CN104816954A - Gantry fermented grain automatic loading machine and loading method - Google Patents
Gantry fermented grain automatic loading machine and loading method Download PDFInfo
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- CN104816954A CN104816954A CN201510115886.9A CN201510115886A CN104816954A CN 104816954 A CN104816954 A CN 104816954A CN 201510115886 A CN201510115886 A CN 201510115886A CN 104816954 A CN104816954 A CN 104816954A
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- axis
- unstrained spirits
- wine unstrained
- driver train
- steamer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12H—PASTEURISATION, STERILISATION, PRESERVATION, PURIFICATION, CLARIFICATION OR AGEING OF ALCOHOLIC BEVERAGES; METHODS FOR ALTERING THE ALCOHOL CONTENT OF FERMENTED SOLUTIONS OR ALCOHOLIC BEVERAGES
- C12H6/00—Methods for increasing the alcohol content of fermented solutions or alcoholic beverages
- C12H6/02—Methods for increasing the alcohol content of fermented solutions or alcoholic beverages by distillation
Abstract
The invention discloses a gantry fermented grain automatic loading machine. The gantry fermented grain automatic loading machine comprises a gantry fermented grain loading robot, a fermented grain loading execution mechanism, a binocular vision identifying system and a control system, wherein the gantry fermented grain loading robot consists of two horizontal guide rails, two stand columns, a cross beam and a ram; the fermented grain loading execution mechanism is mounted on the ram; and the binocular vision identifying system comprises a steam running identification thermal infrared imager and a height identification thermal infrared imager, whose output ends are connected to an input end of the control system. The gantry fermented grain loading robot is excellent in loading capacity, and the performance requirement of the robot can be reduced, so that the equipment cost investment is reduced; the guide rails consisting of a flat guide rail, a V-shaped guide rail and a rack composition are adopted to bear the position deviation caused by slight displacement generated in the fermented grain loading motion process, so that the material distributing and feeding accuracy is guaranteed, and the distilling effect is improved; and the binocular vision identifying system is adopted to obtain the material surface temperature distribution and height, so that fermented grains are uniform to prevent the air way blockage and the steam pressure, and the distillation effect is guaranteed.
Description
Technical field
The present invention relates to wine unstrained spirits loaded steamer field, be specifically related to the automatic bottling machine of a kind of planer-type wine unstrained spirits, also relate to loaded steamer method.
Background technology
As the saying goes " giving birth to perfume by fermentation, Titian by distillation ", in the production process of Daqu spirit of China, continued to use this evaporating installation of rice steamer bucket over the past thousands of years always.Rice steamer bucket is truncated cone-shaped (flowerpot shape) distiller, and back cut diameter is about 2m, end mouth diameter is about 1.8m, high about 1m, and top movable lid connects with cooling vessel, and bottom porous rice steamer double-edged fine-toothed comb is separated by temperature booster.Loaded steamer is loaded in rice steamer bucket by solid-state for the wet viscosity of solid state fermentation maturation loose shape wine unstrained spirits, utilizes high-temperature steam by the alcohol concentrating and separating in wine unstrained spirits, extract fragrance and the process reconfigured.In loaded steamer process, be connected with steam at the bottom of rice steamer, even loosely spreading wine unstrained spirits from level to level during rice steamer in requirement, accomplish " gently sprinkle evenly rice steamer in paving, exploration steam, limit is high, normal, basic ", in spreading process, vapour is not run in unstrained spirits material top layer, and in material, even the faling apart of air flue distribution does not unobstructedly press vapour.Current automatic or Semiautomatic steamer feeding device generally adopts articulated robot, and weigh when wine unstrained spirits filled by the feed bin of cloth actuating unit hundreds of jin, higher to the performance requriements of articulated robot, so that the price of loaded steamer device is high, affects the productive costs of white wine; And cloth actuating unit generally can not be simulated artificial loaded steamer and realized quantitative discharging, evenly sheds cloth, affects distilling effect; In addition, also has the temperature distribution information adopted in infrared camera collection rice steamer bucket at present, judge whether to there is deflation phenomenon, and then fixed point feed supplement is carried out to deflation region, but charge level height in rice steamer bucket cannot be judged, when the drop of cloth actuating unit and charge level causes feed supplement, wine unstrained spirits is shed actual area coverage and is greater than target area, and the wine unstrained spirits amount of shedding exceeds actual needs, and then cause wine unstrained spirits skewness, be easy to the phenomenon occurring air flue blocking pressure vapour, affect distilling effect.
