CN215666674U - Cellar-entering robot - Google Patents

Abstract

The utility model relates to a pit-lifting and entering robot, which comprises a beam type travelling crane, a movable grab bucket mechanism, a controller and at least one telescopic distributing mechanism, wherein the controller is electrically connected with the movable grab bucket mechanism and the telescopic distributing mechanism respectively; the movable grab bucket mechanism comprises a moving part, a first telescopic frame and a grab bucket, wherein the moving part is arranged at the first end of the first telescopic frame, the grab bucket is arranged at the second end of the first telescopic frame, and the moving part can move on the beam type travelling crane; the telescopic material distribution mechanism comprises a driving part, a second telescopic frame and a transfer box, the second telescopic frame is connected to the driving part and can move relative to the driving part, and the driving part can move on the beam type travelling crane; the movable grab bucket mechanism can pass through the telescopic distributing mechanism. The cellar starting and entering robot provided by the utility model can conveniently and quickly transfer wine making materials, the temporary storage barrel can be set to be in a static structure, the existing factory building equipment is fully utilized, and the equipment cost is greatly reduced under the condition of transferring the wine making materials with high efficiency.

Description

Cellar-entering robot

Technical Field

The utility model relates to the field of brewing industrial equipment, in particular to a cellar-entering robot.

Background

In the existing field of brewing of raw wine, when a cellar pool is arranged on the ground of a first floor and a pile is arranged on a second floor, the wine brewing materials piled on the second floor need to be piled up and then are sent to the cellar pool of the first floor across floors for distribution. If two fixed floor-crossing elevators are arranged in the middle/at two ends of a workshop for transferring, the second-floor piling equipment, the first-floor feeding device or the turnover charging bucket need to run for a long distance for butt joint, and the production requirement of fast-paced material distribution cannot be met.

The other method is that a plurality of temporary storage barrels with lifting are arranged on the floor slab of the second floor stacking area in a partition mode, and the wine brewing materials of each stacking pile are filled nearby. However, because the highest position of the first-floor feeding device is below the travelling beam and the fall distance between the first-floor feeding device and the temporary storage barrel on the ceiling is too large, the brewing materials are not suitable to be directly transferred, and the temporary storage barrel is required to descend by a certain height and then is in butt joint with the feeding device to transfer the brewing materials. And after the material receiving device receives the material, the material is distributed in each cellar pool by running nearby. The method can be used for receiving and distributing materials nearby, but the material feeding device cannot directly receive the materials, the temporary storage barrel is required to descend automatically and be nested and butted, the brewing materials are required to be transferred for multiple times, the process action is complex, the requirements on equipment stability and safety protection are high, and the consumed time is still long. In addition, because the area of a newly-built factory building in the brewing workshop is large, a plurality of sets of temporary storage barrels with lifting functions need to be arranged, and the total equipment cost is higher.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a cellar entry robot for at least one of the above-mentioned problems.

The utility model provides a pit-opening and entering robot, which comprises a beam type travelling crane, a movable grab bucket mechanism, a controller and at least one telescopic material distribution mechanism, wherein the controller is electrically connected with the movable grab bucket mechanism and the telescopic material distribution mechanism respectively;

the movable grab bucket mechanism comprises a moving part, a first telescopic frame and a grab bucket, wherein the moving part is arranged at the first end of the first telescopic frame, the grab bucket is arranged at the second end of the first telescopic frame, and the moving part can move on the beam type travelling crane;

the telescopic material distribution mechanism comprises a driving part, a second telescopic frame and a transfer box, the transfer box is arranged on the second telescopic frame and can move on the second telescopic frame, the second telescopic frame is connected to the driving part and can move relative to the driving part, and the driving part can move on the beam type travelling crane;

the movable grab bucket mechanism can pass through the telescopic distributing mechanism.

In one embodiment, the second telescopic frame comprises at least two layers of door frames which are stacked, and the two adjacent layers of door frames can move relatively; the width of the portal of the innermost layer is greater than the maximum width of the movable grab mechanism.

In one embodiment, the telescopic distributing mechanism further comprises a hopper part connected to the second telescopic frame; all be equipped with a pair of support column on two relative side end faces of transfer box, the support column with tipping bucket portion connects, tipping bucket portion can drive the transfer box winds the normal line rotation of side end face predetermines the angle.

In one embodiment, the tipping part comprises a connecting plate, a rotating disc and two coaxial and opposite telescopic fork rods; the connecting plate is provided with a first connecting hole and a second connecting hole, wherein the geometric central axes of the first connecting hole and the second connecting hole are vertical to each other, and the first connecting hole and the second connecting hole are at least partially overlapped; the support column can be inserted into the first connecting hole, and the telescopic fork rod can be inserted into the second connecting hole; the rotating disc is detachably connected with the connecting plate; the disc surface of the rotating disc is parallel to the side end surface of the transfer box.

