Cellar mud block grabbing and packaging device and operation method thereof

Abstract

The invention discloses a cellar mud block grabbing and packaging device and an operation method thereof, and belongs to the technical field of cellar mud block cellar sealing, the cellar mud block grabbing and packaging device comprises a cellar mud block conveying device, a cellar mud block grabbing device and a cellar mud packaging device, the cellar mud block conveying device is used for conveying cellar mud blocks manufactured by a cellar mud block manufacturing device to the side of a cellar, and the cellar mud block conveying device is used for conveying the cellar mud blocks; the cellar mud block grabbing device grabs and packages cellar mud blocks conveyed beside a cellar into the cellar to fill the cellar, and the cellar mud packaging device is used for packaging gaps in the top face of the cellar filled with the cellar mud blocks and the top face of cellar mud. Through the cellar mud block conveying device, the cellar mud block grabbing device and the cellar mud packaging device, manual carrying and cellar sealing are not needed, rapid cellar sealing of the cellar can be achieved, time and labor are saved, and the cellar sealing efficiency is high.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pit sealing equipment, and relates to a pit mud block grabbing and packaging device and an operation method of the pit mud block grabbing and packaging device. BACKGROUND

[0002] During the preparation of Jiangxiang wine, pit mud is used to seal the pits, and the existing main sealing methods are as follows: 1) the stirred pit mud is manually pushed to the pit by a cart, and then the pit mud is stacked and beaten on the top of the wine lees to seal the pit; and 2) the prepared pit mud block is pushed to the pit, and then the pit mud block is manually laid on the top of the wine lees in the pit and beaten to seal the pit. Both of the two sealing methods are manually performed, which is time-consuming and labor-intensive and has low efficiency. SUMMARY

[0003] The first application purpose of the application is to provide a pit mud block grabbing and packaging device, which can quickly seal the pit, save time and labor, and has high sealing efficiency.

[0004] To achieve the first application purpose, the application adopts the technical scheme of a pit mud block grabbing and packaging device, which comprises a pit mud block conveying device, a pit mud block grabbing device and a pit mud packaging device. The pit mud block conveying device is used to convey the pit mud block prepared by a pit mud block preparation device to the pit. The pit mud block grabbing device grabs and packages the pit mud block conveyed to the pit to fill the pit. The pit mud packaging device is used to package the gaps on the top of the pit filled with the pit mud block and the top of the pit mud.

[0005] Further, the pit mud block conveying device comprises a first conveying roller machine and a second conveying roller machine which are connected. The first conveying roller machine is connected to the pit mud block preparation device, and the second conveying roller machine is installed beside the pit. The conveying speed of the second conveying roller machine is greater than that of the first conveying roller machine.

[0006] Further, the pit mud block grabbing device comprises a multi-degree-of-freedom mechanical arm and a clamping jaw. The multi-degree-of-freedom mechanical arm is installed on a walking mechanism, the walking mechanism is installed on the top of the partition wall between two adjacent pits and arranged along the length direction of the partition wall, the clamping jaw is detachably installed at the end of the multi-degree-of-freedom mechanical arm, and the clamping jaw can clamp the pit mud block and place the pit mud block on both sides of the pit in the width direction of the pit by the multi-degree-of-freedom mechanical arm. The clamping jaw comprises an upper jaw and two lower jaws which are symmetrically arranged on both sides of the upper jaw and have a gap with the upper jaw. The two lower jaws can be clamped into the gap of the roller. The upper jaw is adopted, and the width of the upper jaw can cover the two lower jaws. The upper jaw is connected to a jaw frame by a clamping lifting mechanism, and the two lower jaws are fixedly connected to the jaw frame. A camera is installed at the end of the multi-degree-of-freedom mechanical arm.

[0007] Further, the clamping surfaces of the upper claw and the lower claw are provided with a plurality of anti-skid protrusions arranged along the length direction of the clamping surfaces.

[0008] Further, the pit mud block grabbing device further comprises a linkage push plate mechanism, the linkage push plate mechanism comprises a push plate, a horizontal telescopic rack, a horizontal drive gear, a linkage rotating shaft, a vertical telescopic meshing gear and a vertical drive rack, the vertical drive rack is fixedly connected to the lifting mechanism and synchronously lifted with the lifting mechanism, the vertical telescopic meshing gear meshing with the vertical drive rack is fixedly connected to the linkage rotating shaft, the linkage rotating shaft is rotatably connected to the claw frame and transversely passes through the claw frame, the claw frame is provided with a vertical strip-shaped hole at the middle part of the lower claw, the horizontal drive gear is fixedly connected to the linkage rotating shaft and located at the vertical strip-shaped hole, the horizontal telescopic rack meshing with the horizontal drive gear is movably connected in the sliding hole, the sliding hole is a T-shaped groove structure communicating with the vertical strip-shaped hole, the horizontal telescopic rack has a T-shaped cross section, and the two sides are embedded into the two side grooves of the T-shaped groove for limiting, the push plate is fixedly connected to the end part of the horizontal telescopic rack and located above the lower claw, the height of the push plate is half of the thickness of the pit mud block, and the push plate can face the middle part of the side surface of the pit mud block.

[0009] Further, the pit mud packaging device comprises a beating plate, the beating plate is detachably installed at the end of the multi-degree-of-freedom mechanical arm after replacing the clamping claw, a telescopic spray head is vertically arranged on the beating plate, and the telescopic spray head can spray and maintain the outer surface of the beaten pit mud layer and water the joint part of the pit mud blocks.

[0010] The second application purpose of the application is to provide an operation method of a pit mud block grabbing and packaging device, which can realize accurate pit mud block packaging of each pit and avoid waste or size incompatibility caused by blind preparation of pit mud blocks.

