Brewing robot for fermentation box

Abstract

The utility model relates to a brewing robot used for a fermentation box, the brewing robot comprises a first frame body, a second frame body, a rotation module and a plurality of action execution modules, the plurality of action execution modules are fixed on the first frame body, and the actions of uncovering, transferring, fermented grain discharging, cellar pressing, cover sealing and the like are realized in the brewing process of the fermentation box. The rotary module drives the first frame body to rotate so as to realize action switching among different stations; the problems that a plurality of single-action robots are complex in moving line, difficult to arrange and the like can be solved, and the utilization rate of storage space is increased; an uncovering machine and an overturning machine in the existing process are replaced, special equipment in the operation process is reduced, the production line space is released, and the intelligent degree and the automation degree are improved; fermentation box preset interfaces are reduced, and the cost is saved; the transfer function is achieved, the number of conveyors is reduced, design and maintenance difficulties caused by complex robot moving lines are avoided, and the transfer efficiency is improved; manual cellar pressing is replaced, cellar pressing is uniform and controllable, and the yield is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent brewing, in particular to a brewing robot used in a fermentation box. Background Art

[0002] In the field of solid-state liquor brewing, in order to meet the demand for increased production capacity, light-fragrance and strong-fragrance liquors are gradually adopting fermentation box fermentation to replace the original cellar fermentation, and stainless steel fermentation boxes with fixed dimensions are used to replace the original lees in the cellar below the factory floor as fermentation containers; the advantage of fermentation boxes over cellar lees is that the lees are not easily affected by other bacteria in the soil during the fermentation process, the fermentation box has a single fermentation environment and is sealed with a sealing cover, with good airtightness and controllable volume, and the fermentation box can be stored in a three-dimensional warehouse, with higher space utilization in the height direction of the factory building, and is easy to manage.

[0003] Although industrial robots have been widely used in the production field, the intelligence and automation of some complex process flows still need to be improved. Ordinary industrial robots cannot perform multiple execution actions at multiple workstations. At present, in the brewing process, due to the single execution action of the robot, the process links such as uncovering, transferring, unloading, pressing and sealing the fermentation box need to be independently set up with mechanical devices or manual operation, such as unloading and sealing with a sling, unloading the mash with a turning machine, transferring with a conveyor, and pressing the cellar manually. As a result, the robot execution line design is difficult, the production line layout is complex, the production rhythm coordination requirements are high, the space utilization rate is low, the fermentation box needs to reserve multiple interfaces for multiple robots, and the efficiency of manual cellar pressing is low. The low versatility makes it inconvenient to promote. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is to overcome the technical difficulties in the prior art that there are many types of robots with single functions in the fermentation box winemaking process, and to provide a brewing robot for a fermentation box to replace multiple equipment in the existing process and simplify the production line layout.

[0005] In order to solve the above technical problems, the utility model provides a brewing robot for a fermentation box, which comprises:

[0006] A first frame, wherein the first frame is configured as a frame structure, the first frame comprises a pair of first facades arranged parallel to each other in a first direction, and a pair of second facades arranged parallel to each other in a second direction, wherein the second direction is perpendicular to the first direction; the first facade is connected to the second facade and is arranged around the axis of the first frame, and an escape space is formed inside the first frame along the axis direction thereof for accommodating a fermentation box;

[0007] A second frame, the second frame comprising a pair of columns arranged opposite to each other in a first direction, the pair of columns being respectively fixed to a side of the first facade away from the avoidance space;

[0008] A rotary module, wherein the rotary module has two groups and is arranged opposite to each other in the first direction, the power end of the rotary module is fixed to the column, and the execution end of the rotary module is arranged on the first vertical surface; the rotary module is used to drive the first frame to rotate around the line connecting the pair of columns;

[0009] A first clamping module, which is located at one end of the first frame in the axial direction;

[0010] The second clamping module is at least located on the second vertical surface of one side of the first frame.

