Intelligent uniform turning robot

Abstract

The utility model provides an intelligent uniform turning robot, and belongs to the technical field of organic solid waste aerobic fermentation treatment. The intelligent uniform turning robot comprises a cart walking mechanism, a trolley walking mechanism, a steel structure frame, a lifting mechanism, a guide mechanism, a fermentation cabin, a turning mechanism and a temperature measuring mechanism, and the cart walking mechanism horizontally and linearly moves along rails on the tops of walls on the two sides of the fermentation cabin and stretches across each fermentation tank of the fermentation cabin; the trolley walking mechanism horizontally and linearly moves on the cart walking mechanism in the direction perpendicular to the moving direction of the cart walking mechanism. The intelligent uniform turning robot is high in structural strength, good in anti-corrosion performance, convenient to mount and dismount, convenient to transport, high in intelligent degree, capable of being remotely controlled, easy and convenient to operate, capable of saving energy and reducing consumption and capable of achieving unattended operation. The turning treatment capacity is large, and the efficiency is high; the structure is simple, operation is reliable, and maintenance is convenient; the equipment is low in failure rate and long in service life, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerobic fermentation treatment of organic solid waste, in particular to an intelligent uniform turning robot. BACKGROUND

[0002] The aerobic fermentation is traditionally called aerobic composting, which is widely used in the treatment of organic solid waste such as livestock and poultry manure, municipal sludge, kitchen waste and the like. The aerobic fermentation is to make the organic solid waste undergo fermentation treatment, so as to realize the harmless, reduction, stabilization and resource utilization of the organic solid waste. There are mainly two ways for the traditional aerobic fermentation: the strip-pile type and the tank type. The strip-pile type fermentation usually adopts outdoor open-air stacking fermentation, and the heating fermentation effect is not good due to the low stacking height and natural oxygen supply. The outdoor stacking fermentation is greatly affected by the season and rainy and snowy weather, the odor generated in the fermentation is not easy to be effectively collected and treated, and the underground water is also easily polluted due to water seepage. The turning-over machinery for turning over the pile is usually a tracked type, and the turning-over machinery is usually driven by fuel, which has high energy consumption and produces tail gas pollution, thereby bringing a series of environmental protection problems, so that the application of the strip-pile type aerobic fermentation is limited. The tank type aerobic fermentation has a relatively closed environment in the fermentation workshop, and is less affected by the weather. The fermentation tank is a reinforced concrete structure, which can effectively avoid water seepage. The mixed organic solid waste pile in the tank is supplied with oxygen by using an aeration blower, an aeration pipeline and an aeration plate, so that the mixed material pile quickly enters the heating period and continuously undergoes high-temperature fermentation for a certain period of time. Compared with the strip-pile type aerobic fermentation, the tank type aerobic fermentation can effectively shorten the fermentation period. The uniform turning and stirring of the material in the fermentation tank are usually performed by using turning-over equipment, and the turning-over equipment is usually powered by the power grid, so that the energy consumption is low and tail gas pollution is avoided. The odor generated in the fermentation process is effectively collected and treated by using a deodorization system, so as to avoid environmental pollution.

[0003] The tank type aerobic fermentation needs to mix the organic solid waste with auxiliary materials having a certain particle size and water content, so that the mixed material pile has a suitable water content, porosity and carbon-nitrogen ratio, and then is transported to the fermentation tank in the closed fermentation cabin for aerobic fermentation. During the fermentation process, the temperature of the fermentation pile needs to be monitored, and the mixed material is uniformly turned and stirred according to the frequency and fermentation time set by the intelligent control system program according to the temperature rising condition of the pile, so that the mixed material is fully mixed with oxygen, the aerobic fermentation of the material is more sufficient, the material is prevented from being hardened to cause anaerobic fermentation, the mixed material pile of the organic solid waste is more loose, the porosity of the material is adjusted, the aeration permeability is increased, the aeration efficiency is improved, and the water vapor generated in the aerobic fermentation process is also accelerated, so as to achieve the purpose of rapidly reducing the water content of the mixed material pile.

