Ground jar fermented grain tailing cleaning equipment

Abstract

The ground jar fermented grain tailing cleaning equipment overcomes the defects in the prior art, is automatic in operation and clean in cleaning, reduces the labor intensity of workers, and improves the cleaning efficiency; in order to solve the technical problem, the technical scheme adopted by the utility model is as follows: the ground cylinder fermented grain tailing cleaning equipment comprises a trolley, a six-axis robot and a cleaning mechanism, the six-axis robot is arranged at one end of the trolley, a trolley control cabinet and a robot control cabinet are arranged at the other end of the trolley, and the cleaning mechanism is arranged on the trolley. Corresponding control structures are arranged in the trolley control cabinet and the robot control cabinet, and a cleaning mechanism is arranged at the execution end of the six-axis robot; the cleaning mechanism comprises a rotating hopper part and a downward-inserting material blocking part, the rotating hopper part is used for rotating by being attached to the cylinder wall, and the downward-inserting material blocking part is used for being matched with the rotating hopper part to gather all remaining materials into the rotating hopper part; the ground cylinder tailing cleaning device can be widely applied to the field of ground cylinder tailing cleaning.

Description

Technical Field

[0001] This utility model relates to a device for cleaning the tailings of fermentation mash in earthen vats, belonging to the field of earthen vat tailings cleaning technology. Background Technology

[0002] In the brewing industry, raw materials need to be stored in earthen vats for fermentation during the fermentation process. This involves the processes of adding and removing materials before and after fermentation. Traditionally, workers used shovels and other tools to add and remove materials, but this heavy and inefficient manual labor is far from meeting the needs of modern brewing enterprises for large-scale industrial production. Although existing digging equipment can remove most of the material, it cannot remove all the material at the bottom, and the remaining material still needs to be cleaned up manually. Utility Model Content

[0003] This invention overcomes the shortcomings of existing technologies and provides a cleaning device for the tailings of fermentation mash in earthen vats. It is automated, cleans thoroughly, reduces the labor intensity of workers, and improves cleaning efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: a cleaning device for the tail material of fermentation mash in earthen vats, including a trolley, a six-axis robot, and a cleaning mechanism. The six-axis robot is set at one end of the trolley, and the other end of the trolley is equipped with a trolley control cabinet and a robot control cabinet. Corresponding control structures are located in the trolley control cabinet and the robot control cabinet. The cleaning mechanism is set at the execution end of the six-axis robot. The cleaning mechanism includes a rotating hopper part and a bottom inserting material blocking part. The rotating hopper part is used to rotate in contact with the vat wall, and the bottom inserting material blocking part is used to cooperate with the rotating hopper part to gather all the remaining material into the rotating hopper part.

[0005] Furthermore, the structure of the rotating hopper unit includes a central control rotating platform, a bucket connector, a rotating bucket, a lower scraper, and side scrapers. The end effector of the six-axis robot is connected to the rotating hopper unit via a transition piece. The central control rotating platform and the transition piece are connected together via a connecting seat and a rotating platform connecting plate. A depth camera is mounted on the transition piece. A rotating connecting seat is installed in the middle of the central control rotating platform. The rotating connecting seat is connected to the rotating bucket via the bucket connector. A lower scraper is installed below the rotating bucket, and a flexible side scraper is installed on the side of the rotating bucket.

[0006] Furthermore, a probe mounting base is installed in the middle of the rotating bucket, a pressure sensor is installed inside the probe mounting base, a guide tube is installed on the probe mounting base, a limit sleeve is installed at the end of the guide tube, a spring and a probe are installed inside the guide tube, and the end of the spring presses against the pressure sensor.

[0007] Furthermore, the lower insert stop is connected to the rotating platform connecting plate via a module mounting plate. A linear module is mounted on the module mounting plate, and a baffle connector is mounted on the linear module. A guide sleeve mounting block is mounted on the baffle connector, and a linear bearing is built into the guide sleeve mounting block. The linear bearing slides on the guide rod, and a guide rod spring is mounted on the guide rod. Both ends of the guide rod are fixed to the connecting block, and the connecting block is connected to the stop plate. Flexible stop plates are mounted below and on the sides of the stop plate.

