CN103101773A - Full-automatic retort installing system and retort installing method thereof - Google Patents
Full-automatic retort installing system and retort installing method thereof Download PDFInfo
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- CN103101773A CN103101773A CN2013100182645A CN201310018264A CN103101773A CN 103101773 A CN103101773 A CN 103101773A CN 2013100182645 A CN2013100182645 A CN 2013100182645A CN 201310018264 A CN201310018264 A CN 201310018264A CN 103101773 A CN103101773 A CN 103101773A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 239000000463 material Substances 0.000 claims description 54
- 241000209094 Oryza Species 0.000 claims description 25
- 235000007164 Oryza sativa Nutrition 0.000 claims description 25
- 235000009566 rice Nutrition 0.000 claims description 25
- 230000001276 controlling effect Effects 0.000 claims description 24
- 239000004575 stone Substances 0.000 claims description 24
- 235000015096 spirit Nutrition 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000006052 feed supplement Substances 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000010025 steaming Methods 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract 4
- 238000011514 vinification Methods 0.000 abstract 1
- 238000007599 discharging Methods 0.000 description 9
- 235000014101 wine Nutrition 0.000 description 5
- 238000004821 distillation Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
- 235000020097 white wine Nutrition 0.000 description 1
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Abstract
The invention discloses a full-automatic retort installing system and a retort installing method of the full-automatic retort installing system. The full-automatic retort installing system comprises a multi-joint robot, a retort installing executing mechanism, a retort installing vision measurement and control mechanism, a center control mechanism and a feeding mechanism. The retort installing executing mechanism is fixed at the tail end of the multi-joint robot and is located above a retort barrel. The retort installing vision measurement and control mechanism monitors and controls temperature and height of a charge level in the retort barrel in real time. The center control mechanism receives information collected by the retort installing vision measurement and control mechanism and sends control information to the multi-joint robot and the retort installing vision measurement and control mechanism. The feeding mechanism feeds the retort installing executing mechanism. The full-automatic retort installing system can fully simulate manual retort installing, is more high-efficient and accurate, and achieves full mechanization and informatization of wine making retort installing technology.
Description
Technical field
The present invention relates to full automaticity loaded steamer system and loaded steamer method thereof.
Background technology
China white wine is produced scale from small workshop mode and is brewageed, and its loaded steamer technique is that manual operation is completed all the time, and this mode makes in the loaded steamer process, and production efficiency, quality and distillation yield are affected by human factors greatly.And in producing, hand labor intensity is large, and technical requirements is high, and recruitment is more and more difficult, and the recruitment cost is also more and more higher.Therefore be necessary in brewed spirit a kind of full automaticity loaded steamer of loaded steamer technique development system, realize the comprehensive mechanization of wine brewing and informationization.
Summary of the invention
First technical matters to be solved by this invention is to provide a kind of full automaticity loaded steamer system, realizes comprehensive mechanization and the informationization of wine brewing loaded steamer technique.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: full automaticity loaded steamer system comprises articulated robot, loaded steamer actuating unit, the observing and controlling of loaded steamer vision mechanism, central control mechanism and feed mechanism; Described loaded steamer actuating unit is fixed on the end of articulated robot, and is positioned at above the rice steamer bucket; Described loaded steamer vision observing and controlling mechanism is to the temperature of charge level in the rice steamer bucket and highly carry out Real Time Monitoring; Described central control mechanism receives the information that loaded steamer vision observing and controlling mechanism gathers, through articulated robot and the loaded steamer vision observing and controlling mechanism of sending control information after computing; Described articulated robot is controlled the action of loaded steamer actuating unit according to control information; Described loaded steamer vision observing and controlling mechanism is according to the control information corresponding actions; Described feed mechanism is loaded steamer actuating unit filling.
Described loaded steamer actuating unit comprises feed bin, feedway, mixing device and chain; Described feedway is arranged on bin bottom; Described feedway comprises feed drive motor, load-transfer device and transmission shaft; Described feed drive motor-driven transmission shaft driving conveying belt rotates; Described mixing device is arranged in feed bin; Described transmission shaft rotates by the chain-driving mixing device.
The load-transfer device of the feedway of described loaded steamer actuating unit is belt, and described feedway also comprises the gusset that is arranged on load-transfer device; The top of described gusset is the slope shape setting, and the outside is high, inboard low.