[0004] Traditional groove type aerobic fermentation adopts multiple groups of parallel strip-shaped cement fermentation tanks in the fermentation cabin. When the organic solid waste mixture pile in the fermentation tank needs to be uniformly turned and stirred, a drum-type turning machine is usually used for treatment. The drum-type turning machine is usually in the form of a single large arm. The equipment is composed of two groups of walking mechanisms, a cart frame, a hydraulic lifting system, an electrical and control system, a drum fixed large arm, and an inner and outer drum mechanism. When the drum-type turning machine is uniformly turned and stirred, the walking mechanism walks on the steel track on the top of the two side walls of the fermentation tank. The turning machine is transferred between different fermentation tanks by a transfer car. The transfer car walks on the track fixed on the ground to realize the transfer of the turning machine between different fermentation tanks. The traditional fermentation tank adopts a strip parallel type, which occupies a large area and takes a long time to transfer the turning machine, affecting the production efficiency and consuming a large amount of energy.

[0005] 1. Currently, the groove type drum-type turning machine mainly adopts a single large arm structure. The walking trolley is fixed with a drum fixed large arm. Two groups of inner drums are fixed on the large arm. The motor reducer (or hydraulic motor) is fixed on the inner drum. The outer drum is sleeved on the inner drum. The inner drum and the outer drum are connected and fixed through the flange plate on the output shaft of the reducer (or hydraulic motor). During the turning operation, the single hydraulic cylinder on the large arm is controlled to extend and retract to realize the up-down lifting of the large arm and the drum. The drum is horizontally arranged, and the large arm is inclined arranged. This single large arm structure has the problems of small uniform turning depth, uneven uniform turning, slow walking speed, long fermentation tank turning time, low efficiency, high system energy consumption, etc. during the forward movement of the cart walking mechanism and the rotation and turning of the drum.

[0006] 2. The power cable of the drum-type turning machine is usually reeled and unreeled by a cable reel. During operation, the cable is directly laid on the top of the two side walls of the fermentation tank, which is easy to slide off the top of the retaining wall to the fermentation material pile. The cable is easy to be cut by the sharp corners of the retaining wall during the sliding process, causing electrical short circuit and affecting the operation of the equipment.

[0007] 3. In the traditional single large arm drum-type turning machine, the rotating outer drum and the fixed inner drum are only fixed through the flange on the output shaft of the motor reducer (or hydraulic motor). During the operation of the turning machine, the resistance of the mixed material pile to the outer drum and the large arm is mainly borne by the motor reducer. The rotating outer drum has no bearing on both sides, and only the output shaft of the reducer bears the stress, which is uneven and easy to overload, causing damage to the motor reducer.

[0008] 4. At the same time, due to the different density and thickness of the mixed material, and the presence of long materials such as long straw, branch and stick in the mixed material, the stress on the drums on both sides of the large arm is not balanced, causing deformation and even breakage of the large arm, resulting in damage to the equipment.

[0009] 5. The power supply for the transfer vehicle typically uses a sliding contact line and current collector. The sliding contact line is located high above the fermentation chamber. Due to the high temperature, high humidity, and high concentration of corrosive gases inside the fermentation chamber, electrical short circuits and aging problems are prone to occur. The transfer vehicle's track is on the ground, and passing materials, debris, and accumulated water can easily cause the transfer vehicle to slip or derail.

[0010] 6. Traditional single-arm compost turners are prone to deformation of the arm, which causes disturbance when the outer cylinder rotates. This results in uneven pile height of the organic solid waste mixture after composting, and the surface of the pile becomes an irregular wavy surface, which can easily cause short circuits in aeration and affect the fermentation effect.

[0011] Traditional single-arm drum turners suffer from problems such as high mechanical and electrical failure rates, insufficient turning depth, uneven turning, low turning efficiency, long turning time in fermentation tanks, high energy consumption, low level of intelligence, and lack of remote control. In addition, operators are prone to health problems due to long-term exposure to highly polluted working environments. Utility Model Content

[0012] To overcome the above shortcomings, this application provides an intelligent turning robot, which aims to improve the problems of high mechanical and electrical failure rate of turning machines, insufficient turning depth, uneven turning, low turning efficiency, long turning time in fermentation tanks, high energy consumption, low level of intelligence, and lack of remote control, as well as to improve the health problems of personnel caused by long-term exposure of operators to highly polluted working environments.

