A system for automatically collecting and storing wine lees
By designing the automatic cellar lifting system of wine lees, using parallel cellar lifting and cellaring devices and six-axis robots, efficient multi-angle operation and automated operation in the cellar are achieved, solving the problems of low efficiency and poor safety in traditional methods, and improving the problem of high efficiency and low safety. Productivity and reduce labor costs.
Patent Information
- Application Number
- CN202011003921.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-09-22
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2040-09-22
AI Technical Summary
During the process of traditional wine lees being loaded into the cellar, the control accuracy is low, the labor cost is time-consuming, the production efficiency is low, the workers are labor-intensive, the material is severe and the environment is harsh, and the hanging grabs cannot be collected in layers and the materials in the corners of the cellar are processed. , It is impossible to achieve the operation of slurry into the cellar and compaction.
A system for automatic cellar loading and cellar loading is designed, including cellar tanks, tracks, transport vehicles, silos, cellar loading devices and cellar loading devices. The cellar loading and cellar loading devices are used in parallel, combining six-axis robots, conveying mechanisms and Functional components to realize automated cellar operation. The robot can operate from multiple angles in the cellar, automatically switch functional components to clean or seal cellar mud, and conveyor belts are used to efficiently transport terrible materials.
This greatly improves work efficiency, reduces labor costs, and realizes high-automation operation of cellars, saves labor costs, improves production efficiency, and solves the problem of handling materials in the corners of the cellar.
Smart Images
Figure CN112141736B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of wine brewing, in particular to a system for automatically collecting and storing wine lees into a cellar. Background Art
[0002] When making wine, the lees are usually fermented. The traditional method is: first, several cellars are dug on the ground, and then a manually controlled crane is used to transfer the hopper (or grab bucket) filled with the lees to the cellar area, and then the lees are poured into the cellar for fermentation with manual assistance. After the fermentation is completed, the hopper (or grab bucket) is manually controlled to dig out the fermented lees and send it to the wine hanging area for the next step of processing. When this method is used, not only is the control accuracy low, but it is also extremely labor-intensive and time-consuming, with low production efficiency, great labor intensity for workers, serious material scattering, and a relatively harsh on-site environment.
[0003] At present, in addition to manual cellaring, hanging grab buckets have been used for cellaring. Hanging grab buckets are composed of two bucket-shaped jaws that can be opened and closed to form a storage space. When loading, the jaws are closed in the material pile, and the materials are grabbed into the storage space. When unloading, the jaws are opened in a suspended state on the material pile, and the materials are scattered on the material pile. The opening and closing of the jaws are generally controlled by the steel wire rope of the crane lifting mechanism. Hanging grab bucket operations do not require heavy physical labor and can achieve higher loading and unloading efficiency.
[0004] However, the hanging grab bucket cannot take materials in layers, and the mash materials need to be piled up manually in advance. It cannot handle the mash materials in the corners of the automatic pit, and manual handling is required. In addition, the hanging grab bucket cannot realize the raking and compacting operations after the mash enters the pit. Summary of the invention
[0005] In view of the above technical problems, the present invention proposes a system for automatically lifting and storing wine lees, which solves the technical problems of low efficiency and poor safety in manual lifting and storing.
[0006] The present invention proposes a system for automatically lifting and entering wine lees into a cellar, comprising a cellar, a track, a transport vehicle, a silo, a cellar lifting device and a cellar entry device, wherein the track is arranged on both sides of the cellar, the cellar lifting device comprises a cellar lifting trolley, a robot, a transmission mechanism and a robot functional component, the cellar lifting trolley comprises a first bridge frame and a second bridge frame arranged in parallel, the robot is movably arranged on the first bridge frame, the robot functional component and the transmission mechanism are respectively arranged on the upper part and the lower part of the second bridge frame, the cellar entry device comprises a cellar entry trolley and a flip mechanism movably arranged at the bottom of the cellar entry trolley, the cellar lifting trolley and the cellar entry trolley are arranged in parallel on the track, the silo is arranged on the transport vehicle, and a channel for the displacement of the transport vehicle is arranged on the cellar, and the channel is located below the discharge port of the transmission mechanism. By utilizing the cooperation of the cellar lifting device and the cellar entry device components arranged in parallel on the tracks on both sides of the cellar, the automatic lifting and entering of the cellar can be realized without manual operation, which greatly improves the work efficiency.
