CN111620233A - A device for automatically picking up and entering the cellar of wine lees - Google Patents

Abstract

The present invention proposes a device for automatically lifting and entering wine lees into a cellar, comprising a first carriage and a second carriage arranged above the cellar. The end of one lifting mechanism is provided with a bucket controlled by a robot, the end of the second lifting mechanism is provided with an automatic overturning hoisting device, the first and second traveling vehicles are also provided with a travel positioning mechanism, the first lifting mechanism and the second lifting mechanism A height positioning mechanism is also provided on the top, and an anti-drop mechanism for cooperating with the silo is provided on the automatic overturning hoisting device. The device can be used to automatically lift and enter the cellar, without the need for personnel to intervene in the operation, realize automatic control, save labor costs, improve production efficiency, and realize unmanned cellar-lifting and cellaring operations.

Description

A device for automatically picking up and entering the cellar of wine lees

technical field

The invention relates to the technical field of wine brewing, in particular to a device for automatically lifting and storing wine lees into a cellar.

Background technique

In the traditional brewing production process, after the fermentation of the fermented grains in the cellar is completed, manual methods are used, and the fermented grains are shoveled into the silo with a wooden-handled shovel and transported by truck. After the grain mixing, bran mixing, distillation, drying, and koji addition processes, the lees packed in the silo is poured into the cellar by the crane. In the process of entering the cellar, the fermented grains need to be raked and leveled manually, and then the cellar is compacted manually. Manual operation has low production efficiency and high labor intensity, and in the process of cellaring, the alcohol concentration in the cellar is high, which is prone to danger.

At present, in addition to manual cellar lifting, hanging grabs have been used to lift cellars. The hanging grab is composed of two openable and closeable bucket-shaped jaws to form a container space. When loading materials, the jaws are placed in the material. When the pile is closed, the material is caught into the container space. When unloading, the jaw plate is opened in a suspended state on the material pile, and the material is scattered on the material pile. The opening and closing of the jaw plate is generally controlled by the wire rope of the hoisting mechanism of the crane. There is no heavy manual labor in the hanging grab operation, which can achieve high loading and unloading efficiency.

However, the hanging grab cannot carry out layered reclaiming, and it needs to manually stack the bad material in advance, and cannot handle the bad material in the corners of the automatic cellar, and needs to be equipped with manual processing; the hanging grab cannot realize the bad grains. Rake leveling and compaction after entering the cellar.

SUMMARY OF THE INVENTION

The invention proposes a device for automatically picking up the lees into the cellar. It solves the technical problems that it is difficult to clean the glutinous rice grains at the corners of the cellar, and the glutinous grains cannot be raked and compacted by layering when the grains enter the cellar.

The present invention proposes a device for automatically lifting and entering wine lees into a cellar, comprising a first carriage and a second carriage arranged above the cellar. The end of one lifting mechanism is provided with a bucket controlled by a robot, the end of the second lifting mechanism is provided with an automatic overturning hoisting device, the first and second traveling vehicles are also provided with a travel positioning mechanism, the first lifting mechanism and the second lifting mechanism A height positioning mechanism is also provided on the top, and an anti-drop mechanism for cooperating with the silo is provided on the automatic overturning and hoisting device. The automatic cellar lifting and entering device can realize automatic and unmanned cellar lifting and cellaring operations through the travel positioning of the intelligent driving and the setting of the height positioning mechanism, thereby saving labor costs and improving production efficiency.

Preferably, the first traveling vehicle and the second traveling vehicle each include a bridge frame, a lateral guide rail, a lateral drive unit and a trolley, the lateral guide rail is arranged on the upper end surface of the bridge frame, and the lateral drive unit drives the trolley to move laterally on the lateral guide rail. The lateral displacement of the trolley can expand the working range of the cellar.

Further preferably, the bridge is a double-girder bridge, the two ends of the double-girder bridge are provided with longitudinal drive units and guide wheels, the vertical column above the pit is provided with longitudinal guide rails, and the longitudinal drive unit drives the double-girder bridge to longitudinally displace on the longitudinal guide rails. The longitudinal displacement property of the double-girder bridge frame also expands the working range of the automatic lifting and entering the cellar.