[0011] In one embodiment of the present invention, the first clamping module includes a first driving member and a clamp; the first driving member is located on the second vertical surface of the first frame, and the execution end of the first driving member moves parallel to the axial direction of the first frame.

[0012] In one embodiment of the utility model, the clamp includes a fixing seat and a clamp body, one end of the clamp body is rotatably connected to the fixing seat, and the other end of the clamp body is bent toward the avoidance space and used to clamp the fermentation box.

[0013] In one embodiment of the present invention, a positioning portion is further included. The positioning portion is located at an end of the first frame and is arranged on the same side as the first clamping module. One end of the positioning portion is connected to the first frame, and the other end is bent in a direction away from the avoidance space.

[0014] In one embodiment of the utility model, the second clamping module includes a connecting rod and a clamping portion, the connecting rod extends along the second direction, one end of the connecting rod is fixed to the second vertical surface of the first frame, and the other end of the connecting rod is fixed to a clamping portion, and the clamping portion is used to clamp the box cover of the fermentation box.

[0015] In one embodiment of the present invention, the clamping portion is configured as at least one of an electric clamp, a pneumatic clamp and a vacuum suction cup.

[0016] In one embodiment of the present invention, the second frame further includes a top plate, which is located above the first frame and connected to the pair of columns, and a top pressing mold group is fixed to the top plate, and the top pressing mold group is configured to be located in the gap between the first frame and the top plate when the first frame rotates.

[0017] In one embodiment of the utility model, the top pressing module includes a cellar pressing plate, a folding connecting rod and a second driving member; the cellar pressing plate is horizontally arranged, one end of the folding connecting rod is fixed to the center of the cellar pressing plate, and the other end is fixed to the top plate; the middle part of the folding connecting rod is bent and provided with a rotating shaft, and both ends of the second driving member are fixed to the folding connecting rod and are located on both sides of the rotating shaft.

[0018] In one embodiment of the utility model, the top plate is provided with a slide rail extending along the first direction, one end of the folding link away from the cellar pressing plate is fixed to a slide block, and the slide block is configured to be driven by a third driving member to move along the slide rail.

[0019] In one embodiment of the utility model, the cellar pressing plate is configured as a rectangular plate, and the cellar pressing plate includes a pair of first sides and a pair of second sides, the pair of first sides are arranged relatively to each other in the first direction, and at least the second side of the cellar pressing plate is configured to abut against the inner wall of the fermentation box when pressing the cellar.

[0020] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0021] The brewing robot for the fermentation box described in the utility model is used for multiple process steps such as opening the lid, transferring, discharging mash, pressing the cellar and sealing the lid, and can replace the lid-opening machine and the turning machine in the existing fermentation box turnover cycle process, greatly reducing the special equipment and robots with single actions in the operation process, releasing the production space of the production line, improving the space utilization rate, and enhancing the intelligence and automation of the production line; reducing the preset interfaces of the fermentation box, saving the production cost of the fermentation box;

[0022] The brewing robot for the fermentation box described in the utility model can undertake part of the transfer function, reduce the number of conveyors compared with the prior art, avoid the design and maintenance difficulties caused by the complex robot movement line, make the production line easy to arrange, and improve the turnover efficiency and production capacity;

[0023] The brewing robot for a fermentation box described in the utility model can replace manual cellar pressing, thereby saving labor costs, achieving uniform and controllable cellar pressing and a higher yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein:

[0025] Figure 1 It is a schematic diagram of the process cycle of brewing wine in a fermentation box in the prior art;

[0026] Figure 2This is a schematic diagram of the use of a brewing robot for a fermentation box in a production line in a preferred embodiment of the utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the first frame in the preferred embodiment of the utility model;

[0028] Figure 4 This is a schematic diagram of the structure of the second frame and the rotary module in the preferred embodiment of the utility model;

[0029] Figure 5 This is a schematic diagram of the structure of the first clamping module clamping the fermentation box in the preferred embodiment of the utility model;

[0030] Figure 6 This is a structural schematic diagram of the second clamping module grabbing the box cover in the preferred embodiment of the utility model;

[0031] Figure 7 for Figure 6 A front view of the structure shown;

[0032] Figure 8 It is a structural schematic diagram of a brewing robot used in a fermentation box in a preferred embodiment of the utility model when discharging mash from the fermentation box;

[0033] Fig. 9 This is a front view of a brewing robot used for a fermentation box in a preferred embodiment of the utility model when performing cellar pressing;

[0034] Fig.10 It is a schematic diagram of the top pressing module in the preferred embodiment of the utility model.

