Leveling and Cellar Pressing Device and Cellar Pressing Method

Abstract

The present invention relates to the technical field of automated equipment for wine brewing, and provides a leveling and cellaring device and a cellaring method. The leveling and cellaring device includes a carrier frame, a deflection driving assembly, and a leveling roller pressing assembly. The carrier frame is configured to be movable along a first direction and a second direction. The deflection driving assembly is disposed on the carrier frame, and the leveling roller pressing assembly is connected to the deflection driving assembly. Among them, the deflection driving assembly is configured to be able to drive the leveling roller pressing assembly to act on the surface of the material with a preset cellaring force. By connecting the leveling roller pressing assembly with the deflection driving assembly, the leveling roller pressing assembly can be driven to deflect, thereby realizing the compaction of the material. And the control component can realize the control of the preset cellaring force through deflection, achieving the quantitative control of the cellaring force, maintaining the stability of the cellaring force, and further realizing the control of the quality stability of the finished wine.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment for wine brewing, and particularly to a leveling and cellaring device and a cellaring method. Background Art

[0002] Fermentation is an essential process in the wine brewing process. After the fermented grains are put into the cellar, the surface of the fermented grains is uneven. At this time, it is necessary to level the surface of the fermented grains and cellar the surface of the fermented grains before proceeding to the next process.

[0003] Traditional operation methods mostly use manual or semi-automatic methods for leveling and cellaring operations. This makes it impossible to perform standard quantitative operations during cellaring. Most cellaring operations are carried out based on past experience. If there is a large deviation in the cellaring force during fermentation, it will inhibit the metabolism of anaerobic bacteria in the fermented grains, thereby affecting the fermentation process and ultimately affecting the quality of the subsequent finished wine. Moreover, manual or semi-automatic operation methods are inefficient and difficult to meet the requirements of automated high-efficiency production. Summary of the Invention

[0004] The present invention provides a leveling and cellaring device and a cellaring method to solve the defects in the prior art that it is difficult to provide quantitative control over the cellaring force and the low efficiency, and to achieve quantitative control of the cellaring force and improve the stability of the quality of the finished wine.

[0005] The present invention provides a leveling and cellaring device, including:

[0006] A carrier frame configured to be movable along a first direction and a second direction;

[0007] A deflection drive assembly provided on the carrier frame; and

[0008] A leveling and rolling assembly connected to the deflection drive assembly, adapted to act on the material and capable of leveling and compacting the material;

[0009] Wherein, the deflection drive assembly is configured to be able to drive the leveling and rolling assembly to act on the surface of the material with a preset cellaring force.

[0010] According to the leveling and cellaring device provided by the present invention, it further includes a material loading assembly. The carrier frames are respectively arranged on both sides of the material loading assembly, and the material loading assembly is rotationally connected to the carrier frames to realize the loading and dumping of the material through the material loading assembly.

[0011] According to the leveling and cellaring device provided by the present invention, the leveling and rolling assembly includes a pressure roller and a connecting rod. One end of the connecting rod is connected to the deflection drive assembly, and the other end of the connecting rod is connected to the pressure roller, so that the roller surface of the pressure roller contacts the surface of the material to realize rolling.

[0012] According to the leveling and cellaring device provided by the present invention, a pressure sensor is provided on the pressure roller, and the pressure sensor is configured to be able to feedback the current cellaring pressure, and enable the deflection drive assembly to drive the connecting rod to adjust the deflection angle so as to reach the preset cellaring pressure.

[0013] According to the leveling and cellaring device provided by the present invention, the loading assembly includes a hopper and a fixed frame, the hopper is arranged within the fixed frame, and the fixed frame is rotatably connected to the carrier frame.

[0014] According to the leveling and cellaring device provided by the present invention, a flipping drive assembly is connected to the fixed frame, and the flipping drive assembly is configured to connect the fixed frame and the carrier frame.

[0015] According to the leveling and cellaring device provided by the present invention, a connecting frame is connected to the carrier frame, and the deflection drive assembly and the flipping drive assembly are arranged on the connecting frame.

[0016] According to the leveling and cellaring device provided by the present invention, the pressure roller has a self-driving part.

[0017] The present invention also provides a cellaring control method, including the following steps:

[0018] Obtain the cellaring pressure currently measured by the pressure sensor;

[0019] Compare the current cellaring pressure with the preset cellaring pressure. If the current cellaring pressure is greater than the preset cellaring pressure, then reduce the yaw angle; if the current cellaring pressure is less than the preset cellaring pressure, then increase the yaw angle.

