CN114149907B - 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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Abstract
The invention discloses a fish sauce one-pot fermentation tank material distribution production device and a production method thereof, wherein a heat preservation layer is arranged outside the tank wall of a fermentation tank, a root tank supporting steel frame is arranged outside the heat preservation layer, and a fermentation tank platform is supported; the fermentation tank is arranged on the fermentation tank platform and is positioned in the stainless steel bracket, a wireless communication antenna is arranged on the upper part of the stainless steel bracket, a site control unit is arranged at the bottom of the stainless steel bracket, a linear module is arranged on a frame at the bottom of the stainless steel bracket, and a foldback type electric cylinder is arranged on the linear module to drive the foldback type electric cylinder to linearly move; the turning-back type electric cylinder is connected with the guide rod universal joint mechanism, and the discharging pipe universal joint mechanism is connected with the guide rod universal joint mechanism. The invention realizes automatic material distribution of the fish gravy fermentation tank by a one-tank method, reduces labor intensity of fish gravy production, improves labor productivity and reduces operation labor cost and production cost; the invention is convenient for computer programming and 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-pot fermentation production devices, in particular to fish sauce one-pot fermentation tank material distribution production equipment and a production method thereof.
Background
For the main patent of automatic material distribution system for liquor distillation in China, there is an automatic liquor brewing robot distillation apparatus and method, application publication No. CN 105505659A, which discloses an automatic liquor brewing robot distillation apparatus, wherein a robot arm is directly used for pulling a liquor distillation telescopic feed pipe to move so as to realize automatic material distribution, an ultrasonic sensor detects the flatness of the material, and if pits exist, the automatic positioning and filling can be realized.
An intelligent continuous automatic upper screening device and a working method thereof are disclosed in application publication number CN 107858235A, wherein the intelligent continuous automatic upper screening device is characterized in that a column rotating mechanism is connected with a rotating column; the rotary feeding mechanism is arranged above the rotary upright column, so that fermented grains are spread at any position in the screening pot. And detecting the temperature in the screening pot by using the thermal infrared imager system, and when the temperature in the screening pot reaches a certain value, performing screening automation operation by using a mode of screening one layer by the robot.
The obvious automatic screening mechanism has complex control mechanism and core software thereof, and a foreign robot control software system is also used. At present, the distilled spirit steaming robot used in the domestic white spirit factory is a foreign robot, and the cost is relatively high.
The fish sauce production in China is mainly performed manually, and the labor intensity of staff is high. In the process of fermenting fish sauce by a one-pot method in the separate patent application, mixed fish and salt are conveyed to the top of a large-scale fermentation tank by pneumatic conveying after being mixed in a batching workshop, 10% of salt is conveyed to the fermentation tank after fish sauce feeding is finished, the upper layer of the fish sauce to be salted is covered with salt, and finally the salted fish sauce is compacted by a gland plate. And the distilled spirit is strictly required to be smooth and different from distilled spirit, if the distilled spirit is unevenly screened, the surface smoothness is not high, and the wine steam loss can seriously affect the wine outlet efficiency. The fermentation tank feeding in the production of fish sauce by a one-tank method has the production characteristics that the size of fish is different in a pneumatic conveying mode and finally the cover plate is pressed and compacted, and the fish materials entering the fermentation tank do not realize strict requirements for leveling like filling distilled spirit into a steamer, and only need to be relatively leveled. Therefore, a fish sauce fermentation tank feeding system which has a simple structure and is convenient for self-control programming is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a fish sauce one-pot method fermentation tank material distribution production device and a production method thereof, which reduce the operation labor cost, improve the labor productivity and are suitable for large-scale production of fish sauce; solves the problems of low automation level, high labor intensity, imported mechanical arm for equipment, high investment cost and no installation of a material distribution mechanical arm space for a large-diameter fermentation tank on a tank platform in the traditional industry in China.
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 bracket, a foldback electric cylinder, a linear module, a fermentation tank wall, an insulating layer, a fermentation tank platform, a tank support steel frame and a site control unit;
an insulating layer is arranged outside the tank wall of the fermentation tank, a root tank supporting steel frame is arranged outside the insulating layer, and a fermentation tank platform is supported; the stainless steel support is arranged on the fermentation tank platform, a wireless communication antenna is arranged on the upper portion of the stainless steel support, a 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 a foldback electric cylinder is arranged on the linear module to drive the foldback electric cylinder to linearly move; the turning-back type electric cylinder is connected with the guide rod universal joint mechanism, and the discharging pipe universal joint mechanism is connected with the guide rod universal joint mechanism;
the guide rod universal joint mechanism comprises: the stainless steel steering rod, the guiding head lining of the steering rod, the first steering joint, the first bearing, the center bolt, the steering seat and the turning-back type electric cylinder movable rod; the top of the movable rod of the foldback type 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; the stainless steel guide rod penetrates through the center of the guide rod guide head lining and is driven by the linear module and the foldback type electric cylinder;
the universal joint mechanism of discharging pipe includes: the second steering joint, the second bearing, the spray pipe clamp and the spray discharging pipe; the second steering joint is fixed on the second bearing, the second steering joint is fixed with an injection pipe clamp, the injection pipe clamp is clamped with an injection discharging pipe to drive an injection material pipe to rotate on a horizontal plane, the injection material pipe is connected with a stainless steel guide rod, and the movement of the injection material pipe is regulated through the movement of the linear module and the turning-back type electric cylinder; the method comprises the following steps: the linear module moves horizontally to guide the angle change of the stainless steel guide rod in the horizontal direction, so as to drive the spray angle change of the spray material pipe in the horizontal plane; the angle change of the stainless steel guide rod in the vertical direction is guided by the upward and downward movement of the movable rod of the foldback type electric cylinder, so that the spray angle change of the spray outlet pipe in the vertical plane is driven to be realized.
