CN205774443U - A kind of full-automatic loaded steamer system based on flexible spreading robot - Google Patents
A kind of full-automatic loaded steamer system based on flexible spreading robot Download PDFInfo
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- CN205774443U CN205774443U CN201620649101.6U CN201620649101U CN205774443U CN 205774443 U CN205774443 U CN 205774443U CN 201620649101 U CN201620649101 U CN 201620649101U CN 205774443 U CN205774443 U CN 205774443U
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- fermented grain
- conveyer
- spreading robot
- feeding arm
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- 230000007480 spreading Effects 0.000 title claims abstract description 58
- 238000003892 spreading Methods 0.000 title claims abstract description 58
- 239000000463 material Substances 0.000 claims abstract description 14
- 238000007599 discharging Methods 0.000 claims abstract description 8
- 230000003139 buffering effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 4
- 239000004020 conductor Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 238000010025 steaming Methods 0.000 claims description 3
- 239000000872 buffer Substances 0.000 claims description 2
- 238000004821 distillation Methods 0.000 abstract description 4
- 235000021419 vinegar Nutrition 0.000 abstract description 2
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- 235000009566 rice Nutrition 0.000 description 3
- 235000015096 spirit Nutrition 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000000855 fermentation Methods 0.000 description 2
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- 239000002994 raw material Substances 0.000 description 2
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Abstract
This utility model relates to a kind of full-automatic loaded steamer system based on flexible spreading robot, conveyer belt, flexible spreading robot, Zhen Tong, infrared camera, bung hanging apparatus, condenser and electrical control cubicles is promoted including Testa Tritici conveyer, fermented grain conveyer, fermented grain, the discharging opening of Testa Tritici conveyer and fermented grain conveyer is all connected to fermented grain and promotes the charging aperture of conveyer belt, and fermented grain promotes the feed hopper of the flexible spreading robot of discharging opening connection of conveyer belt；At the interval, working region of flexible spreading robot, Zhen bucket is installed, discriminates, below bucket, heater is installed.This utility model conveying can be precisely controlled, it is possible to realizes spilling material thin, soft, even, promotes distillation yield.Reach gently to spread thin paving, meeting gas spills material, spill shots accurately, vinegar to put down to form loose uniform microcellular structure.
Description
Technical field
This utility model belongs to Chinese liquor and manufactures field, relates to Brewing equipment, especially a kind of based on flexible spreading robot
Full-automatic loaded steamer system.
Background technology
Brewed spirit industry is Chinese distinctive manufacturing, and Chinese liquor is with grain as primary raw material, needs through solid-state
The operations such as fermentation, steaming kier distillation, traditional manufacture method relies primarily on and is accomplished manually, strong for artificial experience dependency, needs
Wanting a large amount of manpowers just can complete, labor cost is the highest, and integral production is inefficient.
In loaded steamer step, existing automatic steamer filling equipment is typically with ordering ABB robot and captures and shed fermented grain,
It is primarily present following defect: 1, the existing generally open type conveying of fermented grain mode of movement, then is captured by Robot for steamer, feeding
Metering, speed and seriality are poor.2, fermented grain directly sheds entrance Zhen bucket above Zhen bucket, can cause the existing fermented grain quilt of lower floor
Compacting, affects follow-up steaming wine effect.3, during loaded steamer, sequentially spreading or by sensor detection rice steamer in fermented grain thickness
Carrying out spreading, in this process, the steam that lower section fermented grain steams is that non-homogeneous race emits, and steam can be above unlimited Zhen bucket
Loss, more wastes.
Through retrieval, find the patent documentation that the following existing packaging system being closer to is relevant.