[0013] This application is implemented as follows:

[0014] This application provides an intelligent trolley-turning robot, including a large trolley walking mechanism, a small trolley walking mechanism, a steel structure frame, a lifting mechanism, a guiding mechanism, a fermentation chamber, a turning mechanism, and a temperature measuring mechanism. The large trolley walking mechanism moves horizontally in a straight line along the track on the top of the two side walls of the fermentation chamber, spanning each fermentation tank of the fermentation chamber. The small trolley walking mechanism moves horizontally in a straight line on the large trolley walking mechanism along a direction perpendicular to the movement of the large trolley walking mechanism.

[0015] The steel frame is mounted on the trolley traveling mechanism. The lifting mechanism is mounted on the steel frame and connected to the tilting mechanism to control its vertical lifting. The guide mechanism is mounted on the steel frame and the lifting mechanism. The lifting mechanism and the guide mechanism are parallel to each other. The tilting mechanism is mounted on the lifting mechanism. The temperature measuring mechanism is mounted on the steel frame. The temperature measuring mechanism is used to control the vertical lifting of the temperature sensor.

[0016] In an embodiment of the present application, the lifting mechanism comprises a first mounting seat, a hydraulic cylinder, a second mounting seat and a moving beam, the first mounting seat is fixed on the upper surface of the steel structure frame, the second mounting seat is fixed on the upper surface of the moving beam, the cylinder barrel of the hydraulic cylinder is rotatably arranged on the first mounting seat, and the piston rod end of the hydraulic cylinder is rotatably arranged on the second mounting seat.

[0017] In an embodiment of the present application, the guide mechanism comprises a guide slider and a rectangular slide rail, the guide slider is fixed on the outer wall of the moving beam, and the rectangular slide rail is fixed on the steel structure frame, the guide slider is slidably arranged on the rectangular slide rail.

[0018] In an embodiment of the present application, the turning and throwing mechanism comprises a large arm, an inner roller, an outer roller and a blade, the upper end of the large arm is fixed on the lower surface of the moving beam, the inner roller is fixed between the large arms, the outer roller is rotatably sleeved on the inner roller, the blade is fixed on the outer wall of the outer roller, a drive is fixedly arranged in the inner roller, and the output shaft of the drive and the inner wall of the outer roller are fixed together through a flange plate.

[0019] In an embodiment of the present application, a position encoder and a plurality of proximity switches are arranged in the walking direction of the cart walking mechanism.

[0020] In an embodiment of the present application, a position encoder and a plurality of proximity switches are arranged in the walking direction of the cart walking mechanism.

[0021] In an embodiment of the present application, the outer roller and the blade are made of stainless steel.

[0022] In an embodiment of the present application, the temperature measuring mechanism comprises a bracket, an electric cylinder, a protective sleeve and a temperature sensor, the bracket is fixed on the outer wall of the steel structure frame, the electric cylinder is fixed on the bracket, the protective sleeve is fixed on the piston rod end of the electric cylinder, and the temperature sensor is fixed in the protective sleeve.

[0023] In an embodiment of the present application, three large arms are arranged, the three large arms are all single structures, and the inner roller is fixed between two adjacent large arms.

[0024] In an embodiment of the present application, three limit switches are arranged on the steel structure frame, which are an upper limit switch, a turning and throwing first limit switch and a turning and throwing second limit switch, and are used for controlling the lifting position of the moving beam and the turning and throwing mechanism.

[0025] In an embodiment of the present application, the electric cable is arranged on the large trolley walking mechanism and the small trolley walking mechanism, and the electric cable is installed in the cable drag chain and the protective pipe, the cable drag chain is installed in the drag chain groove, the trolley drag chain groove is arranged on the maintenance platform aisle, and the large trolley cable groove is arranged on the steel structure frame walkway on the outer surface of the fermentation tank wall, so as to effectively prevent the electric cable from sliding into the fermentation tank, avoid the electric cable being cut by the sharp corner of the retaining wall to cause electrical short circuit, and avoid the safety risk of equipment operation.

[0026] In an embodiment of the present application, the lower surface of the steel structure frame is fixedly installed with a material retaining plate, the material retaining plate is located on both sides of the turning and throwing mechanism and parallel to the turning and throwing mechanism, so as to effectively prevent the material from splashing too far during the turning and throwing process; when the intelligent uniform turning robot trolley runs to the vicinity of the limit position on both sides, the material retaining plate can prevent the material from splashing to the track or outside the fermentation tank, and the large trolley walking mechanism is installed with a track sweeper, which can remove the sundries on the track surface and ensure the stable and safe operation of the intelligent uniform turning robot.

