Maotai-flavor wine cellar sealing device and operation method thereof

Abstract

The invention discloses a Maotai-flavor wine cellar sealing device and an operation method thereof, and belongs to the technical field of cellar sealing mud cellar opening equipment.The Maotai-flavor wine cellar sealing device comprises a cellar mud block manufacturing device, a cellar mud block conveying device, a cellar mud block grabbing device and a cellar mud packaging device.The cellar mud block manufacturing device is used for manufacturing cellar mud blocks; the cellar mud block conveying device is used for conveying cellar mud blocks manufactured by the cellar mud block manufacturing device to the position beside a cellar, the cellar mud block grabbing device is used for grabbing and packaging the cellar mud blocks conveyed to the position beside the cellar into the cellar to enable the cellar to be full of the cellar, and the cellar mud packaging device is used for packaging gaps of the top face of the cellar full of the cellar mud blocks and the top face of cellar mud. Through the cellar mud block manufacturing device, the cellar mud block conveying device, the cellar mud block grabbing device and the cellar mud packaging device, 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 present application belongs to the technical field of pit sealing with pit mud blocks, and relates to a pit sealing device for pit pools of Maotai-flavor liquor, and to an operating method of the pit sealing device. BACKGROUND

[0002] In the preparation process of Maotai-flavor liquor, pit pools need to be sealed with pit mud. The existing main sealing methods are as follows: 1) the stirred pit mud is manually pushed to the side of the pit pool by a cart, and then is piled and beaten on the top of the pit pool; and 2) the prepared pit mud blocks are pushed to the side of the pit pool, and then are manually laid on the top of the pit pool and beaten to seal the pit pool. Both of the two methods are manually performed, which is time-consuming and labor-intensive, and has low efficiency. In addition, the amount of pit mud is difficult to control, and waste is easily caused. SUMMARY

[0003] The first application purpose of the present application is to provide a pit sealing device for pit pools of Maotai-flavor liquor, which can realize rapid sealing of the pit pool, save time and labor, and has high sealing efficiency.

[0004] In order to achieve the first application purpose of the present application, the technical scheme adopted by the present application is as follows: a pit sealing device for pit pools of Maotai-flavor liquor, comprising a pit mud block making device, a pit mud block conveying device, a pit mud block grabbing device, and a pit mud sealing device. The pit mud block making device is used for making pit mud blocks. The pit mud block conveying device is used for conveying the pit mud blocks made by the pit mud block making device to the side of the pit pool. The pit mud block grabbing device grabs and seals the pit mud blocks conveyed to the side of the pit pool to the pit pool to fill the pit pool. The pit mud sealing device is used for sealing the gaps on the top of the pit pool and the top of the pit mud after the pit mud blocks are filled.

[0005] Further, the pit mud block making device comprises a pit mud stirring device and a pit mud block forming device. The pit mud stirring device is used for stirring the pit mud ingredients and water put in to obtain uniform pit mud. The pit mud block forming device comprises a pit mud strip extrusion device, a pit mud strip conveying device, and a pit mud block cutting device. The pit mud strip extrusion device is used for extruding the prepared pit mud into a strip shape. One end of the pit mud strip conveying device is connected to the outlet of the pit mud strip extrusion device, and the other end is connected to the pit mud block conveying device. The pit mud block cutting device is installed near the tail end of the pit mud strip conveying device, and is used for cutting the pit mud strip on the pit mud strip conveying device into pit mud blocks.

[0006] Further, the pit mud strip extrusion device comprises an extrusion pipe and a spiral extrusion rod. The extrusion pipe is horizontally fixedly connected to an extrusion frame. One end of the extrusion pipe is provided with a discharge port. The spiral extrusion rod is rotationally connected inside the length direction of the extrusion pipe. The shaft at one end of the spiral extrusion rod extends out of the extrusion pipe and is connected to an extrusion driving motor. The extrusion driving motor is installed on the extrusion frame through a motor frame. A cross-section adjustable die is installed at the discharge port. The discharge port is connected to the pit mud strip conveying device.

