A soup machine

Abstract

This application provides a soup dispenser, including a soup cup, a robotic arm, a feeding arm, and a feeding mechanism. The soup cup has a flow port at its bottom. The robotic arm is used to drive the soup cup to move in a vertical plane. The feeding arm includes a first end and a second end, the first end being connected to the robotic arm and the second end being connected to the soup cup. The feeding mechanism is connected to the first end and is used to drive the first end to rotate so that the second end drives the soup cup to rotate around the first end, so that the soup cup moves from a first position to a second position, and the first position and the second position are spaced apart on the same horizontal plane. In this application, the movement trajectory of the soup cup can be limited to a unique horizontal arc, so that the soup cup moves along a predetermined path to complete the translational docking of the flow port and the feed port of the die-casting machine. This avoids the situation where the non-straight transport path caused by the linkage structure of traditional robotic arms makes it difficult for the flow port to align with the feed port of the die-casting machine or to collide with the side wall of the feed port, which greatly improves the feeding accuracy of the soup dispenser.

Description

Technical Field

[0001] This application relates to the field of soup dispensing machine technology, specifically to a soup dispensing machine. Background Technology

[0002] A molten metal feeder is a device on a die-casting production line specifically designed to transfer molten metal from a furnace to a die-casting machine. It consists of a molten metal cup and a robotic arm. The robotic arm is connected to the molten metal cup, which holds the molten metal. The robotic arm drives the molten metal cup to move back and forth between the furnace and the die-casting machine and controls the molten metal cup to pick up and feed the molten metal.

[0003] In existing technologies, most robotic arms of soup dispensers employ five-bar linkages. However, due to their structural characteristics, the movement trajectory of the soup cup at the end of the five-bar linkage during spatial motion is a complex swinging arc, not an ideal linear translation, and it cannot achieve perfectly standard horizontal or vertical displacement. Furthermore, because some die-casting machines have unique feed inlets, the existing robotic arm mechanism prevents the soup cup from falling vertically directly above the feed inlet. When the robotic arm moves the soup cup vertically, it inevitably causes it to move horizontally as well. This can lead to misalignment between the flow port of the bottom-discharged soup cup and the feed inlet of the die-casting machine, or collision between the bottom of the soup cup and the outer wall of the feed inlet during the cup's displacement. Therefore, the existing robotic arms are not suitable for soup cups requiring vertical feeding.

[0004] Therefore, there is room for further improvement in the existing soup dispensers. Summary of the Invention

[0005] In view of this, and addressing the technical problem in the prior art where the robotic arm of the soup dispenser cannot be adapted to the bottom-feeding soup cup, resulting in the inlet of the soup cup not being properly aligned with the feed inlet of the die-casting machine, this application provides a soup dispenser comprising a robotic arm, a soup cup, and a feeding mechanism. The robotic arm can move the soup cup in a vertical plane, and the feeding mechanism is connected to the soup cup. The feeding mechanism can drive the soup cup to rotate relative to the robotic arm, so that the soup cup rotates from a first position to a second position, and the first position and the second position are on the same horizontal plane, so that the inlet can be accurately aligned with the feed inlet.

[0006] This application provides a soup dispenser, comprising: The soup cup has a spout at the bottom; A robotic arm is used to drive a soup cup to move in a vertical plane. The feeding arm includes a first end and a second end. The first end is connected to the robotic arm, and the second end is connected to the soup cup. A feeding mechanism, connected to the first end, is used to drive the first end to rotate so that the second end drives the soup cup to rotate around the first end, so that the soup cup moves from the first position to the second position; The first and second positions are spaced apart on the same horizontal plane.

[0007] Compared with the prior art, the soup dispenser of this application is equipped with a robotic arm, a feeding arm, and a feeding mechanism. One end of the feeding arm is connected to the robotic arm, and the second end is connected to the soup cup. The robotic arm can drive the soup cup and the feeding arm to move in a vertical plane. The feeding mechanism is connected to the first end of the feeding arm and can drive the feeding arm to rotate around the axis of the first end, so that the soup cup can rotate around the first end, and then move the soup cup from the first position to the second position. The first position and the second position are distributed at intervals on the same horizontal plane, that is, the first position and the second position are at the same horizontal height, so that the flow port and the feed port can be aligned exactly, ensuring the alignment accuracy of the flow port and the feed port. This application can limit the movement trajectory of the soup cup to a unique horizontal arc, so that the soup cup moves along a predetermined path to complete the translational docking of the flow port and the feed port of the die-casting machine. This avoids the situation where the non-straight transport path caused by the linkage structure of the traditional robotic arm makes it difficult for the flow port to align with the feed port of the die-casting machine or to collide with the side wall of the feed port, which is caused by the non-straight transport path, greatly improving the feeding accuracy of the soup dispenser.

[0008] Preferred options also include: The follow-up mechanism, connected to the robotic arm and the feeding arm, is used to keep the flow port vertically downward when the robotic arm moves the soup cup. And / or, A receiving cavity, located inside the soup cup, is used to hold the molten metal; A negative pressure mechanism, connected to the soup cup, is used to create a negative pressure in the receiving cavity to draw the molten metal from the flow port into the receiving cavity; The valve stem assembly, located within the receiving cavity, is used to control the opening and closing state of the flow port.