The on-site control unit is connected with the wireless communication antenna, the foldback electric cylinder, the linear module, the guide rod universal joint mechanism and the discharging pipe universal joint mechanism, the wireless communication antenna obtains fish feed height data in the fermentation tank and sends the fish feed height data to the on-site control unit, and the on-site control unit controls the foldback electric cylinder, the linear module, the guide rod universal joint mechanism and the discharging pipe universal joint mechanism, so that the discharging angle is controlled.
Further, the field control unit is arranged in the control box, a field touch screen is arranged on the surface of the control box, and a PLC and a DCS controller are arranged in the field control unit.
Further, the wireless communication antenna realizes that the on-site control unit obtains the height data delta M of the fish in the fermentation tank through a wireless network, namely, the fish thickness parameter after one layer of material supplement is sprayed, and the parameter is used for calculating the angle and the rotation speed of the spraying discharging pipe when each layer of material is distributed.
Further, the on-site control unit calculates the angle and the rotation speed of the spray discharging pipe, the material supplementing is uniform through the odd-circle material distribution and even-circle material distribution in a circulating continuous material distribution mode, the radiuses of the odd-circle and even-circle material distribution are different, meanwhile, the rotation direction of the spray discharging pipe material distribution in the odd-circle is clockwise rotation, and the rotation direction of the spray discharging pipe material distribution in the even-circle material distribution is anticlockwise rotation; after the odd circles circularly and continuously distribute one layer of fish material, the even circles circularly and continuously distribute one layer of fish material, and repeatedly circularly until the distribution of the fermentation tank meets the capacity requirement.
Further, due to the limitation of the length and the diameter of the jet discharging pipe, when the circle 0 is rotated in an even number cycle, and when the central angle is between alpha=153 DEG and alpha=207 DEG, the jet pipe is close to the tank wall, and a gap is formed at the feeding pipeline of the fermentation tank, so that the jetted material naturally slides into the fermentation tank from the gap, and the fish material is prevented from being jetted out of the tank.
The invention also provides a production method of the fish sauce one-pot method based fermentation tank material distribution production equipment, which comprises the following steps of:
(1) Determining a fixed value involved in controlling synchronous movement of a folding electric cylinder movable rod and a linear module, comprising: the parameters used for calculating the injection angle and the speed of the injection discharging pipe are fixed values: the distance J between the universal joint mechanism of the discharging pipe and the inner wall of the fermentation tank is a fixed value; the distance H from the tank bottom to the center of the jet material 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 universal joint mechanism of the discharging pipe and the center of the pipeline of the jet discharging pipe is a fixed value. The horizontal distance L between the rotation center of the jet discharging pipe and the foldback electric cylinder is a fixed value.
Setting the rotation linear speed of any circle with different diameters as fixed arc length rotation per second when the linear module horizontally moves and the vertical movement linear speed of the foldback electric cylinder is calculated; the distance h5 between the foldback electric cylinder and the outer wall of the tank is a fixed value.
(2) Determining parameter variables involved in controlling synchronous motion of the turn-back type electric cylinder moving rod 107 and the linear module, comprising:
odd number circle cyclic rotation diameter: rz=225-0.25×n, odd-numbered circles n=0-8;
even number of circle cyclic rotation diameter: rx=2375-2.5×m, even circles m=0 to 9;
when the number of the circles is odd, the outer diameter of the nth circle is distant from the center of the universal joint mechanism of the jet outlet pipe: jz=250 (1+n) +23;
when the number of the circles is even, the outer diameter of the mth circle is distant from the center of the universal joint mechanism of the jet material pipe: jx=125+250×m+23;
the thickness delta M of the fish material after the material supplementing layer is sprayed is a parameter from a thickness parameter, and a radar level gauge in the fermentation tank is obtained by a field control unit through a wireless communication antenna.
(3) Determining a calculated process variable involved in controlling synchronous motion of a folding electric cylinder movable rod and a linear module, comprising:
a right triangle is formed by alpha 1, alpha 2 and a 90-degree angle in a certain circle needing to be sprayed, wherein the calculation formula of the diagonal line length of the alpha 1 angle in the circle and the radius Rx of an even circle as an example is as follows: x1=2rx×sin α1; the length of the adjacent side of the angle alpha 2 is as follows: x2=x1×cos (90- α1); the right triangle has a height x= (2 Rx-X2) tan (α1).
