CN114348685A - Unstrained spirits discharging terminal device for brewing white spirit - Google Patents
Unstrained spirits discharging terminal device for brewing white spirit Download PDFInfo
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- CN114348685A CN114348685A CN202210028110.3A CN202210028110A CN114348685A CN 114348685 A CN114348685 A CN 114348685A CN 202210028110 A CN202210028110 A CN 202210028110A CN 114348685 A CN114348685 A CN 114348685A
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- grain discharging
- fermented grain
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- 238000007599 discharging Methods 0.000 title claims abstract description 70
- 235000015096 spirit Nutrition 0.000 title claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 28
- 239000000463 material Substances 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000012856 packing Methods 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 abstract description 9
- 239000000126 substance Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 244000309464 bull Species 0.000 description 3
- 238000000855 fermentation Methods 0.000 description 3
- 230000004151 fermentation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention relates to a fermented grain discharging tail end device for brewing white spirit, which comprises an end table cover, a connecting seat, a turntable bearing, a fermented grain discharging material barrel, a transmission module, a driving motor set and a side connecting rod, wherein the end table cover is connected with the connecting seat; the driving motor group comprises a screw rod servo motor, a gear servo motor, a screw rod speed reducer and a gear speed reducer; the transmission module comprises a large gear, a small gear, a lead screw nut and a nut support; the inner wall of the fermented grain discharging material barrel is provided with a helical blade, the fermented grain discharging material barrel is composed of a plurality of circumferentially arranged sub-claws, and the bottom edges of the sub-claws are provided with sawteeth; the upper end of each branch claw is hinged with the lower part of the connecting seat, the upper end of each branch claw is hinged with the lower end of the corresponding side connecting rod, and the upper end of each side connecting rod is hinged with the nut support. The fermented grain discharging cylinder is designed in a split manner, and fermented grains slide into the fermented grain discharging cylinder along the helical blades, so that the fermented grains are prevented from being crushed; the screw rod servo motor and the gear servo motor are in differential operation, so that the grabbing and dumping reliability of the fermented grains is guaranteed.
Description
Technical Field
The invention belongs to the technical field of brewing, and particularly relates to a fermented grain discharging terminal device for brewing white spirit.
Background
At present, the enterprises usually adopt the manual work to dig the jar of play that gets the mode and realize the unstrained spirits, utilize promptly to get the unstrained spirits spade and dig out with the jar, perhaps use the arm of taking the shovel to dig and get the unstrained spirits, the manual work is got the material and is not only with high costs, wastes time and energy in addition and still easily appears danger. In addition, when the unstrained spirits are dug and got to the arm, the arm easily touches with the cylinder body, leads to the cylinder body to damage.
The Chinese patent with the application number of 202011526080.6 discloses an easily-propelled white spirit fermented grain discharging device which can be suitable for the bottom of a cylinder, the device drives teeth on a ring-shaped plate at the tail end through a gear and simultaneously drives the ring-shaped plate to rotate, fermented grains in the cylinder are broken by the rotation of a breaking block on the ring-shaped plate, and the fermented grains are discharged by a helical blade. Although the fermented grain discharging device is fast in fermented grain discharging and high in efficiency, the spiral blades of the device are in fact of a dragon structure, and the fermented grains can be crushed by the spiral blades in the fermented grain grabbing process, so that the fermented grains are damaged, and subsequent brewing is influenced.
Patent publication No. CN 211665038U discloses a fermented grain discharging device for brewing Chinese liquor, which is provided with an inverted barrel body, a packing auger structure is arranged in the barrel body, an opening and closing mechanism which contracts and expands along the radial direction of the opening of the barrel body is arranged at the opening of the barrel body, and fermented grains are dug and taken through the rotation of the packing auger. Although the device can adjust the feeding hole according to the shape of the ground cylinder and has high working efficiency, the screw conveyor has large fermented grain discharging force and is easy to damage the fermented grains.
