Automatic sampling device for soy sauce mash of ancient soy sauce

Abstract

The utility model discloses an ancient method soy sauce mash automatic sampling device, and relates to the technical field of mechanical automation, the ancient method soy sauce mash automatic sampling device comprises a control system which is respectively connected with a walking vehicle, a three-axis displacement assembly, a sampler and a position detection device, the three-axis displacement assembly and a sample cup are arranged on the walking vehicle, the sampler is connected with the three-axis displacement assembly, and the position detection device is connected with the three-axis displacement assembly; the three-axis displacement assembly is used for driving the sampler to move in the three-dimensional direction, the sampler is used for sampling a sauce jar and unloading a sample into a sample cup, the bottom of the walking vehicle is provided with a channel for the sauce jar to pass through, and the position detection device is used for detecting whether the walking vehicle runs to the sauce jar to be sampled or not. By arranging the position detection device, the walking vehicle can be controlled to run to a to-be-sampled sauce jar, the three-axis displacement assembly is used for driving the sampler to move in the three-dimensional direction, the sampler can sample the sauce jar and unload a sample into a sample cup, automatic sauce mash sampling is achieved, the labor intensity of workers can be reduced, and the sampling efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical automation, in particular to an automatic sampling device for ancient-method soy sauce mash. BACKGROUND

[0002] In the brewing process of ancient-method soy sauce, the mash is filled into soy sauce jars and is exposed to the sun for about three years of turning and fermentation in a sunning yard to ensure that the best quality soy sauce is brewed. At the same time, in order to monitor the physicochemical indexes such as the acid-base degree and amino acid nitrogen of the mash during the brewing and sunning process, the mash in each soy sauce jar needs to be sampled and detected regularly. The traditional sampling method is that workers take a spoon to the soy sauce jar to scoop the mash into a sample cup and then take it to the laboratory for detection. Since the number of soy sauce jars in the sunning yard is large and the coverage is wide, this method makes the workers have a large labor intensity and low work efficiency, and especially in summer, the workers have the risk of heatstroke during long-time sampling operation in the sunning yard.

[0003] Therefore, how to realize automatic sampling of the mash, reduce the labor intensity of workers and improve the sampling efficiency is a problem to be solved by those skilled in the art. CONTENT OF THE INVENTION

[0004] The application aims to provide an automatic sampling device for ancient-method soy sauce mash, which is used to solve the problems of manual sampling, large labor intensity of workers and low work efficiency.

[0005] To solve the above technical problems, the application provides an automatic sampling device for ancient-method soy sauce mash, which comprises a control system, a walking vehicle, a three-axis displacement assembly, a sampler, a plurality of sample cups and a position detection device.

[0006] The control system is connected with the walking vehicle, the three-axis displacement assembly, the sampler and the position detection device respectively, the three-axis displacement assembly and the sample cup are arranged on the walking vehicle, the sampler is connected with the three-axis displacement assembly, the three-axis displacement assembly is used to drive the sampler to move in three-dimensional directions, the sampler is used to sample the soy sauce jar and unload the sample into the sample cup, the bottom of the walking vehicle is provided with a channel for the soy sauce jar to pass through, and the position detection device is used to detect whether the walking vehicle travels to the soy sauce jar to be sampled.

[0007] In an embodiment, the sampler comprises a sampling cylinder, a mounting base, a speed reducer motor, a coupling and a sampling auger, the sampling cylinder is connected with the three-axis displacement assembly through the mounting base, the sampling auger comprises a shaft and a helical blade, the speed reducer motor is connected with the top of the shaft through the coupling, the bottom of the shaft is inserted into the sampling cylinder through the top opening of the sampling cylinder, the bottom of the sampling cylinder is an open structure, the helical blade is arranged around the circumferential surface of the shaft and located in the sampling cylinder, the speed reducer motor is connected with the control system, and the speed reducer motor is used to drive the forward rotation and reverse rotation of the sampling auger to realize sampling and sample unloading.

