CN114149907A - Fish sauce one-pot fermentation tank material distribution production equipment and production method thereof - Google Patents
Fish sauce one-pot fermentation tank material distribution production equipment and production method thereof Download PDFInfo
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/48—Holding appliances; Racks; Supports
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
- A23L27/00—Spices; Flavouring agents or condiments; Artificial sweetening agents; Table salts; Dietetic salt substitutes; Preparation or treatment thereof
- A23L27/50—Soya sauce
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M29/00—Means for introduction, extraction or recirculation of materials, e.g. pumps
- C12M29/06—Nozzles; Sprayers; Spargers; Diffusers
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/12—Means for regulation, monitoring, measurement or control, e.g. flow regulation of temperature
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/44—Means for regulation, monitoring, measurement or control, e.g. flow regulation of volume or liquid level
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/48—Automatic or computerized control
Abstract
The invention discloses a fish sauce one-pot fermentation tank material distribution production device and a production method thereof.A heat-insulating layer is arranged outside the wall of a fermentation tank, a root pot supporting steel frame is arranged outside the heat-insulating layer, and a fermentation tank platform is supported; the fermentation tank is arranged on a fermentation tank platform and is positioned inside the stainless steel support, the wireless communication antenna is arranged on the upper portion of the stainless steel support, the field control unit is arranged at the bottom of the stainless steel support, the linear module is arranged on a frame at the bottom of the stainless steel support, and the folding electric cylinder is driven to move linearly by the linear module; the folding electric cylinder is connected with the guide rod universal joint mechanism, and the discharge pipe universal joint mechanism is connected with the guide rod universal joint mechanism. The automatic material distribution of the fish sauce one-pot method fermentation tank is realized, the labor intensity of fish sauce production is reduced, and the labor productivity is improved so as to reduce the operation labor cost and the production cost; the invention is convenient for computer programming and realizes automatic control, and is suitable for large-scale production of enterprises.
Description
Technical Field
The invention relates to the technical field of fish sauce one-tank fermentation production devices, in particular to fish sauce one-tank fermentation tank material distribution production equipment and a production method thereof.
Background
The main Chinese white spirit feeding patent of the automatic material distribution system is 'automatic wine brewing robot feeding device and method' with application publication number CN 105505659A, and discloses an automatic wine brewing robot feeding device.
An intelligent continuous automatic screening device and a working method thereof, application publication No. CN 107858235A, discloses an intelligent continuous automatic screening device, which is characterized in that an upright post rotating mechanism is connected with a rotating upright post; and a rotary feeding mechanism is arranged above the rotary upright post, so that fermented grains are spread and sprinkled at any position in the pot. The infrared thermal imager system is used for detecting the temperature in the pan, and when the temperature in the pan reaches a certain value, the robot carries out automatic screening operation in a way of screening a layer.
Obviously, the control mechanism of the automatic screening mechanism is complex, and the core software of the mechanism is a foreign robot control software system. At present, the liquor loading robot used in domestic liquor factories is a foreign robot, and the cost is relatively high.
The production of fish sauce in China is mainly performed by hand, and the labor intensity of workers is high. In another patent application, the feeding process of the one-pot fish gravy fermentation production is that after the trash fish and salt are mixed in a batching plant, the mixed trash fish and salt are conveyed to the top of a large-scale fermentation tank through pneumatic conveying, 10% of salt is conveyed to the fermentation tank after the feeding of fish materials is finished, the salt covering is carried out on the upper layer of the fish materials to be pickled, and finally the pickled fish materials are compacted through a cover plate. Different from the strict requirement of leveling of liquor in a steamer, if the liquor distillation process is not uniform, the surface flatness is not high, and liquor steam loss seriously affects the liquor outlet efficiency. The feeding of the fermentation tank for producing the fish sauce by the one-tank method is in a pneumatic conveying mode, the fish is different in size, and finally, the production characteristics of pressing and compacting the cover plate are achieved, so that the fish material entering the fermentation tank is not leveled like feeding white spirit into a steamer in strict requirements, and only needs to be relatively leveled. Therefore, a fish gravy fermentation tank feeding system which is simple in structure and convenient for self-control programming is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the fish sauce one-pot method fermentation tank material distribution production equipment and the production method thereof, which reduce the operation labor cost, improve the labor productivity and are suitable for large-scale production of fish sauce; the problems that the automation level of the traditional industry in China is low, the labor intensity is high, an imported mechanical arm is used for equipment, the investment cost is high, and a space for a material distribution mechanical arm of a large-diameter fermentation tank is not arranged on a tank platform are solved.
The technical scheme of the invention is as follows: a fish sauce one-pot method fermentation tank material distribution production device comprises a guide rod universal joint mechanism, a discharge pipe universal joint mechanism, a wireless communication antenna, a stainless steel support, a folding electric cylinder, a linear module, a fermentation tank wall, a heat insulation layer, a fermentation tank platform, a tank support steel frame and a field control unit;
the outer part of the tank wall of the fermentation tank is provided with a heat insulation layer, a tank supporting steel frame is arranged outside the heat insulation layer, and a fermentation tank platform is supported; the stainless steel bracket is arranged on the fermentation tank platform, the wireless communication antenna is arranged on the upper part of the stainless steel bracket, the field control unit is arranged at the bottom of the stainless steel bracket, the linear module is arranged on a frame at the bottom of the stainless steel bracket, and the folding electric cylinder is arranged on the linear module and is driven to move linearly; the folding electric cylinder is connected with a guide rod universal joint mechanism, and the discharge pipe universal joint mechanism is connected with the guide rod universal joint mechanism;
the guide bar universal joint mechanism includes: the device comprises a stainless steel guide rod, a guide rod guide head lining, a first steering joint, a first bearing, a central bolt, a steering seat and a folding electric cylinder movable rod; the top of the movable rod of the folding electric cylinder is provided with a first bearing, the steering seat is fixed on the first bearing, and the steering seat horizontally rotates on the first bearing; a central bolt is arranged in the middle of the steering seat and used for supporting a first steering joint, a through hole is formed in the upper part of the first steering joint, a guide rod guide head lining is arranged in the through hole, the stainless steel guide rod penetrates through the center of the guide rod guide head lining, and the stainless steel guide rod is driven by a linear module and a folding electric cylinder;
the discharging pipe universal joint mechanism includes: the second steering joint, the second bearing, the injection pipe hoop and the injection discharging pipe; the second steering joint is fixed on the second bearing, the injection pipe hoop is fixed on the second steering joint and clamped with the injection discharging pipe to drive the injection discharging pipe to rotate on the horizontal plane, the injection discharging pipe is connected with the stainless steel guide rod, and the motion of the injection discharging pipe is adjusted through the motion of the linear module and the folding electric cylinder; the method specifically comprises the following steps: the linear module moves in the horizontal direction to guide the angle change of the stainless steel guide rod in the horizontal direction, and the change of the injection angle of the injection material pipe in the horizontal plane is driven to be realized; the angle change of the stainless steel guide rod in the vertical direction is guided by the up-and-down movement of the movable rod of the folding electric cylinder, so that the change of the injection angle of the injection material pipe in the vertical plane is driven to be realized.