Described loaded steamer actuating unit also comprises strut bar, sloping baffle and pull bar; One end of described strut bar is fixed on the feed bin sidepiece, and the other end and sloping baffle are hinged; Described pull bar is provided with two, and two pull bars are separately positioned on the both sides of sloping baffle, and an end and the feed bin of pull bar are hinged, and the other end and sloping baffle are hinged; Described sloping baffle is arranged on the outlet outside of feedway.
Described loaded steamer actuating unit also comprises the level meter that is arranged on the feed bin top; Described level meter is provided with the electrode that gos deep into bin bottom.
Described loaded steamer actuating unit also comprises sensor or time-delay switch; Described sensor setting is in the exit of feedway; Described sensor adopts the correlation sensor; Described time-delay switch is arranged on the control circuit of level meter.
Described loaded steamer vision observing and controlling mechanism comprises base, crane, slewing arrangement and infrared camera; Described crane is arranged on base; One end of described slewing arrangement is arranged on crane top, other end installation infrared camera; Described infrared camera is positioned at loaded steamer actuating unit top, and to the temperature of charge level in the rice steamer bucket and highly carry out Real Time Monitoring.
Described crane adopts the multi-section type structure.
Second technical matters to be solved by this invention is to provide the loaded steamer method of a kind of full automaticity loaded steamer system, realizes layer by layer stone, stone and see wet lid material comprehensively.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: the loaded steamer method of full automaticity loaded steamer system is characterized in that: comprise the following steps:
1. take the center of rice steamer bucket as the center of circle, the rice steamer bucket is divided into a plurality of zones, wherein zone line is circular, and other zone is annular;
2. central control mechanism is controlled articulated robot and is driven loaded steamer actuating unit subregion laying bed material;
3. after having spread bed material, the infrared camera of loaded steamer vision observing and controlling mechanism begins charge level in the rice steamer bucket is carried out video monitoring, and video data is sent to central control mechanism; When certain regional temperature of fragrant unstrained spirits material sharply raises, gray value that should the zone in the video image that infrared camera is taken also can sharply raise,, central control mechanism positions this zone, and controls articulated robot drive loaded steamer actuating unit feed supplement is carried out in this zone; When the distance of infrared camera and charge level reduced, namely the height of charge level increased, and central control mechanism is controlled crane and risen, and infrared camera is remained in constant shooting distance;
4. the loaded steamer actuating unit is in the process of stone, level meter detects in feed bin whether material is arranged, if the electrode without material contact level meter, send without the material alerting signal to central control mechanism, central control mechanism is controlled reducing motor and is shut down, and controls simultaneously articulated robot drive loaded steamer actuating unit feed bin is moved to the feed mechanism filling;
5. central control mechanism is divided into the charge level in the rice steamer bucket zone that a plurality of areas equate, after stone was completed, the automatic statistics of central control mechanism do not occur the steaming zone of phenomenon was to the last feed supplement in zone of the phenomenon that do not occur steaming.
After having adopted technique scheme, the present invention has following beneficial effect: (1) machine of the present invention adopts articulated robot, and fast response time is controlled flexibly, can make loaded steamer actuating unit simulation manually carry out loaded steamer, realize successively accurately, efficiently and safely evenly stone and see wet lid material; In the rice steamer of monitor control mechanism monitoring simultaneously bucket, the temperature of charge level, when fragrant unstrained spirits material will steam, carry out in time, locate accurately the position that will steam, and feed back to central control mechanism, realizes seeing wet lid material, effective quantity that steams that reduces; So the artificial loaded steamer of full automaticity loaded steamer system's energy comprehensive simulated of the present invention, and more efficient and accurate, realized comprehensive mechanization and the informationization of wine brewing loaded steamer technique.
(2) in order to ensure the distillation yield of loaded steamer, require continuous stone, the feedway of loaded steamer actuating unit of the present invention is arranged on bin bottom, and the load-transfer device continuous movement is continuously carried fragrant unstrained spirits material to outlet, thus the continuous stone when having realized loaded steamer.
