Automatic robot cylinder digging system

Abstract

The invention discloses an automatic robot jar digging system which comprises a platform, a jar digging moving frame, a fermentation ground jar, a frame track, a robot track, a jar digging robot and a transfer trolley. The cylinder digging robot achieves accurate cylinder digging and grain discharging through the mechanical arm and the mechanical gripper, the mechanical gripper is provided with a camera, a distance measuring sensor and a controller, and the operation accuracy is ensured. The system monitors and adjusts the operation plan and path of the cylinder digging robot through the central control system, and automatic and intelligent management is achieved. Compared with the prior art, the device has the advantages that the number of operators and the labor intensity are reduced through automatic operation; the production efficiency is improved; the normal production rhythm is met; the loss of alcohol and aroma components in the materials is avoided, and the quality and the yield of the produced wine are improved; and standardized and intelligent management of cylinder digging operation is realized. A plurality of problems existing in a traditional manual cylinder digging mode are solved, and remarkable technical effects and economic benefits are achieved.

Description

Technical Field

[0001] The invention relates to the field of automated equipment for brewing liquor, and in particular to an automated robot vat digging system, which aims to solve the problems of high labor intensity, low production efficiency, and loss of material aroma components in the traditional manual vat digging method. Background Art

[0002] During the liquor brewing process, the fermented mash needs to be taken out from the ground tank and transferred to the upper steamer section for subsequent processing. Currently, this process mainly adopts the method of manually digging the mash with a shovel and discharging with a scraper.

[0003] However, this method has many defects: first, manual digging of the dregs is labor-intensive, resulting in too many people in the position, and this problem is particularly prominent when it is difficult for wineries to recruit workers. Second, the scraper discharging production efficiency is low and cannot meet the normal production rhythm. Finally, the material is completely dispersed during the scraper discharging process, resulting in serious loss of alcohol and aroma components in the material, which in turn affects the quality and alcohol rate of the wine after it is discharged.

[0004] Therefore, an automated robotic tank digging system is in urgent need of research. Summary of the invention

[0005] The object of the present invention is to provide an automated robotic cylinder digging system to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the technical solution provided by the present invention is as follows: an automated robot tank digging system, comprising a platform, on which a tank digging moving frame and a plurality of fermentation tanks are provided;

[0007] The digging cylinder mobile frame is arranged on the platform through a frame track, and the digging cylinder mobile frame includes two symmetrically arranged support frames, a horizontal frame is arranged on the top of the two support frames, a robot track and a digging cylinder robot are arranged at the bottom of the horizontal frame, the digging cylinder mobile frame moves horizontally on the frame track, and the digging cylinder robot moves longitudinally on the robot track;

[0008] The cylinder digging robot comprises a mechanical arm connected to the robot track, and a mechanical gripper is provided at the end of the mechanical arm away from the robot track, and a camera for taking pictures and positioning, a distance measuring sensor and a controller are provided on the mechanical gripper;

[0009] The fermentation tanks are evenly distributed on the platform, and a transfer vehicle for transferring the mash out of the tank is provided on the fermentation tank.

[0010] As a preferred solution, the camera, the distance measuring sensor, and the mechanical gripper are all electrically connected to the controller.

[0011] As a preferred solution, the diameter of the fermentation tank decreases from top to bottom.

[0012] As a preferred solution, the digging cylinder mobile frame also includes a driving device for driving the digging cylinder mobile frame to move on the frame track and driving the digging cylinder robot to move on the robot track.

[0013] As a preferred solution, a digging cylinder number is also provided on the platform, and the camera can identify the digging cylinder number to accurately control the movement and working position of the digging cylinder robot.

[0014] As a preferred solution, the system also includes a central control system, which is communicatively connected to the controller, the drive device and the transfer vehicle, and is used to monitor the operating status of the entire cylinder digging system and adjust the operation plan and path of the cylinder digging robot as needed.

[0015] Compared with the existing technology, the advantages of the present invention are: reducing the number of operators and reducing labor intensity through automated operations; improving production efficiency and meeting normal production rhythm; avoiding the loss of alcohol and aroma components in the material, improving the quality and rate of wine after production; and achieving standardized and intelligent management of the digging operation. It solves many problems existing in the traditional manual digging method and has significant technical and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 The present invention Figure 1 A partial enlarged view of middle A.

[0018] As shown in the figure: 1. Platform, 2. Digging tank moving frame, 3. Fermentation tank, 4. Frame track, 5. Robot track, 6. Digging tank robot, 7. Transfer vehicle, 201. Support frame, 202. Horizontal frame, 601. Robot arm, 602. Robot gripper. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0021] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of the embodiments of the present invention, "plurality" means at least 2.

[0023] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] An automated robot tank digging system comprises a platform 1, on which a tank digging moving frame 2 and a plurality of fermentation tanks 3 are arranged;

[0025] The digging cylinder mobile frame 2 is arranged on the platform 1 through a frame track 4, and the digging cylinder mobile frame 2 includes two symmetrically arranged support frames 201, and a horizontal frame 202 is arranged on the top of the two support frames 201, and a robot track 5 and a digging cylinder robot 6 are arranged at the bottom of the horizontal frame 202. The digging cylinder mobile frame 2 moves horizontally on the frame track 4, and the digging cylinder robot 6 moves longitudinally on the robot track 5;

[0026] The cylinder digging robot 6 includes a mechanical arm 601 connected to the robot track 5, and a mechanical gripper 602 is provided at the end of the mechanical arm 601 away from the robot track 5. The mechanical gripper 602 is provided with a camera for taking pictures and positioning, a distance sensor and a controller;

[0027] The fermentation tanks 3 are evenly distributed on the platform 1 , and a transfer vehicle 7 for transferring the fermented grains out of the tanks is provided on the fermentation tanks 3 .