The length of X2 subtracted from the diameter of a certain turn to be sprayed: x3= (2 Rx-X2);
the length of X3 is added to the distance between the outer diameter of a certain ring to be sprayed and the center of the universal joint mechanism of the spraying material pipe: x4=x3+jz;
actual height between the surface of the fish after the injection and the center of the pipeline of the injection discharging pipe: h1 =h- δm+hx;
the falling distance of the foldback type electric cylinder: hy=h5×tan β;
horizontal distance of linear module: lx=138 tan α3, α3 is the angle at which the stainless steel guide rod actually needs to deviate in the horizontal direction;
(4) Determining a calculation target control parameter involved in controlling synchronous movement of a folding electric cylinder movable rod and a linear module, comprising:
the horizontal offset spray angle of the spray discharging pipe, namely the angle alpha 3 of the stainless steel guide rod which is actually required to be offset in the horizontal direction; α3=arctan (X/X4);
the angle of the vertical angle of the jet discharging pipe, namely the angle beta of the stainless steel guide rod which is deviated in the vertical direction in actual requirement; β=arctan (X4/H1);
the horizontal moving speed Vx of the linear module;
when the odd number is circularly rotated:
Vx＝{(138*tan(α3+50*180/(2*π*Rz)))－(138*tan(α3))}/1s
even number of rotations:
Vx＝{(138*tan(α3+50*180/(2*π*Rx)))－(138*tan(α3))}/1s
turning-back type electric cylinder movement speed Vy:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1s
where β1=arctan (X41/H1), x41=x31+jz, X31 is the X3 value for the next second, and X4 is the X4 value for the next second.
(5) According to the parameters obtained by calculation in the steps (1) - (4), synchronous movement of the movable rod of the foldback type electric cylinder and the linear module is controlled, so that the material ejected from the ejection outlet pipe forms circular ejection distribution on the horizontal surface of the fermentation tank, and the center point of the outlet of the ejection outlet pipe forms elliptical movement.
Compared with the prior art, the invention has the following beneficial effects:
the automatic fish material arrangement production mode of the fermentation tank for realizing the fish sauce one-tank method is simple in structure, convenient to operate, simple in algorithm, convenient to program by a computer, capable of realizing automatic control, and suitable for large-scale production of fish sauce enterprises. The method is suitable for the characteristics of traditional Chinese fermentation products, combines the traditional method with the traditional mechanized operation, reduces the labor intensity of production workers, reduces the labor cost and the production cost of operation, effectively improves the labor productivity, and can thoroughly change the situation that the manual operation is the main aspect in the production process of fish gravy production at present.
Drawings
FIG. 1 is a top view of a feed conduit at a 45 degree angle relative to the tank center;
FIG. 2 is a top view of a pipe angle at a maximum angular position;
FIG. 3 is a front view of the guide bar gimbal mechanism;
FIG. 4 is a side view of the guide bar gimbal mechanism;
FIG. 5 is a side view of the feed conduit in a horizontal position with the center angle at the 0 degree position;
FIG. 6 is a schematic view of the housing with the feed conduit in a horizontal position and the center angle at a 0 degree position;
FIG. 7 is a schematic view of the housing with the feed conduit in a horizontal position 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 135 degrees;
FIG. 9 is a schematic view of the feed conduit in a horizontal position with the motorized cylinder turned back at the furthest end;
FIG. 10 is a front view of the angle of the pipe angle at the bottom 0 th turn of the feed of the first cycle;
FIG. 11 is a front view of the pipe angle 45 degrees for the first cycle bottom 0 th turn feed;
FIG. 12 is a front view of the angle of the pipe angle at the bottom 0 th turn of the feed in the second cycle after the material jacket height δΜ after the first cycle is completed;
FIG. 13 is a front view of the angle of the pipe angle at the time of arrival of the highest 0 th turn of feed after the Kth cycle;
FIG. 14 is a top view of a fermenter opening at a feed line;
FIG. 15 is a front view of a fermenter opening at a feed line;
FIG. 16 is a cross-sectional view of a fermenter opening at a feed line;
FIG. 17 is a side view of a feed conduit for vertical angle calculation;
FIG. 18 is a top view of a feed conduit for horizontal angle calculation;
FIG. 19 is a schematic view of an odd-numbered circle rotation locus
FIG. 20 is a schematic view of even-numbered circle cyclic rotation trajectories
The numbered corresponding elements in the figures are as follows:
the guide bar universal joint mechanism 1 includes: stainless steel guide rods 101; the guide rod guides the head liner 102; a first steering joint 103; a first bearing 104; a center bolt 105; a steering seat 106; a turn-back type electric cylinder movable rod 107;
the jetting outlet pipe universal joint mechanism 2 includes: a second steering joint 201; a second bearing 202; jet pipe clamp 203; a jet outlet 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; a heat insulating layer 8; a fermenter level 9; tank support steel frame 10; site control unit 11
Tank central angle alpha; the horizontal movement angle alpha 1 of the jet discharging pipe; the spray discharge pipe moves horizontally by an angle beta.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
The invention provides fish sauce one-pot fermentation tank material distribution production equipment, referring to FIG. 5, which is a side view of a horizontal state of a feeding pipeline, a central angle of which is at a 0-degree position, FIG. 6, which is a schematic view of a horizontal state of the feeding pipeline, a frame of which the central angle is at the 0-degree position, and FIG. 10, which are front views of a pipeline angle during 0-th feeding of the bottommost part of a first cycle, wherein the production equipment 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 foldback electric cylinder 5, a linear module 6, a fermentation tank wall 7, a heat preservation layer 8, a fermentation tank platform 9, a tank support steel frame 10 and a field control unit 11;