Full-automatic Robot for steamer system (CN203781376U), including feeder, material-feeding mechanism, Robot for steamer and
Rice steamer bucket, described feeder includes feed hopper and the feeding device connected with its its top feed mouth, unloading bottom described feed hopper
Material mouth opening and closing is controlled by cylinder；Described material-feeding mechanism includes the cloth bucket of sector structure and is located at the fan-shaped conveying dress bottom it
Put, spreading out device；Described Robot for steamer includes drive system, frame and the turning arm I being rotationally connected with in frame, material distributing machine
Structure is arranged on turning arm I, and the charging aperture of cloth bucket shifts discharge port and the charging of rice steamer bucket being connected feed hopper respectively with cloth mouth
Mouthful, the drive system signal of described Robot for steamer connects driving motor and the driving means of cylinder of feeding device.This practicality
Novel instead of the work of original artificial loaded steamer completely, loaded steamer quickly, uniformly, breaks through the bottle of wine brewing full automatic mechanical development
Neck.
Through contrasting, present patent application technology contents required for protection is relatively big with prior art difference, actual solution
Technical problem also has bigger difference, present patent application technology contents to have stronger novelty.
Utility model content
In place of the purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of with make wine industry great need
Asking as core, use virtual Prototype to develop the mode combined with physical prototype model machine, research and development one is based on traditional fermentation
The full-automatic loaded steamer system based on flexible spreading robot of technique.
This utility model solves it and technical problem is that and take techniques below scheme to realize:
A kind of full-automatic loaded steamer system based on flexible spreading robot, it is characterised in that: include Testa Tritici conveyer, fermented grain
Conveyer, fermented grain promote conveyer belt, flexible spreading robot, Zhen Tong, infrared camera, bung hanging apparatus, condenser and electricity
Control cabinet, the discharging opening of Testa Tritici conveyer and fermented grain conveyer is all connected to fermented grain and promotes the charging aperture of conveyer belt, and fermented grain promotes defeated
The discharging opening sending band connects the feed hopper of flexible spreading robot；At the interval, working region of flexible spreading robot, Zhen is installed
Bucket, discriminates and is provided with heater below bucket；
It is arranged above fixed frame discriminating bucket and infrared camera is installed on fixed frame；In the radial direction side discriminating bucket
It is mounted on a condenser, between condenser and Zhen bucket, is mounted on a bung hanging apparatus, is provided with on bung top
One steam lead, this steam lead is connected to the input port of condenser, and condenser side is provided with wine base outlet；
Native system is provided with electrical control cubicles, this electrical control cubicles by data conductor connect respectively Testa Tritici conveyer, fermented grain conveyer,
Fermented grain promotes conveyer belt, flexible spreading robot, infrared camera, bung hanging apparatus and condenser.
And, outside the working region of flexible spreading robot, protective fence is installed.
And, flexible spreading robot includes pedestal, stand, crane, one-level feeding arm, two grades of feeding arms, vertically send
Material arm and buffering feeding arm, vertically rotate in pedestal upper end and have stand in installation, and in stand, drive installation has a crane, should
Crane is driven by lifting drive and moves up and down along stand；In crane, horizontal boom formula is provided with one-level feeding arm,
The cantilever end of this one-level feeding arm horizontally rotates the one end being provided with two grades of feeding arms, the other end closed downwards of two grades of feeding arms
Being provided with the upper end of vertical feeding arm, this vertical feeding arm is the tubular construction of hollow, and vertical feeding arm lower end is provided with buffering
One end of feeding arm, the other end of buffering feeding arm is provided with spreading outlet.
And, described one-level feeding arm and two grades of feeding arms are hollow circle tube structure, and one-level feeding arm upper end is fixedly mounted with
There is a feed hopper；Being coaxially installed with screw feeding bar in one-level feeding arm, one-level feeding arm is stretched out in one end of screw feeding bar
Rear end and be coaxially installed with feeding motor, the one-level feeding arm below the other end of screw feeding bar is shaped with feeding channel,
Two grades of feeding arms of this feeding channel lower end connection, are coaxially installed with another screw feeding bar and feeding electricity in two grades of feeding arms
Machine.
And, in the buffering feeding arm that the outlet of vertical feeding arm lower end is corresponding, a horizontally disposed carrying is installed and puts down
Platform, before and after this carrying platform both sides be separately installed with two roll shafts and on these two roll shafts drive installation have a transmission
Band.