(3) loaded steamer actuating unit of the present invention fully takes into account the wet sticking characteristic of fragrant unstrained spirits material, therefore mixing device is set in feed bin, make the fragrant unstrained spirits material in feed bin keep loose condition (of surface), thereby avoided the bonding of fragrant unstrained spirits material, the conveying of fragrant unstrained spirits material and the realization of final loaded steamer have been guaranteed, the ingehious design that the present invention simultaneously adopts the transmission shaft of feedway to rotate by the chain-driving mixing device, thereby a motor that is used for driving mixing device can be set less, effectively reduce cost.
(4) material due to wine brewing use has wet, the characteristic such as sticking, therefore easily be bonded together and be difficult for carrying, and can cause corrosion to the conveying mechanism of chain class, so the feedway of loaded steamer actuating unit of the present invention preferably adopts belt to carry, gusset is set on load-transfer device simultaneously, the friction that has increased material and belt can also realize the action of scraper, design is to make the top of gusset be the slope shape setting more cleverly, the outside is high, inboard low, this structure fully take into account conveying at the uniform velocity with the circumference stone time excircle and the circumference differential of inner periphery, thereby the feedway of loaded steamer actuating unit of the present invention not only makes the material in feed bin to push smoothly, and during discharging, outside discharging is many, inboard discharging is few, satisfied the requirement of circumference stone.
(5) due to the setting of gusset on load-transfer device, load-transfer device can be stopped by gusset when fragrant unstrained spirits material is transferred to the exit, make the discharging action breakpoint, discontinuous that become, so outlet outer setting sloping baffle of the feedway of loaded steamer actuating unit of the present invention, discharging is cushioned, the continuity when having guaranteed stone.
(6) the feed bin top of loaded steamer actuating unit of the present invention arranges level meter, level meter is provided with the electrode that gos deep into bin bottom, level meter can detect whether material is arranged in feed bin, if without material contact probe, send without the material alerting signal, guarantee in time to feed in raw material, realized the information-based and intelligent of loaded steamer, make loaded steamer process precise and high efficiency.
(7) electrode of considering level meter might be expected alerting signal because of the of short duration nothing that leads to errors without the material situation that occurs in feeding process, therefore loaded steamer actuating unit of the present invention can also arrange sensor in the exit of feedway, sensor plays identical function with level meter, can be used as the replacement of level meter, perhaps auxiliary as level meter, realize the monitoring function to the material in feed bin more accurately together with level meter; Perhaps adopt on the control circuit of level meter time-delay switch is set, with of short duration nothing material signal, such as the nothing material signal shielding less than 3 seconds falls, thereby guarantee the accurate monitoring to the material in feed bin.
(8) infrared camera of the present invention is also monitored the height of charge level in the rice steamer bucket, make the complete layered material of the every paving of loaded steamer loaded steamer actuating unit, crane can drive infrared camera and in time rise, make the interior charge level of infrared camera and rice steamer bucket remain stable distance, the assurance infrared camera can be monitored whole charge levels; Crane adopts the multi-section type structure, and this structure makes crane can be raised to higher distance.
(9) loaded steamer method of the present invention is uniform distribution, continuous cloth, circumference cloth and sees wet lid material, realizes the action of aforementioned cloth by controlling the loaded steamer actuating unit, and is precisely reliable, significantly reduced labour intensity, guaranteed distillation yield.
Description of drawings
Content of the present invention is easier to be expressly understood in order to make, and the below is according to specific embodiment and by reference to the accompanying drawings, and the present invention is further detailed explanation, wherein
Fig. 1 is the structural representation of full automaticity loaded steamer no center control mechanism of system of the present invention and feed mechanism.
Fig. 2 is the structural representation of the loaded steamer actuating unit of full automaticity loaded steamer of the present invention system.
Fig. 3 is the left view after Fig. 2 removes level meter.
Fig. 4 is the birds-eye view after Fig. 2 removes top component.
Fig. 5 is the structural representation of the feedway of loaded steamer actuating unit of the present invention.
Label in accompanying drawing is:
Articulated robot 1, loaded steamer actuating unit 2, feed bin 21, inlet point 211, feedway 22, reducing motor 221, load-transfer device 222, transmission shaft 223, gusset 224, mixing device 23, chain 24, strut bar 25, sloping baffle 26, pull bar 27, level meter 28, sensor 29, the observing and controlling of loaded steamer vision mechanism 3, base 31, crane 32, slewing arrangement 33, infrared camera 34.