[0007] Further, the above-mentioned pit mud block cutting device comprises a puller and a pulling hydraulic cylinder, the puller passes through the gap of the carrier roller of the pit mud strip conveying device and is fixedly connected to the two free ends of the horizontal U-shaped frame, the U-shaped frame is rotatably connected to the pulling frame at the middle of the side away from the free end and is connected to the swing motor through a worm gear transmission, the pulling frame is connected to two guide rods through two symmetrical linear bearings arranged on the two sides, the two guide rods are fixedly connected to the base, the pulling hydraulic cylinder is installed in the middle of the base, the cylinder rod of the pulling hydraulic cylinder is hingedly connected to the pulling frame, the puller is arranged with a limiting plate on the opposite side, the limiting plate is fixedly connected to the cylinder rod of the double-shaft air cylinder, and the cylinder base of the double-shaft air cylinder is fixedly connected to one side of the pit mud strip conveying device.

[0008] Further, the above-mentioned pit mud block cutting device further comprises a width cutting device, the width cutting device comprises a horizontal cutter, a vertical telescopic cylinder, an L-shaped lifting support plate and an auxiliary support plate, the horizontal cutter is fixedly connected to the horizontal cutter seat of the inverted U-shaped structure and the length direction is consistent with the conveying direction of the pit mud block of the pit mud strip conveying device, two vertical guide rods are fixedly connected to the horizontal cutter seat on the left and right sides, the two vertical guide rods are fixedly connected to the horizontal plate of the lifting support plate through two vertical linear bearings, the lifting support plate is fixedly connected to the bottom output sliding plate of the linear movement module at the top, one end of the base of the linear movement module is fixedly connected to the top of the vertical plate, the bottom of the vertical plate is fixedly connected to the side of the base of the pit mud strip conveying device, the cylinder base of the vertical telescopic cylinder is fixedly connected to the middle of the top surface of the horizontal plate of the lifting support plate, the cylinder rod of the vertical telescopic cylinder is fixedly connected to the top of the horizontal cutter seat, the horizontal cutter can cut the pit mud block cut in the length direction after the horizontal cutter is lowered, the auxiliary support plate is installed below the horizontal cutter, a plurality of strip-shaped bosses are arranged on the top surface of the auxiliary support plate, the width of the strip-shaped bosses is smaller than the width of the gap between the two adjacent carrier rollers of the pit mud strip conveying device, the bottom of the auxiliary support plate is fixedly connected to the cylinder rod of the vertical double-shaft cylinder, the cylinder base of the vertical double-shaft cylinder is fixedly connected to the horizontal plate, and the two ends of the horizontal plate are fixedly connected to the rack at the bottom of the pit mud strip conveying device, the plurality of strip-shaped bosses can be inserted into the gap between the adjacent carrier rollers and the top surface of the strip-shaped bosses is flush with the top surface of the carrier roller of the pit mud strip conveying device after the auxiliary support plate is lifted.

[0009] Further, the above-mentioned pit mud block conveying device comprises a first conveying carrier roller machine and a second conveying carrier roller machine, the first conveying carrier roller machine is connected to the pit mud block manufacturing device, and the second conveying carrier roller machine is installed beside the pit pool, and the conveying speed of the second conveying carrier roller machine is greater than that of the first conveying carrier roller machine.

[0010] Further, the above-mentioned pit mud block grabbing device comprises a multi-degree-of-freedom manipulator and a clamping claw, the multi-degree-of-freedom manipulator is installed on a walking mechanism, the walking mechanism is installed on the top surface of a partition wall between two adjacent pits and the walking direction of the walking mechanism is arranged along the length direction of the partition wall, the clamping claw is detachably installed at the end of the multi-degree-of-freedom manipulator, the clamping claw can clamp pit mud blocks and sequentially place the pit mud blocks on both sides of the pit in the width direction of the pit through the multi-degree-of-freedom manipulator, the clamping claw comprises an upper claw and two lower claws, the two lower claws are symmetrically arranged on both sides of the upper claw and keep a gap with the upper claw, the two lower claws can be clamped into the gap of the carrier roller, the upper claw is adopted, the width of the upper claw can cover the two lower claws, the upper claw is connected to a claw frame through a clamping lifting mechanism, the two lower claws are fixedly connected to the claw frame, and a camera is installed at the end of the multi-degree-of-freedom manipulator.

