CN210854294U - Fermented grain discharging system - Google Patents
Fermented grain discharging system Download PDFInfo
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- CN210854294U CN210854294U CN201921422934.9U CN201921422934U CN210854294U CN 210854294 U CN210854294 U CN 210854294U CN 201921422934 U CN201921422934 U CN 201921422934U CN 210854294 U CN210854294 U CN 210854294U
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Abstract
The utility model relates to a white spirit brewing technology field discloses a wine unstrained spirits goes out cellar for storing things system, include: a collaborative robot; the cooperative robot comprises a support, an X-axis moving trolley, a Y-axis moving trolley and a telescopic mechanism; the support is located to X axle travelling car along X axle direction is portable, X axle travelling car is located to Y axle travelling car along Y axle direction is portable, the vertical setting of telescopic machanism is on Y axle travelling car, telescopic machanism's bottom is connected with the cooperation grab bucket, the support can be dismantled to fix and make the cooperation grab bucket be located the top in cellar for storing things pond all around the pool mouth in cellar for storing things pond, the cooperation grab bucket is used for shifting the wine unstrained spirits that is located cellar for storing things pond corner and pool wall to preset the position. The utility model provides a pair of wine unstrained spirits goes out cellar for storing things system through the supplementary of cooperation grab bucket, can snatch the wine unstrained spirits of cellar for storing things pond edge department smoothly, is favorable to thoroughly going out the cellar for storing things of wine unstrained spirits, and utilizes the cooperation grab bucket can avoid the main work grab bucket to snatch the wine unstrained spirits on the cellar for storing things pond pool wall to avoid the main work grab bucket to damage to cellar for storing things pond wall.
Description
Technical Field
The utility model relates to a white spirit brewing technical field especially relates to a wine unstrained spirits goes out cellar for storing things system.
Background
At present, in the process of preparing the large-scale white spirit, a cellar entry process is provided after a spreading and drying yeast spreading process, and the process mainly comprises the working procedures of yeast spreading, cellar filling, scraping and cellar treading. And (3) fermenting the fermented grains in a pit after the fermented grains are put into the pit, and taking the fermented grains out of the pit after the fermentation is finished.
The traditional fermented grains in the cellar are discharged from the cellar by manual operation and the like, the degree of automation is low, the intensity of workers is high, oxygen at the bottom of the cellar is thin, and the working environment is severe. At present, some factories automatically grab fermented grains in a pit by using a mechanical grab bucket to discharge the fermented grains, but the fermented grains on the corners of the pit or the wall of the pit are difficult to grab, so that the problems of incomplete pit discharge and easy damage to the wall of the pit exist.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model aims at providing a wine unstrained spirits goes out cellar for solve or partially solve present some mills and utilize mechanical grab bucket to pick the wine unstrained spirits of cellar for storage in the pond automatically and carry out the wine unstrained spirits and go out the cellar for storage, nevertheless hardly grab to the wine unstrained spirits on cellar for storage pond corner or cellar for storage pond wall and get, have out the problem that the cellar for storage is not thorough and damage the cellar for storage pond wall easily.
(II) technical scheme
In order to solve the technical problem, the utility model provides a wine unstrained spirits goes out cellar for storing things system, include: a collaborative robot; the cooperative robot comprises a support, an X-axis moving trolley, a Y-axis moving trolley and a telescopic mechanism; x axle travelling car is portable to be located along X axle direction the support, Y axle travelling car is portable to be located along Y axle direction X axle travelling car, the vertical setting of telescopic machanism is in on the Y axle travelling car, telescopic machanism's bottom is connected with the cooperation grab bucket, the support can be dismantled and fix and make all around the pool mouth in cellar for storing things pond the cooperation grab bucket is located the top in cellar for storing things pond, the cooperation grab bucket is used for shifting the unstrained spirits that is located on cellar for storing things pond corner and pool wall to preset the position.
On the basis of the scheme, the method further comprises the following steps: the working grab bucket is movably connected with the truss vehicle through a connecting piece; the cooperative robot further includes: clamping; the holding clamp is fixedly arranged on the Y-axis moving trolley, and the holding clamp is used for fixing the connecting piece when the working grab bucket grabs the fermented grains.
On the basis of the scheme, first guide rails are respectively arranged on two sides of the support along the X-axis direction, at least one first roller is respectively arranged on two sides of the X-axis moving trolley, the first rollers on the two sides of the X-axis moving trolley are correspondingly connected with the upper surfaces of the first guide rails on the two sides, and a first driving mechanism is arranged on at least one side of the support along the X-axis direction and connected with the X-axis moving trolley.
