CN105505659A - Automatic liquor brewing robot steamer distillation equipment and method - Google Patents
Automatic liquor brewing robot steamer distillation equipment and method Download PDFInfo
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- CN105505659A CN105505659A CN201610068008.0A CN201610068008A CN105505659A CN 105505659 A CN105505659 A CN 105505659A CN 201610068008 A CN201610068008 A CN 201610068008A CN 105505659 A CN105505659 A CN 105505659A
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12G—WINE; PREPARATION THEREOF; ALCOHOLIC BEVERAGES; PREPARATION OF ALCOHOLIC BEVERAGES NOT PROVIDED FOR IN SUBCLASSES C12C OR C12H
- C12G3/00—Preparation of other alcoholic beverages
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Abstract
The invention discloses automatic liquor brewing robot steamer distillation equipment which comprises a conveyor and a spiral feeder, wherein the inlet end of the spiral feeder is connected with the outlet of the conveyor. The equipment also comprises an ultrasonic sensor used for detecting material flatness of a liquor steamer, a deformable tube used for discharging, a steamer distillation robot linked with the deformable tube, and a controller used for receiving the flatness information of the ultrasonic sensor and controlling the steamer distillation robot according to the flatness information; the arm of the steamer distillation robot is connected with the deformable tube; the feeding hole of the deformable tube is connected with the outlet end of the spiral feeder; the discharging hole of the deformable tube is positioned above the liquor steamer; and the controller is simultaneously connected with the ultrasonic sensor and the steamer distillation robot. According to the scheme, the steamer distillation robot is used for steaming distillers' grains, the ultrasonic sensor detects the steaming flatness of the current materials in real time, the labor intensity of brewing workers is reduced, the production efficiency, the usage rate of the distillers' grains and the liquor yield are improved, and automation of liquor brewing steaming production is realized.
Description
Technical field
The present invention relates to drinks and brewage field, particularly, relate to a kind of drinks and brewage robot and automatically go up rice steamer Apparatus and method for.
Background technology
Up to the present, Liquor industry adopts artificial by rice steamer on the vinasse after mix as brewageed in aromatic type, aromatic Chinese spirit, uses robot automatically to go up rice steamer and also never relates to and using.As Luzhou-flavor, the fragrant class of sauce are brewageed upper rice steamer, or manually vinasse shoveled in dustpan, then vinasse are poured into inside steaming wine rice steamer.Mainly there is following shortcoming in traditional artificial upper rice steamer: one, on vinasse, rice steamer is above discriminated by artificial entirely, and the volume of rice steamer vinasse is at least more than 1.8 cubic metres, and labour intensity is large, and efficiency is not high; Two, owing to adopting artificial upper rice steamer, in wine rice steamer the placement of vinasse evenly and surfacing degree by workman's technique influence; If vinasse are placed uneven, surface finish is not high, will have a strong impact on the yield of liquor; Three, because upper rice steamer adopts first last layer vinasse, then wait steam comes after last layer vinasse again, successively in layer upper, entirely lean on workman's eyesight to judge so whether steam comes up, produce mishandle sometimes, cause wine steam loss.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, provide a kind of drinks to brewage robot and automatically go up rice steamer Apparatus and method for, solve the problems such as the large and upper rice steamer of rice steamer labour intensity on Traditional Man is uneven.