Summary of the invention
The technical problem to be solved in the present invention is to provide the automatic bottling machine of a kind of planer-type wine unstrained spirits and loaded steamer method, existing price that is automatic or semi-automatic bottling device can be solved high, affect liquor production cost, and artificial loaded steamer can not be simulated realize quantitative discharging, evenly shed cloth, with cannot judge charge level height in rice steamer bucket, easily there is the phenomenon of air flue blocking pressure vapour, affect the problem of distilling effect.
The present invention is achieved through the following technical solutions:
The automatic bottling machine of a kind of planer-type wine unstrained spirits, comprises gantry Robot for steamer, loaded steamer actuating unit, binocular vision recognition system and control system; Described gantry Robot for steamer is made up of the guide rail of two levels, two root posts, crossbeam and ram, described two guide rails are arranged at rice steamer bucket both sides respectively, described two root post bottoms be slidably connected to two guide rails respectively and with the transmission of X-axis driver train, described crossbeam two ends be connected to two root posts respectively by slide plate slides and with the transmission of Z axis lift drive mechanism, described ram be slidably connected to crossbeam and with the transmission of Y-axis driver train, described loaded steamer actuating unit by Z axis fine setting driver train be arranged on ram; Described binocular vision recognition system comprises race vapour identification thermal infrared imager and the level identification thermal infrared imager of mouth difference connection control system input end, wherein running vapour identification thermal infrared imager is arranged on directly over rice steamer bucket, level identification thermal infrared imager is arranged on column or crossbeam, and the two gathers the charge level information in rice steamer bucket from different perspectives; The controller input end connection control system mouth respectively of described X-axis driver train, Z axis lift drive mechanism, Y-axis driver train, Z axis fine setting driver train and loaded steamer actuating unit.
Further scheme of the present invention is that described guide rail comprises the base of H-shaped, and the jut of both sides, described base upper surface is respectively equipped with level gauge and V-type rail, is provided with tooth bar in the groove of described base upper surface; Described column lower end is provided with coaster, described coaster is provided with the wheel coordinated with level gauge and V-type rail respectively, and the gear coordinated with tooth bar, described gear and the transmission of X-axis driver train.
Further scheme of the present invention is, described loaded steamer actuating unit comprises the feed bin that lower end coaxial communication has chute feeder, and coaxially run through the shaft of feed bin, described shaft passes upper end and the drive motor transmission of feed bin, the top being arranged in feed bin is provided with stirring material-loosing apparatus, the bottom being arranged in chute feeder is provided with screw feed mechanism, and the lower end passing chute feeder is connected with rotation and sheds sieve, the controller input end connection control system mouth of described drive motor.
Further scheme of the present invention is, described stirring material-loosing apparatus is the helicallobe be connected on shaft, and described helicallobe is provided with three layers, and every layer is provided with six.
Further scheme of the present invention is, the varying pitch screw that described screw feed mechanism is made up of the less top of pitch and the larger bottom of pitch.
Further scheme of the present invention is, the outer wall of described feed bin is provided with the anti-sticking device of vibration, described feed bin top is also provided with level-sensing device, and described rotation is shed sieve lower end and is also provided with rang sensor, the mouth connection control system input end of described level-sensing device and rang sensor.
Further scheme of the present invention is, described rotation sheds sieve in bowl-shape, and shaft lower end to be inserted and at the bottom of being fixedly connected on bowl from the rim of a bowl; The wall that sieve is shed in described rotation is evenly provided with multiple sieve aperture.
Further scheme of the present invention is, described control system is made up of industrial computer and PLC programmable logic controller (PLC), described race vapour identification thermal infrared imager and level identification thermal infrared imager are thermal infrared imager, industrial computer input end is connected respectively by image data processor, described industrial computer communicates with PLC programmable logic controller (PLC), and described X-axis driver train, Z axis lift drive mechanism, Y-axis driver train, Z axis fine setting driver train is connected PLC programmable logic controller (PLC) mouth respectively with the controller input end of loaded steamer actuating unit.
Further scheme of the present invention is, described X-axis driver train is servomotor; Described Z axis lift drive mechanism is the hydraulic actuating cylinder vertically installed, and its piston rod top is fixedly connected with slide plate; Described Y-axis driver train is the Y-axis leading screw with the transmission of Y-axis drive motor, and described Z axis fine setting driver train is the Z axis leading screw with the transmission of Z axis drive motor, and described loaded steamer actuating unit is arranged on the nut seat of Z axis leading screw.