The specific embodiment
(embodiment 1)
See Fig. 1, the full automaticity loaded steamer system of the present embodiment comprises articulated robot 1, loaded steamer actuating unit 2, the observing and controlling of loaded steamer vision mechanism 3, central control mechanism and feed mechanism.
Loaded steamer actuating unit 2 is fixed on the end of articulated robot 1, and is positioned at rice steamer bucket 4 tops.The temperature of 3 pairs of rice steamer bucket 4 interior charge levels of loaded steamer vision observing and controlling mechanism and highly carry out Real Time Monitoring.The information that central control mechanism reception loaded steamer vision observing and controlling mechanism 3 gathers, and send control information articulated robot 1 and loaded steamer vision observing and controlling mechanism 3, according to this control information, articulated robot 1 is controlled loaded steamer actuating unit 2 and is carried out the actions such as stone, feed supplement, simultaneously this control information feeds back to again loaded steamer vision observing and controlling mechanism 3, make it correspondingly make the response action, such as rising, rotation etc.Feed mechanism is loaded steamer actuating unit 2 fillings.
Loaded steamer actuating unit 2 comprises feed bin 21, feedway 22, mixing device 23, chain 24, strut bar 25, sloping baffle 26, pull bar 27, level meter 28.Feedway 22 is arranged on feed bin 21 bottoms.Feedway 22 comprises feed drive motor 221, load-transfer device 222, transmission shaft 223 and gusset 224.Feed drive motor 221 drives transmission shaft 223 driving conveying belts 222 and rotates.Mixing device 23 is arranged in feed bin 21.Transmission shaft 223 drives mixing device 23 by chain 24 and rotates.Load-transfer device 222 adopts belt, and gusset 224 is arranged on load-transfer device 222.The top of gusset 224 is the slope shape setting, and the outside is high, inboard low, and during discharging, outside discharging is many, inboard discharging is few.One end of strut bar 25 is fixed on feed bin 21 sidepieces, and the other end and sloping baffle 26 are hinged.Pull bar 27 is provided with two, and two pull bars 27 are separately positioned on the both sides of sloping baffle 26, and an end and the feed bin 21 of pull bar 27 are hinged, and the other end and sloping baffle 26 are hinged.Sloping baffle 26 is arranged on the outlet outside of feedway 22.Level meter 28 is arranged on feed bin 21 tops.Level meter 28 is provided with the electrode that gos deep into feed bin 21 bottoms.
Because the electrode of level meter 28 may because of the of short duration alerting signal that leads to errors without material, can also arrange in the exit of feedway 22 sensor 29.Sensor 29 adopts the correlation sensor.Sensor 29 can be used as the replacement of level meter 28, and perhaps auxiliary as level meter 28, realize the monitoring function of the fragrant unstrained spirits material in feed bin 21 is prevented from causing because level meter 28 is malfunctioning stone continuously together with level meter more accurately.Can also adopt on the control circuit of level meter 28 time-delay switch is set, will fall less than the nothing material signal shielding of 3 seconds.
Loaded steamer vision observing and controlling mechanism 3 comprises base 31, crane 32, slewing arrangement 33 and infrared camera 34.Crane 32 is arranged on base 31.Crane 32 adopts the multi-section type structure.One end of slewing arrangement 33 is arranged on crane 32 tops, other end installation infrared camera 34.Infrared camera 34 is positioned at loaded steamer actuating unit 2 tops, and to the temperature of rice steamer bucket 4 interior charge levels and highly carry out Real Time Monitoring, calculated by central control mechanism simultaneously, by the motion of motor-driven crane 32, infrared camera 34 is remained in constant shooting distance.