[0035] Explanation of the reference numerals in the specification: 1. first frame; 11. first facade; 12. second facade; 13. avoidance space; 2. second frame; 21. column; 22. slide rail; 3. rotary module; 4. first clamping module; 41. first driving member; 42. clamp; 4201. fixed seat; 4202. clamp body; 5. second clamping module; 51. connecting rod; 52. clamping part; 6. positioning part; 7. top pressing module; 71. cellar pressing plate; 7101. first side; 7102. second side; 72. folding connecting rod; 7201. rotating shaft; 73. second driving member; 74. sliding block; 75. third driving member; 81. crane; 82. ground conveying system; 9. fermentation box; 91. box cover. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0037] Example

[0038] Reference Figure 2 to Figure 10 As shown, the utility model provides a brewing robot for a fermentation box, the brewing robot comprises a first frame 1, a second frame 2, a rotary module 3 and a plurality of action execution modules, the plurality of action execution modules are fixed to the first frame 1, and realize the execution actions of a plurality of stations such as opening the cover, transferring, discharging mash, pressing the cellar and sealing in the brewing process of the fermentation box, the rotary module 3 drives the first frame 1 to rotate to realize the action switching between different stations; the brewing robot described in the utility model can simplify the production equipment, improve the intelligence and automation degree of the production line, solve the problems of complex movement lines and difficult layout of multiple single-action robots, and improve the utilization rate of the storage space.

[0039] Specifically, refer to Figure 3 As shown, the first frame 1 is configured as a frame structure, and the first frame 1 includes a pair of first facades 11 arranged parallel and opposite to each other in a first direction, and a pair of second facades 12 arranged parallel and opposite to each other in a second direction, wherein the second direction is perpendicular to the first direction; the pair of first facades 11 and the pair of second facades 12 are connected to form an annular structure, and are arranged around the central axis of the first frame 1, and the interior of the first frame 1 is penetrated along its axial direction to form an avoidance space 13 for the fermentation box 9.

[0040] Specifically, refer to Figure 4 As shown, the second frame 2 is arranged outside the first frame 1, and the second frame 2 includes a pair of columns 21 arranged opposite to each other in the first direction, and a top plate connected to the pair of columns 21, and a hoisting pulley is arranged above the top plate to cooperate with other systems of the production line. In some embodiments, the top plate is set as a frame structure; the pair of columns 21 are respectively fixed to the side of the first facade 11 away from the avoidance space 13, and the top plate is located on the top of the first frame 1.

[0041] Specifically, refer to Figure 4 As shown, the rotary module 3 has two groups, and they are arranged opposite to each other in the first direction; the power end of the rotary module 3 is fixed to the column 21, the second frame 2 is set as a fixed frame, the first frame 1 is driven by the rotary module 3 to rotate around the line connecting the pair of columns 21, and the action execution end of the rotary module 3 is connected to the first vertical surface 11 on the side where the column 21 is located, for driving the first frame 1 to rotate. In some embodiments, the rotary module 3 is set as a rotary motor.

[0042] Specifically, the action execution module includes a first clamping module 4, a second clamping module 5 and a top pressure module 7; the first clamping module 4 is used to clamp the fermentation box body to realize the transportation of the fermentation box 9 and the turnover between different workstations; the second clamping module 5 is used to clamp the box cover 91 of the fermentation box 9, thereby realizing the opening and closing of the fermentation box 9; the top pressure module 7 is used to press the mash in the fermentation box 9; multiple action execution modules are switched by the rotation of the first frame 1.