The loaded steamer method of the automatic bottling machine of above-mentioned planer-type wine unstrained spirits, comprises the following steps:
A. first spread one deck husk in rice steamer bottom of the barrel, repave two-layer wine unstrained spirits, pass into steam in rice steamer bottom of the barrel;
B. when steam emerges wine unstrained spirits surface, repave one deck wine unstrained spirits, wine unstrained spirits surface in rice steamer bucket is divided into multiple region and is numbered, wine unstrained spirits surface temperature distribution field in rice steamer bucket is obtained by binocular recognition system, data filtering, mapping transformation and binary conversion treatment are carried out to this temperature traverse field, obtain the characteristic parameter gray value in each region, the pixel of the gray value of characteristic parameter with normality threshold value is compared, judge whether to exist the region needing to run hot repair material, run hot repair material if all do not need, then repave one deck wine unstrained spirits;
If c. step b judges have region to need to run hot repair material, then extract target signature, be digitized signal by pixel distribution and brightness, color transition, the numbering obtaining running hot repair material region according to the position relationship between pixel carries out location, position, and the control system feeding back to bottling machine carries out race hot repair material;
D. repeated execution of steps b, c, until the wine unstrained spirits number of plies reaches 40, bottling machine control system is added up each region and is run hot repair material number of times, carries out levelling feed supplement to each region.
The present invention's advantage is compared with prior art:
One, the load-carrying ability of gantry Robot for steamer is good, can reduce the requirement to robot performance, and then reduces equipment cost input, and the manufacturing cost of white wine;
Two, Z axis lift drive mechanism is adopted to promote loaded steamer actuating unit with fixed value during every layer of cloth, adopt Z axis fine setting driver train to adjust rotation in real time during feed supplement and shed the ejection height being sieved to charge level in rice steamer bucket, realize cloth, feed supplement more even, improve distilling effect;
Three, adopt the guide rail be made up of level gauge, V-type rail and rack combination, the microdisplacement produced in loaded steamer motion process can be born and the position caused offsets, thus guarantee the accuracy of cloth feed supplement, improve distilling effect further;
Four, in feed bin, motor-driven stirring material-loosing apparatus is arranged through, wet sticky wine unstrained spirits material in feed bin is made to keep loose condition (of surface), avoid bonding, ensure that all even porousness of each material loading is consistent, rotation is shed sieve simulation and is manually swung rice steamer on shovel, successively loaded steamer cloth, feed supplement, carry out uniform distribution, layer-by-layer distribution, leakage hot repair material, realize loaded steamer cloth, feed supplement region gently sprinkles evenly paving, upper rice steamer effect that limit is high, normal, basic;
Five, the varying pitch screw that is made up of the less top of pitch and the larger bottom of pitch of screw feed mechanism, top fine pitch screw rod realizes quantitative feed, bottom large-lead screw can ensure that wine unstrained spirits material can not putty in conveying, keep the loose of wine unstrained spirits material, quantitative wine unstrained spirits material is sent into revolving screen shed, improve upper rice steamer effect further;
Six, adopt binocular recognition system, two thermal infrared imagers gather the charge level information in rice steamer bucket from different perspectives, can the distribution of Obtaining Accurate charge level temperature and height, and then improve the accuracy rate of feed supplement, wine unstrained spirits is evenly distributed, avoids the phenomenon occurring air flue blocking pressure vapour, guarantee distilling effect.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is guide rail 2 structural representation.
Fig. 3 is the structural representation of column and crossbeam.
Fig. 4 is the structural representation of crossbeam and loaded steamer actuating unit.
Fig. 5 is the A direction view of Fig. 4.
Fig. 6 is the structural representation of loaded steamer actuating unit.
Fig. 7 is that area of cloth divides schematic diagram.
Fig. 8 is cloth diagram of circuit.
Detailed description of the invention
The automatic bottling machine of a kind of planer-type wine unstrained spirits as shown in Fig. 1 ~ 5, the control system comprising gantry Robot for steamer, loaded steamer actuating unit 7, binocular vision recognition system and be made up of industrial computer and PLC programmable logic controller (PLC).