[0020] According to the cellaring control method of the present invention, the comparison of the current cellaring pressure with the preset cellaring pressure, if the cellaring pressure is greater than the preset cellaring pressure, then reduce the yaw angle; if the cellaring pressure is less than the preset cellaring pressure, then increase the yaw angle, includes:

[0021] Establish a rectangular coordinate system with the rotation center of the deflection drive assembly as the origin, where the horizontal direction is X and the vertical direction is Y;

[0022] Obtain the deflection angle between the connecting rod and the X-axis direction in the rectangular coordinate system;

[0023] Obtain the feedback of the sensor on the cellaring pressure, and adjust the deflection angle based on the PID algorithm to reach the preset cellaring pressure.

[0024] According to the above embodiments, the present invention has at least the following beneficial effects:

[0025] A leveling and cellaring pressing device provided by the present invention can level materials through the action of a lifting component. The leveling roller pressing component is connected to a deflection driving component, enabling the leveling roller pressing component to be driven to deflect, thereby realizing the compaction of materials. The control component can control the preset cellaring pressure through deflection, achieving quantitative control of the cellaring pressure, maintaining the stability of the cellaring pressure, and further realizing the control of the quality stability of the finished wine. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 Figure 1 is one of the structural schematic diagrams of the leveling and cellaring pressing device provided by the present invention;

[0028] Figure 2 Figure 2 is another structural schematic diagram of the leveling and cellaring pressing device provided by the present invention;

[0029] Figure 3 Figure 3 is the structural schematic diagram of the deflection driving component provided by the present invention;

[0030] Figure 4 Figure 4 is the structural schematic diagram of the flipping driving component provided by the present invention;

[0031] Figure 5 Figure 5 is one of the force analysis schematic diagrams of the leveling and cellaring pressing device provided by the present invention;

[0032] Figure 6 Figure 6 is another force analysis schematic diagram of the leveling and cellaring pressing device provided by the present invention;

[0033] Figure 7 Figure 7 is the process flow diagram of the cellaring method provided by the present invention.

[0034] Reference Signs:

[0035] 100: Carrying frame; 110: Connecting frame; 200: Leveling roller pressing component; 210: Link; 220: Pressing roller; 300: Material loading component; 310: Hopper; 311: Fixed shaft; 320: Fixed frame; 321: Pin assembly; 400: Deflection driving component; 401: Deflection driving part; 402: Deflection motor; 403: Reduction device; 404: Motor mounting plate; 500: Flipping driving component; 501: Rotary drive; 502: Flipping motor; 503: Reducer; 504: Motor mounting seat; 600: Pressure sensor; 700: Cellar pit. Detailed implementation manners

[0036] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0037] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "horizontal direction" and "vertical direction" is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the embodiments of the present invention.

[0038] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connection" and "configuration" 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0039] In the description of this specification, the descriptions referring to terms such as "specific embodiments", "some embodiments", and "specific examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0040] In addition, the term "pressing the cellar" in the present invention refers to the process of compacting the fermented grains by applying pressure to the fermented grains.

[0041] The following combines with Figure 1 、 Figure 2Describe a leveling and cellaring pressing device of the present invention. The device is configured to be suitable for being arranged in a fermentation workshop and is used for leveling and cellaring the fermented grains during the process of putting them into the cellar. It includes a carrier frame 100, a lifting component, a deflection driving component 400, and a leveling roller pressing component 200. The lifting component is configured to be able to load the carrier frame 100 and move along at least one of the first direction D X and the second direction D Z The deflection driving component 400 is arranged on the carrier frame 100. The leveling roller pressing component 200 is connected to the deflection driving component 400 and is suitable for acting on the material and being able to level and compact the material; the deflection driving component 400 can drive the leveling roller pressing component 200 to act on the surface of the material with a preset cellaring pressure.

