CN114806763B - Bag-type fermented grain taking manipulator and fermented grain taking robot - Google Patents
Bag-type fermented grain taking manipulator and fermented grain taking robot Download PDFInfo
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- CN114806763B CN114806763B CN202210346109.5A CN202210346109A CN114806763B CN 114806763 B CN114806763 B CN 114806763B CN 202210346109 A CN202210346109 A CN 202210346109A CN 114806763 B CN114806763 B CN 114806763B
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12G—WINE; PREPARATION THEREOF; ALCOHOLIC BEVERAGES; PREPARATION OF ALCOHOLIC BEVERAGES NOT PROVIDED FOR IN SUBCLASSES C12C OR C12H
- C12G3/00—Preparation of other alcoholic beverages
- C12G3/02—Preparation of other alcoholic beverages by fermentation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/36—Devices for emptying from the top
- B65G65/38—Mechanical devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
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Abstract
The invention provides a bag-type fermented grain taking manipulator and a fermented grain taking robot, which comprise a fixed frame, a sliding frame, a plurality of main slotting tools and a fermented grain taking bag, wherein the fixed frame is arranged on the fixed frame; the fixed frame is used for being fixed on an end execution arm of the fermented grain taking robot and is provided with a first telescopic driving piece; the sliding frame is vertically and slidably connected to the fixed frame and connected with the first telescopic driving piece, and the sliding frame is provided with a second telescopic driving piece; the plurality of main slotting tools are uniformly distributed along the circumferential direction of the sliding frame, one end of each main slotting tool is hinged with the center position of the bottom wall of the sliding frame, the other end of each main slotting tool extends towards the periphery of the sliding frame and bends downwards, and each main slotting tool is respectively connected with the output end of the second telescopic driving piece; the fermented grain taking bag is sleeved on the periphery of each main slotting tool, and the bottom end opening parts are respectively connected with the bottom ends of the main slotting tools. The bag type fermented grain taking manipulator provided by the invention can save labor force, reduce labor cost and has high fermented grain taking efficiency, so that cost reduction and efficiency enhancement of enterprises can be promoted.
Description
Technical Field
The invention belongs to the technical field of brewing automation equipment, and particularly relates to a bag-type fermented grain taking manipulator and a fermented grain taking robot.
Background
The ground jar fermentation process is an indispensable process in the brewing process of the fen-flavor white spirit, millions of tons of fermented grains need to be taken out from the ground jar every year and then enter the wine steaming process, and in order to meet the air permeability requirement of the wine steaming process, the process of taking out the fermented grains from the ground jar should be avoided as much as possible from damaging the state that the grains store liquid and the relatively loose and air-permeable physical structure.
At present, in order to ensure the given structural state of fermented grains, a method of manually digging the fermented grains by using a spade is still adopted in the whole brewing industry, and because the ground cylinder is buried underground, the efficiency of manually digging the fermented grains is very low, the labor intensity is very high, and meanwhile, due to the large production quantity, a large number of fermented grain digging operators are required to be used by a wine making enterprise, so that the production cost is high, and the development of the enterprise is restricted.
Disclosure of Invention
The embodiment of the invention provides a bag type fermented grain taking manipulator and a fermented grain taking robot, which aim to reduce the strength and labor cost of a ground cylinder fermented grain taking operation and improve the fermented grain taking efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme: in a first aspect, a bag-type fermented grain taking manipulator is provided, including:
the fixed frame is vertically fixed on the tail end execution arm of the fermented grain taking robot, and a first telescopic driving piece is arranged on the fixed frame along the vertical direction;
the sliding frame is connected to the fixing frame in a sliding manner along the vertical direction and is connected with the output end of the first telescopic driving piece, and a second telescopic driving piece is arranged on the sliding frame along the vertical direction;
the main slotting tools are distributed at intervals along the circumferential direction of the sliding frame, one end of each main slotting tool is hinged with the center position of the bottom wall of the sliding frame, the other end of each main slotting tool extends towards the periphery of the sliding frame and bends downwards, and each main slotting tool is connected with the output end of the second telescopic driving piece and is used for synchronously expanding or gathering under the drive of the second telescopic driving piece;
the fermented grain taking bag is a straight cylinder with two open ends, is sleeved on the periphery of each main slotting tool, and the bottom end opening parts are respectively connected with the bottom ends of the main slotting tools;
when the main slotting tools are in an open state, the bottom end opening of each main slotting tool can be unfolded to be regular polygon matched with the inner diameter of the ground cylinder, and when the main slotting tools are in a gathering state, the bottom end opening of each fermented grain taking bag gathers to be in a closing state under the synchronous traction action of the bottom ends of the main slotting tools.