The present invention's adopted technical scheme that solves the problem is: a kind of drinks is brewageed robot and automatically gone up rice steamer equipment, comprise transfer roller and helical screw feeder, helical screw feeder inlet end connects conveyor outlet, also comprise for detecting the ultrasonic transducer steaming material planeness in wine rice steamer, for the deformable tube of discharging, the Shang Zeng robot linked with deformable tube, receive ultrasonic transducer planeness information and according to the controller of planeness information Control Shang Zeng robot, the arm of Shang Zeng robot connects deformable tube, the feeding mouth of deformable tube connects the exit end of helical screw feeder, the discharge port of deformable tube is positioned at the top of steaming wine rice steamer, described controller connects ultrasonic transducer and Shang Zeng robot simultaneously.The place contacted with vinasse in this programme all adopts food grade SUS304 stainless steel to make, the controller used in this process adopts the conventional controller in existing industrial control field, utilize transfer roller and helical screw feeder conveying vinasse, in helical screw feeder, vinasse can be transported to deformable tube uniformly, and utilize vinasse in vinasse robot controlling deformable tube to drop in steaming wine rice steamer, realize upper Zhen automatically, with adopted compared with artificial upper rice steamer in the past, reduce the labour intensity of wine brewing workman, enhance productivity, improve vinasse rate of utilization and the yield of liquor, realize the automatization that on white spirit brewing, rice steamer is produced.The arm action of controller control Shang Zeng robot is adopted in this programme, the vinasse that helical screw feeder is brought by mobile deformable tube are sprinkled into and steam in wine rice steamer, also utilize ultrasonic transducer Real-Time Monitoring to put into simultaneously and steam wine rice steamer vinasse score planeness, if upper rice steamer vinasse have concave point, Shang Zhen robot judges concave point scope coordinate by ultrasonic transducer, deformable tube is aimed at concave point, automatically vinasse is filled, fill and lead up concave point.Compared with the artificial upper rice steamer of employing, in wine rice steamer the placement of vinasse evenly and surfacing degree not by workman's technique influence; Vinasse place evenly, surface finish is higher, substantially increases the yield of liquor.
Further, also comprising for detecting the temperature sensor steaming temperature in wine rice steamer and the control motor be arranged on helical screw feeder, controlling motor and the equal connection control device of temperature sensor.In wine brewing field, only have in steaming wine rice steamer and just can add one deck vinasse after on steam, the surface for the treatment of this layer of vinasse out steam adds one deck vinasse later again, so circulates in steaming wine rice steamer and vinasse are filled up, just be conducive to the vinasse later stage in later stage and Koji is fermented, the more wine of output.The setting of this place's temperature sensor then can monitor the change of steaming temperature in wine rice steamer accurately, and pass to controller, after value on temperature sensor reaches the value of setting, more automatically go up rice steamer one deck vinasse again by controller control Shang Zeng robot, so circulation is until fill up steaming wine rice steamer.When the temperature value that temperature sensor detects does not reach set(ting)value, controller then can act on control motor, and allow helical screw feeder stop feeding, the controller used in this process adopts the conventional controller in existing industrial control field all can realize.Had the setting of temperature sensor, whether steam comes up need not be leaned on artificial eyesight to judge entirely, not easily produces erroneous judgement, avoids the loss causing wine steam.More be conducive to the evenly loose and planeness that vinasse are discriminated, improve vinasse rate of utilization, improve the yield of liquor further.
Further, described temperature sensor is connected on the arm of Shang Zeng robot.
Further, also comprise for detecting the vision sensor steaming material in wine rice steamer, vision sensor is connected with controller.Vision sensor can gather the graphic information in steaming wine rice steamer and pass to controller, for operator's monitoring, sees the situation of steaming in wine rice steamer, if there is improper phenomenon, can process it in time.
Further, described vision sensor and ultrasonic transducer are installed in and steam directly over wine rice steamer.
Further, described steaming wine rice steamer can automatic turning 180 °, also arranges vinasse transfer roller in the below of steaming wine rice steamer.Facilitate steamed after vinasse be delivered directly to vinasse under bent spreading-and-cooling machine, allow its vinasse and Koji mixing, and spreading for cooling is temperature required to lower cellar for storing things.
Further, the inlet end of described transfer roller also connects cutting agency.