The on-site control unit is connected with the wireless communication antenna, the folding electric cylinder, the linear module, the guide rod universal joint mechanism and the discharging pipe universal joint mechanism, the wireless communication antenna acquires fish height data in the fermentation tank and sends the fish height data to the on-site control unit, and the on-site control unit controls the folding electric cylinder, the linear module, the guide rod universal joint mechanism and the discharging pipe universal joint mechanism so as to control the discharging angle.
Furthermore, the field control unit is installed in the control box, a field touch screen is installed on the panel surface of the control box, and a PLC and a DCS controller are installed in the field control unit.
Furthermore, the wireless communication antenna realizes that the on-site control unit obtains height data δ M of the fish material in the fermentation tank through a wireless network, namely fish material thickness parameters after one layer of injection and feeding are used for calculating the angle and the rotating speed of the injection discharge pipe during the material distribution of each layer.
Furthermore, the field control unit calculates the angle and the rotation speed of the injection discharge pipe, the material supplement is uniform through the odd-number circle distribution and even-number circle circulating continuous distribution modes, the radiuses of circles of the odd-number circle and the even-number circle are different, the material injection discharge pipe rotates clockwise in the cloth rotation direction of the odd-number circle, and the material injection discharge pipe rotates anticlockwise in the cloth rotation direction of the even-number circle; and after one layer of fish material is circularly and continuously distributed in odd circles, one layer of fish material is circularly and continuously distributed in even circles, and the circulation is repeated until the distribution of the fermentation tank meets the capacity requirement.
Further, because the length and the diameter restriction of spraying the discharging pipe, when the even number cycle is rotatory 0 th circle, when central angle between alpha 153 and alpha 207, the injection pipe has leaned on the jar wall, and fermentation cylinder feed line department opens there is the opening for the material that sprays slides in the fermentation cylinder naturally from opening, prevents to have the fish material to spout outside the jar.
The invention also provides a production method of fermentation tank material distribution production equipment based on the fish sauce one-tank method, which comprises the following steps:
(1) confirm the fixed value that the synchronous motion in-process of control folding type electric cylinder movable rod and straight line module related to, include: the parameters for the calculation of the injection angle and the velocity of the injection tapping pipe are fixed values: the distance J between the discharge pipe universal joint mechanism and the inner wall of the fermentation tank is a fixed value; the distance H from the tank bottom to the center of the material spraying pipe is a fixed value; the radius of the fermentation tank is a fixed value;
when the vertical angle beta is calculated, the height difference hx between the discharge pipe universal joint mechanism and the pipeline center of the injection discharge pipe is a fixed value. The horizontal distance L between the rotation center of the injection discharge pipe and the folding electric cylinder is a fixed value.
When linear velocities of horizontal motion of the linear module and vertical motion of the folding electric cylinder are calculated, setting the rotation linear velocities of any circle with different diameters as fixed arc length rotation of a millimeter per second; the distance h5 between the folding electric cylinder and the outer wall of the tank is a fixed value.
(2) Determining the parameter variables involved in the synchronous motion process of the movable rod 107 of the control folding electric cylinder and the linear module, comprising the following steps:
odd-number circle cycle rotation diameter: rz is 225-0.25 x n, and the odd number ring n is 0-8;
the cyclic rotation diameter of even number of turns: rx is 2375-2.5 m, and m is 0-9 in even number;
during odd circle, nth circle external diameter with spout the material pipe universal joint mechanism central distance: jz ═ 250(1+ n) + 23;
during even circle, the mth circle external diameter with spout the material pipe universal joint mechanism central distance: 125+250 × m + 23;
the thickness delta M of the fish material after the injection and the feeding of one layer is the parameter of the radar liquid level meter in the fermentation tank obtained by the field control unit through the wireless communication antenna from the thickness parameter.
(3) Confirm the calculation process variable that involves among the synchronous motion process of control folding type electric cylinder movable rod and straight line module, include:
the angle α 1, α 2 and a 90 degree angle in a circle to be jetted form a right triangle, wherein the diagonal length of α 1 angle in the circle, the radius Rx in an even circle as an example, is calculated by the following formula: x1 ═ 2Rx sin α 1; the critical length of the angle α 2 is: x2 ═ X1 ═ cos (90- α 1); the height of the right triangle is X ═ (2Rx-X2) tan (α 1).
A certain circle diameter of the spray minus the length of X2: x3 ═ (2 Rx-X2);
the outer diameter of a circle needing to be sprayed is equal to the distance between the center of the universal joint mechanism of the spraying pipe and the sprayed material pipe plus the length of X3: x4 ═ X3+ Jz;
actual height between the surface of the fish material after the injection and the center of the pipeline of the injection discharge pipe: h1 ═ H- δ M + hx;
descending distance of the folding electric cylinder: hy-h 5 tan β;
horizontal distance of the linear module: lx-138 tan α 3, α 3 is the angle at which the stainless steel guide bar actually needs to deviate in the horizontal direction;
(4) determining the calculation target control parameters involved in the synchronous motion process of the movable rod of the control folding electric cylinder and the linear module, comprising the following steps:
the injection angle of the injection discharging pipe deviated in the horizontal direction is the angle alpha 3 of the stainless steel guide rod deviated in the horizontal direction actually needed; α 3 ═ arctan (X/X4);
the angle of the vertical ejection angle of the injection discharge pipe is the angle beta of the vertical deviation actually required by the stainless steel guide rod; β ═ arctan (X4/H1);
the horizontal moving speed Vx of the linear module;
during odd number cycle rotation:
Vx＝{(138*tan(α3+50*180/(2*π*Rz)))－(138*tan(α3))}/1s
when rotating for even number of turns:
Vx＝{(138*tan(α3+50*180/(2*π*Rx)))－(138*tan(α3))}/1s
movement speed Vy of the folding electric cylinder:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1s
wherein β 1 ═ arctan (X41/H1), X41 ═ X31+ Jz, X31 is the X3 value in the next second, and X4 is the X4 value in the next second.
