CN111620233A

CN111620233A - Automatic lees play income cellar for storing things device

Info

Publication number: CN111620233A
Application number: CN202010642507.2A
Authority: CN
Inventors: 陈钦明; 肖正宗; 徐中福; 王辉; 林家麟; 刘海金
Original assignee: Baite Fujian Intelligent Equipment Technology Co Ltd
Current assignee: Baite Fujian Intelligent Equipment Technology Co Ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2020-09-04

Abstract

The invention provides an automatic vinasse lifting and entering device which comprises a first travelling crane and a second travelling crane which are arranged above a cellar pool, wherein the first travelling crane and the second travelling crane are respectively provided with a first lifting mechanism and a second lifting mechanism, the tail end of the first lifting mechanism is provided with a bucket controlled by a robot, the tail end of the second lifting mechanism is provided with an automatic overturning and hoisting device, the first travelling crane and the second travelling crane are also provided with stroke positioning mechanisms, the first lifting mechanism and the second lifting mechanism are also provided with height positioning mechanisms, and the automatic overturning and hoisting device is provided with an anti-falling mechanism matched with a storage bin. The device can realize automatic cellar opening and cellar entering, does not need personnel to intervene operation, can realize automatic control, saves labor cost, improves production efficiency, and can realize unmanned cellar opening and cellar entering operation.

Description

Automatic lees play income cellar for storing things device

Technical Field

The invention relates to the technical field of wine brewing, in particular to an automatic vinasse cellar-entering device.

Background

In the traditional brewing production process, after fermentation of the fermented grains in the pit is completed, the fermented grains are shoveled into a bin by a wooden handle shovel and are transported by a travelling crane in a manual mode. After the processes of grain mixing, bran mixing, distillation, spreading and drying in the air and yeast adding, the vinasse filled in the storage bin is poured into a cellar by a travelling crane. In the cellar entry process, the fermented grains need to be manually raked, and then manually trodden in the cellar for compaction. The manual operation has low production efficiency and high labor intensity, and the alcohol concentration in the pit is high in the pit-opening process, so that the danger is easy to occur.

At present, except manual cellar lifting, a hung grab bucket is used for cellar lifting, the hung grab bucket is formed by two bucket-shaped jaws which can be opened and closed together to form a containing space, the jaws are closed in a material pile during charging, materials are grabbed into the containing space, the jaws are opened in a suspended state on the material pile during discharging, the materials are scattered on the material pile, and the opening and closing of the jaws are generally controlled by a steel wire rope of a crane lifting mechanism. The operation of the suspension type grab bucket has no heavy manual labor, and can achieve higher loading and unloading efficiency.

However, the suspended grab bucket cannot take materials in a layered manner, and the grains are required to be manually and intensively stacked in advance, so that the grains in the corners of the automatic pit cannot be processed, and manual processing is required; the suspended grab bucket can not realize the operations of raking and compacting after fermented grains are put into the pit.

Disclosure of Invention

The invention provides an automatic vinasse pit-entering device. The technical problems that fermented grains at the corners of the pit are difficult to clean, and the raking of the fermented grains and the layered pit-stepping compaction cannot be realized when the fermented grains are placed into the pit are solved.

The invention provides an automatic vinasse lifting and entering device which comprises a first travelling crane and a second travelling crane which are arranged above a cellar pool, wherein the first travelling crane and the second travelling crane are respectively provided with a first lifting mechanism and a second lifting mechanism, the tail end of the first lifting mechanism is provided with a bucket controlled by a robot, the tail end of the second lifting mechanism is provided with an automatic overturning and hoisting device, the first travelling crane and the second travelling crane are also provided with stroke positioning mechanisms, the first lifting mechanism and the second lifting mechanism are also provided with height positioning mechanisms, and the automatic overturning and hoisting device is provided with an anti-falling mechanism matched with a storage bin. The automatic cellar opening and entering device can realize automatic and unmanned cellar opening and cellar entering operation through the stroke positioning of the intelligent travelling crane and the arrangement of the height positioning mechanism, saves labor cost and improves production efficiency.

Preferably, the first travelling crane and the second travelling crane both comprise a bridge, a transverse guide rail, a transverse driving unit and a trolley, the transverse guide rail is arranged on the upper end face of the bridge, and the transverse driving unit drives the trolley to transversely displace on the transverse guide rail. The transverse displacement of the trolley can enlarge the working range of the cellar for storing the cellar.