[0009] Preferably, the robotic arm includes an execution end connected to a feeding arm; the follow-up mechanism includes a first transmission component and a second transmission component. The first transmission component is connected to the robotic arm, and the first transmission component is connected to the first end; One end of the second transmission component is connected to the first transmission component, and the other end is connected to the second end; The first transmission component is used to generate a balancing force when the execution end rotates a first angle along a first direction. The balancing force drives the second end to rotate a second angle relative to the execution end along a second direction through the second transmission component. Wherein, the second direction is opposite to the first direction, and the second angle is equal to the first angle, so that the axis of the flow port is always parallel to the vertical plane.

[0010] Preferably, the first end is provided with a drive shaft and a first connecting cylinder, the feeding arm is fixedly connected to the drive shaft, and the feeding mechanism is drivenly connected to the drive shaft; The first connecting cylinder is rotatably sleeved outside the drive shaft, and the first transmission assembly and the second transmission assembly are fixedly connected to the first connecting cylinder.

[0011] Preferably, the robotic arm includes a first driving member and a linkage mechanism; one end of the linkage mechanism is connected to the first driving member, and the other end is connected to the feeding arm, so as to drive the feeding arm to rotate a first angle along a first direction; the end of the linkage mechanism connected to the feeding arm is the execution end; The feeding mechanism includes a second driving member and a third transmission assembly; one end of the third transmission assembly is connected to the second driving member, and the other end is connected to the drive shaft, so as to drive the drive shaft to rotate around its own axis.

[0012] Preferably, the linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link; One end of the first connecting rod is hinged to the first driving member, and the other end is hinged to the second connecting rod; the end of the first connecting rod that is hinged to the first driving member is the driving end; The two ends of the second link are hinged to the third link and the fourth link, respectively; The two ends of the third link are respectively hinged to the feed arm and the fifth link; the hinge point between the second link and the third link is located close to the hinge point between the third link and the fifth link. The two ends of the fourth link are hinged to the second link and the fifth link, respectively; The two ends of the fifth link are hinged to the third link and the fourth link, respectively; When the first driving member drives the first link to rotate in the first direction, it can drive the third link to rotate in the first direction by a first angle, and at the same time drive the fifth link to rotate in the second direction by a second angle.

[0013] Preferably, the first transmission component includes: The first sprocket is located at the end of the fifth link that is furthest from the third link; The second sprocket is located at the end where the fifth link connects to the third link; The third sprocket is located at the end where the third link and the fifth link are connected. The second sprocket and the third sprocket are coaxial and circumferentially fixed. The fourth sprocket is located at the actuating end and is circumferentially fixedly connected to the first connecting cylinder; The first chain is wound around the first sprocket and the second sprocket; The second chain is wound around the third and fourth sprockets; When the third link rotates in the second direction, the first sprocket revolves with the third link but does not rotate on its own axis, so that the first chain can drive the second sprocket to rotate in the second direction.

[0014] Preferably, the second transmission component includes: The fifth sprocket is located inside the first end and is circumferentially fixedly connected to the first connecting cylinder; The sixth sprocket is located inside the second end and is fixed circumferentially relative to the soup cup. The third chain is wound around the fifth and sixth sprockets.

[0015] Preferably, the third transmission component includes: The seventh sprocket is located at the end of the fifth link away from the third link, is rotatably connected to the fifth link, and is fixedly connected to the second drive component; The eighth sprocket is located at the end of the fifth link furthest from the third link; The ninth sprocket is located at the end where the third and fifth links connect, and is coaxial with the eighth sprocket and circumferentially fixed. The tenth sprocket is located at the actuator end and is circumferentially limited to the drive shaft. The fourth chain is wound around the seventh and eighth sprockets; The fifth chain is wound around the ninth and tenth sprockets; When the first driving component is running and the second driving component is not running, the third transmission component can drive the drive shaft to rotate along the second direction by a second angle while the execution end rotates along the first direction by a first angle. When the second driving member is running and the first driving member is not running, the third transmission assembly can synchronously transmit the rotational force of the second driving member to the drive shaft.

[0016] Preferred options also include: A measuring mechanism, located on the soup cup and at least partially within the containing cavity, is used to detect the liquid level within the containing cavity. And / or, The spraying mechanism is at least partially located within the receiving cavity and is used to spray a coating agent onto the inner wall surface of the receiving cavity; And / or, A heating mechanism, at least partially connected to the soup cup, is used to heat the liquid within the containing cavity. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of a soup dispenser provided in an embodiment of this application.

[0018] Figure 2 This is a partial structural schematic diagram of a soup dispenser provided in one embodiment of this application.

[0019] Figure 3 This is a partial cross-sectional view of a soup dispenser provided in one embodiment of this application. Figure 1 .

[0020] Figure 4 This is a partial cross-sectional view of a soup dispenser provided in one embodiment of this application. Figure 2 .

[0021] Figure 5 yes Figure 2 A magnified view of part A.

[0022] Figure 6 yes Figure 2 A magnified schematic diagram of part B.

[0023] Figure 7 yes Figure 2 A magnified view of a portion of C.