[0043] Further, refer to Figure 5 and Figure 6 As shown, the first clamping module 4 is located at one end of the axis direction of the first frame 1; the first clamping module 4 includes a first driving member 41 and a clamp 42, the first driving member 41 is located at the second vertical surface 12 on both sides, and the execution end of the first driving member 41 moves parallel to the axis direction of the first frame 1, so that the clamp 42 can extend into the bottom of the fermentation box 9 and clamp it, thereby realizing the transportation of the fermentation box.

[0044] Next, in some embodiments, the clamp 42 includes a fixing seat 4201 and a clamp body 4202, the fixing seat 4201 and the clamp body 4202 are arranged in a one-to-one correspondence, one end of the clamp body 4202 is rotatably connected to the fixing seat 4201, and the other end of the clamp body 4202 is bent toward the avoidance space 13 to form a bent portion, and the bent portion inside the clamp body 4202 is used to cooperate with the side of the bottom of the fermentation box 9. In some embodiments, the clamp 42 can also be set as other structures that can clamp and support the fermentation box 9.

[0045] Next, in a preferred embodiment of the utility model, the clamps 42 have four groups, of which two groups of the clamps 42 are located at the end of one of the second facades 12, and the other two groups of the clamps 42 are located at the end of another second facade 12, and the four groups of the clamps 42 are located on the same side of the first frame 1 in the axial direction. Being arranged on the second facade 12 allows the clamps 42 to have rotation space and is not restricted by the gap between the first frame 1 and the column 21. At the same time, the clamping position of the clamps 42 is consistent with the fixed position when the fermentation box 9 is transported by a stacker, and there is no need to set additional interfaces such as ears and rings when designing and manufacturing the fermentation box 9, which saves costs, improves the versatility of the fermentation box 9, and facilitates the stacking of the fermentation box, ensuring the utilization rate of the storage space; in other embodiments, the number and setting position of the clamps 42 can be determined according to actual needs, without being limited thereto.

[0046] Further, refer to Figure 6As shown, the brewing robot further includes a positioning portion 6; the positioning portion 6 is located at the end of the first frame 1 and is arranged on the same side as the clamp 42 of the first clamping module 4, one end of the positioning portion 6 is connected to the first frame 1, and the other end is bent in a direction away from the avoidance space 13 to provide avoidance for the fermentation box 9. Preferably, the positioning portion 6 is located at the four corners of the end of the first frame 1, so as to facilitate the alignment and positioning of the fermentation box 9 with the avoidance space 13.

[0047] Further, refer to Figure 3 and Figure 6 As shown, the second clamping module 5 is at least located on the second vertical surface 12 on one side of the first frame 1; the second clamping module 5 includes a connecting rod 51 and a clamping portion 52, the connecting rod 51 extends along the second direction and extends outward from the second vertical surface 12, one end of the connecting rod 51 is fixed to the second vertical surface 12 of the first frame 1, and the other end of the connecting rod 51 is fixed with a clamping portion 52, and the clamping portion 52 is used to clamp the box cover 91 of the fermentation box 9. The clamping portion 52 is configured as at least one of an electric clamp, a pneumatic clamp and a vacuum suction cup, and cooperates with the annular interface on the top surface of the box cover 91. In some embodiments, the clamping portion 52 and the connecting rod 51 are located at the four corners of the second vertical surface 12, and the box cover 91 is more stable when clamped, and can be stably opened and closed when the cover is opened and closed, so that the fermentation box 9 has better sealing. In some embodiments, the number and position of the connecting rod 51 and the clamping portion 52 can be determined according to the interface setting on the surface of the box cover 91.

