Retort loading robot

Abstract

The utility model relates to the technical field of white spirit brewing, in particular to a steamer filling robot. According to the technical scheme, the steamer filling robot comprises a base, a first arm, a first belt conveyor, a second arm and a second belt conveyor. The first arm is mounted at the top end of the base and can rotate relative to the base; the first belt conveyor is detachably mounted at the top of the first arm in a manner of being exposed to the external environment; one end of the second arm is connected to one end, far away from the base, of the first arm; and the second belt conveyor is mounted at the bottom end of the second arm. According to the retort loading robot, the mechanical structure of feeding and distributing is optimized, the material blocking problem in the fermented grain transporting and spreading process is greatly solved, the efficiency of automatic retort loading operation is improved, the whole structure of the retort loading robot is more convenient to clean, and the time cost in the operation and cleaning process of the retort loading robot is effectively saved.

Description

Technical Field

[0001] The utility model relates to the technical field of liquor brewing, in particular to a steamer loading robot. Background Art

[0002] The steamer filling process is an important part of the liquor brewing process. In the traditional brewing process, the steamer filling process is usually done manually by operators. The manual steamer filling process requires operators to use a shovel to evenly throw the fermented grains into the high-temperature steamer pot. During the steamer filling process, it is necessary to ensure that the steam in the steamer does not come out, and to ensure that the fermented grains in the steamer pot are spread evenly and loosely. The manual work is time-consuming and labor-intensive, and there are certain safety risks.

[0003] In the prior art, automated equipment can be used to replace manual work in the steamer. Generally, the automated steamer loading operation is implemented by a combination of a conveyor belt and a manipulator. The conveyor belt is used to transport the mash to the spreading end of the manipulator, and the manipulator is responsible for controlling the spreading of the mash to the target spreading position in the steamer. However, the mechanical structure of the above-mentioned automated equipment is relatively complex, and it is difficult to ensure uniform and efficient mash during the transmission and spreading process, and the conveying structure is prone to blockage and inconvenient to clean. Utility Model Content

[0004] In response to the above problems, the utility model provides a retort loading robot, which optimizes the mechanical structure of feeding and distributing materials, greatly improves the blockage problem during the transportation and spreading of mash, improves the efficiency of the automated retort loading operation, and the overall structure of the retort loading robot is easier to clean, effectively saving the time cost during the operation and cleaning process of the retort loading robot.

[0005] In the technical solution of the utility model, a retort loading robot is provided, which includes a base, a first arm, a first belt conveyor, a second arm and a second belt conveyor. The first arm is mounted on the top of the base and can rotate relative to the base; the first belt conveyor is detachably mounted on the top of the first arm in a manner exposed to the external environment; one end of the second arm is connected to an end of the first arm away from the base; and the second belt conveyor is mounted on the bottom of the second arm.

[0006] According to the technical solution of the utility model, the steamer loading robot is used for the steamer loading operation in the steamer pot, and can accurately locate the steamer loading position through the first arm and the second arm; the first belt conveyor as a feeding device can realize uniform feeding, and the first belt conveyor and the second belt conveyor can be easily loaded, unloaded, replaced and cleaned as independent module units. The steamer loading robot can install different first belt conveyors and second belt conveyors for feeding and laying materials according to different conditions such as the steamer pot and the laying materials, thereby improving the adaptability and efficiency of the steamer loading robot. Furthermore, the material, i.e., the fermented grains, is placed on the belt conveyor for transmission, which can ensure the uniform transportation and spreading of the material and realize efficient and continuous laying.

[0007] Preferably, in the technical solution of the utility model, the retort loading robot also includes a rotating mounting seat, which is installed on the top of the base and can rotate horizontally relative to the base, and the first arm is rotatably connected to the base through the rotating mounting seat.

[0008] According to the technical solution of the utility model, when the rotating mounting seat rotates horizontally relative to the base, the first arm is driven to rotate horizontally relative to the base, so that the relative angle between the second belt conveyor installed at the bottom end of the second arm and the base can be adjusted.

[0009] Furthermore, in the technical solution of the utility model, the first arm is pivotally connected to the rotating mounting seat, and the retort loading robot also includes a lifting mechanism, which is installed on the rotating mounting seat and connected to the first arm.

[0010] According to the technical solution of the utility model, when the lifting mechanism is lifted or lowered, it can drive the first arm to be lifted or lowered in the vertical direction relative to the base, and the height of the second belt conveyor installed at the bottom end of the second arm can be adjusted in the vertical direction.