With reference to the first aspect, in one possible implementation manner, a plurality of auxiliary slotting tools respectively distributed in a crossing manner with each main slotting tool are hinged on the bottom wall of the sliding frame, and the bottom ends of the auxiliary slotting tools are respectively connected with the corresponding positions of the bottom end opening parts of the fermented grain taking bags, when the main slotting tools are opened or gathered, each auxiliary slotting tool is synchronously opened or gathered under the traction action of the bottom end opening parts of the fermented grain taking bags.
In some embodiments, a plurality of connecting seats are uniformly distributed on the bottom wall of the sliding frame along the circumferential direction of the bottom wall, the top ends of the auxiliary slotting tools are respectively and correspondingly connected with the connecting seats, the connecting seats are provided with limiting parts, and when the auxiliary slotting tools synchronously gather to be in butt joint with the corresponding limiting parts, the bottom end opening parts of the fermented grain taking bags are gathered into a regular polygonal star shape by the bottom end matching of the auxiliary slotting tools and the main slotting tools.
Illustratively, the mount includes a fixed plate, a hanging plate, and a plurality of optical axes; the fixed disc is used for being fixedly connected to the tail end execution arm; the suspension disc is positioned right below the fixed disc; the optical axes are distributed at intervals along the circumferential direction of the fixed disc, the top ends of the optical axes are fixedly connected with the fixed disc, and the bottom ends of the optical axes are fixedly connected with the suspension disc; the first telescopic driving piece is fixedly connected to the fixed disc, the output end of the first telescopic driving piece vertically extends downwards, and the sliding frame is connected to the optical axes in a sliding mode.
For example, the carriage includes a slide plate and a cutterhead; the sliding disc is respectively and slidably connected with each optical axis and fixedly connected with the output end of the first telescopic driving piece; the cutter head is positioned right below the suspension disc, and each main slotting tool and each auxiliary slotting tool are connected with the cutter head; the second telescopic driving piece is fixedly connected to the center of the top wall of the cutterhead and upwards penetrates through the suspension disc to be fixedly connected with the sliding disc.
In some embodiments, a connecting disc is arranged between the sliding disc and the suspension disc, the center of the connecting disc is fixedly connected with the output end of the second telescopic driving piece, a plurality of connecting rods are distributed at intervals along the circumferential direction of the bottom wall edge of the connecting disc, the top end of each connecting rod is hinged with the connecting disc, and the bottom end of each connecting rod is correspondingly hinged with the bending part of each main slotting tool.
Illustratively, the top end opening of the fermented grain taking bag is sleeved on the connecting disc, and a compression ring for compressing the top end opening of the fermented grain taking bag is arranged on the edge of the top wall of the connecting disc.
For example, the connecting disc is provided with a plurality of through holes at intervals along the circumferential direction of the second telescopic driving piece, and each through hole is suitable for the corresponding passing of each optical axis.
In this embodiment, a plurality of avoidance grooves are distributed on the edges of the suspension plate and the cutterhead at intervals along the circumferential direction of the suspension plate and the cutterhead, and each connecting rod respectively and correspondingly passes through the corresponding avoidance groove.
The bag-type fermented grain taking manipulator provided by the invention has the beneficial effects that: compared with the prior art, the bag-type fermented grain taking manipulator disclosed by the invention has the advantages that when the fermented grain taking bag is in an opening state, along with the tail end executing arm of the fermented grain taking robot, the tail end executing arm moves to the position right above the cylinder to be dug, and then the first telescopic driving component pushes the sliding frame to slide downwards, so that each main slotting cutter and the fermented grain taking bag are driven to be inserted into the fermented grain in the cylinder together, after the main slotting cutter is inserted to a set depth, the second telescopic driving component drives each main slotting cutter to synchronously swing so as to drive the bottom end opening part of the fermented grain taking bag to gather into a closing state, so that the fermented grain taking bag is loaded, then the first telescopic driving component moves reversely to lift the fermented grain, then moves to the position above the material trolley along with the tail end executing arm of the fermented grain taking robot, and then moves reversely to the state that the bottom end opening part of the fermented grain taking bag is opened by each main slotting cutter, and accordingly, the fermented grain taken by the bag falls into the material trolley, the whole fermented grain taking process can not cause excessive extrusion to the fermented grain, the original form of the fermented grain can be kept, the fermented grain taking process requirement can be met, compared with the traditional manual fermented grain taking mode, the efficiency is greatly improved, the cost is greatly reduced, and the cost is greatly saved for enterprises are promoted.
In a second aspect, the embodiment of the invention further provides a fermented grain taking robot, which comprises a fermented grain taking robot body with three degrees of freedom, and the bag-type fermented grain taking manipulator arranged on an end execution arm of the fermented grain taking robot body, and has the same beneficial effects as the bag-type fermented grain taking manipulator, and the description is omitted here.