Described gantry Robot for steamer is by the guide rail 2 of two levels, two root posts 4, crossbeam 5 and ram 6 form, described two guide rails 2 are arranged at rice steamer bucket 1 both sides respectively, every bar guide rail 2 comprises the base 16 of H-shaped, the jut of both sides, described base 16 upper surface is respectively equipped with level gauge 13 and V-type rail 14, tooth bar 15 is provided with in the groove of described base 16 upper surface, described column 4 lower end is provided with coaster 3, described coaster 3 is provided with the wheel coordinated with level gauge 13 and V-type rail 14 respectively, and the gear to coordinate with tooth bar 15, described gear and the servo motor transmission as X-axis driver train 8, before described coaster 3, rear is respectively equipped with the ultrasonic transduter of mouth connection control system input end, be used for encountering obstacle when preventing motion, described crossbeam 5 two ends are slidably connected to two root posts 4 respectively by slide plate 10, and described slide plate 10 is fixedly connected with the hydraulic cylinder piston rod top of vertically installing, and described hydraulic actuating cylinder is as Z axis lift drive mechanism 17, described ram 6 is slidably connected to crossbeam 5, and with Y-axis leading screw 11 transmission, described Y-axis leading screw 11 and Y-axis drive motor 9 transmission, described ram 6 is provided with by the Z axis leading screw 25 of Z axis drive motor 12 transmission, described loaded steamer actuating unit 7 is arranged on the nut seat 18 of Z axis leading screw 25.Guide rail 2, crossbeam 5 and ram 6 are separately installed with X-axis travel switch 19, Y-axis travel switch 21, Z axis travel switch 23, X-axis travel switch 19 on its middle guide 2 is for positioning Zeng Tong center, Y-axis travel switch 21 on crossbeam 5 is for ensureing that ram 6 makes traverse along crossbeam 5, loaded steamer actuating unit 7 can not collide with rice steamer bucket 1, Z axis travel switch 23 on ram 6 for ensure loaded steamer actuating unit 7 along Z axis leading screw 25 lead screw pair lifting time, do not exceed setting range, remain at suitable shedding in scope.Guide rail 2, crossbeam 5 and ram 6 are also separately installed with X-axis laser rangefinder 20, Y-axis laser rangefinder 22, Z axis laser rangefinder 24, X-axis laser rangefinder 20 on its middle guide 2 measure in real time loaded steamer actuating unit 7 in the X-axis direction shed coordinate, Y-axis laser rangefinder 22 on crossbeam 5 in real time loaded steamer actuating unit 7 in the Y-axis direction shed coordinate, the relative coordinate of the Z axis laser rangefinder 24 on ram 6 in real time between loaded steamer actuating unit 7 and ram 6.
For ensureing loaded steamer positioning precision and kinematic accuracy, alleviating impact energy, Y-axis shifting roller 26 and Y-axis support roller 27 are housed between crossbeam 5 and ram 6, the pretension between the two and crossbeam 6 and gap, by adjusting its eccentric shaft to realize.
Described binocular vision recognition system comprises runs vapour identification thermal infrared imager and level identification thermal infrared imager, wherein running vapour identification thermal infrared imager is arranged on directly over rice steamer bucket, level identification thermal infrared imager is arranged on column 4 or crossbeam 5, and the two gathers the charge level information in rice steamer bucket from different perspectives.
Described loaded steamer actuating unit 7 as shown in Figure 2 comprises the feed bin 74 that lower end coaxial communication has chute feeder 77, and coaxially run through the shaft 71 of feed bin 74, described shaft 71 passes upper end and drive motor 72 transmission of feed bin 74, the top being arranged in feed bin 74 is provided with stirs material-loosing apparatus 73, the bottom being arranged in chute feeder 77 is provided with screw feed mechanism 75, the lower end passing chute feeder 77 is connected with rotation and sheds sieve 76, the controller input end connection control system mouth of described drive motor 72.Described stirring material-loosing apparatus 73 is connected to the helicallobe on shaft 71, and described helicallobe is provided with three layers, and every layer is provided with six.The varying pitch screw that described screw feed mechanism 75 is made up of the less top of pitch and the larger bottom of pitch; Described rotation sheds sieve 76 in bowl-shape, and shaft 71 lower end to be inserted and at the bottom of being fixedly connected on bowl from the rim of a bowl; The wall that sieve 76 is shed in described rotation is evenly provided with multiple sieve aperture.The outer wall of described feed bin 74 is provided with the anti-sticking device 78 of vibration, can ensure that the wine unstrained spirits material wetting, glue falls smoothly, can not be bonded on feed bin 74; Described feed bin 74 top is also provided with capacitance sensing level-sensing device 79, for the wine unstrained spirits material height in real-time detecting material storehouse 74, controls fill process; Described rotation is shed sieve 76 lower end and is also provided with rang sensor, sheds the distance of charge level in sieve 76 to rice steamer bucket, the ejection height of dynamic conditioning Z-direction for detecting in real time to rotate, and during to guarantee feed supplement, every layer of wine unstrained spirits material is shed evenly; The mouth connection control system input end of described level-sensing device 79 and rang sensor.