[0011] In view of the second application purpose of the application, the technical scheme adopted by the application is as follows: an operation method of a pit mud block grabbing and packaging device, the method comprising the following steps: Step 1: obtaining the top surface modeling of each pit after storing lees and numbering the pits, and assuming that the lengths of the pits are the same; Step 2: establishing a pit mud block packaging model of each pit according to the top surface modeling of each numbered pit after storing lees and the thickness of the pit mud block, assuming that the wall thicknesses of the pit mud block packaging models of the pits are the same, and numbering the pit mud block packaging models; Step 3: dividing and arranging pit mud blocks according to the pit mud block packaging model of each pit and numbering each pit mud block, and arranging the pit mud blocks according to the pit mud block packaging model, wherein a plurality of rows of pit mud blocks are symmetrically arranged on both sides of the vault, each pit mud block has the same size, and the pit mud blocks on the vault are arranged last. Step 4, the pit mud block making device receives the number of one-time packaging pits and the arrangement of pit mud blocks in each pit, makes the pit mud blocks of each pit numbered and numbered, and the number corresponds to the number of the pit mud blocks in step 3; Step 5, the pit mud blocks made in the order of the pit number are transported to the corresponding pit, the pit mud block grabbing device is used to grab the pit mud blocks in the order of the number to the corresponding position of the pit, after the pit mud block laying is completed, the continuously transported pit mud blocks continue to be transported to the next pit for pit mud block grabbing and laying, and after each pit is grabbed and laid, the pit mud is packaged, the contact between adjacent pit mud blocks and the contact between the pit mud blocks and the pit wall are patting and sealing, and the sealing of the pit is completed.

[0012] Further, the pit mud blocks made above are provided with slope surfaces on both sides of the direction of the vault, and the slope surfaces of the adjacent two pit mud blocks can be fitted.

[0013] Further, a small amount of water is sprayed at the gap before patting in step 5.

[0014] The beneficial effects of the present application are as follows compared with the prior art: 1) The pit mud block conveying device, the pit mud block grabbing device and the pit mud packaging device can realize rapid sealing of the pit without manual carrying and sealing, save time and labor, and have high sealing efficiency. 2) The two-section conveying roller machines with different speeds can realize separation and interval arrangement of the cut pit mud blocks, and facilitate grabbing in the grabbing link; 3) The multi-degree-of-freedom mechanical arm cooperates with the clamping jaw to move the pit mud block vertically after clamping the pit mud block, and can satisfy the laying angle during laying and placing, so that the laying is more orderly, and the walking mechanism can quickly realize the grabbing and laying of the pit mud blocks on both sides of the walking mechanism, greatly improving the laying efficiency, so that the multi-degree-of-freedom mechanical arm structure is compact and can also meet the use requirements of long pits, reducing the cost; the camera can accurately capture the laying position to realize accurate laying; the clamping jaw structure cooperates with the multi-degree-of-freedom mechanical arm to facilitate entering and clamping, and the clamping is stable and reliable, and can better avoid the interference caused by clamping; 4) The anti-skid protrusions are arranged to further improve the clamping reliability; 5) The linkage push plate can drive the pit mud block to move upward during the upward movement of the upper jaw, avoid being stuck, and cannot quickly realize the placement of the pit mud block; 6) The use of a beating plate with a replacement clamping jaw, combined with a multi-degree-of-freedom mechanical arm, can quickly realize the beating and sealing of the pit mud block and the inner wall of the pit and the adjacent pit block, and further beat the entire sealing pit mud, improve the sealing effect of the sealing pit mud, and the bottom of the beating plate is provided with a telescopic spray head, which can water the gap of the pit mud block and spray the top surface of the entire sealing pit mud, and then beat, which can improve the beating effect and the sealing effect of the sealing pit mud; the multi-degree-of-freedom mechanical arm of the existing grabbing mechanism is directly converted, which can greatly improve the beating efficiency and reduce the equipment cost, and the multi-degree-of-freedom mechanical arm can realize the rotation of any angle to fit the arch surface with different curvature radius, and then the beating effect is best, and it can also be aimed at the corners of the inner wall of the pit; 7) The present application constructs a sealing pit mud model according to the specific stacked distiller's grains arch surface, and divides and arranges the pit mud blocks according to the sealing pit mud model, and makes the pit mud blocks according to the divided and arranged pit mud blocks, and transports the made pit mud blocks to the pit side for grabbing and packaging, which can realize the accurate configuration of the pit mud blocks of each pit, and effectively avoid the waste or size incompatibility caused by blind preparation of pit mud blocks. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structure principle schematic diagram of a Jiangxiang wine pit sealing device; Figure 2 It is a layout structure schematic diagram of a pit mud block grabbing device and a pit mud packaging device beside a pit; Figure 3 It is a structure schematic diagram of a pit mud block making device; Figure 4 It is a structure schematic diagram of a pit mud strip plate extrusion equipment Figure 5 It is a pit mud block cutting equipment installation overhead structure schematic diagram; Figure 6 It is a pit mud block cutting equipment overhead structure schematic diagram; Figure 7 It is a pit mud block cutting equipment side view structure schematic diagram; Figure 8 It is a front view structure schematic diagram of a transverse cutting device; Figure 9 It is a side view structure schematic diagram of a transverse cutting device; Figure 10 It is a pit mud block transportation device structure schematic diagram; Figure 11 It is a pit mud block grabbing device structure schematic diagram; Figure 12 It is a clamping jaw side view structure schematic diagram; Figure 13 It is a clamping jaw upper and lower jaw layout structure schematic diagram; Figure 14Top view of the push plate linkage mechanism; Figure 15 This is a side view of the schematic diagram of the push plate linkage mechanism. Figure 16 A schematic diagram of the structure of the pit mud sealing device; Figure 17 A schematic diagram of the connection structure between the slapping plate and the slapping vibrator; Figure 18 This is a schematic diagram of the installation structure of the walking distance measuring roller. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0017] To address the inefficiencies and time-consuming nature of manual placement of pit mud and mud blocks in existing technologies, this invention provides a pit mud block grabbing and sealing device. This device, comprising a pit mud block transport device, a pit mud block grabbing device, and a pit mud sealing device, enables rapid sealing of pits, saving time and effort while achieving high sealing efficiency. Furthermore, this invention provides an operating method for the pit mud block grabbing and sealing device. A pit mud model is constructed based on the specific stacked surface of the fermented grains. Piles of pit mud are then divided and arranged according to the model. Piles are then manufactured based on the arranged blocks. The manufactured blocks are transported to the pit for grabbing and sealing. This method enables precise configuration of pit mud blocks for each pit, effectively avoiding waste or size discrepancies caused by blindly preparing blocks. Detailed implementation processes are provided in Examples 1 and 2.