Drawings
FIG. 1 is a schematic cross-sectional view of a bag-type fermented grain taking manipulator according to an embodiment of the present invention;
FIG. 2 is a schematic view of a partial enlarged structure at A in FIG. 1;
FIG. 3 is a schematic view of a partial enlarged structure at B in FIG. 1;
fig. 4 is a schematic perspective view of a bag-type fermented grain taking manipulator (a fermented grain taking bag is cut open) according to an embodiment of the present invention;
FIG. 5 is a schematic view of a partial enlarged structure at C in FIG. 4;
FIG. 6 is a schematic diagram showing a state that the fermented grain taking bag is opened by the main slotting cutter alone according to the embodiment of the invention;
FIG. 7 is a schematic diagram showing a state that the fermented grain taking bag is closed by a main slotting cutter alone according to the embodiment of the invention;
fig. 8 to 10 are schematic views illustrating a process of closing up the fermented grain taking bag by matching the main slotting cutter and the auxiliary slotting cutter according to the embodiment of the present invention.
In the figure: 10. a fixing frame; 11. a fixed plate; 12. a hanging scaffold; 121. an avoidance groove; 13. an optical axis; 14. a first telescopic driving member; 20. a carriage; 21. a slide plate; 22. a cutterhead; 23. a second telescopic driving member; 231. a connecting disc; 2311. a compression ring; 2312. a through hole; 232. a connecting rod; 30. a main slotting tool; 31. a roller; 32. briquetting; 40. taking a fermented grain bag; 41. a pull rope; 50. an auxiliary slotting tool; 51. a connecting seat; 511. and a limiting part.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 7, the bag-type fermented grain taking manipulator provided by the invention will now be described. The bag-type fermented grain taking manipulator comprises a fixing frame 10, a sliding frame 20, a plurality of main slotting tools 30 and a fermented grain taking bag 40; the fixing frame 10 is used for being vertically fixed on an end execution arm of the fermented grain taking robot, and a first telescopic driving piece 14 is arranged on the fixing frame 10 along the vertical direction; the sliding frame 20 is connected to the fixing frame 10 in a sliding manner along the vertical direction and is connected with the output end of the first telescopic driving piece 14, and a second telescopic driving piece 23 is arranged on the sliding frame 20 along the vertical direction; the main slotting tools 30 are distributed at intervals along the circumferential direction of the sliding frame 20, one end of each main slotting tool 30 is hinged with the center position of the bottom wall of the sliding frame 20, the other end extends towards the periphery of the sliding frame 20 and bends downwards, and each main slotting tool 30 is respectively connected with the output end of the second telescopic driving piece 23 and is used for synchronously expanding or gathering under the drive of the second telescopic driving piece 23; the fermented grain taking bag 40 is a straight cylinder with two open ends, the fermented grain taking bag 40 is sleeved on the periphery of each main slotting tool 30, and the bottom end opening parts are respectively connected with the bottom ends of the main slotting tools 30;
when the main slotting tools 30 are in an open state, the bottom end opening of each main slotting tool 30 can be unfolded to be a regular polygon matched with the inner diameter of the ground cylinder, and when the main slotting tools 30 are in a gathering state, the bottom end opening of each main slotting tool 30 is gathered to be a closing state under the synchronous traction action of the bottom ends of the main slotting tools 30.
It should be noted that, in this embodiment, the unstrained grain taking robot adopts a robot with at least three degrees of freedom in space, that is, a triaxial robot, which can satisfy that the end execution arm drives the unstrained grain taking manipulator to run in space randomly to vertically align with any cylinder to be dug in the workshop.
In this embodiment, the main slotting tool 30 is smoothly inserted into the fermented grains in the ground cylinder, and simultaneously, the bottom end of each main slotting tool 30 is driven to stretch into the fermented grains together with the lower port portion of the fermented grain taking bag 40 matched with and stretched out in the insertion process, and then when the main slotting tools 30 swing and gather together, the bottom port portion of the fermented grain taking bag 40 gathers together with the bottom ends of each main slotting tool 30 to form a closing state, so that the fermented grains are taken into the fermented grain taking bag 40.
In this embodiment, the carriage 20 may be slidably connected to one side of the fixing frame 10, or may be vertically aligned with the fixing frame 10 and slidably connected to the fixing frame, in consideration of positioning accuracy of the grabbing position, a manner of vertically aligning and slidably connecting the fixing frame 10 and the carriage 20 is preferably adopted, a specific structure may be that an avoidance space suitable for the carriage 20 to pass through is provided at the bottom end of the fixing frame 10, the carriage 20 is slidably connected to a middle section of the fixing frame 10, a manner of slidably connecting may be that a sliding column and a sliding sleeve are matched, or a sliding block is matched with a sliding rail, and the first telescopic driving member 14 is used for driving the carriage 20 to move vertically relative to the fixing frame 10, or may be a structure of an air cylinder or an oil cylinder, or a gear rack pair driven by an electric push rod or a motor, and in consideration of adopting the air cylinder as the first telescopic driving member 14 in combination with practical application conditions of a workshop.