[0024] Reference numerals: 1. Soup cup; 2. Robotic arm; 3. Feeding arm; 4. Feeding mechanism; 5. Follow-up mechanism; 6. Control box; 7. Mounting bracket; 11. Flow port; 12. Mounting shaft; 13. Negative pressure mechanism; 14. Valve stem assembly; 15. Measuring mechanism; 16. Heating mechanism; 21. First driving component; 22. First link; 23. Second link; 24. Third link; 25. Fourth link; 26. Fifth link; 31. Drive shaft; 32. First connecting cylinder; 41. Second drive component; 42. Power shaft; 43. Third transmission assembly; 44. Second connecting cylinder; 431. Seventh sprocket; 432. Eighth sprocket; 433. Tenth sprocket; 434. Fourth chain; 435. Fifth chain; 51. First transmission assembly; 52. Second transmission assembly; 511. First sprocket; 512. Second sprocket; 513. Fourth sprocket; 514. First chain; 515. Second chain; 521. Fifth sprocket; 522. Sixth sprocket; 523. Third chain. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions of this disclosure, the following detailed, clear, and complete description of this disclosure is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit it.

[0026] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0027] Those skilled in the art should understand that in the disclosure of this application, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this application.

[0028] The present application will now be described in further detail with reference to the accompanying drawings, see below. Figures 1 to 7 illustrate.

[0029] This application provides a soup dispensing machine, including a control box 6, a mounting bracket 7, a soup cup 1, a robotic arm 2, a feeding arm 3, and a feeding mechanism 4. The control box 6 is a box-shaped structure, and the robotic arm 2 is rotatably connected to the control box 6. The mounting bracket 7 is located at the bottom of the control box 6 and is used to raise and support the control box 6. The feeding arm 3 includes a first end and a second end. The first end of the feeding arm 3 is rotatably connected to the robotic arm 2, and the second end is connected to the soup cup 1. The robotic arm 2 is used to drive the soup cup 1 and the feeding arm 3 to move in a vertical plane, so that the soup cup 1 can move back and forth between the die-casting machine and the furnace. The feeding mechanism 4 is connected to the first end and can drive the feeding arm 3 to rotate around the axis of the first end, so that the soup cup 1 can rotate around the axis of the first end. The axis of rotation allows the soup cup 1 to move from the first position to the second position. The first and second positions are spaced apart on the same horizontal plane, meaning they are at the same horizontal height. This ensures that the flow port 11 and the feed port are perfectly aligned, guaranteeing the alignment accuracy of the flow port 11 and the feed port. This application can limit the movement trajectory of the soup cup 1 to a single horizontal arc, allowing the soup cup 1 to move along a predetermined path to complete the translational docking of the flow port 11 with the feed port of the die-casting machine. This avoids the situation where the flow port 11 is difficult to align with the feed port of the die-casting machine or collide with the side wall of the feed port due to the non-straight transport path caused by the linkage structure characteristics of the traditional robotic arm 2, which greatly improves the feeding accuracy of the soup dispenser.

[0030] In practical use, the wall thickness and horizontal height of the die-casting machine's feed inlet can be measured first, and then the length of the feeding arm 3 can be adjusted to preset the first position. When the robotic arm 2 moves the soup cup 1 to the first position, it drives the feeding mechanism 4 to run, so that the second end moves to the second position along a determinable and predictable arc path, so that the soup cup 1 bypasses the side wall of the feed inlet and falls into the feed inlet from directly above it, so that the flow port 11 and the feed inlet can be aligned exactly, completing the horizontal docking of the flow port 11 and the feed inlet, improving the alignment accuracy of the flow port 11 and the feed inlet, and ensuring the accuracy of soup feeding.

[0031] In this application, as Figure 1 , Figure 2 , Figure 5 As shown, the flow port 11 of the soup cup 1 is located directly below the soup cup 1. The molten metal in the soup cup 1 flows out through the flow port 11 directly below into the die-casting machine. Through the aforementioned feeding mechanism 4, as long as the horizontal height of the feed inlet is determined to be on the same plane as the first and second positions, and the length of the feeding arm 3 is reasonably set according to the wall thickness of the feed inlet, the flow port 11 can be horizontally aligned with the feed inlet when the soup cup 1 changes from the first position to the second position. The rotation angle of the feeding arm 3 from the first position to the second position is less than or equal to 180 degrees. This application enables the soup cup 1 to move along a set, standard arc path through the feeding mechanism 4, achieving controllable adjustment of the soup cup 1's position. This effectively compensates for the transportation errors caused by the non-straight transportation path of the robotic arm 2 using a linkage structure, improving the soup feeding accuracy.