When loaded steamer, for the thickness of guaranteeing the each stone of loaded steamer actuating unit 2 and Traditional Man stone approaches, the present embodiment is controlled at every layer of stone 2-3 centimetre, and loaded steamer is complete lays altogether 40 layers.At first do not open steam, lay bed material, then open steam, then see wet lid material.The requirement of laying bed material is the steam hole of rice steamer bucket 4 bottoms to be blocked get final product.The purpose of seeing wet lid material is: the alcohol concentration of fragrant unstrained spirits material is roughly 4%, guarantee to bring up to 65% left and right by its alcohol concentration of loaded steamer, just need to pass through successively concentration and evaporation, therefore the requirement of at every turn seeing wet feed supplement is to cover steam, but can not be too thick, to guarantee that steam just can penetrate the fragrant unstrained spirits material of this layer fully within the rational time, avoid remaining in the fragrant unstrained spirits material of this layer, affect the quality of wine.For this reason, the step of the loaded steamer method of the full automaticity loaded steamer system of the present embodiment is:
1. take the center of rice steamer bucket 4 as the center of circle, rice steamer bucket 4 is divided into 3 zones, wherein zone line is circular, and other two zones be annular.
2. central control mechanism is controlled articulated robot 1 and is driven loaded steamer actuating unit 2 first cws stone in the annular region of outmost turns, then articulated robot 1 drives loaded steamer actuating unit 2 at the central circular stone, last cw is laid three layers as bed material in this way at the regional stone of the second ring shape.Adopt the purpose of such method to be: on the one hand, the every rotating 360 degrees of articulated robot 1 need to reset once, avoids the electric wire entanglement on it to affect work; On the other hand, can guarantee that just sloping baffle 26 plays a role when loaded steamer actuating unit 2 cw stone, left-hand revolution the discharging breakpoint can occur, high or low phenomenon.In embodiment, it is first to send quantitative fragrant unstrained spirits material by feedway 22 that articulated robot 1 drives loaded steamer actuating unit 2 modes at the central circular stone, then articulated robot 1 drives loaded steamer actuating unit 2 rotating 360 degrees, quantitative fragrant unstrained spirits material is struck off complete.
3. after having spread bed material, open steam, the infrared camera 34 of loaded steamer vision observing and controlling mechanism 3 begins the temperature of rice steamer bucket 4 interior charge levels and highly monitors, and data are sent to central control mechanism; When certain regional temperature of fragrant unstrained spirits material sharply raises, gray value that should the zone in the video image that infrared camera 34 is taken also can sharply raise, central control mechanism can position this zone accordingly, and controls articulated robot 1 and drive loaded steamer actuating unit 2 pairs of these zones and carry out feed supplement; When the distance of infrared camera 34 and charge level reduced, namely the height of charge level increased, and central control mechanism is controlled crane 32 risings, and infrared camera 34 is remained in constant shooting distance.
4. loaded steamer actuating unit 2 is in the process of stone, level meter 28 detects in feed bin 21 whether material is arranged, if the electrode without material contact level meter 28, send without the material alerting signal to central control mechanism, central control mechanism is controlled reducing motor 221 and is shut down, and controls simultaneously articulated robot 1 drive loaded steamer actuating unit 2 feed bin 21 is moved to the feed mechanism filling.
5. central control mechanism is divided into the charge level in rice steamer bucket 4 zone that 11 areas equate substantially, the outmost turns annular is divided into 6 zones, the second ring shape is divided into 4 zones, then the circle at center is as a feed supplement zone, after stone is completed, the automatic statistics of central control mechanism do not occur the steaming zone of phenomenon is to the last feed supplement in zone of the phenomenon that do not occur steaming.
The principle of vision observing and controlling is: by infrared camera 34 record steam before the average gray value in temperature rise zone in 120 left and right, reach more than 160 when steam is emerged; Then central control mechanism carries out analyzing and processing by the video to infrared camera 34 collection in worksite, find that the average gray value of normal region is not higher than 80, and the gray value of the gray value in the zone that steams and normal region has very significantly difference, and presents the trend of continuous rising.Just can carry out accurately and timely the zone that will steam thus, locate accurately, realize seeing wet lid material, effective quantity that steams that reduces is guaranteed distillation yield.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. full automaticity loaded steamer system, is characterized in that: comprise articulated robot (1), loaded steamer actuating unit (2), loaded steamer vision observing and controlling mechanism (3), central control mechanism and feed mechanism; Described loaded steamer actuating unit (2) is fixed on the end of articulated robot (1), and is positioned at above rice steamer bucket (4); Described loaded steamer vision observing and controlling mechanism (3) is to the temperature of the interior charge level of rice steamer bucket (4) and highly carry out Real Time Monitoring; Described central control mechanism receives the information that loaded steamer vision observing and controlling mechanism (3) gathers, through articulated robot (1) and the loaded steamer vision observing and controlling mechanism (3) of sending control information after computing; Described articulated robot (1) is controlled loaded steamer actuating unit (2) action according to control information; Described loaded steamer vision observing and controlling mechanism (3) is according to the control information corresponding actions; Described feed mechanism is loaded steamer actuating unit (2) filling.