The Chinese patent with the application number of 201210165032.8 discloses a fermented grain discharging device for brewing wine, which is characterized in that the device is placed in a fermentation container in advance before fermentation, and the device and fermented grains are lifted out together after the fermentation is finished. Although the device can realize the fermented grains discharging rapidly and efficiently, the device can be only applied to one ground tank and is not suitable for large-scale mass production wineries.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the unstrained spirits discharging terminal device for brewing white spirits.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a fermented grain discharging terminal device for brewing white spirit is characterized by comprising an end table cover, a connecting seat, a turntable bearing, a fermented grain discharging material barrel, a transmission module, a driving motor set and a side connecting rod; the driving motor set comprises a screw rod servo motor, a gear servo motor, a screw rod speed reducer and a gear speed reducer; the transmission module comprises a large gear, a small gear, a lead screw nut and a nut support;
the screw rod servo motor is connected with the upper end of the screw rod through a screw rod speed reducer, and the screw rod is rotatably connected with the upper part of the connecting seat; the screw nut is slidably arranged on the screw, and the nut support is arranged on the screw nut;
the inner wall of the fermented grain discharging barrel is provided with a helical blade, the starting point of the helical blade is arranged at the bottom edge of the fermented grain discharging barrel, and the end point is arranged in the middle of the fermented grain discharging barrel; the unstrained spirits discharging material cylinder is composed of a plurality of circumferentially arranged sub-claws, and the edges of the bottoms of the sub-claws are provided with sawteeth; the upper end of each sub-claw is hinged with the lower part of the connecting seat, the upper end of each sub-claw is hinged with the lower end of the corresponding side connecting rod, and the upper end of each side connecting rod is hinged with the nut support;
the outer ring of the turntable bearing is connected with the upper part of the connecting seat, and the inner ring of the turntable bearing is connected with the end table cover;
the gear servo motor is connected with a gear reducer, a pinion is installed on an output shaft of the gear reducer and meshed with a gearwheel, and the gearwheel is installed on the connecting seat.
The connecting seat is I-shaped and comprises an upper connecting disc, a cylindrical support and a lower connecting disc, the upper connecting disc and the lower connecting disc are respectively positioned at the upper end and the lower end of the cylindrical support, a plurality of groups of end lug seats are uniformly arranged on the circumference of the lower connecting disc in the circumferential direction, each group comprises two end lug seats, and the claw of the fermented grain discharging material cylinder is hinged with the corresponding two end lug seats; a side hole is formed in the side wall of the cylindrical support, and the side connecting rod penetrates through the side hole to be connected with the nut support; the upper connecting disc is provided with a circular table, and the outer ring of the turntable bearing is connected with the circular table.
The split claw is L-shaped, two first ball bearing seats and one second ball bearing seat are arranged at the top of the split claw, the two first ball bearing seats form a group, and a ball bearing is arranged in each ball bearing seat; two first ball bearing seats of each sub-claw are hinged with two corresponding end lug seats on the lower connecting disc, and a second ball bearing seat is hinged with the lower end of the corresponding side connecting rod.
Hinge parts with the same number as the claw separating parts of the fermented grain discharging material barrel are circumferentially arranged on the circumferential direction of the nut support, and the upper ends of the side connecting rods are hinged with the corresponding hinge parts.
The end platform cover is a cylindrical shell with an opening, a flange plate extends out of the outer side of the cylindrical shell, and the device is connected with an external mechanical arm through the flange plate.
The transmission module further comprises an end cover, a second bearing and a second gasket; the end cover is installed in the center of connecting seat lower part department, and the lower extreme of lead screw rotates with the end cover through No. two bearings to carry out axial spacing through No. two packing rings to No. two bearings.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the fermented grain discharging cylinder is designed in a split manner, the inner wall of the fermented grain discharging cylinder is provided with the helical blade, and in the rotation process of the fermented grain discharging cylinder, fermented grains slide into the fermented grain discharging cylinder along the helical blade, so that the fermented grains are grabbed; compared with the prior art that the screw conveyer takes materials, the force of the spiral blade acting on the fermented grains is small, the fermented grains are prevented from being crushed, and the subsequent brewing is not influenced.
(2) The opening and closing of the fermented grain discharging material barrel are realized by rotating the screw rod through the screw rod servo motor; the rotary motion of the fermented grain discharging material barrel in the horizontal plane is realized through the gear servo motor, and the screw rod servo motor and the gear servo motor adopt differential motion to ensure the reliability of grabbing and dumping the fermented grains.