[0032] The soup cup 1 in this application is a self-suction soup cup 1, which uses the principle of negative pressure to allow the metal solution to be drawn into the soup cup 1 from directly below; specifically, the structure of the soup cup 1 is described in detail; such as Figure 5As shown, the soup cup 1 includes a cup body, a negative pressure mechanism 13, and a valve stem assembly 14. The negative pressure mechanism 13 is connected to the top of the cup body and is connected to a positive pressure air source device. The cup body has a receiving cavity, and the negative pressure mechanism 13 communicates with the receiving cavity. When a positive pressure air source is introduced into the negative pressure mechanism 13, a negative pressure state can be formed in the receiving cavity. A flow port 11 is located at the bottom of the cup body, and the valve stem assembly 14 is partially located within the receiving cavity. Driving the valve stem assembly 14 to move axially controls the opening and closing state of the flow port 11, thereby achieving the opening and closing control of the flow port 11. The valve stem assembly 14 moves upward to open the flow port 11, and moves downward to close the flow port 11. The flow port 11 communicates with the receiving cavity. When the flow port 11 is open, the receiving cavity is connected to the outside. When the negative pressure mechanism 13 operates... When the container is under negative pressure, the molten metal is drawn into the container through the flow port 11. During the suction process, the container is kept under negative pressure with very low air content, which allows the container to safely hold molten metal that is easily flammable upon contact with air, thus improving the applicability of the soup cup 1. When the molten metal in the container reaches a certain volume, the control valve rod assembly 14 moves down to close the flow port 11, ensuring that the container can stably store the molten metal and that the molten metal will not leak from the flow port 11, thus ensuring the stability of the process when the robotic arm 2 moves the soup cup 1 to the die-casting machine. When the soup cup 1 moves to above the feed port of the die-casting machine, the control valve rod assembly 14 moves up to open the flow port 11, allowing the molten metal to flow out from the flow port 11 into the feed port, completing the soup feeding process.

[0033] Furthermore, the working principle of the feeding mechanism 4 is described in detail; such as Figures 1 to 7 As shown, the robotic arm 2 includes a first drive unit 21 and a linkage mechanism. The first drive unit 21 is located inside the control box 6. The linkage mechanism includes a drive end and an execution end. The drive end is connected to the output end of the first drive unit 21, and the execution end is connected to the first end of the feeding arm 3. The first drive unit 21 can drive the drive end to rotate forward or backward. Under the action of the linkage mechanism, it can drive the feeding arm 3 and the soup cup 1 to move in the vertical plane. The robotic arm 2 is a five-bar linkage structure, as shown below. Figure 1 , Figure 2As shown, the robotic arm 2 includes a first link 22, a second link 23, a third link 24, a fourth link 25, and a fifth link 26. The two ends of the first link 22 are respectively connected to the non-end portion of the second link 23 and the output shaft of the first drive member 21, with the end of the first link 22 hinged to the first drive member 21 serving as the drive end. The two ends of the second link 23 are respectively hinged to the non-end portion of the third link 24 and the end portion of the fourth link 25. The two ends of the third link 24 are respectively hinged to the soup cup 1 and the end portion of the fifth link 26, with the end of the linkage mechanism connected to the feeding arm 3 serving as the execution end. The hinge point of rod 23 and the third link 24 is located near the hinge point of the third link 24 and the fifth link 26; the two ends of the fourth link 25 are respectively hinged to the ends of the second link 23 and the fifth link 26; the two ends of the fifth link 26 are respectively hinged to the ends of the third link 24 and the fourth link 25; when the first driving member 21 drives the first link 22 to rotate the first link 22 along the first direction by a first angle, the first link 22 drives the execution end of the third link 24 to rotate the first direction by a first angle through the second link 23, so as to drive the feeding arm 3 and the soup cup 1 to rotate the first angle in the first direction, thereby completing the displacement of the soup cup 1 in the vertical plane.

[0034] The feeding mechanism 4 includes a second driving component 41 and a third transmission assembly 43. The second driving component 41 is located inside the control box 6, and its housing is fixedly connected to the control box 6. The output shaft of the second driving component 41 is provided with a power shaft 42, which is rotatably connected to the end of the fifth connecting rod 26 away from the third connecting rod 24. The first end of the feeding arm 3 is provided with a driving shaft 31, which is at least partially located in the third connecting rod 24 and at least partially located in the feeding arm 3. The third connecting rod 24 is rotatably connected to the driving shaft 31. The first end of the feeding arm 3 is fixedly connected to the drive shaft 31, and the first end is coaxially arranged with the drive shaft 31; the third transmission component 43 is located in the linkage mechanism. One end of the third transmission component 43 is connected to the second drive member 41 through the power shaft 42, and the other end is connected to the drive shaft 31, so as to transmit the power of the second drive member 41 to the drive shaft 31, so that the second end of the feeding arm 3 can rotate around the axis of the drive shaft 31, with the rotation radius being the length of the feeding arm 3, so that the soup cup 1 can be displaced from the first position to the second position.