Preferably, the bridge is a double-beam bridge, the two ends of the double-beam bridge are provided with a longitudinal driving unit and guide wheels, the upright column above the pit is provided with a longitudinal guide rail, and the longitudinal driving unit drives the double-beam bridge to longitudinally displace on the longitudinal guide rail. The longitudinal displacement property of the double-beam bridge also expands the working range of automatic pit entry.

Preferably, the stroke positioning mechanism and the height positioning mechanism comprise a laser range finder or a positioning bar code recognition device. The selection of different positioning mechanisms can increase the application range of the automatic cellar opening and entering device so as to meet the positioning setting under different scenes.

Further preferably, the first lifting mechanism and the second lifting mechanism are arranged on the trolley, the two lifting mechanisms comprise a lifting base and a plurality of groups of lifting sleeves, and the lifting sleeves are telescopically sleeved in the base. The arrangement of the plurality of groups of lifting sleeves can meet the use requirements of various lifting heights.

Further preferably, the multiple groups of lifting sleeves adopt a gear and rack transmission mode, and each group of lifting sleeves is provided with a brake. The transmission mode of rack and pinion is more reliable and more stable, relies on the setting of stopper simultaneously can control the height that goes up and down accurately.

Preferably, the bottom surface and the two side surfaces of the bucket are both provided with nail teeth, and gaps among the nail teeth on the bottom surface are hollowed out. The arrangement of the nail teeth can reduce the resistance of the bucket, and the insertion into the waste materials is convenient.

Preferably, the turnover hoisting device comprises a cross beam, two suspension arms and a turnover mechanism, wherein the swing mechanism is arranged in the middle of the cross beam, the two suspension arms are arranged at two ends of the cross beam in a displaceable manner, and the turnover mechanism is arranged at the bottom of at least one of the two suspension arms. The arrangement of the rotary mechanism and the turnover mechanism can be used for adjusting the angle of the storage bin, and the use performance of the cellar opening and entering device can be increased.

Further preferably, the turnover mechanism comprises a turnover driving motor and a driving wheel meshed with the driving wheel and a driven wheel, the turnover driving motor is connected with the driving wheel, the anti-falling mechanism penetrates through and stretches out of a central through hole of the driven wheel, a positioning pin is arranged on the end face of the driven wheel facing the stock bin direction, and the axis of the positioning pin is parallel to the axis of the driven wheel. The arrangement of the turnover mechanism can stably dump the lees materials in the storage bin into the designated pit.

Further preferably, the anti-disengaging mechanism penetrates through and extends out of a central through hole of the driven wheel, positioning holes and positioning pin holes corresponding to the anti-disengaging mechanism and the positioning pins are arranged on two sides of the storage bin, and clamping portions are arranged in the positioning holes. By means of the arrangement of the positioning holes, the positioning pin holes and the anti-falling mechanism, the storage bin can be stably matched with the turnover hoisting device.

Further preferably, the anti-falling mechanism comprises a hollow connecting shaft, a mandrel and an anti-falling driving unit, and the anti-falling driving unit is connected with the mandrel so that the mandrel can be telescopically displaced in the hollow connecting shaft. The automatic locking or unlocking control of the anti-falling mechanism can be realized by using the anti-falling driving unit.

Further preferably, the anti-dropping device further comprises an anti-dropping module arranged among the mandrel, the hollow connecting shaft and the positioning hole. Rely on the anticreep module can lock anti-disengaging mechanism and feed bin effectively, prevent that the feed bin from droing.

Further preferably, one end of the mandrel has a different diameter so that the anti-falling module can extend out of the surface of the hollow connecting shaft and be engaged with the engaging portion when the mandrel is displaced inside the hollow connecting shaft. The anti-falling function is realized by utilizing the displacement of the mandrel, and the structure is more stable and reliable.

Further preferably, the anti-dropping module comprises a steel ball, a positioning column or a wedge block. The corresponding anti-falling structure can be manufactured according to different locking requirements by selecting various structures.