Preferably, the stroke positioning mechanism and the height positioning mechanism include a laser range finder or a positioning bar code identification device. The selection of different positioning mechanisms can increase the scope of application of the automatic cellar lifting device to meet the positioning settings in different scenarios.

Further preferably, the first lifting mechanism and the second lifting mechanism are arranged on the trolley, and both lifting mechanisms include a lifting base and a plurality of sets of lifting sleeves, and the lifting sleeves are telescopically sleeved in the base. The setting of multiple sets of lifting sleeves can meet the requirements of various lifting heights.

Further preferably, the plurality of groups of lifting sleeves are driven by racks and pinions, and each group of lifting sleeves is provided with a brake. The transmission mode of the rack and pinion is more stable and reliable, and the lifting height can be precisely controlled by the setting of the brake.

Preferably, the bottom surface and both sides of the bucket are provided with nail teeth, and the gaps between the nail teeth on the bottom surface are hollowed out. The setting of the spike teeth can reduce the resistance of the bucket and facilitate insertion into the waste.

Preferably, the overturning hoisting device includes a beam, two jibs and a turning mechanism, the middle of the beam is provided with a slewing mechanism, the two jibs are displaceably arranged at both ends of the beam, and the turning mechanism is arranged at at least one of the two jibs. bottom. The setting of the slewing mechanism and the overturning mechanism can be used to adjust the angle of the silo, which can increase the performance of the silo lifting device.

Further preferably, the turning mechanism includes a turning drive motor and a driving wheel and a driven wheel that mesh with each other, the turning driving motor is connected with the driving wheel, the anti-drop mechanism passes through and protrudes from the central through hole of the driven wheel, and the driven wheel faces the direction of the silo. A locating pin is arranged on the end face of the locating pin, and the axis of the locating pin is parallel to the axis of the driven wheel. With the setting of the overturning mechanism, the waste material of the silo can be stably dumped into the designated pit.

Further preferably, the anti-separation mechanism passes through and protrudes from the central through hole of the driven wheel, the two sides of the silo are provided with positioning holes and positioning pin holes corresponding to the anti-separation mechanism and the positioning pins, and the positioning holes are provided with engaging parts. . By virtue of the positioning holes, positioning pin holes and the anti-drop mechanism, it can be ensured that the silo can be stably matched with the overturning hoisting device.

Further preferably, the disengagement prevention mechanism includes a hollow connecting shaft, a mandrel and a disengagement preventing drive unit, and the disengagement preventing driving unit is connected with the mandrel so that the mandrel can be telescopically displaced inside the hollow connecting shaft. The automatic locking or unlocking control of the anti-dropping mechanism can be realized by using the anti-dropping drive unit.

Further preferably, it also includes an anti-dropping module arranged between the mandrel, the hollow connecting shaft and the positioning hole. With the anti-dropping module, the anti-dropping mechanism and the silo can be effectively locked to prevent the silo from falling off.

Further preferably, one end of the mandrel has different diameters so that when the mandrel is displaced inside the hollow connecting shaft, the anti-detachment module can protrude from the surface of the hollow connecting shaft and engage with the engaging portion. Using the displacement of the mandrel to realize the anti-dropping function, the structure is more stable and reliable.

Further preferably, the anti-dropping module includes a steel ball, a positioning post or a wedge. The choice of various structures can make corresponding anti-drop structures according to different locking requirements.

The invention proposes an automatic cellar lifting device for wine grains. The automatic cellar lifting device is formed by the configuration of two cranes and two lifting mechanisms arranged on them. When the wine grains are lifted, the overturning hoisting device is used to grab the silo to the point where the cellar needs to be lifted. On the side of the cellar, use the robot to drive the bucket to automatically start the lees, put the removed lees into the hopper, and then use the overturning hoisting device to grab the silo and move it to the designated area, and turn the lees into the receiving bin. When the lees distillation stall is finished drying and adding koji, and it needs to be re-entered into the cellar, the robot can drive the bucket to level the lees pile in the cellar, and press it according to the set force to eliminate the large gap in the lees. The positioning mechanism can realize the automatic operation of picking up and entering the cellar, which solves the problem of cumbersome manual operation. The nail-tooth structure of the bucket can reduce the resistance of the bucket, and the use of the bucket can easily clean up the glutinous grains in the corners of the cellar and in the shovel. When the glutinous rice grains enter the cellar, the grains can be raked and compacted in layers. At the same time, the structure of the overturning hoisting device can effectively realize the hoisting and dumping of the silo and the cellar cover. The ingenious setting of the anti-dropping mechanism further improves the safety of the device and avoids the safety of the silo falling off during the handling process. ACCIDENT.