Advantage of the present utility model and good effect be:
1, this utility model full-automatic can be carried out the conveying of raw material and sow, for not destroying fermented grain physical characteristic, solely
In the arm of wound, twin screw push feed mechanism, compact conformation, can realize spilling material continuously, it is ensured that fermented grain transmit safety and stability and
Wholesomeness, effectively controls feeding speed and dosage, and what simulation staff carried out shedding " light, thin, accurate, loose, flat, even " of fermented grain will
Ask, without waiting time to be expected, improve efficiency.
2, robot completes vision data acquisition by infrared camera, and infrared visual pattern treatment technology commander spreads
Material position, owing to the temperature of steam Yu fermented grain exists temperature difference, once has small steam to spill, can pass through infrared camera
Catch, thus provide location information for control system, thus driven machine people moves to Gas leak position, carries out the throwing of fermented grain
Spilling, thus cover air leakage point, accuracy is high, quickly mends paving air leakage point, it is to avoid gas leakage, and distilling effect is good, intelligence is fully achieved raw
Produce, raising efficiency, and promote crudy.
3, robot is firm based on hard and soft kinetics, flexible spreading robot dynamic simulation, Spatial distributions measurement and system
The contents such as degree is studied, the research of non-linear control strategy.According to determining end given trace, ask for component name configuration variables,
Then using this configuration variables as it is known that build mechanical hand inverse dynamics model, and by discrete Fourier transform (DFT) use number
Value method has solved joint driven torque, and by direct integration under time domain, has solved the elastic configuration variables of mechanical hand.
4, the flexible feeding feeding end carrying platform that robot is installed, the highly controllable system of carrying platform, be effectively ensured wine
What unstrained spirits was mild trickles down in discriminating bucket, so that the fermented grain of spreading keeps loose, promotes the processing effect of later stage distillation；And, hold
Carrying platform can spill material without dead angle run with rotation in discriminating bucket.
5, this utility model conveying can be precisely controlled, it is possible to realizes spilling material thin, soft, even, promotes distillation yield.Reach gently to spread thin
Spread, meeting gas spills material, spill shots accurately, vinegar to put down to form loose uniform microcellular structure.
Accompanying drawing explanation
Fig. 1 is this utility model system structure schematic diagram；
Fig. 2 is the structural front view of flexible spreading robot；
Fig. 3 is the left view of Fig. 2；
Fig. 4 be in Fig. 3 A-A to sectional view；
Fig. 5 is the B portion enlarged drawing in Fig. 4；
Fig. 6 is the perspective view of another duty of flexible spreading robot.
Reference represents: 1 bung hanging apparatus, 2 infrared cameras, and 3 fermented grains promote conveyer belt, 4 Testa Tritici conveyers, 5 wine
Unstrained spirits conveyer, 6 flexible spreading robots, 7 discriminate bucket, 8 electrical control cubicles, 9 condensers；
601 stands, 602 feed hoppers, 603 cranes, 604 one-level feeding arms, 605 driving motors, 606 gear trains, 607 2
Level feeding arm, 608 vertical feeding arms, 609 buffering feeding arms, 610 spreading outlets, 611 pedestals, 612 lifting drives, 613
Feeding channel, 614 screw feeding bars, 615 feeding motors, 616 conveyer belts, 617 carrying platforms, 618 roll shafts.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings and by specific embodiment, and following example are simply retouched
The property stated, be not determinate, it is impossible to limit protection domain of the present utility model with this.