[0027] The intelligent uniform turning robot provided by the present application has the following beneficial effects: the turning and throwing mechanism can make the mixed material particles in the fermentation tank fully contact and mix with air, can keep a large amount of fresh air in the raw material pile, and is more conducive to the proliferation and growth of aerobic microorganisms to generate fermentation heat, improve the pile temperature, and adjust the temperature of the raw material pile; the turning and throwing mechanism can process the raw material into smaller particles, form a suitable porosity, improve the permeability of the raw material pile, and improve the aeration effect; in the aerobic fermentation process, the biochemical reaction of aerobic microorganisms will produce new moisture, and the consumption of raw materials by microorganisms will also cause water to be released without a carrier, therefore, with the timely reduction of moisture in the mixed organic solid waste raw material pile in the aerobic fermentation process, in addition to evaporation formed by heat conduction, the turning and throwing mechanism periodically turns and throws the raw material pile to form forced water vapor emission, which accelerates the reduction of moisture in the raw material pile; the structure has high strength, good corrosion resistance, convenient installation and removal, and convenient transportation; the guide mechanism adopts a rectangular slide rail, which has simple structure, is convenient to manufacture and install, has high rigidity, can bear large load and impact force, has high wear resistance, ensures the stability of the system, has good guiding performance, can provide accurate guide tracks, ensures the accurate movement of the workpiece on the tracks, and improves the positioning accuracy of the entire system; the system has high intelligence, remote control, simple operation, energy saving and consumption reduction, and can realize unattended operation; the turning and throwing treatment capacity is large and the efficiency is high; the structure is simple, the operation is reliable, and the maintenance is convenient; the equipment has low failure rate, long service life, and low maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0029] Figure 1 is a structural schematic diagram of an intelligent uniform turning robot provided by the embodiments of the present application;

[0030] Figure 2 is a relationship diagram between the trolley walking mechanism, the steel structure frame, the lifting mechanism, the guide mechanism, the temperature measuring mechanism and the turning and throwing mechanism provided by the embodiments of the present application;

[0031] Figure 3 is a three-dimensional structural schematic diagram of the steel structure frame provided by the embodiments of the present application;

[0032] Figure 4 is a three-dimensional structural schematic diagram of the trolley walking mechanism provided by the embodiments of the present application;

[0033] Figure 5 is a relationship diagram between the steel structure frame, the trolley walking mechanism, the cart walking mechanism and the fermentation cabin provided by the embodiments of the present application;

[0034] Figure 6 is a three-dimensional structural schematic diagram of an intelligent uniform turning robot provided by the embodiments of the present application.

[0035] In the figure: 110 - cart walking mechanism; 120 - trolley walking mechanism; 130 - steel structure frame; 140 - lifting mechanism; 141 - first mounting seat; 142 - hydraulic cylinder; 143 - second mounting seat; 144 - moving beam; 150 - guide mechanism; 151 - guide sliding block; 152 - rectangular sliding rail; 160 - turning and throwing mechanism; 161 - large arm; 162 - inner roller; 163 - outer roller; 164 - blade; 170 - fermentation cabin; 180 - temperature measuring mechanism; 181 - support; 182 - electric cylinder; 183 - protective sleeve; 184 - temperature sensor; 190 - material blocking plate. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] Example

[0038] Please see Figure 1 - Figure 6 This application provides a technical solution: an intelligent trolley-turning robot, including a large trolley walking mechanism 110, a small trolley walking mechanism 120, a steel structure frame 130, a lifting mechanism 140, a guiding mechanism 150, a fermentation chamber 170, a turning and tossing mechanism 160, and a temperature measuring mechanism 180. The large trolley walking mechanism 110 moves horizontally in a straight line along the track on the top of the walls on both sides of the fermentation chamber 170, spanning each fermentation tank of the fermentation chamber 170. The small trolley walking mechanism 120 moves horizontally in a straight line on the large trolley walking mechanism 110 in a direction perpendicular to the movement direction of the large trolley walking mechanism 110.