[0035] Specifically, the third transmission assembly 43 includes a seventh sprocket 431, an eighth sprocket 432, a ninth sprocket, a tenth sprocket 433, a fourth chain 434, and a fifth chain 435; the seventh sprocket 431 is circumferentially limited to the drive shaft 42; a connecting shaft is provided at the connection between the third link 24 and the fifth link 26, and the third link 24 and the fifth link 26 are rotatably connected to the connecting shaft; the connecting shaft is at least partially located within the third link 24 and at least partially located within the fifth link 26; the eighth sprocket 432 is located at the end of the fifth link 26 near the third link 24, and the ninth sprocket is located at the end where the third link 24 and the fifth link 26 are connected, and both the eighth sprocket 432 and the ninth sprocket are circumferentially limited and sleeved on the connecting shaft to achieve circumferential synchronous connection between the eighth sprocket 432 and the ninth sprocket; the tenth sprocket 433 is located at the actuating end, and the tenth sprocket 433 is sleeved on the connecting shaft. The tenth sprocket 433 is circumferentially limited and connected to the drive shaft 31 on the drive shaft 31; the fourth chain 434 is wound around the seventh sprocket 431 and the eighth sprocket 432, and the fourth chain 434 meshes with the seventh sprocket 431 and the eighth sprocket 432; the fifth chain 435 is wound around the ninth sprocket and the tenth sprocket 433, and the fifth chain 435 meshes with the ninth sprocket and the tenth sprocket 433. Therefore, when the second drive member 41 is running, it can make the power shaft 42 rotate, the power shaft 42 drives the seventh sprocket 431 to rotate, and under the action of the fourth chain 434, it drives the eighth sprocket 432 to rotate synchronously. Under the action of the connecting shaft, the ninth sprocket and the eighth sprocket 432 rotate synchronously, and under the action of the fifth chain 435, it drives the tenth sprocket 433 to rotate synchronously. Under the action of the drive shaft 31, the second end rotates synchronously around the axis of the drive shaft 31.

[0036] To ensure that the axis of the flow port 11 of the soup cup 1 is always parallel to the vertical plane, so that the flow port 11 can still be vertically downward when it moves from the first position to the second position; in an optional embodiment of this application, a mounting shaft 12 is provided at the second end, and the mounting shaft 12 is coaxially fixed with the tenth sprocket 433. The top of the soup cup 1 is provided with a mounting hole for the mounting shaft 12 to be inserted. The mounting hole is rotatably connected to the mounting shaft 12, that is, the soup cup 1 is rotatably connected to the mounting shaft 12, so that the center of gravity of the soup cup 1 is set on the center of gravity axis of the flow port 11, thereby enabling the soup cup 1 to adaptively adjust under the action of gravity, so that its flow port 11 is always vertically downward.

[0037] In another alternative embodiment, such as Figures 1 to 7As shown, the soup dispenser also includes a follower mechanism 5, which is connected to the linkage mechanism and the soup cup 1. The follower mechanism 5 is used to generate a balancing force on the soup cup 1 when the first driving member 21 is running. This balancing force can drive the soup cup 1 to rotate relative to the driving end in a second direction by a second angle. The first direction is opposite to the second direction, and the first angle is the same as the second angle, so that the follower mechanism 5 can counteract the angle change of the soup cup 1 caused by the first driving member 21 running, and perform follower balance control on the posture of the soup cup 1 so that the flow port 11 can always be vertically downward. In this embodiment, the mounting shaft 12 is circumferentially limited and connected to the soup cup 1.

[0038] It should be noted that in the initial state of connection between the soup cup 1 and the actuator, the flow port 11 of the soup cup 1 is parallel to the vertical plane, which can ensure the effectiveness of the balance control of the follower mechanism 5.

[0039] Specifically, the follower mechanism 5 includes a first transmission assembly 51 and a second transmission assembly 52. ​​The first transmission assembly 51 is connected to the robotic arm 2 and to a first end. The first end is provided with a first connecting cylinder 32, which is rotatably sleeved outside the drive shaft 31. The feeding arm 3 and the third connecting rod 24 are both rotatably connected to the first connecting cylinder 32. The first transmission assembly 51 is located inside the third connecting rod 24 and is drively connected to the first connecting cylinder 32. The second transmission assembly 52 is located inside the feeding arm 3 and is drively connected to the first connecting cylinder 32. The first transmission component 51 transmits power to the second transmission component 52 through the first connecting cylinder 32. The first transmission component 51 generates a balancing force when the execution end rotates at a first angle in the first direction. The balancing force drives the second end to rotate at a second angle relative to the drive shaft 31 in the second direction through the second transmission component 52. The second direction is opposite to the first direction, and the second angle is equal to the first angle. This compensates for the posture change caused by the execution end driving the soup cup 1 and the feeding arm 3 to rotate at a first angle in the first direction, so that the axis of the flow port 11 of the soup cup 1 is always parallel to the vertical plane.

[0040] Among them, such as Figures 2 to 6As shown, the first transmission assembly 51 includes a first sprocket 511, a second sprocket 512, a third sprocket, a fourth sprocket 513, a first chain 514, and a second chain 515. The first sprocket 511 is located at the end of the fifth connecting rod 26 away from the third connecting rod 24. The fifth connecting rod 26 has a second connecting cylinder 44, which is rotatably sleeved on the outside of the drive shaft 42. The first sprocket 511 and the second connecting cylinder 44 are coaxial and circumferentially limited. The fifth connecting rod 26 is rotatably connected to the second connecting cylinder 44. Therefore, the rotation of the first sprocket 511 is independent of the fifth connecting rod 26. That is, when the fifth connecting rod 26 rotates in the second direction, the first sprocket 511 revolves with the fifth connecting rod 26 but does not rotate on its own axis. The second sprocket 512 is located at the end of the fifth connecting rod 26 connected to the third connecting rod 24. Similarly, The second sprocket 512 is rotatably connected to the fifth link 26; the third sprocket is located at the end where the third link 24 connects to the fifth link 26, the third link 24 has a third connecting cylinder inside, the third connecting cylinder is rotatably sleeved outside the connecting shaft, the third connecting cylinder is at least partially located inside the fifth link 26, the third link 24 and the fifth link 26 are both rotatably sleeved outside the third connecting cylinder, the third sprocket is located inside the third link 24, the second sprocket 512 is located inside the fifth link 26, and both the second sprocket 512 and the third sprocket are fixedly sleeved outside the third connecting cylinder; the actuating end is rotatably sleeved outside the drive shaft 31, the actuating end and the feeding arm 3 are both rotatably sleeved outside the first connecting cylinder 32, and the fourth sprocket 513 is fixedly sleeved outside the first connecting cylinder 32, the fourth sprocket 513 is coaxially arranged with the first end and rotatably connected.