A kind of full-automatic loaded steamer system based on flexible spreading robot, including Testa Tritici conveyer 4, fermented grain conveyer 5, wine
Unstrained spirits promotes conveyer belt 3, flexible spreading robot 6, discriminates bucket 7, infrared camera 2, bung hanging apparatus 1, condenser 9 and electrical control cubicles
8, the discharging opening of Testa Tritici conveyer and fermented grain conveyer is all connected to fermented grain and promotes the charging aperture of conveyer belt, and fermented grain promotes conveyer belt
Discharging opening connect the feed hopper of flexible spreading robot 6；It is provided with two at the interval, working region of flexible spreading robot
Discriminating bucket 3, flexible spreading robot, for being sprinkled into fermented grain in discriminating bucket, discriminates and is provided with heater (not marking in figure) below bucket；
Being arranged above fixed frame discriminating bucket and be provided with infrared camera 2 on fixed frame, this infrared camera can edge
Fixed frame moves, and arrives directly over Zhen bucket to be fed；Four corner in bucket is discriminated in collection while infrared camera during work
Image；Owing to the temperature of steam Yu fermented grain exists temperature difference, once there is small steam to spill, can be entered by infrared camera
Row catches, thus provides location information for control system, thus driven machine people moves to Gas leak position, carries out the throwing of fermented grain
Spill, thus rapid Cover air leakage point.
It is mounted on a condenser 8 in the radial direction side of each Zhen bucket, between condenser and Zhen bucket, is mounted on one
Bung hanging apparatus 1, this bung hanging apparatus is used for the bung of mobile lifting Zhen bucket and is easy to charging, and after completing spreading, bung hangs
Bung spiral-lock is being discriminated on bucket by assembling device, and bung coordinates the steamer of composition with discriminating bucket sealing；On bung top, one steam is installed
Conduit, this steam lead is connected to the input port of condenser, and condenser side is provided with wine base outlet；
In order to ensure work safety, outside the working region of flexible spreading robot, protective fence is installed.
Being provided with electrical control cubicles 8 outside protective fence, this electrical control cubicles connects Testa Tritici conveyer, fermented grain respectively by data conductor
Conveyer, fermented grain promote conveyer belt, flexible spreading robot, infrared camera, bung hanging apparatus and condenser, this patent Shen
Please electric-control system is not described in detail.
The concrete structure of flexible spreading robot sees shown in accompanying drawing 2 to accompanying drawing 5, including pedestal 611, stand 601, lifting
Frame 603,604, two grades of feeding arms 607 of one-level feeding arm, vertical feeding arm 608 and buffering feeding arm 609,
Having stand 601 in pedestal 611 upper end is vertically-mounted, in stand, drive installation has a crane 603, this crane
Driven by lifting drive 612 and move up and down along stand；In crane, horizontal boom formula is provided with one-level feeding arm 604,
The cantilever end of this one-level feeding arm horizontally rotates the one end being provided with two grades of feeding arms 607, below the other end of two grades of feeding arms
Closing the upper end being provided with vertical feeding arm 608, this vertical feeding arm is the tubular construction of hollow, and vertical feeding arm lower end is installed
There are one end of buffering feeding arm 609, the other end of buffering feeding arm that spreading outlet 610 is installed；
Between one-level feeding arm and two grades of feeding arms, control device for pivoting is installed, control system controls two grades of feeding arms
Carry out horizontal reciprocating swing, particularly as follows: the sealing joint of the interface channel of one-level feeding arm and two grades of feeding arms and freely turn
Dynamic, and be provided with gear train 606 between one-level feeding arm and two grades of feeding arms, this gear train is carried out by driving motor 605 to drive
Rotate, control two grades of feeding arms and carry out horizontal rotation；
Between two grades of feeding arms and vertical feeding arm, control device for pivoting is installed, control system controls vertical feeding arm
Carry out automatic rotating shaft, velocity of rotation and rotational angle can control, thus drive buffering feeding arm to carry out 360 ° of rotations, in discriminating bucket
Spreading without dead angle；
One-level feeding arm and two grades of feeding arms are hollow circle tube structure, and one-level feeding arm upper end is fixed with a feed hopper
602 are used for inputting fermented grain；Being coaxially installed with screw feeding bar 614 in one-level feeding arm, one end of screw feeding bar stretches out one
The level rear end of feeding arm is also coaxially installed with feeding motor 615, and the one-level feeding arm below the other end of screw feeding bar is made
There is feeding channel 613, two grades of feeding arms 607 of this feeding channel lower end connection, it is coaxially installed with another spiral in two grades of feeding arms
Feeding rod and feeding motor；
In the buffering feeding arm that the outlet of vertical feeding arm lower end is corresponding, a horizontally disposed carrying platform 617 is installed,
Before and after this carrying platform both sides be separately installed with two roll shafts and on these two roll shafts drive installation have a conveyer belt
616, the fermented grain that top falls drops on a moving belt, belt-driven move horizontally and finally gently send spreading outlet.