[0007] Preferably, a first displacement mechanism is provided on the first bridge frame, and the robot is fixed on the first displacement mechanism. With this arrangement, the robot can move above the cellar by displacement on the first bridge frame.
[0008] Further preferably, the displacement mechanism includes a first transverse displacement mechanism and a first longitudinal lifting mechanism, and the first longitudinal lifting mechanism is fixed to the first transverse displacement mechanism, and the robot is fixed to the side of the first longitudinal lifting mechanism facing the second bridge. The transverse and longitudinal displacements enable the robot to move between the cellars and to work deep inside the cellars.
[0009] Further preferably, the robot is a six-axis robot. Using a six-axis robot can have a higher degree of freedom, which is convenient for it to realize all-round and multi-angle movements in the cellar.
[0010] Further preferably, the robot functional components include a bucket, a cleaning mechanism or a cellar mud sealing mechanism detachably connected to the robot. The arrangement of the bucket, the cleaning mechanism and the cellar mud sealing mechanism can enable the robot to automatically select corresponding functional components to perform corresponding operations according to usage needs.
[0011] Further preferably, a positioning device is provided on the robot, and a positioning code is correspondingly provided on the cellar. The precise positioning of the robot can be achieved through the cooperation of the positioning code and the positioning device.
[0012] Preferably, the conveying mechanism includes two conveyor belts arranged on both sides of the second bridge, the discharge port is located between the two conveyor belts, and the conveying directions of the two conveyor belts are both toward the discharge port. The arrangement of the conveyor belts on both sides allows the cellars on both sides to be opened, and the conveyor belts are used to transport the waste material to the discharge port, without the need to frequently move the robot, thereby improving the efficiency of taking materials.
[0013] Further preferably, the two conveyor belts protrude upward near the discharge port so that the distance between the discharge port and the passage is greater than the sum of the heights of the transport vehicle and the silo. With this arrangement, the transport vehicle and the silo can pass through the conveyor belts to avoid interference.
[0014] Preferably, the cellar entry device further comprises a second displacement mechanism arranged on the cellar entry trolley, and the turnover mechanism is arranged at the bottom of the second displacement mechanism. With this arrangement, the turnover mechanism can be moved on the cellar entry trolley to expand its working area.
[0015] Further preferably, the second displacement mechanism includes a second lateral displacement mechanism and a second longitudinal lifting mechanism, the second longitudinal lifting mechanism is fixed to the bottom of the second lateral displacement mechanism, and the flip mechanism is fixed to the bottom of the second longitudinal lifting mechanism. With this arrangement, the flip mechanism can move above the cellar and adjust the height distance between the flip mechanism and the cellar, so as to facilitate related operations.
[0016] The present invention proposes an automatic wine lees lifting and cellaring system, in which a cellar lifting device and a cellaring device are arranged in parallel on a cellar, and the cooperation of the cellar lifting device, a conveying mechanism, a transport vehicle and a silo enables a robot to realize the action of taking materials at a fixed point without moving back and forth between the cellar and the silo to dump the lees into the silo, which greatly improves the efficiency of lifting the cellar, and at the same time, through the functional components arranged above the bridge, the robot can automatically switch and connect different functional components to complete operations such as cleaning or sealing the cellar mud, with a high degree of automation. And by using the coordinated cooperation of the siloing device, a complete set of automatic lifting and cellaring operations is realized, saving labor costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and together with the description are used to explain the principles of the present invention. Other embodiments and many of the expected advantages of the embodiments will be readily appreciated as they become better understood by reference to the following detailed description. Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments made with reference to the following drawings:
[0018] Figure 1 is an overall schematic diagram of a system for automatically collecting and storing wine lees according to an embodiment of the invention;
[0019] Figure 2 It is a partial structural schematic diagram of a wine lees cellaring device according to a specific embodiment of the invention;
[0020] Figure 3 It is a schematic diagram of the partial structure of a wine lees cellaring device according to a specific embodiment of the invention.