2. full automaticity loaded steamer according to claim 1 system, it is characterized in that: described loaded steamer actuating unit (2) comprises feed bin (21), feedway (22), mixing device (23) and chain (24); Described feedway (22) is arranged on bottom feed bin (21); Described feedway (22) comprises feed drive motor (221), load-transfer device (222) and transmission shaft (223); Described feed drive motor (221) drives transmission shaft (223) driving conveying belt (222) and rotates; Described mixing device (23) is arranged in feed bin (21); Described transmission shaft (223) drives mixing device (23) by chain (24) and rotates.
3. full automaticity loaded steamer according to claim 2 system, it is characterized in that: the load-transfer device (22) of the feedway (22) of described loaded steamer actuating unit (2) is belt; Described feedway (22) also comprises the gusset (224) that is arranged on load-transfer device (222); The top of described gusset (224) is the slope shape setting, and the outside is high, inboard low.
4. full automaticity loaded steamer according to claim 2 system, it is characterized in that: described loaded steamer actuating unit (2) also comprises strut bar (25), sloping baffle (26) and pull bar (27); One end of described strut bar (25) is fixed on feed bin (21) sidepiece, and the other end and sloping baffle (26) are hinged; Described pull bar (27) is provided with two, and two pull bars (27) are separately positioned on the both sides of sloping baffle (26), and an end of pull bar (27) and feed bin (21) are hinged, and the other end and sloping baffle (26) are hinged; Described sloping baffle (26) is arranged on the outlet outside of feedway (22).
5. full automaticity loaded steamer according to claim 2 system, it is characterized in that: described loaded steamer actuating unit (2) also comprises the level meter (28) that is arranged on feed bin (21) top; Described level meter (28) is provided with the electrode that gos deep into feed bin (21) bottom.
One of according to claim 2 to 5 described full automaticity loaded steamer system, it is characterized in that: described loaded steamer actuating unit (2) also comprises sensor (29) or time-delay switch; Described sensor (29) is arranged on the exit of feedway (22); Described sensor (29) adopts the correlation sensor; Described time-delay switch is arranged on the control circuit of level meter (28).
7. full automaticity loaded steamer according to claim 1 system, it is characterized in that: described loaded steamer vision observing and controlling mechanism (3) comprises base (31), crane (32), slewing arrangement (33) and infrared camera (34); Described crane (32) is arranged on base (31); One end of described slewing arrangement (33) is arranged on crane (32) top, other end installation infrared camera (34); Described infrared camera (34) is positioned at loaded steamer actuating unit (2) top, and to the temperature of the interior charge level of rice steamer bucket (4) and highly carry out Real Time Monitoring.
8. full automaticity loaded steamer according to claim 7 system, it is characterized in that: described crane (32) adopts the multi-section type structure.
9. the loaded steamer method of full automaticity loaded steamer system is characterized in that: comprise the following steps:
1. take the center of rice steamer bucket (4) as the center of circle, rice steamer bucket (4) is divided into a plurality of zones, wherein zone line is circular, and other zone is annular;
2. central control mechanism is controlled articulated robot (1) and is driven loaded steamer actuating unit (2) subregion laying bed material;
3. after completing bed material, the infrared camera (34) of loaded steamer vision observing and controlling mechanism (3) begins the interior charge level of rice steamer bucket (4) is carried out video monitoring, and video data is sent to central control mechanism; When certain regional temperature of fragrant unstrained spirits material sharply raises, gray value that should the zone in the video image that infrared camera (34) is taken also can sharply raise, central control mechanism positions this zone thus, and controls articulated robot (1) drive loaded steamer actuating unit (2) feed supplement is carried out in this zone; When the distance of infrared camera (34) and charge level reduced, namely the height of charge level increased, and central control mechanism is controlled crane (32) rising, and infrared camera (34) is remained in constant shooting distance;
4. loaded steamer actuating unit (2) is in the process of stone, level meter (28) detects in feed bin (21) whether material is arranged, if the electrode without material contact level meter (28), send without the material alerting signal to central control mechanism, central control mechanism is controlled reducing motor (221) and is shut down, and controls simultaneously articulated robot (1) drive loaded steamer actuating unit (2) feed bin (21) is moved to the feed mechanism filling.