[0042] Among them, in the above embodiment, the lifting component (not shown in the figure) is used to hoist the carrier frame 100. The carrier frame 100 is configured as a rectangular tube structure. The carrier frame 100 is connected to the lifting component. Through the lifting component, the lifting component can drive the carrier frame 100 along the first direction D X and the second direction D Z Move, where the first direction D X Is defined as the horizontal direction, and the second direction D Z Is the vertical direction. The deflection driving component 400 and the leveling roller pressing component 200 are respectively connected to the carrier frame 100. The leveling roller pressing component 200 can level the uneven material during the movement in the first direction D X And during the leveling process, the deflection driving component 400 can drive the pressure roller 220 to apply a preset cellaring pressure to the leveled surface of the material, so as to realize the leveling and compaction of the material. The deflection driving component 400 is connected through a control component (not shown in the figure). The action of the deflection driving component 400 is controlled through the control component. Specifically, the control component can be an existing industrial control computer, and the operation of the deflection driving component 400 can be controlled through the industrial control computer.

[0043] Among them, the lifting component is not limited. For example, the lifting component can be an electric hoist. The carrier frame 100 is connected to the steel wire rope on the electric hoist, so that the carrier frame 100 can be lifted and lowered in the vertical direction, and the electric hoist itself can be slidably connected to the set support frame, so that the carrier frame 100 can be driven to move in the horizontal direction by the movement of the electric hoist in the horizontal direction.

[0044] It can be understood that when the carrier frame 100 moves in the horizontal direction, the whole device body is driven to move in the horizontal direction. At this time, the leveling roller pressing component 200 moves in the horizontal direction, and the leveling roller pressing component 200 acts on the material, which enables the material to be leveled by the leveling roller pressing component. During the leveling process, the pressure applied to the material is adjusted by the rotation of the deflection driving component 400, so as to realize the compaction of the material.

[0045] In the above embodiments, the lifting assembly is set as an electric hoist. Specifically, the electric hoist has two motors, one for driving the lifting of the steel wire rope and the other for driving the horizontal movement of the electric hoist. It can be foreseen that in order to control the accuracy of the moving position of the leveling and rolling assembly 200, the operation of the motor can be controlled to ensure that its position is in the correct operating station, and the control of the motor position in the existing technology belongs to the mature existing technology. For example, the control of the operating position of the motor can be achieved by manual control by workers externally. Preferably, the motor is configured to cooperate with an encoder to determine its position.

[0046] Some embodiments further include a loading component 300. Carrying frames 100 are respectively arranged on both sides of the loading component 300, and the loading component 300 is rotatably connected to the carrying frames 100 to realize the loading and dumping of materials through the loading component 300.

[0047] During the fermentation process, the fermented grains need to be transferred to the cellaring area for cellaring operations. In traditional operations, the fermented grains are transferred to the cellaring area through a transfer mechanism respectively. The fermented grains are stacked in a fluctuating shape in the cellaring area, and then the fermented grains are leveled and cellared manually or by semi-automatic equipment. It can be seen that the traditional operation method separates the operations of transporting and unloading the fermented grains, which increases the process steps, makes the whole process flow longer, and reduces the brewing efficiency. In the present invention, by arranging the loading component 300 on the carrying frame 100, the fermented grains can be loaded and transferred through the loading component 300, and the dumping and unloading of materials can be realized through the rotatable connection method, so as to realize the transfer of materials; and because the leveling and rolling assembly 200 is arranged on the carrying frame 100, the materials can be rolled by the leveling and rolling assembly 200 after the materials are unloaded, thereby realizing the transfer and leveling and cellaring operations of materials on the same device.

[0048] It can be understood that there is usually a large amount of steam in the leveling and cellaring workshop. The traditional manual or semi-automatic operation method makes the labor intensity of workers large and the working environment bad. The device of the present invention can automatically transfer materials, eliminating manual operations, reducing the labor intensity of workers, and improving work efficiency. Moreover, in large-scale winemaking factories, it is usually necessary to transfer a large number of fermented grains, and the preferred way for such transfer operations is to transport them through lifting and transportation equipment. The device of the present invention can be well combined with the lifting and transportation equipment to realize the transfer of materials and the leveling and cellaring operations, and utilize the gravity of the whole device to roll the materials. That is, for existing winemaking factories, the present invention can quickly realize the matching of the device, has good applicability, low transformation cost, and convenient application.

[0049] Furthermore, the position of the material loading component 300 in the above embodiments also needs to be controlled to ensure that it is in the correct discharging station. For this purpose, the control method in the foregoing embodiments can be adopted. For example, the dumping operation can be performed by manual observation and manual operation. Preferably, the lifting component is set as an electric hoist, and the motor in the electric hoist is configured as a motor cooperating with an encoder to achieve automatic control of the position. To realize the automated operation of material dumping and discharging, the automation degree of the device is improved.