[0021] The meaning of the numbers in the figure are: 10. Trolley track, 20. Cellar lifting trolley, 30. Cellar entry trolley, 40. Transport vehicle, 50. Silo, 62. Positioning code, 21. Cellar lifting bridge, 22. First lateral displacement mechanism, 23. First longitudinal lifting mechanism, 24. Robot, 25. Bucket, 26. Cleaning mechanism, 27. Cellar mud sealing mechanism, 28. Conveying mechanism, 31. Cellar entry bridge, 32. Second lateral displacement mechanism, 33. Second longitudinal displacement mechanism, 34. Flipping mechanism, 61. Positioning device. DETAILED DESCRIPTION
[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.
[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
[0024] Figure 1 The structure diagram of the system for automatically collecting and storing wine lees according to one embodiment of the invention is shown. Figure 1 As shown, the automatic lees lifting and entering cellar system includes a trolley track 10, a cellar lifting trolley 20, a cellar entry trolley 30, a transport vehicle 40, a silo 50 and a positioning code 62. The trolley track 10 is laid on the ground on both sides of the cellar, and the cellar lifting trolley 20 and the cellar entry trolley 30 are displaceably arranged side by side on the trolley track 10. The silo 50 is placed on the transport vehicle 40. The positioning code 62 is set in one corner of the cellar, which can be a two-dimensional code or other identifiable positioning mechanism (such as a barcode, etc.). Different cellars correspond to positioning codes with different codes, which is convenient for management and control.
[0025] Continue to refer Figure 2 , Figure 2 FIG. 2 shows a partial structural schematic diagram of a wine lees extraction device according to a specific embodiment of the invention. Figure 2As shown, the cellar trolley 20 specifically includes a cellar bridge 21, a first lateral displacement mechanism 22, a first longitudinal lifting mechanism 23, a robot 24, a bucket 25, a cleaning mechanism 26, a cellar mud sealing mechanism 27 and a conveying mechanism 28. The cellar bridge 21 includes a first bridge and a second bridge arranged in parallel, wherein the first bridge is provided with a first lateral displacement mechanism 22, the first lateral displacement mechanism 22 is provided with a first longitudinal lifting mechanism 23, and the robot 24 is arranged on the side of the first longitudinal lifting mechanism 23 facing the second bridge; the upper end of the second bridge is provided with a robot functional component for detachably cooperating with the robot 24, and the robot functional component specifically includes a bucket 25, a cleaning mechanism 26 and a cellar mud sealing mechanism 27, and a conveying mechanism 28 is arranged below it. The bucket 25, the cleaning mechanism 26 and the cellar mud sealing mechanism 27 are functional components of the robot 24, which are schematically shown in blocks in the figure, and can be selectively connected with the robot 24 as needed to achieve different work contents. Figure 2 The robot 24 is in a state of being connected to the bucket 25 when digging a cellar.
[0026] In a preferred embodiment, the robot 24 is a six-axis robot, which has a very high degree of freedom and can meet the requirements of working at various angles in the cellar. The working range without dead angles enables all areas of the cellar to be fully covered when opening the cellar, cleaning or sealing the cellar mud. A positioning device 61 is provided at the end of the robot 24, and the positioning device 61 can specifically be a code scanning device for identifying a positioning code 62 set on the cellar to locate the robot 24.
[0027] In a specific embodiment, the conveying mechanism 28 is arranged below the cellar bridge 21, and has an upwardly inclined slope in the middle of the cellar bridge 21, the end of which is the discharge port, and the upwardly inclined slope forms an upward protrusion near the discharge port, so that the distance between the discharge port and the ground passage of the cellar is greater than the sum of the heights of the transport vehicle 40 and the silo 50. With this arrangement, the transport vehicle 40 and the silo 50 can pass through the conveyor belt to avoid interference. The conveying mechanism 28 is a symmetrically arranged left and right end type conveyor belt, and the conveying direction of the two conveyor belts is toward the middle discharge port. The two-stage arrangement can make it possible to transport the waste material to the middle discharge port when working at the cellars at both ends of the cellar bridge 21. There is a transport vehicle 40 carrying the silo 50 below the discharge port, which can transport the waste material in time. The robot 24 and the conveying mechanism 28 are respectively arranged on different bridges, so that the robot 24 can shovel the waste material onto the conveying mechanism 28 for transportation.