Described industrial computer communicates with PLC programmable logic controller (PLC), industrial computer is as upper computer, mainly complete the data acquisition treating wine unstrained spirits material in loaded steamer bucket, the data fusion of wine unstrained spirits image, shed the temperature of the wine unstrained spirits bed of material, leak the detection at vapour position, the collection of loaded steamer actuating unit 7 attitude data, the data handling procedures such as process and interpolation operation, PLC programmable logic controller (PLC) is as field controller, mainly complete the motion control of gantry Robot for steamer, and the real time information that loaded steamer actuating unit 7 operates is sent to corresponding man-machine interface by RS232 communication data line, the running of touch-screen to loaded steamer actuating unit 7 is used to monitor, directly carry out operation by touch-screen to loaded steamer actuating unit 7 during work to control.
Between the guide rail 2 of gantry Robot for steamer, place two rice steamer buckets, be another rice steamer barreled rice steamer cloth again, and the rice steamer bucket filled carries out discharging, can increase work efficiency after filling a rice steamer bucket.
The loaded steamer method of the automatic bottling machine of above-mentioned planer-type wine unstrained spirits, comprises the following steps:
A. according to loaded steamer technological requirement, before loaded steamer, put the water of dry rice steamer bottom of the barrel, check that rice steamer bottom of the barrel guarantees that the percentage of perforation of steam hole reaches 100%; First spread one deck husk in rice steamer bottom of the barrel, repave the wine unstrained spirits of about two layers of thickness 5cm, cover the steam hole of rice steamer bottom of the barrel, then open steam valve, pass into steam in rice steamer bottom of the barrel;
B. when steam emerges wine unstrained spirits surface, repave one deck wine unstrained spirits, wine unstrained spirits surface in rice steamer bucket is divided into 11 regions as shown in Figure 7 and is numbered, wine unstrained spirits surface temperature distribution field in rice steamer bucket is obtained by binocular recognition system, data filtering, mapping transformation and binary conversion treatment are carried out to this temperature traverse field, obtain the characteristic parameter gray value in each region, the pixel of the gray value of characteristic parameter with normality threshold value is compared, judge whether to exist the region needing to run hot repair material, run hot repair material if all do not need, then repave one deck wine unstrained spirits;
If c. step b judges have region to need to run hot repair material, then extract target signature, be digitized signal by pixel distribution and brightness, color transition, the numbering obtaining running hot repair material region according to the position relationship between pixel carries out location, position, and the control system feeding back to bottling machine carries out race hot repair material;
D. repeated execution of steps b, c, until the wine unstrained spirits number of plies reaches 40, bottling machine control system is added up each region and is run hot repair material number of times, carries out levelling feed supplement to each region.
Claims (10)
1. the automatic bottling machine of planer-type wine unstrained spirits, is characterized in that: comprise gantry Robot for steamer, loaded steamer actuating unit (7), binocular vision recognition system and control system, described gantry Robot for steamer is by the guide rail (2) of two levels, two root posts (4), crossbeam (5) and ram (6) composition, described two guide rails (2) are arranged at rice steamer bucket (1) both sides respectively, described two root posts (4) bottom be slidably connected to two guide rails (2) respectively and with X-axis driver train (8) transmission, described crossbeam (5) two ends be slidably connected to two root posts (4) respectively by slide plate (10) and with Z axis lift drive mechanism (17) transmission, described ram (6) be slidably connected to crossbeam (5) and with the transmission of Y-axis driver train, described loaded steamer actuating unit (7) is arranged on ram (6) by Z axis fine setting driver train, described binocular vision recognition system comprises race vapour identification thermal infrared imager and the level identification thermal infrared imager of mouth difference connection control system input end, wherein running vapour identification thermal infrared imager is arranged on directly over rice steamer bucket, level identification thermal infrared imager is arranged on column (4) or crossbeam (5), and the two gathers the charge level information in rice steamer bucket from different perspectives, the controller input end respectively connection control system mouth of described X-axis driver train (8), Z axis lift drive mechanism (17), Y-axis driver train, Z axis fine setting driver train and loaded steamer actuating unit (7).
2. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 1, it is characterized in that: described guide rail (2) comprises the base (16) of H-shaped, the jut of described base (16) both sides, upper surface is respectively equipped with level gauge (13) and V-type rail (14), is provided with tooth bar (15) in the groove of described base (16) upper surface; Described column (4) lower end is provided with coaster (3), described coaster (3) is provided with the wheel coordinated with level gauge (13) and V-type rail (14) respectively, and the gear, described gear and X-axis driver train (8) transmission that coordinate with tooth bar (15).
3. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 1, it is characterized in that: described loaded steamer actuating unit (7) comprises the feed bin (74) that lower end coaxial communication has chute feeder (77), and coaxially run through the shaft (71) of feed bin (74), described shaft (71) passes upper end and drive motor (72) transmission of feed bin (74), the top being arranged in feed bin (74) is provided with stirs material-loosing apparatus (73), the bottom being arranged in chute feeder (77) is provided with screw feed mechanism (75), the lower end passing chute feeder (77) is connected with rotation and sheds sieve (76), the controller input end connection control system mouth of described drive motor (72).
4. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 3, is characterized in that: described stirring material-loosing apparatus (73) is connected to the helicallobe on shaft (71), and described helicallobe is provided with three layers, and every layer is provided with six.
5. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 3, is characterized in that: the varying pitch screw that described screw feed mechanism (75) is made up of the less top of pitch and the larger bottom of pitch.
6. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 3, it is characterized in that: the outer wall of described feed bin (74) is provided with the anti-sticking device of vibration (78), described feed bin (74) top is also provided with level-sensing device (79), described rotation is shed sieve (76) lower end and is also provided with rang sensor, the mouth connection control system input end of described level-sensing device (79) and rang sensor.
7. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 3, is characterized in that: described rotation sheds sieve (76) in bowl-shape, and shaft (71) lower end to be inserted and at the bottom of being fixedly connected on bowl from the rim of a bowl; The wall that sieve (76) are shed in described rotation is evenly provided with multiple sieve aperture.
8. the automatic bottling machine of a kind of planer-type wine unstrained spirits as claimed in claim 1, it is characterized in that: described control system is made up of industrial computer and PLC programmable logic controller (PLC), described race vapour identification thermal infrared imager and level identification thermal infrared imager are thermal infrared imager, industrial computer input end is connected respectively by image data processor, described industrial computer communicates with PLC programmable logic controller (PLC), described X-axis driver train (8), Z axis lift drive mechanism (17), Y-axis driver train, Z axis fine setting driver train is connected PLC programmable logic controller (PLC) mouth respectively with the controller input end of loaded steamer actuating unit (7).
9. the automatic bottling machine of a kind of planer-type wine unstrained spirits as described in claim 1 or 8, is characterized in that: described X-axis driver train (8) is servomotor; Described Z axis lift drive mechanism (17) is the hydraulic actuating cylinder vertically installed, and its piston rod top is fixedly connected with slide plate (10); Described Y-axis driver train is the Y-axis leading screw (11) with Y-axis drive motor (9) transmission, described Z axis fine setting driver train is the Z axis leading screw (25) with Z axis drive motor (12) transmission, and described loaded steamer actuating unit (7) is arranged on the nut seat (18) of Z axis leading screw (25).
10. the loaded steamer method of the automatic bottling machine of planer-type wine unstrained spirits as described in any one of claim 1 ~ 9, is characterized in that comprising the following steps:
A. first spread one deck husk in rice steamer bottom of the barrel, repave two-layer wine unstrained spirits, pass into steam in rice steamer bottom of the barrel;
B. when steam emerges wine unstrained spirits surface, repave one deck wine unstrained spirits, wine unstrained spirits surface in rice steamer bucket is divided into multiple region and is numbered, wine unstrained spirits surface temperature distribution field in rice steamer bucket is obtained by binocular recognition system, data filtering, mapping transformation and binary conversion treatment are carried out to this temperature traverse field, obtain the characteristic parameter gray value in each region, the pixel of the gray value of characteristic parameter with normality threshold value is compared, judge whether to exist the region needing to run hot repair material, run hot repair material if all do not need, then repave one deck wine unstrained spirits;
If c. step b judges have region to need to run hot repair material, then extract target signature, be digitized signal by pixel distribution and brightness, color transition, the numbering obtaining running hot repair material region according to the position relationship between pixel carries out location, position, and the control system feeding back to bottling machine carries out race hot repair material;
D. repeated execution of steps b, c, until the wine unstrained spirits number of plies reaches 40, bottling machine control system is added up each region and is run hot repair material number of times, carries out levelling feed supplement to each region.