(5) And (4) controlling the synchronous motion of the movable rod of the folding electric cylinder and the linear module according to the parameters obtained by calculation in the steps (1) to (4), so that the material ejected from the ejection material pipe is circularly ejected and distributed on the horizontal surface of the fermentation tank, and the central point of the outlet of the ejection material pipe is in elliptical motion.
Compared with the prior art, the invention has the following beneficial effects:
the automatic fish material distribution production mode of the fish sauce one-pot fermentation tank has the advantages of simple structure of distribution production equipment, simple algorithm, convenience for computer programming and realization of automatic control, and is suitable for large-scale production of fish sauce enterprises. The method has the advantages that the characteristics of the traditional Chinese fermentation products are emphasized, the traditional method is combined with the existing mechanical operation, the labor intensity of production workers is reduced, the operation labor cost and the production cost are reduced, the labor productivity is effectively improved, and the situation that manual operation is mainly used in the production process of fish gravy production at present can be thoroughly changed.
Drawings
FIG. 1 is a top view of a 45 degree position of a feed pipe firing angle at the center of the tank with reference to the angle of the tank;
FIG. 2 is a top view of the position where the firing angle of the material pipe is the maximum angle;
FIG. 3 is a front view of a guide bar gimbal mechanism;
FIG. 4 is a side view of a guide bar gimbal mechanism;
FIG. 5 is a side view of the feed conduit in a horizontal position with a center angle at 0 degrees;
FIG. 6 is a schematic view of the frame with the feed conduit horizontal and the center angle at 0 degrees;
FIG. 7 is a schematic view of the frame with the feed conduit horizontal and the center angle at a 45 degree position;
FIG. 8 is a schematic view of the housing with the feed conduit horizontal and the center angle at a 135 degree position;
FIG. 9 is a schematic view of a frame with a feed line horizontal and a folding electric cylinder at the farthest end;
FIG. 10 is a front view of the angle of the pipe at the bottom 0 th feed of the first cycle;
FIG. 11 is a front view of the bottom 0 th feed cycle of the first cycle with a 45 degree angle of the tube exit;
FIG. 12 is a front view of the angle of the pipe angle at the bottommost 0 th feed cycle of the second cycle after the material jacket height δ Μ is completed after the first cycle;
FIG. 13 is a front view of the angle of the pipe angle after the K cycle when the 0 th loop of the feed reaches the top;
FIG. 14 is a top view of the opening of the fermenter at the feed pipe;
FIG. 15 is a front view of the opening of the fermenter at the position of the feed pipe;
FIG. 16 is a sectional view of the opening of the fermentation tank at the feed pipe;
FIG. 17 is a side view for feed pipe vertical firing angle calculation;
FIG. 18 is a top view of a feed conduit for horizontal firing angle calculation;
FIG. 19 is a schematic diagram of an odd-numbered circle cycle rotation trajectory
FIG. 20 is a schematic diagram of an even number of circular rotation traces
The numbered corresponding elements in the figures are as follows:
the guide bar universal joint mechanism 1 includes: a stainless steel guide rod 101; a guide rod guide head liner 102; a first steering knuckle 103; a first bearing 104; a center bolt 105; a steering seat 106; a folding electric cylinder movable rod 107;
spout material pipe universal joint mechanism 2 and include: a second steering joint 201; a second bearing 202; an injection tube clamp 203; a material spraying pipe 204;
a wireless communication antenna 3; a stainless steel bracket 4; a folding electric cylinder 5; a linear module 6; a fermenter wall 7; an insulating layer 8; a fermenter level 9; a tank support steel frame 10; site control unit 11
A can central angle α; the horizontal movement angle alpha 1 of the injection discharging pipe; and injecting the horizontal movement angle beta of the discharging pipe.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention provides a fish sauce one-tank method fermentation tank material distribution production device, please refer to a side view with a horizontal state of a feed pipeline and a central angle at 0 degree, a frame schematic diagram with a horizontal state of a feed pipeline and a central angle at 0 degree and a main view with a radial angle of a pipeline when feeding is performed at the bottommost circle 0 of a first cycle, wherein the production device comprises a guide rod universal joint mechanism 1, a discharge pipe universal joint mechanism 2, a wireless communication antenna 3, a stainless steel bracket 4, a folding electric cylinder 5, a linear module 6, a fermentation tank wall 7, a heat insulation layer 8, a fermentation tank platform 9, a tank support 10 and a field control unit 11;
the exterior of the tank wall 7 of the fermentation tank is provided with a heat insulation layer 8, 4 tank supporting steel frames 10 are arranged outside the heat insulation layer 8, and a fermentation tank platform 9 is supported; the stainless steel support (4) is arranged on a fermentation tank platform (9), the wireless communication antenna 3 is installed on the upper portion of the stainless steel support 4, the field control unit 11 is installed at the bottom of the stainless steel support 4, the linear module 6 is installed on a frame at the bottom of the stainless steel support 4, and the folding electric cylinder 5 is installed on the linear module 6 and drives the folding electric cylinder 5 to move linearly; the folding electric air cylinder 5 is connected with a guide rod universal joint mechanism 1, and the discharge pipe universal joint mechanism 2 is connected with the guide rod universal joint mechanism 1; the cloth production equipment has a simple structure and is convenient for programming a control system.