The invention provides an automatic vinasse lifting and entering device which is formed by configuring two traveling cranes and two lifting mechanisms arranged on the traveling cranes, wherein a bin is grabbed to the side of a cellar pool needing to be lifted by using a turnover hoisting device when the vinasse is lifted, a bucket is driven by a robot to automatically lift the vinasse, the lifted vinasse is placed into a hopper, then the turnover hoisting device is used for grabbing the bin and moving the bin to a designated area, and the vinasse is overturned and poured into a receiving bin. When the distillers 'grains are distilled, spread and dried in the air and the yeast is added to finish the process of entering the cellar again, the scraper bucket can be driven by the robot to level the grains in the cellar pool, and the grains are compressed tightly according to the set force, so that large gaps in the distillers' grains are eliminated. The automatic pit lifting and entering operation can be realized through the positioning mechanism, the problem of complex manual operation is solved, the resistance of the bucket can be reduced through the nail tooth structure of the bucket, the fermented grains at the corners of the pit can be cleaned easily by utilizing the bucket, and the fermented grains can be raked and stepped on the pit in layers for compaction when being placed in the pit. Meanwhile, the structure of the turnover hoisting device can effectively realize hoisting and dumping of the storage bin and the cellar pool cover, the safety of the device is further improved through the ingenious arrangement of the anti-falling mechanism, and safety accidents such as falling off of the storage bin and the like in the carrying process are avoided.

Drawings

The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in 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 embodiments will be readily appreciated as they become better understood by reference to the following detailed description. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 is a schematic diagram of an automatic vinasse cellaring according to one embodiment of the invention;

FIG. 2 is a front view of an automatic vinasse cellar entry device according to one embodiment of the invention;

FIG. 3 is a schematic block diagram of a bucket according to a particular embodiment of the invention;

FIG. 4 is a schematic structural view of a turnup hoist according to a specific embodiment of the invention;

FIG. 5 is a schematic illustration of a boom arm according to a particular embodiment of the invention;

fig. 6a-b are schematic views of the locking and unlocking states of the anti-dropping mechanism according to a specific embodiment of the invention.

The meaning of each number in the figure: 10. the system comprises a first travelling crane, 20, a first lifting mechanism, 30, a robot, 40, a bucket, 50, a second travelling crane, 60, a second lifting mechanism, 70, a turnover lifting device, 80, a bin, 11, a longitudinal guide rail, 12, a double-beam bridge, 13, a longitudinal driving unit, 14, a guide wheel, 15, a transverse guide way, 16, a trolley, 17, a laser ranging unit, 18, a positioning bar code, 21, a lifting base, 22, a primary lifting sleeve, 23, a secondary lifting sleeve, 24, a tertiary lifting sleeve, 25, a gear, 26, a rack, 27, a guide rail brake, 28, a winch, 29, a height positioning mechanism, 100, a rotating mechanism, 200, a beam, 300, a suspension arm, 400, an anti-falling mechanism, 500, a turnover mechanism, 110, a mounting plate, 120, a rotating driving unit, 130, a driving gear, 140, a rotating support, 210, a base, 220, a linear guide rail, 230, a slide block, 240, a slide driving unit, 250. the anti-drop device comprises a roller screw rod, 260 sensors, 310 a hook, 410 a supporting pin shaft, 420 a bearing, 430 a steel ball, 440 a mandrel, 450 an anti-drop driving unit, 510 a turnover driving motor, 520 a driving wheel, 530 a driven wheel and 540 a positioning pin.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 shows a schematic structural diagram of an automatic vinasse cellar entering device according to one embodiment of the invention. As shown in fig. 1, the automatic vinasse pit lifting and entering device comprises a first traveling crane 10, a first lifting mechanism 20, a robot 30, a bucket 40, a second traveling crane 50, a second lifting mechanism 60, a turnover lifting device 70 and a storage bin 80. The first crane 10 and the second crane 50 are movably arranged on a factory building upright column above the pit, the first lifting mechanism 20 and the second lifting mechanism 60 are respectively arranged at the lower parts of the first crane 10 and the second crane 50, the robot 30 is inversely arranged at the bottom of the first lifting mechanism 20, the bucket 40 is connected with a mechanical arm of the robot 30, and the bucket 40 can be fixed on the robot 30 in a bolt connection mode and the like. The turnover hoisting device 70 is installed at the bottom of the second lifting mechanism 60 and is used for automatically grabbing the stock bin 80 or the cellar pool cover.

