Automatic retort feeding robot
By designing an automatic steaming robot, the fully automated fabric process of the wine lees entering the steaming pot is realized, which solves the problems of high labor intensity, long time consumption and uneven fabric in the brewing process, and improves the quality and production efficiency of wine production.
Patent Information
- Application Number
- CN202421375912.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-17
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2034-06-17
AI Technical Summary
In the brewing process of liquor, the process of lees entering the steamer has problems such as high labor intensity, long-term consumption, uneven fabric of the wine lees and polluting the environment of the steamer, which affects the wine production rate and quality.
An automatic retort robot is designed, including a first rotating member, a feed spiral member, a lifting mechanism, a second rotating member, a cloth disk member and a visual scanning assembly to realize the fully automated fabric process of the lees entering the retort.
By automating the fabric process, labor intensity and labor costs are reduced, productivity is improved, the impact on the quality of wine produced is reduced, and the quality of wine produced is ensured and even improved.
Smart Images
Figure CN222592884U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of wine-making robots, in particular to an automatic steaming robot. Background Art
[0002] In the process of liquor brewing, the prepared lees need to be steamed in the steamer 7. In the above process, there are problems such as high labor intensity, long time consumption, uneven distribution of lees, pollution of the steamer 7 environment, etc., which will directly affect the implementation of subsequent processes and ultimately have a greater impact on the yield and quality of liquor.
[0003] In view of this, it is necessary to provide a novel automatic steamer loading robot to overcome the above-mentioned defects. Utility Model Content
[0004] The purpose of the utility model is to provide an automatic steamer loading robot, which can realize the full automation of the process of distiller's grains entering the steamer pot, reduce labor intensity and labor costs, improve productivity, reduce the human factors that affect the quality of wine, and ensure or even improve the quality of wine.
[0005] In order to achieve the above-mentioned purpose, the utility model provides an automatic steamer loading robot, comprising: a first rotating component, a feeding spiral component, a lifting mechanism, a second rotating component, a material distribution disk component and a visual scanning component; the first end of the feeding spiral component is connected to the first rotating component, the second end of the feeding spiral component is connected to the lifting mechanism, the second end of the feeding spiral component has a discharging barrel, the second rotating component is installed on the lifting mechanism, the material distribution disk component is installed on the second rotating component and docked with the discharging barrel, the visual scanning component is installed on the second rotating component, and the height of the first end of the feeding spiral component is lower than the height of the second end of the feeding bolt component.
[0006] Preferably, the first rotating component includes a base, a rotating seat, a servo motor 1, an adapter flange seat and a reducer 1, the base is fixedly connected to the embedded plate, the servo motor 1 is connected to the reducer 1 through the adapter flange seat, the upper end of the reducer 1 is connected to the rotating seat, and the lower end of the reducer 1 is fixedly connected to the base.
[0007] Preferably, the feed spiral component includes a spiral conveying cylinder, a mounting flange, a spiral conveying shaft, a spiral motor, a feed hopper and a mounting base plate; bearing seats are installed at both ends of the spiral conveying cylinder, the spiral conveying shaft is installed in cooperation with the bearing seats and passes through the central axis of the spiral conveying cylinder, spiral blades are welded on the spiral conveying shaft, one end of the spiral conveying shaft is connected to the spiral motor, the feed hopper is installed above the first end of the spiral conveying cylinder and is connected to the inside of the spiral conveying cylinder, and the lower part of the first end of the spiral conveying cylinder is connected to the upper end of the rotating seat.
[0008] Preferably, the lifting mechanism includes a guide shaft, a linear guide sleeve, a connecting head, a screw lifter and a servo motor; the guide shaft, the linear guide sleeve and the connecting head are coaxially installed to form a guide assembly, the guide assembly is fixed on a mounting base plate, the mounting base plate is connected to the periphery of the discharge barrel, the connecting head and the screw lifter are connected to the second rotating component, and the servo motor is connected to the screw lifter.