[0018] Example 1: As Figures 1-2 As shown in Figures 10-17, a mud block grabbing and sealing device includes a mud block transport device 2, a mud block grabbing device 3, and a mud sealing device 4. The mud block making device 1 is used to make mud blocks 6. The mud block transport device 2 is used to transport the mud blocks 6 made by the mud block making device 1 to the side of the pit 5. The mud block grabbing device 3 grabs and seals the mud blocks 6 transported to the side of the pit 5 and fills the pit 5. The mud sealing device 4 is used to seal the gaps on the top surface of the pit 5 and the top surface of the mud block 5 after it is filled with mud blocks 6. Through the mud block making device, mud block transport device, mud block grabbing device, and mud sealing device, the pit can be sealed quickly, saving time and effort and achieving high sealing efficiency.

[0019] The silage block transport device 2 includes a first transport roller 201 and a second transport roller 202. The first transport roller 201 is connected to the silage block making device 1, and the second transport roller 202 is installed next to the silage pit 5. The transport speed of the second transport roller 202 is greater than that of the first transport roller 201. By using segmented transport rollers with different speeds, the cut silage blocks can be arranged at intervals.

[0020] Specifically, the walking distance measuring roller 108 is installed above the pit mud strip conveying device 104, is rotationally connected to the vertical elastic telescopic frame 109, and is provided with an encoder for distance measurement inside. The existing distance measuring walking wheel on the market can be used. The upper end of the vertical elastic telescopic frame 109 is installed on the top beam of the distance measuring gantry 112 which is horizontally arranged on both sides of the frame of the pit mud strip conveying device 104. The walking distance measuring roller 108 can be elastically attached to the top surface of the pit mud strip 106. The use of the walking distance measuring roller can realize the measurement of the walking length of the pit mud strip, facilitate the accurate control of the length and size of the pit mud block during cutting, and the vertical elastic telescopic frame 109 includes a distance measuring guide rod 111 and a distance measuring reset spring 110. The distance measuring guide rod 111 is fixedly connected to the top surface of the wheel frame of the walking distance measuring roller 108, the distance measuring reset spring 110 is sleeved on the distance measuring guide rod 111 and the two ends thereof are respectively abutted against the top surface of the wheel frame and the bottom surface of the top beam of the distance measuring gantry 112, and the distance measuring guide rod 111 is movably extended behind the top beam of the distance measuring gantry 112 and is connected and limited by the nut 113. This structure can realize the elastic telescoping of the distance measuring wheel.

[0021] The pit mud block grabbing device 3 comprises a multi-degree-of-freedom mechanical arm 301 and a clamping jaw 302. The multi-degree-of-freedom mechanical arm 301 is a mechanical arm with at least three degrees of freedom, one end of which is connected to a rotating table 303, and the other end is fixedly connected to a rotating part 304. The rotating table 303 and the rotating part 304 are electric rotating tables. As shown in the drawings, the three-degree-of-freedom mechanical arm comprises a first mechanical arm 3011, a second mechanical arm 3012 and a third mechanical arm 3013. The second mechanical arm 3012 is connected to the end of the first mechanical arm 3011 through a first joint motor, and the first joint motor can drive the second mechanical arm to rotate relative to the first mechanical arm. The third mechanical arm 3013 is connected to the second mechanical arm 3012 through a second joint motor, and the second joint motor can drive the third mechanical arm to rotate relative to the second mechanical arm. The rotating table 303 is fixedly connected to a walking mechanism 305. The output end of the rotating part 304 is fixedly connected to the clamping jaw 302. The multi-degree-of-freedom mechanical arm 301 is installed on the walking mechanism 304 through the installed rotating table 303. The walking mechanism 305 is installed on the top surface of the partition wall between two adjacent pits 5, and the walking direction of the walking mechanism 305 is arranged along the length direction of the partition wall. The clamping jaw 302 is detachably installed on the rotating part 304 fixedly connected to the end of the multi-degree-of-freedom mechanical arm 301. The clamping jaw 302 can clamp the pit mud block 6 and place the pit mud block 6 in the width direction of the pit 5 in sequence through the multi-degree-of-freedom mechanical arm 301. The clamping jaw 302 comprises an upper jaw 3021 and two lower jaws 3022, which are symmetrically arranged on both sides of the upper jaw 3021 and maintain a gap with the upper jaw 3021. The two lower jaws 3022 can be clamped into the gap of the carrier roller. The upper jaw 3021 is arranged in one, and the width thereof can cover the two lower jaws 3022. The upper jaw is connected to a jaw frame 3024 through a clamping lifting mechanism 3023. The two lower jaws are fixedly connected to the jaw frame. The back of the jaw frame is fixedly connected to the output end of the rotating part 304 through an interface. A camera 306 is installed at the end of the multi-degree-of-freedom mechanical arm 301. The multi-degree-of-freedom mechanical arm 301 with a rotating table start end and a rotating part end cooperates with the clamping jaw 302. After clamping the pit mud block 6, the pit mud block 6 can be moved vertically, and the laying angle can be met during the laying process, and the laying is more orderly. Cooperating with the walking mechanism, the pit mud block on both sides of the pit of the walking mechanism can be quickly grabbed and laid, the laying efficiency is greatly improved, the multi-degree-of-freedom mechanical arm structure is compact, the use requirement of a longer pit can be met, the cost is reduced, the camera can accurately capture the laying position, and accurate stacking can be realized. The clamping jaw structure cooperates with the multi-degree-of-freedom mechanical arm with a rotating table start end and a rotating part end, which is convenient for entering, grabbing and clamping, stable and reliable, and can better avoid the interference caused by clamping.

[0022] Specifically, the clamping surfaces of the upper claw 3021 and the lower claw 3022 are each provided with a plurality of anti-skid protrusions 3025 arranged along the length direction of the clamping surface. The anti-skid protrusions are provided to further improve the clamping reliability.