On the basis of the scheme, the X-axis moving trolley is of a frame structure, second guide rails are arranged on two sides of the X-axis moving trolley respectively along the Y-axis direction, at least one second roller is arranged on two sides of the Y-axis moving trolley respectively, the second rollers on two sides of the Y-axis moving trolley are correspondingly connected with the upper surfaces of the second guide rails on two sides, a second driving mechanism is arranged on at least one side of the X-axis moving trolley along the Y-axis direction, and the second driving mechanism is connected with the Y-axis moving trolley.
On the basis of the scheme, the first driving mechanism comprises a transmission chain or belt pulley structure, and the X-axis moving trolley is connected with a belt of the transmission chain or belt pulley structure; the second actuating mechanism includes hold-in range, action wheel and two from the driving wheel that set up along Y axle direction, the both sides of hold-in range are fixed the setting respectively, action wheel and two fix respectively on the connecting plate from the driving wheel and two it is in to follow the driving wheel setting the top both sides of action wheel, the hold-in range is a few font and bypasses one in proper order from driving wheel, action wheel and another from the driving wheel, Y axle travelling car with the connecting plate links to each other.
On the basis of the scheme, two sides of the X-axis moving trolley are respectively and fixedly connected with at least one first limiting wheel, and the first limiting wheels are connected with the lower surface of the first guide rail; and two sides of the Y-axis moving trolley are respectively and fixedly connected with at least one second limiting wheel, and the second limiting wheels are connected with the lower surface of the second guide rail.
On the basis of the scheme, the telescopic mechanism comprises an outer column, a middle column and an inner column, wherein the outer column is vertically arranged, the middle column is arranged in the outer column, and the inner column is arranged in the middle column; the cooperative grab bucket is connected with the bottom of the inner column, the outer column is fixedly connected with the Y-axis moving trolley, a rack is arranged on the outer side wall of the middle column along the vertical direction, the rack is meshed with a driving gear, and the driving gear is fixed through the outer column; the lateral wall of outer post and the top fixed connection who promotes the chain, promote the bottom of chain walk around the chain annex with the lateral wall fixed connection of center pillar, promote the chain with chain annex roll connection, the chain annex is fixed in the lateral wall of inner post.
On the basis of the above scheme, the telescopic mechanism further comprises: the auxiliary cylinder is vertically arranged; the auxiliary cylinder is fixed on the Y-axis moving trolley, and a piston of the auxiliary cylinder is connected with the bottom end of the middle column.
On the basis of the scheme, the method further comprises the following steps: a scanning assembly; the scanning assembly is fixed on the Y-axis moving trolley and used for acquiring the fermented grain material surface in the pit so as to facilitate the cooperative grab bucket to grab the fermented grains; the size of the cooperating grab bucket is smaller than that of the working grab bucket; the outer side wall of the cooperative grab bucket is provided with a cleaning assembly; the support is of a splicing structure.
(III) advantageous effects
The utility model provides a fermented grain goes out cellar for storing things system sets up the cooperation robot in the pool mouth department in cellar for storing things pond, utilizes the cooperation grab bucket to snatch the fermented grain that is located on cellar for storing things pond corner or pool wall and shift to preset position department, through the assistance of cooperation grab bucket, can snatch the fermented grain of cellar for storing things pond corner smoothly, is favorable to thoroughly going out the cellar for storing things of fermented grain, and utilize the cooperation grab bucket can avoid the main work grab bucket to snatch the fermented grain on the cellar for storing things pond pool wall to avoid the damage of main work grab bucket to cellar for storing things pond pool wall; the cooperation robot is favorable for automatically finishing fermented grains to be discharged from the cellar, so that the working efficiency is improved, and the working intensity of workers is reduced.
Drawings
Fig. 1 is an overall schematic diagram of a cooperative robot in an embodiment of the present invention;
fig. 2 is an overall schematic view of a bracket according to an embodiment of the present invention;
FIG. 3 is a schematic view of an X-axis moving cart according to an embodiment of the present invention;
FIG. 4 is a schematic view of the Y-axis moving cart according to the embodiment of the present invention;
FIG. 5 is a schematic side view of the Y-axis carriage in the embodiment of the present invention;
fig. 6 is a schematic front view of a second driving mechanism according to an embodiment of the present invention;
fig. 7 is a schematic view of the connection of the second driving mechanism according to the embodiment of the present invention;
fig. 8 is a schematic view of a telescoping mechanism in an embodiment of the present invention;
fig. 9 is a schematic view of a cooperative grab bucket in an embodiment of the present invention.