Further, a kind of drinks is brewageed robot and is automatically gone up rice steamer method, comprises the steps:
Material after being uniformly mixed is put into transfer roller by steps A, sends into rotary disc feeder by transfer roller, through the uniform discharging of rotary disc feeder to deformable tube, deformable tube in the effect bottom discharge of upper rice steamer robot arm in retort;
Step B ultrasonic sonic sensor detects the planeness in current retort, material discriminated in real time and passes to controller, if upper rice steamer material has concave point, controller utilizes Shang Zhen robot to judge concave point scope and coordinate by ultrasonic transducer, mobile deformable tube is to concave point place, material is filled, fills and leads up concave point;
Step C is when after upper rice steamer one deck material, controller stops feeding operation by controlling electric machine control helical screw feeder, after the temperature sensor senses be connected with controller reaches set(ting)value to the temperature of steaming in wine rice steamer, rice steamer one deck is gone up automatically again by controller control Shang Zeng robot.Adopt this kind of method to carry out upper rice steamer to vinasse, whole process all adopts mechanized operation to realize, and reduces the labour intensity of wine brewing workman, enhances productivity, and improves vinasse rate of utilization and the yield of liquor.The design of ultrasonic transducer and temperature sensor, detect the planeness that current material is discriminated in real time, if upper rice steamer material has concave point, Shang Zhen robot judges concave point scope coordinate by sensor, automatically material is filled, fills and leads up concave point; When after upper rice steamer one deck, by connecting temperature sensor, after temperature reaches certain value, rice steamer one deck is gone up automatically again by robot.More be conducive to the evenly loose and planeness that vinasse are discriminated, improve vinasse rate of utilization, improve the yield of liquor.
Further, also comprise step D when fill material in steaming wine rice steamer and steamed after, steam wine rice steamer automatic turning 180 °, pour material vinasse into vinasse transfer roller.Facilitate steamed after vinasse be delivered directly to vinasse under bent spreading-and-cooling machine, allow its vinasse and Koji mixing, and spreading for cooling is temperature required to lower cellar for storing things, realizes automatic production.
To sum up, the invention has the beneficial effects as follows:
1, adopt Shang Zeng robot to carry out the upper rice steamer of vinasse in this programme, reduce the labour intensity of wine brewing workman, enhance productivity, improve vinasse rate of utilization and the yield of liquor, realize the automatization that on white spirit brewing, rice steamer is produced.
2, the setting of ultrasonic transducer, can detect the planeness that current material is discriminated in real time, if upper rice steamer material has concave point, Shang Zhen robot judges concave point scope coordinate by sensor, automatically material is filled, fills and leads up concave point.
3, temperature sensor and the mating reaction of control motor, when after upper rice steamer one deck vinasse, by connecting temperature sensor, after temperature reaches certain value, rice steamer one deck is gone up automatically again by robot, is more conducive to the evenly loose and planeness that vinasse are discriminated, improve vinasse rate of utilization, improve the yield of liquor.
4, use the uniform helical screw feeder of discharging in this programme, in use, adopt robot upper Zhen automatically, material is entered uniformly and steams wine rice steamer; Steam after wine terminates, steam wine rice steamer automatic turning turnback, vinasse are poured into steamed after vinasse transfer roller, facilitate steamed after vinasse be delivered directly to vinasse under bent spreading-and-cooling machine, allow its vinasse and Koji mixing, and spreading for cooling is temperature required to lower cellar for storing things, realizes automatic production.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of helical screw feeder and deformable tube.
Mark and corresponding component title in accompanying drawing: 1, transfer roller; 2, helical screw feeder; 3, deformable tube; 4, Shang Zhen robot; 5, wine rice steamer is steamed; 6, vinasse transfer roller; 7, cutting agency.
Embodiment
Below in conjunction with embodiment and accompanying drawing, to the detailed description further of the present invention's do, but embodiments of the present invention are not limited thereto.