[0011] Further, the clamping surfaces of the upper claw and the lower claws are both provided with a plurality of anti-skid protrusions, and the plurality of anti-skid protrusions are arranged along the length direction of the clamping surface.

[0012] Further, the above-mentioned pit mud packaging device comprises a beating plate, the beating vibrator is detachably installed at the end of the multi-degree-of-freedom manipulator after replacing the clamping claw, the beating plate is fixedly connected to the output end of the beating vibrator, 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 of the pit mud blocks.

[0013] The second inventive objective of the application is to provide an operation method of a Jiangxiang wine pit sealing device, which can realize accurate configuration of pit mud blocks of each pit and avoid waste or size incompatibility caused by blind preparation of pit mud blocks.

[0014] In order to achieve the second inventive objective of the application, the technical scheme adopted by the application is as follows: Step 1: obtaining the top surface shape of a pit after storing lees and numbering the pit, and assuming that the length of each pit is the same; Step 2: establishing a pit sealing mud model of each pit according to the top surface shape of each numbered pit after storing lees and the thickness of sealing mud, assuming that the wall thickness of each pit sealing mud model is the same, and numbering the pit sealing mud model; Step 3: dividing and arranging pit mud blocks of each pit according to the pit sealing mud model of each pit and numbering each pit mud block, and arranging the pit mud blocks according to the pit sealing mud model, that is, symmetrically arranging multiple rows on both sides of the vault, and the size of each pit mud block is the same, and the pit mud blocks on one side of the vault are arranged last; Step 4: a pit mud block manufacturing device receives the number of pits to be sealed once and the arrangement of pit mud blocks in each pit, controls the matching amount of stirred pit mud, and manufactures pit mud blocks according to the length and width size of each numbered pit mud block, and numbers the manufactured pit mud blocks, which correspond to the numbering of the pit mud blocks in step 3. Step 5, the pit mud block made in the order of the pit number is transported to the corresponding pit, the pit mud block is grabbed in the order of the number by using the pit mud block grabbing device, after the pit mud block is laid, the continuously transported pit mud block is continuously transported to the next pit for the grabbing and laying of the pit mud block, after the grabbing and laying of each pit, the pit is sealed, the adjacent pit block contact and the pit block and the pit wall contact are hit and sealed, and the sealing of the pit is completed.

[0015] Further, the slope surface is arranged on both sides of the made pit mud block towards the vault direction, and the slope surfaces of the adjacent two pit mud blocks can be attached.

[0016] Further, a small amount of water is sprayed at the gap before hitting in step 5.