Description of drawings

The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Other embodiments and many of the intended advantages of the embodiments will be readily recognized as they become better understood by reference to the following detailed description. Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the schematic diagram of the automatic cellaring of lees according to an embodiment of the invention;

Fig. 2 is a front view of the device for automatically picking up the lees into the cellar according to a specific embodiment of the invention;

FIG. 3 is a schematic structural diagram of a bucket according to a specific embodiment of the invention;

FIG. 4 is a schematic structural diagram of a flipping hoisting device according to a specific embodiment of the invention;

5 is a schematic structural diagram of a boom according to a specific embodiment of the invention;

6a-b are schematic structural diagrams of the locking and unlocking states of the anti-falling mechanism according to a specific embodiment of the invention.

The meaning of each number in the figure: 10. The first carriage, 20. The first lifting mechanism, 30. The robot, 40. The bucket, 50. The second carriage, 60. The second lifting mechanism, 70. The turning hoisting device, 80 .Silo, 11. Longitudinal guide rail, 12. Double girder bridge, 13. Longitudinal drive unit, 14. Guide wheel, 15. Lateral guideway, 16. Trolley, 17. Laser ranging, 18. Positioning bar code, 21. Lifting Base, 22. Primary lifting sleeve, 23. Secondary lifting socket, 24. Tertiary lifting socket, 25. Gear, 26. Rack, 27. Rail brake, 28. Winch, 29. Height Positioning mechanism, 100. Slewing mechanism, 200. Beam, 300. Boom, 400. Anti-dropping mechanism, 500. Turning mechanism, 110. Mounting plate, 120. Slewing drive unit, 130. Driving gear, 140. Slewing bearing, 210 .Base, 220. Linear guide, 230. Slider, 240. Sliding drive unit, 250. Roller screw, 260. Sensor, 310. Hook, 410. Support pin, 420. Bearing, 430. Steel ball , 440. Mandrel, 450. Anti-drop drive unit, 510. Turn over drive motor, 520. Driving wheel, 530. Driven wheel, 540. Positioning pin.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Fig. 1 shows a schematic structural diagram of a device for automatically picking up and storing wine lees into a cellar according to an embodiment of the invention. As shown in FIG. 1 , the device for automatically loading and unloading wine grains includes a first carriage 10 , a first lifting mechanism 20 , a robot 30 , a bucket 40 , a second carriage 50 , a second lifting mechanism 60 , a turning and lifting device 70 , and a material Warehouse 80. Wherein, the first traveling vehicle 10 and the second traveling vehicle 50 are displaceably arranged on the plant column above the cellar, and the first lifting mechanism 20 and the second lifting mechanism 60 are respectively arranged at the lower part of the first traveling vehicle 10 and the second traveling vehicle 50, The robot 30 is installed upside down on the bottom of the first lifting mechanism 20 , and the bucket 40 is connected to the mechanical arm of the robot 30 . Specifically, the bucket 40 can be fixed to the robot 30 by means of bolt connection or the like. The overturning lifting device 70 is installed at the bottom of the second lifting mechanism 60 for automatically grabbing the silo 80 or the pit cover.