In one embodiment, the tipping part further comprises a third telescopic frame, and the third telescopic frame is connected with the rotating disc and can drive the rotating disc to move in the axial direction of the supporting column.

The technical scheme provided by the embodiment of the utility model has the following beneficial technical effects:

the cellar lifting and entering robot provided by the utility model has the advantages that the liftable telescopic material distribution mechanism and the telescopic and movable grab bucket mechanism are arranged on the same beam type truss, the movable grab bucket mechanism can penetrate through the telescopic material distribution mechanism, so that a brewing material can be lifted or lowered within the stroke range of the telescopic material distribution mechanism and is butted with a temporary storage barrel for temporarily storing the brewing material, the brewing material can be conveniently and quickly transferred, the temporary storage barrel can be set to be in a static structure, the existing factory building equipment is fully utilized, and the equipment cost is greatly reduced under the condition of efficiently transferring the brewing material.

Drawings

Fig. 1 is a schematic perspective view of a cellar entry robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a first perspective plane structure of the cellar entry robot according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a second view plane of the cellar entry robot according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a transfer box according to an embodiment of the present invention.

Detailed Description

To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Possible embodiments of the utility model are given in the figures. The utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein by the accompanying drawings. The embodiments described by way of reference to the drawings are illustrative for the purpose of providing a more thorough understanding of the present disclosure and are not to be construed as limiting the present invention. Furthermore, if a detailed description of known technologies is not necessary for illustrating the features of the present invention, such technical details may be omitted.

It will be understood by those skilled in the relevant art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It is to be understood that the term "and/or" as used herein is intended to include all or any and all combinations of one or more of the associated listed items.

The technical solution of the present invention and how to solve the above technical problems will be described in detail with specific examples.

The pit opening and entering robot provided by the utility model comprises a beam type travelling crane 100, a movable grab bucket mechanism 200, a controller and at least one telescopic material distribution mechanism 300, wherein the controller is electrically connected with the movable grab bucket mechanism 200 and the telescopic material distribution mechanism 300 respectively, as shown in fig. 1 and fig. 2.

The controller is electrically connected with the driving part 310 on the beam crane 100, the movable grab bucket mechanism 200 and the telescopic distributing mechanism 300 respectively, so that the operation of the beam crane 100, the extension and the contraction of the movable grab bucket mechanism 200, the action of taking and placing materials by the grab bucket 230 are realized, and the telescopic distributing mechanism 300 is telescopic and can transport the materials. The controller may control the electric components on the pit entry robot to operate according to a preset operation program through an internal Processor, and from a hardware perspective, the Processor may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. A processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, a DSP and a microprocessor, or the like.

As shown in fig. 1 and 2, the movable grapple mechanism 200 includes a moving portion 210, a first expansion bracket 220, and a grapple 230, the moving portion 210 being disposed at a first end of the first expansion bracket 220, the grapple 230 being disposed at a second end of the first expansion bracket 220, the moving portion 210 being movable on the beam crane 100. The moving part 210 of the movable grab bucket mechanism 200 is usually provided with a motor to drive the movable grab bucket mechanism 200 to move on the beam crane 100 as a whole, and the first telescopic frame 220 can be telescopic relative to the moving part 210, can extend to take materials from the cellar pool, and can be telescopic to transfer wine making materials to other cellar pools or transfer equipment. The first telescopic frame 220 may be a scissor type telescopic frame, and a specific telescopic structure can be referred to in the related art.

In addition, it should be noted that the moving part 210 in the movable grapple mechanism 200 is a generic term of a power mechanism capable of driving each movable part, and since the technical contents in the prior art can be directly referred to, the present application does not describe the same, it is foreseen that the moving part 210 includes a moving part capable of operating the grapple 230, a moving part capable of driving the first telescopic frame 220 to operate, and a moving part capable of moving the movable grapple mechanism 200 as a whole, and the distribution positions of these moving parts may be different from each other.