[0017] The beneficial effects of the present application are as follows compared with the prior art: 1) The present application can realize the quick sealing of the pit by using the pit mud block making device, the pit mud block transporting device, the pit mud block grabbing device and the pit sealing device, which saves time and labor and has high sealing efficiency; 2) The pit mud block is directly made by using the stirred pit mud, which is convenient and fast; 3) The cutting equipment of the pit mud block adopts a broach arranged in the gap of the supporting roller, a power mechanism of a pulling hydraulic cylinder cooperates with a guide rod to realize directional pulling, and the cutting is completely realized in a penetrating mode, so that the cutting is not incomplete and the separated pit mud block is not easily damaged, and a swing motor is arranged to adjust the cutting angle, so that the accurate realization of the slope angle of the pit mud block is realized, the gap between the adjacent two pit mud blocks is laid and sealed, the sealing property is greatly improved, and the sealing is easier; 4) The two-section transporting supporting roller machine with different speeds can realize the separation of the cut pit mud block and the interval arrangement, so that the grabbing is facilitated in the grabbing link; 5) The multi-degree-of-freedom mechanical arm cooperates with the clamping jaw, the pit mud block can be moved vertically after the pit mud block is clamped, the laying angle can be met during the laying process, the laying is more orderly, the walking mechanism can quickly realize the grabbing and laying of the pit mud block on both sides of the walking mechanism, the laying efficiency is greatly improved, the compact multi-degree-of-freedom mechanical arm structure can also meet the use requirement of the long pit, the cost is reduced, the camera is arranged to accurately capture the laying position and realize the accurate laying, the clamping jaw structure cooperates with the multi-degree-of-freedom mechanical arm, the clamping is stable and reliable, and the interference caused by the clamping is avoided; 6) The linkage push plate is arranged, the push plate can drive the pit mud block during the upward movement of the upper jaw, the pit mud block is prevented from being stuck and cannot be placed quickly; 7) The use of a replacement clamping jaw, a beating vibrator and a beating plate, combined with a multi-degree-of-freedom mechanical arm positioning, can quickly realize the vibration and beating sealing of the pit mud block and the inner wall of the pit and the adjacent pit block, and further vibrate and 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 can be directly converted, which can greatly improve the beating efficiency and reduce the equipment cost, and the multi-degree-of-freedom mechanical arm can realize rotation at any angle to fit the arch surface with different curvature radii, so as to achieve the best beating effect, and also can be used for the edge and corner of the inner wall of the pit; 8) 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

[0018] 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 at the pit side; 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

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] To address the problems of low efficiency, time-consuming and labor-intensive manual laying of cellar mud and mud blocks in existing technologies, the inventive concept of this invention is to provide a sealing device for a Maotai-flavor liquor cellar. This device, through a mud block making device, a mud block transport device, a mud block grabbing device, and a mud sealing device, enables rapid sealing of the cellar, saving time and labor, and achieving high sealing efficiency. Furthermore, the invention provides an operating method for the sealing device: a sealing mud model is constructed based on the specific piled surface of the fermented grains; mud blocks are divided and arranged according to the sealing mud model; mud blocks are made according to the divided and arranged mud blocks; and the made mud blocks are transported to the side of the cellar for grabbing and sealing. This allows for precise configuration of mud blocks for each cellar, effectively avoiding waste or size mismatches caused by blindly preparing mud blocks. For detailed implementation processes, please refer to Embodiments 1 and 2.

[0021] Example 1: As Figures 1-18 As shown, a sealing device for a soy sauce-flavored liquor cellar includes a cellar mud block making device 1, a cellar mud block transport device 2, a cellar mud block grabbing device 3, and a cellar mud sealing device 4. The cellar mud block making device 1 is used to make cellar mud blocks 6. The cellar mud block transport device 2 is used to transport the cellar mud blocks 6 made by the cellar mud block making device 1 to the side of the cellar 5. The cellar mud block grabbing device 3 grabs the cellar mud blocks 6 transported to the side of the cellar 5 and seals them into the cellar 5 to fill the cellar. The cellar mud sealing device 4 is used to seal the gaps on the top surface of the cellar 5 and the top surface of the cellar mud 5 after it is filled with cellar mud blocks 6. Through the cellar mud block making device, cellar mud block transport device, cellar mud block grabbing device, and cellar mud sealing device, the cellar can be sealed quickly, saving time and labor, and with high sealing efficiency.

[0022] The pit mud block making device 1 comprises a pit mud stirring device 101 and a pit mud block forming device 102, the pit mud stirring device 101 is used for stirring the pit mud ingredients and water to obtain the pit mud, the pit mud block forming device 102 comprises a pit mud strip extrusion equipment 103, a pit mud strip conveying equipment 104 and a pit mud block cutting equipment 105, the pit mud strip extrusion equipment 103 is used for extruding the prepared pit mud into a strip-shaped output, one end of the pit mud strip conveying equipment 104 is connected to the outlet of the pit mud strip extrusion equipment 103, and the other end is connected to the pit mud block conveying device 2, the pit mud block cutting equipment 105 is installed near the tail end of the pit mud strip conveying equipment 104, and is used for cutting the pit mud strip 106 on the pit mud strip conveying equipment 104 into the pit mud block 6, the prepared pit mud is directly used for making the pit mud block, and the making is convenient and fast.