[0023] Specifically, the lifting mechanism 3023 includes a lifting sliding plate 3026, a vertical linear sliding block guide rail pair 3027, and a lifting cylinder 3028. The lifting sliding plate 3026 is connected to the side wall of the claw frame 3024 through the vertical linear sliding block guide rail pair 3027. The top of the upper claw 3021 is fixedly connected to the cylinder rod of the lifting cylinder 3028. The cylinder base of the lifting cylinder 3028 is fixedly connected to the lifting cantilever plate 3029, which is fixedly connected to the top of the claw frame 3024. The lifting cylinder controls the lifting sliding plate to move up and down. The upper claw can be lowered to cooperate with the lower claw to clamp the pit mud block. The cylinder control drives the fast and stable movement, and the cooperation with the linear sliding block guide rail can realize directional movement and stable clamping.

[0024] Further, in order to ensure that the clamped pit mud block can be quickly withdrawn from the loosened clamping claw, the claw frame 3024 is provided with a plurality of anti-skid protrusions 3025 arranged along the length direction of the clamping surface. Figures 11-15Also shown, the linkage push plate mechanism 307 is linked to push the pit mud block outward during the upward movement of the upper claw, thereby playing the role of pushing out the pit mud block, the linkage push plate mechanism 307 includes a push plate 3071, a horizontal telescopic rack 3072, a horizontal drive gear 3073, a linkage rotating shaft 3074, a vertical telescopic meshing gear 3075 and a vertical drive rack 3076, the vertical drive rack 3076 is fixedly connected to the lifting sliding plate 3026 of the lifting mechanism 3023 and synchronously lifts with the lifting mechanism 3023, the vertical telescopic meshing gear 3075 fixedly connected to the vertical drive rack 3076 is fixedly connected to the linkage rotating shaft 3074, the linkage rotating shaft 3074 is rotatably connected to the claw frame 3024 and transversely passes through the claw frame 3024, the claw frame 3024 is provided with a vertical strip-shaped hole 3077 at the middle part of the lower claw 3022, the horizontal drive gear 3075 is fixedly connected to the linkage rotating shaft 3074 and located at the vertical strip-shaped hole 3077, the horizontal telescopic rack 3072 meshing with the horizontal drive gear 3073 is movably connected in the sliding hole 3078, the sliding hole 3078 is a T-shaped groove structure communicating with the vertical strip-shaped hole 3077, the horizontal telescopic rack 3072 is T-shaped in cross section, the two sides are embedded into the two side grooves of the T-shaped groove for limiting, the push plate 3071 is fixedly connected to the end of the horizontal telescopic rack 3072 and located above the lower claw 3022, the height of the push plate 3071 is half the thickness of the pit mud block, the push plate 3071 can face the middle part of the side surface of the pit mud block, this linkage push plate mechanism can quickly realize the falling of the pit mud block, the linkage structure does not need to additionally set a power mechanism, the structure is compact and simplified, the cost is reduced, the linkage is purely mechanically controlled and has high reliability, the vertical drive rack 3076 is provided with a movable auxiliary sleeve 3079 of T-shaped groove at the lower part, the vertical drive rack 3076 passes through the T-shaped groove and can play an auxiliary guiding role, the push plate 3071 can enter the space between the two vertical linear slide rail pairs after retraction, thereby ensuring that the pit mud block is clamped as much as possible by the upper and lower claws, in use, a certain space (greater than the thickness of the pit mud block) is opened between the upper and lower claws, a multi-degree-of-freedom mechanical arm is used to clamp one side of the pit mud block at the opening of the upper and lower claws (at this time, the push plate does not contact the pit mud block), slowly lower and gradually extend the clamping claw into the pit mud block, and when the upper and lower claws remain horizontal (at this time, the push plate also does not contact the pit mud block), the upper claw is lowered by a set distance, the distance between the upper and lower claws is kept slightly greater than the thickness of the pit mud block by 1-2 cm, at this time, the push plate also retracts to the space between the two vertical linear slide rail pairs, the clamping claw is moved to the bottom of the pit mud block and the upper claw clamps the pit mud block, the distance of the push plate movement satisfies the retraction space when clamping.

[0025] Wherein, as Figures 16-17As shown, the pit mud packaging device 4 includes a beating plate 401 and a beating vibrator 402, which is detachably installed on the rotating part 304 at the end of the multi-degree-of-freedom mechanical arm 301 after replacing the clamping jaw 302. The beating vibrator 402 adopts the vibration structure principle of a fascia gun, that is, a vibrating motor is used inside the fascia gun to drive a crank slider mechanism to drive the output end to move back and forth continuously. The handle of the fascia gun is provided with a connecting flange plate fixedly connected with the end of the mechanical arm. The output shaft end of the fascia gun is fixedly connected with the beating plate 401. Two guide telescopic rods 410 are arranged at the two ends of the beating plate 401 and face the side of the beating vibrator 402. The two guide telescopic rods 410 are sleeved with a beating reset spring 409. The lower end of the beating reset spring 409 abuts against the top surface of the beating plate 401, and the upper end abuts against the bottom of an L-shaped connecting piece 411. The bottom of the L-shaped connecting piece 411 is fixedly connected with the outer shell of the beating vibrator 402 through a horizontally arranged short plate and a screw. The guide telescopic rods 410 movably pass through the horizontal plate through hole of the L-shaped connecting piece 411. The arrangement of the beating reset spring 409, the guide telescopic rods 410 and the L-shaped connecting piece 411 can realize directional vibration beating of the beating plate, and the beating effect is better. A telescopic spray head 403 is vertically arranged on the beating plate 401. The telescopic spray head 403 is fixedly connected with the cylinder rod of a spray head telescopic cylinder 404. The cylinder base of the spray head telescopic cylinder 404 is fixedly connected with the beating plate 401. A containing through hole 405 for accommodating the telescopic spray head 403 is arranged on the beating plate 401. The containing through hole 405 is located at the center of one side of the top surface of the pressing plate 401, so as to avoid interference with the cylinder rod of the spray head telescopic cylinder. Two symmetrical closing plates 406 are arranged at the end of the beating surface of the containing through hole 405. The two closing plates 406 are symmetrically hinged on the stepped surface and can realize closing of the containing through hole 405 after abutting against each other. The lower surfaces of the two closing plates 406 are flush with the ground after closing the containing through hole 405. The two closing plates 406 are connected with the telescopic spray head 403 through a tension spring 407. The tension spring can ensure that the two closing plates are rotated towards the containing through hole after the telescopic spray head is retracted to close the port. When opened, the two closing plates can be opened under the pushing of the spray head and the tension spring. The telescopic spray head 403 can spray and maintain the outer surface of the beaten pit mud layer and water the joint of the pit mud blocks. The beating vibrator 402 and the beating plate 401 replace the clamping jaw, cooperate with the multi-degree-of-freedom mechanical arm, and realize end posture positioning of the rotating table 303 and the rotating part 304. The sealing of the pit mud blocks, the adjacent pit pool wall and the adjacent pit pool block can be quickly realized by vibration beating. Further vibration beating of the whole sealing pit mud can be realized to improve the sealing effect of the sealing pit mud. The telescopic spray head arranged at the bottom of the beating plate can water the gap of the pit mud blocks and spray the top surface of the whole sealing pit mud, and then beating can be performed again to improve the beating effect and the sealing effect of the sealing pit mud.Direct conversion of the existing multi-freedom degree manipulator with the existing grabbing mechanism can greatly improve the beating efficiency and reduce the cost of the equipment. Moreover, the multi-freedom degree manipulator can realize rotation at any angle to fit the arch surface with different curvature radius, so as to achieve the best beating effect. In addition, the side part of the accommodating through hole 405 is provided with a through hole for accommodating the flexible hose.