In this embodiment, the main slotting tool 30 considers the process of inserting fermented grains and the process of cutting the fermented grains along the ground cylinder diameter when swinging and gathering after being inserted in place, so the bottom end of the main slotting tool 30 can be provided with a pointed cone-shaped cutting edge to facilitate insertion, and each main slotting tool 30 is provided with a side tool cutting edge towards the side wall of the gathering center thereof to facilitate cutting; the main slotting tool 30 may be similar to a sickle type or L-type in general shape, one end of the main slotting tool 30 is hinged to the central position of the carriage 20, the other end is a straight edge aligned to the edge of the carriage 20, the cutting edge is provided at the bottom end and one side of the straight edge, the second telescopic driving member 23 is hinged to the bending position of the main slotting tool 30, that is, the middle part of the main slotting tool 30, and of course, for convenience in structural layout, the main slotting tool 30 and the first telescopic driving member 14 may be connected through a transitional connection member, so that the main slotting tool 30 is pushed and pulled to swing in the process of stretching the output end of the second telescopic driving member 23, so that the bottom ends of the main slotting tools 30 are mutually stretched or gathered, and the second telescopic driving member 23 may be a cylinder or an oil cylinder or an electric push rod.
In this embodiment, in order to ensure the air permeability of the fermented grains, the fermented grain taking bag 40 may be a cloth bag with good air permeability, and in consideration of the fact that the bottom end of the fermented grain taking bag 40 needs to be inserted into the fermented grains, in order to reduce the insertion resistance, the fermented grain taking bag 40 may preferably be made of a thin and high-toughness fine mesh cloth material, when each main slotting tool 30 is in an open state, see fig. 6, the bottom end opening of the fermented grain taking bag 40 is opened to a tight regular polygon matched with the ground cylinder inner diameter, when each main slotting tool 30 drives the fermented grain taking bag 40 to be inserted into the fermented grains and gathered, see fig. 7, the bottom end opening of the fermented grain taking bag 40 is gathered along with the bottom end of the main slotting tool 30 to be in a petal-shaped closing state, and only the fermented grains close to each main slotting tool 30 are subjected to slight extrusion cutting in the closing process of the fermented grain taking bag 40, and other parts can keep the original shape, so that the process requirements of the ground cylinder for taking the fermented grains can be met.
Compared with the prior art, the bag-type fermented grain taking manipulator provided by the embodiment has the advantages that the fermented grain taking bag 40 is in a state of being opened along with the movement of the tail end executing arm of the fermented grain taking robot to the position right above the cylinder to be dug, then the first telescopic driving component pushes the sliding frame 20 to slide downwards, so that each main cutter 30 and the fermented grain taking bag 40 are driven to be inserted into fermented grains in the cylinder together, after the set depth is inserted, the second telescopic driving component 23 drives each main cutter 30 to synchronously swing to drive the bottom opening of the fermented grain taking bag 40 to gather into a closing state, so that the fermented grain is taken in a loading manner, then the first telescopic driving component 14 moves reversely to take up the fermented grain, then the tail end executing arm of the fermented grain taking robot moves to the position above the material vehicle, then the second telescopic driving component 23 moves reversely to the state that the bottom opening of the fermented grain taking bag 40 is opened, the fermented grain taking bag 30 falls into the material vehicle, the whole fermented grain taking process can not cause excessive extrusion to the fermented grain in the position in the cylinder, the original fermented grain taking state can be kept, the manual labor cost of the traditional fermented grain taking process can be greatly reduced, the manual labor cost of the traditional process can be greatly reduced, and the manual work cost of the enterprises can be greatly promoted.
In some embodiments, referring to fig. 1 to 4 and fig. 8 to 10, a plurality of auxiliary blades 50 are hinged on the bottom wall of the carriage 20, and the bottom ends of the auxiliary blades 50 are respectively connected with the corresponding positions of the bottom end opening of the fermented grain taking bag 40, and when the main blades 30 are opened or gathered, the auxiliary blades 50 are synchronously opened or gathered under the traction action of the bottom end opening of the fermented grain taking bag 40.