[0023] Specifically, the pit mud strip extrusion equipment 103 comprises an extrusion pipeline 1031 and a spiral extrusion rod 1032, the spiral extrusion rod 1032 comprises a spiral shaft and spiral blades fixedly connected to the spiral shaft, the extrusion pipeline 1031 is horizontally fixedly connected to an extrusion rack 1033, one end of the extrusion pipeline 1031 is provided with a discharge port 1034, the spiral extrusion rod 1032 is rotationally connected in the length direction of the extrusion pipeline 1031, the spiral shaft at one end extends out of the extrusion pipeline 1031 and is connected to an extrusion driving motor 1035, the extrusion driving motor 1035 is installed on the extrusion rack 1033 through a motor rack 1036, the discharge port 1034 is provided with a cross section adjustable die 1037, the discharge port is connected to the pit mud strip conveying equipment 104, the cross section of the extruded pit mud strip with different thicknesses can be adjusted through the cross section adjustable die 1037, and the device realizes continuous extrusion of the pit mud strip through the spiral extrusion structure.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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 comprises 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.

[0028] 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.

[0029] 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.

[0030] 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 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. The lifting cantilever plate 3029 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. In combination with the linear sliding block guide rail, directional movement and clamping stability can be achieved.

[0031] 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 11-15As shown, it also includes a linkage pusher mechanism 307. During the upward movement of the upper claw, the linkage pusher mechanism 307 pushes the pit mud block outward, thereby pushing out the pit mud block. The linkage pusher mechanism 307 includes a pusher 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 rises and falls synchronously with the lifting mechanism 3023. The vertical telescopic meshing gear 3075, which meshes with the vertical drive rack 3076, is fixedly connected to the linkage rotating shaft 3074. On shaft 3074, the linkage shaft 3074 is rotatably connected to the claw holder 3024 and passes through the claw holder 3024. The claw holder 3024 has a vertical strip hole 3077 in the middle facing the lower claw 3022. The horizontal drive gear 3075 is fixedly connected to the linkage shaft 3074 and located at the vertical strip hole 3077. The horizontal telescopic rack 3072, which meshes with the horizontal drive gear 3073, is movably connected in the sliding hole 3078. The sliding hole 3078 is a T-shaped groove structure that connects to the vertical strip hole 3077. The horizontal telescopic rack 3072 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 3071 is fixedly connected to the horizontal shaft 3074. The telescopic rack 3072 is located at its end and above the lower claw 3022. The height of the push plate 3071 is half the thickness of the mud block. The push plate 3071 can face the middle of the side of the mud block. This linkage push plate mechanism can quickly realize the detachment of the mud block. The linkage structure does not require an additional power mechanism, the structure is compact and simplified, the cost is reduced, and the pure mechanical control linkage has high reliability. The lower part of the vertical drive rack 3076 is provided with a movable auxiliary sleeve 3079 with a T-slot. The vertical drive rack 3076 passes through the T-slot and can play an auxiliary guiding role. After the push plate 3071 retracts, it can enter the space between the two vertical linear slider guide rails, thereby ensuring that the mud block is lifted. The lower jaw should grip as much material as possible. When in use, open the upper and lower jaws to a certain space (greater than the thickness of the mud block). With the help of the multi-degree-of-freedom robotic arm, insert the openings of the upper and lower jaws into one side of the mud block (at this time, the push plate does not contact the mud block). Slowly lower the jaws and gradually extend them into the mud block. When the upper and lower jaws are horizontal (at this time, the push plate also does not contact the mud block), move the upper jaw down a set distance, keeping the distance between the upper and lower jaws slightly greater than the thickness of the mud block by 1-2 cm. At this time, the push plate will also retract to the space between the two vertical linear slider guide rails. Move the jaws to the bottom of the mud block and control the upper jaw to grip the mud block. The distance the push plate moves should be sufficient to allow for retraction when gripping.