10. the loaded steamer method of full automaticity loaded steamer according to claim 9 system, it is characterized in that: also comprise: 5. central control mechanism is divided into the charge level in rice steamer bucket (4) zone that a plurality of areas equate, after stone is completed, the automatic statistics of central control mechanism do not occur the steaming zone of phenomenon is to the last feed supplement in zone of the phenomenon that do not occur steaming.
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| CN201310018264.5A CN103101773B (en) | 2013-01-18 | 2013-01-18 | Full automaticity loaded steamer system and loaded steamer method thereof |
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| CN201310018264.5A CN103101773B (en) | 2013-01-18 | 2013-01-18 | Full automaticity loaded steamer system and loaded steamer method thereof |
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| CN103264901A (en) * | 2013-05-21 | 2013-08-28 | 中国科学院自动化研究所 | Intelligent fully-automatic steamer-filling machine and steamer-filling and feeding-supplementing method thereof |
| CN103922156A (en) * | 2014-04-28 | 2014-07-16 | 江苏今世缘酒业股份有限公司 | Full-automatic steamer loading robot system |
| CN104149103A (en) * | 2014-08-21 | 2014-11-19 | 安徽埃夫特智能装备有限公司 | Electronic control system of robot |
| CN104276412A (en) * | 2013-07-11 | 2015-01-14 | 楚天科技股份有限公司 | Discharging device for rubber plug or aluminum cover charging pot |
| CN104291122A (en) * | 2014-10-08 | 2015-01-21 | 绍兴滨海华强机械有限公司 | Automatic steamer filling machine |
| CN105199894A (en) * | 2015-07-14 | 2015-12-30 | 湖南博雅智能装备股份有限公司 | Automatic steamer-filling robot system for wine making and control method thereof |
| CN105600498A (en) * | 2016-02-25 | 2016-05-25 | 常州机电职业技术学院 | Automatic stacking system for brewing and material spreading method of system |
| CN106276303A (en) * | 2016-09-23 | 2017-01-04 | 常州铭赛机器人科技股份有限公司 | The distributing method of Robot for steamer and material-feeding mechanism |
| CN106276304A (en) * | 2016-09-23 | 2017-01-04 | 常州铭赛机器人科技股份有限公司 | The distributing method of loaded steamer device |
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| CN106754180A (en) * | 2016-12-25 | 2017-05-31 | 中山弗雷德机械有限公司 | A kind of mechanization steamer filling equipment |
| CN107057919A (en) * | 2017-02-28 | 2017-08-18 | 江南大学 | A kind of full-automatic uploading in rice steamer robot of uniform stone |
| CN107810155A (en) * | 2015-06-30 | 2018-03-16 | 法国希迈公司 | Apparatus and method for loading storage region |
| CN109051853A (en) * | 2018-08-28 | 2018-12-21 | 四川理工学院 | A kind of Robot for steamer for white spirit by solid state method production |
| CN109238225A (en) * | 2018-09-03 | 2019-01-18 | 浙江大丰实业股份有限公司 | Mobile ride highly guards platform in real time |
| CN114170173A (en) * | 2021-11-30 | 2022-03-11 | 中科九创智能科技(北京)有限公司 | Detection method, detection module and detection system of retort loading robot |
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| CN104276412A (en) * | 2013-07-11 | 2015-01-14 | 楚天科技股份有限公司 | Discharging device for rubber plug or aluminum cover charging pot |
| CN103922156B (en) * | 2014-04-28 | 2015-11-04 | 江苏今世缘酒业股份有限公司 | Full automaticity Robot for steamer system |
| CN103922156A (en) * | 2014-04-28 | 2014-07-16 | 江苏今世缘酒业股份有限公司 | Full-automatic steamer loading robot system |
| CN104149103A (en) * | 2014-08-21 | 2014-11-19 | 安徽埃夫特智能装备有限公司 | Electronic control system of robot |
| CN104291122A (en) * | 2014-10-08 | 2015-01-21 | 绍兴滨海华强机械有限公司 | Automatic steamer filling machine |
| CN104291122B (en) * | 2014-10-08 | 2016-09-07 | 绍兴滨海华强机械有限公司 | A kind of automatic distillation machine |