[0048] Further, refer to Figure 5 , Figure 7 and Fig. 9 As shown, the pressing module 7 is fixed to the top plate of the second frame 2. When the rotary module 3 drives the first frame 1 to rotate, the pressing module 7 is located in the gap between the top of the first frame 1 and the top plate of the second frame 2, providing avoidance for the rotation of the first frame 1; when the first frame 1 clamps the fermentation box 9 and rotates until the fermentation box 9 opens upward, the pressing module 7 extends into the avoidance space 13 through an opening on one side of the first frame 1, and enters the fermentation box 9 to press the cellar; it should be noted that the opening on one side for the pressing module 7 to extend into is set to the opposite side of the first clamping module 4 and the positioning portion 6.

[0049] Continue, refer to Fig.10As shown, the top pressing module 7 includes a cellar pressing plate 71, a folding connecting rod 72 and a second driving member 73; the cellar pressing plate 71 is horizontally arranged, one side surface of which contacts the top of the mash for cellar pressing, and the other side surface of which is connected to the folding connecting rod 72; one end of the folding connecting rod 72 is fixed to the center of the cellar pressing plate 71, and the other end is fixed to the top plate, the middle part of the folding connecting rod 72 is bent and provided with a rotating shaft 7201, and when the rotating shaft 7201 rotates, a certain angle is formed between its two sides, and both ends of the second driving member 73 are fixed to the folding connecting rod 72 and are located on both sides of the rotating shaft 7201, and are used to adjust the two sides of the folding connecting rod 72 to be closer to or farther away from each other, and the corresponding angle becomes smaller or larger, thereby adjusting the vertical distance between the cellar pressing plate 71 and the top plate.

[0050] It should be noted that when the surface of the cellar pressing plate 71 completely covers the surface of the fermentation box mash, the area of ​​the cellar pressing plate 71 is too large, the stability of the cellar pressing plate 71 when driven by the folding connecting rod 72 is poor, and the pressure exerted by the cellar pressing plate 71 on the mash is difficult to control, which is easy to affect the cellar pressing effect. Fig.10 As shown, the cellar pressing plate 71 is configured as a rectangular plate, and the cellar pressing plate 71 includes a pair of first sides 7101 and a pair of second sides 7102; the pair of first sides 7101 are arranged relatively to each other in the first direction, and at least the second side 7102 of the cellar pressing plate 71 is configured to abut against the inner wall of the fermentation box 9 when pressing the cellar, and the extension length of the first side 7101 is consistent with the length of the mash in the fermentation box 9 in the direction of the first side. The cellar pressing plate 71 only needs to move back and forth along the first direction to achieve cellar pressing of the mash in the entire fermentation box 9, which can not only perform cellar pressing in partitions to cover all the mash, but also ensure that the cellar pressing force is uniform and controllable, and has a higher degree of automation and processing accuracy than manual cellar pressing.

[0051] Next, in a preferred embodiment of the utility model, the top plate is provided with a slide rail 22, and the slide rail 22 extends along the first direction, and one end of the folding link 72 away from the cellar pressing plate 71 is fixed to a slider 74, and the slider 74 is configured to be driven by a third driving member 75 to move along the slide rail 22, thereby realizing the movement of the cellar pressing plate 71 in the first direction. It should be noted that when the vertical distance from the top plate to the surface of the mash is long enough, the first projection of the folding link 72 in the vertical direction is located within the area of ​​the second projection of the cellar pressing plate 71 in the vertical direction, and when the cellar pressing plate 71 is located at any position in the first direction, the folding link 72 does not affect the first frame 1. In some embodiments, the vertical distance between the top plate and the surface of the mash is insufficient, and the bending link 72 is easily limited by the first frame 1 when bending. According to actual needs, the two ends of the bending link 72 can be rotatably connected to the top plate and the cellar pressing plate 71, so that when the cellar pressing plate 71 moves to the edge of the mash, it can avoid collision or limitation with the first frame 1 by rotating the bending link 72.