[0032] 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, so as to quickly realize vibration beating sealing of the pit mud blocks, the inner wall of the pit and the adjacent pit blocks, further vibration beating of the formed whole pit sealing mud, improve the sealing effect of the pit sealing mud, and realize water pouring at the joint of the pit mud blocks and spraying on the top surface of the whole pit sealing mud, and then beating, so as to improve the beating effect and the sealing effect of the pit sealing mud.Direct conversion with the existing multi-freedom degree mechanical arm of the grabbing mechanism can greatly improve the beating efficiency and reduce the cost of the equipment. Moreover, the multi-freedom degree mechanical arm can realize rotation at any angle to fit the arch surface with different curvature radius, so as to achieve the best beating effect. It can also be used for the edge and corner of the inner wall of the cellar pool, and the side part of the accommodating through hole 405 is provided with a through hole for accommodating the flexible hose.

[0033] Embodiment 2: An operation method of a cellar sealing device for a Maotai-flavor liquor cellar, comprising the following steps: Step 1: A three-dimensional laser scanner is used to obtain the top surface shape of the cellar after storing the wine lees, and the cellar is numbered, and it is assumed that the length of each cellar is the same. Step 2: A cellar sealing mud model of each cellar is established according to the top surface shape of each numbered cellar after storing the wine lees and the thickness of the sealing mud, and it is assumed that the wall thickness of each cellar sealing mud model is the same, and the 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 sealing mud model. Step 3: Each cellar mud block is divided and arranged according to the 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 sealing mud model, and the size of each cellar mud block is the same, and the last arrangement of the vault is arranged. 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 slope surface is arranged on both sides of the made cellar mud block facing the vault direction, and the slope surfaces of the adjacent two cellar mud blocks can be fitted, the slope surface can realize the lap joint of the adjacent cellar blocks, and the sealing effect of the beating process can be further improved. Step 5: The cellar mud blocks made according to the order of the cellar number are transported to the corresponding cellars, the cellar mud blocks are grabbed to the corresponding position of the cellar according to the order of the number by using the cellar mud block grabbing device, after the cellar mud block is laid, the continuously transported cellar mud block is continuously transported to the next cellar for grabbing and laying of the cellar mud block, after each cellar is grabbed and laid, the cellar mud is sealed, the contact part of the adjacent cellar blocks and the contact part of the cellar mud block and the cellar wall are beaten and sealed, and the sealing of the cellar is completed.

[0034] A small amount of water is sprayed at the gap before beating in step 5, which can improve the sealing effect of the beating at the gap.

[0035] 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 sealing device for a soy sauce-flavored liquor cellar, characterized in that, The device includes a mud block making device, a mud block transport device, a mud block grabbing device, and a mud sealing device. The mud block making device is used to make mud blocks. The mud block transport device is used to transport the mud blocks made by the mud block making 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 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 sealing device for a sauce-flavored liquor cellar according to claim 1, characterized in that, The cellar mud block making device includes a cellar mud mixing device and a cellar mud block forming device. The cellar mud mixing device is used to mix the added cellar mud ingredients with water to obtain cellar mud. The cellar mud block forming device includes a cellar mud strip extrusion device, a cellar mud strip conveying device, and a cellar mud block cutting device. The cellar mud strip extrusion device is used to extrude the prepared cellar mud into strips for output. One end of the cellar mud strip conveying device is connected to the outlet of the cellar mud strip extrusion device, and the other end is connected to the cellar mud block transport device. The cellar mud block cutting device is installed near the tail end of the cellar mud strip conveying device and is used to cut the cellar mud strips on the cellar mud strip conveying device into cellar mud blocks.

3. The sealing device for a sauce-flavored liquor cellar according to claim 1, characterized in that, The extrusion equipment for slag bars includes an extrusion pipe and a spiral extrusion rod. The extrusion pipe is horizontally fixedly connected to the extruder frame. One end of the extrusion pipe is provided with a discharge port. The spiral extrusion rod is rotatably connected in the length direction of the extrusion pipe. One end of the shaft extends out of the extrusion pipe and is connected to the extrusion drive motor. The extrusion drive motor is mounted on the extruder frame through a motor frame. An adjustable section die is installed at the discharge port, and the discharge port is connected to the slag bar conveying equipment.

