex of the cleaning solution, which flows out of the flow orifice into the fixed chamber. After cleaning, the waste cleaning solution is discharged from the storage tank, and the residue is discharged from the fixed chamber.

[0016] Furthermore, the speed change method of the rotary motor is as follows: the control center sets different maximum hardness bearing capacity and minimum shear force according to the hardness of different materials, and converts them into maximum pressure value and minimum pressure value; When the pressure sensor detects that the pressure has reached the maximum pressure value, the control center controls the rotary motor to decelerate. When the pressure sensor detects that the pressure has reached the minimum pressure value, the control center controls the rotary motor to accelerate, thus regulating the pressure value to change back and forth between the maximum and minimum pressure values. Set the standard error value between the chassis and the rotating motor. When the readings of speed measuring instrument B and speed measuring instrument A exceed the standard error value, the control center controls the rotating motor to decelerate so that the rotation speed of the rotating motor simultaneously meets the standard error value of speed measuring instrument B and speed measuring instrument A.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. The control center employs a variable-speed rotating robotic arm. The cutter head can move up and down using an elastic body at varying speeds to evenly disperse or stir materials, and the rotation speed can be set according to the material hardness. The cutter head, robotic arm, rotary motor, and chassis all use polygonal protrusions and grooves with helical surfaces for movable connections, ensuring connection stability during rotation while facilitating disassembly. 2. A liquid outlet tank and a receiving chamber are set around the periphery of the robotic arm, which lowers the overall center of gravity of the device and improves the stability of the robotic arm's operation. In addition, the liquid outlet tank can also assist in processing materials and cleaning the receiving chamber, making it convenient to use. 3. A base is set at the bottom of the receiving chamber, and several arc-shaped protrusions are set on the upper surface of the base. When the base rotates with the cutter head, solid materials touch the base and are bounced upward by the arc-shaped protrusions. Liquid materials form an upward vortex under the action of the arc-shaped protrusions, thereby moving the sinking materials back up to the blade for cutting and stirring again. This can achieve full processing of materials without accumulating at the bottom of the receiving chamber. 4. The chassis is equipped with pressure sensor B. The control center can lift the chassis based on the weight of the remaining material, making it easier for the processed material to flow out of the flow hole and improving the efficiency of material processing. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of a highly efficient integrated rotary robotic arm according to the present invention; Figure 2 This is a cross-sectional view of a highly efficient integrated rotary robotic arm according to the present invention. Figure 3 This is a top view of a highly efficient integrated rotating robotic arm according to the present invention; Figure 4 This is a cross-sectional view of the polygonal protrusion A of a high-efficiency integrated rotating robotic arm according to the present invention; In the diagram: 1. Rotary motor, 2. Robotic arm body, 201. Polygonal protrusion A, 202. Elastomer, 203. Polygonal protrusion B, 3. Reception chamber, 301. Flow hole, 4. Cutting head, 401. Blade, 402. Polygonal protrusion C, 5. Housing, 6. Cover, 7. Fixing chamber, 8. Liquid outlet tank, 9. Storage tank, 10. Chassis, 101. Arc-shaped protrusion, 11. Electric push rod, 12. Elastic retaining ring. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0020] Please see Figure 1-4This invention provides a technical solution: a highly efficient integrated rotary robotic arm, comprising a rotary motor 1, a robotic arm body 2, a housing 3, a cutting head 4, a housing 5, a cover 6, a fixed chamber 7, and a control center. The lower end of the robotic arm body 2 is connected to the upper end of the cutting head 4 via a polygonal groove B and a polygonal protrusion B203. The cutting head 4 is detachable and can be of various types, including cutting, stirring, and cleaning cutting heads. The lower end of the cutting head 4 is movably connected to the housing 3 via a polygonal protrusion C402 and a polygonal groove C, with the cutting head 4 extending entirely through the housing 3. The upper end of the robotic arm body 2 is movably connected to the rotary motor 1. The rotary motor 1 is installed inside the housing 5, which is located at the upper end of the housing 3. A cover 6 is positioned between the housing 5 and the housing 3, with a through hole at the center of the cover 6 for the robotic arm body 2 to pass through. The cover 6 seals the housing 3 and the fixed chamber 7. The upper side wall of the receiving chamber 3 has several flow holes 301, through which the processed material flows out. The lower side wall of the receiving chamber 3 is solid, leaving unprocessed material at the bottom. The receiving chamber 3 is detachably installed inside the fixed chamber 7 and has three sets of flow holes 301 with different particle diameters (large, medium, and small). The user selects the receiving chamber 3 with different flow hole diameters based on the particle size of the material to be formed. The bottom and sides of the fixed chamber 7 completely enclose the receiving chamber 3. After processing, the material enters the fixed chamber 7 through the flow holes 301 for storage. Both the fixed chamber 7 and the receiving chamber 3 are hollow cylinders with openings at the top, and are concentrically arranged. The cover 6 seals the openings of both. The rotary motor 1 is electrically connected to the control center. The control center includes a display, function buttons, and a cloud server. The control center controls the rotation speed of the rotary motor 1. Users can set parameters and processing functions for different materials through the display and function buttons. The cloud server connects to the upstream supply chain; users pre-set the materials to be processed, and the cloud server automatically places orders based on the material type. The rotary motor 1 rotates, driving the robotic arm 2, which in turn drives the cutter head 4. The cutter head 4 cuts or stirs the material, and solids or liquids meeting the particle size requirements flow out from the flow hole 301 into the fixed chamber 7 for storage. The function buttons include various functions such as processing fixed materials, processing liquids, processing solids with auxiliary liquids, processing liquids with auxiliary liquids, and a cleaning mode, as well as selection buttons for large, medium, and small particles.