[0052] The working principle of the brewing robot for a fermentation box described in the utility model is as follows:

[0053] The fermentation box 9 filled with mash is stored in a three-dimensional storage system. Figure 2 As shown, after the fermentation box is unloaded by the stacker, it is transferred through the ground conveying system 82; when the fermentation box 9 is transported to the bottom of the brewing robot, it is opened. The rotary module 3 drives the first frame 1 to rotate, so that the second clamping module 5 is vertically downward and opposite to the box cover 91, and the clamping part 52 clamps and closes the box cover interface to fix the box cover 91, and then the box cover 91 is transferred to its designated storage position and put down to complete the opening of the fermentation box.

[0054] The brewing robot moves to the top of the fermentation box 9 after the cover is opened, and the rotating module 3 drives the first frame 1 to rotate 90°, so that the first clamping module 4 and the positioning part 6 are vertically downward and opposite to the fermentation box 9. At this time, the axis direction of the first frame 1 extends vertically, and the second direction extends horizontally. The clamp body 4202 rotates and opens in the direction away from the avoidance space 13. After the positioning part 6 is aligned with the side edge of the fermentation box 9, the first driving member 41 drives the first frame 1 to fall in the vertical direction until the first frame 1 is sleeved on the outside of the fermentation box 9. After the top of the side wall of the fermentation box 9 contacts the end of the positioning part 6, the first driving member 41 stops, and the clamp body 4202 rotates so that its bending part is clamped and clamped with the fermentation box 9. At this time, when the brewing robot moves, it can drive the fermentation box 9 to be lifted or translated synchronously to realize the transportation of the fermentation box.

[0055] After the brewing materials are fermented and matured, they are called mash. Taking the mash out of the fermentation box 9 is called discharging mash or pouring. The fermentation box 9 is transported to the pouring station for discharging mash: Figure 8 As shown, the first frame 1 and the fermentation box 9 are driven by the rotary module 3 to rotate 180° synchronously, and the open end of the fermentation box 9 is vertically downward to pour out the mash. After all the mash is poured out, the first frame 1 and the fermentation box 9 are driven by the rotary module 3 to rotate half a circle again, so that the opening of the fermentation box 9 faces upward, and the empty box is synchronously transported to the designated position to complete the mash discharge.

[0056] After the mash is discharged, the clamping limit on the empty box is released, and the empty box is filled with brewing materials again. After the loading is completed, the brewing robot repeats the clamping of the fermentation box 9 by the first clamping module 4, and grabs the full fermentation box for cellar pressing. The second driving member 73 drives the opening and closing of the folding connecting rod 72 to control the movement of the cellar pressing plate 71 in the vertical direction, thereby controlling the cellar pressing force; after completing the cellar pressing of an area, the third driving member 75 drives the slider 74 to move along the slide rail 22, so that the cellar pressing plate 71 moves back and forth in the first direction, so that the cellar pressing area covers the opening area of ​​the fermentation box 9, and the cellar pressing is completed.

[0057] While the cellar is being pressed, the fermentation box 9 is transferred to the ground conveying system 82 by the crane 81, and then the rotary module 3 drives the first frame 1 to rotate so that the second clamping module 5 repeatedly grabs the box cover 91, and repeats the driving of the first driving member 41 so that the box cover 91 covers the opening of the fermentation box 9 to complete the capping. After the capping, it is stored by the ground conveying system 82, completing a turnover cycle of the winemaking process.

[0058] Reference Figure 1 As shown, the utility model inventor of this case has found through research that the current process flow has problems such as short fermentation cycle, large fermentation scale, large number of fermentation boxes, and low space utilization rate of three-dimensional warehouse. When the number of fermentation boxes is large, there are disadvantages such as complicated production and poor versatility. Since the position of the turning machine is relatively fixed, each workstation that needs to be turned needs to be equipped with a turning machine. The turning machine is used in large quantities, the turning angle of the turning machine is limited, and the mash is not completely discharged. Automated standardized operations cannot be achieved, and the efficiency is low.