[0009] Preferably, the second rotating component includes a fixed plate, a second reducer, a third servo motor, a small pulley, a large pulley, a synchronous belt, a blanking barrel and a slewing bearing; the second reducer and the slewing bearing are installed on the fixed plate, the third servo motor is connected to the second reducer, the output shaft of the second reducer is connected to the small pulley, the slewing bearing is connected between the blanking barrel and the large pulley, the synchronous belt is sleeved on the small pulley and the large pulley, the large pulley is connected to the feeding disc component, the mounting base plate is connected to the periphery of the blanking barrel, and the connecting head and the screw lifter are connected to the fixed plate of the second rotating component.
[0010] Preferably, the material distribution disc component includes a rotating mounting base plate, a barrel, a material distribution turntable, a rotating scraper, a rotating bearing seat, a servo motor a, a pulley a, a motor mounting seat a, a pulley b, a servo motor b, a motor mounting seat b, a pulley c, a pulley d and comb teeth;
[0011] The material distribution turntable, the rotating scraper, the rotating bearing seat, the pulley b and the pulley d are coaxially mounted to form a coaxial rotating mechanism. The servo motor a is mounted on the motor mounting seat a, and the output shaft of the servo motor a is connected to the pulley a. The pulley a and the pulley b form a transmission mechanism through a transmission belt to drive the rotating scraper connected below to rotate forwardly.
[0012] The lower end of the barrel is connected to the rotating mounting base plate, and the upper end of the barrel is connected to the large pulley and the discharging barrel to guide the material lees into the distribution turntable. The servo motor b is installed on the motor mounting seat b, and the output shaft of the servo motor b is connected to the pulley c. The pulley c and the pulley d form a transmission mechanism through the transmission belt to drive the distribution turntable connected below to rotate in the opposite direction.
[0013] Preferably, a material discharging notch is provided on the material distributing turntable, and comb teeth distributed in rows are arranged at the bottom of the material distributing turntable.
[0014] Preferably, the visual scanning assembly comprises a camera fixing frame, a camera mounting plate and a thermal imager, wherein the thermal imager is mounted on the camera mounting plate, and the camera mounting plate is connected to the camera fixing frame to encapsulate the thermal imager.
[0015] Compared with the existing technology, the beneficial effects are: 1) the process of distiller's grains entering the steamer can be fully automated, which reduces labor intensity and labor costs, improves productivity, reduces human factors that affect the quality of wine, and ensures or even improves the quality of wine.
[0016] 2) It can realize the function of automatically and evenly spreading the lees on the steamer in a surface trajectory. By controlling the feeding and rotating disk speed, the shape, distance and thickness of the discharge can be controlled according to the hot spot position and shape, which is more in line with the on-demand spreading. It can also realize mechanized production, improve productivity and reduce labor costs.
[0017] Other features and advantages of the utility model will be stated in the following description, and some will be apparent from the description, or can be understood through the implementation of the utility model. The features and advantages of the utility model can be realized and obtained by the elements and combinations specifically pointed out in the attached application scope. These and other features of the utility model will become more clearly understood according to the following description and the attached claims, or can be understood through the implementation of the embodiments described in the utility model. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0019] Figure 1 The present invention is a three-dimensional diagram of the automatic steamer loading robot provided by the present invention.
[0020] Figure 2 for Figure 1 The schematic diagram of the structure of the first rotating part of the automatic steamer loading robot is shown.
[0021] Figure 3 for Figure 1 The schematic diagram of the structure of the feeding spiral component of the automatic steamer loading robot is shown.
[0022] Figure 4 for Figure 1 The schematic diagram of the structure of the lifting mechanism of the automatic steamer loading robot is shown.
[0023] Figure 5 for Figure 1 The schematic diagram of the structure of the second rotating part of the automatic steamer loading robot is shown.
[0024] Figure 6 for Figure 5 A side view of the second rotating component of the automatic steamer loading robot is shown.
[0025] Figure 7 for Figure 1 The schematic diagram of the structure of the cloth plate component of the automatic steamer loading robot is shown.
[0026] Figure 8 for Figure 7 A side view of the distribution tray component of the automatic steamer loading robot is shown. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and beneficial technical effect of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the utility model, and are not intended to limit the utility model.
[0028] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0029] It should also be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be determined according to the specific circumstances.
[0030] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In addition, the meaning of "multiple" and "several" refers to two or more, unless otherwise clearly and specifically defined.