[0021] Three sets of liquid outlet tanks 8 and three sets of storage tanks 9 are equidistantly arranged outside the fixed chamber 7. The liquid outlet tanks 8 and storage tanks 9 form three fan-shaped rings, with each fan having a central angle of 60 degrees. The liquid outlet tanks 8 are interconnected, and the storage tanks 9 are interconnected, but the liquid outlet tanks 8 and storage tanks 9 are isolated from each other. A water pump and a water guide pipe are installed at the bottom of the liquid outlet tank 8, with the other side of the water guide pipe installed on the upper end of the cover 6. A filter plate connects the fixed chamber 7 and the storage tanks 9. When auxiliary liquid is needed for processing solid materials, the processed solid materials enter the fixed chamber 7 for storage, while the auxiliary liquid passes through the filter plate and enters the storage tank 9 for storage. The water pump is electrically connected to the control center. The liquid outlet tanks 8 are pre-filled with auxiliary liquid or cleaning solution. The gravity of the liquid in the liquid outlet tanks 8 and storage tanks 9 lowers the overall center of gravity of the highly efficient integrated rotary robotic arm, thereby improving its stability.

[0022] The robotic arm body 2 is a stepped cylinder with a polygonal protrusion A201 at the top. A rotatable polygonal groove A corresponding to the polygonal protrusion A201 is provided at the lower end of the housing 5. A rotary motor 1 is connected to the upper end of the polygonal groove A, and the rotary motor 1 simultaneously drives the polygonal groove A and the robotic arm body 2 to rotate. An elastic body 202, which is a spring, is fixedly installed inside the middle part of the robotic arm body 2. A polygonal protrusion B203 is movably installed at the lower end of the elastic body 202. A protective layer is fitted over the outer end of the elastic body 202, housing it within the layer, while the polygonal protrusion B203 is exposed. The cutter head 4 includes a polygonal groove B that inserts into the polygonal protrusion B203, four sets of blades 401 fixed to the side of the cutter head 4, and a polygonal protrusion C402 movably connected to the receiving chamber 3 at the lower end of the cutter head 4. The elastic body 202 moves up and down under the changing centrifugal force and cutting force of the cutter head 4, thereby driving the cutter head 4 to cut the material inside the receiving chamber 3. The cross-sections of polygonal protrusions A201 and B203 are four centrally symmetrical sectors with a cylinder at the center. Polygonal grooves A and B correspond to these sectors one-to-one. One side of each sector is a horizontal straight line, while the other side is an arc-shaped surface, which is a helical surface in the vertical direction. When the rotary motor 1 rotates, the straight surfaces come into contact with each other and push the robotic arm 2, the cutter head 4, and the chassis 10 to rotate synchronously. When it is necessary to disassemble the cutter head 4, the robotic arm 2 and the cutter head 4 are manually rotated in the opposite direction. The helical surface is used to convert the rotational motion into linear motion, allowing the cutter head 4 to detach from the chassis 10 and the robotic arm 2.