Referring to fig. 3, a front view of the guide bar gimbal mechanism and fig. 4, a side view of the guide bar gimbal mechanism, the guide bar gimbal mechanism 1 includes: the device comprises a stainless steel guide rod 101, a guide rod guide head lining 102, a first steering joint 103, a first bearing 104, a center bolt 105, a steering seat 106 and a folding electric cylinder movable rod 107; the top of the movable rod 107 of the folding electric cylinder is provided with a first bearing 104, the steering seat 106 is fixed on the first bearing 104, and the steering seat 106 horizontally rotates on the first bearing 104; a central bolt 105 is arranged in the middle of the steering seat 106 and used for supporting the first steering joint 103, a through hole is formed in the upper part of the first steering joint 103, a guide rod guide head lining 102 is arranged in the through hole, the stainless steel guide rod 101 penetrates through the center of the guide rod guide head lining 102, and the stainless steel guide rod 101 is driven by the linear module 6 and the folding electric cylinder 5;
FIG. 5 shows a side view of the feed pipe in horizontal position with a central angle of 0 degrees, the tapping pipe universal joint mechanism 2 comprising: a second steering knuckle 201, a second bearing 202, an injection pipe clamp 203 and an injection pipe 204; the second steering joint 201 is fixed on the second bearing 202, the injection pipe clamp 203 is fixed on the second steering joint 201, the injection pipe clamp 203 is clamped with the injection pipe 204, the bearing 202 can rotate in 360 degrees in the horizontal plane, so the discharge pipe universal joint mechanism 2 can also rotate in the horizontal plane to drive the injection discharge pipe 204 to rotate in the horizontal plane, the injection pipe 204 is connected with the stainless steel guide rod 101, and the movement of the injection pipe 204 is adjusted through the movement of the linear module 6 and the folding type electric cylinder 5; the method specifically comprises the following steps: the linear module 6 moves in the horizontal direction to guide the angle change of the stainless steel guide rod 101 in the horizontal direction, so as to drive the change of the injection angle of the injection material pipe 204 in the horizontal plane; the angle change of the stainless steel guide rod 101 in the vertical direction is guided by the up-and-down movement of the movable rod 107 of the folding electric cylinder, so that the change of the injection angle of the injection material pipe 204 in the vertical plane is driven to be realized.
The on-site control unit 11 is connected with the wireless communication antenna 3, the folding electric cylinder 5, the linear module 6, the guide rod universal joint mechanism 1 and the discharging pipe universal joint mechanism 2, the wireless communication antenna 3 acquires fish height data in the fermentation tank and sends the fish height data to the on-site control unit 11, and the on-site control unit 11 controls the folding electric cylinder 5, the linear module 6, the guide rod universal joint mechanism 1 and the discharging pipe universal joint mechanism 2 to further control the discharging angle.
The field control unit 11 is installed in the control box, a field touch screen is installed on the surface of the control box, and a PLC and a DCS controller are installed inside the field control unit 11.
The wireless communication antenna 3 realizes that the on-site control unit 11 obtains the material level height data δ M of the radar material level information of the fish material in the fermentation tank through a wireless network, namely the fish material thickness parameter after one layer of injection and feeding is used for calculating the angle and the rotating speed of the injection discharging pipe 204 during the material distribution of each layer. The algorithm of the field control unit 11 is only a trigonometric function formula, and programming is relatively simple.
The field control unit 11 calculates the angle and the rotation speed of the injection discharge pipe 204, the material supplement is uniform through the odd-number circle material distribution and the even-number circle circulating continuous material distribution, the radius of each circle of the odd-number circle and the radius of each circle of the even-number circle are different, meanwhile, the material injection pipe 204 rotates clockwise in the cloth rotation direction in the odd-number circle, and the material injection pipe 204 rotates anticlockwise in the cloth rotation direction in the even-number circle; and after one layer of fish material is circularly and continuously distributed in odd circles, one layer of fish material is circularly and continuously distributed in even circles, and the circulation is repeated until the distribution of the fermentation tank meets the capacity requirement.
The production equipment is by the synchronous motion of folding return formula electric cylinder movable rod 108 and sharp module 6 for spout material pipe export central point and be the elliptic type motion, the material that spouts from spouting the material pipe is the circular cloth that sprays at the fermentation cylinder horizontal plane. The feeding of the fermentation tank plane is divided into an odd layer and an even layer, so that the laid fish layer is relatively flat.
Because the length and the diameter restriction of spraying discharging pipe 204, when the even number cycle is rotatory 0 th circle, when central angle between alpha 153 and alpha 207, the spraying pipe has leaned on the jar wall, and fermentation cylinder feed line department opens there is opening 12 for the material of spraying slides into the fermentation cylinder naturally from opening 12, prevents to have the fish material to spout outside the jar.
The invention also provides a production method of the fermentation tank material distribution production equipment based on the fish sauce one-pot method, which comprises the following steps:
(1) determining the fixed value involved in the synchronous motion process of the movable rod 107 of the control folding electric cylinder and the linear module 6, comprising the following steps: the parameters for the calculation of the injection angle and velocity of the injection tapping pipe 204 are fixed values: the distance J between the discharge pipe universal joint mechanism 2 and the inner wall of the fermentation tank is a fixed value; the distance H from the bottom of the tank to the center of the jet material pipe 204 is a fixed value; the radius of the fermentation tank is a fixed value;
during the calculation of the vertical angle β, the height difference hx between the tapping pipe universal joint 2 and the pipe center of the injection tapping pipe 204 is a fixed value. The horizontal distance L between the rotation center of the injection material pipe 204 and the folding electric cylinder 5 is a fixed value.
When the linear velocity of the horizontal motion of the linear module 6 and the vertical motion linear velocity of the folding electric cylinder 5 are calculated, setting the rotation linear velocity of any circle with different diameters as the fixed arc length rotation of a millimeter per second; the distance h5 between the folding electric cylinder and the outer wall of the tank is a fixed value.
(2) Determining the parameter variables involved in the process of controlling the synchronous motion of the folding electric cylinder movable rod 107 and the linear module 6, wherein the parameter variables comprise:
odd-number circle cycle rotation diameter: rz is 225-0.25 x n, and the odd number ring n is 0-8;
the cyclic rotation diameter of even number of turns: rx is 2375-2.5 m, and m is 0-9 in even number;
during odd circle, nth circle external diameter with spout 2 center distances of material pipe universal joint mechanism: jz ═ 250(1+ n) + 23;
during even number circle, the mth circle external diameter with spout 2 center distances of material pipe universal joint mechanism: 125+250 × m + 23;
the thickness delta M of the fish material after the injection and the feeding of one layer is the parameter of the radar liquid level meter in the fermentation tank obtained by the field control unit 11 through the wireless communication antenna 3 from the thickness parameter.