Continuing to refer to FIG. 2 , FIG. 2 shows a front view of the device for automatically lifting the lees into the cellar according to a specific embodiment of the invention. As shown in FIG. 2 , the first carriage 10 includes a longitudinal guide rail 11 , a double-girder bridge 12 , a longitudinal The drive unit 13, the guide wheel 14, the transverse guide rail 15 and the trolley 16, the longitudinal guide rail 11 is arranged on the plant column above the cellar, and the two ends of the double-girder bridge 12 are provided with a longitudinal drive unit 13 and a guide wheel 14. The longitudinal drive unit 13 drives the guide wheel 14 to rotate, thereby realizing the displacement of the double-girder bridge 12 on the longitudinal guide rail 11 . The transverse guide rail 15 is arranged on the upper surface of the double-girder bridge 12, so that the trolley 16 can be displaced on the transverse guide rail 15, wherein the first lifting mechanism 20 is arranged below the trolley 16, using the longitudinal displacement of the first traveling vehicle 10 and the transverse direction of the trolley 16 The displacement can drive the first lifting mechanism 20 to move in various angular directions above the pit.

In a specific embodiment, a travel positioning mechanism is provided on the longitudinal guide rail 11 and the lateral guide rail 15, and the positioning mechanism can be a positioning barcode 18 or a laser range finder 17. By identifying the positioning barcode 18 or the laser range finder 17 The measured distance is used to realize the automatic positioning of the lifting point, which is more accurate and reliable than manual control.

In a specific embodiment, the first lifting mechanism 20 is a rigid telescopic lifting mechanism, including a lifting base 21 , a first-level lifting sleeve 22 , a second-level lifting sleeve 23 , a third-level lifting sleeve 24 , a gear 25 , and a rack. 26. Rail brake 27, hoist 28 and height positioning mechanism 29. The first lifting mechanism 20 realizes the long-stroke lifting movement through the multi-stage telescopic sleeve structure, wherein, the lifting sleeve of each stage adopts the cooperative transmission mode of the rack and pinion to achieve the effect of multi-stage synchronous lifting. 28 is used as a power source for lifting, and a guide rail brake 27 is provided on the lifting sleeve of each stage to stop the lifting movement. The matching method of the rack and pinion can realize the lifting action of the lifting mechanism relatively stably and reliably. It should be recognized that in addition to using the winch 28 to cooperate with the transmission mode of the rack and pinion, the lifting action can also be realized by other methods such as worm gear and screw rod. , the technical effect of the present invention can also be achieved.

In a specific embodiment, the first lifting mechanism 20 is also provided with a height positioning mechanism 29. The height positioning mechanism 29 can also be set by positioning a barcode or a laser range finder, and is set on the lifting base 21, which can accurately The lower height of the first lifting mechanism 20 is properly controlled, so as to facilitate the work of lifting the cellar into the cellar and the like.

FIG. 3 shows a schematic structural diagram of a bucket according to a specific embodiment of the invention. As shown in FIG. 3 , the bucket 40 has a shovel opening, and the shovel opening is formed by combining two side surfaces, a rear side surface and a bottom surface steel plate, wherein, The outer surface of the rear side is provided with a mounting surface that cooperates with the robot 30, and the two sides and the bottom are spaced with spike teeth 4001 protruding from the two sides or the bottom surface. , the gaps between adjacent nail teeth 4001 are hollowed out. The bucket with this structure is mainly optimized and designed on the basis of artificial nail shovel. During the process of shoveling the bad material, the nail teeth 4001 on the bottom surface are inserted vertically to reduce the resistance of the shovel. The plane on the back of the bucket 40 rakes the glutinous rice grains and compacts them in layers.

In a specific embodiment, the robot 30 controls the bucket 40 to realize the operations of raking, shoveling, and cleaning the cellar, and puts the shoveled wine grains into the bin 80 . The first carriage 10, the first lifting mechanism 20, the robot 30, and the bucket 40 are unifiedly controlled by a set of control systems, so as to realize the overall coordinated work according to the instruction requirements. This part of the equipment mainly realizes the functions of automatic brewing, cleaning of the cellar wall, leveling after entering the cellar, and stepping on the cellar.

The second traveling vehicle 50 and the first traveling vehicle 10 have the same structure, and the first lifting mechanism 20 and the second lifting mechanism 60 also have the same structure, which will not be repeated here. The bottom of the second lifting mechanism 60 is installed with a flipping and lifting device 70 . The overturning hoisting device 70 is used to automatically grab the silo 80 and the pit cover. When necessary, a visual positioning system can be installed on the overturning and lifting device 70 to facilitate the precise positioning of the grabbed objects (silo and cellar cover). The second traveling vehicle 50 , the second lifting mechanism 60 , and the overturning hoisting device 70 are also uniformly controlled by a set of control systems, so as to realize the overall coordinated work according to the instruction requirements. This part of the equipment mainly realizes the functions of automatic grabbing of silos, automatic transfer of silos, dumping of lees into the cellar, and automatic discharge of silos.