[0008] Furthermore, the central control rotating platform of the rotating hopper unit is connected to the rotating bucket through a rotating connecting seat and a bucket connecting piece to realize the rotation of the rotating bucket. The flexible side scraper is installed at a certain angle to the rotating bucket to ensure that the scraper can fit against the cylinder wall and achieve a clean scraping of material.

[0009] Furthermore, the pressure sensor installed in the middle of the rotating bucket can precisely control the descent height of the bucket, so that the scraper below the rotating bucket can fit in contact with the bottom of the ground cylinder, thus achieving clean scraping of the bottom material.

[0010] Furthermore, after the rotary bucket completes its rotating scraping action, the baffle plate blocks the opening of the rotary bucket to gather all the remaining material into the bucket.

[0011] Furthermore, the vehicle includes a triangular track wheel and a vehicle chassis. The triangular track wheel is installed under the vehicle chassis. A vehicle position positioning camera is installed at the front end of the vehicle chassis. A positioning radar is installed at the highest point in the middle of the vehicle chassis. A positioning code reader is installed under the vehicle chassis.

[0012] Furthermore, the four triangular track wheels of the vehicle can be independently controlled to achieve on-the-spot turning.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: In this utility model, the six-axis robot moves, the depth camera locates the position, basic outline, and depth of the underground cylinder, the six-axis robot moves, the cleaning mechanism is inserted into the underground cylinder and lowered to the designated height, the central control rotating platform drives the rotating bucket to start rotating, after rotating several times, the baffle plate is lowered into place, the rotating bucket continues to rotate until the opening of the rotating bucket is in contact with the baffle plate, the six-axis robot moves, the cleaning mechanism is completely lifted out of the underground cylinder, the mash in the hopper is poured out, thus completing the tail material cleaning work of this cylinder. This utility model is automated, cleans thoroughly, reduces the labor intensity of workers, and improves cleaning efficiency. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model.

[0016] Figure 2This is a schematic diagram of the cleaning mechanism in this utility model. Figure 1 .

[0017] Figure 3 This is a schematic diagram of the cleaning mechanism in this utility model. Figure 1 .

[0018] Figure 4 This is a partial structural diagram of the lower insert stop in this utility model.

[0019] In the diagram: 1 is the trolley, 11 is the triangular track wheel, 12 is the trolley chassis, 2 is the six-axis robot, 3 is the cleaning mechanism, 31 is the rotating hopper section, 311 is the transition piece, 312 is the connecting seat, 313 is the rotating platform connecting plate, 314 is the rotating connecting seat, 315 is the bucket connecting piece, 316 is the rotating bucket, 317 is the lower scraper, 318 is the side scraper, 319 is the probe mounting base, and 3110 is the guide tube. 3111 is a limiting sleeve, 3112 is a probe, 3113 is a depth camera, 3114 is a central control rotating platform, 32 is a lower insertion stop, 321 is a module mounting plate, 322 is a baffle connector, 323 is a guide sleeve mounting block, 324 is a connecting block, 325 is a baffle plate, 326 is a flexible baffle plate, 327 is a linear bearing, 328 is a guide rod, 329 is a guide rod spring, and 3210 is a linear module. Detailed Implementation

[0020] The present invention will be further described below with reference to specific embodiments.

[0021] like Figures 1-4 As shown, this utility model discloses a cleaning device for the tailings of fermented grains in earthen vats, comprising a trolley 1, a six-axis robot 2, and a cleaning mechanism 3. The six-axis robot 2 is mounted on one end of the trolley 1, and a trolley control cabinet and a robot control cabinet are mounted on the other end of the trolley 1. Corresponding control structures are located within the trolley control cabinet and the robot control cabinet. The trolley 1 includes triangular track wheels 11 and a trolley chassis 12. The triangular track wheels 11 are mounted under the trolley chassis 12. A trolley position positioning camera is mounted at the front end of the trolley chassis 12, a positioning radar is mounted at the highest point in the middle of the trolley chassis 12, and a positioning code reader is mounted below the trolley chassis 12. The four triangular track wheels 11 of the trolley 1 can be independently controlled to achieve on-the-spot turning.