(3) Determining the calculation process variables involved in the process of controlling the synchronous motion of the folding electric cylinder movable rod 107 and the linear module 6, comprising:
the angle α 1, α 2 and a 90 degree angle in a circle to be jetted form a right triangle, wherein the diagonal length of α 1 angle in the circle, the radius Rx in an even circle as an example, is calculated by the following formula: x1 ═ 2Rx sin α 1; the critical length of the angle α 2 is: x2 ═ X1 ═ cos (90- α 1); the height of the right triangle is X ═ (2Rx-X2) tan (α 1).
A certain circle diameter of the spray minus the length of X2: x3 ═ (2 Rx-X2);
the outer diameter of a circle needing to be sprayed is equal to the distance between the center of the universal joint mechanism 2 sprayed with the material pipe and the length of X3: x4 ═ X3+ Jz;
actual height between the surface of the fish material after the injection and the center of the pipeline of the injection material pipe 204: h1 ═ H- δ M + hx;
descending distance of the folding electric cylinder: hy-h 5 tan β;
horizontal distance of the linear module: lx is 138 × tan α 3, and α 3 is an angle at which the stainless steel guide rod 101 actually needs to be horizontally deviated;
(4) determining the calculation target control parameters related to the synchronous motion process of the control folding type electric cylinder movable rod 107 and the linear module 6, wherein the calculation target control parameters comprise:
the horizontal deviation spray angle of the spray material pipe 204, namely the horizontal deviation angle alpha 3 actually required by the stainless steel guide rod; α 3 ═ arctan (X/X4);
the angle of the vertical ejection angle of the injection discharging pipe 204, that is, the angle beta of the stainless steel guide rod which is actually required to be deviated in the vertical direction; β ═ arctan (X4/H1);
the horizontal moving speed Vx of the linear module;
during odd number cycle rotation:
Vx＝{(138*tan(α3+50*180/(2*π*Rz)))－(138*tan(α3))}/1s
when rotating for even number of turns:
Vx＝{(138*tan(α3+50*180/(2*π*Rx)))－(138*tan(α3))}/1s
movement speed Vy of the folding electric cylinder:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1s
wherein β 1 ═ arctan (X41/H1), X41 ═ X31+ Jz, X31 is the X3 value in the next second, and X4 is the X4 value in the next second.
(5) And (3) controlling the synchronous motion of the folding electric cylinder movable rod 107 and the linear module 6 according to the parameters obtained by calculation in the steps (1) to (4), so that the material ejected from the ejection material pipe 204 is in a circular ejection cloth shape on the horizontal surface of the fermentation tank, and the center point of the outlet of the ejection material pipe is in an elliptical motion.
The invention is further described below with reference to specific embodiments.
The following examples are only given as examples of the production of fish sauce, and the detailed description will be given of a fermentation tank material distribution production apparatus and a production method thereof by using a fish sauce one-pot method according to the present invention.
During the transportation process of fish material was carried the pipeline by scraping the trigger, scrape trigger, compressed air liftout ball valve and scrape the linkage of trigger ejection of compact pneumatic knife gate valve three and realize that the fish material carries a jar method fermentation cylinder top from ground strength, scrape trigger, compressed air liftout ball valve and scrape the frequency of the linkage of trigger ejection of compact pneumatic knife gate valve three and can adjust, can deem spraying the fish material that material pipe 204 erupted and be continuous cloth under higher frequency. Because receive from the trash fish and go to fermentation tank top pipeline very long, the undersize bore can influence the transport, and the resistance is too big, also invisibly adds the sharp module size, influences the installation of equipment at the tank field platform to great bore is suitable, assumes to spray 360mm of discharging pipe 204 external diameter.
The installation position of the injection discharge pipe 204 is arranged at the position of the tank wall of the fermentation tank, the circular injection cloth is formed at the horizontal plane of the fermentation tank by the material injected from the injection material pipe 204, the circular injection cloth is required to be synchronously moved by the folding electric cylinder movable rod 108 and the linear module 6, the central point of the outlet of the injection material pipe is in elliptic motion, the alpha 3 at the position of each point is mainly used for calculating the actually required horizontal deviation angle of the stainless steel guide rod after calculation and the angle of the vertical firing angle of the beta feeding pipeline, the calculation of the motion rate of the folding electric cylinder movable rod 108 and the linear module 6 is used for controlling the synchronous motion of the folding electric cylinder movable rod 108 and the linear module 6.
When the jet pipe 204 has rotated to α ═ 45 °, the next movement speeds of the linear die set and the folding electric cylinder are calculated in detail as follows:
the first step is as follows: and (3) setting a distribution track, namely completing feeding on the plane of the fermentation tank at one layer, namely feeding in odd circles and feeding in even circles, and referring to a schematic diagram of an odd-circle cyclic rotation track in FIG. 19 and a schematic diagram of an even-circle cyclic rotation track in FIG. 20. The diameter of the fermentation tank is 5 meters, the schematic diagram of the circular rotation track of the odd circles in FIG. 19 can be seen, and during the circular rotation of the odd circles, the feeding is completed by rotating 9 circles, and the distance between every two circles is 250 mm. After the odd-numbered circles of circulating rotation feeding are completed, feeding is needed to be performed to the low-lying area between every circle of circulating rotation feeding of the odd-numbered circles, as can be seen from a schematic diagram of a circulating rotation track of an even-numbered layer in FIG. 20, when the even-numbered circles are circularly rotated, 10 circles of circulating rotation feeding are completed, when the 0 th circle of circulating rotation feeding is performed, the track is 125mm away from the tank wall, the 1 st circle is 250mm away from the 9 th circle, and when the 9 th circle of circulating rotation feeding is performed, the track is 125mm away from the tank center.