[0039] A steel frame 130 is mounted on a trolley traveling mechanism 120. A lifting mechanism 140 is mounted on the steel frame 130 and connected to a tilting and throwing mechanism 160 to control its vertical lifting and lowering. A guide mechanism 150 is mounted on the steel frame 130 and the lifting mechanism 140. The lifting mechanism 140 and the guide mechanism 150 are parallel to each other. The lifting mechanism 140 includes a first mounting base 141, a hydraulic cylinder 142, a second mounting base 143, and a moving beam 144. The first mounting base 141 is fixed to the upper surface of the steel frame 130, and the second mounting base 143 is fixed to the upper surface of the moving beam 144. The cylinder of the hydraulic cylinder 142 is rotatably mounted on the first mounting base 141, and the piston rod end of the hydraulic cylinder 142 is rotatably mounted on the second mounting base 143. The tilting and throwing mechanism 160 is mounted on the lifting mechanism 140. The guide mechanism 150 includes a guide slider 15. 1. A rectangular slide rail 152 and a guide slider 151 are fixed on the outer wall of the moving beam 144. The rectangular slide rail 152 is fixed on the steel structure frame 130. The guide slider 151 is slidably set on the rectangular slide rail 152. The temperature measuring mechanism 180 is installed on the steel structure frame 130. The temperature measuring mechanism 180 is used to control the vertical lifting of the temperature sensor 184. A baffle plate 190 is fixedly installed on the lower surface of the steel structure frame 130. The baffle plate 190 is located on both sides of the turning mechanism 160 and is parallel to the turning mechanism 160. It effectively prevents the material from splashing too far during the turning process. When the intelligent turning robot trolley runs to the vicinity of the extreme positions on both sides, the baffle plate 190 can prevent the material from splashing to the track or outside the fermentation tank. In addition, a track sweeper is installed on the trolley traveling mechanism 110, which can remove debris from the track surface and ensure the smooth and safe operation of the intelligent turning robot.

[0040] The turnover mechanism 160 comprises a large arm 161, an inner roller 162, an outer roller 163 and a blade 164, the upper end of the large arm 161 is fixed on the lower surface of the moving beam 144, the inner roller 162 is fixed between the large arms 161, the outer roller 163 is rotatably sleeved on the inner roller 162, the blade 164 is fixed on the outer wall of the outer roller 163, a driver is fixedly installed in the inner roller 162, the output shaft of the driver and the inner wall of the outer roller 163 are fixed together through a flange plate, the driver in the embodiment is a motor reducer, but is not limited to the motor reducer, a position encoder and a plurality of proximity switches are arranged on the walking direction of the cart walking mechanism 120, the outer roller 163 and the blade 164 are made of stainless steel;

[0041] The temperature measuring mechanism 180 comprises a bracket 181, an electric cylinder 182, a protective sleeve 183 and a temperature sensor 184, the bracket 181 is fixed on the outer wall of the steel structure frame 130, the electric cylinder 182 is fixed on the bracket 181, the protective sleeve 183 is fixed on the piston rod end of the electric cylinder 182, the temperature sensor 184 is fixed in the protective sleeve 183, the large arm 161 is provided with three, the three large arms 161 are all single structures, the inner roller 162 is fixed between the adjacent two large arms 161, three limit switches are arranged on the steel structure frame 130, which are an upper limit switch, a turnover first limit switch and a turnover second limit switch, for controlling the lifting position of the moving beam 144 and the turnover mechanism 160.

