Gantry fermented grain automatic loading machine and loading method

Abstract

The invention discloses a gantry fermented grain automatic loading machine. The gantry fermented grain automatic loading machine comprises a gantry fermented grain loading robot, a fermented grain loading execution mechanism, a binocular vision identifying system and a control system, wherein the gantry fermented grain loading robot consists of two horizontal guide rails, two stand columns, a cross beam and a ram; the fermented grain loading execution mechanism is mounted on the ram; and the binocular vision identifying system comprises a steam running identification thermal infrared imager and a height identification thermal infrared imager, whose output ends are connected to an input end of the control system. The gantry fermented grain loading robot is excellent in loading capacity, and the performance requirement of the robot can be reduced, so that the equipment cost investment is reduced; the guide rails consisting of a flat guide rail, a V-shaped guide rail and a rack composition are adopted to bear the position deviation caused by slight displacement generated in the fermented grain loading motion process, so that the material distributing and feeding accuracy is guaranteed, and the distilling effect is improved; and the binocular vision identifying system is adopted to obtain the material surface temperature distribution and height, so that fermented grains are uniform to prevent the air way blockage and the steam pressure, and the distillation effect is guaranteed.

Description

technical field [0001] The invention relates to the field of retort packing of wine grains, in particular to a gantry type automatic retort packing machine for wine fermented grains, and also relates to a retort packing method. Background technique [0002] As the saying goes, "fragrance is produced by fermentation, and aroma is obtained by distillation". In the production process of Daqu liquor, the distillation equipment of retort barrel has been used for thousands of years. The retort barrel is a circular frustum-shaped (flower pot-shaped) distiller, with an upper opening diameter of about 2m, a bottom opening diameter of about 1.8m, and a height of about 1m. The upper movable cover is connected to the cooler, and the lower part is separated from the heater by a porous retort grate. Retort filling is the process of putting the wet viscous solid loose fermented grains matured by solid-state fermentation into the retort barrel, using high-temperature steam to concentrate an...

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a gantry-type automatic retort loading machine and method for retort, which can solve the problem of high price of existing automatic or semi-automatic retort devices, which affects the production cost of liquor, and can not be realized by simulating manual retort Quantitative discharge, uniform throwing of the cloth, and the inability to judge the height of the material level in the retort barrel are prone to blockage of the air passage and pressure steam, which affects the distillation effect.

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