System and method for discharging fermented grains out of fermentation pit

Abstract

The invention relates to the technical field of liquor brewing, and discloses a system and method for discharging fermented grains out of a fermentation pit. The system comprises a collaborative robot. The collaborative robot comprises a support, an X-axis moving trolley, a Y-axis moving trolley and a telescopic mechanism, wherein the X-axis moving trolley is movably arranged on the support in theX-axis direction, the Y-axis moving trolley is movably arranged on the X-axial moving trolley in the Y-axis direction, the telescopic mechanism is vertically arranged on the Y-axis moving trolley, acollaborative grab bucket is connected to the bottom end of the telescopic mechanism, and the support is detachably fixed to the periphery of an opening of the fermentation pit, so that the collaborative grab bucket is located above the fermentation pit and is used for transferring fermented grains at the corners and on the wall of the fermentation pit to a preset position. According to the systemand method for discharging the fermented grains out of the fermentation pit, with the assistance of the collaborative robot, the fermented grains at the corners of the fermentation pit can be smoothly grabbed, the fermented grains can be completely discharged of the fermentation pit, and the fermented grains on the wall of the fermentation pit are grabbed through the collaborative grab bucket instead of a main working grab bucket, so that the wall of the fermentation pit is prevented from being damaged by the main grab bucket.

Description

technical field [0001] The invention relates to the technical field of liquor brewing, in particular to a system and method for extracting fermented grains from a cellar. Background technique [0002] At present, in the large-scale liquor preparation process, there is a cellar-entry process after the air-drying process of spreading koji, which mainly includes the processes of spreading koji, filling the cellar, scraping, and stepping on the cellar. After the wine grains enter the cellar, they are fermented in the cellar pool, and after the fermentation is completed, the process of leaving the wine grains from the cellar is carried out. [0003] The traditional cellar for unloading the fermented grains from the cellar is manual and other operations, with a low degree of automation and high labor intensity. At the same time, the oxygen at the bottom of the cellar is thin, and the working environment is relatively harsh. At present, some factories use mechanical grabs to autom...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a system and method for unloading wine grains from the cellar, which is used to solve or partially solve the problem that some factories use mechanical grabs to automatically grab the wine grains in the cellar pool for the wine grains out of the cellar. It is difficult to grab the fermented grains on the corner or the cellar wall, and there is a problem that the cellar is not completely released and the cellar wall is easily damaged

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