(3) The lower end of the claw of the fermented grain discharging cylinder is provided with sawteeth, fermented grains are loosened through the sawteeth, and the fermented grain discharging cylinder is favorably inserted into the fermented grains; the unstrained spirits discharging cylinder is not easy to scrape the cylinder body, and can efficiently discharge the unstrained spirits. The end table cover can be externally connected with other multi-degree-of-freedom robots such as a mechanical arm and the like, so that materials can be taken more flexibly.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an exploded view of the overall structure of the present invention;
FIG. 3 is a block diagram of the transmission module of the present invention;
FIG. 4 is a block diagram of the end station cover of the present invention;
FIG. 5 is a structural diagram of the connecting base of the present invention;
FIG. 6 is a block diagram of a slew bearing of the present invention;
FIG. 7 is a schematic diagram of the connection between the unstrained spirits discharging barrel and the connecting disc;
FIG. 8 is a block diagram of the nut holder of the present invention;
FIG. 9 is a schematic view of the side link of the present invention coupled to a nut carrier and a pawl;
in the figure, 1, an end table cover; 2. a connecting seat; 3. a turntable bearing; 4. discharging a fermented grain charging barrel; 5. a transmission module; 6. a drive motor group; 7. a side link;
11. a flange plate; 21. an upper connecting disc; 22. a cylinder support; 23. a lower connecting disc; 21-1, a circular truncated cone; 22-1, side holes; 23-1, an end lug seat; 41. separating claws; 42. a helical blade; 51. a coupling; 52. a coupler support; 53. a bull gear; 54. a pinion gear; 55. a grid spacer; 56. a first bearing; 57. a first washer; 58. a lead screw; 59. a lead screw nut; 510. an end cap; 511. a second bearing; 512. a second washer; 513. a nut support; 513-1, a hinge; 514. a ball bearing; 515. a first ball bearing seat; 516. a second ball bearing seat;
61. a lead screw servo motor; 62. a gear servo motor; 63. a lead screw speed reducer; 64. a gear reducer.
Detailed Description
The technical solutions of the present invention are described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
The invention provides a fermented grain discharging terminal device (a device for short, see fig. 1-9) for brewing white spirit, which comprises an end table cover 1, a connecting seat 2, a turntable bearing 3, a fermented grain discharging material barrel 4, a transmission module 5, a driving motor set 6 and a side connecting rod 7; the driving motor set 6 comprises a screw servo motor 61, a gear servo motor 62, a screw speed reducer 63 and a gear speed reducer 64; the transmission module comprises a large gear 53, a small gear 54, a lead screw 58, a lead screw nut 59 and a nut support 513;
the end platform cover 1 is a cylindrical shell with an opening, a flange plate 11 extends out of the outer side of the cylindrical shell, and the device is connected with an external mechanical arm through the flange plate 11; reinforcing ribs are arranged between the cylindrical shell and the flange plate 12 and are used for increasing the strength of the end table cover 1;
the connecting seat 2 is I-shaped and comprises an upper connecting disc 21, a cylindrical support 22 and a lower connecting disc 23, the upper connecting disc 21 and the lower connecting disc 23 are respectively positioned at the upper end and the lower end of the cylindrical support 22, a plurality of groups of end lug seats 23-1 are uniformly arranged on the circumference of the lower connecting disc 23, and each group comprises two end lug seats 23-1 and is used for connecting a branch claw 41 of the fermented grain discharging material barrel 4; the side wall of the cylindrical support 22 is provided with a side hole 22-1, so that the side connecting rod 7 can pass through the side hole, and the weight is reduced; the upper connecting disc 21 is provided with a circular truncated cone 21-1 which is used for being connected with the turntable bearing 3;
the outer ring of the turntable bearing 3 is connected with a circular table 21-1 of the upper connecting disc 21 through a bolt, and the inner ring of the turntable bearing 3 is connected with a cylindrical shell of the end table cover 1 through a bolt;