With continuing reference to fig. 2, fig. 2 shows a front view of the automatic vinasse cellar entering device according to a specific embodiment of the invention, as shown in fig. 2, the first traveling crane 10 includes a longitudinal rail 11, a double-beam bridge 12, a longitudinal driving unit 13, a guide wheel 14, a transverse rail 15 and a trolley 16, the longitudinal rail 11 is disposed on a vertical column of a factory building above a cellar, the longitudinal driving unit 13 and the guide wheel 14 are disposed at two ends of the double-beam bridge 12, and the longitudinal driving unit 13 drives the guide wheel 14 to rotate, so as to realize displacement of the double-beam bridge 12 on the longitudinal rail 11. The transverse guide rail 15 is arranged on the upper surface of the double-beam bridge frame 12, so that the trolley 16 can move on the transverse guide rail 15, the first lifting mechanism 20 is arranged below the trolley 16, and the first lifting mechanism 20 can be driven to move in various angle directions above the pit by utilizing the longitudinal displacement of the first travelling crane 10 and the transverse displacement of the trolley 16.

In a specific embodiment, the longitudinal guide rail 11 and the transverse guide rail 15 are provided with stroke positioning mechanisms, the forming positioning mechanism can be a positioning bar code 18 or a laser range finder 17, the automatic positioning of the lifting point is realized by identifying the positioning bar code 18 or the distance measured by the laser range finder 17, and the automatic positioning is more accurate and reliable compared with manual control.

In a specific embodiment, the first lifting mechanism 20 is a rigid telescopic lifting mechanism, and includes a lifting base 21, a primary lifting sleeve 22, a secondary lifting sleeve 23, a tertiary lifting sleeve 24, a gear 25, a rack 26, a rail brake 27, a winch 28, and a height positioning mechanism 29. The first lifting mechanism 20 realizes the lifting movement of a long stroke through a multi-stage telescopic sleeve structure, wherein the lifting sleeves of each stage all adopt a gear and rack matching transmission mode to realize the effect of multi-stage synchronous lifting, the winch 28 is used as a power source for lifting, and a guide rail brake 27 is arranged on each lifting sleeve of each stage and used for stopping the lifting movement. The matching mode of the gear and the rack can realize the lifting action of the lifting mechanism more stably and reliably, and it should be realized that the lifting action can be realized by adopting other modes such as a worm gear and a screw rod besides the transmission mode of using the winch 28 to match the gear and the rack, and the technical effect of the invention can also be realized.

In a specific embodiment, the first lifting mechanism 20 is further provided with a height positioning mechanism 29, and the height positioning mechanism 29 can also be set by means of a positioning bar code or a laser range finder, and is arranged on the lifting base 21, so that the height below the first lifting mechanism 20 can be accurately controlled, and the operation of opening the pit, entering the pit and the like is facilitated.

Fig. 3 shows a structural schematic diagram of a bucket according to an embodiment of the invention, as shown in fig. 3, the bucket 40 has a cutting edge, the cutting edge is formed by combining two side surfaces, a rear side surface and a bottom surface steel plate, wherein an installation surface matched with the robot 30 is arranged on the outer surface of the rear side surface, nail teeth 4001 extending out of the two side surfaces or the bottom surface are arranged on the two side surfaces and the bottom surface at intervals, the nail teeth 4001 are made of round steel and have a pointed end structure, and gaps between adjacent nail teeth 4001 are hollowed out. The scraper bowl with the structural shape is mainly formed by optimal design on the basis of an artificial nail shovel, in the process of shoveling the grains, the nail teeth 4001 on the bottom surface are vertically inserted, so that the resistance of shoveling the grains is reduced, and simultaneously, the fermented grains can be raked and compacted in a layered pit-stepping manner by utilizing the plane on the back of the scraper bowl 40.

In a specific embodiment, the robot 30 controls the bucket 40 to rake, shovel, and clean the pit, and puts the shoveled lees into the bin 80. The first traveling crane 10, the first lifting mechanism 20, the robot 30 and the bucket 40 are controlled by a set of control system in a unified manner, so that the coordinated operation of the whole system according to the instruction requirement is realized. The equipment mainly realizes the functions of automatically removing the grains, cleaning the pit wall, leveling the grains after entering the pit and stepping on the pit.