[0011] Preferably, in the technical solution of the utility model, the retort loading robot further comprises a swivel arm installed at an end of the first arm away from the base, and the second arm is connected to the first arm via the swivel arm.

[0012] According to the technical solution of the utility model, the swivel arm is arranged between the first arm and the second arm. The swivel arm can drive the second arm to rotate relative to the first arm, and can adjust the angle of the second belt conveyor installed at the bottom end of the second arm relative to the first arm, that is, the material distribution angle; thereby accurately positioning the material and realizing uniform and efficient steaming operation.

[0013] Preferably, in the technical solution of the utility model, the retort loading robot further comprises a connecting rod mechanism, the connecting rod mechanism comprises a first hinge and a second hinge arranged in parallel, the rotating mounting seat is connected to the first arm via the first hinge, and the swivel arm is connected to the first arm via the second hinge. According to the technical solution of the utility model, the first hinge and the second hinge are arranged in parallel to ensure that the swivel arm always maintains a plumb downward state, that is, the angle between the swivel arm and the first arm can be maintained at 90°.

[0014] Preferably, in the technical solution of the utility model, the retort loading robot also includes a reduction motor installed on the rotary arm, and the reduction motor is connected to the second arm.

[0015] According to the technical solution of the utility model, the reduction motor can drive the second arm to rotate a certain angle relative to the rotating arm, while the angle of the rotating arm relative to the first arm is maintained at 90°, that is, the reduction motor can adjust the angle between the second arm and the first arm, that is, the feeding angle of the second belt conveyor; thereby accurately positioning the feeding, and realizing uniform and efficient steaming operation.

[0016] Preferably, in the technical solution of the present utility model, the retort loading robot also includes a detection device installed on the rotating arm.

[0017] According to the technical solution of the utility model, when the detection equipment is mounted on the corresponding position of the material distribution equipment of the steamer loading robot, i.e., the second belt conveyor, the steamer loading robot can obtain the real-time steamer loading situation based on the above-mentioned detection feedback data analysis and control the steamer loading operation according to the real-time steamer loading situation, thereby realizing uniform and efficient steamer loading operation.

[0018] In the technical solution of the utility model, the second arm of the retort loading robot is configured as a hopper, the inlet of the hopper is connected to the outlet end of the first belt conveyor, and the outlet of the hopper is connected to the second belt conveyor.

[0019] According to the technical solution of the utility model, the hopper can evenly and loosely convey the fermented grains conveyed by the feeding device, i.e., the first belt conveyor, to the distributing device, i.e., the second belt conveyor. The hopper has a simple structure, high conveying efficiency, is not prone to blockage, and is easy to clean.

[0020] In the technical solution of the utility model, the retort loading robot also includes a material receiving hopper installed at the inlet end of the first belt conveyor and correspondingly arranged above the base, and the outlet end of the first belt conveyor is connected to the second arm.

[0021] According to the technical solution of the utility model, the receiving hopper can evenly and loosely convey the fermented grains conveyed by the external feeding equipment to the first belt conveyor. The receiving hopper and the first belt conveyor have simple structures, high conveying efficiency, and are not prone to blockage and are easy to clean. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view of a retort loading robot provided in an embodiment of the utility model.

[0023] Figure 2 It is a stereoscopic diagram of a retort loading robot provided in an embodiment of the utility model.

[0024] Explanation of the accompanying drawings: 100-steamer loading robot, 1-base, 2-rotating mounting seat, 3-lifting mechanism, 4-first arm, 41-connecting rod mechanism, 411-first hinge, 412-second hinge, 5-first belt conveyor, 51-inlet end, 52-outlet end, 6-rotating arm, 61-reduction motor, 7-second arm, 8-second belt conveyor, 9-receiving hopper, 10-detection equipment, 200-steamer pot. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the utility model.

[0026] Figure 1 It is a schematic diagram of a retort loading robot provided in an embodiment of the utility model.

[0027] like Figure 1 As shown, in an embodiment of the present utility model, a retort loading robot 100 is provided, and the retort loading robot 100 is used to automatically load the retort during the liquor brewing process, and to spread the mash into the retort pot 200 through automated equipment.

[0028] The retort loading robot 100 includes a base 1, a rotating mounting seat 2, a lifting mechanism 3, a first arm 4, a first belt conveyor 5, a rotating arm 6, a second arm 7, a second belt conveyor 8, a receiving hopper 9 and a detection device 10.

[0029] The base 1 is formed as a cylindrical support base, the bottom end of the base 1 is fixed to the ground, and the top end is used to fix the equipment. The first arm 4 is installed on the top end of the base 1 through the rotating mounting seat 2 and the lifting mechanism 3.