Description of reference numerals:
1-a support; 2-X axis moving trolley; 3-Y-axis moving trolley;
4, a telescopic mechanism; 5-a first guide rail; 6-a first roller;
7-a second roller; 8-a cooperating grab bucket; 9, clamping;
10 — a first drive mechanism; 11-electrical cabinet; 12-a first spacing wheel;
13-a second limit wheel; 14 — a second drive mechanism; 15-a scanning assembly;
16-a synchronous belt; 17-a driving wheel; 18-a driven wheel;
19-connecting plate; 20-outer column; 21-a center pillar;
22-inner column; 23-servo electric cylinder; 24-a fixing frame.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the utility model provides a fermented grain goes out cellar for storing things system, refer to fig. 1, this fermented grain goes out cellar for storing things system includes: a collaborative robot; the cooperative robot comprises a bracket 1, an X-axis moving trolley 2, a Y-axis moving trolley 3 and a telescopic mechanism 4; x axle travelling car 2 is portable along X axle direction and is located support 1, X axle travelling car 2 is located to Y axle travelling car 3 is portable along Y axle direction, the vertical setting of telescopic machanism 4 is on Y axle travelling car 3, the bottom of telescopic machanism 4 is connected with cooperation grab bucket 8, support 1 can be dismantled to fix and make cooperation grab bucket 8 be located the top in cellar for storing things pond all around the pool mouth in cellar for storing things pond, cooperation grab bucket 8 is used for shifting the unstrained spirits that is located cellar for storing things pond corner and pool wall to preset the position.
The support 1 supports and fixes the cooperative robot at the opening of the pit. An X-axis moving trolley 2 in the cooperative robot drives a Y-axis moving trolley 3, a telescopic mechanism 4 and a cooperative grab bucket 8 to move along the X-axis direction. The Y-axis moving trolley 3 drives the telescopic mechanism 4 and the cooperative grab bucket 8 to move along the Y-axis direction; the telescoping mechanism 4 can drive the cooperating grab bucket 8 to telescope in the vertical direction. Therefore, the cooperative grab bucket 8 can perform three-dimensional linear movement under the driving of the X-axis moving trolley 2, the Y-axis moving trolley 3 and the telescopic mechanism 4.
The X-axis direction and the Y-axis direction are two horizontal directions which are vertical to each other. The cooperation robot assists the fermented grains to be discharged from one pit at a time. The cooperating grab bucket 8 can move linearly in three dimensions in a single pit. The cooperating grab 8 acts as an auxiliary grab and may be smaller in size than the main working grab. The fermented grains can be discharged from the pit by using the main working grab bucket, and most of the fermented grains are moved out of the pit from a more convenient position of the pit, such as the middle part; then the residual fermented grains positioned at the corner part of the pit and near the pit wall are grabbed and moved to a preset position by utilizing the cooperative grab bucket 8 for the main working grab bucket to grab. The preset position is a convenient position for the main working grab bucket to grab, such as the middle part of the pit.
Fixed connection can be dismantled with the pool mouth department in cellar for storing things pond to support 1, can go out the cellar for storing things in the cellar for storing things and accomplish the back in a cellar for storing things pond, dismantles support 1 from the pool mouth department in this cellar for storing things pond to with support 1 remove to next waiting to go out cellar for storing things pond department, be favorable to improving support 1's commonality.
According to the fermented grain discharging system provided by the embodiment, the cooperative robot is arranged at the opening of the pit, the fermented grains on the corners or the walls of the pit are grabbed and transferred to the preset position by the cooperative grab bucket 8, the fermented grains at the corners of the pit can be grabbed smoothly by the aid of the cooperative grab bucket 8, the fermented grains can be discharged completely, and the cooperative grab bucket 8 can prevent the main working grab bucket from grabbing the fermented grains on the walls of the pit, so that the walls of the pit and the pit are prevented from being damaged by the main working grab bucket; the cooperation robot is favorable for automatically finishing fermented grains to be discharged from the cellar, so that the working efficiency is improved, and the working intensity of workers is reduced.
On the basis of the above embodiment, further, a fermented grain cellar-exiting system further includes: the working grab bucket is movably connected with the truss vehicle through a connecting piece; the cooperative robot further includes: a holding clamp 9; the holding clamp 9 is fixedly arranged on the Y-axis moving trolley 3, and the holding clamp 9 is used for fixing the connecting piece when the working grab bucket grabs the fermented grains.
The working grab bucket is a part which mainly grabs fermented grains to be discharged out of the cellar. The purlin car sets up in cellar for storing things indoor portion top, and the work grab bucket can be followed the purlin car and removed to arbitrary cellar for storing things pond department. When fermented grains are discharged from the cellar, the working grab bucket moves to the target cellar pool along the truss vehicle, and grabs the fermented grains in the target cellar pool to the target position for discharging. In order to improve the cellar discharging efficiency, the general size of the working grab bucket is larger.
The working grab bucket is hung below the truss vehicle through a connecting piece. The connecting piece can be a telescopic rod or a steel wire rope or a hinge and the like. When the working grab bucket moves to the target pit to grab the fermented grains, the movable cooperative robot moves the Y-axis moving trolley 3 to the position near the working grab bucket, then the clamping clamp 9 is utilized to clamp and fix the connecting piece, the left and right shaking of the working grab bucket can be prevented, and the working grab bucket is favorable for being kept stable to grab the fermented grains smoothly.