The method of work of native system:
(1) system start-up, electrical control cubicles sends to instruct and sets the Zhen bucket treating spreading, flexible spreading robot automatic position adjusting function,
Coordinate and discriminate bucket position adjustments feed level and angle；Meanwhile, infrared camera moves to reach to be treated above the Zhen bucket of spreading, enters discriminating bucket
Row shooting；
(2) the fermented grain prepared is delivered to fermented grain and is promoted conveyer belt by Testa Tritici conveyer and fermented grain conveyer, and fermented grain promotes conveying
Band is by the charging aperture conveying of fermented grain item flexibility spreading robot；
(3) flexible spreading robot carries out spreading in discriminating bucket；
Meanwhile, infrared camera detecting system detects the steam Gas leak position discriminated in bucket in real time, and flexible spreading robot is preferential
Supplement shedding of fermented grain, prevent gas leakage；
1. fermented grain enters one-level feeding arm by feed hopper, and the feeding motor in one-level feeding arm drives screw feeding bar to turn
Dynamic, orientation pushes and the fermented grain in one-level feeding arm is pushed forward；
2. fermented grain falls to entering two grades of feeding arms, the spiral shell in two grades of feeding arms by the feeding channel of one-level feeding arm front end
Rotation feeding rod drives fermented grain to push forward；
3. fermented grain falls into vertical feeding arm, freely falls to buffer in feeding arm,
4. having conveyer belt level to send spreading outlet after being buffered by carrying platform in buffering feeding arm, mild is sprinkled upon Zhen bucket
In；
The loose spreading of fermented grain is in discriminating bucket, and one-level feeding arm, two grades of feeding arms and buffering feeding arm coordinate and rotate, can
To deliver to fermented grain neatly discriminate optional position in bucket；The velocity of rotation of feeding motor is controlled by control system Intelligent adjustment；
(4) crane moves up, and repeats step (3), and spreading fermented grain layer by layer, until filling Zhen bucket；
(5) bung is moved spiral-lock and is discriminating on bucket by bung hanging apparatus, under bung along with discriminate bucket and seal and coordinates, below Zhen bucket
Heater is installed heat；
(5) produce steam in discriminating bucket, input condenser by the steam lead on bung, thus cooling obtains wine base, wine base
Output is exported by the wine base of condenser side.
Although disclosing embodiment of the present utility model and accompanying drawing for the purpose of illustration, but those skilled in the art being permissible
Understanding: without departing from this utility model and spirit and scope of the appended claims, various replacements, to change and modifications be all can
Can, therefore, scope of the present utility model is not limited to embodiment and accompanying drawing disclosure of that.
Claims (5)
1. a full-automatic loaded steamer system based on flexible spreading robot, it is characterised in that: include that Testa Tritici conveyer, fermented grain are defeated
Machine, fermented grain is sent to promote conveyer belt, flexible spreading robot, Zhen Tong, infrared camera, bung hanging apparatus, condenser and automatically controlled
Cabinet, the discharging opening of Testa Tritici conveyer and fermented grain conveyer is all connected to fermented grain and promotes the charging aperture of conveyer belt, and fermented grain promotes conveying
The discharging opening of band connects the feed hopper of flexible spreading robot；At the interval, working region of flexible spreading robot, Zhen is installed
Bucket, discriminates and is provided with heater below bucket；
It is arranged above fixed frame discriminating bucket and infrared camera is installed on fixed frame；All pacify in the radial direction side discriminating bucket
Equipped with a condenser, between condenser and Zhen bucket, it is mounted on a bung hanging apparatus, on bung top, one steaming is installed
Vapour conduit, this steam lead is connected to the input port of condenser, and condenser side is provided with wine base outlet；
Native system is provided with electrical control cubicles, and this electrical control cubicles connects Testa Tritici conveyer, fermented grain conveyer, fermented grain respectively by data conductor
Promote conveyer belt, flexible spreading robot, infrared camera, bung hanging apparatus and condenser.