| CN107810155B (en) * | 2015-06-30 | 2020-05-12 | 法国希迈公司 | Apparatus and method for loading storage area |
| CN107810155A (en) * | 2015-06-30 | 2018-03-16 | 法国希迈公司 | Apparatus and method for loading storage region |
| CN105199894A (en) * | 2015-07-14 | 2015-12-30 | 湖南博雅智能装备股份有限公司 | Automatic steamer-filling robot system for wine making and control method thereof |
| CN105199894B (en) * | 2015-07-14 | 2018-05-18 | 湖南博雅智能装备股份有限公司 | A kind of wine brewing discriminates robot system and its control method with automatic dress |
| CN105600498B (en) * | 2016-02-25 | 2018-01-23 | 常州机电职业技术学院 | Automatic stockpiling system of making wine and its spreading method |
| CN105600498A (en) * | 2016-02-25 | 2016-05-25 | 常州机电职业技术学院 | Automatic stacking system for brewing and material spreading method of system |
| CN106272413A (en) * | 2016-08-26 | 2017-01-04 | 芜湖悠派护理用品科技股份有限公司 | A kind of mechanical hand automatic material taking control system |
| CN106276304A (en) * | 2016-09-23 | 2017-01-04 | 常州铭赛机器人科技股份有限公司 | The distributing method of loaded steamer device |
| CN106276303A (en) * | 2016-09-23 | 2017-01-04 | 常州铭赛机器人科技股份有限公司 | The distributing method of Robot for steamer and material-feeding mechanism |
| CN106754180A (en) * | 2016-12-25 | 2017-05-31 | 中山弗雷德机械有限公司 | A kind of mechanization steamer filling equipment |
| CN106754180B (en) * | 2016-12-25 | 2020-06-12 | 中山弗雷德机械有限公司 | Mechanized steamer filling equipment |
| CN107057919A (en) * | 2017-02-28 | 2017-08-18 | 江南大学 | A kind of full-automatic uploading in rice steamer robot of uniform stone |
| CN109051853A (en) * | 2018-08-28 | 2018-12-21 | 四川理工学院 | A kind of Robot for steamer for white spirit by solid state method production |
| CN109238225A (en) * | 2018-09-03 | 2019-01-18 | 浙江大丰实业股份有限公司 | Mobile ride highly guards platform in real time |
| CN109238225B (en) * | 2018-09-03 | 2021-02-05 | 浙江大丰实业股份有限公司 | Mobile vehicle platform real-time height monitoring platform |
| CN114170173A (en) * | 2021-11-30 | 2022-03-11 | 中科九创智能科技(北京)有限公司 | Detection method, detection module and detection system of retort loading robot |
| CN114170173B (en) * | 2021-11-30 | 2022-11-04 | 中科九创智能科技(北京)有限公司 | Detection method, detection module and detection system of retort loading robot |
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Address after: 213164 science and technology building, Harbin Science and Technology City, Changzhou, 801 middle Wu Road, Jiangsu, Changzhou Applicant after: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Address before: 213164 science and technology building, Harbin Science and Technology City, Changzhou, 801 middle Wu Road, Jiangsu, Changzhou Applicant before: Changzhou Mingseal Robotic Technology Co., Ltd. |
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Denomination of invention: Full-automatic retort installing system and retort installing method thereof Effective date of registration: 20160531 Granted publication date: 20151028 Pledgee: Changzhou bell tower, Changjiang village bank, Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2016990000457 |
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Effective date of registration: 20180207 Address after: Small banana Industrial Park in Fujian province 365017 Sanming City Meilie District Industrial Avenue No. 6 Building 1-8 Patentee after: Baxter (Fujian) Intelligent Equipment Technology Co. Ltd. Address before: 213164 science and technology building, Harbin Science and Technology City, Changzhou, 801 middle Wu Road, Jiangsu, Changzhou Patentee before: Changzhou Science and Technology Co., Ltd. of Ming Sai robot |
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