[0026] Embodiment 2: An operation method of a pit mud block grabbing and packaging device, the method comprising the following steps: Step 1: obtaining the top surface shape of the pit after storing the vinasse, numbering the pits, and assuming that the length of each pit is the same; Step 2: establishing a pit sealing mud model for each pit according to the top surface shape of each numbered pit after storing the vinasse and the thickness of the sealing mud, assuming that the wall thickness of each pit sealing mud model is the same, and numbering the pit sealing mud models; Step 3: dividing and arranging the pit mud blocks according to the pit sealing mud model of each pit, and numbering each pit mud block, wherein the pit mud blocks are arranged symmetrically in multiple rows on both sides of the vault according to the pit sealing mud model, and each pit mud block has the same size, and the pit mud blocks on one side of the vault are arranged last; Step 4: the pit mud block manufacturing device receives the number of pits to be packaged at one time and the arrangement of the pit mud blocks in each pit, manufactures the pit mud blocks of each numbered pit, and numbers the pit mud blocks, wherein the number corresponds to the number of the pit mud blocks in step 3; the manufactured pit mud blocks are provided with slope surfaces on both sides of the vault direction, and the slope surfaces of adjacent two pit mud blocks can be fitted, the slope surfaces can realize the lapping of adjacent pit mud blocks, and the lapping can further improve the beating sealing effect in the beating process; Step 5: the pit mud blocks manufactured according to the order of the pit numbers are transported to the corresponding pits, the pit mud blocks are grabbed to the corresponding positions of the pits according to the order of the numbers by using the pit mud block grabbing device, after the pit mud blocks are laid, the continuously transported pit mud blocks are continuously transported to the next pit for the grabbing and laying of the pit mud blocks, after the grabbing and laying of the pit mud blocks in each pit, the pit mud is packaged, the contact parts between adjacent pit mud blocks and the contact parts between the pit mud blocks and the pit walls are beaten and sealed, and the sealing of the pits is completed. A small amount of water is sprayed on the gap before beating, which can improve the sealing effect of the beating in the gap.

[0027] Embodiment 2: As Figures 1-18As shown, a kind of sauce-flavor liquor cellar pit sealing device, including pit mud block making device 1, pit mud block transport device 2, pit mud block grabbing device 3 and pit mud packaging device 4, pit mud block making device 1 is used to make pit mud block 6, pit mud block transport device 2 is used to transport pit mud block 6 made by pit mud block making device 1 to pit 5, pit mud block grabbing device 3 is grabbed and packaged to pit 5 in pit mud block 6 transported in pit 5, pit mud packaging device 4 is used to package the top surface gap of pit 5 after being covered with pit mud block 6 and the top surface of pit mud 5, by pit mud block making device, pit mud block transport device, pit mud block grabbing device and pit mud packaging device, the quick sealing of pit can be realized, save time and effort, sealing efficiency is high, pit mud block grabbing device 3 and pit mud packaging device 4 adopt the structure of grabbing and packaging device in embodiment 1.

[0028] Wherein, pit mud block making device 1 includes pit mud stirring device 101 and pit mud block forming device 102, pit mud stirring device 101 is used to stir the pit mud ingredients put in and water to obtain pit mud, pit mud block forming device 102 includes pit mud strip extrusion equipment 103, pit mud strip conveying equipment 104 and pit mud block cutting equipment 105, pit mud strip extrusion equipment 103 is used to extrude the prepared pit mud into strip-shaped output, pit mud strip conveying equipment 104 is connected to the outlet of pit mud strip extrusion equipment 103 at one end, and is connected to pit mud block transport device 2 at the other end, pit mud block cutting equipment 105 is installed at the position close to the tail end of pit mud strip conveying equipment 104, for cutting pit mud strip 106 on pit mud strip conveying equipment 104 into pit mud block 6, directly making pit mud block using stirred pit mud, convenient and fast.

[0029] Specifically, pit mud strip extrusion equipment 103 includes extrusion pipeline 1031 and spiral extrusion rod 1032, spiral extrusion rod 1032 includes spiral shaft and spiral blade fixedly connected on spiral shaft, extrusion pipeline 1031 is horizontally fixedly connected on extrusion frame 1033, extrusion pipeline 1031 is provided with discharge port 1034 at one end, spiral extrusion rod 1032 is rotatably connected in the length direction of extrusion pipeline 1031, the spiral shaft at one end extends out of extrusion pipeline 1031 and is connected to extrusion driving motor 1035, extrusion driving motor 1035 is installed on extrusion frame 1033 through motor frame 1036, adjustable die 1037 is installed at discharge port 1034, discharge port is connected to pit mud strip conveying equipment 104, the cross section of extruded pit mud strip with different thicknesses can be adjusted through adjustable die 1037, the device realizes continuous extrusion of pit mud strip using spiral extrusion structure.

