Retort feeding robot based on rope driving

Abstract

The invention discloses a retort feeding robot based on rope driving. The retort feeding robot comprises a rack, a power module, a rope and a retort feeding platform, 2n power modules of the retort feeding robot are fixed on a rack, 2n ropes are connected to a retort feeding platform after being led out by the power modules, the retort feeding platform is driven to achieve six-degree-of-freedom movement in space, and n is a positive integer larger than or equal to 3; the retort feeding platform consists of a platform frame, a rope anchor point, a rotating motor, a material receiving container, a steam sensor, a material raking machine and a conveying belt; the retort feeding robot is driven by the rope to move, and the retort feeding robot can realize material receiving, scattering, detecting and material spreading, so that automatic retort feeding operation is realized; the rope driving structure adopts a parallel structure, the retort feeding platform is driven by 2n ropes to realize large-range retort feeding work, one retort feeding robot can serve 16 retort barrels at most, and the retort feeding robot has the remarkable characteristics of large working space, light weight and low cost.

Description

Technical Field

[0001] The invention belongs to the field of liquor brewing, and in particular relates to a steamer robot driven by a rope. Background Art

[0002] The steaming process is an important step in the operation of liquor distillation, which is to put the fermented mash into the distillation barrel. At present, it is mainly operated manually. The output of liquor produced by traditional brewing methods is far from meeting the modern market demand. The application of automated production technology to improve the production efficiency and product quality of liquor has become the research focus of the liquor industry. At present, the few automated steaming robots rely on a series structure, with a large body weight and a small working range. One robot can only serve 1 to 2 steaming barrels, which is difficult to meet the growing demand for liquor production. Summary of the invention

[0003] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a rope-driven steamer loading robot. The rope driving structure adopts a parallel configuration, and drives the steamer loading platform through 2n ropes to realize a large range of steamer loading work. One steamer loading robot can serve up to 16 steamer barrels, and has the characteristics of large working space, light weight and low cost.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A steamer loading robot based on rope drive comprises a frame, a power module, ropes and a steamer loading platform; 2n power modules of the steamer loading robot are fixed on the frame, 2n ropes are led out from the power module and connected to the steamer loading platform, driving the steamer loading platform to realize six-degree-of-freedom motion in space, wherein n is a positive integer greater than or equal to 3; the steamer loading robot is driven to move by the ropes, and the steamer loading robot can realize material receiving, breaking, detection and material spreading, thereby realizing automatic steamer loading operation; the rope driving structure adopts a parallel configuration, and the 2n ropes 3 drive the steamer loading platform 4 to realize arbitrary three-dimensional translation along X, Y and Z axes and limited three-dimensional rotation along X, Y and Z axes (Z is the height axis) in the frame space.

[0006] Preferably, the power module consists of a servo motor, a drum, a transmission system, a follow-up guide pulley, a tension and pressure sensor, and a cable output pulley. The servo motor drives the drum to wind the rope through the transmission system, and drives the follow-up guide pulley to move through the transmission system to ensure that the direction of the rope is always parallel to the tangent direction of the drum. After the rope changes direction through the follow-up guide pulley, it is led out by the cable output pulley. The tension and pressure sensor is installed at the bottom of the follow-up guide pulley to measure the rope tension.

[0007] Preferably, eight power modules are arranged in groups of two at the top of the four corners of the frame to realize a cubic workspace. The size of the area covered is determined according to demand and can cover 1 to 16 steamer barrels.

[0008] Preferably, the upper steamer platform is composed of a platform frame, a rope anchor point, a rotating motor, a material receiving container, a steam sensor, a material scraper and a conveyor belt. The rope anchor point is divided into an upper and lower layer and is installed on the platform frame. The rotating material receiving container is installed in the platform frame, and the steam sensor, the material scraper and the conveyor belt are installed below. The rotating motor drives the material receiving container and the steam sensor, the material scraper and the conveyor belt below to rotate around the Z axis of the upper steamer platform, and cooperates with the rope to drive the movement of the upper steamer platform to realize arbitrary three-dimensional translation of the upper steamer platform discharge terminal along the X, Y, and Z axes (Z is the height axis), arbitrary single-axis rotation around the Z axis, and limited two-dimensional rotation along the X and Y axes.

[0009] Preferably, eight ropes are led out from the power module and connected to the rope anchor points of the upper steamer platform. When the eight power modules are numbered B1 to B8 in clockwise direction, the rope anchor points of the upper steamer platform should be arranged in upper and lower layers. The four rope anchor points of the upper layer are numbered A1 to A4 in clockwise direction, and the four rope anchor points of the lower layer are numbered A5 to B8 in clockwise direction. The rope connection method should be B1-A2, B2-A3, B3-A4, B4-A1, B5-A8, B6-A5, B7-A6, and B8-A7. This is conducive to achieving control of the six degrees of freedom of the upper steamer platform.