an insulating layer 8 is arranged outside the fermentation tank wall 7, 4 tank support steel frames 10 are arranged outside the insulating layer 8, and a fermentation tank platform 9 is supported; the stainless steel bracket (4) is arranged on the fermentation tank platform (9), the wireless communication antenna 3 is arranged at the upper part of the stainless steel bracket 4, the field control unit 11 is arranged at the bottom of the stainless steel bracket 4, the linear module 6 is arranged on the frame at the bottom of the stainless steel bracket 4, the foldback electric cylinder 5 is arranged on the linear module 6, and the foldback electric cylinder 5 is driven to move linearly; the turning-back type electric cylinder 5 is connected with the guide rod universal joint mechanism 1, and the discharging pipe universal joint mechanism 2 is connected with the guide rod universal joint mechanism 1; the cloth production equipment has simple structure and is convenient for programming the 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 comprises: stainless steel guide rod 101, guide rod guide head liner 102, first steering knuckle 103, first bearing 104, center bolt 105, steering seat 106, and turn-back electric cylinder movable rod 107; the top of the turning-back type electric cylinder movable rod 107 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; the center 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, the guide rod is arranged in the through hole to guide the head lining 102, the stainless steel guide rod 101 passes through the center of the guide rod to guide the head lining 102, and the stainless steel guide rod 101 is driven by the linear module 6 and the foldback electric cylinder 5;
FIG. 5 is a side view of the feed pipe in a horizontal position with a center angle of 0 degrees, and the discharge pipe universal joint mechanism 2 comprises: a second steering knuckle 201, a second bearing 202, a jet pipe clamp 203 and a jet pipe 204; the second steering joint 201 is fixed on the second bearing 202, the second steering joint 201 is fixed with a jet pipe clamp 203, the jet pipe clamp 203 is clamped with a jet discharging pipe 204, and the bearing 202 can rotate in 360 degrees in the horizontal plane, so that the discharging pipe universal joint mechanism 2 can also rotate in the horizontal plane to drive the jet discharging pipe 204 to rotate in the horizontal plane, the jet discharging pipe 204 is connected with the stainless steel guide rod 101, and the motion of the jet discharging pipe 204 is regulated through the motion of the linear module 6 and the turning-back type electric cylinder 5; the method comprises the following steps: the linear module 6 moves horizontally to guide the angle change of the stainless steel guide rod 101 in the horizontal direction, so as to drive the spray angle change of the spray outlet pipe 204 in the horizontal plane; the angle change in the vertical direction of the stainless steel guide rod 101 is guided by the upward and downward movement of the turning-back type electric cylinder movable rod 107, so that the spray angle change of the spray outlet pipe 204 in the vertical plane is driven.
The on-site control unit 11 is connected with the wireless communication antenna 3, the foldback 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 obtains fish feed height data in the fermentation tank and sends the fish feed height data to the on-site control unit 11, and the on-site control unit 11 controls the foldback electric cylinder 5, the linear module 6, the guide rod universal joint mechanism 1 and the discharging pipe universal joint mechanism 2, so that the discharging angle is controlled.
The field control unit 11 is arranged in the control box, a field touch screen is arranged on the surface of the control box, and a PLC and a DCS controller are arranged in the field control unit 11.
The wireless communication antenna 3 realizes that the site control unit 11 obtains the material level height data delta M of 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 material supplementing is sprayed, and the parameter is used for calculating the angle and the rotation speed of the spraying discharging pipe 204 during each layer of material distributing. The algorithm of the field control unit 11 is simply a trigonometric function formula and programming is relatively simple.
The on-site control unit 11 calculates the angle and the rotation speed of the spray discharging pipe 204, the material supplementing is uniform through an odd-circle material distribution and even-circle circulating continuous material distribution mode, the radiuses of the odd-circle and even-circle circles are different, meanwhile, the material distribution rotation direction of the spray discharging pipe 204 in the odd-circle is clockwise rotation, and the material distribution rotation direction of the spray discharging pipe 204 in the even-circle is anticlockwise rotation; after the odd circles circularly and continuously distribute one layer of fish material, the even circles circularly and continuously distribute one layer of fish material, and repeatedly circularly until the distribution of the fermentation tank meets the capacity requirement.
The production equipment is formed by synchronous movement of the folding type electric cylinder movable rod 108 and the linear module 6, so that the center point of the outlet of the jet material pipe moves in an elliptical shape, and the material jetted from the jet material pipe is circularly jetted and distributed on the horizontal surface of the fermentation tank. 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 smooth.
Due to the length and diameter limitations of the jet discharging pipe 204, when the circle rotation is 0 th in even number, and when the central angle is between alpha=153 DEG and alpha=207 DEG, the jet pipe is close to the tank wall, and the opening 12 is formed at the feeding pipeline of the fermentation tank, so that the jetted material naturally slides into the fermentation tank from the opening 12, and the fish material is prevented from being jetted out of the tank.
The invention also provides a production method of the fish sauce one-pot method based fermentation tank material distribution production equipment, which comprises the following steps of:
(1) Determining fixed values involved in controlling synchronous movement of the turn-back type electric cylinder moving rod 107 and the linear module 6, comprising: the parameters used for the calculation of the injection angle and speed of the injection tap 204 are fixed values: the distance J between the discharging pipe universal joint mechanism 2 and the inner wall of the fermentation tank is a fixed value; the distance H from the tank bottom to the center of the ejector tube 204 is a fixed value; the radius of the fermentation tank is a fixed value;
in the calculation of the vertical angle β, the height difference hx between the tapping pipe joint mechanism 2 and the pipe center of the jet tapping pipe 204 is a fixed value. The horizontal distance L between the rotation center of the jet pipe 204 and the folding-back type electric cylinder 5 is a fixed value.