Embodiment 1:
As shown in Figure 1-2, the present invention includes transfer roller 1 and helical screw feeder 2, helical screw feeder 2 inlet end connects transfer roller 1 and exports, it is characterized in that, also comprise for detecting the ultrasonic transducer steaming material planeness in wine rice steamer 5, for the deformable tube 3 of discharging, the Shang Zeng robot 4 linked with deformable tube 3, receive ultrasonic transducer planeness information and according to the controller of planeness information Control Shang Zeng robot 4, the arm of Shang Zeng robot 4 connects deformable tube 3, the feeding mouth of deformable tube 3 connects the exit end of helical screw feeder 2, the discharge port of deformable tube 3 is positioned at the top of steaming wine rice steamer 5, described controller connects ultrasonic transducer and Shang Zeng robot 4 simultaneously.Deformable tube wherein can be corrugated tube, the place contacted with vinasse in this programme all adopts food grade SUS304 stainless steel to make, the controller used in this process adopts the conventional controller in existing industrial control field, utilize transfer roller and helical screw feeder conveying vinasse, in helical screw feeder, vinasse can be transported to deformable tube uniformly, and utilize vinasse in vinasse robot controlling deformable tube to drop in steaming wine rice steamer, realize upper Zhen automatically, with adopted compared with artificial upper rice steamer in the past, reduce the labour intensity of wine brewing workman, enhance productivity, improve vinasse rate of utilization and the yield of liquor, realize the automatization that on white spirit brewing, rice steamer is produced.The arm action of controller control Shang Zeng robot is adopted in this programme, the vinasse that helical screw feeder is brought by mobile deformable tube are sprinkled into and steam in wine rice steamer, also utilize ultrasonic transducer Real-Time Monitoring to put into simultaneously and steam wine rice steamer vinasse score planeness, if upper rice steamer vinasse have concave point, Shang Zhen robot judges concave point scope coordinate by ultrasonic transducer, deformable tube is aimed at concave point, automatically vinasse is filled, fill and lead up concave point.Compared with the artificial upper rice steamer of employing, in wine rice steamer the placement of vinasse evenly and surfacing degree not by workman's technique influence; Vinasse place evenly, surface finish is higher, substantially increases the yield of liquor.
Embodiment 2:
The present embodiment is preferably as follows on the basis of embodiment 1: also comprising for detecting the temperature sensor steaming temperature in wine rice steamer 5 and the control motor be arranged on helical screw feeder 2, controlling motor and the equal connection control device of temperature sensor.In wine brewing field, only have in steaming wine rice steamer and just can add one deck vinasse after on steam, the surface for the treatment of this layer of vinasse out steam adds one deck vinasse later again, so circulates in steaming wine rice steamer and vinasse are filled up, just be conducive to the vinasse later stage in later stage and Koji is fermented, the more wine of output.The setting of this place's temperature sensor then can monitor the change of steaming temperature in wine rice steamer accurately, and pass to controller, after value on temperature sensor reaches the value of setting, more automatically go up rice steamer one deck vinasse again by controller control Shang Zeng robot, so circulation is until fill up steaming wine rice steamer.When the temperature value that temperature sensor detects does not reach set(ting)value, controller then can act on control motor, and allow helical screw feeder stop feeding, the controller used in this process adopts the conventional controller in existing industrial control field all can realize.Had the setting of temperature sensor, whether steam comes up need not be leaned on artificial eyesight to judge entirely, not easily produces erroneous judgement, avoids the loss causing wine steam.More be conducive to the evenly loose and planeness that vinasse are discriminated, improve vinasse rate of utilization, improve the yield of liquor further.
Embodiment 3:
The present embodiment is preferably as follows on the basis of above-described embodiment: temperature sensor is connected on the arm of Shang Zeng robot 4.Temperature sensor can move with the movement of upper rice steamer robot arm, and temperature variation in wine rice steamer is steamed in more convenient detection.
Also comprise for detecting the vision sensor steaming material in wine rice steamer 5, vision sensor is connected with controller.Vision sensor can gather the graphic information in steaming wine rice steamer and pass to controller, for operator's monitoring, sees the situation of steaming in wine rice steamer, if there is improper phenomenon, can process it in time.
Embodiment 4:
The present embodiment is preferably as follows on the basis of above-described embodiment: vision sensor and ultrasonic transducer are installed in and steam directly over wine rice steamer 5.More comprehensively can observe the changing conditions of steaming situation in wine rice steamer.