[0050] Specifically, the flattening and rolling component 200 includes a rolling roller 220 and a connecting rod 210. One end of the connecting rod 210 is connected to the deflection driving component 400, and the other end of the connecting rod 210 is connected to the rolling roller 220, so that the roller surface of the rolling roller 220 contacts the surface of the material to achieve rolling.

[0051] The connecting rod 210 is used to connect the rolling roller 220 and the deflection driving component 400. The deflection driving component 400 drives the rolling roller 220 to deflect by a certain angle. It can be foreseen that since it is by means of hoisting, the gravity of the entire device can act on the surface of the material, and then the adjustment of the pressing cellar force can be achieved by adjusting the angle, so that there is no need to additionally set an acting mechanism for the pressing cellar force to achieve the pressing cellar effect. Obviously, the adjustment method of the present invention is more convenient and stable. And by operating in the way of the rolling roller 220, the pressure generated by the roller pressing cellar is greater than that of the flat pressing cellar under the same width and pressure, and the pressing cellar effect is better.

[0052] Furthermore, a pressure sensor 600 is provided on the rolling roller 220, and the pressure sensor 600 is electrically connected to the controller, so that the controller can adjust the yaw angle of the connecting rod 210 in real time based on the feedback information of the pressure sensor 600 to reach the preset pressing cellar force.

[0053] The pressure sensor 600 can monitor the pressing cellar force transmitted to the rolling roller 220 in real time, and then transmit the monitored information to the controller. The controller adjusts the deflection angle of the connecting rod 210 through the feedback information, thereby realizing the adjustment of the pressing cellar force and making the feedback information within the range of the preset pressing cellar force. The specific control method can refer to the following description.

[0054] Specifically, the material loading component 300 includes a hopper 310 and a fixed frame 320. The hopper 310 is arranged in the fixed frame 320, and the fixed frame 320 is rotatably connected to the carrier frame 100. The fixed frame 320 is rotatably connected to the carrier frame 100, so that the fixed frame 320 can be turned around the carrier frame 100, and then the materials in the hopper 310 can be dumped by turning.

[0055] The hopper 310 is constructed as a rectangular hopper-shaped structure. A number of fixed shafts 311 are respectively provided around the hopper 310, and corresponding pin assemblies 321 are provided on the fixed frame 320, so that the fixed shafts 311 can extend into the pin assemblies 321 to fix the hopper 310 on the fixed frame 320. Among them, the fixed frame 320 is connected by rectangular tubes and is constructed as a rectangular frame structure, so that the hopper 310 can be placed inside the fixed frame 320 to realize the fixation of the hopper 310. It can be foreseen that the hopper 310 is arranged inside the fixed frame 320, and the opening end of the hopper 310 faces upward, so that it can realize the loading and transfer of materials.

[0056] Furthermore, a turning drive assembly 500 is connected to the fixed frame 320. The turning drive assembly 500 is configured to connect the fixed frame 320 and the carrier 100. That is, the turning drive assembly 500 is used to carry the fixed frame 320, and the turning of the fixed frame 320 is realized through the action of the turning drive assembly 500.

[0057] It can be understood that the rotation of the turning assembly can drive the fixed frame 320 to rotate together. During the rotation process, the hopper 310 inside the fixed frame 320 rotates together, thereby realizing the discharging of the materials in the hopper 310. The independent turning drive assembly 500 will not affect the operation of the leveling roller pressing assembly 200 during the rotation process, which is convenient for their independent operations.

[0058] Specifically, a connecting frame 110 is connected to the carrier 100, and the deflection drive assembly 400 and the turning drive assembly 500 are arranged on the connecting frame 110.

[0059] Among them, the deflection drive assembly 400 is connected to the connecting rod 210 and is suitable for driving the connecting rod 210 to perform angular yaw to realize the adjustment of the pressing force for the cellar. The turning drive assembly 500 is connected to the fixed frame 320 and is suitable for driving the fixed frame 320 to turn, thereby realizing the dumping of the materials in the hopper 310.

[0060] In a more specific embodiment, the turning drive assembly 500 includes a slewing drive 501, a turning motor 502, a speed reducer 503 and a motor mounting seat 504. The speed reducer 503 is connected to the output end of the turning motor 502 to reduce the speed of the turning motor 502 and increase the torque of its output. The motor mounting seat 504 is used to connect the entire turning assembly to the connecting frame 110, so that the fixed frame can be driven to turn through the slewing drive 501. Further, the turning drive assembly 500 is integrally constructed as an "L" shaped structure, which is convenient for assembly in a limited space.