[0031] See also Figures 1 to 8The utility model provides an automatic steamer loading robot, comprising: a first rotating component 1, a feeding spiral component 2, a lifting mechanism 3, a second rotating component 4, a material distribution disk component 5 and a visual scanning component 6; the first end of the feeding spiral component 2 is connected to the first rotating component 1, the second end of the feeding spiral component 2 is connected to the lifting mechanism 3, the second end of the feeding spiral component 2 has a discharge barrel 206, the second rotating component 4 is installed on the lifting mechanism 3, the material distribution disk component 5 is installed on the second rotating component 4 and docked with the discharge barrel 206, the visual scanning component 6 is installed on the second rotating component 4, and the height of the first end of the feeding spiral component 2 is lower than the height of the second end of the feeding bolt component 2.
[0032] The first rotating component 1 drives the second end of the feeding spiral component 2 to rotate to the top of the steamer 7. The material lees is added into the feeding bolt component 2 and transported to the discharge port by the feeding spiral component 2. Then, the material enters the distribution plate assembly 5 through the discharge port. The material is sprinkled from the distribution plate assembly 5 into the steamer 7 below.
[0033] In a preferred embodiment, the first rotating component 1 includes a base 101, a rotating base 102, a servo motor 103, an adapter flange base 104 and a reducer 105.
[0034] The base 101 is fixedly connected to the embedded plate set on the ground by bolts, the servo motor 103 is connected to the reducer 105 through the adapter flange seat 104, the upper end of the reducer 105 is connected to the rotating seat 102, and the lower end of the reducer 105 is fixedly connected to the base 101, so that the rotating seat 102, the servo motor 103, the adapter flange seat 104, and the reducer 105 form a whole.
[0035] When the servo motor 103 is running, the base 101 is fixed, and the rotating seat 102, the servo motor 103, the flange seat 104, and the reducer 105 rotate around the central axis of the whole. The upper part of the rotating seat 102 is a bevel cut structure and is fixedly connected to the first end of the feeding spiral component 2.
[0036] In a preferred embodiment, the feed spiral component 2 includes a spiral conveying cylinder 201, a mounting flange 202, a spiral conveying shaft 203, a spiral motor 204, a feed hopper 205 and a mounting base plate 207; bearing seats are installed at both ends of the spiral conveying cylinder 201, the spiral conveying shaft 203 is installed in cooperation with the bearing seats and passes through the central axis of the spiral conveying cylinder 201, spiral blades are welded on the spiral conveying shaft 203, and one end of the spiral conveying shaft 203 is connected to the spiral motor 204 (that is, the spiral conveying cylinder 201, the spiral conveying shaft 203, the spiral blades welded on the spiral conveying shaft 203, and the installation method of the spiral motor 204 form an auger), the feed hopper 205 is installed above the first end of the spiral conveying cylinder 201 by bolts and is connected to the inside of the spiral conveying cylinder 201, and the lower part of the first end of the spiral conveying cylinder (201) is connected to the upper end of the rotating seat (102).
[0037] In this way, the material wine lees is added into the feed hopper 205, and the screw motor 204 drives the screw conveying shaft 203 to rotate, and the wine lees are sent out from the discharge barrel 206 under the pushing action of the spiral blades; the mounting base plate 207 is welded to the second end of the screw conveying barrel 201 for installing and fixing the lifting mechanism 3, and the discharge barrel 206 passes through the mounting base plate 207.
[0038] In a preferred embodiment, the lifting mechanism 3 includes a guide shaft 301, a linear guide sleeve 302, a connecting head 303, a screw lifter 304 and a servo motor 2 305; the guide shaft 301, the linear guide sleeve 302 and the connecting head 303 are coaxially installed to form a guide assembly, the guide assembly is fixed on a mounting base plate 207, the mounting base plate 207 is connected to the periphery of the discharge barrel 206, the connecting head 303 and the screw lifter 304 are connected to the second rotating component 4, and the servo motor 2 305 is connected to the screw lifter 304 to provide power for the screw lifter 304.
[0039] In this way, the servo motor 2 305 drives the screw lifter 304 to perform lifting motion, driving the second rotating component 4, the cloth plate component 5 and the visual scanning component 6 to lift and lower together, and can stop at any position in the stroke, thereby realizing the spreading of the material wine lees at different heights in the steamer 7.