Thus, the diameter formula of the gauge circle can be obtained:
odd number cycle spin diameter: rz is 2250-0.25 n, and ring n is 0-8
Even number of cyclic rotation diameters: rx 2375-2.5 × m. The circle m is 0-9
The radius Rz of the odd turns can be calculated from the formula:
Rz1＝2250mm；Rz2＝2000mm；Rz3＝1750mm；Rz4＝1500mm；Rz5＝1250mm；Rz6＝1000mm；Rz7＝750mm；Rz8＝500mm；Rz9＝250mm；
the radius Rx of the even number of turns can be calculated from the formula:
Rx1＝2375mm；Rx2＝2125mm；Rx3＝1875mm；Rx4＝1625mm；Rx5＝1375mm；Rx6＝1125mm；Rx7＝875mm；Rx8＝625mm；Rx9＝375mm；Rx10＝125mm；
the second step is that: angle definition for calculation: a can central angle α; the alpha 1 is the inner corner of the circle needing to be sprayed, and the alpha 1 is equal to 0.5 alpha; α 2 is the other corner of the circle to be sprayed, and α 3 is the calculated angle at which the stainless steel guide bar actually needs to deviate from the horizontal direction. And jetting out a material pipe vertical movement angle beta.
The distance between the outer diameter of the injection circle and the center of the universal joint mechanism 2 of the injection material pipe is J, and the distance between the universal joint mechanism 2 of the discharge pipe and the inner wall of the fermentation tank is a fixed value of 23 mm.
During odd circle, nth circle external diameter with spout 2 center distances of material pipe universal joint mechanism: jz 250(1+ n) +23 273;
during even number circulation, the distance Jx between the outer diameter of the mth circle and the center of the universal joint mechanism 2 of the material spraying pipe is 125+250 m + 23;
the distance H from the bottom of the tank to the center of the spray material pipe 204 is 7500 mm.
The third step: side length and angle calculation: as shown in the top view of the position with the feed pipe firing angle of fig. 1 being the center of the tank with reference to the angle of 45 degrees, X1 ═ 2Rx × sin α 1; x2 ═ X1 ═ cos (90- α 1); x3 ═ (2 Rx-X2); x4 ═ X3+ Jz; x ═ (2Rx-X2) tan α 1.
Then: α 1 ═ 0.5 × α;
for example, for convenience of explaining the calculation principle, let the odd number Rx ═ Rz1 ═ 2250mm, and the central angle of the injection angle α be 45 °;
α1＝0.5*α＝22.5°；
X1＝2Rx*sinα1＝2*2250*sin22.5°＝4500*0.3827＝1722.15；
X2＝X1cos(90-α1)＝1722.15*0.3827＝659.0668；
X3＝2Rx－X2＝2Rx－2Rx*sinα1*cos(90-α1)＝4500*(1－0.3827*0.3827)＝3840.9332；
X4＝X3+Jz＝(2Rx-X2)+(250(1+n)+23)＝X3+273＝3840.9332+273＝4113.9332
X＝(2Rx-X2)tanα1
the calculated angle of the stainless steel guide rod actually required to be deviated in the horizontal direction is 3840.9332 × 0.4142 ═ 1590.9145 α 3.
α3＝arctan(X/X4)＝arctan(1590.9145/4113.9332)＝21.1422°
Fig. 6-9 show the horizontal position of the feed pipe at different angles.
The fourth step: angle definition for calculation: and jetting out a material pipe vertical movement angle beta. The distance between the discharge pipe universal joint mechanism 2 and the inner wall of the fermentation tank is 13.5mm, and the distance H from the bottom of the tank to the center of the injection material pipe 204 is 7500 mm. And delta M is the thickness of the fish feed after one layer of injection feeding.
Referring to fig. 10, a front view of a pipeline firing angle at the bottommost 0 th circle of feeding in the first cycle, fig. 11, a front view of a pipeline firing angle at 45 degrees at the bottommost 0 th circle of feeding in the first cycle, and fig. 12, a front view of a pipeline firing angle at the bottommost 0 th circle of feeding in the second cycle after a material cover height δ m, and a front view of a pipeline firing angle at the 0 th circle of feeding in the bottommost after the kth cycle of fig. 13, the process from an empty tank to a full tank is illustrated.
The height difference hx between the tapping pipe universal joint 2 and the pipe center of the injection tapping pipe 204 was set to 62 mm.
Then:
H1＝H－δM+hx＝7500mm－δM+hx＝7500+62＝7562mm
the angle β is calculated such that δ M becomes 0 when the injection is started, and increases with the increase of each layer.
β＝arctan(X4/H1)＝arctan(3854.4332/7562)＝arctan0.509710817＝27.0084°
Fifthly, the horizontal distance of the linear module and the descending distance of the folding electric cylinder are controlled at 45 degrees;
horizontal distance of the linear module:
see fig. 18 for a top view for the calculation of the horizontal firing angle of the feed conduit.
The horizontal distance between the rotation center of the injection discharge pipe and the folding electric cylinder is a fixed value of 138 mm.
The horizontal distance Lx of the straight line module is 138 tan (α 3) 138 0.4127 mm 56.9526mm
Descending distance of the folding electric cylinder:
referring to figure 17 for a side view for calculation of the vertical firing angle of the feed pipe, the distance h5 between the folding electric cylinder and the outer wall of the tank is equal to 36mm.
Lowering distance hy of folding electric cylinder
Referring to fig. 12, after the first cycle is finished, the height of the material is increased by δ m, and then the height of the material is increased by h5 tan β 36 0.6129 22.0644mm.
And a sixth step: linear module horizontal motion and folding type electric cylinder vertical motion linear velocity calculation
The linear module moves synchronously in the horizontal direction and the vertical direction of the folding electric cylinder, so that the spray pipe can uniformly feed the fish sauce fermentation tank.