[0023] A base 10 is movably mounted at the bottom of the receiving chamber 3. A polygonal groove C is provided at the center of the upper end of the base 10. The depth of the polygonal groove C is equal to the extension length of the elastic element, and the inner wall corresponds to the polygonal protrusion C402. The polygonal protrusion C402 has a quincunx-shaped cross-section and vertical ridges on its sidewalls. The polygonal protrusion C402 can move up and down within the polygonal groove C in conjunction with the elastic body 202, partially or completely inserting into the polygonal groove C. Six arc-shaped protrusions 101 are provided on the upper surface of the base 10, symmetrical about the center of the base 10. The extension direction of the arc-shaped protrusions 101 is consistent with the direction of the blade 401. An electric push rod 11 is fixedly installed at the lower end of the chassis 10. The electric push rod 11 can lift the chassis 10 as a whole. After the material processing is completed, the control center controls the electric push rod 11 to lower the chassis 10. The maximum height of the electric push rod 11 is the distance from the lowest flow hole 301 of the receiving chamber 3 to the bottom of the receiving chamber 3. The extension length of the elastic body 202 is equal to the distance from the lowest flow hole 301 of the receiving chamber 3 to the bottom of the receiving chamber 3. An elastic retaining ring 12 is provided at the contact end between the chassis 10 and the side wall of the receiving chamber 3. The electric push rod 11 is electrically connected to the control center. When the chassis 10 rotates with the cutter head 4, solid material touches the chassis 10 and is bounced upward by the arc-shaped protrusion 101. Liquid material forms an upward vortex under the action of the arc-shaped protrusion 101, thereby moving the sinking material back up to the blade 401 for cutting or stirring again. Material that meets the cutting particle size flows out from the flow hole 301 on the side wall of the receiving chamber 3 and enters the fixed chamber 7 for storage.

[0024] Pressure sensor A is installed on the lower side of the inner wall of the receiving chamber 3, and pressure sensor B is installed on the chassis 10. Speed ​​detector A is installed on the inner wall of the housing 5, and speed detector B is installed at the bottom of the receiving chamber 3. Pressure sensor A, pressure sensor B, speed detector A, and speed detector B are electrically connected to the control center. The control center sets different maximum hardness tolerance and minimum shear force according to the hardness of different materials, and converts them into maximum and minimum pressure values. When the pressure sensor detects that the pressure has reached the maximum pressure value, the control center controls the rotary motor 1 to decelerate; when the pressure detector detects that the pressure has reached the minimum pressure value, the control center controls the rotary motor 1 to accelerate, regulating the pressure value to fluctuate between the maximum and minimum pressure values. The control center sets a standard error value between the chassis 10 and the rotary motor 1. When the readings of speed detector B and speed detector A exceed the standard error value, the control center controls the rotary motor 1 to decelerate. Additionally, the control center detects the remaining weight of the material based on pressure sensor B and controls the electric push rod 11 to lift the chassis 10 based on this weight, helping the remaining material to quickly exit from the flow hole 301.

[0025] The cloud server also includes a storage system that records the materials and settings for processing by the highly efficient, integrated rotary robotic arm. It generates the weight parameter that maximizes the processing efficiency of a single material, serving as a reference parameter for subsequent processing. The storage system can also store materials that the user needs to process weekly. Based on the materials added each week, the cloud server can determine the processing sequence, quantity, and number of processing operations for different materials. Furthermore, it adjusts the processing sequence in real time according to the scheduled arrival time of purchased materials.

[0026] A highly efficient, integrated control method for a rotary robotic arm: The steps for mincing radishes are as follows: A. The cloud server recommends the settings parameters of the last shredded radish. The user selects the function button to process solids, with a single processing volume of 2KG and medium particle size on the display. The radish to be processed is added to the container 3. The display shows the weight of the radish in the container 3 in real time. Install the medium particle container 3 and install the cutting head. B. The control center controls the rotary motor 1 to rotate at a speed between 5 and 50 revolutions per second. The rotary motor 1 drives the robotic arm 2, which in turn drives the cutting head. The cutting head cuts the radish and simultaneously drives the chassis 10 to rotate. The chassis 10 bounces the radish pieces upwards and makes contact with the blade 401. Radish pieces that meet the particle size requirements flow out from the flow hole 301 into the fixed chamber 7 for storage. C. Radish pieces that do not conform to the particle size are left in the receiving chamber 3 and fall back and bounce and cut. The weight of the radish pieces in the receiving chamber 3 gradually decreases. Based on the feedback signal of the pressure sensor A, the control center controls the electric push rod 11 to lift upward. The height of the rise is proportional to the information of the pressure sensor A. At the same time, based on the pressure sensor B, the speed detector A, and the speed detector B, the rotation speed of the rotary motor 1 is controlled between 5 revolutions per second and 50 revolutions per second. D. When the electric push rod 11 reaches its maximum stroke and stops lifting, and when the pressure sensor A detects that all the radish pieces in the receiving chamber 3 have been removed, the control center controls the rotary motor 1 to stop running and removes the radish pieces from the fixed chamber 7.