[0028] The operation process of using the cellar opening device is as follows: the cellar opening trolley 20 moves to the cellar opening position, the robot 24 grabs the bucket 25 and moves it above the cellar through the first lateral displacement mechanism 22; the positioning device 61 scans the positioning code 62, and after the system obtains the positioning information of the positioning code 62, the coordinate position of the robot 24 is corrected by compensation; the height of the robot 24 is adjusted by the first longitudinal lifting mechanism 23 of the cellar opening, and the bucket 25 shovels the cellar mud that seals the cellar into the silo 50 of the transport vehicle 40. After the cellar mud is removed, the transport vehicle 40 transports the cellar mud to the cellar mud collection The transport vehicle 40 then transports the empty silo 50 to the discharge port of the conveying mechanism 28, and the bucket 25 lifts the excavated dregs through the robot 24 and pours them onto the conveying mechanism 28, and conveys them to the silo 50; when the silo 50 is full, it is transported to the production line by the transport vehicle 40; each time the cellar is opened, the robot 24 is positioned at one end of the cellar and digs out half of the dregs on the opposite side of the cellar, and the other half is dug out the next time, and so on; after all the dregs are opened, the robot 24 switches the bucket 25 to the cleaning mechanism 26, and the cleaning mechanism 26 cleans along the four sides of the cellar wall.
[0029] Figure 3 FIG. 2 shows a partial structural diagram of a device for feeding wine lees into a cellar according to a specific embodiment of the invention. Figure 3 As shown, the cellar entry trolley 30 includes a cellar entry bridge frame 31, a second lateral displacement mechanism 32, a second longitudinal displacement mechanism 33, and a flipping mechanism 34; the cellar entry bridge frame 31 is movably arranged on the trolley track 10, the second lateral displacement mechanism 32 is arranged between the cellar entry bridge frames 31, the second longitudinal lifting mechanism 33 is arranged below the second lateral displacement mechanism 32, and the flipping mechanism 34 is fixed to the end of the second longitudinal lifting mechanism 33.
[0030] The operation process of using the cellar entry device is as follows: the cellar entry trolley 30 moves to the cellar entry position, and the transport vehicle 40 transports the silo 50 filled with waste materials to the bottom of the cellar entry trolley 30; the turning mechanism 34 lifts the silo 50, rotates it 90 degrees, and then moves it to the top of the cellar, and the silo 50 pours the waste materials into the cellar by turning it over; the turning mechanism 34 lifts the silo 50 back to the transport vehicle 40, the cellar entry trolley 30 withdraws from the cellar entry area, the cellar lifting trolley 20 moves to the cellar entry position, and uses the bucket 25 to empty half of the cellar. After the dregs are leveled and stepped on, the robot 24 is moved to the position where the stepping on the cellar is completed, and the leveling and stepping on the dregs in the other half of the cellar are completed in the same way; after the last dregs are put into the cellar, the robot 24 switches the bucket 25 to the cellar mud sealing mechanism 27, and the transport vehicle 40 transports the silo 50 filled with cellar mud to the bottom of the cellar lifting trolley 20; the cellar mud sealing mechanism 27 grabs the cellar mud and performs the cellar sealing operation in turn, and then pats and smoothes the cellar mud on the surface of the dregs to achieve the effect of removing air and sealing.
[0031] In a specific embodiment, the first longitudinal lifting mechanism 23 and the second longitudinal lifting mechanism 33 in the above embodiment are rigid telescopic lifting mechanisms, which realize long-stroke lifting and lowering movements through a multi-stage telescopic sleeve structure. Among them, the lifting sleeves of each stage adopt a gear rack matching transmission method to achieve the effect of multi-stage synchronous lifting, and a winch can be used as a lifting power source. Preferably, a guide rail brake is provided on the lifting sleeves of each stage to stop the lifting movement. The matching method of the gear rack can realize the lifting and lowering action of the lifting mechanism in a relatively stable and reliable manner. It should be recognized that in addition to the above-mentioned lifting structure, other methods such as worm gear screws can also be used to realize the lifting action, which can also achieve the technical effects of the present invention.