[0030] Specifically, the pit mud block cutting device 105 includes a puller 1051 and a pulling hydraulic cylinder 1052, the puller 1051 passes through the gap between two adjacent carrier rollers 1041 of the pit mud strip conveying device 104 and is fixedly connected at both ends to the two free ends of a horizontal U-shaped frame 1053, the U-shaped frame 1053 is rotatably connected to a pulling frame 1054 at the middle of the side away from the free end and is connected to an oscillating motor 1056 through a worm gear transmission 1055, the pulling frame 1054 is connected to two guide rods 1058 through two straight line bearings 1057 arranged symmetrically on both sides, the two guide rods 1058 are fixedly connected to a base 1059, the base 1059 is fixedly connected to the ground through a support base, a pulling hydraulic cylinder 1052 is installed in the middle of the base 1059, the cylinder rod of the pulling hydraulic cylinder 1052 is hingedly connected to the pulling frame 1054, the puller 1051 is arranged with a limiting plate 1060 on the opposite side, the limiting plate 1060 is fixedly connected to the cylinder rod of a double-shaft air cylinder 1061, the cylinder seat of the double-shaft air cylinder 1061 is fixedly connected to one side of the pit mud strip conveying device 104 through a cylinder seat frame plate 1062, the pit mud block cutting device is arranged in the gap between the carrier rollers, the power mechanism of the pulling hydraulic cylinder is used to cooperate with the guide rods to pull in a directional manner, the cutting is thorough, the separated pit mud blocks are not easily damaged, the quality of the broken part is good, and the oscillating motor is arranged to adjust the cutting angle, so that the slope angle of the pit mud block can be accurately realized, the gap between the two adjacent pit mud blocks can be easily sealed after being laid, the sealing performance is greatly improved, and the sealing is easier. The limiting plate 1060 can limit the pit mud strip during the pulling process, improve the stability of the puller cutting, and the limiting plate 1060 is provided with a pulling groove and a vertical groove at 90 degrees with each other, the puller blade can be embedded in the pulling groove or the vertical groove, the cutting is more thorough, and the puller can be replaced with a thin steel wire.

[0031] Further, the pit mud block cutting equipment further comprises a width cutting device 107, the width cutting device 107 comprises a horizontal cutter 1071, a vertical telescopic cylinder 1072, an L-shaped lifting support plate 1073 and an auxiliary support plate 1079, the horizontal cutter 1071 is fixedly connected between the two free ends of the bottom of the inverted U-shaped horizontal cutter seat 1074 and the length direction is consistent with the pit mud block conveying direction of the pit mud strip plate conveying equipment 104, two vertical guide rods 1075 are fixedly connected on the horizontal plate of the lifting support plate 1073 at the top of the left and right sides of the horizontal cutter seat 1074, the lifting support plate 1073 is fixedly connected on the bottom output sliding plate of the linear motion module 1077 at the top, one end of the machine base of the linear motion module 1077 is fixedly connected at the top of the vertical plate 1078, the vertical plate 1078 is fixedly connected at the bottom to the side of the machine base of the pit mud strip plate conveying equipment 104, the cylinder base of the vertical telescopic cylinder 1072 is fixedly connected to the middle part of the top surface of the horizontal plate of the lifting support plate 1073, and the cylinder rod of the vertical telescopic cylinder 1072 is fixedly connected to the top of the horizontal cutter seat 1074, the horizontal cutter 1071 can cut the pit mud block cut in the length direction on the pit mud strip plate conveying equipment 104 after descending, the width of the cutting is controlled by the linear motion module, the power for cutting the horizontal cutter is provided by the vertical telescopic cylinder, the cutting is stable and reliable, the inverted U-shaped horizontal cutter seat can avoid interference during cutting, the horizontal cutter uses a thin blade and can also be replaced by a steel wire, the auxiliary support plate 1079 is installed below the horizontal cutter, a plurality of strip-shaped bosses 1080 are arranged on the top surface of the auxiliary support plate 1079, the width of the strip-shaped bosses 1080 is less than the width of the gap between the adjacent two rollers of the pit mud strip plate conveying equipment 104, the bottom of the auxiliary support plate 1079 is fixedly connected to the cylinder rod of the vertical double-shaft cylinder 1081, the cylinder base of the vertical double-shaft cylinder 1081 is fixedly connected to the horizontal plate 1083 through the L-shaped frame 1082, and the two ends of the horizontal plate 1083 are fixedly connected to the rack at the bottom of the pit mud strip plate conveying equipment 104, the plurality of strip-shaped bosses 1080 can be inserted into the gap between the adjacent rollers after the auxiliary support plate 1079 is lifted and the top surface of the strip-shaped bosses is flush with the top surface of the rollers of the pit mud strip plate conveying equipment 104, the auxiliary support pit mud block formed by lifting the auxiliary support plate and the strip-shaped bosses can ensure that the horizontal cutter cutting the pit mud block is better supported by the rollers and the cutting is more complete.

[0032] Among them, the pit mud block conveying device 2 comprises a first conveying roller machine 201 and a second conveying roller machine 202 that are connected, the first conveying roller machine 201 is connected to the pit mud block making device 1, and the second conveying roller machine 202 is installed beside the pit pool 5, the conveying speed of the second conveying roller machine 202 is greater than that of the first conveying roller machine 201, and the segmented conveying roller machines with different speeds can realize the interval arrangement of the cut pit mud blocks.

[0033] Specifically, a traveling distance measuring roller 108 is installed above the mud strip conveyor 104. The traveling distance measuring roller 108 is rotatably connected to the vertical elastic telescopic frame 109. The traveling distance measuring roller 108 is equipped with a distance measuring encoder. Commercially available distance measuring traveling wheels can be used. The upper end of the vertical elastic telescopic frame 109 is installed on the top beam of the distance measuring gantry 112 spanning both sides of the frame of the mud strip conveyor 104. The traveling distance measuring roller 108 can elastically fit against the top surface of the mud strip 106. By using the traveling distance measuring roller, the mud strip can be conveyed... Measuring the walking length facilitates precise control of the length of the mud block during cutting. The vertical elastic telescopic frame 109 includes a distance measuring guide rod 111 and a distance measuring reset spring 110. The distance measuring guide rod 111 is fixedly connected to the top surface of the wheel frame of the walking distance measuring roller 108. The distance measuring reset spring 110 is sleeved on the distance measuring guide rod 111, and its two ends abut against the top surface of the wheel frame and the bottom surface of the top beam of the distance measuring gantry frame 112, respectively. The distance measuring guide rod 111 extends movably out of the top beam of the distance measuring gantry frame 112 and is limited by a nut 113. This structure enables the elastic extension and retraction of the distance measuring wheel.