Setting the rotation linear speed of any circle with different diameters as fixed millimeter arc length rotation per second when the linear module 6 moves horizontally and the turning-back type electric cylinder 5 moves vertically to calculate the linear speed; the distance h5 between the foldback electric cylinder and the outer wall of the tank is a fixed value.
(2) Determining parameter variables involved in controlling synchronous movement of the turn-back type electric cylinder moving rod 107 and the linear module 6, comprising:
odd number circle cyclic rotation diameter: rz=225-0.25×n, odd-numbered circles n=0-8;
even number of circle cyclic rotation diameter: rx=2375-2.5×m, even circles m=0 to 9;
when the number of the circles is odd, the outer diameter of the nth circle is distant from the center of the universal joint mechanism 2 of the jet outlet pipe: jz=250 (1+n) +23;
and when the number of the rings is even, the outer diameter of the m-th ring is distant from the center of the universal joint mechanism 2 of the jet outlet pipe: jx=125+250×m+23;
the thickness delta M of the fish material after the injection of the fed material layer is a parameter from a thickness parameter obtained by a field control unit 11 through a wireless communication antenna 3 by a radar level gauge in the fermentation tank.
(3) Determining the calculated process variables involved in controlling the synchronous movement of the folding electric cylinder moving rod 107 and the linear module 6, comprising:
a right triangle is formed by alpha 1, alpha 2 and a 90-degree angle in a certain circle needing to be sprayed, wherein the calculation formula of the diagonal line length of the alpha 1 angle in the circle and the radius Rx of an even circle as an example is as follows: x1=2rx×sin α1; the length of the adjacent side of the angle alpha 2 is as follows: x2=x1×cos (90- α1); the right triangle has a height x= (2 Rx-X2) tan (α1).
The length of X2 subtracted from the diameter of a certain turn to be sprayed: x3= (2 Rx-X2);
the length of X3 is added to the distance between the outer diameter of a certain circle to be sprayed and the center of the universal joint mechanism 2 of the spraying material pipe: x4=x3+jz;
actual height between the surface of the fish after the injection of the make-up and the center of the pipe of the injection discharge pipe 204: h1 =h- δm+hx;
the falling distance of the foldback type electric cylinder: hy=h5×tan β;
horizontal distance of linear module: lx=138 tan α3, α3 is the angle at which the stainless steel guide rod 101 actually needs to deviate in the horizontal direction;
(4) Determining calculation target control parameters involved in controlling synchronous movement of the turn-back type electric cylinder movable rod 107 and the linear module 6, comprising:
the horizontal offset spray angle of the spray jet pipe 204, i.e. the angle α3 by which the stainless steel guide rod actually needs to be offset horizontally; α3=arctan (X/X4);
the angle of the vertical angle of the jet 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;
when the odd number is circularly rotated:
Vx＝{(138*tan(α3+50*180/(2*π*Rz)))－(138*tan(α3))}/1s
even number of rotations:
Vx＝{(138*tan(α3+50*180/(2*π*Rx)))－(138*tan(α3))}/1s
turning-back type electric cylinder movement speed Vy:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1s
where β1=arctan (X41/H1), x41=x31+jz, X31 is the X3 value for the next second, and X4 is the X4 value for the next second.
(5) According to the parameters calculated in the steps (1) - (4), synchronous movement of the movable rod 107 of the foldback type electric cylinder and the linear module 6 is controlled, so that the material ejected from the ejection outlet 204 forms circular ejection distribution on the horizontal surface of the fermentation tank, and the central point of the outlet of the ejection outlet forms elliptical movement.
The invention is further described below in connection with specific examples.
The following examples are given by taking fish gravy production as an example, and the material distribution production equipment and the production method of the fish gravy one-pot fermentation tank of the invention are described in detail.
The fish material conveying process is that the scraper is conveyed into a pipeline, the scraper, the compressed air liftout ball valve and the scraper discharging pneumatic knife gate valve are linked to realize that the fish material is conveyed to the top of the fish sauce one-pot fermentation tank from the ground in a pneumatic mode, the frequency of the scraper, the compressed air liftout ball valve and the scraper discharging pneumatic knife gate valve in the linkage mode can be adjusted, and the fish material sprayed out of the spraying discharging pipe 204 can be determined to be continuously distributed at a higher frequency. The pipeline from the trash fish receiving room to the top of the fermentation tank is very long, the conveying can be influenced by the excessively small caliber, the resistance is excessively large, the linear module size is also increased intangibly, the installation of equipment on a tank area platform is influenced, the larger caliber is preferable, and the outer diameter of the jet discharging pipe 204 is assumed to be 360mm.
The installation position of the jet discharging pipe 204 is arranged on the tank wall of the fermentation tank, the material jetted from the jet discharging pipe 204 is circularly jetted and distributed on the horizontal surface of the fermentation tank, and synchronous movement of the foldback type electric cylinder movable rod 108 and the linear module 6 is required, so that the center point of the outlet of the jet discharging pipe is in elliptical movement, the synchronous movement of the folding type electric cylinder movable rod 108 and the linear module 6 is controlled mainly by calculating the angle of the deviation of the actual horizontal direction of the stainless steel guide rod and the angle of the vertical angle of the beta feeding pipeline after the alpha 3 of the position of each point and calculating the movement rates of the folding type electric cylinder movable rod 108 and the linear module 6.