FIG. 4 shows a schematic structural diagram of a flipping hoisting device according to a specific embodiment of the invention. As shown in FIG. 4 , the flipping hoisting device 70 specifically includes a slewing mechanism 100 , a beam 200 , a boom 300 , and a disengagement prevention mechanism 400 and flip mechanism 500. The slewing mechanism 100 is disposed in the middle of the beam 200 and is used to rotate the beam 200 to adjust the angle of the beam 200, which can meet the usage conditions at different angles. The two booms 300 are respectively movably arranged on the left and right ends of the beam 200 for clamping the silos 80 or cellar covers of different sizes. The anti-dropping mechanism 400 and the overturning mechanism 500 are arranged in one or two heels. The hanging arm 300 is used to turn the silo 80 to realize the dumping action, and can prevent the unsafe situation that the silo 80 falls off during the dumping or clamping transportation.

In a specific embodiment, the slewing mechanism 100 is fixed on the beam 200 by bolts, and includes a mounting plate 110 , a slewing drive unit 120 , a driving gear 130 and a slewing bearing 140 . The mounting plate 110 is fixedly installed on the bottom of the second lifting mechanism 60 , the slewing drive unit 120 and the slewing bearing 140 are bolted to the mounting plate 110 , the drive shaft of the slewing drive unit 120 is provided with a driving gear 130 , and the driving gear 130 and the slewing bearing 140 are geared mesh. The rotation driving unit 120 can drive the driving gear 130 to rotate and then drive the slewing bearing 140 to rotate to realize the rotation of the entire beam 200 .

In a specific embodiment, the beam 200 includes a base 210 , a linear guide 220 , a slider 230 , a sliding drive unit 240 , a ball screw 250 and a sensor 260 . The linear guide 220 is arranged on the upper surface of the left and right ends of the base 210, and the slider 230 slides on the linear guide 220; the ball screw 250 is arranged on the base 210, and its axis is parallel to the linear guide 220; the sliding drive unit 240 Bolts are fixed on the side of the base 210 , and the drive shaft of the sliding drive unit 240 is connected with the ball screw 250 through a coupling; The suspension arms 300 are respectively arranged on the sliders 230 at both ends, and can be fixed by means of bolt connection, and the screw nuts are respectively bolted to the suspension arms 300 . Hooks 310 are provided on both sides of the bottom of the boom 300, which can cooperate with the lifting lug mechanism on the pit cover.

In a specific embodiment, the anti-dropping mechanism 400 and the turning mechanism 500 are provided on the boom 300 , and the turning mechanism 500 includes a turning driving unit 510 , a driving wheel 520 , a driven wheel 530 and a positioning pin 540 . The overturning drive unit 510 is bolted to the boom 300, and its drive shaft is connected to the driving wheel 520. The specific connection method can be other connection methods such as flat key connection; the driven wheel 530 is bolted to the anti-detachment mechanism 400, and the driven wheel 530 is connected to the driving wheel 520 meshing transmission or through chain transmission; the positioning pin 540 is arranged on the end face of the driven wheel 530, and the positioning pin 540 is not arranged coaxially with the driven wheel 530, the positioning pin 540 can be set with one or more, insert the material matched with it. The positioning pin holes on the bin 80 enable the bin 80 to rotate together with the driven wheel 530 to realize the dumping action.