[0030] The rotating mounting seat 2 is installed on the top of the base 1 , and can rotate around the base 1 with the base 1 as the center of the circle. The equipment installed on the rotating mounting seat 2 can perform a circular motion around the base 1 .

[0031] The lifting mechanism 3 can be configured as an extension electric cylinder, which is arranged along the vertical direction, namely the z-axis direction. When the extension electric cylinder performs a telescopic action, the equipment connected to it is controlled to rise / fall along the z-axis direction.

[0032] The first arm 4 is installed at the top of the base 1 along the horizontal direction, i.e., the y-axis direction. The first arm 4 and the base 1 are perpendicular to each other. The first arm 4 is pivotally connected to the rotating mounting seat 2. When the rotating mounting seat 2 rotates relative to the base 1, it drives the first arm 4 to perform a circular motion around the base 1. When the lifting mechanism 3 performs a telescopic action along the z-axis direction, it can drive the first arm 4 to rotate, so that the first arm 4 Figure 1 The left end is raised or lowered.

[0033] Figure 2 It is a schematic diagram of a first belt conveyor provided in an embodiment of the utility model.

[0034] like Figure 2As shown, in the embodiment of the utility model, the first belt conveyor 5 is detachably mounted on the top of the first arm 4 in a manner exposed to the external environment, and the first belt conveyor 5 is arranged on the first arm 4 along the length direction of the first arm 4, i.e., the y-axis direction. The end of the first belt conveyor 5 close to the base 1 is the inlet end 51, and the end of the first belt conveyor 5 close to the second arm 7 is the outlet end 52. The material, i.e., the fermented grains, is evenly spread on the surface of the first belt conveyor 5 from the inlet end 51 and transported to the outlet end 52, so as to realize uniform and efficient continuous feeding.

[0035] The receiving hopper 9 is installed at the inlet end 51 of the first belt conveyor 5, and is correspondingly arranged above the base 1. The external feeding equipment conveys the material, i.e., the fermented grains, to the receiving hopper 9, and the receiving hopper 9 evenly scatters the fermented grains on the first belt conveyor 5. The receiving hopper 9 and the first belt conveyor 5 have simple structures, efficient conveying, and are not prone to material blockage and are easy to clean.

[0036] In this embodiment, the upper end of the second arm 7 is connected to the end of the first arm 4 away from the base 1, namely, the outlet end 52, and the first belt conveyor 5 transports the mash to the second arm 7 at a uniform speed.

[0037] Preferably, in this embodiment, the second arm 7 of the retort loading robot 100 is configured as a hopper, the inlet of the hopper is connected to the outlet end 52 of the first belt conveyor 5, and the outlet of the hopper is connected to the second belt conveyor 8. The hopper can evenly and loosely convey the fermented grains conveyed by the feeding device, i.e., the first belt conveyor 5, to the distributing device, i.e., the second belt conveyor 8. The hopper has a simple structure, efficient conveying, is not prone to blockage, and is easy to clean.

[0038] The second belt conveyor 8 is installed at the bottom end of the second arm 7, i.e., at the outlet of the hopper. As a material distribution device, the second belt conveyor 8 can evenly distribute the mash to the target position of the steamer pot 200. As a material distribution device, the belt conveyor can always maintain a constant speed and quantitative distribution when the material distribution speed in the upper conveying device, i.e., the second arm 7, remains stable.

[0039] Preferably, in this embodiment, the first belt conveyor 5 and the second belt conveyor 8 are both standard modular belt conveyors, which can be easily loaded and unloaded, cleaned and replaced.

[0040] In the embodiment of the utility model, the steamer loading robot 100 performs steamer loading operation, and can accurately locate the steamer loading position through the first arm 4 and the second arm 7; the first belt conveyor 5 as a feeding device can realize uniform feeding, and the first belt conveyor 5 and the second belt conveyor 8 can be easily loaded, unloaded, replaced and cleaned as independent module units. The steamer loading robot 100 can install the first belt conveyor 5 and the second belt conveyor 8 of different parameter models for feeding and laying materials according to different conditions such as the steamer pot 200 and the laid materials, thereby improving the adaptability and steamer loading efficiency of the steamer loading robot 100. In addition, the material, i.e., the fermented grains, is placed on the belt conveyor for transmission, which can ensure the uniform transportation and spreading of the material, and realize efficient and continuous laying.