[0008] In an embodiment, the side wall of the sampling cylinder is provided with a plurality of sensor probes connected with the control system, and the sensor probes are used to detect the fermentation parameters of the soy sauce in the sauce cylinder.

[0009] In an embodiment, the position detection device comprises a code scanner and a label containing sauce cylinder information, the code scanner is arranged on the walking vehicle, and the label is attached to the outer wall of the sauce cylinder.

[0010] In an embodiment, the two sides of the sauce cylinder are provided with tracks, the position detection device is a contact switch, a plurality of contact switches are arranged at intervals in the length direction of the track, the contact switches are arranged one by one corresponding to the sauce cylinder, and the contact switches are connected with the control system.

[0011] In an embodiment, the walking vehicle further comprises a power supply device, an electric quantity detection instrument and an alarm device arranged on the walking vehicle, the power supply device is connected with the electric quantity detection instrument, and the control system is connected with the electric quantity detection instrument and the alarm device respectively.

[0012] In an embodiment, the walking vehicle comprises a first stand, a second stand, a cross plate, a walking wheel and a driving device, the driving device is connected with the walking wheel and the control system respectively, the bottom of the first stand and the bottom of the second stand are both provided with the walking wheel, the two ends of the cross plate are connected with the first stand and the second stand respectively, a channel for the sauce cylinder to pass through is formed between the first stand, the second stand and the cross plate, an opening for the sampler to pass through is arranged on the cross plate, and the control system is arranged on the cross plate.

[0013] In an embodiment, a plurality of mounting holes for mounting the sample cups are arranged on the cross plate, the mounting holes are located on one side of the opening, and the mounting holes are arranged at intervals along the width direction of the walking vehicle.

[0014] In an embodiment, the three-axis displacement assembly comprises a first screw-nut mechanism, a second screw-nut mechanism, a third screw-nut mechanism, and an electric telescopic rod. The first screw-nut mechanism is arranged on the top of the first stand, the second screw-nut mechanism is arranged on the top of the second stand, the moving direction of the nuts on the first screw-nut mechanism and the second screw-nut mechanism is the moving direction of the walking vehicle, the two ends of the third screw-nut mechanism are connected with the nuts on the first screw-nut mechanism and the second screw-nut mechanism respectively, the moving direction of the nut on the third screw-nut mechanism is the width direction of the walking vehicle, and the electric telescopic rod is connected with the nut on the third screw-nut mechanism and the mounting seat of the sampler respectively, and is used to drive the sampler to move in the height direction.

[0015] In an embodiment, the cleaning assembly comprises a cleaning water tank, a waste water tank, and a cleaning cylinder. The cleaning cylinder is connected with the cleaning water tank and the waste water tank through pipelines respectively. A first valve is arranged on the pipeline connecting the cleaning cylinder with the cleaning water tank, a second valve is arranged on the pipeline connecting the cleaning cylinder with the waste water tank, the control system is connected with the first valve and the second valve respectively, and the top of the cleaning cylinder is provided with an opening for the sampler to pass through.

[0016] The application provides an automatic sampling device for traditional soy sauce mash, which comprises a control system, a walking vehicle, a three-axis displacement assembly, a sampler, a plurality of sample cups, and a position detection device. The control system is connected with the walking vehicle, the three-axis displacement assembly, the sampler, and the position detection device respectively. The three-axis displacement assembly and the sample cups are arranged on the walking vehicle. The sampler is connected with the three-axis displacement assembly. The three-axis displacement assembly is used to drive the sampler to move in three directions. The sampler is used to sample the mash jar and unload the sample into the sample cup. The bottom of the walking vehicle is provided with a channel for the mash jar to pass through. The position detection device is used to detect whether the walking vehicle travels to the mash jar to be sampled. The position detection device can be used to control the walking vehicle to travel to the mash jar to be sampled. The three-axis displacement assembly is used to drive the sampler to move in three directions. The sampler can sample the mash jar and unload the sample into the sample cup. The automatic sampling of the mash jar is realized. The labor intensity of workers can be reduced and the sampling efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1A structural diagram of an automatic sampling device for ancient method soy sauce mash provided by an embodiment of the present application is shown in the figure.

