Intelligent grain loading robot for flexible spreading

Abstract

The invention relates to an intelligent grain loading robot for flexible spreading. The robot comprises a base, a vertical frame, a lifting frame, a first-grade feeding arm, a second-grade feeding arm, a vertical feeding arm and a buffer feeding arm; the vertical frame is vertically mounted at the upper end of the base; the first-grade feeding arm is mounted on the vertical frame in a horizontal cantilever form; one end of the second-grade feeding arm is horizontally and rotationally mounted at a cantilever end of the first-grade feeding arm; the upper end of the vertical feeding arm is closed and mounted below the other end of the second-grade feeding arm; the vertical feeding arm is a hollow cylindrical structure; one end of the buffer feeding arm is mounted at the lower end of the vertical feeding arm; and a spreading outlet is mounted in the other end of the buffer feeding arm. The robot is provided with a flexible feeding end bearing platform, and the bearing platform is controllable in height, so that fermented grains are gently spread in a grain barrel, the spread fermented grains are kept loose, and the later distillation processing effect is improved; and the bearing platform can rotate for spreading operation without dead angle in the grain barrel.

Description

technical field [0001] The invention belongs to the field of liquor manufacturing, and relates to brewing equipment, in particular to an intelligent steamer feeding robot for flexible feeding. Background technique [0002] Liquor brewing industry is a unique manufacturing industry in China. Liquor is made of grain as the main raw material, and it needs to go through solid-state fermentation, barrel distillation and other processes. Completion, labor costs are high, and overall production efficiency is low. [0003] In the retort loading step, the existing automatic retort loading equipment usually uses ordered ABB robots to grab and throw materials, which mainly has the following defects: 1. The existing material conveying method is usually open conveying, and then the retort loading robot grabs Take, feed metering, speed and continuity are poor. 2. The material is thrown directly from the top of the Zhen barrel into the Zhen barrel, which will cause the existing materials...

AI Technical Summary

Problems solved by technology

[0002] Liquor brewing industry is a unique manufacturing industry in China. Liquor is made of grain as the main raw material, and it needs to go through solid-state fermentation, barrel distillation and other processes. Complete, high labor costs, low overall production efficiency

[0003] In the retort loading step, the existing automatic retort loading equipment usually uses ordered ABB robots to grab and throw materials, which mainly has the following defects: 1. The existing material conveying method is usually open conveying, and then the retort loading robot grabs Take, feed metering, speed and continuity are poor

2. The material is thrown directly from the top of the Zhen barrel into the Zhen barrel, which will cause the existing materials in the lower layer to be compacted, which will affect the subsequent wine steaming effect

3. During the retort loading process, spread sequentially or spread through the sensor to detect the thickness of the material in the retort. During this process, the steam evaporated from the material below is non-uniform, and the steam will escape from the top of the open Zhen barrel. scattered, more wasteful

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