[0041] The first chain 514 is wound around the first sprocket 511 and the second sprocket 512, and the first chain 514 meshes with the first sprocket 511 and the second sprocket 512. Since the first sprocket 511 is rotatably connected relative to the fifth link 26, when the first drive member 21 drives the first link 22 and the actuator to rotate a first angle in the first direction, it can drive the third link 24 to rotate a first angle in the first direction, and at the same time drive the fifth link 26 to rotate a second angle in the second direction. Simultaneously, the first chain 514 rotates in the second direction to drive the second sprocket 512 to rotate in the second direction. The direction is rotated by a second angle, and the second sprocket 512 synchronously drives the third sprocket to rotate by a second angle along the second direction. The third sprocket drives the fourth sprocket 513 to rotate by a second angle along the second direction through the second chain 515. The fourth sprocket 513 transmits the power to the second transmission component 52 through the first end. The second transmission component 52 drives the second end to rotate by a second angle around the axis of the first end along the second direction, so as to achieve the follow-up balance of the soup cup 1, so that the axis of the flow port 11 is always parallel to the vertical plane, ensuring the alignment accuracy between the flow port 11 and the feed port, thereby improving the feeding accuracy.

[0042] Furthermore, the second transmission component 52 is described in detail; such as Figure 3 , Figure 5As shown, the second transmission assembly 52 includes a fifth sprocket 521, a sixth sprocket 522, and a third chain 523. The fifth sprocket 521 is located at the first end of the feeding arm 3 and is fixedly sleeved on the outside of the first connecting cylinder 32, so that the fifth sprocket 521 and the fourth sprocket 513 are coaxial and circumferentially fixed. The second end is provided with a mounting shaft 12, which is circumferentially limited and connected to the soup cup 1. The sixth sprocket 522 is located at the second end of the feeding arm 3 and is fixedly sleeved on the mounting shaft 12, so that the sixth sprocket 522 and the soup cup 1 are circumferentially fixed. The third chain 523 is wound around the fifth sprocket 521 and the sixth sprocket. On 522, the third chain 523 meshes with the fifth sprocket 521 and the sixth sprocket 522. When the fourth sprocket 513 in the first transmission assembly 51 rotates at a second angle along the second direction, the fourth sprocket 513 drives the fifth sprocket 521 to rotate synchronously through the first connecting cylinder 32. The fifth sprocket 521 drives the sixth sprocket 522 to rotate synchronously through the third chain 523. This allows the soup cup 1 to rotate at a second angle along the second direction relative to the axis of the execution end, thereby achieving the follow-up control of the posture of the soup cup 1. This ensures that the axis of the flow port 11 is always parallel to the vertical plane, guaranteeing the alignment accuracy between the flow port 11 and the feed port, and thus improving the feeding accuracy.

[0043] In addition, in this application, when the first driving member 21 is running and the second driving member 41 is not running, the third transmission component 43 can drive the drive shaft 31 to rotate in the second direction by a second angle when the execution end rotates by a first angle in the first direction. That is, the third transmission component 43 can cooperate with the fifth link 26 to generate a balancing force on the drive shaft 31, so that the drive shaft 31 can always maintain dynamic balance when the first driving member 21 is running, so that the feeding arm 3 can always maintain a balanced posture relative to the execution end, so that the feeding arm 3 always maintains the same posture as the initial posture. When the robotic arm 2 moves the soup cup 1 to the first position, the feeding mechanism 4 makes the feeding arm 3 rotate around the drive shaft 31 to the second position, ensuring that the second end of the feeding arm 3 can be in the set position after rotation, so that the first position and the second position are on the same horizontal plane. Therefore, the third transmission component 43 can play a dynamic balance control effect on the drive shaft 31 when the robotic arm 2 is running, thereby improving the feeding accuracy.

[0044] Therefore, the principle of the third transmission component 43 generating a balancing force on the drive shaft 31 is the same as the principle of the follower mechanism 5 generating a balancing force on the soup cup 1. When the first drive component 21 is running, the third transmission component 43 can drive the drive shaft 31 to rotate a second angle along the second direction, so as to realize the follower control of the attitude of the drive shaft 31, so that the feeding arm 3 can always maintain the same attitude as the initial attitude.