[0027] The steps for cleaning radish chunks are as follows: A. Fill the liquid dispensing tank 8 with cleaning solution in advance, select the cleaning mode on the display, install the large particle receiving chamber 3, and install the cleaning blade. B. The control center controls the rotary motor 1 to rotate at a speed between 10 and 100 revolutions per second. The rotary motor 1 drives the robotic arm 2, which in turn drives the cleaning blade. The cleaning blade stirs the cleaning solution and residual radish pieces. At the same time, the cleaning blade drives the chassis 10 to rotate, and the chassis 10 creates an upward vortex in the cleaning solution. The cleaning solution carries the residual radish pieces out of the flow hole 301 into the fixed chamber 7. The cleaning solution passes through the filter plate and enters the storage tank, while the residual radish pieces remain in the fixed chamber 7. After cleaning is completed, the waste cleaning solution is discharged from the storage tank, and the residual radish pieces are discharged from the fixed chamber 7.

[0028] The steps for mixing milk powder are as follows: A. Fill the liquid dispensing tank 8 with water in advance, place the milk powder in the receiving chamber 3, select the function button on the display end to process solids with auxiliary liquid, install the small particle receiving chamber 3, and install the stirring blade. B. The control center controls the rotary motor 1 to rotate horizontally at a speed of 50 revolutions per second for a stirring time of 5 minutes. The rotary motor 1 drives the robotic arm 2, which in turn drives the stirring blade to rotate. When the rotary motor 1 starts, the water pump adds water from the liquid outlet tank 8 to the container chamber 3 through the water pipe. The stirring blade mixes the milk powder and water. C. The stirring blade simultaneously drives the base plate 10 to rotate, and the base plate 10 forms an upward vortex of milk powder solution. After the stirring is completed, the control center controls the electric push rod 11 to lift upward, and the milk powder solution flows out from the flow hole 301 into the fixed chamber 7.

[0029] The speed change method of rotary motor 1 is as follows: the control center sets the maximum pressure value T1 and the minimum pressure value T2 according to the hardness of the radish; When the pressure sensor detects that the pressure has reached the maximum pressure value T1, the control center controls the rotary motor 1 to decelerate. When the pressure sensor detects that the pressure has reached the minimum pressure value T2, the control center controls the rotary motor 1 to accelerate. The pressure value is adjusted to change back and forth between the maximum pressure value T1 and the minimum pressure value T2, which is intuitively represented by the change in rotation speed on the display. Set the standard error value P between the chassis 10 and the rotary motor 1. When the readings of the speed measuring instrument B and the speed measuring instrument A exceed the standard error value P, the control center controls the rotary motor 1 to decelerate so that the rotational speed of the rotary motor 1 simultaneously meets the standard error value P of the speed measuring instrument B and the speed measuring instrument A.