[0040] In a preferred embodiment, the second rotating component 4 includes a fixed plate 401, a reducer 2 402, a servo motor 3 403, a small pulley 404, a large pulley 405, a synchronous belt 406, a blanking barrel 407 and a slewing bearing 408; the reducer 2 402 and the slewing bearing 408 are installed on the fixed plate 401, the servo motor 3 403 is connected to the reducer 2 402, the output shaft of the reducer 2 402 is connected to the small pulley 404, the slewing bearing 408 is connected between the blanking barrel 407 and the large pulley 405, the synchronous belt 406 is sleeved on the small pulley and the large pulley 405, the large pulley 405 is connected to the cloth disc component 5, the mounting base plate 207 is connected to the periphery of the blanking barrel 407, the connecting head 303 and the screw lifter 304 are connected to the fixed plate 401 of the second rotating component 4.
[0041] In this way, when the servo motor 403 is running, the large pulley 405 (the center of the large pulley 405 is hollow) rotates through the synchronous belt 406, which in turn drives the material distribution disk component 5 to rotate, and the material lees flies out from the discharge notch of the material distribution turntable 503, thereby realizing circular reciprocating rotation and spreading within the horizontal plane of the steamer pot 7.
[0042] In a preferred embodiment, the material distribution disc component 5 includes a rotating mounting base plate 501, a barrel 502, a material distribution turntable 503, a rotating scraper 504, a rotating bearing seat 505, a servo motor a506, a pulley a507, a motor mounting seat a508, a pulley b509, a servo motor b510, a motor mounting seat b511, a pulley c512, a pulley d513 and a comb 514;
[0043] The material distribution turntable 503, the rotating scraper 504, the rotating bearing seat 505, the pulley b509, and the pulley d513 are coaxially mounted to form a coaxial rotating mechanism (wherein the rotating scraper 504 can be in a straight plate, an S shape, or other shapes, which can be determined according to different materials to control the discharge shape). The servo motor a506 is mounted on the motor mounting seat a508, and the output shaft of the servo motor a506 is connected to the pulley a507. The pulley a507 and the pulley b509 form a transmission mechanism through a transmission belt to drive the rotating scraper 504 connected below to rotate forward.
[0044] The lower end of the barrel 502 is connected to the rotating mounting base plate 501, and the upper end of the barrel 502 is used to dock with the large pulley 405 and the discharging barrel 206 to guide the material lees into the material distribution turntable 603. The servo motor b510 is installed on the motor mounting seat b511, and the output shaft of the servo motor b510 is connected to the pulley c512. The pulley c512 and the pulley d513 form a transmission mechanism through a transmission belt to drive the connected material distribution turntable 503 to rotate in the opposite direction. Among them, the material distribution turntable 503 is provided with a discharging notch, and the bottom of the material distribution turntable 503 is arranged with comb teeth 514 distributed in rows. By controlling the rotation speed of the servo motor three 403 of the second rotating component 4, the servo motor a506 of the distribution disk component 5, and the servo motor b510, the radial distribution amount at different angles can be adjusted to achieve uniform distribution of the material lees in the steamer pot 7. Since the distribution turntable 503 and the rotating scraper 504 rotate in opposite directions, the material lees falls from the discharge notch of the distribution turntable 503 and spreads into the steamer pot 7 directly below; the comb teeth 514 of the distribution turntable 503 scrape the material surface to achieve the flatness of the spread material surface.
[0045] In a preferred embodiment, the visual scanning component 6 includes a camera fixing frame 601, a camera mounting plate 602 and a thermal imager 603, wherein the thermal imager 603 is mounted on the camera mounting plate 602, and the camera mounting plate 602 is connected to the camera fixing frame 601 by bolts to encapsulate the thermal imager 603.
[0046] When there is no heat source in the grain steaming process, the cloth disc component 5 can be controlled according to the established control program without starting the visual scanning component 6 to spread the cloth according to the set trajectory, thereby realizing a flat spreading mode without a heat source; the rotating disk trajectory of the cloth disc component 5 adopts a simple and easy-to-operate programmable control, and a variety of motion trajectory modes can be set and stored for easy switching.