[0019] Figure 2 A structural diagram of a sampler provided by an embodiment of the present application is shown in the figure.

[0020] The reference signs are as follows: 1-control system, 2-traveling vehicle, 3-three-axis displacement assembly, 4-sampler, 5-sample cup, 6-code scanner, 7-sauce cylinder, 8-power supply device, 301-first screw nut mechanism, 302-second screw nut mechanism, 303-third screw nut mechanism, 304-electric telescopic rod, 401-sampling cylinder body, 402-mounting seat, 403-reduction motor, 404-coupling, 405-sampling auger, 4051-shaft body, 4052-spiral blade, 406-sensor probe. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0022] The core of the present application is to provide an automatic sampling device for ancient method soy sauce mash, which is used to realize automatic sampling of mash, reduce labor intensity of workers and improve sampling efficiency.

[0023] In order to enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0024] Figure 1 A structural diagram of an automatic sampling device for ancient method soy sauce mash provided by an embodiment of the present application is shown in the figure, Figure 1 As shown in the figure, the automatic sampling device for ancient method soy sauce mash comprises a control system 1, a traveling vehicle 2, a three-axis displacement assembly 3, a sampler 4, a plurality of sample cups 5 and a position detection device. The control system 1 is connected with the traveling vehicle 2, the three-axis displacement assembly 3, the sampler 4 and the position detection device respectively. The three-axis displacement assembly 3 and the sample cups 5 are arranged on the traveling vehicle 2. The sampler 4 is connected with the three-axis displacement assembly 3. The three-axis displacement assembly 3 is used to drive the sampler 4 to move in three-dimensional directions. The sampler 4 is used to sample the sauce cylinder 7 and unload the sample into the sample cup 5. The bottom of the traveling vehicle 2 is provided with a passage through which the sauce cylinder 7 passes. The position detection device is used to detect whether the traveling vehicle 2 travels to the sauce cylinder 7 to be sampled.

[0025] The control system 1 in the embodiment of the present application is used to control the walking of the walking vehicle 2 and the alignment with the sauce cylinder 7 to be sampled, and is also used to control the execution of each action of the three-axis displacement assembly 3 and the sampler 4 and the collection of the fermentation parameters detected by the sensor probe 406 in the following. The control system 1 can communicate with the workshop production management system, and can download and transmit data. The structure of the walking vehicle 2 is not specifically limited in the embodiment of the present application. The bottom of the walking vehicle 2 is provided with a passage for the sauce cylinder 7 to pass through, so as to facilitate the walking of the walking vehicle 2 above the sauce cylinder 7. Specifically, the walking vehicle 2 comprises a first stand, a second stand, a cross plate, walking wheels and a driving device. The driving device is connected with the walking wheels and the control system 1 respectively, and is used to drive the walking wheels to walk. The bottom of the first stand and the bottom of the second stand are both provided with a walking wheel. The two ends of the cross plate are connected with the first stand and the second stand respectively. The passage for the sauce cylinder 7 to pass through is formed between the first stand, the second stand and the cross plate. An opening for the sampler 4 to pass through is formed in the cross plate. The control system 1 is arranged on the cross plate. Further, a plurality of mounting holes for mounting the sample cup 5 are formed in the cross plate. The plurality of mounting holes are located on one side of the opening and are arranged in the width direction of the walking vehicle 2 at intervals. The diameter of the mounting hole is smaller than the diameter of the top of the sample cup 5 and larger than the diameter of the bottom of the sample cup 5. The sample cup 5 is used to temporarily store the mash sample taken from different sauce cylinders 7. The mash sample is used for subsequent laboratory detection. The three-axis displacement assembly 3 is not limited in the embodiment of the present application. Specifically, the three-axis displacement assembly 3 comprises a first screw nut mechanism 301, a second screw nut mechanism 302, a third screw nut mechanism 303 and an electric telescopic rod 304. The first screw nut mechanism 301 is arranged at the top of the first stand. The second screw nut mechanism 302 is arranged at the top of the second stand. The moving direction of the nuts on the first screw nut mechanism 301 and the second screw nut mechanism 302 is the driving direction of the walking vehicle 2. The two ends of the third screw nut mechanism 303 are connected with the nuts on the first screw nut mechanism 301 and the second screw nut mechanism 302 respectively. The moving direction of the nut on the third screw nut mechanism 303 is the width direction of the walking vehicle 2. The electric telescopic rod 304 is connected with the nut on the third screw nut mechanism 303 and the mounting seat 402 of the sampler 4 respectively. The electric telescopic rod 304 is used to drive the sampler 4 to move in the height direction. The screw nut mechanism can comprise a rotary motor, a screw rod and a nut threadedly connected with the screw rod. The rotary motor drives the screw rod to rotate forward and reverse to move the nut in the length direction of the screw rod.