As shown in fig. 1, the telescopic distributing mechanism 300 includes a driving portion 310, a second telescopic frame 320 and a transfer box 330, the transfer box 330 is disposed on the second telescopic frame 320 and can move on the second telescopic frame 320, the second telescopic frame 320 is connected to the driving portion 310 and can move relative to the driving portion 310, and the driving portion 310 can move on the beam crane 100; the movable grapple mechanism 200 may travel within the telescopic distribution mechanism 300. The driving part 310 is movable back and forth on the beam type crane 100 in the longitudinal direction of the beam type crane 100, and the second telescopic bracket 320 may be movable relative to the driving part 310 or may be fixed at a certain position as required. The length direction of the second expansion bracket 320 is perpendicular to the length direction of the beam runner 100, and the length direction of the beam runner 100 tends to be the horizontal direction. When the storage bucket of keeping in of storing wine material is located the ceiling of the workshop that plays income cellar for storing things robot place, second expansion bracket 320 can have the part to be located beam type driving 100 tops, is closer to the ceiling of workshop, and transfer box 330 can move on second expansion bracket 320, then can move the top of second expansion bracket 320, be closest to the position of keeping in the bucket promptly, can design even for and the butt joint of bucket of keeping in, can directly transfer the wine material in the bucket of keeping in to transfer box 330.

Similar to the moving part described above, the driving part 310 of the retractable distributing mechanism 300 also includes a first driving part for driving the retractable distributing mechanism 300 to move integrally, a second driving part for driving the second retractable frame 320 to extend and retract, and at least one driving part disposed on the transfer box 330.

As shown in fig. 3, the movable grapple mechanism 200 is disposed in the middle of the beam crane 100 in the width direction, the retractable distributing mechanism 300 is disposed on both sides of the beam crane 100 in the width direction, the retractable distributing mechanism 300 can move to the position of the movable grapple mechanism 200, and the second retractable frame 320 in the retractable distributing mechanism 300 can accommodate the movable grapple mechanism 200 in the retracted state, so that the grapple 230 of the movable grapple mechanism 200 is positioned right above the transfer box 330, thereby transferring the brewing material.

Of course, by setting the specific structures of the first telescopic frame 220 and the second telescopic frame 320, the movable grab mechanism 200 can also pass through the telescopic cloth mechanism 300, that is, the movable grab mechanism 200 can coincide with the telescopic cloth mechanism 300. The transfer box 330 on the telescopic distributing mechanism 300 is lowered to a lower position, a reserved space is reserved between the transfer box 330 and the driving portion 310, the movable grab bucket mechanism 200 is driven by the self moving portion 210 to move into the reserved space and be located above the transfer box 330, the grab bucket 230 is turned over or opened, and wine making materials in the grab bucket 230 can be transferred into the transfer box 330. The beam crane 100 itself has a large width, and there is enough space for the movable grapple mechanism 200 and the retractable cloth mechanism 300 to operate without interference.

According to the cellar lifting and entering robot, the liftable telescopic distributing mechanism 300 and the telescopic and movable grab bucket mechanism 200 are arranged on the same beam type truss, the movable grab bucket mechanism 200 can penetrate through the telescopic distributing mechanism 300, brewing materials can be lifted or lowered within the stroke range of the telescopic distributing mechanism 300 and are in butt joint with the temporary storage barrel for temporarily storing the brewing materials, the brewing materials can be conveniently and quickly transported, the temporary storage barrel can be set to be in a static structure, existing factory building equipment is fully utilized, and the equipment cost is greatly reduced under the condition that the brewing materials are efficiently transported.

Optionally, in some implementations of an embodiment of the present application, as shown in fig. 3, the second telescopic frame 320 includes at least two stacked gantries, and two adjacent gantries are relatively movable; the width of the innermost gantry is greater than the maximum width of the moveable grapple mechanism 200. According to needs, can set up the multilayer portal, can set up pulley and slide rail structure between two adjacent portals to set up hoisting structure, drive the portal and remove, realize the extension or the shrink of second expansion bracket 320. The openwork width of the gantry needs to be set large enough for accommodating the moveable grapple mechanism 200.

Optionally, in some implementations of another embodiment of the present application, as shown in fig. 4, the retractable distributing mechanism 300 further includes a hopper portion 340 connected to the second retractable frame 320; a pair of support columns are arranged on two opposite side end surfaces of the transfer box 330, the support columns are connected with the skip part 340, and the skip part 340 can drive the transfer box 330 to rotate around the normal of the side end surfaces by a preset angle. The transfer box 330 can also be flipped in a manner that enables dumping of the brew material. The tipping mechanism can drive the box body of the transfer box 330 to turn for a certain angle, for example, 180 degrees, and all materials in the transfer box 330 are poured into the cellar pool.