When the jet outlet pipe 204 has been turned to α=45°, the following detailed calculation of the movement speed of the linear module and the following step of the foldback electric cylinder is as follows:
the first step: setting of the distribution track, and finishing feeding of the plane of the fermentation tank into odd-circle and even-circle feeding, wherein reference is made to the schematic diagram of the odd-circle circulation rotation track in fig. 19 and the schematic diagram of the even-circle circulation rotation track in fig. 20. The diameter of the fermenter was 5m, and the schematic diagram of the odd-numbered circle rotation track of FIG. 19 shows that when the odd-numbered circle rotates, the feeding is completed once by 9 circles, and the interval between each circle is 250mm. After the odd-numbered circle circulation rotation feeding is completed, feeding is needed to be carried out on the low-lying area between every two circles of the odd-numbered circle circulation rotation feeding, and as can be seen from the schematic diagram of the even-numbered layer circulation rotation track, when the even-numbered circle circulation rotation is carried out, the feeding is completed once by rotating 10 circles, when the feeding is carried out on the 0 th circle, the distance between the track and the tank wall is 125mm, the distance between the 1 st circle and the 9 th circle is 250mm, and when the feeding is carried out on the 9 th circle, the distance between the track and the center of the tank is 125mm.
Thus, the diameter formula of the gauge circle can be obtained:
odd number of cyclic rotation diameter: rz=2250-0.25×n, circles n=0 to 8
Even number of cyclic rotation diameter: rx=2375-2.5×m. Circle m=0 to 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 even 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；
and a second step of: the calculation angle is defined as follows: tank central angle alpha; α1 is equal to 0.5α at the inner corners of the ring where the injection is required; α2 is the other corner in the circle where the spray is required, and α3 is the calculated angle by which the stainless steel guide bar actually requires a horizontal deviation. The jet pipe moves vertically by an angle beta.
The distance between the outer diameter of the jet garden and the center of the universal joint mechanism 2 of the jet 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.
When the number of the circles is odd, the outer diameter of the nth circle is distant from the center of the universal joint mechanism 2 of the jet outlet pipe: jz=250 (1+n) +23=273;
during even circulation, the distance Jx between the outer diameter of the mth circle and the center of the universal joint mechanism 2 of the jet outlet pipe=125+250×m+23;
the distance h=7500 mm from the bottom of the tank to the centre of the ejector tube 204.
And a third step of: side length and angle calculation: as shown in fig. 1, in top view, with the feed conduit angle being 45 degrees with respect to the tank center, x1=2rx×sin α1; x2=x1×cos (90- α1); x3= (2 Rx-X2); x4=x3+jz; x= (2 Rx-X2) tan α1.
Then: α1=0.5×α;
for the sake of convenience in explaining the calculation principle, the calculation angle is exemplified by setting the central angle of the injection angle to be alpha=45° with an odd number rx=rz1=2250mm;
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 bar actually required a horizontal deviation is =3840.9332×0.4142= 1590.9145 α3.
α3＝arctan(X/X4)＝arctan(1590.9145/4113.9332)＝21.1422°
Fig. 6-9 show the horizontal feed line position at different angles.
Fourth step: the calculation angle is defined as follows: the jet pipe moves vertically by an angle beta. The distance between the discharging pipe universal joint mechanism 2 and the inner wall of the fermentation tank is 13.5mm, and the distance H=7500 mm from the tank bottom to the center of the jet outlet pipe 204. δM is the thickness of the fish material after one layer of the supplementary material is sprayed.
Referring to fig. 10, a front view of the angle of the pipe angle at the time of feeding at the 0 th turn of the lowest part of the first circulation, fig. 11, a front view of the angle of the pipe angle at the time of feeding at the 0 th turn of the lowest part of the first circulation, fig. 12, a front view of the angle of the pipe angle at the time of feeding at the 0 th turn of the lowest part of the second circulation after the material sleeve height delta mu m, and fig. 13, a front view of the angle of the pipe angle at the time of feeding at the 0 th turn of the highest part after the K-th circulation are shown, and the process from empty tank to full tank is shown.
The height difference hx between the spout universal joint mechanism 2 and the center of the pipe of the spouting spout 204 was set to 62mm.
Then:
H1＝H－δM+hx＝7500mm－δM+hx＝7500+62＝7562mm
beta angle calculation, δm=0, increases with the increase of each layer when injection is started at first.
β＝arctan(X4/H1)＝arctan(3854.4332/7562)＝arctan0.509710817＝27.0084°
A fifth step of 45 DEG, namely the horizontal distance of the linear module and the descending distance of the foldback electric cylinder;
horizontal distance of linear module:
see fig. 18 for a top view of the feed conduit horizontal angle calculation.
The horizontal distance between the rotation center of the jet discharging pipe and the foldback electric cylinder is a fixed value of 138 mm.
Straight line module horizontal distance lx=138×tan (α3) =138×0.4127= 56.9526mm
The falling distance of the foldback type electric cylinder:
referring to fig. 17, a side view for calculating the vertical angle of the feed pipe, the distance h5 between the turn-back type electric cylinder and the outer wall of the tank is equal to 36mm.
Folding electric cylinder lowering distance hy
Referring to fig. 12, when the first cycle is completed, the material jacket height δΜ is shown in the front view of the angle of the pipe angle at the bottom 0 th feeding cycle of the second cycle, hy=h5×tanβ=36×0.6129= 22.0644mm.
Sixth step: linear module horizontal movement and foldback type electric cylinder vertical movement linear velocity calculation
The linear module moves synchronously in the horizontal direction and the vertical direction of the foldback electric cylinder, so that the injection pipe can uniformly supplement the fish sauce fermentation tank.