an output shaft of the lead screw servo motor 61 is connected with a lead screw speed reducer 63, an output shaft of the lead screw speed reducer 63 is connected with the upper end of a lead screw 58 through a coupler 51, and the upper part of the lead screw 58 is simultaneously in rotating connection with a circular truncated cone 21-1 of the upper connecting disc 21; the coupler 51 is arranged in the coupler support 52, the coupler support 52 is fixed on the end table cover 1, a box body of the lead screw speed reducer 63 is fixedly connected with the coupler support 52, and the axis of the lead screw speed reducer 63 is superposed with the central axis of the turntable bearing 3; the screw nut 59 is slidably arranged on the screw 58, the nut support 513 is fixed on the screw nut 59, and the circumference of the nut support 513 is circumferentially provided with hinged parts 513-1 with the same number as the sub-claws 41 of the fermented grain discharging barrel 4;
the inner wall of the fermented grain discharging material cylinder 4 is provided with a helical blade 42, the starting point of the helical blade 42 is arranged at the bottom edge of the fermented grain discharging material cylinder 4, the terminal point is arranged in the middle of the fermented grain discharging material cylinder 4, and the helical blade 42 is used for grabbing and storing fermented grains; the fermented substance discharging barrel 4 is composed of a plurality of sub-claws 41 which are circumferentially arranged and have the same number with the end lug seats 23-1 of the lower connecting disc 21, namely, the sub-claws 41 are all provided with a part of helical blades 42, and the finished fermented substance discharging barrel 4 is formed when all the sub-claws 41 are closed; each sub-claw 41 is L-shaped, the top of the sub-claw 41 is provided with two first ball bearing seats 515 and a second ball bearing seat 516, the two first ball bearing seats 515 form a group, each ball bearing seat is internally provided with a ball bearing 514, the bottom edge of the sub-claw 41 is provided with sawteeth, and the fermented grains are loosened through the sawteeth in the rotation process of the fermented grain discharging charging barrel 4 and are convenient to take out; two first ball bearing seats 515 of each sub-claw 41 are hinged with two corresponding end lug seats 23-1 on the lower connecting disc 23 through pin shafts, a second ball bearing seat 516 is hinged with the lower end of a corresponding side connecting rod 7 through a pin shaft, the upper end of the side connecting rod 7 penetrates through a side hole 22-1 of the cylindrical support 22 to extend into the connecting seat 2 and is hinged with a hinge part 513-1 on the nut support 513 through a pin shaft;
the power of the screw servo motor 61 is transmitted to the screw 58 through the screw speed reducer 63, and drives the screw 58 to rotate, so that the screw nut 59 and the nut support 513 slide along the screw 58 in a reciprocating manner, the measuring connecting rod 7 swings up and down in a reciprocating manner by taking the end lug seat 23-1 as a rotation center, and the sub-claw 41 rotates, so that the fermented grain discharging material barrel 4 is opened and closed;
an output shaft of the gear servo motor 62 is connected with a gear reducer 64, the gear reducer 64 is respectively installed on the end table cover 1 through bolts, the output shaft of the gear reducer 64 extends into the end table cover 1, the pinion 54 is fixed on the output shaft of the gear reducer 64, the pinion 54 is meshed with the bull gear 53, and the bull gear 53 is simultaneously fixed on the upper connecting disc 21; after power of the gear servo motor 62 passes through the gear reducer 64, the pinion 54 is driven to rotate, and then the large gear 53 is driven by the pinion 54 to rotate together with the connecting seat 2, so that the fermented grain discharging material cylinder 4 rotates, and the fermented grains are grabbed.
The transmission module 5 further comprises a block gasket 55, a first bearing 56, a first gasket 57, an end cover 510, a second bearing 511 and a second gasket 512; the upper part of the lead screw 58 is rotationally connected with the circular table 21-1 of the upper connecting disc 21 through a first bearing 56; the first washer 57 is sleeved on the screw rod 58 and positioned between the first bearing 56 and the circular truncated cone 21-1 to axially limit the first bearing 56; the end cover 510 is fixed at the center of the lower connecting disc 23, the lower end of the screw rod 58 is rotatably connected with the end cover 510 through a second bearing 511, and the second bearing 511 is axially limited through a second gasket 512; the stopper washer 55 is attached to an output shaft of the gear reducer 64 and axially restricts the pinion gear 54.