Further, because cooperation grab 8 is rigid connection structure, is convenient for carry out accurate control to its position, consequently, compares the work grab, cooperation grab 8 is more convenient for control and arrives the position nearer from the pool wall to snatch the unstrained spirits of the position that the work grab is not convenient for snatch, play supplementary cellar for storing things and act on.
On the basis of the above embodiment, further, referring to fig. 1 and fig. 2, two sides of the support 1 are respectively provided with a first guide rail 5 along the X-axis direction, referring to fig. 3, two sides of the X-axis moving trolley 2 are respectively provided with at least one first roller 6, the first rollers 6 on the two sides of the X-axis moving trolley 2 are correspondingly connected with the upper surfaces of the first guide rails 5 on the two sides, at least one side of the support 1 is provided with a first driving mechanism 10 along the X-axis direction, and the first driving mechanism 10 is connected with the X-axis moving trolley 2.
Namely, the first roller 6 at one side of the X-axis moving trolley 2 is connected with the upper surface of the first guide rail 5 at the side; the first roller 6 of the other side of the X-axis moving trolley 2 is connected with the upper surface of the first guide rail 5 of the other side. So that the X-axis moving trolley 2 is in rolling connection with the first guide rail 5, and the X-axis moving trolley 2 can move along the first guide rail 5. Further, two or more first rollers 6 may be disposed at intervals at each side of the X-axis moving trolley 2, so that the X-axis moving trolley 2 is connected to the first guide rail 5 through the plurality of first rollers 6, which is beneficial to stably supporting the X-axis moving trolley 2.
On the basis of the above embodiment, further, the X-axis moving trolley 2 is of a frame structure, the two sides of the X-axis moving trolley 2 are respectively provided with a second guide rail along the Y-axis direction, referring to fig. 4, the two sides of the Y-axis moving trolley 3 are respectively provided with at least one second roller 7, the second rollers 7 on the two sides of the Y-axis moving trolley 3 are correspondingly connected with the upper surfaces of the second guide rails on the two sides, at least one side of the X-axis moving trolley 2 is provided with a second driving mechanism 14 along the Y-axis direction, and the second driving mechanism 14 is connected with the Y-axis moving trolley 3.
Namely, the second roller 7 at one side of the Y-axis moving trolley 3 is connected with the upper surface of the second guide rail at the side; the second roller 7 on the other side of the Y-axis moving trolley 3 is connected with the upper surface of the second guide rail on the other side. Therefore, the Y-axis moving trolley 3 is in rolling connection with the second guide rail, and the Y-axis moving trolley 3 can move along the second guide rail. Further, two or more second rollers 7 may be disposed at intervals at each side of the Y-axis moving trolley 3, so that the Y-axis moving trolley 3 is connected to the second guide rail through the plurality of second rollers 7, which is beneficial to stably supporting the Y-axis moving trolley 3.
On the basis of the above embodiment, further, the first driving mechanism 10 includes a transmission chain or a belt pulley structure, and the X-axis moving trolley 2 is connected with a belt of the transmission chain or the belt pulley structure; the drive chain may be a chain wheel structure. A driving belt or chain can be arranged along the X-axis direction, and the X-axis moving trolley 2 is driven to move by the movement of the belt or chain. The pulley structure or the drive chain can be fixed by the bracket 1.
Referring to fig. 6 and 7, the second driving mechanism 14 includes a synchronous belt 16, a driving wheel 17 and two driven wheels 18 arranged along the Y-axis direction, two sides of the synchronous belt 16 are respectively and fixedly arranged, the driving wheel 17 and the two driven wheels 18 are respectively fixed on a connecting plate 19, the two driven wheels 18 are arranged on two sides above the driving wheel 17, the synchronous belt 16 sequentially bypasses one driven wheel 18, the driving wheel 17 and the other driven wheel 18 in a zigzag manner, and the Y-axis moving cart 3 is connected with the connecting plate 19.
The secondary drive mechanism 14 is a synchronous belt 16 drive arrangement and may likewise be a pulley arrangement. Different from the first driving mechanism 10, the two ends of the synchronous belt 16 in the second driving mechanism 14 are fixed, the synchronous belt 16 is stationary, and under the rotation of the driving wheel 17, the driving wheel 17 drives the driven wheel 18 and the connecting plate 19 to integrally move along the synchronous belt 16, so as to drive the Y-axis moving trolley 3 to move. The timing belt 16 may be fixed by the X-axis traveling carriage 2.
Further, the driving pulley 17 is connected to a driving motor for driving the driving pulley 17 to rotate. The outer surface of the driving wheel 17 can be toothed, which is beneficial to improving the friction force between the driving wheel and the synchronous belt 16 and ensures that the driving wheel 17 moves smoothly along the synchronous belt 16.