It should be understood that, since the bottom end of the fermented grain taking bag 40 is simply driven by each main slotting tool 30 to close, the bottom end opening of the fermented grain taking bag 40 can be gathered into a petal shape as shown in fig. 7, the edge of the bottom end opening of the fermented grain taking bag 40 can only rely on the resistance action of fermented grains to generate tightening force, so that the closing state is relatively loose, in order to improve the stability of the closing state, the fermented grain taking bag is prevented from dropping, a plurality of auxiliary slotting tools 50 which can be folded and unfolded under the traction action of the bottom end opening of the fermented grain taking bag 40 are provided, of course, in order to realize the tightening state of the bottom end opening of the fermented grain taking bag 40, the opening and closing amplitude of the auxiliary slotting tools 50 is smaller than that of the main slotting tools 30, because the auxiliary slotting tools 50 are farther away from the gathering center position relative to the main slotting tools 30 when gathering to the limit position, in particular, refer to fig. 8 to 10, the bottom end opening of the fermented grain taking bag 40 is spread into a polygonal shape when each main slotting tool 30 is opened to the limit position, the bottom end positions of the main slotting tools 30, namely, the positions of the corners of the polygonal opening, are the positions of the auxiliary slotting tools 50, and the bottom end positions of the auxiliary slotting tools 50 are the midpoint positions of the sides of the polygonal opening shown in fig. 8, at this time, the bottom ends of the auxiliary slotting tools 50 can provide sufficient supporting force for the sides of the polygonal opening, so as to avoid deformation or cracking of the bottom ends of the fermented grain taking bags 40 in the process of being inserted into the fermented grains, ensure that the fermented grain taking bags 40 can be smoothly inserted into the fermented grains along with the descending of the mechanical arm, after the bottom ends of the main slotting tools 30 are inserted in place, the polygonal opening at the bottom ends of the fermented grain taking bags 40 gradually decreases in the process, redundancy appears on the sides of the polygonal opening at the initial stage, the bottom end opening of the fermented grain taking bags 40 is in a petal shape, and along with the increasing of the gathering angle of the main slotting tools 30, the redundancy gradually disappears, the edge of the bottom opening part of the fermented grain taking bag 40 is tightened, at this time, the bottom opening part of the fermented grain taking bag 40 is changed into a regular polygonal star shape shown in fig. 9 due to the hysteresis pulling action of each auxiliary slotting tool 50, as the main slotting tool 30 gathers together further, the auxiliary slotting tools 50 start to gather together synchronously under the traction of the bottom opening part of the fermented grain taking bag 40, the whole size of the regular polygonal star shape is gradually reduced in the process, and the angles of each star angle of the regular polygonal star shape are gradually reduced until the main slotting tool 30 gathers together to reach the limit position, as shown in fig. 10, at this time, the bottom opening part of the fermented grain taking bag 40 is completely gathered together due to the fact that each star angle of the regular polygonal star shape is close to the closed state, so as to form a stable closing state, and wine grains are prevented from being scattered in the process of taking out the ground cylinder.
Specifically, referring to fig. 4 and 5, in this embodiment, a plurality of connecting seats 51 are uniformly distributed on the bottom wall of the carriage 20 along the circumferential direction thereof, the top ends of the auxiliary slotting tools 50 are respectively connected with the connecting seats 51 correspondingly, the connecting seats 51 are provided with limiting portions 511, and when the auxiliary slotting tools 50 synchronously gather to abut against the corresponding limiting portions 511, the bottom ends of the auxiliary slotting tools 50 and the main slotting tools 30 cooperate to gather the bottom end opening portions of the fermented grain taking bags 40 into a regular polygonal star shape. The auxiliary slotting tool 50 can be conveniently connected and assembled by the aid of the connecting seat 51, the limiting part 511 is used for limiting the gathering limit position of the auxiliary slotting tool 50, the bottom end opening of the fermented grain taking bag 40 can be ensured to be in a tight state after being closed, so that the stability of the closing state is improved, and the leakage of fermented grains is avoided.
The connecting seat 51 in this embodiment may be an L-shape (one side wall is a portion hinged to the top end of the auxiliary cutter 50, the other bent side wall is a limiting portion 511) or a U-shape with one side closed (the top end of the auxiliary cutter 50 is hinged by inserting into a U-shaped groove, and the closed side wall is a limiting portion 511), and when the main cutter 30 is folded to the limit position, the auxiliary cutter 50 is also brought to the folding limit position by the abutting action of the limiting portion 511 and the auxiliary cutter 50.
As a specific embodiment of the above-mentioned fixing frame 10, please understand with reference to fig. 1 and 4, the fixing frame 10 includes a fixing plate 11, a hanging plate 12, and a plurality of optical axes 13; the fixed disk 11 is used for being fixedly connected to the end execution arm; the hanging scaffold 12 is positioned right below the fixed scaffold 11; the optical axes 13 are distributed at intervals along the circumferential direction of the fixed disc 11, the top ends of the optical axes 13 are fixedly connected with the fixed disc 11, and the bottom ends of the optical axes 13 are fixedly connected with the suspension disc 12; the first telescopic driving piece 14 is fixedly connected to the fixed disc 11, the output end of the first telescopic driving piece extends vertically downwards, and the sliding frame 20 is slidably connected to the optical axes 13.
The fixing disc 11 is fixedly connected with the flange plate of the tail end actuating arm, so that the fixing disc is convenient to assemble and reliable to connect, the lower ends of the optical axes 13 are connected into an integral structure by the suspension disc 12, so that the connection stability of each optical axis 13 is improved, the connection stability of the sliding frame 20 which is in sliding fit with the optical axis 13 is further improved, and of course, it is understood that in order to realize the connection of the sliding frame 20 and the optical axis 13, the center of the suspension disc 12 should be provided with an avoidance space which is suitable for the sliding frame 20 to pass through.