[0028] The camera, the distance measuring sensor, and the mechanical gripper 602 are all electrically connected to the controller.

[0029] The diameter of the fermentation tank 3 decreases from top to bottom.

[0030] The excavating cylinder mobile frame 2 further includes a driving device for driving the excavating cylinder mobile frame 2 to move on the frame track 4 and driving the excavating cylinder robot 6 to move on the robot track 5 .

[0031] The platform 1 is also provided with a digging cylinder number, and the camera can identify the digging cylinder number to accurately control the movement and working position of the digging cylinder robot 6.

[0032] The system also includes a central control system, which is in communication with the controller, the drive device and the transfer vehicle 7, and is used to monitor the operating status of the entire cylinder digging system and adjust the operation plan and path of the cylinder digging robot 6 as needed.

[0033] The platform serves as the supporting platform of the entire system and is used to install the mobile frame of the digging tank and the fermentation tank.

[0034] The digging cylinder moving frame is arranged on the platform in a transversely movable manner through a frame track, and is used to drive the digging cylinder robot to move along the transverse track to reach any position of a row of ground cylinders at the current position to dig the trench.

[0035] The fermentation vats are evenly distributed on the platform and are used to store fermented mash.

[0036] The robot track is arranged at the bottom of the horizontal frame of the digging cylinder moving frame, and is used for guiding the digging cylinder robot to move along the longitudinal track.

[0037] The tank digging robot is installed on the robot track and uses visual detection and ranging sensors to achieve precise positioning and control. It is used to dig out the mash and transfer it to the transfer vehicle.

[0038] When the present invention is implemented specifically, the robot is positioned and moved: when starting to dig a cylinder, the operator needs to select the digging cylinder number on the control panel of the digging cylinder robot, and the digging cylinder robot will automatically move to the corresponding cylinder position along the robot track and the frame track.

[0039] Camera positioning: After the robot reaches the location of the underground cylinder, it first takes a photo through the camera and uses image recognition technology to determine the center point of the corresponding underground cylinder to ensure the accuracy of digging the cylinder.

[0040] Digging out the mash from the vat: The robot controls the gripper to reach into the vat to dig out the mash and discharge it to the transfer vehicle placed nearby. During the digging process, the distance sensor will detect the height of the mash in the vat in real time and adjust the gripper opening angle according to the height change to adapt to the change in the diameter of the vat.

[0041] Cyclic digging: After completing the digging of a cylinder, the cylinder digging robot will move along the upper horizontal track to the next cylinder position for cyclic digging until the horizontal row of cylinders is completely out of the cylinder. After completing the production task of the shift, the cylinder digging robot will return to the starting position, and the cylinder digging mobile frame will move to the standby area as a whole for the next round of production or maintenance.

[0042] The present invention realizes automated operation on the basis of following tradition, and replaces high-intensity manual work with robots, thereby reducing labor intensity and improving production efficiency. The loss of alcohol and aroma components of the material caused by the bulk discharge method is avoided, and the material is discharged quickly and the original properties of the material are retained through the mechanical gripper. The cylinder digging robot has a high degree of flexibility and can move to any cylinder position to perform digging operations. The cylinder digging process is completely one-button start and automated operation, and the position of the mechanical gripper is automatically located and the digging position is identified through the visual system. The automated cylinder digging system only replaces the high-intensity work of the original manual digging. After digging the cylinder, the discharged dregs can be transferred to a designated location or a designated transportation method to receive the materials. The original working mode is not changed, and it can be fully matched with the original operating system.

[0043] The automated robot tank digging system proposed in the present invention has significant technical advantages and application prospects, and will provide strong support for the automated production of the liquor brewing industry.

[0044] The present invention and its embodiments are described above, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it and do not deviate from the purpose of the invention, they can creatively design a structure and embodiment similar to the technical solution, which should fall within the protection scope of the present invention.

Claims

1. An automated robotic digging system, characterized in that: It comprises a platform, on which a moving frame for digging a vat and a plurality of fermentation vats are arranged; The digging cylinder mobile frame is arranged on the platform through a frame track, and the digging cylinder mobile frame includes two symmetrically arranged support frames, a horizontal frame is arranged on the top of the two support frames, a robot track and a digging cylinder robot are arranged at the bottom of the horizontal frame, the digging cylinder mobile frame moves horizontally on the frame track, and the digging cylinder robot moves longitudinally on the robot track; The cylinder digging robot comprises a mechanical arm connected to the robot track, and a mechanical gripper is provided at the end of the mechanical arm away from the robot track, and a camera for taking pictures and positioning, a distance measuring sensor and a controller are provided on the mechanical gripper; The fermentation tanks are evenly distributed on the platform, and a transfer vehicle for transferring the mash out of the tank is provided on the fermentation tank.

2. The automated robotic digging system according to claim 1, characterized in that: The camera, the distance measuring sensor and the mechanical gripper are all electrically connected to the controller.

3. The automated robotic digging system according to claim 1, characterized in that: The diameter of the fermentation tank decreases from top to bottom.

4. The automated robotic digging system according to claim 1, characterized in that: The excavating cylinder mobile frame also includes a driving device for driving the excavating cylinder mobile frame to move on the frame track and driving the excavating cylinder robot to move on the robot track.

5. The automated robotic digging system according to claim 1, characterized in that: The platform is also provided with a digging cylinder number, and the camera can identify the digging cylinder number to accurately control the movement and working position of the digging cylinder robot.

6. The automated robotic digging system according to claim 4, characterized in that: The system also includes a central control system, which is communicatively connected with the controller, the drive device and the transfer vehicle, and is used to monitor the operating status of the entire cylinder digging system and adjust the operation plan and path of the cylinder digging robot as needed.

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