[0041] Preferably, in the embodiment of the utility model, the retort loading robot 100 further includes a swivel arm 6, which is mounted at one end of the first arm 4 away from the base 1, and the second arm 7 is connected to the first arm 4 through the swivel arm 6. The swivel arm 6 is disposed between the first arm 4 and the second arm 7, and the swivel arm 6 can drive the second arm 7 to rotate relative to the first arm 4, and can adjust the angle of the second belt conveyor 8 mounted at the bottom end of the second arm 7 relative to the first arm 4, i.e., the material feeding angle.

[0042] In the embodiment of the utility model, the retort loading robot 100 further includes a connecting rod mechanism 41, which is installed on one side of the first arm 4. The connecting rod mechanism 41 includes a first hinge 411 and a second hinge 412 arranged in parallel, the rotating mounting seat 2 is connected to the first arm 4 through the first hinge 411, and the swivel arm 6 is connected to the first arm 4 through the second hinge 412. The first hinge 411 and the second hinge 412 are arranged in parallel to ensure that the swivel arm 6 always maintains a state of plumb downward, that is, downward along the z-axis direction, that is, the angle between the swivel arm 6 and the first arm 4 can be maintained at 90°.

[0043] Preferably, in an embodiment of the utility model, the steamer loading robot also includes a reduction motor 61, which is installed on the rotating arm 6. The reduction motor 61 is connected to the second arm 7. The reduction motor 7 can drive the second arm 7 to rotate a certain angle relative to the rotating arm 6, and the angle of the rotating arm 6 relative to the first arm 4 is maintained at 90°, that is, the reduction motor 61 can adjust the angle between the second arm 7 and the first arm 4, that is, the feeding angle of the second belt conveyor 8 at the bottom of the second arm 7.

[0044] Compared with directly feeding the material downward along the z-axis direction, the second belt conveyor 8 can be tilted by adjusting the angle of the rotating arm 6 so as to better fit the inner wall of the steamer pot 200, thereby accurately positioning the material and achieving uniform and efficient steaming operation.

[0045] Preferably, in the embodiment of the utility model, the retort loading robot 100 further includes a detection device 10, which is installed on the swivel arm 6. The detection device 10 can be set as one or more combinations of an infrared camera, a range sensor, etc., and can accurately and real-time reflect the retort loading situation of the target object, i.e., the surface of the retort pot 200, according to the detection feedback result of the detection device 10. The retort loading robot 100 can obtain the real-time retort loading situation according to the above detection feedback data analysis and perform retort loading operation control according to the real-time retort loading situation, thereby achieving uniform and efficient retort loading operation.

[0046] So far, the technical solution of the utility model has been described in conjunction with the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the utility model is obviously not limited to the above-mentioned specific implementation methods. Without departing from the principle of the utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the utility model.

Claims

1. A retort loading robot, characterized in that: include: Base; A first arm, mounted on the top of the base, and rotatable relative to the base; A first belt conveyor is detachably mounted on the top of the first arm in a manner exposed to the external environment; A second arm, one end of which is connected to an end of the first arm away from the base; The second belt conveyor is installed at the bottom end of the second arm.

2. The retort loading robot according to claim 1, characterized in that: It also includes a rotating mounting seat, which is installed on the top of the base and can rotate horizontally relative to the base. The first arm is rotatably connected to the base through the rotating mounting seat.

3. The retort loading robot according to claim 2, characterized in that: The first arm is pivotally connected to the rotating mounting seat, and the retort loading robot further comprises a lifting mechanism, which is mounted on the rotating mounting seat and connected to the first arm.

4. The retort loading robot according to claim 3, characterized in that: It also includes a swivel arm installed on one end of the first arm away from the base, and the second arm is connected to the first arm through the swivel arm.

5. The retort loading robot according to claim 4, characterized in that: It also includes a connecting rod mechanism, which includes a first hinge and a second hinge arranged in parallel, the rotating mounting seat is connected to the first arm through the first hinge, and the swivel arm is connected to the first arm through the second hinge.

6. The retort loading robot according to claim 5, characterized in that: It also includes a reduction motor installed on the slewing arm, and the reduction motor is connected to the second arm.

7. The retort loading robot according to claim 4, characterized in that: It also includes a detection device installed on the swivel arm.

8. The retort loading robot according to claim 1, characterized in that: The second arm is configured as a hopper, the inlet of the hopper is connected to the outlet end of the first belt conveyor, and the outlet of the hopper is connected to the second belt conveyor.

9. The retort loading robot according to claim 1, characterized in that: It also includes a receiving hopper installed at the inlet end of the first belt conveyor and correspondingly arranged above the base. The outlet end of the first belt conveyor is connected to the second arm.

Images