[0047] The visual scanning component 6 is installed on the large pulley 405 of the second rotating component 4. When the large pulley 405 rotates, the visual scanning component 6 is driven to rotate together. The visual scanning component 6 takes pictures of the heat source of steaming grain in the steamer 7 through the thermal imager 603, analyzes the thickness uniformity of the cloth in the steamer 7, and sends the result to the control system of the whole machine. For the area with uneven thickness of the cloth in the steamer 7 in the analysis result, the program controls the cloth disc component 5 to spread and make it even.
[0048] The present invention also provides a material distribution control method of an automatic steamer loading robot, comprising the following steps:
[0049] S1. Obtain the height information of the wine retort surface in the wine retort, and the lifting mechanism 3 automatically follows the rise and fall to ensure that the material distribution mechanism always fits the material surface to achieve a light spreading effect;
[0050] S2, the visual scanning component 6 obtains the position information of the heat source point in the wine steamer (the material spreading area point), and the controller of the upper steamer robot determines the control parameters of the material distribution disc 503 and the rotating scraper 504 through the control algorithm according to the heat source point information, thereby controlling the material lees to fall loosely from the distribution disc component 5 to accurately cover the heat source point, thereby achieving a loose and uniform material spreading effect.
[0051] Specifically, the position of the heat source point in the wine retort obtained by the visual scanning component 6 through the thermal imager is (R, α), the distance between the rotating disk and the material surface is h, the rotation speed of the second rotating component 4 is V4, the maximum radius between the material distribution rotating disk 503 and the center of the retort pot 7 is Rmax, and the minimum radius between the material distribution rotating disk 503 and the center of the retort pot is R min , the radius of the material distribution turntable 503 is R5, the speed of the scraper 504 is V5, and the required rotation angle β of the material distribution turntable 503 and the rotation angle γ of the second rotating component 4 are calculated as follows:
[0052] Distance from the center of the material distribution turntable to the center of the wine retort: R1=R min+R5①, material spreading distance: Distance from the center of the disk to the hotspot: From ①②③, we can get the forearm rotation angle γ:
[0053] cos(α-γ)=(R12+R2-S22) / 2×R1×R④, in short: γ =f(V5,h);
[0054] The angle between the spreading point and the center radius of the turntable is: tanα1=S1÷R5⑤, and the turntable rotation angle β is obtained from ①②③⑤:
[0055] cos(π-α1-β)=(S22+R12-R2)÷(2×S2×R1)⑥, in abbreviated form: β=f(V5,h).
[0056] In this way, the axes of the robot are controlled accordingly, and the control parameters of the robot's lifting mechanism 3, the second rotating component 4, and the cloth disk component 5 are determined according to the different material heights in the steamer pot 7 and the different hot spot positions of the visual scanning component 6, so as to control the robot to evenly spread the entire steamer surface until the steaming is completed.
[0057] The present invention is not limited to what is described in the specification and implementation modes, and therefore, additional advantages and modifications can be easily realized by those familiar with the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.
Claims
1. An automatic steamer loading robot, characterized in that: include: A first rotating component (1), a feeding spiral component (2), a lifting mechanism (3), a second rotating component (4), a material distribution disc component (5) and a visual scanning component (6); the first end of the feeding spiral component (2) is connected to the first rotating component (1), the second end of the feeding spiral component (2) is connected to the lifting mechanism (3), the second end of the feeding spiral component (2) has a discharge barrel (206), the second rotating component (4) is installed on the lifting mechanism (3), the material distribution disc component (5) is installed on the second rotating component (4) and is connected to the discharge barrel (206), the visual scanning component (6) is installed on the second rotating component (4), and the height of the first end of the feeding spiral component (2) is lower than the height of the second end of the feeding spiral component (2).
2. The automatic steamer loading robot according to claim 1, characterized in that: The first rotating component (1) comprises a base (101), a rotating seat (102), a servo motor (103), an adapter flange seat (104) and a reducer (105); the base (101) is fixedly connected to the embedded plate; the servo motor (103) is connected to the reducer (105) via the adapter flange seat (104); the upper end of the reducer (105) is connected to the rotating seat (102); and the lower end of the reducer (105) is fixedly connected to the base (101).