[0042] Specifically, the working principle of the intelligent uniform turning robot is as follows: when in use, the cart walking mechanism 110 moves horizontally and linearly along the tracks on the top of the walls on both sides of the fermentation cabin 170, and crosses each fermentation tank. The cart walking mechanism 110 is provided with a position encoder, and a plurality of proximity switches are arranged on the walking mechanism beam, so as to realize intelligent positioning of the cart in the direction, avoid collision between the turning and throwing mechanism 160 and the wall of the fermentation tank, and prevent problems such as positioning error of the cart caused by wheel slip of the intelligent uniform turning robot.The trolley walking mechanism 120 moves horizontally and linearly on the walking mechanism 110 in a direction perpendicular to the moving direction of the walking mechanism 110, and is provided with a position encoder and a proximity switch to realize intelligent positioning of the moving position of the trolley. A gear is installed on the trolley walking mechanism 120, and a rack is installed on the frame of the walking mechanism 110, the gear and the rack are engaged to prevent the trolley from shaking and slipping, ensure the stability of the trolley operation, and ensure the accuracy of the positioning of the trolley walking mechanism. The rectangular slide rail 152 has good guiding performance and can provide an accurate guide rail to ensure that the workpiece can move accurately on the rail and improve the positioning accuracy of the whole system. The outer roller 163 is installed on the large arm and is supported by bearings to make the force on the outer roller 163 uniform and the structure more stable. The outer roller 163 is not easy to deform. Under the action of the walking mechanism 110 and the trolley walking mechanism 120, the outer roller 163 moves to the specified position of the fermentation cabin 170 to be turned over. The servo motor on the temperature measuring structure 180 is started, the protective sleeve 183 and the temperature sensor 184 are lowered by the electric cylinder 182, the temperature sensor 184 enters the fermented mixed material pile to measure the temperature, and the intelligent control system monitors and records the temperature of the pile. After the temperature measurement is completed, the servo motor on the temperature measuring structure 180 is started to lift the protective sleeve 183 and the temperature sensor 184 to the upper limit position. The driver in the inner roller 162 is started to drive the outer roller 163 to rotate. Under the action of the hydraulic cylinder 142, the moving beam 144 is lowered to the turning over first limit switch, then the trolley walking mechanism 120 drives the outer roller 163 to move for the first time, and the trolley moves horizontally and linearly on the walking mechanism 110 in a direction perpendicular to the moving direction of the walking mechanism 110 to complete the turning over operation on the upper layer of the fermentation area. When the trolley walking mechanism reaches the walking limit position, the driver in the inner roller 162 is reversed, the hydraulic cylinder 142 drives the moving beam 144 to lower to the turning over second limit switch, then the trolley walking mechanism 120 drives the outer roller 163 to perform the second turning over, the trolley moves horizontally and linearly on the walking mechanism 110 in a direction perpendicular to the moving direction of the walking mechanism 110 to return to the initial positioning point, and the turning over operation on the lower layer of the fermentation area is completed. Under the action of the hydraulic cylinder 142, the moving beam 144 is lifted to the upper limit position, the driver is closed, and the outer roller 163 stops rotating to realize the whole turning over operation. The turning over mechanism 160 of the intelligent uniform turning robot can make the mixed material particles in the fermentation tank fully contact and mix with air, maintain a large amount of fresh air in the raw material pile, and be more conducive to the proliferation and growth of aerobic microorganisms to produce fermentation heat, improve the pile temperature, and adjust the temperature of the raw material pile. The turning over mechanism 160 can process the raw materials into smaller particles to form appropriate porosity and improve the permeability of the raw material pile to improve the aeration effect.In the aerobic fermentation process, the biochemical reaction of aerobic microorganisms will produce new water, and the consumption of raw materials by microorganisms will also cause water to be released without a carrier. Therefore, with the timely reduction of water in the mixed organic solid waste raw material pile during aerobic fermentation, in addition to evaporation formed by heat conduction, the regular turning over of the raw material pile by the turning over mechanism 160 will form forced water vapor emission, accelerating the reduction of the water content of the raw material pile; high structural strength, good corrosion resistance, easy installation and disassembly, convenient transportation; the guide mechanism 150 adopts a rectangular slide rail 152, which is simple in structure, easy to manufacture and install, strong in rigidity, can withstand large loads and impact forces, has high wear resistance, ensures the stability of the system, the rectangular slide rail 152 has good guiding performance, can provide accurate guide tracks, ensures that the workpiece can move accurately on the track, and improves the positioning accuracy of the entire system; high degree of intelligence, remote control, easy to operate, energy saving and consumption reduction, can realize unattended operation; large turning over processing capacity and high efficiency; simple structure, reliable operation, easy maintenance; low equipment failure rate, long service life, and reduced maintenance cost.

[0043] It should be noted that the specific model and specifications of the cart walking mechanism 110, the trolley walking mechanism 120, the hydraulic cylinder 142, and the driver need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method uses existing technology in the art, so it will not be described in detail.

[0044] The power supply and principle of the cart walking mechanism 110, the trolley walking mechanism 120, the hydraulic cylinder 142, and the driver are clear to those skilled in the art, and will not be described in detail here.