Continuing to refer to FIG. 6 , FIG. 6 shows a schematic structural diagram of the locking and unlocking states of the anti-dropping mechanism according to a specific embodiment of the invention. The anti-dropping mechanism 400 includes a support pin 410 , a bearing 420 , a steel ball 430 , and a mandrel 440 , and the anti-dropping drive unit 450 . The support pin 410 is fixed on the boom 300 through the bearing 420. The support pin 410 is a hollow connecting shaft, and its outer diameter is equal to or slightly smaller than the inner diameter of the positioning hole of the silo 80 for easy insertion into the positioning hole; the steel ball 430 is movable It is arranged in the spherical hole at the front end of the support pin 410 and is in contact with the outer surface of the annular groove of the mandrel 440 ; As shown in FIG. 6a, the anti-separation drive unit 450 drives the mandrel 440 to extend, the annular groove on the mandrel 440 leaves the steel ball 430, and the mandrel 440 pushes the steel ball 430 to the engaging part of the inner wall groove of the positioning hole of the silo 80 , at this time, the anti-detachment mechanism is in a locked state, and the silo 80 cannot be detached from the overturning and lifting device 70 . As shown in FIG. 6b, the anti-fall driving unit 450 drives the mandrel 440 to shrink, the annular groove on the mandrel 440 is facing the steel ball 430, and the steel ball 430 falls from the inner wall groove of the positioning hole of the silo 80 to the annular groove of the mandrel 440 , at this time, the disengagement prevention mechanism is in an unlocked state, and the silo 80 can be disengaged from the overturning and lifting device 70 . It should be recognized that, in addition to the anti-separation module using the steel balls 430, other wedge blocks, positioning columns, etc. can also be selected as the anti-separation module, and the different heights on the mandrel can be used to realize the engagement with the inner wall of the positioning hole of the silo 80. The locked or unlocked state of the part can also achieve the technical effect of the present invention.

In a specific embodiment, the action flow of the overturning and lifting device is as follows: the overturning and lifting device 70 is installed at the bottom of the second carriage 50 and moved to the position of the silo 80 and the pit cover, when the axis of the support pin 410 is in line with the material When the axes of the bin positioning holes are coincident, the sliding drive unit 240 is driven by the ball screw 250; middle; the anti-fall drive unit 450 pushes the mandrel 440 to move outward; the mandrel 440 pushes the steel ball 430 into the spherical hole of the support pin 410, the protruding part of the steel ball 430 pushes against the inner wall groove of the hopper positioning hole, and the support pin The shaft 410 cannot be separated from the positioning hole of the hopper; the hopper moves to a predetermined position, the overturning drive unit 510 drives the driving wheel 520 to rotate, and the positioning pin 540 rotates together with the driven wheel 530; the silo 80 is turned over and unloaded under the action of torque, and after the unloading is completed , the overturning drive unit 510 drives the driving wheel 520 to reverse, and the silo 80 returns to positive. Through the same operation, the lifting ring of the cellar cover is connected with the hook 310 to realize the lifting operation of the cellar cover.

In a specific embodiment, the basic action flow of the above-mentioned device for automatically lifting the lees into the cellar is as follows: when the lees is lifted, the second carriage 50 automatically moves to the storage position of the silo 80, the second lifting mechanism 60 descends to the height of the grab point, and turns over. The hoisting device 70 grabs the silo 80 . The second lifting mechanism 60 is lifted, and the second crane 50 automatically transports the silo 80 to the side of the silo that needs to be hoisted, lowers the silo 80, and moves out of the area. The first carriage 10 automatically moves into the top of the cellar to be lifted, the first lifting mechanism 20 is lowered to a suitable height, the robot 30 drives the bucket 40 to automatically lift the grains, and puts the lifted grains into the bin 80 . After the lees in the silo 80 reaches a certain amount, the first trolley 10 automatically exits the area, and the second trolley 50 automatically moves into the top of the silo 80, grabs the silo 80, lifts it to the designated area, and uses the overturning hoisting device 70. Turn the lees over and pour it into the receiving bin.

When the distiller's grains distillation stall is finished drying and adding koji and needs to be re-entered into the cellar, the second carriage 50 automatically moves to the designated position outside the cellar area, grabs the silo 80 that has been filled with wine grains returned to the cellar, and lifts and runs the silo to the designated cellar. , the overturning hoisting device 70 overturns the silo 80, and pours the lees into the cellar. The second trolley 50 automatically moves out of the area, the first trolley 10 automatically moves into the area, the first lifting mechanism 20 is lowered to a suitable height, the robot 30 drives the bucket 40 to level the bad heap in the cellar, and presses it according to the set force Tight, to eliminate the large gaps in the lees, and not too tight to affect the effect of fermentation.