[0045] It should be noted that the second driving component 41 and the first driving component 21 operate out of phase and do not operate simultaneously. When the second driving component 41 is running and the first driving component 21 is not running, the third transmission component 43 can synchronously transmit the rotational force of the second driving component 41 to the drive shaft 31 to achieve feeding.

[0046] Based on any of the above embodiments, the soup cup 1 can be further extended; such as... Figure 5 As shown, the soup cup 1 also includes a measuring mechanism 15, which is connected to the top of the cup body. The measuring mechanism 15 includes a probe, which at least partially extends into the receiving cavity. The probe can detect the liquid level in the receiving cavity. The measuring mechanism 15 is connected to the driving component and can transmit the detection signal in a timely manner so that the valve stem assembly 14 can close the flow port 11 in a timely manner, realizing automated material suction, reducing manual intervention, and improving work efficiency. The measuring mechanism 15 can also transmit the signal synchronously to the negative pressure mechanism 13 to control the negative pressure mechanism 13 to stop operating in a timely manner, thereby saving resources and reducing costs. In addition, it can transmit the signal synchronously to the robotic arm 2 so that the robotic arm 2 can move the soup cup 1 from the furnace position to the first position of the die casting machine in a timely manner, improving work efficiency.

[0047] The probe's height is adjustable to accommodate detection needs at different heights.

[0048] Based on any of the above embodiments, the soup cup 1 can be further extended; such as... Figure 5 As shown, the soup cup 1 also includes a heating mechanism 16 connected to the soup cup 1. The heating mechanism 16 is used to heat the molten metal in the containing cavity, so that the molten metal in the containing cavity can always be kept at the required temperature during the movement of the soup cup 1 from the furnace to the second position, preventing the molten metal from solidifying and making it have sufficient fluidity so that the molten metal can flow out smoothly from the flow port 11. In addition, since the heating mechanism 16 continuously heats the molten metal in the containing cavity, the molten metal continues to maintain a high temperature. According to the thermal expansion and contraction effect, it is more difficult for external air to enter the containing cavity from the exhaust port of the negative pressure mechanism 13, further reducing the probability of the molten metal in the containing cavity coming into contact with the external air.

[0049] like Figure 5 As shown, the heating mechanism 16 includes a heating tube that is wound around the outside of the cup body and fixedly connected to the cup body. The heating tube is made of a high-temperature resistant and corrosion-resistant material, such as cast iron or ceramic. A resistance wire is installed inside the heating tube. After the resistance wire heats up, it transfers the heat to the cup body through the heating tube. The cup body then transfers the heat to the molten metal in the containing cavity to achieve heating. The heating tube can be installed close to the outer wall of the cup body.

[0050] Based on any of the above embodiments, the soup cup 1 is further extended; the soup cup 1 also includes a spraying mechanism, which is at least partially disposed within the receiving cavity. The spraying mechanism is used to spray a coating agent onto the inner wall surface of the receiving cavity. The coating agent can form a strong refractory coating on the inner wall surface of the receiving cavity, effectively preventing the direct corrosion of the cup body by the molten metal, significantly delaying tool wear, and extending its service life. Furthermore, it can separate the molten metal from the soup cup 1, preventing impurities such as iron from the soup cup 1 from entering the molten metal. In addition, it can also prevent the molten metal from adhering to the inner wall surface of the receiving cavity, ensuring the effective soup dispensing accuracy of the soup cup 1.

[0051] It should be noted that the various embodiments of this application can be arbitrarily combined into new embodiments, provided that the solutions do not conflict and the technical solutions can coexist.

[0052] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the embodiments above are only for the purpose of helping to understand the present application and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A soup dispenser, characterized in that, include: A soup cup (1) with a flow outlet (11) at the bottom; A robotic arm (2) is used to drive the soup cup (1) to move in a vertical plane; The feeding arm (3) includes a first end and a second end. The first end is connected to the robotic arm (2), and the second end is connected to the soup cup (1). The feeding mechanism (4) is connected to the first end and is used to drive the first end to rotate so that the second end drives the soup cup (1) to rotate around the first end so that the soup cup (1) moves from the first position to the second position; The first and second positions are spaced apart on the same horizontal plane.

2. The soup dispenser according to claim 1, characterized in that, Also includes: The follow-up mechanism (5) is connected to the robotic arm (2) and the feeding arm (3) to keep the flow port (11) always vertically downward when the robotic arm (2) moves the soup cup (1) to a certain position; And / or, A receiving cavity is provided inside the soup cup (1) for containing the metal solution; A negative pressure mechanism (13), connected to a soup cup (1), is used to create a negative pressure in the receiving cavity to draw the molten metal from the flow port (11) into the receiving cavity; The valve stem assembly (14) is located in the receiving cavity and is used to control the opening and closing state of the flow port (11).

3. The soup dispenser according to claim 2, characterized in that, The robotic arm (2) includes an execution end, which is connected to the feeding arm (3); the follower mechanism (5) includes a first transmission component (51) and a second transmission component (52). The first transmission assembly (51) is connected to the robotic arm (2), and the first transmission assembly (51) is connected to the first end; One end of the second transmission component (52) is connected to the first transmission component (51), and the other end is connected to the second end; The first transmission component (51) is used to generate a balancing force when the execution end rotates a first angle in a first direction. The balancing force drives the second end to rotate a second angle relative to the execution end in a second direction through the second transmission component (52). Wherein, the second direction is opposite to the first direction, and the second angle is equal to the first angle, so that the axis of the flow port (11) is always parallel to the vertical plane.