As a specific embodiment of the above-described carriage 20, the carriage 20 includes a slide plate 21 and a cutter head 22; the slide plate 21 is respectively and slidably connected with each optical axis 13 and fixedly connected with the output end of the first telescopic driving piece 14; the cutterhead 22 is positioned right below the hanging scaffold 12, and each main cutter 30 and each auxiliary cutter 50 are connected with the cutterhead 22; the second telescopic driving piece 23 is fixedly connected to the center of the top wall of the cutterhead 22, and penetrates through the hanging disc 12 upwards to be fixedly connected with the sliding disc 21.
The cylinder is used as the first telescopic driving member 14, the cylinder barrel of the cylinder is vertically fixed on the cutter head 22, the center of the suspension disc 12 is provided with a hole suitable for the cylinder barrel to pass through, the cylinder barrel is extended upwards and connected with each main slotting tool 30, meanwhile, the top end of the cylinder barrel is fixedly connected with the sliding disc 21, of course, the cylinder barrel and the sliding disc 21 can be connected through a connecting plate or other transition pieces, not necessarily directly connected with the sliding disc 21, and if the cylinder barrel is directly connected with the sliding disc 21, the cylinder barrel is upwards penetrated through the sliding disc 21 and then connected with each main slotting tool 30.
In view of space and structural layout, in order to realize connection driving between the second telescopic driving piece 23 and each main cutter 30, in some possible implementation manners, referring to fig. 1 and fig. 4, a connecting disc 231 is disposed between the sliding disc 21 and the hanging disc 12, the center of the connecting disc 231 is fixedly connected with the output end of the second telescopic driving piece 23, the bottom wall edge of the connecting disc 231 is circumferentially and alternately provided with a plurality of connecting rods 232, the top end of each connecting rod 232 is hinged with the connecting disc 231, and the bottom end of each connecting rod 232 is correspondingly hinged with the bending part of each main cutter 30. The second telescopic driving piece 23 drives the connecting disc 231 to move up and down in the telescopic process, so that each connecting rod 232 is driven by the connecting disc 231 to move up and down to push and pull the corresponding main slotting tool 30, and synchronous opening and closing actions of each main slotting tool 30 are realized, and the structure is simple and compact, and the synchronism is high.
In this embodiment, in order to improve the stability of the up-and-down movement of the connection pad 231, the connection pad 231 may be slidably connected to each optical axis 13 through a sliding sleeve, avoiding the occurrence of radial force impact on the output end of the second telescopic driving member 23.
Alternatively, in the present embodiment, referring to fig. 1 to 4, the top end opening of the fermented grain taking bag 40 is sleeved on the connecting disc 231, and the top wall edge of the connecting disc 231 is provided with a pressing ring 2311 for pressing the top end opening edge of the fermented grain taking bag 40. Because the connecting disc 231 moves up and down synchronously with each main slotting tool 30 and each auxiliary slotting tool 50, the hoops at the upper port part of the fermented grain taking bag 40 can be arranged on the connecting disc 231 to ensure that the fermented grain taking bag 40 is always in a straight cylinder state, the resistance of being inserted into the fermented grain is prevented from being increased due to wrinkling in the fermented grain taking process, meanwhile, the edge of the top end opening part of the fermented grain taking bag 40 is pressed and fixed by the pressing ring 2311, the falling off of the fermented grain taking bag 40 can be avoided, and the fermented grain taking bag 40 can be conveniently disassembled, assembled and replaced.
Specifically, since the connection position of each connecting rod 232 and the corresponding main cutter 30 is located at the bending position of the main cutter 30, that is, the position of the main cutter 30 near the edge of the cutterhead 22, the size of the connecting disc 231 should be not smaller than the size of the cutterhead 22, and at this time, in order to achieve connection and fixation of the optical axis 13 and the hanging disc 12, a corresponding avoiding space needs to be arranged on the connecting disc 231, so in this embodiment, a plurality of through holes 2312 are distributed on the connecting disc 231 along the circumferential direction of the second telescopic driving member 23 at intervals, and each through hole 2312 is suitable for corresponding passing of each optical axis 13.
Further, referring to fig. 4, a plurality of avoidance grooves 121 are circumferentially spaced apart from the edges of the hanging scaffold 12 and the cutterhead 22, and each link 232 passes through a corresponding avoidance groove 121. Because the horizontal distance between the main slotting tool 30 and the connecting rod 232 changes when the main slotting tool 30 is unfolded, the connecting rod 232 is required to swing horizontally, and the avoidance grooves 121 are formed to enable the connecting rods 232 to have sufficient swinging space, so that the main slotting tools 30 can be gathered to the greatest extent, and the closing effect of the bottom opening of the fermented grain taking bag 40 is improved.