Steaming wine rice steamer 5 can automatic turning 180 °, also arranges vinasse transfer roller 6 in the below of steaming wine rice steamer 5.Facilitate steamed after vinasse be delivered directly to vinasse under bent spreading-and-cooling machine, allow its vinasse and Koji mixing, and spreading for cooling is temperature required to lower cellar for storing things.
The inlet end of transfer roller 1 also connects cutting agency 7.Cutting agency can mix vinasse and send into transfer roller entrance, and manually mixes compared with feeding in the past, reduce further the intensity of work.
Embodiment 5:
The present invention includes a kind of drinks to brewage robot and automatically go up rice steamer method, comprise the steps:
Material after being uniformly mixed is put into transfer roller by steps A, sends into rotary disc feeder by transfer roller, through the uniform discharging of rotary disc feeder to deformable tube, deformable tube in the effect bottom discharge of upper rice steamer robot arm in retort;
Step B ultrasonic sonic sensor detects the planeness in current retort, material discriminated in real time and passes to controller, if upper rice steamer material has concave point, controller utilizes Shang Zhen robot to judge concave point scope and coordinate by ultrasonic transducer, mobile deformable tube is to concave point place, material is filled, fills and leads up concave point;
Step C is when after upper rice steamer one deck material, controller stops feeding operation by controlling electric machine control helical screw feeder, after the temperature sensor senses be connected with controller reaches set(ting)value to the temperature of steaming in wine rice steamer, rice steamer one deck is gone up automatically again by controller control Shang Zeng robot.Adopt this kind of method to carry out upper rice steamer to vinasse, whole process all adopts mechanized operation to realize, and reduces the labour intensity of wine brewing workman, enhances productivity, and improves vinasse rate of utilization and the yield of liquor.The design of ultrasonic transducer and temperature sensor, detect the planeness that current material is discriminated in real time, if upper rice steamer material has concave point, Shang Zhen robot judges concave point scope coordinate by sensor, automatically material is filled, fills and leads up concave point; When after upper rice steamer one deck, by connecting temperature sensor, after temperature reaches certain value, rice steamer one deck is gone up automatically again by robot.More be conducive to the evenly loose and planeness that vinasse are discriminated, improve vinasse rate of utilization, improve the yield of liquor.
Embodiment 6:
The present invention is preferably as follows on the basis of embodiment 5: also comprise step D when fill material in steaming wine rice steamer and steamed after, steam wine rice steamer automatic turning 180 °, pour material vinasse into vinasse transfer roller.Facilitate steamed after vinasse be delivered directly to vinasse under bent spreading-and-cooling machine, allow its vinasse and Koji mixing, and spreading for cooling is temperature required to lower cellar for storing things, realizes automatic production.
The above is only preferred embodiment of the present invention, and not do any pro forma restriction to the present invention, every any simple modification, equivalent variations done above embodiment according to technical spirit of the present invention, all falls within protection scope of the present invention.
Claims (9)
1. a drinks is brewageed robot and is automatically gone up rice steamer equipment, comprise transfer roller (1) and helical screw feeder (2), helical screw feeder (2) inlet end connects transfer roller (1) outlet, it is characterized in that, also comprise for detecting the ultrasonic transducer steaming wine rice steamer (5) interior material planeness, for the deformable tube (3) of discharging, the Shang Zeng robot (4) linked with deformable tube (3), receive ultrasonic transducer planeness information and according to the controller of planeness information Control Shang Zeng robot (4), the arm of Shang Zeng robot (4) connects deformable tube (3), the feeding mouth of deformable tube (3) connects the exit end of helical screw feeder (2), the discharge port of deformable tube (3) is positioned at the top of steaming wine rice steamer (5), described controller connects ultrasonic transducer and Shang Zeng robot (4) simultaneously.