On the basis of the above embodiment, further, referring to fig. 3, at least one first limiting wheel 12 is fixedly connected to each of two sides of the X-axis moving trolley 2, and the first limiting wheel 12 is connected to the lower surface of the first guide rail 5; referring to fig. 4, at least one second limiting wheel 13 is fixedly connected to each of two sides of the Y-axis moving trolley 3, and the second limiting wheels 13 are connected to the lower surface of the second guide rail.
The first limiting wheel 12 is connected with the lower surface of the first guide rail 5, and can limit and fix the X-axis moving trolley 2 in the vertical direction, so that the stable connection between the X-axis moving trolley 2 and the first guide rail 5 is ensured. Further, the first limit wheel 12 is connected with the X-axis moving trolley 2 through the connecting seat, that is, the X-axis moving trolley 2 can be fixedly connected with the connecting seat, and the first limit wheel 12 is fixedly connected with the connecting seat. A spacer can be arranged between the connecting seat and the X-axis moving trolley 2 to adjust the gap between the first limiting wheel 12 and the first guide rail 5, i.e. to adjust the clamping degree between the first limiting wheel 12 and the first guide rail 5.
The second limiting wheel 13 is connected with the lower surface of the second guide rail, so that the Y-axis moving trolley 3 can be limited and fixed in the vertical direction, and the stable connection between the Y-axis moving trolley 3 and the second guide rail is ensured. And secondly, the second limiting wheel 13 is connected with the Y-axis moving trolley 3 through the connecting seat, namely the Y-axis moving trolley 3 can be fixedly connected with the connecting seat, and the second limiting wheel 13 is fixedly connected with the connecting seat. A gasket can be arranged between the connecting seat and the Y-axis moving trolley 3 to adjust the gap between the second limiting wheel 13 and the second guide rail, namely, the clamping degree between the second limiting wheel 13 and the second guide rail.
On the basis of the above embodiment, further, referring to fig. 8, the telescopic mechanism 4 includes an outer column 20 disposed vertically, a center column 21 disposed inside the outer column 20, and an inner column 22 disposed inside the center column 21; the outer column 20 is fixedly connected with the Y-axis moving trolley 3, a rack is arranged on the outer side wall of the middle column 21 along the vertical direction, the rack is meshed with a driving gear, and the driving gear is fixed through the outer column 20; the lateral wall of outer post 20 and the top fixed connection of lifting chain, the lateral wall fixed connection of chain annex and center pillar 21 is walked around to the bottom of lifting chain, and lifting chain and chain annex roll connection, chain annex are fixed in the lateral wall of inner pillar 22.
The telescopic mechanism 4 is a two-stage telescopic structure, and can increase the telescopic amount. And the two-stage telescoping mechanism 4 is driven to telescope through a driving part. That is, the driving gear is driven by the motor to rotate, so as to drive the rack connected with the driving gear to move, and the rack and the center pillar 21 integrally move along the vertical direction. The movement of the center post 21 will pull the bottom end of the lifting chain to move, and then drive the inner post 22 to move and stretch. The lifting chain acts as a movable pulley structure. The chain attachment corresponds to a movable pulley.
Further, an opening may be provided on the side wall of the center pillar 21 to facilitate the arrangement of the lifting chain.
Further, between the lateral wall of center pillar 21 and the inside wall of outer post 20, set up sliding connection structure along vertical direction respectively between the lateral wall of interior post 22 and the inside wall of center pillar 21 to carry out spacing fixed to the flexible route of center pillar 21 and interior post 22, ensure that center pillar 21 and interior post 22 can stretch out and draw back along vertical direction smoothly. The sliding connection structure can be a sliding block sliding groove structure or a roller guide rail structure, so that the purpose of sliding connection can be achieved, and limitation is not required.
On the basis of the above embodiment, further, the telescopic mechanism 4 further includes: the auxiliary cylinder is vertically arranged; the auxiliary cylinder is fixed on the Y-axis moving trolley 3, and the piston of the auxiliary cylinder is connected with the bottom end of the center pillar 21. When the telescopic mechanism 4 is telescopic, the auxiliary cylinder can push or pull the center pillar 21 to smoothly realize the telescopic action and reduce the driving pressure at the driving gear.
Further, a ring of retainer rings may be provided on the bottom side wall of the center pillar 21 in the circumferential direction. When the center pillar 21 is retracted into the outer pillar 20, the stopper comes into contact with the bottom end of the outer pillar 20. The piston of the auxiliary cylinder can be connected with the retainer ring, so that the auxiliary cylinder is vertically arranged conveniently.