In addition, it should be noted that, since the bottom end opening of the fermented grain taking bag 40 should be opened to a degree consistent with the inner diameter of the ground cylinder when the fermented grain taking bag is inserted into the ground cylinder, the main and auxiliary blades 30 and 50 need to be in contact with the inner wall of the ground cylinder, and in order to avoid damaging the ground cylinder and reduce the insertion resistance, referring to fig. 1 and 3, the side walls (i.e. the bottom ends of the backs of blades) of the main and auxiliary blades 30 and 50 facing away from the gathering center are provided with rollers 31.
In order to facilitate the disassembly and assembly of the fermented grain taking bag 40, and simultaneously in order to improve the structural strength of the bottom end opening part of the fermented grain taking bag 40, the bottom end opening part edge of the fermented grain taking bag is penetrated with a pull rope 41, the side walls of the bottom ends of the main slotting tool 30 and the auxiliary slotting tool 50, which deviate from the gathering center, are provided with clamping grooves suitable for embedding the pull rope 41, and the opening parts of the clamping grooves are provided with pressing blocks 32 through fastening pieces in a pressing mode. The pulling rope 41 can be taken out by disassembling the pressing block 32, so that the bottom end opening of the fermented grain taking bag 40 is detached from each main slotting tool 30 and each auxiliary slotting tool 50, the operation is simple and convenient, the strength of the bottom end opening of the fermented grain taking bag 40 can be improved, and the bottom end opening of the fermented grain taking bag 40 is prevented from being damaged due to frequent traction bearing.
Based on the same inventive concept, please understand with reference to fig. 1 to 10, the embodiment of the present application further provides a fermented grain taking robot, which includes a three-degree-of-freedom fermented grain taking robot body, and the above-mentioned bag-type fermented grain taking manipulator disposed on an end execution arm of the fermented grain taking robot body.
According to the unstrained spirits taking robot provided by the embodiment of the invention, the end execution arm of the unstrained spirits taking robot can drive the bag-type unstrained spirits taking robot to accurately operate to the position right above the cylinder to be dug, and the first telescopic driving component pushes the sliding frame 20 to slide downwards when the unstrained spirits taking bag 40 is in a stretching state, so that each main slotting tool 30 and the unstrained spirits taking bag 40 are driven to be inserted into the unstrained spirits in the cylinder together, after the set depth is inserted, the second telescopic driving component 23 drives each main slotting tool 30 to synchronously swing so as to drive the bottom end opening of the unstrained spirits taking bag 40 to be gathered into a closing state, so that the unstrained spirits taking bag is loaded, then the first telescopic driving component 14 moves reversely to the position above the material trolley along with the end execution arm of the unstrained spirits taking robot, and then the second telescopic driving component 23 moves reversely to the state that the bottom end opening of the unstrained spirits taking bag 40 is stretched, so that the unstrained spirits taking bag is enabled to fall into the material trolley, the whole unstrained spirits taking process can not cause excessive extrusion to the unstrained spirits in the unstrained spirits, the traditional unstrained spirits taking mode can be greatly improved, the manpower requirements on the prior art, the manpower is greatly improved, the production has the production process, and the production has improved, and the production efficiency and the production.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The unstrained spirits manipulator is got to bag type, its characterized in that includes:
the fixed frame is vertically fixed on the tail end execution arm of the fermented grain taking robot, and a first telescopic driving piece is arranged on the fixed frame along the vertical direction;
the sliding frame is connected to the fixing frame in a sliding manner along the vertical direction and is connected with the output end of the first telescopic driving piece, and a second telescopic driving piece is arranged on the sliding frame along the vertical direction;
the main slotting tools are distributed at intervals along the circumferential direction of the sliding frame, one end of each main slotting tool is hinged with the center position of the bottom wall of the sliding frame, the other end of each main slotting tool extends towards the periphery of the sliding frame and bends downwards, and each main slotting tool is connected with the output end of the second telescopic driving piece and used for synchronously expanding or gathering under the drive of the second telescopic driving piece;
the fermented grain taking bag is a straight cylinder with two open ends, the fermented grain taking bag is sleeved on the periphery of each main slotting tool, and the bottom end opening parts are respectively connected with the bottom ends of the main slotting tools;
when the main slotting tools are in an open state, the bottom end parts of the main slotting tools can be unfolded to be regular polygons matched with the inner diameter of the ground cylinder, and when the main slotting tools are in a gathering state, the bottom end parts of the fermented grain taking bags are gathered to be in a closing state under the synchronous traction action of the bottom ends of the main slotting tools.
2. The bag-type fermented grain taking manipulator according to claim 1, wherein a plurality of auxiliary slotting tools which are respectively and crosswise distributed with the main slotting tools are hinged on the bottom wall of the sliding frame, the bottom ends of the auxiliary slotting tools are respectively connected with the corresponding positions of the bottom end opening parts of the fermented grain taking bags, and when the main slotting tools are opened or gathered, the auxiliary slotting tools are synchronously opened or gathered under the traction action of the bottom end opening parts of the fermented grain taking bags.