2. drinks according to claim 1 is brewageed robot and is automatically gone up rice steamer equipment, it is characterized in that, also comprising for detecting the temperature sensor steaming wine rice steamer (5) interior temperature and the control motor be arranged on helical screw feeder (2), controlling motor and the equal connection control device of temperature sensor.
3. drinks according to claim 2 is brewageed robot and is automatically gone up rice steamer equipment, it is characterized in that, described temperature sensor is connected on the arm of Shang Zeng robot (4).
4. the drinks according to claim 1-3 any one is brewageed robot and is automatically gone up rice steamer equipment, it is characterized in that, also comprise for detecting the vision sensor steaming wine rice steamer (5) interior material, vision sensor is connected with controller.
5. drinks according to claim 4 is brewageed robot and is automatically gone up rice steamer equipment, it is characterized in that, described vision sensor and ultrasonic transducer are installed in and steam directly over wine rice steamer (5).
6. drinks according to claim 1 is brewageed robot and is automatically gone up rice steamer equipment, it is characterized in that, described steaming wine rice steamer (5) can automatic turning 180 °, also arranges vinasse transfer roller (6) in the below of steaming wine rice steamer (5).
7. drinks according to claim 1 is brewageed robot and is automatically gone up rice steamer equipment, it is characterized in that, the inlet end of described transfer roller (1) also connects cutting agency (7).
8. drinks is brewageed robot and is automatically gone up a rice steamer method, it is characterized in that, comprises the steps:
Material after being uniformly mixed is put into transfer roller by steps A, sends into rotary disc feeder by transfer roller, through the uniform discharging of rotary disc feeder to deformable tube, deformable tube in the effect bottom discharge of upper rice steamer robot arm in retort;
Step B ultrasonic sonic sensor detects the planeness in current retort, material discriminated in real time and passes to controller, if upper rice steamer material has concave point, controller utilizes Shang Zhen robot to judge concave point scope and coordinate by ultrasonic transducer, mobile deformable tube is to concave point place, material is filled, fills and leads up concave point;
Step C is when after upper rice steamer one deck material, controller stops feeding operation by controlling electric machine control helical screw feeder, after the temperature sensor senses be connected with controller reaches set(ting)value to the temperature of steaming in wine rice steamer, rice steamer one deck is gone up automatically again by controller control Shang Zeng robot.
9. drinks according to claim 7 is brewageed robot and is automatically gone up rice steamer method, it is characterized in that, also comprise step D when fill material in steaming wine rice steamer and steamed after, steam wine rice steamer automatic turning 180 °, pour material vinasse into vinasse transfer roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610068008.0A CN105505659A (en) | 2016-02-01 | 2016-02-01 | Automatic liquor brewing robot steamer distillation equipment and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610068008.0A CN105505659A (en) | 2016-02-01 | 2016-02-01 | Automatic liquor brewing robot steamer distillation equipment and method |
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| CN105505659A true CN105505659A (en) | 2016-04-20 |
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| CN201610068008.0A Pending CN105505659A (en) | 2016-02-01 | 2016-02-01 | Automatic liquor brewing robot steamer distillation equipment and method |
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| CN106350341A (en) * | 2016-11-03 | 2017-01-25 | 四川阿泰因机器人智能装备有限公司 | Retort distillation robot |
| 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 |
| CN107325945A (en) * | 2017-07-19 | 2017-11-07 | 泰山医学院 | A kind of full-automatic uploading in rice steamer system and cloth time design method |
| CN107937206A (en) * | 2017-12-06 | 2018-04-20 | 四川理工学院 | A kind of vinasse airing of Multi-sensor Fusion adds bent intelligent monitoring method |
| CN109439502A (en) * | 2018-12-28 | 2019-03-08 | 安徽农业大学 | It is a kind of automatically to see that wine equipment is steamed in vapour charging |
| CN111702773A (en) * | 2020-06-06 | 2020-09-25 | 江苏聚缘机械设备有限公司 | Upright post rotating mechanism for rice steamer feeding robot |
| 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 |
| 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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| 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 |
| 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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Application publication date: 20160420 |
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