[0030] It should be noted that, in this document, relational terms such as before, after, above, and below are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0031] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-efficiency integrated rotary robotic arm, comprising a rotary motor (1), a robotic arm body (2), a receiving chamber (3), and a cutting head (4), wherein the lower end of the robotic arm body (2) is movably connected to the upper end of the cutting head (4), the lower end of the cutting head (4) is movably connected to the receiving chamber (3), the entire arm penetrates the receiving chamber (3), and the upper end of the robotic arm body (2) is movably connected to the rotary motor (1), characterized in that: The high-efficiency integrated rotary robotic arm also includes a housing (5), a cover (6), a fixed chamber (7), and a control center. The rotary motor (1) is installed inside the housing (5). The housing (5) is located at the upper end of the receiving chamber (3). The cover (6) is located between the housing (5) and the receiving chamber (3). The center of the cover (6) has a through hole for the robotic arm body (2) to pass through. The receiving chamber (3) has several flow holes (301) on its upper side wall and is solid on its lower side wall. The receiving chamber (3) is detachably installed inside the fixed chamber (7). The bottom and sides of the fixed chamber (7) completely cover the receiving chamber (3). The rotary motor (1) is electrically connected to the control center. The control center includes a display terminal, function buttons, and a cloud service terminal, which are used to control the rotation speed of the rotary motor (1), select and purchase processing materials, set parameters for processing different materials, and different processing functions. The cloud service terminal is connected to the upstream supply chain. Users can set the materials to be processed in advance, and the cloud service terminal can place orders to purchase materials according to the type of materials. The receiving chamber is a hollow cylinder. Several outlet tanks (8) and several storage tanks (9) are equidistantly arranged on the outside of the fixed chamber (7). The outlet tanks (8) are interconnected, and the storage tanks (9) are interconnected. The outlet tanks (8) and the storage tanks (9) are isolated from each other. A water pump and a water guide pipe are provided at the bottom of the outlet tank (8). The other side of the water guide pipe is installed on the upper end of the cover (6). A filter plate is provided between the fixed chamber (7) and the storage tanks (9). The water pump is electrically connected to the control center. The robotic arm body (2) is a stepped cylinder with a polygonal protrusion A (201) at the top. The lower end of the housing (5) is provided with a rotatable polygonal groove A corresponding to the polygonal protrusion A (201). The upper end of the polygonal groove A is connected to a rotary motor (1). An elastic body (202) is fixedly installed inside the middle of the robotic arm body (2). A polygonal protrusion B (203) is movably installed at the lower end of the elastic body (202). A protective layer is sleeved on the outer end of the elastic body (202) to house the elastic body (202) inside it, while the polygonal protrusion B (203) is exposed. The cutter head (4) includes a polygonal groove B connected to the polygonal protrusion B (203), several blades (401) fixed on the side of the cutter head (4), and a polygonal protrusion C (402) movably connected to the receiving chamber (3) at the lower end of the cutter head (4). The bottom of the receiving chamber (3) is movably provided with a chassis (10). A polygonal groove C is provided at the center of the upper end of the chassis (10). The depth of the polygonal groove C is greater than or equal to the extension length of the elastic element. The inner wall corresponds to the polygonal protrusion C (402). The polygonal protrusion C (402) is partially or completely inserted into the polygonal groove C. Several arc-shaped protrusions (101) symmetrical about the center of the chassis (10) are provided on the upper surface of the chassis (10). The extension direction of the arc-shaped protrusions (101) is consistent with the direction of the blade (401). The chassis ( 10) An electric push rod (11) is provided at the lower end. The electric push rod (11) can lift the chassis (10) as a whole upward. The maximum height of the electric push rod (11) is the distance from the lowest flow hole (301) of the receiving chamber (3) to the bottom of the receiving chamber (3). The extension length of the elastic body (202) is greater than or equal to the distance from the lowest flow hole (301) of the receiving chamber (3) to the bottom of the receiving chamber (3). An elastic retaining ring (12) is provided at the contact end between the chassis (10) and the side wall of the receiving chamber (3). The electric push rod (11) is electrically connected to the control center. Pressure sensor A is installed on the lower side of the inner wall of the receiving chamber (3) to detect the extrusion force generated by the blade (401) after cutting the material and to feed it back to the control center. Pressure sensor B is installed on the chassis (10) to detect the weight of the material in the receiving chamber (3). Speed ​​measuring instrument A is installed on the inner wall of the shell (5) to detect the rotation speed of the rotary motor (1). Speed ​​measuring instrument B is installed at the bottom of the receiving chamber (3) to detect the rotation speed of the chassis (10). Pressure sensor A, pressure sensor B, speed measuring instrument A, and speed measuring instrument B are electrically connected to the control center. The cross-sections of the polygonal protrusions A (201) and B (203) are composed of several centrally symmetrical sectors with a cylinder at the center. The polygonal grooves A and B correspond one-to-one with each sector. One side of each sector is a horizontal straight line, and the other side is an arc surface. The arc surface is a spiral surface in the vertical direction. The cross-section of the polygonal protrusion C (402) is plum blossom shaped, and the sidewalls are vertical convex ridges. The cloud server also includes a storage system that records the materials and settings of the high-efficiency integrated rotary robotic arm, and generates the weight parameters that maximize the single-processing efficiency of the material. The storage system can also store the materials that the user needs to process within a cycle T. The cloud server can determine the processing sequence, quantity, and number of processing operations for different materials based on the materials processed within a cycle T.

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