The working principle and the working process of the invention are as follows:
the sub-claws 41 of the fermented grain discharging material cylinder 4 are closed to be in an initial state, and the screw rod servo motor 61 does not work at the moment; firstly, the device is arranged at the tail end of an external mechanical arm, and the device is moved to a cylinder opening of a ground cylinder through the external mechanical arm; then, a gear servo motor 62 is started to drive a small gear 54 to rotate, the small gear 54 drives a large gear 53, the large gear 53 drives a connecting seat 2 to rotate, so that a fermented substance discharging cylinder 4 is driven to rotate, the fermented substances are loosened by utilizing sawteeth at the tail end of a sub-claw 41, the fermented substances slide into the fermented substance discharging cylinder 4 along a helical blade 42 along with the rotation of the fermented substance discharging cylinder 4, the grabbing of the fermented substances is realized, and meanwhile, a lead screw servo motor 61 is started to drive a lead screw to rotate, so that a side connecting rod 7 is kept to be relatively static with the connecting seat 2; after grabbing, stopping the gear servo motor 62 and the screw rod servo motor 61, and storing the fermented grains in the fermented grain discharging material barrel 4; secondly, the external mechanical arm moves the device to a specified position, a screw rod servo motor 61 is started, the power of the screw rod servo motor 61 is transmitted to a screw rod 58 through a screw rod speed reducer 63, the screw rod 58 is driven to rotate, a screw rod nut 59 and a nut support 513 slide upwards along the screw rod 58, the measuring connecting rod 7 swings upwards by taking the end lug seat 23-1 as a rotation center, and then the sub-claw 41 rotates to open the fermented grain discharging material barrel 4 and pour out the fermented grains in the fermented grain discharging material barrel 4; after the fermented substance is completely poured out, the screw rod servo motor 61 rotates reversely, the screw rod nut 59 and the nut support 513 slide downwards along the screw rod 58 together, the measuring connecting rod 7 swings downwards by taking the end lug seat 23-1 as a rotating center, the sub-claw 41 rotates reversely, the fermented substance discharging material barrel 4 is closed, and the fermented substance discharging material barrel 4 returns to an initial state and can enter the next working period.
Nothing in this specification is said to apply to the prior art.
Claims (6)
1. A fermented grain discharging terminal device for brewing white spirit is characterized by comprising an end table cover, a connecting seat, a turntable bearing, a fermented grain discharging material barrel, a transmission module, a driving motor set and a side connecting rod; the driving motor set comprises a screw rod servo motor, a gear servo motor, a screw rod speed reducer and a gear speed reducer; the transmission module comprises a large gear, a small gear, a lead screw nut and a nut support;
the screw rod servo motor is connected with the upper end of the screw rod through a screw rod speed reducer, and the screw rod is rotatably connected with the upper part of the connecting seat; the screw nut is slidably arranged on the screw, and the nut support is arranged on the screw nut;
the inner wall of the fermented grain discharging barrel is provided with a helical blade, the starting point of the helical blade is arranged at the bottom edge of the fermented grain discharging barrel, and the end point is arranged in the middle of the fermented grain discharging barrel; the unstrained spirits discharging material cylinder is composed of a plurality of circumferentially arranged sub-claws, and the edges of the bottoms of the sub-claws are provided with sawteeth; the upper end of each sub-claw is hinged with the lower part of the connecting seat, the upper end of each sub-claw is hinged with the lower end of the corresponding side connecting rod, and the upper end of each side connecting rod is hinged with the nut support;
the outer ring of the turntable bearing is connected with the upper part of the connecting seat, and the inner ring of the turntable bearing is connected with the end table cover;
the gear servo motor is connected with a gear reducer, a pinion is installed on an output shaft of the gear reducer and meshed with a gearwheel, and the gearwheel is installed on the connecting seat.
2. The fermented grain discharging terminal device for brewing white spirit according to claim 1, wherein the connecting seat is I-shaped and comprises an upper connecting disc, a cylinder support and a lower connecting disc, the upper connecting disc and the lower connecting disc are respectively positioned at the upper end and the lower end of the cylinder support, a plurality of groups of end lug seats are uniformly arranged on the circumference of the lower connecting disc in a circumferential direction, each group comprises two end lug seats, and sub-claws of a fermented grain discharging cylinder are hinged with the corresponding two end lug seats; a side hole is formed in the side wall of the cylindrical support, and the side connecting rod penetrates through the side hole to be connected with the nut support; the upper connecting disc is provided with a circular table, and the outer ring of the turntable bearing is connected with the circular table.
3. The fermented grain discharging terminal device for brewing white spirit according to claim 2, wherein the sub-claw is L-shaped, two first ball bearing seats and one second ball bearing seat are arranged at the top of the sub-claw, the two first ball bearing seats form a group, and a ball bearing is arranged in each ball bearing seat; two first ball bearing seats of each sub-claw are hinged with two corresponding end lug seats on the lower connecting disc, and a second ball bearing seat is hinged with the lower end of the corresponding side connecting rod.
4. The fermented grain discharging terminal device for brewing white spirit according to claim 1, wherein hinged parts with the same number as that of the fermented grain discharging material cylinders are circumferentially arranged on the circumferential direction of the nut support, and the upper ends of the side connecting rods are hinged with the corresponding hinged parts.
5. The fermented grain discharging terminal device for white spirit brewing according to claim 1, wherein the end table cover is a cylindrical shell with an opening, a flange extends out of the outer side of the cylindrical shell, and the device is connected with an external mechanical arm through the flange.