The second traveling crane 50 has the same structure as the first traveling crane 10, and the first lifting mechanism 20 and the second lifting mechanism 60 also have the same structure, which will not be described herein again. The bottom of the second lifting mechanism 60 is provided with a turnover hoisting device 70. The turnover hoisting device 70 is used for automatically grabbing the bin 80 and the cellar pool cover. The turning and hoisting device 70 can be provided with a vision positioning system if necessary, so that the grabbers (the bin and the cellar pool cover) can be accurately positioned conveniently. The second traveling crane 50, the second lifting mechanism 60 and the overturning and hoisting device 70 are also uniformly controlled by a set of control system, so that the whole coordinated work according to the instruction requirement is realized. The partial equipment mainly realizes the functions of automatically grabbing the stock bin, automatically transferring the stock bin, dumping vinasse into the stock bin, automatically discharging the stock bin and the like.

Fig. 4 shows a schematic structural diagram of the turnover handling device according to a specific embodiment of the invention, and as shown in fig. 4, the turnover handling device 70 specifically includes a slewing mechanism 100, a beam 200, a boom 300, an anti-drop mechanism 400 and a turnover mechanism 500. The swing mechanism 100 is disposed in the middle of the cross beam 200, and is used for rotating the cross beam 200 to adjust the angle of the cross beam 200, so as to meet the use conditions at different angles. The two suspension arms 300 are movably arranged at the left end and the right end of the beam 200 respectively and used for clamping the bins 80 or the cellar pool covers with different sizes, the anti-falling mechanism 400 and the turnover mechanism 500 are arranged on one or two suspension arms 300 and used for turning over the bins 80 to realize the action of falling, and the unsafe condition that the bins 80 fall off in the process of falling or clamping transportation can be prevented.

In the embodiment, the swing mechanism 100 is fixed to the beam 200 by bolts, and includes a mounting plate 110, a swing driving unit 120, a driving gear 130, and a swing bearing 140. The mounting plate 110 is fixedly mounted at the bottom of the second elevating mechanism 60, the rotation driving unit 120 and the rotation bearing 140 are bolted to the mounting plate 110, the driving gear 130 is disposed on the driving shaft of the rotation driving unit 120, and the driving gear 130 is in gear engagement with the rotation bearing 140. The rotation driving unit 120 can drive the driving gear 130 to rotate and further drive the rotation bearing 140 to rotate, so as to rotate 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 disposed on the upper surfaces 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 disposed on the base 210, and the axis thereof is parallel to the linear guide 220; the sliding driving unit 240 is fixedly arranged on the side surface of the base 210 through bolts, and a driving shaft of the sliding driving unit 240 is connected with the ball screw 250 through a coupling; the sensor 260 is disposed at a side of the beam for acquiring position information of the boom 300. The suspension arms 300 are respectively arranged on the sliding blocks 230 at the two ends and can be fixed in a bolt connection mode, and the lead screw nuts are respectively connected with the suspension arms 300 through bolts. The two sides of the bottom of the suspension arm 300 are provided with lifting hooks 310 which can be matched with a lifting lug mechanism on a pit cover.

In a specific embodiment, the anti-slip mechanism 400 and the turnover mechanism 500 are disposed on the boom 300, and the turnover mechanism 500 includes a turnover driving unit 510, a driving wheel 520, a driven wheel 530 and a positioning pin 540. The overturning driving unit 510 is connected with the suspension arm 300 through a bolt, and a driving shaft of the overturning driving unit is connected with the driving wheel 520, wherein the specific connection mode can be flat key connection and other connection modes; the driven wheel 530 is connected with the anti-dropping mechanism 400 through a bolt, and the driven wheel 530 is in meshing transmission with the driving wheel 520 or in transmission through a chain; the positioning pin 540 is disposed on the end face of the driven wheel 530, and the positioning pin 540 is not disposed coaxially with the driven wheel 530, and one or more positioning pins 540 may be disposed, and inserted into positioning pin holes on the bin 80, which are engaged with the positioning pins, so that the bin 80 can rotate together with the driven wheel 530 to perform a dumping operation.