3. The automatic steamer loading robot according to claim 2, characterized in that: The feeding spiral component (2) comprises a spiral conveying cylinder (201), a mounting flange (202), a spiral conveying shaft (203), a spiral motor (204), a feeding hopper (205) and a mounting base plate (207); bearing seats are mounted at both ends of the spiral conveying cylinder (201); the spiral conveying shaft (203) is mounted in cooperation with the bearing seats and passes through the central axis of the spiral conveying cylinder (201); spiral blades are welded on the spiral conveying shaft (203); one end of the spiral conveying shaft (203) is connected to the spiral motor (204); the feeding hopper (205) is mounted above the first end of the spiral conveying cylinder (201) and is connected to the inside of the spiral conveying cylinder (201); and the lower part of the first end of the spiral conveying cylinder (201) is connected to the upper end of the rotating seat (102).
4. The automatic steamer loading robot according to claim 3, characterized in that: The lifting mechanism (3) comprises a guide shaft (301), a linear guide sleeve (302), a connecting head (303), a screw lifter (304) and a second servo motor (305); the guide shaft (301), the linear guide sleeve (302) and the connecting head (303) are coaxially mounted to form a guide assembly, the guide assembly is fixed on a mounting base plate (207), the mounting base plate (207) is connected to the periphery of the discharge barrel (206), the connecting head (303) and the screw lifter (304) are connected to the second rotating component (4), and the second servo motor (305) is connected to the screw lifter (304).
5. The automatic steamer loading robot according to claim 4, characterized in that: The second rotating component (4) comprises a fixed plate (401), a second reducer (402), a third servo motor (403), a small pulley (404), a large pulley (405), a synchronous belt (406), a blanking barrel (407) and a slewing bearing (408); the second reducer (402) and the slewing bearing (408) are installed on the fixed plate (401), the third servo motor (403) is connected to the second reducer (402), and the output shaft of the second reducer (402) is connected to the small pulley ( The rotating bearing (408) is connected between the blanking barrel (407) and the large pulley (405), the synchronous belt (406) is sleeved on the small pulley (404) and the large pulley (405), the large pulley (405) is connected to the cloth disc component (5), the mounting base plate (207) is connected to the periphery of the blanking barrel (407), and the connecting head (303) and the screw lifter (304) are connected to the fixed plate (401) of the second rotating component (4).
6. The automatic steamer loading robot according to claim 1, characterized in that: The material distribution disc component (5) comprises a rotating mounting base plate (501), a barrel (502), a material distribution turntable (503), a rotating scraper (504), a rotating bearing seat (505), a servo motor a (506), a pulley a (507), a motor mounting seat a (508), a pulley b (509), a servo motor b (510), a motor mounting seat b (511), a pulley c (512), a pulley d (513) and comb teeth (514); The material distribution turntable (503), the rotating scraper (504), the rotating bearing seat (505), the pulley b (509), and the pulley d (513) are coaxially mounted to form a coaxial rotating mechanism. The servo motor a (506) is mounted on the motor mounting seat a (508), and the output shaft of the servo motor a (506) is connected to the pulley a (507). The pulley a (507) and the pulley b (509) form a transmission mechanism through a transmission belt to drive the rotating scraper (504) connected below to rotate in a positive direction. The lower end of the barrel (502) is connected to the rotating mounting base plate (501), and the upper end of the barrel (502) is connected to the large pulley (405) and the discharging barrel (206) to guide the material lees into the distribution turntable (503). The servo motor b (510) is installed on the motor mounting seat b (511), and the output shaft of the servo motor b (510) is connected to the pulley c (512). The pulley c (512) and the pulley d (513) form a transmission mechanism through a transmission belt to drive the distribution turntable (503) connected below to rotate in the opposite direction.
7. The automatic steamer loading robot according to claim 6, characterized in that: The material distribution rotating disc (503) is provided with a material discharging notch, and the bottom of the material distribution rotating disc (503) is arranged with comb teeth (514) distributed in rows.
8. The automatic steamer loading robot according to claim 1, characterized in that: The visual scanning component (6) comprises a camera fixing frame (601), a camera mounting plate (602) and a thermal imager (603), wherein the thermal imager (603) is mounted on the camera mounting plate (602), and the camera mounting plate (602) is connected to the camera fixing frame (601) to encapsulate the thermal imager (603).