On the basis of the above embodiment, further, a fermented grain cellar-exiting system further includes: a scanning assembly 15; referring to fig. 5, the scanning assembly 15 is fixed to the Y-axis moving trolley 3, and the scanning assembly 15 is used for acquiring the fermented grain charge level in the pit so as to cooperate with the grab bucket 8 to grab the fermented grains. The scanning component 15 may be a 3D scanner. The distribution of the material surface in the pit can be obtained by the scanning assembly 15. And further judging the position and the height of the fermented grains in the pit. The cooperating grab bucket 8 can grab fermented grains according to the distribution condition of the material surface. The scanning assembly 15 can play a guiding role in the operation of the cooperative grab bucket 8, so that the cooperative grab bucket 8 can grab fermented grains pertinently, and the pit discharging efficiency is improved.
The size of the cooperating grab 8 is smaller than the size of the working grab; the outer side wall of the cooperative grab bucket 8 is provided with a cleaning assembly; the cooperative grab bucket 8 is small in size, and is favorable for smoothly grabbing fermented grains on the corners or the walls of the fermentation pit. Is favorable for thoroughly discharging fermented grains. The cleaning component can be a brush head, the cooperative grab bucket 8 can be moved to the corner or the pool wall of the fermentation pool, and the cleaning component is utilized to clean fermented grains.
The support 1 is a splicing structure. The support 1 is likewise of frame construction. And set up to mosaic structure, size that can be nimble simple and convenient change support 1 to adapt to the cellar for storing things pond of equidimension not, improve suitability and flexibility.
On the basis of the above embodiments, further, a fermented grain cellar discharging method using the fermented grain cellar discharging system according to any one of the above embodiments includes: moving the working grab bucket to a target pit to grab the fermented grains for pit discharging; after the working grab bucket works for a period of time, the working grab bucket is removed; the material surface distribution of the residual fermented grains in the target pit is obtained through a scanning assembly 15; according to the distribution of the material surface of the fermented grains, the movable cooperative grab bucket 8 intensively transfers the fermented grains left in the target pit to a preset position; removing the cooperating grab 8; and the movable working grab bucket grabs the residual fermented grains at the preset position.
Wherein, the mobile work grab bucket is grabbed wine unstrained spirits to target cellar for storing things pond department and is gone out the cellar for storing things specifically includes: the distribution of the initial fermented grain material surface in the target pit is obtained through the scanning assembly 15; and moving the working grab buckets to grab the fermented grains according to the distribution of the initial fermented grain charge level. Specifically, the working grab bucket can be moved to a position with a higher material level to grab the fermented grains.
Further, the working grab bucket can be directly moved to a preset position of the target pit to grab the fermented grains. The preset position can be the middle part of the pit.
After the work grab bucket worked a period of time, move away work grab bucket and specifically include: and the working grab bucket is moved away after working for a preset time. Or, the scanning assembly 15 is used for monitoring the fermented grain material level in the target pit, and the working grab bucket is moved away according to the real-time fermented grain material level distribution obtained by the scanning assembly 15. Specifically, the working grab bucket can be removed when the real-time fermented grain area displayed by the distribution of the real-time fermented grain material surface is smaller than the preset area.
Further, the scanning assembly 15 obtains the distribution of the fermented grain charge level, can obtain the position relation between any position on the fermented grain charge level in the pit and the pit, can further position any position on the fermented grain charge level, and can move the working grab bucket and the cooperative grab bucket 8 to any position on the fermented grain charge level.
On the basis of the above embodiment, further, the embodiment relates to a fermented grain cellar-exiting cooperative robot, which comprises a cooperative robot frame assembly, namely a support 1, an X-axis moving trolley 2, a Y-axis moving trolley 3, a Z-axis telescopic mechanism 4, a grab bucket mechanism, a cooperative clasping clamp 9 and a special brush head.
The assistant cellar-making robot frame assembly comprises a cellar-making robot frame, an X-axis trolley transmission assembly, an X-axis walking guide rail and an electric cabinet 11; the X-axis moving trolley 2 comprises a trolley frame, a roller assembly, a limiting wheel assembly and a chain connecting piece; the Y-axis moving trolley 3 of the pit-discharging robot comprises a Y-axis moving trolley 3, a trolley frame, a roller component, a limiting wheel component, a driving component and a scanning component 15; the Z-axis telescopic mechanism 4 comprises a telescopic outer column 20, a telescopic middle column 21, a telescopic inner column 22, a gear rack transmission assembly and a chain transmission assembly; the grab bucket mechanism comprises a grab bucket fixing frame 24, a cooperative grab bucket 8 and a servo electric cylinder 23; the cooperative holding clamp 9 comprises a clamp welding mounting seat, a finger driving gear, a holding clamp 9, a servo speed reduction motor assembly, a rotating shaft, a bearing, an end cover and a rotating shaft gasket. A control unit for controlling each driving motor is provided in the electrical cabinet 11.