With continued reference to fig. 6, fig. 6 shows a schematic diagram of a locked and unlocked state of the anti-slip mechanism according to an embodiment of the invention, and the anti-slip mechanism 400 includes a supporting pin 410, a bearing 420, a steel ball 430, a mandrel 440, and an anti-slip driving unit 450. The supporting pin shaft 410 is fixed on the suspension arm 300 through a bearing 420, the supporting pin shaft 410 is of a hollow connecting shaft structure, and the outer diameter of the supporting pin shaft is equal to or slightly smaller than the inner diameter of the positioning hole of the storage bin 80 so as to be conveniently inserted into the positioning hole; the steel ball 430 is movably arranged in the spherical hole at the front end of the supporting pin shaft 410 and is contacted with the outer surface of the annular groove of the mandrel 440; the anti-slip driving unit 450 is connected to the mandrel 440 for controlling the extension and contraction movement of the mandrel 440. As shown in fig. 6a, the anti-slip driving unit 450 drives the mandrel 440 to extend, the annular groove on the mandrel 440 is away from the steel ball 430, the mandrel 440 pushes the steel ball 430 to the engaging portion of the inner wall groove of the positioning hole of the magazine 80, and at this time, the anti-slip mechanism is in a locked state, and the magazine 80 cannot be disengaged from the turnover hoisting device 70. As shown in fig. 6b, the anti-slip driving unit 450 drives the mandrel 440 to contract, the annular groove on the mandrel 440 faces the steel ball 430, the steel ball 430 falls into the annular groove of the mandrel 440 from the inner wall groove of the positioning hole of the magazine 80, and at this time, the anti-slip mechanism is in an unlocked state, and the magazine 80 can be disengaged from the turnover hoisting device 70. It should be appreciated that besides the anti-falling module using the steel balls 430, other anti-falling modules such as wedges, positioning columns, etc. may be selected, and the locking or unlocking state of the engaging portion with the inner wall of the positioning hole of the bin 80 can be realized by using different heights on the mandrel, so as to achieve the technical effects of the present invention.

In a specific embodiment, the action flow of the turnover hoisting device is as follows: the turnover hoisting device 70 is arranged at the bottom of the second travelling crane 50, moves to the positions of the bin 80 and the bin cover, and when the axis of the supporting pin shaft 410 is coincident with the axis of the bin positioning hole, the sliding driving unit 240 transmits through the ball screw 250; the suspension arm 300 moves towards the middle along the linear guide rail 220, and the supporting pin shaft 410 and the positioning pin 540 enter the positioning hole and the positioning pin hole of the storage bin 80; the anti-falling driving unit 450 pushes the mandrel 440 to move outwards; the mandrel 440 pushes the steel ball 430 into the spherical hole of the support pin shaft 410, the protruding part of the steel ball 430 is pushed into the groove on the inner wall of the positioning hole of the hopper, and the support pin shaft 410 cannot be separated from the positioning hole of the hopper; when the hopper moves to a preset position, the overturning driving unit 510 drives the driving wheel 520 to rotate, and the positioning pin 540 rotates together with the driven wheel 530; the bin 80 is overturned and unloaded under the action of the moment, and after the unloading is finished, the overturning driving unit 510 drives the driving wheel 520 to rotate reversely, so that the bin 80 returns to the right position. Through the same operation, the lifting ring of the cellar pool cover is connected with the lifting hook 310, so that the lifting operation of the cellar pool cover is realized.

In a specific embodiment, the basic operation flow of the automatic lees cellar entering device is as follows: when the grains are taken out, the second travelling crane 50 automatically moves to the storage position of the storage bin 80, the second lifting mechanism 60 descends to the height of the grabbing point, and the turnover lifting device 70 grabs the storage bin 80. The second lifting mechanism 60 is raised and the second traveling carriage 50 automatically transports the bin 80 to the side of the pit that needs to be taken up, drops the bin 80, and moves out of the area. The first traveling crane 10 automatically moves into the position above the pit to be cellared, the first lifting mechanism 20 descends to a proper height, the robot 30 drives the bucket 40 to automatically distill grains, and the distilled grains are placed into the storage bin 80. After the amount of the vinasse in the storage bin 80 reaches a certain amount, the first travelling crane 10 automatically exits from the area, the second travelling crane 50 automatically moves to enter the position above the storage bin 80, the storage bin 80 is grabbed, the second travelling crane is lifted to the designated area, and the vinasse is overturned and poured into the storage bin by the overturning and hoisting device 70.

