CN213923063U - Automatic go out in a wretched state machine - Google Patents

Abstract

The utility model belongs to the technical field of carrying equipment, in particular to an automatic lees discharging machine, which comprises a movable frame, a truss manipulator, a horizontal conveyor and a control system, wherein the bottom of the movable frame is provided with universal wheels, and the truss manipulator and the horizontal conveyor are arranged on the movable frame; the truss manipulator is used for grabbing and lifting the vinasse in the vinasse pool and placing the vinasse on the horizontal conveyor; the horizontal conveyor is used for conveying the vinasse to the skip car; control system, control system are used for controlling truss manipulator and horizontal conveyor, the utility model provides an adopt the manual work to the lees promotion ejection of compact among the prior art have the problem of inefficiency, intensity of labour is big and the operation space is crowded.

Description

Automatic go out in a wretched state machine

Technical Field

The utility model belongs to the technical field of haulage equipment, concretely relates to automatic go out in a wretched state machine.

Background

In the actual production process of winery, the promotion and the ejection of compact of lees are all accomplished through the manpower, and specific operation is that the personnel use the fork to choose lees, then throw lees to the skip on, and such processing mode exists a plurality of not enoughly: in order to prevent the vinasse from volatilizing, the vinasse is required to be transported out as soon as possible, three persons are generally arranged to lift and transport the vinasse in a group, the size of a general fermentation tank is about 3.4m multiplied by 1.85m multiplied by 1.8m, three persons work very crowded at the same time, and the operation is inconvenient; meanwhile, the sanitary requirements of the vinasse cannot be guaranteed due to crowding of people; in addition, the manual operation always has the defects of low efficiency and high labor intensity.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problems of low efficiency, high labor intensity and crowded operation space in the manual work of the prior art for lifting and discharging the distilled grains, and providing an automatic in a wretched state discharging machine.

In order to achieve the above object, one aspect of the present invention provides an automatic lees discharging machine, comprising:

the device comprises a movable frame, a driving device and a control device, wherein universal wheels are arranged at the bottom of the movable frame, and a truss manipulator and a horizontal conveyor are arranged on the movable frame;

the truss manipulator is used for grabbing and lifting the vinasse in the vinasse pool and placing the vinasse on the horizontal conveyor;

the horizontal conveyor is used for conveying the vinasse to the skip car;

and the control system is used for controlling the truss manipulator and the horizontal conveyor.

According to an embodiment of the application, truss manipulator includes servo module of X axle, the servo module of Y axle, the servo module of biax Z axle and fork subassembly, X axle servo module drive fork subassembly is followed X axial displacement, Y axle servo module drive fork subassembly is followed Y axial displacement, the servo module of biax Z axle drives the fork subassembly and is followed Z axial displacement.

According to an embodiment of this application, biax Z axle servo module includes first Z axle servo module and second Z axle servo module, first Z axle servo module drives the material fork subassembly and follows Z axial motion to ground, second Z axle servo module drives the material fork subassembly and follows Z axial motion to the wine tank pond in.

According to an embodiment of the application, the material fork subassembly is installed in the bottom of biax Z axle servo module, the material fork subassembly includes clamping jaw and actuating mechanism, actuating mechanism drive clamping jaw opens and shuts.

According to an embodiment of the application, the horizontal conveyor comprises a belt conveyor and baffle plates, the belt conveyor is arranged below the truss manipulator along the X axial direction, and the baffle plates are obliquely arranged on two sides of the belt conveyor.

According to an embodiment of this application, still include the spud, the spud includes reference column and location handle, the reference column is fixed subaerial, location handle installs on moving frame, and location handle wraps up the reference column and fixes the realization location through the ejector pin.

After the technical scheme is adopted, the utility model provides an automatic go out in a wretched state machine has following beneficial effect: according to the material taking method and device, the truss robot is adopted for intelligent material taking, the operation is simple, the material taking device can be used only through simple training, the problems of low efficiency and high strength caused by manual carrying are solved, manual participation is not needed in the material taking process, and the food safety is guaranteed; the horizontal conveyor can discharge materials in two directions and is not limited by the field environment; the positioning piles are arranged, so that the equipment is prevented from moving, and the safety of field personnel is protected.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of another view angle of the present invention;

fig. 3 is a schematic mechanism diagram of the fork assembly of the present invention;

fig. 4 is a schematic structural view of the positioning pile of the present invention.