[0034] Among them, such as Figures 16-17As shown, the pit mud packaging device 4 includes a beating plate 401 and a beating vibrator 402, which is detachably installed on the rotating part 304 at the end of the multi-degree-of-freedom mechanical arm 301 after replacing the clamping jaw 302. The beating vibrator 402 adopts the vibration structure principle of a fascia gun, that is, a vibrating motor is used inside the fascia gun to drive a crank slider mechanism to drive the output end to move back and forth continuously. The handle of the fascia gun is provided with a connecting flange plate fixedly connected with the end of the mechanical arm. The output shaft end of the fascia gun is fixedly connected with the beating plate 401. Two guide telescopic rods 410 are arranged at the two ends of the beating plate 401 and face the side of the beating vibrator 402. The two guide telescopic rods 410 are sleeved with a beating reset spring 409. The lower end of the beating reset spring 409 abuts against the top surface of the beating plate 401, and the upper end abuts against the bottom of an L-shaped connecting piece 411. The bottom of the L-shaped connecting piece 411 is fixedly connected with the outer shell of the beating vibrator 402 through a horizontally arranged short plate and a screw. The guide telescopic rods 410 movably pass through the horizontal plate through hole of the L-shaped connecting piece 411. The arrangement of the beating reset spring 409, the guide telescopic rods 410 and the L-shaped connecting piece 411 can realize directional vibration beating of the beating plate, and the beating effect is better. A telescopic spray head 403 is vertically arranged on the beating plate 401. The telescopic spray head 403 is fixedly connected with the cylinder rod of a spray head telescopic cylinder 404. The cylinder base of the spray head telescopic cylinder 404 is fixedly connected with the beating plate 401. A containing through hole 405 for accommodating the telescopic spray head 403 is arranged on the beating plate 401. The containing through hole 405 is located at the center of one side of the top surface of the pressing plate 401, so as to avoid interference with the cylinder rod of the spray head telescopic cylinder. Two symmetrical closing plates 406 are arranged at the end of the beating surface of the containing through hole 405. The two closing plates 406 are symmetrically hinged on the stepped surface and can realize closing of the containing through hole 405 after abutting against each other. The lower surfaces of the two closing plates 406 are flush with the ground after closing the containing through hole 405. The two closing plates 406 are connected with the telescopic spray head 403 through a tension spring 407. The tension spring can ensure that the two closing plates are rotated towards the containing through hole after the telescopic spray head is retracted to close the port. When opened, the two closing plates can be opened under the pushing of the spray head and the tension spring. The telescopic spray head 403 can spray and maintain the outer surface of the beaten pit mud layer and water the joint of the pit mud blocks. The beating vibrator 402 and the beating plate 401 replace the clamping jaw, cooperate with the multi-degree-of-freedom mechanical arm, and realize end posture positioning of the rotating table 303 and the rotating part 304. The sealing of the pit mud blocks, the adjacent pit pool wall and the adjacent pit pool block can be quickly realized by vibration beating. Further vibration beating of the whole sealing pit mud can be realized to improve the sealing effect of the sealing pit mud. The telescopic spray head arranged at the bottom of the beating plate can water the gap of the pit mud blocks and spray the top surface of the whole sealing pit mud, and then beating can be performed again to improve the beating effect and the sealing effect of the sealing pit mud.Direct conversion with the existing multi-freedom degree mechanical arm of the grabbing mechanism can greatly improve the beating efficiency and reduce the equipment cost, and the multi-freedom degree mechanical arm can realize rotation at any angle to fit the arch surface with different curvature radius, thereby achieving the best beating effect, and can also be used for the edges and corners of the inner wall of the cellar pool.

[0035] The operation method of the cellar sealing device for Jiangxiang liquor cellar comprises the following steps: Step 1: A three-dimensional laser scanner is used to obtain the top surface modeling of the cellar after storing the vinasse, and the cellar is numbered, and the length of each cellar is set to be the same. Step 2: A cellar sealing mud model of each cellar is established according to the top surface modeling of each numbered cellar after storing the vinasse and the thickness of the sealing mud, the wall thickness of each cellar sealing mud model is set to be the same, the cellar sealing mud model is numbered, and the total amount of cellar mud and the amount of cellar mud of each cellar are calculated according to the surface area of the cellar sealing mud model. Step 3: Each cellar mud block is divided and arranged according to the cellar sealing mud model of each cellar, and each cellar mud block is numbered, and the arranged cellar mud blocks are symmetrically arranged in multiple rows on both sides of the vault according to the cellar sealing mud model, and the size of each cellar mud block is the same, and the last row of cellar mud blocks is arranged on the vault. Step 4: The cellar mud block making device receives the number of once-sealed cellars and the arrangement of the cellar mud blocks in each cellar, judges whether the amount of cellar mud in the stirring device of the cellar mud block making device is greater than the total amount of cellar mud calculated in step 2, if less, additional amount of cellar mud is needed to meet the requirement, if greater, the matching amount of stirred cellar mud is directly controlled and the size of the length and width of each numbered cellar mud block is made, the made cellar mud block is numbered, and the number corresponds to the number of the cellar mud block in step 3; the made cellar mud block is provided with a slope surface on both sides facing the vault direction, the slope surfaces of the adjacent two cellar mud blocks can be fitted, the slope surface can realize the lapping of the adjacent cellar blocks, and the sealing effect during beating can be further improved. Step 5: The cellar mud blocks made according to the order of the cellar numbers are transported to the corresponding cellars, the cellar mud blocks are grabbed to the corresponding positions of the cellars in the order of the numbers by using the cellar mud block grabbing device, after the cellar mud blocks are laid, the continuously transported cellar mud blocks are continuously transported to the next cellar for grabbing and laying of the cellar mud blocks, after the grabbing and laying of each cellar, the cellar mud is sealed, the contact parts of the adjacent cellar blocks and the contact parts of the cellar mud blocks and the cellar walls are beaten and sealed, and the sealing of the cellar is completed.