[0026] The ancient method soy sauce mash automatic sampling device provided by the embodiment of the application comprises a control system 1, a walking vehicle 2, a three-axis displacement assembly 3, a sampler 4, a plurality of sample cups 5 and a position detection device; the control system 1 is connected with the walking vehicle 2, the three-axis displacement assembly 3, the sampler 4 and the position detection device respectively; the three-axis displacement assembly 3 and the sample cups 5 are arranged on the walking vehicle 2; the sampler 4 is connected with the three-axis displacement assembly 3; the three-axis displacement assembly 3 is used for driving the sampler 4 to move in three-dimensional directions; the sampler 4 is used for sampling the sauce cylinder 7 and unloading the sample into the sample cup 5; the bottom of the walking vehicle 2 is provided with a passage through which the sauce cylinder 7 passes; and the position detection device is used for detecting whether the walking vehicle 2 travels to the sauce cylinder 7 to be sampled. The position detection device is arranged to control the walking vehicle 2 to travel to the sauce cylinder 7 to be sampled; the three-axis displacement assembly 3 is used for driving the sampler 4 to move in three-dimensional directions; the sampler 4 can sample the sauce cylinder 7 and unload the sample into the sample cup 5; the mash automatic sampling is realized; and the labor intensity of workers can be reduced and the sampling efficiency can be improved.

[0027] Based on the above embodiment, Figure 2 The structure diagram of the sampler provided by the embodiment of the application is shown in Figure 2 The sampler 4 comprises a sampling cylinder body 401, a mounting seat 402, a speed reducer 403, a shaft coupling 404 and a sampling auger 405; the sampling cylinder body 401 is connected with the three-axis displacement assembly 3 through the mounting seat 402; the sampling auger 405 comprises a shaft body 4051 and a spiral blade 4052; the speed reducer 403 is connected with the top of the shaft body 4051 through the shaft coupling 404; the bottom of the shaft body 4051 is inserted into the sampling cylinder body 401 through the top opening of the sampling cylinder body 401; the bottom of the sampling cylinder body 401 is of an open structure; the spiral blade 4052 is arranged around the circumferential surface of the shaft body 4051 and located in the sampling cylinder body 401; the speed reducer 403 is connected with the control system 1; and the speed reducer 403 is used for driving the forward rotation and the reverse rotation of the sampling auger 405 to realize sampling and sample unloading.

[0028] As Figure 2As shown, an opening is also formed in the side wall of the sampling cylinder body 401, which extends to the bottom of the sampling cylinder body 401. The opening in the side wall can expose the sampling auger 405 inside the sampling cylinder body 401, facilitating cleaning of the sampling auger 405. Further, the side wall of the sampling cylinder body 401 is provided with a plurality of sensor probes 406 connected to the control system 1. The sensor probes 406 are used to detect the fermentation parameters of the soy sauce in the soy sauce cylinder 7. The bottom of the sensor probe 406 can be located below the bottom of the sampling cylinder body 401, so that when the sampler 4 enters the mash in the soy sauce cylinder 7, the sensor probe 406 can contact the mash. Specifically, the sensor probe 406 can be a pH sensor and a salinity sensor, which can be used to detect parameters such as pH (hydrogen ion concentration index) and salinity, and upload the detected physicochemical index parameters to the control system 1. Of course, other types of sensors can also be provided according to the required index parameters.