[0010] Preferably, when the projection of the center of gravity of the upper steamer platform on the horizontal plane is Cp, the projection polygon of the spatial geometric body composed of A1 to A8 on the horizontal plane is {Ap}, Cp must be located inside {Ap}, and the geometric center of Cp should be as close to the geometric center of {Ap} as possible. In this way, the uniformity of the force distribution of each rope can be effectively improved, which is beneficial to reducing the load capacity requirements for the motor.

[0011] Preferably, the lower dimension of the receiving container is larger than the upper dimension, and is in the shape of an inverted funnel, so that the mash can be prevented from sticking to the receiving container.

[0012] Preferably, the steam sensor can be a temperature sensor or an infrared sensor to detect the steam situation in the steamer barrel and realize the steam detection and steaming function.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] The rope-driven steamer loading robot described in the present invention utilizes lightweight flexible ropes to replace traditional rigid connection structures, and has the remarkable characteristics of simple structure, light weight and low cost.

[0015] The rope-driven steamer loading robot described in the present invention utilizes lightweight flexible ropes to replace traditional rigid connection structures, has a significant large working space feature, and can serve up to 16 steamer barrels. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of a steamer loading robot integrated with rope drive according to the present invention.

[0017] Figure 2 It is a schematic diagram of a power module of a steamer upper robot integrated with rope drive according to the present invention.

[0018] Figure 3 The present invention is a schematic diagram of a steamer loading platform of a steamer loading robot integrated with rope drive. DETAILED DESCRIPTION

[0019] The following is a detailed description of the implementation mode of the present invention in conjunction with the accompanying drawings and examples. The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings and specific examples. It should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "horizontal", "vertical" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] like Figure 1 The present invention illustrates an implementation example of a rope-driven steamer robot serving four steamer barrels. The rope-driven steamer robot comprises a frame 1, a power module 2, ropes 3, and a steamer platform 4; the eight power modules 2 of the steamer robot are fixed on the frame 1, and the eight ropes 3 are led out from the power module 2 and connected to the steamer platform 4, driving the steamer platform 4 to achieve six-degree-of-freedom movement in space; by driving the steamer platform 4 to move through the ropes 3, the robot can receive, scatter, detect, and spread materials, and realize automatic steamer operation.

[0021] Eight power modules 2 are arranged in pairs at the top of the four corners of the frame 1 to realize a cubic workspace. The size of the area covered is determined according to the needs, and can cover 1 to 16 retort barrels 6. Eight ropes 3 are drawn out from the power modules 2 and connected to the rope anchor points 401 of the upper retort platform 4. When the eight power modules 2 are numbered B1 to B8 in clockwise order, the rope anchor points 401 of the upper retort platform 4 should be arranged in layers, the four rope anchor points 401 of the upper layer are numbered A1 to A4 in clockwise order, and the four rope anchor points 401 of the lower layer are numbered A5 to B8 in clockwise order, then the rope 3 connection mode should be B1-A2, B2-A3, B3-A4, B4-A1, B5-A8, B6-A5, B7-A6, B8-A7.

[0022] like Figure 2 The figure shows a schematic diagram of a power module 2 of a steamer loading robot based on rope drive of the present invention, which illustrates the structural features of the power module 2. The power module 2 is composed of a servo motor 201, a drum 202, a transmission system 203, a follower guide pulley 205, a tension and pressure sensor 204, and a cable pulley 206. The servo motor 201 drives the drum 202 to wind the rope 3 through the transmission system 203, and drives the follower guide pulley 205 to move through the transmission system 203, so as to ensure that the direction of the rope 3 is always tangentially parallel to the drum 202. After the rope 3 changes direction through the follower guide pulley 205, it is led out by the cable pulley 206. The tension and pressure sensor 204 is installed at the bottom of the follower guide pulley 205 to measure the rope force of the rope 3.

[0023] like Figure 3 The embodiment of a steamer loading platform of a steamer loading robot based on rope drive is shown. The steamer loading platform 4 is composed of a platform frame 403, a rope anchor point 401, a rotating motor 402, a material receiving container 404, a steam sensor 407, a material scraper 405 and a conveyor belt 406. The rope anchor point 401 is divided into two layers, which are installed on the platform frame 403, the rotating material receiving container 404 is installed in the platform frame 403, and the steam sensor 407, the material scraper 405 and the conveyor belt 406 are installed below.

[0024] The working process of the rope-driven upper steamer robot of the present invention is as follows: the servo motor 201 drives the roller 202 to control the retraction and release of the rope 3, and then controls the upper steamer platform 4 to move to the bottom of the feeder 5, and the feeder 5 transports the mash to the material receiving container 404 of the upper steamer platform to complete the material receiving action. The rope 3 drives the upper steamer platform 4 to move to the top of a steamer barrel 6, and controls the upper steamer platform 4 to move in a spiral line (the radius changes from 0 to the radius R of the steamer barrel). The rotating motor 402 inside the upper steamer platform 4 drives the material receiving container 404 and the steam sensor 407, the scraper 405 and the conveyor belt 406 below to rotate around the Z axis of the upper steamer platform 4, keeping the outlets of the scraper 405 and the conveyor belt 406 always pointing to the normal direction of the spiral motion. The steam sensor 407 detects the steam signal in the steamer barrel 6 below. When the steam signal is detected, the scraper 405 and the conveyor belt 406 act synchronously to deliver the mash in the material receiving container 404, thereby realizing the steaming process of the steamer barrel.