[0059] As mentioned above, the brewing robot described in the utility model can replace the lid opening machine and the turning machine in the existing fermentation box turnover cycle process, undertake part of the transfer function and replace manual cellar pressing, and is used for multiple process steps such as lid opening, transfer, mash discharge, cellar pressing and capping, which greatly reduces the special equipment in the operation process, the robots with single actions and the conveyors used for transportation between workstations, improves the turnover efficiency and saves production costs.

[0060] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A brewing robot for a fermentation box, characterized in that: include, A first frame, wherein the first frame is configured as a frame structure, the first frame comprises a pair of first facades arranged parallel to each other in a first direction, and a pair of second facades arranged parallel to each other in a second direction, wherein the second direction is perpendicular to the first direction; the first facade is connected to the second facade and is arranged around the axis of the first frame, and an escape space is formed inside the first frame along the axis direction thereof for accommodating a fermentation box; A second frame, the second frame comprising a pair of columns arranged opposite to each other in a first direction, the pair of columns being respectively fixed to a side of the first facade away from the avoidance space; A rotary module, wherein the rotary module has two groups and is arranged opposite to each other in the first direction, the power end of the rotary module is fixed to the column, and the execution end of the rotary module is arranged on the first vertical surface; the rotary module is used to drive the first frame to rotate around the line connecting the pair of columns; A first clamping module, which is located at one end of the first frame in the axial direction; The second clamping module is at least located on the second vertical surface of one side of the first frame.

2. The brewing robot for a fermentation box according to claim 1, characterized in that: The first clamping module includes a first driving member and a clamp; the first driving member is located on the second vertical surface of the first frame, and the execution end of the first driving member moves parallel to the axial direction of the first frame.

3. The brewing robot for a fermentation box according to claim 2, characterized in that: The clamp comprises a fixing seat and a clamp body, one end of the clamp body is rotatably connected to the fixing seat, and the other end of the clamp body is bent toward the avoidance space and is used to clamp the fermentation box.

4. The brewing robot for a fermentation box according to claim 1, characterized in that: It also includes a positioning portion, which is located at the end of the first frame and is arranged on the same side as the first clamping module. One end of the positioning portion is connected to the first frame, and the other end is bent in a direction away from the avoidance space.

5. The brewing robot for a fermentation box according to claim 1, characterized in that: The second clamping module includes a connecting rod and a clamping portion, wherein the connecting rod extends along the second direction, one end of the connecting rod is fixed to the second vertical surface of the first frame, and the other end of the connecting rod is fixed with a clamping portion for clamping the box cover of the fermentation box.

6. The brewing robot for a fermentation box according to claim 5, characterized in that: The clamping part is configured as at least one of an electric clamp, a pneumatic clamp and a vacuum suction cup.

7. The brewing robot for a fermentation box according to claim 1, characterized in that: The second frame also includes a top plate, which is located above the first frame and connected to the pair of columns. A top pressing mold set is fixed to the top plate, and the top pressing mold set is arranged in the gap between the first frame and the top plate when the first frame rotates.

8. The brewing robot for a fermentation box according to claim 7, characterized in that: The top pressing module includes a cellar pressing plate, a folding connecting rod and a second driving member; the cellar pressing plate is horizontally arranged, one end of the folding connecting rod is fixed to the center of the cellar pressing plate, and the other end is fixed to the top plate; the middle part of the folding connecting rod is bent and provided with a rotating shaft, and both ends of the second driving member are fixed to the folding connecting rod and are located on both sides of the rotating shaft.

9. The brewing robot for a fermentation box according to claim 8, characterized in that: The top plate is provided with a slide rail extending along the first direction. One end of the folding link away from the cellar pressing plate is fixed to a slide block, and the slide block is configured to be driven by a third driving member to move along the slide rail.

10. The brewing robot for a fermentation box according to claim 8 or 9, characterized in that: The cellar pressing plate is configured as a rectangular plate, and the cellar pressing plate includes a pair of first sides and a pair of second sides. The pair of first sides are arranged opposite to each other in the first direction, and at least the second side of the cellar pressing plate is configured to abut against the inner wall of the fermentation box when pressing the cellar.

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