[0036] A small amount of water is sprayed on the gap before beating in step 5, which can improve the sealing effect of the gap.

[0037] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application, therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A device for grabbing and sealing mud blocks, characterized in that, It includes a mud block transportation device, a mud block grabbing device, and a mud block sealing device. The mud block transportation device is used to transport the mud blocks produced by the mud block production device to the side of the pit. The mud block grabbing device grabs the mud blocks transported to the side of the pit and seals them into the pit to fill the pit. The mud block sealing device is used to seal the gaps on the top surface of the pit and the top surface of the pit after it is filled with mud blocks.

2. The device for grabbing and packaging mud blocks according to claim 1, characterized in that, The mud block transport device includes a first transport roller and a second transport roller that are connected together. The first transport roller is connected to the mud block making device, and the second transport roller is installed next to the pit. The transport speed of the second transport roller is greater than that of the first transport roller.

3. The device for grabbing and packaging mud blocks according to claim 1, characterized in that, The mud block grasping device includes a multi-degree-of-freedom robotic arm and gripping claws. The multi-degree-of-freedom robotic arm is mounted on a traveling mechanism, which is installed on the top surface of the partition wall between two adjacent pits, and the traveling direction of the traveling mechanism is arranged along the length of the partition wall. The gripping claws are detachably mounted at the end of the multi-degree-of-freedom robotic arm, which can hold the mud blocks and arrange them sequentially on both sides of the width direction within the pit through the multi-degree-of-freedom robotic arm. The gripping claws include upper claws and lower claws. There are two lower claws, which are symmetrically arranged on both sides of the upper claws and maintain a gap with the upper claws. The two lower claws can be inserted into the gap of the rollers. There is one upper claw, and its width can cover the two lower claws. The upper claw is connected to the claw frame through a gripping lifting mechanism, and the two lower claws are fixedly connected to the claw frame. A camera is installed at the end of the multi-degree-of-freedom robotic arm.

4. The device for grabbing and packaging mud blocks according to claim 3, characterized in that, It also includes a linkage push plate mechanism, which includes a push plate, a horizontal telescopic rack, a horizontal drive gear, a linkage shaft, a vertical telescopic meshing gear, and a vertical drive rack. The vertical drive rack is fixedly connected to the lifting mechanism and moves up and down synchronously with the lifting mechanism. The vertical telescopic meshing gear, which meshes with the vertical drive rack, is fixedly connected to the linkage shaft. The linkage shaft is rotatably connected to the claw frame and passes through the claw frame. The claw frame has a vertical strip hole facing the middle of the lower claw. The horizontal drive gear is fixedly connected to the linkage shaft and is located at the vertical strip hole. The horizontal telescopic rack, which meshes with the horizontal drive gear, is movably connected in the sliding hole. The sliding hole is a T-shaped groove structure that connects to the vertical strip hole. The horizontal telescopic rack has a T-shaped cross-section and is limited by its two sides embedded in the grooves on both sides of the T-shaped groove. The push plate is fixedly connected to the end of the horizontal telescopic rack and is located above the lower claw. The height of the push plate is half the thickness of the pit mud block, and the push plate can face the middle of the side of the pit mud block.

5. The device for grabbing and packaging mud blocks according to claim 3, characterized in that, Both the upper and lower jaws have multiple anti-slip protrusions on their clamping surfaces, which are arranged along the length of the clamping surfaces.

6. The device for grabbing and packaging mud blocks according to claim 4, characterized in that, The pit mud sealing device includes a patting plate and a patting vibrator. The patting vibrator can be detachably installed at the end of a multi-degree-of-freedom robotic arm after replacing the gripper. The patting plate is fixedly connected to the output end of the patting vibrator. Two guide telescopic rods are set on both ends of the patting plate facing the patting vibrator. Patting return springs are sleeved on the two guide telescopic rods. The lower end of the patting return spring abuts against the top surface of the patting plate, and the upper end abuts against the bottom of the L-shaped connector. The bottom and upper end of the L-shaped connector are fixedly connected to the outer shell of the patting vibrator. The guide telescopic rods move through the horizontal plate through hole of the L-shaped connector. A telescopic spray head is vertically set on the patting plate. The telescopic spray head can spray and cure the outer surface of the pit mud layer after patting and water the joint of the pit mud blocks.

7. An operation method for a device for grabbing and sealing mud blocks, characterized in that, The method includes the following steps: Step 1: Obtain the top surface shape of the cellar to be sealed after storing the lees, and number the cellars, assuming that each cellar has the same length; Step 2: Based on the top surface shape of each cellar after storing the lees and the thickness of the sealing mud, establish a sealing mud model for each cellar. Assume that the wall thickness of the sealing mud model for each cellar is the same, and number the sealing mud models. Step 3: Divide and arrange the mud blocks of each pit according to the sealing mud model of each pit and number each mud block. Arrange the mud blocks in multiple rows symmetrically on both sides of the arch of the sealing mud model, and each mud block is the same size. The row of mud blocks on the arch is arranged last. Step 4: Based on the number of pits to be sealed at one time and the arrangement of the pit mud blocks in each pit, make numbered pit mud blocks and assign them numbers, which correspond to the numbers of the pit mud blocks in Step 3. Step 5: Transport the prepared mud blocks according to the pit numbering order to the corresponding pit. Use a mud block grabbing device to grab the mud blocks in the order of the numbers and place them in the corresponding positions in the pit. After the mud blocks are laid, continue to transport the mud blocks to the next pit for grabbing and laying. After each pit is grabbed and laid, seal the mud blocks. Tap and seal the contact points between adjacent mud blocks and the contact points between the mud blocks and the pit wall to complete the sealing of the pit.

8. The operating method of the mud block grabbing and packaging device according to claim 7, characterized in that, The mud blocks are sloped on both sides facing the arch, and the slopes of two adjacent mud blocks can fit together.

9. The operating method of the mud block grabbing and packaging device according to claim 7, characterized in that, Before patting in step 5, spray a small amount of water into the gaps.

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