The rotational linear velocity was set to 50mm/s by setting the linear velocity of any one of the circles having different diameters. 50mm arc length rotation per second corresponds to the calculation of the angle per second: let rx=2250 mm, the movement angle per second is 50×180/(2×pi×rx) = 0.6367 °
Horizontal movement 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
The falling distance of the foldback type electric cylinder:
beta angle calculation for the next second: x41 and X31 are calculated values of the falling distance of the next second retracing type electric cylinder respectively:
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°
the falling speed Vy of the foldback electric cylinder:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1＝36*0.6129－36*0.5032＝3.9492mm/s。
seventh step: the tank is centrally sprayed.
When the odd number circle is calculated, the radius in the calculation formula is calculated as the radius Rz of the odd number circle. After the 8 th circle of odd number circulation rotation, the centering residence time is 8 seconds, and the system automatically calculates even number circle again to control the cloth.
Due to the limitation of the certain length and diameter of the jet discharging pipe 204, when the circular angle alpha=153 DEG and alpha=207 DEG is between the 0 th round of even-numbered cycle rotation, the jet pipe is already leaning against the tank wall, and in order to prevent a small part of fish material from being jetted out of the tank, the feeding pipeline of the fermentation tank is provided with a gap 12, so that the jetted material can naturally slide into the fermentation tank from the gap 12. The top view of the maximum angle position of the pipeline angle in fig. 2, the top view of the opening of the fermentation tank at the feeding pipeline in fig. 14, the front view of the opening of the fermentation tank at the feeding pipeline in fig. 15, and the cross-section of the opening of the fermentation tank at the feeding pipeline in fig. 16 show the structure of the opening.
The automatic control of the material distribution production equipment suitable for a fish gravy one-pot fermentation tank according to the invention can be designed and carried out by referring to the process, and the detailed description is omitted herein.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form 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 understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. The fish sauce one-pot method fermentation tank material distribution production equipment 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 bracket (4), a foldback electric cylinder (5), a linear module (6), a fermentation tank wall (7), a heat preservation layer (8), a fermentation tank platform (9), a tank support steel frame (10) and a site control unit (11);
an insulation layer (8) is arranged outside the fermentation tank wall (7), 4 tank support steel frames (10) are arranged outside the 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 the bottom frame of the stainless steel support (4), the foldback electric cylinder (5) is arranged on the linear module (6), and the foldback electric cylinder (5) is driven to move linearly; the turning-back type electric cylinder (5) is connected with the guide rod universal joint mechanism (1), and the discharging pipe universal joint mechanism (2) is connected with the guide rod universal joint mechanism (1);
the guide rod universal joint mechanism (1) comprises: the steering 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 turning-back type electric cylinder movable rod (107); the top of the turning-back type electric cylinder movable rod (107) 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); the 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 portion of the first steering joint (103), a guide rod is arranged in the through hole to guide the head lining (102), the stainless steel guide rod (101) penetrates through the center of the guide rod to guide the head lining (102), and the stainless steel guide rod (101) is driven by the linear module (6) and the foldback electric cylinder (5);
the universal joint mechanism (2) of the discharging pipe comprises: a second steering joint (201), a second bearing (202), a jet pipe clamp (203) and a jet pipe (204); the second steering joint (201) is fixed on the second bearing (202), the second steering joint (201) is fixed with a jet pipe clamp (203), the jet pipe clamp (203) is clamped with a jet discharging pipe (204) to drive the jet discharging pipe (204) to rotate on a horizontal plane, the jet discharging pipe (204) is connected with the stainless steel guide rod (101), and the motion of the jet discharging pipe (204) is regulated through the motion of the linear module (6) and the turning-back type electric cylinder (5); the method 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 spray angle change of the spray outlet pipe (204) in the horizontal plane; the angle change of the stainless steel guide rod (101) in the vertical direction is guided by the upward and downward movement of the foldback type electric cylinder movable rod (107), so that the spray angle change of the spray outlet 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 foldback 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) obtains fish feed height data in the fermentation tank and sends the fish feed height data to the on-site control unit (11), and the on-site control unit (11) controls the foldback electric cylinder (5), the linear module (6), the guide rod universal joint mechanism (1) and the discharging pipe universal joint mechanism (2), so that the discharging angle is controlled.
2. The fish sauce one-pot fermentation tank material distribution production device according to claim 1, wherein the field control unit (11) is installed in a control box, a field touch screen is installed on the surface of the control box, and a PLC and DCS controller is installed in the field control unit (11).
3. The fish gravy one-pot fermentation tank material distribution production device according to claim 1, wherein the wireless communication antenna (3) is used for realizing the calculation of the angle and the rotation speed of the material discharge pipe (204) during each layer of material distribution by acquiring the height delta M of the fish material in the fermentation tank through a wireless network by the on-site control unit (11), namely, the fish material thickness parameter after one layer of material supplement is sprayed.
4. A fish gravy one-pot fermentation tank material distribution production device according to claim 3, wherein the field control unit (11) calculates the angle and the rotation speed of the jet material pipe (204), the material supplement is uniform through the odd-circle material distribution and the even-circle circulating continuous material distribution mode, the radii of the odd-circle and the even-circle are different, the material distribution rotation direction of the jet material pipe (204) in the odd-circle is clockwise rotation, and the material distribution rotation direction of the jet material pipe (204) in the even-circle is anticlockwise rotation; after the odd circles circularly and continuously distribute one layer of fish material, the even circles circularly and continuously distribute one layer of fish material, and repeatedly circularly until the distribution of the fermentation tank meets the capacity requirement.