[0025] It is worth noting that although the technical solution and preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned implementation methods are merely illustrative. Relevant technical personnel in the field can be inspired by the present invention and make many forms without departing from the purpose of the present invention and the scope of protection of the claims. These all belong to the scope of protection of the present invention.

Claims

1. A rope-driven steamer loading robot, characterized in that: The invention comprises a frame (1), a power module (2), a rope (3) and a steamer upper platform (4); 2n power modules (2) of the steamer upper robot are fixed on the frame, 2n ropes (3) are led out from the power module (2) and connected to the steamer upper platform (4), driving the steamer upper platform (4) to realize six-degree-of-freedom movement in space, wherein n is a positive integer greater than or equal to 3; the steamer upper robot is driven to move by the ropes (3), and the steamer upper robot can realize material receiving, material breaking, detection and material spreading, thereby realizing automatic steamer upper operation; the rope driving structure adopts a parallel configuration, and the 2n ropes (3) drive the steamer upper platform (4) to realize arbitrary three-dimensional translation along the X, Y and Z axes and limited three-dimensional rotation along the X, Y and Z axes in the frame space.

2. The steamer loading robot according to claim 1, characterized in that: The power module (2) is composed of a servo motor (201), a drum (202), a transmission system (203), a follower guide pulley (205), a tension pressure sensor (204), and a cable pulley (206). The servo motor (201) drives the drum (202) to wind the rope (3) through the transmission system (203), and drives the follower guide pulley (205) to move through the transmission system (203), so as to ensure that the direction of the rope (3) is always tangentially parallel to the drum (202). After the rope (3) changes direction through the follower guide pulley (205), it is led out by the cable pulley (206). The tension pressure sensor (204) is installed at the bottom of the follower guide pulley (205) and is used to measure the rope tension.

3. The steamer loading robot according to claim 1, characterized in that: Eight power modules (2 are arranged in pairs at the top of the four corners of the frame (1) to realize a cubic workspace. The size of the area covered is determined according to demand and can cover 1 to 16 steamer barrels.

4. The steamer loading robot according to claim 1, characterized in that: The upper steamer platform (4) is composed of a platform frame (403), a rope anchor point (401), a rotating motor (402), a material receiving container (404), a steam sensor (407), a material stripper (405) and a conveyor belt (406). The rope anchor point (401) is divided into an upper and lower layer and is installed on the platform frame (403). The rotating material receiving container (404) is installed in the platform frame (403), and the steam sensor (407), the material stripper (405) and the conveyor belt (406) are installed below. The rotating motor (402) drives the material receiving container (404) and the steam sensor (407), the material stripper (405) and the conveyor belt (406) below to rotate around the Z axis of the upper steamer platform, and cooperates with the rope (3) to drive the movement of the upper steamer platform (4), so as to realize the arbitrary three-dimensional translation along the X, Y and Z axes, the arbitrary single-axis rotation around the Z axis and the limited two-dimensional rotation along the X and Y axes of the material discharge terminal of the upper steamer platform.

5. The steamer loading robot according to claim 4, characterized in that: Eight ropes (3) are led out from the power module (2) and connected to the rope anchor points (401) of the upper steamer platform (4). When the eight power modules (2) are numbered B1 to B8 in clockwise order, the rope anchor points (401) of the upper steamer platform (4) are arranged in upper and lower layers, the four rope anchor points of the upper layer are numbered A1 to A4 in clockwise order, and the four rope anchor points of the lower layer are numbered A5 to B8 in clockwise order, then the rope connection method is B1-A2, B2-A3, B3-A4, B4-A1, B5-A8, B6-A5, B7-A6, B8-A7.

6. The steamer loading robot according to claim 5, characterized in that: When the projection of the center of gravity of the upper steamer platform (4) on the horizontal plane is Cp, the projection polygon of the spatial geometric body composed of A1 to A8 on the horizontal plane is {Ap}, Cp must be located inside {Ap}, and the geometric center of Cp should be as close to the geometric center of {Ap} as possible.

7. The steamer loading robot according to claim 1, characterized in that: The lower portion of the receiving container (404) is larger than the upper portion, and is in the shape of an inverted funnel.

8. The steamer loading robot according to claim 1, characterized in that: The steam sensor (407) adopts a temperature sensor or an infrared sensor to detect the steam condition in the steamer barrel, thereby realizing the steam detection and steaming function.

Images