[0029] Based on the above embodiment, the position detection device of the embodiment of the present application includes a code scanner 6 and a label containing soy sauce cylinder information. The code scanner 6 is arranged on the walking vehicle 2, and the label is arranged on the outer wall of the soy sauce cylinder 7.

[0030] The label in the embodiment of the present application can include soy sauce cylinder number information. After the control system 1 receives a sampling task from the workshop production management system, the walking vehicle 2 is driven to travel. When the code scanner 6 scans the label on the side wall of the soy sauce cylinder 7, the soy sauce cylinder information in the label is read and compared with the information in the sampling task. If the information matches, it means that the walking vehicle 2 has traveled to the soy sauce cylinder 7 to be sampled, and the subsequent three-axis displacement assembly 3 can be used to drive the sampler 4 to move.

[0031] Based on the above embodiment, if the two sides of the soy sauce cylinder 7 are provided with tracks for the walking vehicle 2 to travel on, the position detection device of the embodiment of the present application is a contact switch. A plurality of contact switches are arranged at intervals along the length direction of the track. The contact switches are arranged one by one corresponding to the soy sauce cylinders 7, and the contact switches are connected to the control system 1.

[0032] Since the contact switches are arranged one by one corresponding to the soy sauce cylinders 7, when the walking vehicle 2 touches the contact switch on the track, it means that the walking vehicle 2 has traveled to the soy sauce cylinder 7. The contact switch is turned on and sends a signal to the control system 1. The control system 1 can control the walking vehicle 2 to pause, and then control the three-axis displacement assembly 3 and the sampler 4 to perform a sampling action.

[0033] Based on the above embodiment, the embodiment of the present application further includes a power supply device 8, an electric quantity detection instrument, and an alarm device arranged on the walking vehicle 2. The power supply device 8 is connected to the electric quantity detection instrument, and the control system 1 is connected to the electric quantity detection instrument and the alarm device.

[0034] The power supply device 8 in the embodiments of the present application provides power for the operation of the automatic sampling device. The power supply device 8 can be a lithium iron phosphate battery group with a battery management system and automatic charging function. When the power supply device 8 is detected by the power detection instrument to have a power lower than a set value, the control system 1 controls the alarm device to alarm, and simultaneously drives the walking vehicle 2 to travel to a charging station for charging.

[0035] Based on the above embodiments, the embodiments of the present application further include a cleaning assembly, which includes a cleaning water tank, a waste water tank and a cleaning cylinder. The cleaning cylinder is connected to the cleaning water tank and the waste water tank through pipelines. A first valve is arranged on the pipeline connecting the cleaning cylinder and the cleaning water tank, and a second valve is arranged on the pipeline connecting the cleaning cylinder and the waste water tank. The control system 1 is connected to the first valve and the second valve. The top of the cleaning cylinder is provided with an opening through which the sampler 4 passes.

[0036] In the embodiments of the present application, the water outlet of the cleaning water tank is located at the bottom of the cleaning water tank, and the water inlet of the cleaning cylinder is located at the side wall of the cleaning cylinder. The water outlet of the cleaning water tank is higher than the water inlet of the cleaning cylinder, so that the cleaning water can be transported by gravity. The bottom of the cleaning cylinder is provided with a water outlet, and the top of the waste water tank is provided with a water inlet. The water outlet of the cleaning cylinder is higher than the water inlet of the waste water tank, so that the waste water can be transported by gravity. The cleaning water and the waste water are transported by gravity, so that a power device is not needed, and the structure of the device can be simplified. In the embodiments of the present application, the cleaning assembly is arranged. After the sampler 4 completes the sampling and unloading of one sauce cylinder 7, the sampler 4 can be moved into the cleaning cylinder. The sampler 4 is rotated to be cleaned in the cleaning cylinder, so that the sample remaining in the sampler 4 does not mix with the sample in the next sauce cylinder 7, and the accuracy of the sample detection result of each sauce cylinder 7 is improved.