The linear speed of rotation was set to 50mm/s for any one round of different diameter. 50mm arc length rotation per second, equivalent to the calculation of angle per second: when Rx 2250mm, the moving angle per second is 50 × 180/(2 × pi × Rx) ═ 0.6367 °
Horizontal moving speed of linear module
Vx＝{(138*tan(α3+0.6367))－(138*tan(α3))}/1＝{(138*tan(22.4284+0.6367))－(138*tan(22.4284))}/1＝138*[tan(23.0651)－tan(22.4284)]＝138*(0.4258－0.4128)/1＝1.794mm/s
Descending distance of the folding electric cylinder:
beta angle calculation for the next second: x41 and X31 are calculated values of the descending distance of the folding electric cylinder in the next second:
X41＝X31+13.5＝2*Rx(1－sin(0.5α+0.6367)*cos[90－(0.5α+0.6367)]+13.5＝
2*2250*{(1－sin(22.5+0.6367)*cos[90－(22.5+0.6367)]}+13.5＝2*2250*{1－0.3929*0.3929}+13.5＝2*2250*0.84562959+13.5＝3818.833155
β1＝arctan(X41/H1)＝arctan(3818.833155/7562)＝arctan(0.505003062)＝26.7939°
descending speed Vy of the folding electric cylinder:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1＝36*0.6129－36*0.5032＝3.9492mm/s。
the seventh step: can center spray.
When the odd-numbered circle is calculated, the radius in the calculation formula is calculated as the radius Rz of the odd-numbered circle. And after the odd number rotates for the 8 th circle in a circulating way, the system automatically calculates the even number circle after aligning the center for 8 seconds, and the material distribution is controlled.
Because the certain length of injection discharging pipe 204 and the conditional restriction of diameter, when the even number cycle is rotatory 0 th circle, when circular angle alpha be 153 between and alpha be 207 between, the injection pipe has leaned on the jar wall, in order to prevent that there is the small part fish material to spout outside the jar, fermentation cylinder feed line department opens there is opening 12, can make the material of injection follow opening 12 and naturally slide into the fermentation cylinder. FIG. 2 is a top view of the maximum angle position of the feed pipe, FIG. 14 is a top view of the opening of the fermentation tank at the feed pipe, FIG. 15 is a front view of the opening of the fermentation tank at the feed pipe, and FIG. 16 is a cross-sectional view of the opening of the fermentation tank at the feed pipe, showing the structure of the opening.
The automated control of the apparatus for the production of fish sauce in a fermenter according to the invention can be carried out with reference to the above-described process design and will not be described in detail here.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. A fish sauce one-pot fermentation tank material distribution production device is characterized by comprising a guide rod universal joint mechanism (1), a discharge pipe universal joint mechanism (2), a wireless communication antenna (3), a stainless steel support (4), a folding type electric cylinder (5), a linear module (6), a fermentation tank wall (7), a heat insulation layer (8), a fermentation tank platform (9), a tank support steel frame (10) and a field control unit (11);
a heat insulation layer (8) is arranged outside the tank wall (7) of the fermentation tank, a tank supporting steel frame (4) is arranged outside the heat insulation layer (8), and a fermentation tank platform (9) is supported; the stainless steel support (4) is arranged on the fermentation tank platform (9), the wireless communication antenna (3) is arranged on the upper portion of the stainless steel support (4), the field control unit (11) is arranged at the bottom of the stainless steel support (4), the linear module (6) is arranged on a frame at the bottom of the stainless steel support (4), and the folding and returning type electric cylinder (5) is arranged on the linear module (6) and drives the folding and returning type electric cylinder (5) to move linearly; the folding electric air cylinder (5) is connected with a guide rod universal joint mechanism (1), and the discharge pipe universal joint mechanism (2) is connected with the guide rod universal joint mechanism (1);
the guide bar universal joint mechanism (1) comprises: the device comprises a stainless steel guide rod (101), a guide rod guide head lining (102), a first steering joint (103), a first bearing (104), a central bolt (105), a steering seat (106) and a folding electric cylinder movable rod (107); a first bearing (104) is installed at the top of the movable rod (107) of the folding electric cylinder, the steering seat (106) is fixed on the first bearing (104), and the steering seat (106) horizontally rotates on the first bearing (104); a central bolt (105) is arranged in the middle of a steering seat (106) and used for supporting a first steering joint (103), a through hole is formed in the upper part of the first steering joint (103), a guide rod guide head lining (102) is arranged in the through hole, the stainless steel guide rod (101) penetrates through the center of the guide rod guide head lining (102), and the stainless steel guide rod (101) is driven by a linear module (6) and a folding type electric cylinder (5);
the discharge pipe universal joint mechanism (2) comprises: the device comprises a second steering joint (201), a second bearing (202), an injection pipe clamp (203) and an injection pipe (204); the second steering joint (201) is fixed on the second bearing (202), the injection pipe clamp (203) is fixed on the second steering joint (201), the injection pipe clamp (203) is clamped with the injection discharging pipe (204) to drive the injection discharging pipe (204) to rotate on the horizontal plane, the injection discharging pipe (204) is connected with the stainless steel guide rod (101), and the movement of the injection discharging pipe (204) is adjusted through the movement of the linear module (6) and the folding electric cylinder (5); the method specifically comprises the following steps: the linear module (6) moves in the horizontal direction to guide the angle change of the stainless steel guide rod (101) in the horizontal direction, and the change of the injection angle of the injection discharge pipe (204) in the horizontal plane is driven to be realized; the angle change of the stainless steel guide rod (101) in the vertical direction is guided by the up-and-down movement of the folding electric cylinder movable rod (107), so that the change of the injection angle of the injection discharge pipe (204) in the vertical plane is driven to be realized.
The on-site control unit (11) is connected with the wireless communication antenna (3), the folding type electric air cylinder (5), the straight line module (6), the guide rod universal joint mechanism (1) and the discharging pipe universal joint mechanism (2), the wireless communication antenna (3) acquires fish material height data in the fermentation tank and sends the fish material height data to the on-site control unit (11), and the on-site control unit (11) controls the folding type electric air cylinder (5), the straight line module (6), the guide rod universal joint mechanism (1) and the discharging pipe universal joint mechanism (2) to further control the discharging angle.
2. A fish sauce one-pot fermentation tank material distribution production device as claimed in claim 1, wherein the on-site control unit (11) is installed in a control box, an on-site touch screen is installed on the surface of the control box, and a PLC and a DCS controller are installed inside the on-site control unit (11).