Referring to fig. 9, the grapple mechanism is fixed to the bottom of the inner post 22, the grapple mount 24 is fixedly connected to the bottom of the inner post 22, and the cooperating grapple 8 is connected to the grapple mount 24. The cooperative grab bucket 8 is of a left-right split structure. The left part and the right part of the cooperative grab bucket 8 are respectively connected with the servo electric cylinder 23, and the opening and closing of the cooperative grab bucket 8 are controlled by the servo electric cylinder 23, so that the grabbing function is realized.
The frame of the cooperative robot adopts a semi-closed frame type, so that the frame is convenient to integrally mount and combine. After the cooperation robot finishes the cellar discharging operation of one cellar, the whole body moves to the next cellar. The whole movable type multi-station air conditioner is movable and can be used in multiple stations. The X-axis moving trolley 2 comprises a trolley frame, a roller assembly, a limiting wheel assembly and a chain connecting piece. The X-axis moving trolley 2 is driven by a motor to linearly run along a guide rail on the pit-discharging robot frame. The Y-axis moving trolley 3 comprises a trolley frame, a roller component, a limiting wheel component and a driving component; the scanning assembly 15 is secured by the carriage frame.
The Y-axis moving trolley 3 is driven by a driving component, can walk on the track of the X-axis moving trolley 2 in a straight line, and a Z-axis expansion mechanism 4 is arranged in the middle of the trolley frame. The Z-axis telescopic mechanism 4 comprises a telescopic outer column 20, a telescopic middle column 21, a telescopic inner column 22, a gear rack transmission assembly and a chain transmission assembly.
The flexible outer post 20 lower extreme of Z axle telescopic mechanism 4 is connected with the 3 fixed plates of Y axle travelling car, and the flexible inner prop 22 of Z axle is connected with grab bucket mechanism, drives flexible center pillar 21 through gear and rack transmission and extends in vertical direction, drives flexible inner prop 22 and grab bucket mechanism simultaneously through sprocket chain drive mechanism and moves in vertical direction, descends to cellar for storing things pond operation position.
The Z-axis telescopic mechanism 4 moves up and down by adopting a multi-stage telescopic rigid structure, and has simple operation and stable structure. The X-axis moving trolley 2, the Y-axis moving trolley 3 and the Z-axis telescopic mechanism 4 all adopt linear motion, and the space coverage of the whole pit is realized. The motor is used for driving, so that efficient and accurate positioning is realized, and the wall of the cellar is not damaged. Carrying and arranging materials in the pit in a coordinated manner; simultaneously, the cellar-stepping function can be realized.
The X-axis and Y-axis moving trolley 3 moves to the working position of the cellar pool, the grab bucket 8 of the cellar-out robot is opened under the driving of the electric cylinder, and the Z-axis telescopic mechanism 4 drives the grab bucket to descend into the cellar pool for carrying and arranging the fermented grains. The truss hangs work grab bucket and moves to cellar for storing things pond intermediate position, and cooperation robot is connected through the communication mode with the truss hangs, realizes the cooperation. I.e. the movement of the working grapple and the movement of the cooperating grapple 8 are controlled in a comprehensive and coordinated manner.
When the truss hoisting grab bucket descends to a certain height above the pit, the steel rope of the truss hoisting grab bucket is looped by the mechanical arm of the cooperative clamp 9, so that the truss hoisting grab bucket is accurately controlled to be positioned. And the trussed crane grab bucket begins to lift after grabbing the fermented grains, the holding clamp 9 mechanical arm is opened, and the trussed crane grab bucket is lifted and then is discharged out of the cellar. The X-axis and Y-axis moving trolleys 3 move to the next position to start the carrying and finishing operation of the fermented grains.
The special brush head can be carried at the position of the grab bucket 8 of the pit-out robot in cooperation, so that the pit wall is cleaned. The periphery and dead corners of the wall of the cellar pool cannot be completely grabbed, a special brush head can be adopted to clean the wall, the left fermented grains are conveyed and arranged to the middle position of the cellar pool by a grabbing bucket of a cellar-discharging robot after the cleaning operation is finished, and the operation of discharging the cellar is finished by grabbing the fermented grains by a truss-hanging grabbing bucket.
A cooperation robot in the fermented grain discharging system adopts a semi-closed frame type frame structure; a multi-stage telescopic rigid structure is adopted up and down; the whole pit space is covered by adopting linear motion; the motor is driven to realize high-efficiency accurate positioning; the whole body can move, and the multi-station use of one machine is realized; the device is connected with the truss crane in a communication mode to realize cooperation; a mechanical arm is matched to accurately control the positioning of the truss crane grab bucket; a cooperative grab bucket 8 is arranged to realize material handling and arrangement in the cellar pool and realize the cellar stepping function; the special brush head can be carried, and the cleaning of the pit is realized. The fermented grain discharging system can improve the working efficiency, reduce the working strength of workers and simultaneously does not damage the wall of the pit.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A fermented grain cellar discharging system is characterized by comprising: a collaborative robot; the cooperative robot comprises a support, an X-axis moving trolley, a Y-axis moving trolley and a telescopic mechanism; x axle travelling car is portable to be located along X axle direction the support, Y axle travelling car is portable to be located along Y axle direction X axle travelling car, the vertical setting of telescopic machanism is in on the Y axle travelling car, telescopic machanism's bottom is connected with the cooperation grab bucket, the support can be dismantled and fix and make all around the pool mouth in cellar for storing things pond the cooperation grab bucket is located the top in cellar for storing things pond, the cooperation grab bucket is used for shifting the unstrained spirits that is located on cellar for storing things pond corner and pool wall to preset the position.