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| CN201510115886.9A CN104816954A (en) | 2015-03-17 | 2015-03-17 | Gantry fermented grain automatic loading machine and loading method |
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| CN107648882A (en) * | 2017-11-02 | 2018-02-02 | 宋江海 | A kind of filling machine for supercritical extractor |
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| CN105690369A (en) * | 2015-12-31 | 2016-06-22 | 中国科学院自动化研究所 | Robot system for feeding white spirit to cooking pot full automatically |
| CN105690369B (en) * | 2015-12-31 | 2018-11-30 | 中国科学院自动化研究所 | The full-automatic uploading in rice steamer robot system of white wine |
| CN106006081A (en) * | 2016-07-19 | 2016-10-12 | 农业部南京农业机械化研究所 | Automatic mushroom dreg feeding machine |
| CN106315261A (en) * | 2016-09-18 | 2017-01-11 | 泸州品创科技有限公司 | Double-scraper automatic liquor distilling apparatus |
| CN106244367A (en) * | 2016-09-23 | 2016-12-21 | 常州铭赛机器人科技股份有限公司 | Loaded steamer system and air pressure adjustment method thereof |
| CN106826006A (en) * | 2016-12-19 | 2017-06-13 | 中车戚墅堰机车车辆工艺研究所有限公司 | A kind of door-plate resistance spot welding automatic feeding system |
| 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 |
| CN106956942A (en) * | 2017-05-03 | 2017-07-18 | 常州机电职业技术学院 | Link-type pinpoints feed system |
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| 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 |
| CN109110518A (en) * | 2018-10-26 | 2019-01-01 | 长春同泽科技有限公司 | Automatic loaded steamer production equipment |
| CN110723508A (en) * | 2019-09-02 | 2020-01-24 | 安徽福瑞斯特玻璃制品有限公司 | Glass charging machine equipment |
| CN112573223A (en) * | 2020-11-27 | 2021-03-30 | 中国科学院自动化研究所 | Method, system and device for loading simulated human intelligence into steamer |
| CN112573223B (en) * | 2020-11-27 | 2021-11-09 | 中国科学院自动化研究所 | Method, system and device for loading simulated human intelligence into steamer |
| CN112499303A (en) * | 2020-12-08 | 2021-03-16 | 太原科技大学 | Material taking device of screw ship unloader |
| CN113150939A (en) * | 2021-04-27 | 2021-07-23 | 罗开礼 | Retort-filling distillation method of sauce-flavor liquor |
| CN113697542A (en) * | 2021-08-28 | 2021-11-26 | 徐州国晟智能科技有限公司 | Belt conveyor and open fire detection system |
| CN113801761A (en) * | 2021-09-30 | 2021-12-17 | 齐鲁工业大学 | Reciprocating type multi-channel spreading retort-loading robot and working method thereof |
| CN113801761B (en) * | 2021-09-30 | 2023-05-12 | 齐鲁工业大学 | Reciprocating multi-channel spreading steamer-loading robot and working method thereof |
| CN114988048A (en) * | 2022-06-28 | 2022-09-02 | 武汉奋进智能机器有限公司 | Steamer feeding system and steamer feeding method |
| CN115322863A (en) * | 2022-10-13 | 2022-11-11 | 武汉奋进智能机器有限公司 | Steamer feeding method for recognizing three-dimensional shape of steamer pot material surface and hot area distribution |
| CN115322863B (en) * | 2022-10-13 | 2023-02-28 | 武汉奋进智能机器有限公司 | Retort feeding method for identifying three-dimensional shape and hot zone distribution of material surface of retort pot |
| CN115320921A (en) * | 2022-10-14 | 2022-11-11 | 江苏尚纯自动化技术有限公司 | Layered filling device and method for emulsifiable paste |
| CN115320921B (en) * | 2022-10-14 | 2023-01-17 | 江苏尚纯自动化技术有限公司 | Layered filling device and method for emulsifiable paste |
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