[0037] In order to better understand the present application, the working process of the automatic sampling device for traditional soy sauce mash is introduced below.

[0038] The control system 1 controls the walking vehicle 2 to walk across the jar cylinder 7, and when the code scanner 6 reads the jar cylinder information in the label on the jar cylinder 7, it indicates that the walking vehicle 2 has arrived at the jar cylinder 7 and is aligned with the jar cylinder 7. The first screw nut mechanism 301, the second screw nut mechanism 302 and the third screw nut mechanism 303 are controlled to move, so that the sampler 4 is aligned with the middle of the jar cylinder 7. The electric telescopic rod is controlled to lower the sampler 4 into the jar cylinder 7. The sampling auger 405 in the sampler 4 is driven to rotate forward, and after a set rotation time, the rotation is stopped to complete sampling. The sensor probe 406 carried by the sampler 4 completes the detection of physical and chemical indexes and data uploading. The electric telescopic rod 304 is controlled to raise the sampler 4. The first screw nut mechanism 301, the second screw nut mechanism 302 and the third screw nut mechanism 303 are controlled to move the sampler 4, so that the sampler 4 is located directly above the sample cup 5. The electric telescopic rod 304 is controlled to lower the sampler 4 into the sample cup 5. The sampling auger 405 in the sampler 4 is driven to rotate reversely, and after a set rotation time, the rotation is stopped to unload the sample into the sample cup 5. After sampling is completed, the three-axis displacement assembly 3 moves the sampler 4 to the cleaning cylinder for cleaning, so that the sampler 4 can sample the next jar cylinder 7. When all the sample cups 5 are filled with soy sauce mash samples, the control system 1 controls the walking vehicle 2 to return to the testing point for testing of the samples.

[0039] The above describes in detail the automatic sampling device for traditional soy sauce and mash provided by the application. The embodiments in the specification are described in a progressive manner, and each embodiment mainly describes the differences from other embodiments. The same or similar parts of each embodiment can be understood by referring to each other. It should be noted that those skilled in the art can make some improvements and modifications to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

[0040] It should also be noted that, in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms “include”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement “including a…” does not exclude the presence of another identical element in the process, method, article or equipment including the element.

Claims

1. A device for automatically sampling moromi for traditional soy sauce production, characterized by comprising: The utility model relates to a kind of soy sauce fermentation sampling device, including: Control system (1), walking car (2), three-axis displacement assembly (3), sampler (4), multiple sample cups (5) and position detection device; The control system (1) is connected respectively with the walking car (2), the three-axis displacement assembly (3), the sampler (4) and the position detection device, the three-axis displacement assembly (3) and the sample cup (5) are arranged on the walking car (2), the sampler (4) is connected with the three-axis displacement assembly (3), the three-axis displacement assembly (3) is used to drive the sampler (4) to move in three-dimensional direction, the sampler (4) is used to sample sauce cylinder (7) and unload sample into the sample cup (5), the bottom of the walking car (2) is equipped with passageway for sauce cylinder (7) to pass through, and the position detection device is used to detect whether the walking car (2) travels to the sauce cylinder (7) to be sampled.

2. The automatic sampling device for moromi of shoyu according to claim 1, characterized by The sampler (4) includes sampling cylinder (401), mounting seat (402), speed reducer motor (403), shaft coupling (404) and sampling auger (405), the sampling cylinder (401) is connected with the three-axis displacement assembly (3) by the mounting seat (402), the sampling auger (405) includes shaft body (4051) and spiral blade (4052), the speed reducer motor (403) is connected with the top of the shaft body (4051) by the shaft coupling (404), the bottom of the shaft body (4051) is inserted into the sampling cylinder (401) through the top opening of the sampling cylinder (401), the bottom of the sampling cylinder (401) is open structure, the spiral blade (4052) is arranged around the circumferential surface of the shaft body (4051) and located in the sampling cylinder (401), the speed reducer motor (403) is connected with the control system (1), and the speed reducer motor (403) is used to drive the forward rotation and reverse rotation of the sampling auger (405) to realize sampling and sample unloading.