[0045] The above is only an embodiment of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

Claims

1. An intelligent uniform flipping robot, characterized by, The fermentation tank comprises a large vehicle walking mechanism (110), a small vehicle walking mechanism (120), a steel structure frame (130), a lifting mechanism (140), a guide mechanism (150), a fermentation cabin (170), a turning and throwing mechanism (160) and a temperature measuring mechanism (180), the large vehicle walking mechanism (110) moves horizontally along the tracks on the top of the walls on both sides of the fermentation cabin (170) and across each fermentation tank in the fermentation cabin (170), the small vehicle walking mechanism (120) moves horizontally along the direction perpendicular to the moving direction of the large vehicle walking mechanism (110) on the large vehicle walking mechanism (110); The steel structure frame (130) is installed on the small vehicle walking mechanism (120), the lifting mechanism (140) is installed on the steel structure frame (130) and connected with the turning and throwing mechanism (160) to control the vertical lifting of the turning and throwing mechanism (160), the guide mechanism (150) is installed on the steel structure frame (130) and the lifting mechanism (140), the lifting mechanism (140) and the guide mechanism (150) are parallel to each other, the turning and throwing mechanism (160) is installed on the lifting mechanism (140), and the temperature measuring mechanism (180) is installed on the steel structure frame (130) and used for controlling the vertical lifting of the temperature sensor (184).

2. The intelligent uniform flipping robot of claim 1, wherein, The lifting mechanism (140) comprises a first mounting seat (141), a hydraulic cylinder (142), a second mounting seat (143) and a moving beam (144), the first mounting seat (141) is fixed on the upper surface of the steel structure frame (130), the second mounting seat (143) is fixed on the upper surface of the moving beam (144), the cylinder barrel of the hydraulic cylinder (142) is rotatably arranged on the first mounting seat (141), and the end of the piston rod of the hydraulic cylinder (142) is rotatably arranged on the second mounting seat (143).

3. The intelligent uniform flipping robot of claim 2, wherein, The guide mechanism (150) comprises a guide sliding block (151) and a rectangular sliding rail (152), the guide sliding block (151) is fixed on the outer wall of the moving beam (144), the rectangular sliding rail (152) is fixed on the steel structure frame (130), and the guide sliding block (151) is slidably arranged on the rectangular sliding rail (152).

4. The intelligent uniform flipping robot of claim 3, wherein, The turning and throwing mechanism (160) comprises a large arm (161), an inner roller (162), an outer roller (163) and a blade (164), the upper end of the large arm (161) is fixed on the lower surface of the moving beam (144), the inner roller (162) is fixed between the large arms (161), the outer roller (163) is rotatably arranged on the inner roller (162), the blade (164) is fixed on the outer wall of the outer roller (163), a drive is fixedly arranged in the inner roller (162), and the output shaft of the drive and the inner wall of the outer roller (163) are fixed together through a flange plate.

5. The intelligent uniform flipping robot of claim 1, wherein, A position encoder and a plurality of proximity switches are arranged on the walking direction of the large vehicle walking mechanism (110).

6. The intelligent uniform flipping robot of claim 1, wherein, The trolley walking mechanism (120) is provided with a position encoder and a plurality of proximity switches in the walking direction.

7. The intelligent uniform flipping robot of claim 4, wherein, The outer roller (163) and the blade (164) are made of stainless steel.

8. The intelligent uniform flipping robot of claim 1, wherein, The temperature measuring mechanism (180) comprises a support (181), an electric cylinder (182), a protective sleeve (183) and a temperature sensor (184), the support (181) is fixed on the outer wall of the steel structure frame (130), the electric cylinder (182) is fixed on the support (181), the protective sleeve (183) is fixed on the piston rod end of the electric cylinder (182), and the temperature sensor (184) is fixed in the protective sleeve (183).

9. The intelligent uniform flipping robot of claim 4, wherein, The large arms (161) are provided in three, the three large arms (161) are each a separate structure, and the inner roller (162) is fixed between two adjacent large arms (161).

10. The intelligent uniform flipping robot of claim 1, wherein, The steel structure frame (130) is provided with three limit switches, namely an upper limit switch, a first limit switch for turning and throwing and a second limit switch for turning and throwing, for controlling the lifting position of the moving beam (144) and the turning and throwing mechanism (160).

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