4. The sealing device for a sauce-flavored liquor cellar according to claim 2, characterized in that, The mud block cutting equipment includes a pull cutter and a pulling hydraulic cylinder. The pull cutter passes through the gap of the rollers of the mud block conveying equipment and is fixedly connected at both ends to the two free ends of a horizontal U-shaped frame. The middle part of the U-shaped frame away from the free ends is rotatably connected to the pulling frame and connected to the swing motor through a worm gear transmission. The pulling frame is connected to two guide rods through linear bearings arranged symmetrically on both sides. The two guide rods are fixedly connected to the base. The pulling hydraulic cylinder is installed in the middle of the base. The cylinder rod of the pulling hydraulic cylinder is hinged to the pulling frame. A limit plate is arranged on the opposite side of the pull cutter. The limit plate is fixedly connected to the cylinder rod of a dual-shaft cylinder. The cylinder seat of the dual-shaft cylinder is fixedly connected to one side of the mud block conveying equipment.

5. The sealing device for a sauce-flavored liquor cellar according to claim 3, characterized in that, It also includes a width cutting device, which comprises a horizontal blade, a vertical telescopic cylinder, an L-shaped lifting support plate, and an auxiliary support plate. The horizontal blade is fixedly connected to an inverted U-shaped horizontal blade seat, and its length direction is consistent with the conveying direction of the mud blocks of the mud strip conveying equipment. Two vertical guide rods are fixedly connected to the left and right sides of the horizontal blade seat. The two vertical guide rods are fixedly connected to the horizontal plate of the lifting support plate through two vertical linear bearings. The top of the lifting support plate is fixedly connected to the bottom output slide plate of the linear motion module. One end of the base of the linear motion module is fixedly connected to the top of the vertical plate, and the bottom of the vertical plate is fixedly connected to the side of the base of the mud strip conveying equipment. The cylinder seat of the vertical telescopic cylinder is fixedly connected to the horizontal plate of the lifting support plate. At the center of the top surface of the plate, the cylinder rod of the vertical telescopic cylinder is fixedly connected to the top of the horizontal cutter seat. After the horizontal cutter descends, it can cut the mud blocks cut along the length direction on the mud strip conveyor equipment. The auxiliary support plate is installed below the horizontal cutter. The top surface of the auxiliary support plate is provided with multiple strip-shaped protrusions. The width of the strip-shaped protrusions is smaller than the gap width between two adjacent idler rollers of the mud strip conveyor equipment. The bottom of the auxiliary support plate is fixedly connected to the cylinder rod of the vertical double-shaft cylinder. The cylinder seat of the vertical double-shaft cylinder is fixedly connected to the horizontal plate. The two ends of the horizontal plate are fixedly connected to the frame at the bottom of the mud strip conveyor equipment. After the auxiliary support plate is raised, it can extend multiple strip-shaped protrusions into the gaps between multiple pairs of adjacent idler rollers, and its top surface is flush with the top surface of the idler rollers of the mud strip conveyor equipment.

6. The sealing device for a sauce-flavored liquor cellar according to claim 2, 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.

7. The sealing device for a sauce-flavored liquor cellar according to claim 2, 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.

8. The sealing device for a sauce-flavored liquor cellar according to claim 7, 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.

9. A sealing device for a sauce-flavored liquor cellar according to claim 7, 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.

10. An operation method for a sealing device for a sauce-flavored liquor cellar, 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: The mud block making device receives the number of sealed pits and the arrangement of mud blocks in each pit, controls the matching amount of mud mixing, and makes mud blocks according to the length and width dimensions of each pit's mud blocks. The made mud blocks are numbered, and the number corresponds to the mud block number in Step 3. The made mud blocks have slopes on both sides facing the arch, and the slopes of two adjacent mud blocks can fit together, with mud strips overlapping at the gaps. 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 pit blocks and the contact points between the mud blocks and the pit walls to complete the sealing of the pit.

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