5. The apparatus for producing the material distribution of the fermentation tank by the fish gravy one-tank method according to claim 4, wherein the jet pipe is abutted to the tank wall when the central angle is between alpha=153 DEG and alpha=207 DEG in the even number of circle rotation of 0 th circle due to the limit of the length and the diameter of the jet discharging pipe (204), and a gap (12) is formed at the feeding pipeline of the fermentation tank, so that the jetted material naturally slides into the fermentation tank from the gap (12) to prevent the jetted fish material from being jetted out of the tank.
6. A production method of a fish sauce one-pot method fermentation tank material distribution production device based on the fish sauce one-pot method as claimed in claim 1, which is characterized by comprising the following steps:
(1) Determining a fixed value involved in controlling the synchronous movement of a folding electric cylinder movable rod (107) and a linear module (6), comprising: the parameters used for calculating the injection angle and the injection speed of the injection discharging pipe (204) are fixed values: the distance J between the discharging pipe universal joint mechanism (2) and the inner wall of the fermentation tank is a fixed value; the distance H from the tank bottom to the center of the jet material 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 universal joint mechanism (2) of the discharging pipe and the center of the pipeline of the spraying material pipe (204) is a fixed value; the horizontal distance L between the rotation center of the ejection pipe (204) and the foldback electric cylinder (5) is a fixed value;
setting the rotation linear speed of any circle with different diameters as fixed arc length rotation per second when the linear module (6) moves horizontally and the vertical movement linear speed of the foldback electric cylinder (5) is calculated; the distance h5 between the foldback electric cylinder and the outer wall of the tank is a fixed value;
(2) Determining parameter variables involved in controlling synchronous movement of a folding electric cylinder movable rod (107) and a linear module (6), comprising:
odd number circle cyclic rotation diameter: rz=225-0.25×n, odd-numbered circles n=0-8;
even number of circle cyclic rotation diameter: rx=2375-2.5×m, even circles m=0 to 9;
when the number of the circles is odd, the outer diameter of the nth circle is distant from the center of the universal joint mechanism (2) of the jet outlet pipe: jz=250 (1+n) +23;
when the number of the circles is even, the outer diameter of the mth circle is distant from the center of the universal joint mechanism (2) of the jet material pipe: jx=125+250×m+23;
the thickness delta M of the fish material after the material supplementing layer is sprayed is a parameter from a radar level gauge in the fermentation tank, which is obtained by a field control unit (11) through a wireless communication antenna (3);
(3) Determining a calculated process variable involved in controlling the synchronous movement of a folding electric cylinder moving rod (107) and a linear module (6), comprising:
a right triangle is formed by alpha 1, alpha 2 and a 90-degree angle in a certain circle needing to be sprayed, wherein the calculation formula of the diagonal line length of the alpha 1 angle in the circle and the radius Rx of an even circle as an example is as follows: x1=2rx×sin α1; the length of the adjacent side of the angle alpha 2 is as follows: x2=x1×cos (90- α1); the right triangle has a height of x= (2 Rx-X2) tan (α1);
the length of X2 subtracted from the diameter of a certain turn to be sprayed: x3= (2 Rx-X2);
the length of X3 is added to the distance between the outer diameter of a certain circle to be sprayed and the center of the universal joint mechanism (2) of the spraying material pipe: x4=x3+jz;
the actual height between the surface of the fish after the injection of the feed and the centre of the pipe of the injection pipe (204): h1 =h- δm+hx;
the falling distance of the foldback type electric cylinder: hy=h5×tan β;
horizontal distance of linear module: lx=138 tan α3, α3 is the angle at which the stainless steel guide rod (101) actually needs to deviate in the horizontal direction;
(4) Determining a calculation target control parameter involved in controlling synchronous movement of a folding electric cylinder movable rod (107) and a linear module (6), comprising:
the horizontal deviation of the spray angle of the spray pipe (204), namely the angle alpha 3 of the stainless steel guide rod which is actually required to deviate in the horizontal direction; α3=arctan (X/X4);
the angle of the vertical angle of the jet pipe (204), namely 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;
when the odd number is circularly rotated:
Vx＝{(138*tan(α3+50*180/(2*π*Rz)))－(138*tan(α3))}/1s
even number of rotations:
Vx＝{(138*tan(α3+50*180/(2*π*Rx)))－(138*tan(α3))}/1s
turning-back type electric cylinder movement speed Vy:
Vy＝[(h5*tanβ)－(h5*tanβ1)]/1s
wherein β1=arctan (X41/H1), x41=x31+jz, X31 is the X3 value for the next second, and X4 is the X4 value for the next second;
(5) According to the parameters obtained by calculation in the steps (1) - (4), synchronous movement of the turning-back type electric cylinder movable rod (107) and the linear module (6) is controlled, so that the material ejected from the ejection material pipe (204) is circularly ejected and distributed on the horizontal surface of the fermentation tank, and the center point of the outlet of the ejection material pipe is in elliptical movement.
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| 锥形发酵罐温度控制方案的优化设计;吴方星等;啤酒技术(第12期);第22页至第24页 * |
| 鱼露的加工制作方法;刘国信;《江苏调味副食品》;第23卷(第5期);第32页至第33页 * |
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|---|---|
| CN114149907A (en) | 2022-03-08 |
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