In the figure: 1. truss manipulator, 2 horizontal conveyor, 21 baffle, 3 fork assembly, 31 clamping jaw, 32 driving mechanism, 4 locating pile, 41 locating column, 42 locating handle and 5 moving frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1-4, the utility model provides an automatic lees discharging machine, which comprises: the movable frame 5, the truss mechanical arm 1, the horizontal conveyor 2 and the control system are arranged, universal wheels are arranged at the bottom of the movable frame 5, the truss mechanical arm 1 and the horizontal conveyor 2 are installed on the movable frame 5, when the movable frame 5 works, only the movable frame 5 is moved to the position above a vinasse pool, then a starting button is pressed on a control panel, and the vinasse automatic discharging can be realized, specifically, the truss mechanical arm 1 is used for grabbing and lifting vinasses (namely materials) in the vinasse pool and placing the vinasses on the horizontal conveyor 2, the horizontal conveyor 2 is used for conveying the vinasses to a skip car, the control system is respectively and electrically connected with the horizontal conveyor 2, the truss mechanical arm 1 and the control panel, after the starting button on the control panel is manually pressed, the control system controls the truss mechanical arm 1 to take the vinasses and place the grabbed materials on the horizontal conveyor 2, and then controls the horizontal conveyor 2 to convey the vinasses to the skip car, in the whole material taking and conveying process, a worker only needs to operate a button on the control panel, and other work is automatically completed by the automatic grain discharging machine, so that the groove discharging efficiency is greatly improved, and the food safety is also ensured.

According to an embodiment of this application, truss manipulator 1 is portable truss manipulator 1 of four-axis aluminium alloy, whole weight is lighter, truss manipulator 1 in this embodiment includes X axle servo module, Y axle servo module, biax Z axle servo module and material fork subassembly 3, X axle servo module drive material fork subassembly 3 is along X axial displacement, Y axle servo module drive material fork subassembly 3 is along Y axial displacement, biax Z axle servo module drives material fork subassembly 3 and is followed Z axial displacement, X axle servo module, Y axle servo module and biax Z axle servo module all comprise servo motor and ball screw, servo motor drive screw in every servo module is along the lead screw removal, such servo module is common prior art, no longer give unnecessary details in this application. Wherein X axle servo module installs at the top of moving frame 5, Y axle servo module is connected with X axle servo module, biax Z axle servo module is connected with Y axle servo module, material fork subassembly 3 is connected with biax Z axle servo module, biax Z axle servo module drive material fork subassembly 3 falls to lees pond in and gets the vinasse of pressing from both sides, then biax Z axle servo module drives material fork subassembly 3 and rises to 2 high backs of horizontal transport machine, X axle servo module and Y axle servo module drive material fork subassembly 3 and remove to 2 tops of horizontal transport machine, material fork subassembly 3 releases the vinasse, accomplish once to press from both sides promptly and get the vinasse. In this embodiment, this equipment is used for getting lees, and when the equipment in this application is used in other embodiments, it can also be used for getting other materials.

According to an embodiment of the present application, the dual-axis Z-axis servo module comprises a first Z-axis servo module and a second Z-axis servo module, the fork assembly 3 comprises a clamping jaw 31 and a driving mechanism 32, the driving mechanism 32 drives the clamping jaw 31 to open and close, the driving mechanism 32 can adopt an electric cylinder or other linear driving power module, specifically, the first Z-axis servo module descends to the bottom and drives the fork assembly 3 to move to the ground along the Z-axis direction, namely, above the vinasse pool, the second Z-axis servo module drives the fork assembly 3 to move to the vinasse pool, in this embodiment, the second Z-axis servo module can drive the fork assembly 3 to descend to a position 1.8m below the ground for material clamping, after clamping is completed, the first Z-axis servo module and the second Z-axis servo module ascend simultaneously, after the height of the fork assembly 3 is higher than that of the horizontal conveyor 2, the X-axis servo module and the Y-axis servo module drive the fork assembly 3 to move to the upper side of the horizontal conveyor 2, the material fork assembly 3 releases the wine trough and then the material fork assembly 3 performs the next clamping action.

According to an embodiment of the application, horizontal conveyor 2 includes band conveyer and baffle 21, band conveyer arranges the below at truss manipulator 1 along the X axial, baffle 21 slope is installed in band conveyer's both sides, band conveyer adopts food grade belts such as food grade material PU PE, baffle 21 adopts food grade stainless steel or other food grade material preparation to form, baffle 21 has material direction and certain bearing effect, horizontal conveyor 2 can two-way transport, according to actual operating environment, the skip can prevent in horizontal conveyor 2 arbitrary one side, when removing this equipment, need not rotate whole equipment and transfer the discharge gate.

According to an embodiment of the application, the automatic lees machine that goes out that this application provided still includes spud 4, spud 4 includes reference column 41 and location handle 42, reference column 41 is fixed subaerial, location handle 42 is installed on moving frame 5, location handle 42 wraps up reference column 41 and realizes the location through the ejector pin is fixed, the manual work is with moving frame 5 remove to the wine tank pond top after, location handle 42 is rotatory including reference column 41, then inject the ejector pin and make moving frame 5 location, prevent moving frame 5 and remove, guarantee field personnel safety work, the while is also effectual to have avoided the easy defect of blockking up of ground pinhole.