4. The soup dispenser according to claim 3, characterized in that, The first end is provided with a drive shaft (31) and a first connecting cylinder (32), the feeding arm (3) is fixedly connected to the drive shaft (31), and the feeding mechanism (4) is drivenly connected to the drive shaft (31); The first connecting cylinder (32) is rotatably sleeved outside the drive shaft (31), and the first transmission assembly (51), the second transmission assembly (52) are fixedly connected to the first connecting cylinder (32).

5. The soup dispenser according to claim 3, characterized in that, The robotic arm (2) includes a first driving member (21) and a linkage mechanism; one end of the linkage mechanism is connected to the first driving member (21), and the other end is connected to the feeding arm (3) to drive the feeding arm (3) to rotate a first angle along a first direction; the end of the linkage mechanism connected to the feeding arm (3) is the execution end; The feeding mechanism (4) includes a second driving member (41) and a third transmission assembly (43); one end of the third transmission assembly (43) is connected to the second driving member (41), and the other end is connected to the drive shaft (31) to drive the drive shaft (31) to rotate around its own axis.

6. The soup dispenser according to claim 5, characterized in that, The linkage mechanism includes a first link (22), a second link (23), a third link (24), a fourth link (25), and a fifth link (26). One end of the first connecting rod (22) is hinged to the first driving member (21), and the other end is hinged to the second connecting rod (23); the end of the first connecting rod (22) that is hinged to the first driving member (21) is the driving end; The two ends of the second link (23) are respectively hinged to the third link (24) and the fourth link (25); The two ends of the third link (24) are respectively hinged to the feed arm (3) and the fifth link (26); the hinge point of the second link (23) and the third link (24) is set close to the hinge point of the third link (24) and the fifth link (26); The two ends of the fourth link (25) are respectively hinged to the second link (23) and the fifth link (26); The two ends of the fifth link (26) are respectively hinged to the third link (24) and the fourth link (25); When the first driving member (21) drives the first link (22) to rotate in the first direction, it can drive the third link (24) to rotate in the first direction by a first angle, and at the same time drive the fifth link (26) to rotate in the second direction by a second angle.

7. The soup dispenser according to claim 6, characterized in that, The first transmission assembly (51) includes: The first sprocket (511) is located at the end of the fifth link (26) away from the third link (24); The second sprocket (512) is located at the end where the fifth link (26) and the third link (24) are connected; The third sprocket is located at the end where the third link (24) and the fifth link (26) are connected. The second sprocket (512) is coaxial with the third sprocket and is circumferentially fixed. The fourth sprocket (513) is located at the actuating end and is circumferentially fixedly connected to the first connecting cylinder (32); The first chain (514) is wound around the first sprocket (511) and the second sprocket (512); The second chain (515) is wound around the third sprocket and the fourth sprocket (513); When the third link (24) rotates in the second direction, the first sprocket (511) revolves with the third link (24) but does not rotate on its own axis, so that the first chain (514) can drive the second sprocket (512) to rotate in the second direction.

8. The soup dispenser according to claim 7, characterized in that, The second transmission assembly (52) includes: The fifth sprocket (521) is located inside the first end and is circumferentially fixedly connected to the first connecting cylinder (32); The sixth sprocket (522) is located inside the second end and is circumferentially fixed relative to the soup cup (1); The third chain (523) is wound around the fifth sprocket (521) and the sixth sprocket (522).

9. The soup dispenser according to claim 6, characterized in that, The third transmission assembly (43) includes: The seventh sprocket (431) is located at the end of the fifth link (26) away from the third link (24), is rotatably connected to the fifth link (26), and is fixedly connected to the second drive member (41); The eighth sprocket (432) is located at the end of the fifth link (26) away from the third link (24); The ninth sprocket is located at the end where the third link (24) and the fifth link (26) are connected, and is coaxial with the eighth sprocket (432) and circumferentially fixed. The tenth sprocket (433) is located at the execution end and is circumferentially limited to the drive shaft (31); The fourth chain (434) is wound around the seventh sprocket (431) and the eighth sprocket (432); The fifth chain (435) is wound around the ninth and tenth sprockets (433); When the first driving member (21) is running and the second driving member (41) is not running, the third transmission assembly (43) can drive the drive shaft (31) to rotate along the second direction by a second angle while the execution end rotates by a first angle in the first direction. When the second drive member (41) is running and the first drive member (21) is not running, the third transmission assembly (43) can synchronously transmit the rotational force of the second drive member (41) to the drive shaft (31).

10. The soup dispenser according to claim 2, characterized in that, Also includes: A measuring mechanism (15) is provided on the soup cup (1), at least partially located inside the receiving cavity, for detecting the liquid height inside the receiving cavity; And / or, The spraying mechanism is at least partially located within the receiving cavity and is used to spray a coating agent onto the inner wall surface of the receiving cavity; And / or, The heating mechanism (16), at least partially connected to the soup cup (1), is used to heat the liquid in the containing cavity.

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