Optionally, in combination with the foregoing implementation manners, in another implementation manner of another embodiment of the present application, as shown in fig. 4, the tipping part 340 includes a connecting plate 341, a rotating disk 342, and two coaxial and opposite telescopic forks 343; the connection plate 341 is provided with a first connection hole 341a and a second connection hole 341b having geometric central axes perpendicular to each other, and the first connection hole 341a and the second connection hole 341b are at least partially overlapped; the support column may be inserted into the first connection hole 341a, and the telescopic fork 343 may be inserted into the second connection hole 341 b; the rotating disc 342 is detachably connected with the connecting plate 341; the disk surface of the rotating disk 342 is parallel to the side end surface of the transfer box 330. The vestibule part coincidence of first connecting hole 341a and second connecting hole 341b to can make second connecting hole 341b be located first connecting hole 341a below, be closer to the bottom of transfer box 330, after inserting first connecting hole 341a with the support column of transfer box 330, insert flexible fork arm 343 in second connecting hole 341b again, can make the support column by flexible fork arm 343 butt jacking even, can avoid the axial displacement of transfer box 330 along the support column, improve the position stability of transfer box 330, the butt joint accuracy of transfer box 330 when needs dock with other structures has also been guaranteed.

In addition, the telescopic fork 343 can be manufactured by a hydraulic device, and when necessary, the telescopic fork 343 is fitted into the second connection hole 341b to connect the transfer box 330 with the skip part 340 and also connect the transfer box 330 with the second telescopic frame 320.

Optionally, in combination with the above implementation, in some embodiments, the rotating disc 342 is connected to the second telescopic frame 320 through a third telescopic frame (not shown in the figure). Specifically, the third telescopic frame can adopt a common hydraulic mechanism, and the hydraulic mechanism can be in communication connection with the controller and is controlled by the controller. The third telescopic frame is movable in the direction of the disk surface normal of the rotating disk 342, that is, in the axial direction of the support column. Of course, the third expansion bracket corresponds to the rotating disk 342 one by one, and the left and right rotating disks 342 are connected with a third expansion bracket, so that the connecting plates 341 on two sides of the transfer box 330 can be contracted to a position close to the second expansion bracket 320, the supporting column is separated from the first connecting hole 341a, the transfer box 330 is detached from the telescopic distributing mechanism 300, and the transfer box 330 is detached and transferred to other positions or devices in a production workshop. Of course, the third telescopic frame can also take other forms, such as a rotary type, and the third telescopic frame is separated from the connection with the support column by rotating around a rotating shaft at one side.

It will be understood by those skilled in the art that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 application can be understood in a specific case by those of ordinary skill in the art.

In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims (5)

1. The pit-opening and entering robot is characterized by comprising a beam type travelling crane, a movable grab bucket mechanism, a controller and at least one telescopic material distribution mechanism, wherein the controller is electrically connected with the movable grab bucket mechanism and the telescopic material distribution mechanism respectively;

the movable grab bucket mechanism comprises a moving part, a first telescopic frame and a grab bucket, wherein the moving part is arranged at the first end of the first telescopic frame, the grab bucket is arranged at the second end of the first telescopic frame, and the moving part can move on the beam type travelling crane;

the telescopic material distribution mechanism comprises a driving part, a second telescopic frame and a transfer box, the transfer box is arranged on the second telescopic frame and can move on the second telescopic frame, the second telescopic frame is connected to the driving part and can move relative to the driving part, and the driving part can move on the beam type travelling crane;

the movable grab bucket mechanism can pass through the telescopic distributing mechanism.

2. A cellar entry robot as claimed in claim 1, wherein the second telescopic carriage comprises at least two stacked layers of gantries, adjacent layers of the gantries being relatively movable; the width of the portal of the innermost layer is greater than the maximum width of the movable grab mechanism.

3. The cellar entry robot of claim 1, wherein the telescopic distribution mechanism further comprises a hopper section connected to the second telescopic frame; all be equipped with a pair of support column on two relative side end faces of transfer box, the support column with tipping bucket portion connects, tipping bucket portion can drive the transfer box winds the normal line rotation of side end face predetermines the angle.

4. A cellar entry robot as claimed in claim 3, wherein the tipping section comprises a connecting plate, a rotary disc and two coaxial and opposing telescopic forks; the connecting plate is provided with a first connecting hole and a second connecting hole, wherein the geometric central axes of the first connecting hole and the second connecting hole are vertical to each other, and the first connecting hole and the second connecting hole are at least partially overlapped; the support column can be inserted into the first connecting hole, and the telescopic fork rod can be inserted into the second connecting hole; the rotating disc is detachably connected with the connecting plate; the disc surface of the rotating disc is parallel to the side end surface of the transfer box.

5. The cellar entry robot of claim 4, wherein the tipping section further comprises a third telescopic frame, the third telescopic frame is connected with the rotating disk and can drive the rotating disk to move in the axial direction of the supporting column.

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