6. The fermented grain discharging terminal device for white spirit brewing according to claim 1, wherein the transmission module further comprises an end cover, a second bearing and a second gasket; the end cover is installed in the center of connecting seat lower part department, and the lower extreme of lead screw rotates with the end cover through No. two bearings to carry out axial spacing through No. two packing rings to No. two bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210028110.3A CN114348685A (en) | 2022-01-11 | 2022-01-11 | Unstrained spirits discharging terminal device for brewing white spirit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210028110.3A CN114348685A (en) | 2022-01-11 | 2022-01-11 | Unstrained spirits discharging terminal device for brewing white spirit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114348685A true CN114348685A (en) | 2022-04-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210028110.3A Pending CN114348685A (en) | 2022-01-11 | 2022-01-11 | Unstrained spirits discharging terminal device for brewing white spirit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114348685A (en) |
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|---|---|---|---|---|
| FR2610005A1 (en) * | 1987-01-28 | 1988-07-29 | Cornuet Michel | Device for automatically discharging the marcs contained in a fermentation vat |
| CN205652368U (en) * | 2016-04-18 | 2016-10-19 | 南京航空航天大学 | Unmanned vehicles for transportation |
| CN205799507U (en) * | 2016-05-27 | 2016-12-14 | 新昌县城关新胜轴承厂 | A kind of electrodynamic type Article grabbing machine tool hands |
| CN106399044A (en) * | 2016-11-16 | 2017-02-15 | 贵州省仁怀市古酿坊酒业有限公司 | Device for rotationally discharging fermented grains out of cellar |
| CN108795615A (en) * | 2018-09-03 | 2018-11-13 | 湖北天华智能装备股份有限公司 | A kind of brewing cellar pool material device |
| CN108949405A (en) * | 2018-09-03 | 2018-12-07 | 湖北天华智能装备股份有限公司 | A kind of brewing cellar pool Qi Liao robot |
| CN110562729A (en) * | 2019-08-29 | 2019-12-13 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN111040925A (en) * | 2020-01-21 | 2020-04-21 | 湖北天永智能装备有限公司 | Fermented material cellar for storing things device of going up |
| CN213562595U (en) * | 2020-07-24 | 2021-06-29 | 刘俊超 | Material loading and taking servo simulation machine |
| CN113667555A (en) * | 2021-08-04 | 2021-11-19 | 中国科学院自动化研究所 | Unstrained spirits material jar equipment of going out |
| CN215240928U (en) * | 2021-03-03 | 2021-12-21 | 中国石油大学(华东) | Novel connecting rod type mechanical gripper for rock breaking robot |
-
2022
- 2022-01-11 CN CN202210028110.3A patent/CN114348685A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2610005A1 (en) * | 1987-01-28 | 1988-07-29 | Cornuet Michel | Device for automatically discharging the marcs contained in a fermentation vat |
| CN205652368U (en) * | 2016-04-18 | 2016-10-19 | 南京航空航天大学 | Unmanned vehicles for transportation |
| CN205799507U (en) * | 2016-05-27 | 2016-12-14 | 新昌县城关新胜轴承厂 | A kind of electrodynamic type Article grabbing machine tool hands |
| CN106399044A (en) * | 2016-11-16 | 2017-02-15 | 贵州省仁怀市古酿坊酒业有限公司 | Device for rotationally discharging fermented grains out of cellar |
| CN108795615A (en) * | 2018-09-03 | 2018-11-13 | 湖北天华智能装备股份有限公司 | A kind of brewing cellar pool material device |
| CN108949405A (en) * | 2018-09-03 | 2018-12-07 | 湖北天华智能装备股份有限公司 | A kind of brewing cellar pool Qi Liao robot |
| CN110562729A (en) * | 2019-08-29 | 2019-12-13 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN111040925A (en) * | 2020-01-21 | 2020-04-21 | 湖北天永智能装备有限公司 | Fermented material cellar for storing things device of going up |
| CN213562595U (en) * | 2020-07-24 | 2021-06-29 | 刘俊超 | Material loading and taking servo simulation machine |
| CN215240928U (en) * | 2021-03-03 | 2021-12-21 | 中国石油大学(华东) | Novel connecting rod type mechanical gripper for rock breaking robot |
| CN113667555A (en) * | 2021-08-04 | 2021-11-19 | 中国科学院自动化研究所 | Unstrained spirits material jar equipment of going out |
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