2. The fermented grain cellar discharging system according to claim 1, further comprising: the working grab bucket is movably connected with the truss vehicle through a connecting piece; the cooperative robot further includes: clamping; the holding clamp is fixedly arranged on the Y-axis moving trolley, and the holding clamp is used for fixing the connecting piece when the working grab bucket grabs the fermented grains.
3. The fermented grain cellar discharging system according to claim 1, wherein first guide rails are respectively arranged on two sides of the support along the X-axis direction, at least one first roller is respectively arranged on two sides of the X-axis moving trolley, the first rollers on two sides of the X-axis moving trolley are correspondingly connected with the upper surfaces of the first guide rails on two sides, a first driving mechanism is arranged on at least one side of the support along the X-axis direction, and the first driving mechanism is connected with the X-axis moving trolley.
4. The fermented grain cellar discharging system according to claim 3, wherein the X-axis moving trolley is of a frame structure, second guide rails are respectively arranged on two sides of the X-axis moving trolley along the Y-axis direction, at least one second roller is respectively arranged on two sides of the Y-axis moving trolley, the second rollers on two sides of the Y-axis moving trolley are correspondingly connected with the upper surfaces of the second guide rails on two sides, a second driving mechanism is arranged on at least one side of the X-axis moving trolley along the Y-axis direction, and the second driving mechanism is connected with the Y-axis moving trolley.
5. The fermented grain discharging system according to claim 4, wherein the first driving mechanism comprises a transmission chain or a belt pulley structure, and the X-axis moving trolley is connected with a belt of the transmission chain or the belt pulley structure;
the second actuating mechanism includes hold-in range, action wheel and two from the driving wheel that set up along Y axle direction, the both sides of hold-in range are fixed the setting respectively, action wheel and two fix respectively on the connecting plate from the driving wheel and two it is in to follow the driving wheel setting the top both sides of action wheel, the hold-in range is a few font and bypasses one in proper order from driving wheel, action wheel and another from the driving wheel, Y axle travelling car with the connecting plate links to each other.
6. The fermented grain cellar discharging system according to claim 4, wherein at least one first limiting wheel is fixedly connected to each of two sides of the X-axis moving trolley, and the first limiting wheels are connected with the lower surface of the first guide rail; and two sides of the Y-axis moving trolley are respectively and fixedly connected with at least one second limiting wheel, and the second limiting wheels are connected with the lower surface of the second guide rail.
7. The fermented grain cellar discharging system according to any one of claims 1 to 6, wherein the telescopic mechanism comprises an outer column arranged vertically, a middle column arranged inside the outer column and an inner column arranged inside the middle column; the cooperative grab bucket is connected with the bottom of the inner column, the outer column is fixedly connected with the Y-axis moving trolley, a rack is arranged on the outer side wall of the middle column along the vertical direction, the rack is meshed with a driving gear, and the driving gear is fixed through the outer column;
the lateral wall of outer post and the top fixed connection who promotes the chain, promote the bottom of chain walk around the chain annex with the lateral wall fixed connection of center pillar, promote the chain with chain annex roll connection, the chain annex is fixed in the lateral wall of inner post.
8. The fermented grain cellar discharging system according to claim 7, wherein the stretching mechanism further comprises: the auxiliary cylinder is vertically arranged; the auxiliary cylinder is fixed on the Y-axis moving trolley, and a piston of the auxiliary cylinder is connected with the bottom end of the middle column.
9. The fermented grain cellar discharging system according to claim 2, further comprising: a scanning assembly; the scanning assembly is fixed on the Y-axis moving trolley and used for acquiring the fermented grain material surface in the pit so as to facilitate the cooperative grab bucket to grab the fermented grains;
the size of the cooperating grab bucket is smaller than that of the working grab bucket; the outer side wall of the cooperative grab bucket is provided with a cleaning assembly;
the support is of a splicing structure.
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| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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Denomination of utility model: A system for extracting fermented grains from the cellar Effective date of registration: 20230612 Granted publication date: 20200626 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN FENJIN INTELLIGENT MACHINE Co.,Ltd. Registration number: Y2023420000227 |
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