[0061] Further, the deflection driving assembly 400 is configured as a linear structure, including a deflection driving member 401, a deflection motor 402, a reduction gear 403, and a motor mounting plate 404. The reduction gear 403 is connected to the output end of the deflection motor 402 to reduce its rotational speed and increase its output torque. The deflection driving member 401 can drive the connecting rod 210 to deflect, and the motor mounting plate 404 is connected to provide support, so that the connecting rod 210 swings under the action of the deflection driving member 401.

[0062] Further, the pressing roller 220 can be a self-driven pressing roller 220 with self-driving force, or a driven pressing roller 220 that rotates passively. That is, the self-driven pressing roller 220 itself has a driving force to drive the pressing roller 220 to rotate, while the driven pressing roller 220 has no driving force itself but rotates passively.

[0063] When a self-driven pressing roller 220 is selected, the rotation speed of the pressing roller 220 can be matched with the running speed of the whole device to make the leveling and cell pressing performance better.

[0064] The following describes the cell pressing control method provided by the invention. The following description can be referred to in contrast to any of the above-described pushing and cell pressing devices. Specifically as follows:

[0065] The invention also provides a cell pressing control method, including the following steps:

[0066] Step S100, obtain the cell pressing force currently measured by the pressure sensor 600;

[0067] Step S200, compare the current cell pressing force with the preset cell pressing force. If the current cell pressing force is greater than the preset cell pressing force, reduce the yaw angle; if the current cell pressing force is less than the preset cell pressing force, increase the yaw angle.

[0068] Specifically, in the above embodiment, the pressure data is monitored in real time through the sensor, and the sensor is electrically connected to the controller. The sensor can transmit the monitored data to the controller, and the controller can adjust by analyzing the data. The specific adjustment method is to compare the monitored cell pressing force with the preset cell pressing force threshold. If it is greater than the preset cell pressing force, reduce the swing angle; if it is less than the preset cell pressing force, increase the swing angle, and finally make the cell pressing force of the cell pressing within the preset cell pressing force range.

[0069] Further, step S200 specifically includes:

[0070] Step S201, establish a rectangular coordinate system with the rotation center of the deflection driving assembly 400 as the origin, where the horizontal direction is X and the vertical direction is Y;

[0071] Step S202: Obtain the deflection angle between the connecting rod 210 and the X-axis direction in the rectangular coordinate system;

[0072] Step S203: Obtain the feedback of the sensor on the cellar pressing force, and adjust the deflection angle based on the PID algorithm to achieve the preset cellar pressing force.

[0073] Specifically, as Figure 5 shown, taking the rotation center of the deflection drive assembly 400 as the coordinate origin O, the horizontal direction as X, and the vertical direction as Y to establish a rectangular coordinate system; when the device is on the left side of the cellar 700 and performs the cellar pressing action, the yaw angle between the connecting rod 210 and the negative X-axis direction of the coordinate is denoted as A, and the pressure sensor 600 detects the pressure in the cellar 700 as the cellar pressing force F A1 ; when the carrier 100 pushes in the negative X direction, F A1 increases to the set threshold, the deflection motor 402 acts to reduce the yaw angle A between the connecting rod 210 and the coordinate X-axis, and reduce the cellar pressing force F A1 ; when the carrier 100 pushes in the negative X-axis direction, F A1 decreases to the set threshold, the deflection motor 402 acts to increase the yaw angle A between the connecting rod 210 and the negative X-axis direction of the coordinate, and increase the cellar pressing force F A1 ; the variable of the yaw angle A and F A1 in the adjustment process are adjusted using the PID algorithm. Among them, the PID algorithm belongs to the mature existing technology, so it will not be elaborated here. Among them, Figure 5 the F A2 and F A3 are auxiliary marking lines set for facilitating the analysis of the force on the pressing roller 220.

[0074] Furthermore, as Figure 6 shown, when the device is on the right side of the cellar 700 and performs the cellar pressing action, the yaw angle between the connecting rod 210 and the positive X-axis direction of the coordinate is denoted as B, and the pressure sensor 600 detects the pressure in the cellar 700 as the cellar pressing force F B1 ; when the carrier 100 pushes in the positive X direction, F B1 increases to the set threshold, the deflection motor 402 acts to reduce the yaw angle B between the connecting rod 210 and the coordinate axis, and reduce the cellar pressing force F B1 ; when the carrier 100 pushes in the positive X direction, F B1 decreases to the set threshold, the deflection motor 402 acts to increase the yaw angle B between the connecting rod 210 and the coordinate X-axis, and increase the cellar pressing force F B1 ; the variable of the yaw angle B and F B1 in the adjustment process are adjusted using the PID algorithm. Similarly, the PID algorithm will not be elaborated. Among them, Figure 6 the F B2 and F B3It is an auxiliary marking line provided for facilitating the analysis of the force on the pressing roller 220.