When the distillers' grains are distilled, spread and dried in the air and the yeast is added to be completed and need to be put into the cellar again, the second travelling crane 50 automatically moves to a specified position outside the cellar pool area, the bin 80 filled with the wine grains in the cellar is grabbed, the bin is lifted and operated to the specified cellar pool, the turnover hoisting device 70 overturns the bin 80, and the wine grains are poured into the cellar pool. The second traveling crane 50 automatically moves out of the area, the first traveling crane 10 automatically moves into the area, the first lifting mechanism 20 descends to a proper height, the robot 30 drives the bucket 40 to level the vinasse in the cellar pool, and the vinasse is tightly pressed according to a set force, so that large gaps in the vinasse are eliminated, and the effect of fermentation is not influenced by too tight pressing.

The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention according to the present invention is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the scope of the invention as defined by the appended claims. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims

1. The utility model provides an automatic cellar for storing things device that plays of lees, a serial communication port, including setting up in the first driving and the second driving of cellar for storing things pond top, first driving with be provided with first elevating system and second elevating system on the second driving respectively, first elevating system end is provided with the scraper bowl that utilizes robot control, second elevating system end is provided with automatic upset overhead hoist, first driving with still be provided with stroke positioning mechanism on the second driving, first elevating system with still be provided with high positioning mechanism on the second elevating system, be provided with on the automatic upset overhead hoist be used for with feed bin complex anti-disengaging mechanism.

2. The automatic vinasse cellar entering device according to claim 1, wherein the first travelling crane and the second travelling crane each comprise a bridge, a transverse guide rail, a transverse driving unit and a trolley, the transverse guide rail is arranged on the upper end face of the bridge, the transverse driving unit drives the trolley to transversely displace on the transverse guide rail, and the stroke positioning mechanism and the height positioning mechanism comprise a laser range finder or a positioning bar code recognition device.

3. The automatic vinasse starting and entering device according to claim 2, wherein the bridge is a double-beam bridge, a longitudinal driving unit and guide wheels are arranged at two ends of the double-beam bridge, a longitudinal guide rail is arranged on the upright column above the cellar, and the longitudinal driving unit drives the double-beam bridge to longitudinally displace on the longitudinal guide rail.

4. The automatic vinasse starting and entering device according to claim 2, wherein the first lifting mechanism and the second lifting mechanism are disposed on the trolley, and each of the two lifting mechanisms comprises a lifting base and a plurality of sets of lifting sleeves, the lifting sleeves are telescopically sleeved in the base, the plurality of sets of lifting sleeves adopt a gear-rack transmission manner, and each set of lifting sleeves is provided with a brake.

5. The automatic vinasse cellar opening and entering device according to claim 1, wherein the bottom surface and two side surfaces of the scraper bucket are provided with spike teeth, and gaps among the spike teeth on the bottom surface are hollowed out.

6. The automatic vinasse cellar entering device according to claim 1, wherein the turnover lifting device comprises a cross beam, two suspension arms and a turnover mechanism, the swing mechanism is arranged in the middle of the cross beam, the two suspension arms are arranged at two ends of the cross beam in a displaceable manner, and the turnover mechanism is arranged at the bottom of at least one of the two suspension arms.

7. The automatic vinasse starting and entering device according to claim 6, wherein the turnover mechanism comprises a turnover driving motor, a driving wheel and a driven wheel, the driving wheel and the driven wheel are meshed with each other, the turnover driving motor is connected with the driving wheel, a positioning pin is arranged on the end face of the driven wheel facing the direction of the storage bin, and the axis of the positioning pin is parallel to the axis of the driven wheel.

8. The automatic vinasse starting and entering device according to claim 7, wherein the anti-falling mechanism penetrates through and extends out of a central through hole of the driven wheel, positioning holes and positioning pin holes corresponding to the anti-falling mechanism and the positioning pins are formed in two sides of the storage bin, and clamping portions are arranged on the inner walls of the positioning holes.

9. The automatic lees cellar entering 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 driving unit, the anti-dropping driving unit is connected with the mandrel so that the mandrel can be telescopically displaced inside the hollow connecting shaft, the anti-dropping module is arranged among the mandrel, the hollow connecting shaft and the positioning hole, and the anti-dropping module comprises a steel ball, a positioning column or a wedge block.

10. The automatic cellaring device for distiller's grains according to claim 9, wherein one end of the mandrel has different diameters so that the anti-falling module can protrude out of the surface of the hollow connecting shaft and engage with the engaging portion when the mandrel is displaced inside the hollow connecting shaft.