3. The soy sauce moromi automatic sampling device according to claim 2, characterized by The side wall of the sampling cylinder (401) is equipped with a plurality of sensor probes (406) connected with the control system (1), and the sensor probes (406) are used to detect the fermentation parameters of soy sauce in the sauce cylinder (7).

4. The soy sauce moromi automatic sampling device according to claim 1, characterized by The position detection device includes a code scanner (6) and a label containing sauce cylinder information, the code scanner (6) is arranged on the walking car (2), and the label is attached to the outer wall of the sauce cylinder (7).

5. The apparatus according to claim 1, wherein The two sides of the sauce cylinder (7) are provided with tracks, and the position detection device is a contact switch, a plurality of contact switches are arranged at intervals in the length direction of the track, the contact switches are arranged one by one with the sauce cylinder (7), and the contact switches are connected with the control system (1).

6. The soy sauce moromi automatic sampling device according to claim 1, characterized by It also includes a power supply device (8), an electric quantity detection instrument and an alarm device arranged on the walking car (2), the power supply device (8) is connected with the electric quantity detection instrument, and the control system (1) is connected with the electric quantity detection instrument and the alarm device respectively.

7. The automatic sampling device for moromi of shoyu according to claim 2, characterized by The walking vehicle (2) comprises a first vertical support, a second vertical support, a horizontal plate, walking wheels and a driving device, the driving device is connected with the control system (1) and the walking wheels respectively, the bottom of the first vertical support and the bottom of the second vertical support are provided with the walking wheels, the two ends of the horizontal plate are connected with the first vertical support and the second vertical support respectively, a channel for the sauce cylinder (7) to pass through is formed between the first vertical support, the second vertical support and the horizontal plate, an opening for the sampler (4) to pass through is formed in the horizontal plate, and the control system (1) is arranged on the horizontal plate.

8. The koji soy sauce moromi automatic sampling device according to claim 7, characterized by A plurality of mounting holes for mounting the sample cup (5) are formed in the horizontal plate, the mounting holes are located on one side of the opening, and the mounting holes are arranged in the width direction of the walking vehicle (2).

9. The soy sauce moromi automatic sampling device according to claim 7, characterized by The three-axis displacement assembly (3) comprises a first screw nut mechanism (301), a second screw nut mechanism (302), a third screw nut mechanism (303) and an electric telescopic rod (304), the first screw nut mechanism (301) is arranged at the top of the first vertical support, the second screw nut mechanism (302) is arranged at the top of the second vertical support, the moving direction of the nuts on the first screw nut mechanism (301) and the second screw nut mechanism (302) is the driving direction of the walking vehicle (2), the two ends of the third screw nut mechanism (303) are connected with the nuts on the first screw nut mechanism (301) and the second screw nut mechanism (302) respectively, the moving direction of the nut on the third screw nut mechanism (303) is the width direction of the walking vehicle (2), the electric telescopic rod (304) is connected with the nut on the third screw nut mechanism (303) and the mounting seat (402) of the sampler (4) respectively, and the electric telescopic rod (304) is used for driving the sampler (4) to move in the height direction.

10. The koji shoyu moromi automatic sampling device according to any one of claims 1 to 9, characterized by The cleaning assembly comprises a cleaning water tank, a waste water tank and a cleaning cylinder, the cleaning cylinder is connected with the cleaning water tank and the waste water tank through pipelines respectively, a first valve is arranged on the pipeline connecting the cleaning cylinder with the cleaning water tank, a second valve is arranged on the pipeline connecting the cleaning cylinder with the waste water tank, the control system (1) is connected with the first valve and the second valve respectively, and an opening for the sampler (4) to pass through is arranged at the top of the cleaning cylinder.

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