3. The bag-type fermented grain taking manipulator according to claim 2, wherein a plurality of connecting seats are uniformly distributed on the bottom wall of the carriage along the circumferential direction of the bottom wall, the top ends of the auxiliary slotting tools are respectively and correspondingly connected with the connecting seats, the connecting seats are provided with limiting parts, and when the auxiliary slotting tools synchronously gather to be abutted with the corresponding limiting parts, the bottom ends of the auxiliary slotting tools and the main slotting tools are matched to gather the bottom end opening parts of the fermented grain taking bags into a regular polygonal star shape.
4. A bag-type fermented grain taking manipulator as claimed in claim 2 or 3, wherein the fixing frame comprises:
the fixed disc is fixedly connected to the tail end execution arm;
the suspension disc is positioned right below the fixed disc;
the optical axes are distributed at intervals along the circumferential direction of the fixed disc, the top ends of the optical axes are fixedly connected with the fixed disc, and the bottom ends of the optical axes are fixedly connected with the suspension disc;
the first telescopic driving piece is fixedly connected to the fixed disc, the output end of the first telescopic driving piece extends downwards vertically, and the sliding frame is connected to the optical axes in a sliding mode.
5. The bag-type fermented grain taking manipulator according to claim 4, wherein the carriage comprises:
the sliding disc is respectively connected with each optical axis in a sliding way and fixedly connected with the output end of the first telescopic driving piece;
the cutter disc is positioned right below the suspension disc, and each main slotting tool and each auxiliary slotting tool are connected with the cutter disc;
the second telescopic driving piece is fixedly connected to the center of the top wall of the cutterhead and upwards penetrates through the suspension disc to be fixedly connected with the sliding disc.
6. The bag-type fermented grain taking manipulator according to claim 5, wherein a connecting disc is arranged between the sliding disc and the suspension disc, the center of the connecting disc is fixedly connected with the output end of the second telescopic driving piece, a plurality of connecting rods are distributed at intervals along the circumferential direction of the bottom wall edge of the connecting disc, the top ends of the connecting rods are hinged with the connecting disc, and the bottom ends of the connecting rods are correspondingly hinged with the bending parts of the main slotting cutter.
7. The bag-type fermented grain taking manipulator according to claim 6, wherein the top end opening part of the fermented grain taking bag is sleeved on the connecting disc, and a compression ring for compressing the top end opening part edge of the fermented grain taking bag is arranged on the top wall edge of the connecting disc.
8. The bag-type fermented grain taking manipulator according to claim 6, wherein a plurality of through holes are distributed on the connecting disc at intervals along the circumferential direction of the second telescopic driving piece, and each through hole is respectively suitable for the corresponding passing of each optical axis.
9. The bag-type fermented grain taking manipulator according to claim 6, wherein a plurality of avoidance grooves are distributed on the edges of the suspension disc and the cutter disc at intervals along the circumferential direction of the suspension disc and the cutter disc, and each connecting rod respectively penetrates through the corresponding avoidance groove correspondingly.
10. The fermented grain taking robot is characterized by comprising the bag-type fermented grain taking manipulator as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210346109.5A CN114806763B (en) | 2022-03-31 | 2022-03-31 | Bag-type fermented grain taking manipulator and fermented grain taking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210346109.5A CN114806763B (en) | 2022-03-31 | 2022-03-31 | Bag-type fermented grain taking manipulator and fermented grain taking robot |
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| CN114806763B true CN114806763B (en) | 2023-06-06 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102978071A (en) * | 2012-12-26 | 2013-03-20 | 张晓光 | Fermented grains discharging device for liquor making |
| CN104946455A (en) * | 2015-06-23 | 2015-09-30 | 安徽安庆市金徽酒业有限公司 | Fermented grain discharge device for white spirits |
| CN208814978U (en) * | 2018-08-31 | 2019-05-03 | 安徽金种子酒业股份有限公司 | A kind of ground cylinder solid state fermentation fermented grain goes out unstrained spirits device |
-
2022
- 2022-03-31 CN CN202210346109.5A patent/CN114806763B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102978071A (en) * | 2012-12-26 | 2013-03-20 | 张晓光 | Fermented grains discharging device for liquor making |
| CN104946455A (en) * | 2015-06-23 | 2015-09-30 | 安徽安庆市金徽酒业有限公司 | Fermented grain discharge device for white spirits |
| CN208814978U (en) * | 2018-08-31 | 2019-05-03 | 安徽金种子酒业股份有限公司 | A kind of ground cylinder solid state fermentation fermented grain goes out unstrained spirits device |
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| CN114806763A (en) | 2022-07-29 |
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