The above description is only a preferred embodiment of the present invention and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover, without departing from the above-mentioned inventive concept, the above-mentioned technical features or Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the present invention (but not limited to) having similar functions.

Claims (10)

1. a wine lees automatically lifts and enters the cellar device, it is characterized in that, comprise the first traveling vehicle and the second traveling vehicle that are arranged on the top of the cellar, the first traveling vehicle and the described second traveling vehicle are respectively provided with the first lifting mechanism and the second traveling vehicle. The second lifting mechanism, the end of the first lifting mechanism is provided with a bucket controlled by a robot, the end of the second lifting mechanism is provided with an automatic overturning hoisting device, and the first crane and the second crane are also provided There is a travel positioning mechanism, the first lifting mechanism and the second lifting mechanism are also provided with a height positioning mechanism, and the automatic overturning hoisting device is provided with an anti-separation mechanism for matching with the silo. 2. The device according to claim 1, characterized in that, the first traveling vehicle and the second traveling vehicle both comprise a bridge frame, a lateral guide rail, a lateral driving unit and a trolley, and the lateral guide rail is arranged on the trolley. On the upper end surface of the bridge, the lateral drive unit drives the trolley to move laterally on the lateral guide rail, and the travel positioning mechanism and the height positioning mechanism include a laser range finder or a positioning bar code identification device. 3. The wine lees automatic lifting and entering cellar device according to claim 2 is characterized in that, the bridge frame is a double-girder bridge frame, and the two ends of the double-girder bridge frame are provided with a longitudinal drive unit and a guide wheel, and above the cellar Longitudinal guide rails are arranged on the upright column of the device, and the longitudinal drive unit drives the double-girder bridge frame to move longitudinally on the longitudinal guide rails. 4. The device according to claim 2, wherein the first lifting mechanism and the second lifting mechanism are arranged on the trolley, and the two lifting mechanisms both comprise a lifting base and a There are multiple sets of lifting sleeves, the lifting sleeves are telescopically sleeved in the base, the multiple sets of lifting sleeves are driven by racks and pinions, and each set of lifting sleeves is provided with a brake. 5 . The device for automatically lifting the lees into the cellar according to claim 1 , wherein the bottom surface and both sides of the bucket are provided with nail teeth, and the gaps between the nail teeth on the bottom surface are hollowed out. 6 . 6. The device according to claim 1, wherein the overturning and hoisting device comprises a beam, two booms and an overturning mechanism, the middle of the beam is provided with a slewing mechanism, and the two hoists The arms are displaceably arranged at both ends of the beam, and the turning mechanism is arranged at the bottom of at least one of the two booms. 7. The device according to claim 6, wherein the overturning mechanism comprises an overturning drive motor and a driving wheel and a driven wheel that mesh with each other, and the overturning drive motor is connected with the driving wheel, A positioning pin is provided on the end face of the driven wheel in the direction of the silo, and the axis of the positioning pin is parallel to the axis of the driven wheel. 8. The device according to claim 7, characterized in that, the anti-falling mechanism passes through and extends out of the central through hole of the driven wheel, and both sides of the silo are provided with the The positioning hole and the positioning pin hole corresponding to the anti-falling mechanism and the positioning pin are provided, and the inner wall of the positioning hole is provided with an engaging portion. 9. The device according to claim 8, wherein the anti-dropping mechanism comprises a hollow connecting shaft, a mandrel, an anti-dropping module and an anti-dropping drive unit, the The mandrel is connected so that the mandrel can be telescopically displaced inside the hollow connecting shaft, and the anti-dropping module is arranged between the mandrel, the hollow connecting shaft and the positioning hole, wherein the anti-dropping module is Stripping modules include steel balls, positioning posts or wedges. The device according to claim 9, characterized in that, one end of the mandrel has different diameters so that the anti-falling module can be displaced when the mandrel is displaced inside the hollow connecting shaft. It can protrude from the surface of the hollow connecting shaft and engage with the engaging portion.

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