[0032] In a preferred embodiment, the first longitudinal lifting mechanism 23 and the second longitudinal lifting mechanism 33 are also provided with a height positioning mechanism, which can also be set by means of a positioning barcode or a laser rangefinder to accurately control the lower height of the lifting mechanism, thereby facilitating operations such as lifting and entering the cellar.
[0033] In a specific embodiment, the flip mechanism 34 has two adjustable width arms for clamping silos 50 of different sizes, and a rotating mechanism for flipping the silo 50 to achieve a dumping action is also provided on the arms. The rotating mechanism can be a rotating shaft driven by a servo motor, and only needs to satisfy the requirement of flipping the silo 50, which will not be described in detail here. Preferably, a slewing mechanism is provided in the middle of the flip mechanism 34 for rotating the flip mechanism to meet the usage conditions at different angles.
[0034] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.
Claims
1. A system for automatically collecting and storing wine lees, characterized in that: The method comprises a cellar, a track, a transport vehicle, a silo, a cellar-raising device and a cellar-entering device, wherein the track is arranged on both sides of the cellar, the cellar-raising device comprises a cellar-raising trolley, a robot, a conveying mechanism and a robot functional component, the cellar-raising trolley comprises a first bridge frame and a second bridge frame arranged in parallel, the robot is movably arranged on the first bridge frame, the robot functional component and the conveying mechanism are respectively arranged on the upper part and the lower part of the second bridge frame, the cellar-entering device comprises a cellar-entering trolley and a turning mechanism movably arranged at the bottom of the cellar-entering trolley, the cellar-raising trolley and the cellar-entering trolley are arranged in parallel on the track, the silo is arranged on the transport vehicle, a channel for the displacement of the transport vehicle is arranged on the cellar, the channel is located below the discharge port of the conveying mechanism, the conveying mechanism comprises two conveyor belts arranged on both sides of the second bridge frame, the discharge port is located between the two conveyor belts, and the conveying direction of the two conveyor belts is The two conveyor belts are both convex toward the discharge port, and the distance between the discharge port and the channel is greater than the sum of the heights of the transport vehicle and the silo; the robot functional component includes a bucket, a cleaning mechanism or a cellar sealing mechanism detachably connected to the robot, and the robot and the conveying mechanism are respectively arranged on different bridge frames, so that the robot can shovel the dregs onto the conveying mechanism for transportation; the bucket lifts the excavated dregs through the robot and pours them onto the conveying mechanism, and transfers them to the silo. When the silo is full, it is transported to the production line by the transport vehicle; when entering the cellar, the cellar entry trolley moves to the cellar entry position, and the transport vehicle transports the silo filled with the dregs to the bottom of the cellar entry trolley, the flipping mechanism lifts the silo, rotates 90° and then moves to just above the cellar, and the silo pours the dregs into the cellar by flipping.
2. The automatic lees storage system according to claim 1 is characterized in that: The first bridge is provided with a first displacement mechanism, and the robot is fixed on the first displacement mechanism.
3. The automatic lees storage system according to claim 2 is characterized in that: The first displacement mechanism includes a first lateral displacement mechanism and a first longitudinal lifting mechanism, and the first longitudinal lifting mechanism is fixed on the first lateral displacement mechanism, and the robot is fixed on a side of the first longitudinal lifting mechanism facing the second bridge.
4. The automatic lees storage system according to any one of claims 1 to 3, characterized in that: The robot is a six-axis robot.
5. The automatic lees storage system according to claim 1 is characterized in that: The robot is provided with a positioning device, and the cellar is correspondingly provided with a positioning code.
6. The automatic lees storage system according to claim 1 is characterized in that: The cellar entry device further comprises a second displacement mechanism arranged on the cellar entry trolley, and the flipping mechanism is arranged at the bottom of the second displacement mechanism.
7. The automatic lees storage system according to claim 6 is characterized in that: The second displacement mechanism includes a second lateral displacement mechanism and a second longitudinal lifting mechanism. The second longitudinal lifting mechanism is fixed to the bottom of the second lateral displacement mechanism, and the flip mechanism is fixed to the bottom of the second longitudinal lifting mechanism.