[0075] Through the description of the above embodiments, those skilled in the art can clearly understand that in the leveling and pressing cellar device of the present invention, during operation, the flipping drive assembly 500 drives the fixed frame 320 and the hopper 310 to flip, pour the materials in the hopper 310 into the cellar pit 700, and then the fixed frame 320 and the hopper 310 flip back to the upright position. Then, the lifting assembly drives the device to a predetermined position and the pressing roller 220 acts on the surface of the fermented grains through the connecting rod 210, and the leveling and pressing cellar operation is carried out by the horizontal movement of the pressing roller 220. The whole process is realized through automated operation, without manual intervention, improving the efficiency of leveling and pressing the cellar, and adjusting the pressing cellar force by controlling the swinging angle of the connecting rod 210, realizing stable control of the pressing cellar, and further improving the quality of the pressing cellar.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A leveling and cell-pressing device, characterized in that, Comprising: A carrier configured to be movable along a first direction and a second direction; A deflection drive assembly provided on the carrier; And A leveling and rolling assembly connected to the deflection drive assembly and adapted to act on the material and capable of leveling and compacting the material; Wherein, the leveling and rolling assembly includes a pressure roller and a connecting rod, one end of the connecting rod is connected to the deflection drive assembly, and the other end of the connecting rod is connected to the pressure roller, so that the roller surface of the pressure roller contacts the surface of the material to achieve rolling. The deflection drive assembly includes a deflection drive member, a deflection motor, a reduction device and a motor mounting plate. The reduction device is connected to the output end of the deflection motor to reduce its speed and increase its output torque. The deflection drive member can drive the connecting rod to deflect, and the motor mounting plate is connected to the carrier to provide support, so that the connecting rod swings under the action of the deflection drive member; and a pressure sensor is provided on the pressure roller. The pressure sensor is configured to be able to feedback the current pressing force, and enable the deflection drive assembly to drive the connecting rod to adjust the deflection angle so as to reach the preset pressing force.

2. The leveling and cellaring device according to claim 1, characterized in that, It further includes a material loading assembly. The carrier is arranged on both sides of the material loading assembly, and the material loading assembly is rotatably connected to the carrier to realize the loading and dumping of the material through the material loading assembly.

3. The bulldozing and cell-pressing device according to claim 2, wherein, The material loading assembly includes a hopper and a fixed frame. The hopper is arranged in the fixed frame, and the fixed frame is rotatably connected to the carrier.

4. The leveling and pressing cellar device according to claim 3, characterized in that, A flipping drive assembly is connected to the fixed frame. The flipping drive assembly is configured to connect the fixed frame and the carrier.

5. The leveling and cellaring pressing device according to claim 4, characterized in that, A connecting frame is connected to the carrier. The deflection drive assembly and the flipping drive assembly are provided on the connecting frame.

6. The leveling and cellaring device according to claim 1, characterized in that, The pressure roller is a self-driven pressure roller or a driven pressure roller.

7. A method for controlling the cellar pressing of the cellar-pushing and pressing device according to any one of claims 1-6, characterized in that, Including the following steps: Obtain the pressing force currently measured by the pressure sensor; Compare the current pressing force with the preset pressing force. If the current pressing force is greater than the preset pressing force, reduce the yaw angle; if the current pressing force is less than the preset pressing force, increase the yaw angle.

8. The press pit control method according to claim 7, wherein The comparing the current pressing force with the preset pressing force, if the pressing force is greater than the preset pressing force, reducing the yaw angle; if the pressing force is less than the preset pressing force, increasing the yaw angle, includes: Establish a rectangular coordinate system with the rotation center of the deflection drive assembly as the origin, where the horizontal direction is X and the vertical direction is Y; Obtain the deflection angle between the connecting rod and the X-axis direction in the rectangular coordinate system; Obtain the feedback of the sensor on the pressing force, and adjust the deflection angle based on the PID algorithm to reach the preset pressing force.

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