It should be noted that the control system may be implemented in any suitable manner, for example, the control system may take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, e.g., software or firmware, executable by the microprocessor, logic gates, switches, Application Specific Integrated circuits, ASICs, programmable logic controllers, and embedded microcontrollers. Those skilled in the art will also appreciate that, in addition to implementing the control system in purely computer readable program code means, the control system can be implemented to perform the same functions in the form of logic gates, switches, application specific integrated circuits, programmable logic control systems, embedded micro control systems, etc., by logically programming the method steps. Such a control system may thus be regarded as a hardware component and the means included therein for performing the various functions may also be regarded as structures within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The specific working process is as follows:

manually pushing the equipment above the vinasse pool, and positioning columns 41 on the ground are in positioning fit with positioning handles 42 arranged on the moving frame 5; the skip car is pushed to the discharge port end of the horizontal conveyor 2, and the proper position is adjusted; adjusting the conveying direction of the horizontal conveyor 2; starting the equipment to perform operation, driving the material fork assembly 3 to descend into the vinasse pool to clamp materials by the aid of the double-shaft Z-axis servo module, driving the material fork assembly 3 to ascend to the height of the horizontal conveyor 2 by the aid of the double-shaft Z-axis servo module, driving the material fork assembly 3 to move above the horizontal conveyor 2 by the aid of the X-axis servo module and the Y-axis servo module, releasing a vinasse by the aid of the material fork assembly 3, conveying the materials to a material trolley by the aid of the horizontal conveyor 2, and then performing next clamping action by the aid of the material fork assembly 3; after the skip car is full, pressing a button to stop, and replacing the skip car; and after the complete cleaning of the material pool is finished, stopping the machine, and moving the equipment to the next material pool station.

The utility model provides an automatic go out in a wretched state machine adopts truss robot intelligence to get the material, easy operation, only needs simple training just can use, has solved the problem that the efficiency is low, intensity is high that manual handling brought, gets the material process and need not artifical the participation, guarantees food safety; the horizontal conveyor 2 can discharge materials in two directions and is not limited by the field environment; the positioning piles 4 are arranged to prevent the equipment from moving and protect the safety of field personnel.

Above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the design of the present invention, equivalent replacement or change should be covered within the protection scope of the present invention.

Claims (6)

1. An automatic lees discharging machine is characterized by comprising:

the device comprises a moving frame (5), wherein universal wheels are arranged at the bottom of the moving frame (5), and a truss manipulator (1) and a horizontal conveyor (2) are installed on the moving frame (5);

the truss manipulator (1) is used for grabbing and lifting vinasse in the vinasse pool and placing the vinasse on the horizontal conveyor (2);

the horizontal conveyor (2) is used for conveying the vinasse to the skip car;

a control system for controlling the truss manipulator (1) and the horizontal conveyor (2).

2. The automatic grain discharging machine according to claim 1, wherein the truss manipulator (1) comprises an X-axis servo module, a Y-axis servo module, a double-axis Z-axis servo module and a material fork assembly (3), the X-axis servo module drives the material fork assembly (3) to move along an X axial direction, the Y-axis servo module drives the material fork assembly (3) to move along a Y axial direction, and the double-axis Z-axis servo module drives the material fork assembly (3) to move along a Z axial direction.

3. The automatic grain discharging machine according to claim 2, wherein the two-axis Z-axis servo module comprises a first Z-axis servo module and a second Z-axis servo module, the first Z-axis servo module drives the material fork assembly (3) to move to the ground along the Z-axis direction, and the second Z-axis servo module drives the material fork assembly (3) to move to the wine tank along the Z-axis direction.

4. An automatic vinasse discharging machine as claimed in claim 2, wherein the material fork assembly (3) is mounted at the bottom of the double-shaft Z-axis servo module, the material fork assembly (3) comprises a clamping jaw (31) and a driving mechanism (32), and the driving mechanism (32) drives the clamping jaw (31) to open and close.

5. An automatic spent grain discharging machine according to claim 1, characterized in that the horizontal conveyor (2) comprises a belt conveyor and baffle plates (21), the belt conveyor is arranged below the truss manipulator (1) along the X-axis direction, and the baffle plates (21) are obliquely arranged at two sides of the belt conveyor.

6. The automatic spent grain discharging machine of claim 1, further comprising a positioning pile (4), wherein the positioning pile (4) comprises a positioning column (41) and a positioning handle (42), the positioning column (41) is fixed on the ground, the positioning handle (42) is installed on the movable frame (5), and the positioning handle (42) wraps the positioning column (41) and is fixed through a mandril for positioning.

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