3. A fish sauce one-pot fermentation tank material distribution production device as claimed in claim 1, characterized in that the wireless communication antenna (3) realizes that the on-site control unit (11) obtains the height data δ M of the fish material in the fermentation tank through a wireless network, namely the fish material thickness parameter after injection and feeding for one layer, and the parameter is used for calculating the angle and the rotating speed of the injection discharging pipe (204) during each layer of material distribution.
4. The fish sauce one-pot fermentation tank material distribution production equipment as claimed in claim 3, wherein the on-site control unit (11) calculates the angle and the rotation speed of the injection material pipe (204), the material is uniformly supplemented in an odd-number circle material distribution mode and an even-number circle circulating continuous material distribution mode, the radii of each circle of an odd number circle and an even number circle are different, the material distribution rotation direction of the injection material pipe (204) in the odd number circle is clockwise rotation, and the material distribution rotation direction of the injection material pipe (204) in the even number circle is anticlockwise rotation; and after one layer of fish material is circularly and continuously distributed in odd circles, one layer of fish material is circularly and continuously distributed in even circles, and the circulation is repeated until the distribution of the fermentation tank meets the capacity requirement.
5. A fish sauce one-pot fermentation tank material production device according to claim 4, characterized in that due to the length and diameter limitation of the injection discharging pipe (204), when the central angle is between α ═ 153 ° and α ═ 207 ° in the 0 th circle of even number of the circulation rotation, the injection pipe is already close to the pot wall, the feeding pipeline of the fermentation pot is opened with a notch (12), so that the injected material naturally slides into the fermentation pot from the notch (12), and the fish sauce is prevented from being injected out of the pot.
6. The production method of the fish gravy one-pot fermentation tank material distribution production equipment based on claim 1, which is characterized by comprising the following steps:
(1) the method for determining the fixed value involved in the synchronous motion process of the movable rod (107) of the control folding type electric cylinder and the linear module (6) comprises the following steps: the parameters for the calculation of the injection angle and the injection velocity of the injection tapping (204) are fixed values: the distance J between the discharge pipe universal joint mechanism (2) and the inner wall of the fermentation tank is a fixed value; the distance H from the bottom of the tank to the center of the injection discharging pipe (204) is a fixed value; the radius of the fermentation tank is a fixed value;
when the vertical angle beta is calculated, the height difference hx between the discharge pipe universal joint mechanism (2) and the pipeline center of the injection pipe (204) is a fixed value. The horizontal distance L between the rotation center of the injection discharging pipe (204) and the folding electric cylinder (5) is a fixed value.
When the linear velocity of the horizontal motion of the linear module (6) and the vertical motion linear velocity of the folding electric cylinder (5) are calculated, setting the rotation linear velocity of any circle with different diameters as the fixed arc length of millimeter per second for rotation; the distance h5 between the folding electric cylinder and the outer wall of the tank is a fixed value.
(2) Determining parameter variables involved in the synchronous motion process of a control folding type electric cylinder movable rod (107) and a linear module (6), wherein the parameter variables comprise:
odd-number circle cycle rotation diameter: rz is 225-0.25 x n, and the odd number ring n is 0-8;
the cyclic rotation diameter of even number of turns: rx is 2375-2.5 m, and m is 0-9 in even number;
during odd number circle, nth circle external diameter with spout material pipe universal joint mechanism (2) central distance: jz ═ 250(1+ n) + 23;
during even number circle, the mth circle external diameter with spout material pipe universal joint mechanism (2) central distance: 125+250 × m + 23;
the thickness delta M of the fish material after one layer of injection and feeding is a parameter obtained by a field control unit (11) from the thickness parameter through a wireless communication antenna (3) and used for obtaining a radar liquid level meter in the fermentation tank.
(3) Determining the calculation process variables involved in the synchronous motion process of the movable rod (107) of the control folding type electric cylinder and the linear module (6), comprising the following steps:
the angle α 1, α 2 and a 90 degree angle in a circle to be jetted form a right triangle, wherein the diagonal length of α 1 angle in the circle, the radius Rx in an even circle as an example, is calculated by the following formula: x1 ═ 2Rx sin α 1; the critical length of the angle α 2 is: x2 ═ X1 ═ cos (90- α 1); the height of the right triangle is X ═ (2Rx-X2) tan (α 1).
A certain circle diameter of the spray minus the length of X2: x3 ═ (2 Rx-X2);
the outer diameter of a circle needing to be sprayed is equal to the distance between the center of the universal joint mechanism (2) of the sprayed material pipe and the length of X3: x4 ═ X3+ Jz;
actual height between the surface of the fish material after injection and feed and the pipeline center of the injection discharging pipe (204): h1 ═ H- δ M + hx;
descending distance of the folding electric cylinder: hy-h 5 tan β;
horizontal distance of the linear module: lx is 138 × tan α 3, and α 3 is an angle at which the stainless steel guide rod (101) actually needs to be horizontally deviated;
(4) determining calculation target control parameters related to the synchronous motion process of a control folding type electric cylinder movable rod (107) and a linear module (6), wherein the calculation target control parameters comprise:
the injection angle of the injection discharging pipe (204) deviated in the horizontal direction is the angle alpha 3 of the stainless steel guide rod actually required to deviate in the horizontal direction; α 3 ═ arctan (X/X4);
the angle of the vertical ejection angle of the injection discharging pipe (204), namely the angle beta of the vertical deviation of the stainless steel guide rod actually required; β ═ arctan (X4/H1);
the horizontal moving speed Vx of the linear module;
during odd number cycle rotation:
Vx＝{(138*tan(α3+50*180/(2*π*Rz)))－(138*tan(α3))}/1s
when rotating for even number of turns:
Vx＝{(138*tan(α3+50*180/(2*π*Rx)))－(138*tan(α3))}/1s
movement speed Vy of the folding electric cylinder:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1s
wherein β 1 ═ arctan (X41/H1), X41 ═ X31+ Jz, X31 is the X3 value in the next second, and X4 is the X4 value in the next second.
(5) And (3) controlling the synchronous motion of the folding electric cylinder movable rod (107) and the linear module (6) according to the parameters obtained by calculation in the steps (1) to (4), so that the material ejected from the ejection material pipe (204) is sprayed in a circular manner on the horizontal surface of the fermentation tank, and the central point of the outlet of the ejection material pipe moves in an elliptical manner.
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