Full-automatic steamer filling system based on flexible sprinkling robot

Abstract

The invention relates to a full-automatic steamer filling system based on a flexible sprinkling robot. The full-automatic steamer filling system comprises a wheat bran conveyor, a fermented grain conveyor, a fermented grain lifting and conveying belt, the flexible sprinkling robot, steamer buckets, an infrared camera, a bucket cover hoisting device, a condenser and an electric control cabinet, wherein discharging openings of the wheat bran conveyor and the fermented grain conveyor are connected to a feeding opening of the fermented grain lifting and conveying belt; a discharging opening of the fermented grain lifting and conveying belt is connected to a feeding hopper of the flexible sprinkling robot; the steamer buckets are mounted in a working area of the flexible sprinkling robot at intervals; heating devices are mounted under the steamer buckets. The full-automatic steamer filling system is capable of accurately controlling the conveying, thinly, softly and uniformly sprinkling and improving wind yield, lighting sprinkling and thinly paving, sprinkling when air is generated; the sprinkling points are accurate; the vinegar surface is smooth so as to form a loose and uniform micro-porous structure.

Description

technical field [0001] The invention belongs to the field of liquor manufacturing, and relates to brewing equipment, in particular to a fully automatic retort filling system based on a flexible material spreading robot. 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 equipment usually adopts the ABB robot to grab and throw the wine grains, which mainly has the following defects: 1. The existing wine grains are usually conveyed in an open way, and then the wine grains are transported by the retort. Robotic grasping, feeding metering, speed and continuity are poor. 2. If the fermented grains are thrown directly from the top of the Zhen barrel ...

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 equipment usually adopts the ABB robot to grab and throw the wine grains, which mainly has the following defects: 1. The existing wine grains are usually conveyed in an open way, and then the wine grains are transported by the retort. Robotic grasping, feeding metering, speed and continuity are poor

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

3. During the retort loading process, spread sequentially or spread through the sensor to detect the thickness of the fermented grains in the retort. During this process, the steam from the fermented grains below is non-uniform, and the steam will flow from the open barrel Escaping from the top, more wasteful

Images