Full-automatic loaded steamer system based on flexible spreading robot the most according to claim 1, it is characterised in that: in flexibility
Outside the working region of spreading robot, protective fence is installed.
Full-automatic loaded steamer system based on flexible spreading robot the most according to claim 1, it is characterised in that: flexibility is spread
Material robot includes pedestal, stand, crane, one-level feeding arm, two grades of feeding arms, vertical feeding arms and buffers feeding arm,
Vertically rotating in pedestal upper end and have stand in installation, in stand, drive installation has a crane, and this crane is by lifting driving dress
Put driving to move up and down along stand；In crane, horizontal boom formula is provided with one-level feeding arm, the cantilever of this one-level feeding arm
End horizontally rotates the one end being provided with two grades of feeding arms, and the other end closed downwards of two grades of feeding arms is provided with vertical feeding arm
Upper end, this vertical feeding arm is the tubular construction of hollow, and vertical feeding arm lower end is provided with one end of buffering feeding arm, and buffering is sent
The other end of material arm is provided with spreading outlet.
Full-automatic loaded steamer system based on flexible spreading robot the most according to claim 3, it is characterised in that: described one
Level feeding arm and two grades of feeding arms are hollow circle tube structure, and one-level feeding arm upper end is fixed with a feed hopper；Send in one-level
Being coaxially installed with screw feeding bar in material arm, one end of screw feeding bar is stretched out the rear end of one-level feeding arm being coaxially installed with and is sent
Material motor, the one-level feeding arm below the other end of screw feeding bar is shaped with feeding channel, this feeding channel lower end connection two
Level feeding arm, is coaxially installed with another screw feeding bar and feeding motor in two grades of feeding arms.
Full-automatic loaded steamer system based on flexible spreading robot the most according to claim 3, it is characterised in that: vertically
In the buffering feeding arm that the outlet of feeding arm lower end is corresponding, a horizontally disposed carrying platform is installed, before and after this carrying platform two
Side be separately installed with two roll shafts and on these two roll shafts drive installation have a conveyer belt.
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| CN201620649101.6U CN205774443U (en) | 2016-06-22 | 2016-06-22 | A kind of full-automatic loaded steamer system based on flexible spreading robot |
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| CN201620649101.6U CN205774443U (en) | 2016-06-22 | 2016-06-22 | A kind of full-automatic loaded steamer system based on flexible spreading robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105925419A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Full-automatic steamer filling system based on flexible sprinkling robot |
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2016
- 2016-06-22 CN CN201620649101.6U patent/CN205774443U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105925419A (en) * | 2016-06-22 | 2016-09-07 | 天津荣新佳科技有限公司 | Full-automatic steamer filling system based on flexible sprinkling robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170706 Address after: 300111, Tianjin District, Xiqing District,, Tai Cheng Road, No. 37 District Patentee after: TIANJIN RONGXINJIA MACHINERY Co.,Ltd. Address before: 300499, No. 20, Shuang Chuan Road, Beichen economic and Technological Development Zone, Tianjin Patentee before: TIANJIN RONGXINJIA TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20240219 Address after: No. 139 Peitianmen Street, Tai'an High-tech Zone, Tai'an City, Shandong Province, 271000 Patentee after: Zhongke Hengxin Intelligent Technology (Taian) Co.,Ltd. Country or region after: China Address before: 300111 area B, 37 Taijin Road, Zhangjiawo Industrial Zone, Xiqing District, Tianjin Patentee before: TIANJIN RONGXINJIA MACHINERY Co.,Ltd. Country or region before: China |