[0022] The six-axis robot 2 is equipped with a cleaning mechanism 3 at its execution end; the cleaning mechanism 3 includes a rotating hopper part 31 and a lower inserting material blocking part 32. The rotating hopper part 31 is used to rotate in contact with the cylinder wall, and the lower inserting material blocking part 32 is used to cooperate with the rotating hopper part 31 to gather all the remaining material into the rotating hopper part 31. The rotating hopper section 31 has the following structure: it includes a central control rotating platform, a bucket connector 315, a rotating bucket 316, a lower scraper 317, and a side scraper 318. The end of the six-axis robot 2 is connected to the rotating hopper section 31 via a transition piece 311. The central control rotating platform and the transition piece 311 are connected together via a connecting seat 312 and a rotating platform connecting plate 313. A depth camera 3113 is mounted on the transition piece 311. A rotating connector 314 is installed in the middle of the central control rotating platform. The rotating connector 314 is connected to the rotating bucket 316 via the bucket connector 315. A lower scraper 317 is mounted below the rotating bucket 316, and a flexible side scraper 318 is mounted on the side of the rotating bucket 316. The rotating bucket 316 is equipped with a probe mounting base 319 in the middle. The probe mounting base 319 contains a pressure sensor. The probe mounting base 319 is equipped with a guide tube 3110. The end of the guide tube 3110 is equipped with a limit sleeve 3111. The guide tube 3110 contains a spring and a probe 3112. The end of the spring presses against the pressure sensor. The lower insert stop part 32 is connected to the rotating platform connecting plate 313 through the module mounting plate 321. The module mounting plate 321 is equipped with a linear module 3210. The linear module 3210 is equipped with a baffle connector 322. The baffle connector 322 is equipped with a guide sleeve mounting block 323. The guide sleeve mounting block 323 has a linear bearing 327 inside. The linear bearing 327 slides on the guide rod 328. The guide rod 328 is equipped with a guide rod spring 329. Both ends of the guide rod 328 are fixed on the connecting block 324. The connecting block 324 is connected to the baffle plate 325. The baffle plate 325 is equipped with a flexible baffle plate 326 below and on the side. The central control rotating platform of the rotating hopper section 31 is connected to the rotating bucket 316 via a rotating connecting seat 314 and a bucket connecting piece 315, enabling the rotation of the rotating bucket 316. The flexible side scraper 318 is installed at a certain angle to the rotating bucket 316, ensuring that the scraper can fit against the cylinder wall to achieve a clean scraping of material. The pressure sensor installed in the middle of the rotating bucket 316 can precisely control the descent height of the bucket, ensuring that the scraper below the rotating bucket 316 fits against the bottom of the cylinder, achieving a clean scraping of the bottom. After the rotating bucket 316 completes its rotating scraping action, the baffle plate 325 blocks the opening of the rotating bucket 316, gathering all the remaining material into the bucket.

[0023] When the tailings cleaning device of this utility model moves to the front of the underground cylinder, the six-axis robot 2 moves, and the depth camera 3113 locates the position, basic outline, and depth of the underground cylinder. The six-axis robot 2 moves and inserts the cleaning mechanism 3 into the underground cylinder and lowers it to the designated height. The central control rotating platform drives the rotating bucket 316 to start rotating. After rotating several times, the baffle plate 325 lowers into place. The rotating bucket 316 continues to rotate until the opening of the rotating bucket 316 is in contact with the baffle plate 325. The six-axis robot 2 moves and lifts the cleaning mechanism 3 out of the underground cylinder, pouring out the mash in the hopper, thus completing the tailings cleaning work of this cylinder.

[0024] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A device for cleaning the tailings of fermented grains from earthen vats, characterized in that, The system includes a trolley (1), a six-axis robot (2), and a cleaning mechanism (3). The six-axis robot (2) is mounted on one end of the trolley (1), and the other end of the trolley (1) is equipped with a trolley control cabinet and a robot control cabinet. The trolley control cabinet and the robot control cabinet contain corresponding control structures. The cleaning mechanism (3) is mounted on the execution end of the six-axis robot (2). The cleaning mechanism (3) includes a rotating hopper section (31) and a bottom inserting baffle section (32). The rotating hopper section (31) is used to rotate in contact with the cylinder wall. The bottom inserting baffle section (32) is used to cooperate with the rotating hopper section (31) to gather all the remaining material into the rotating hopper section (31).

2. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 1, characterized in that, The structure of the rotating hopper section (31) is as follows: it includes a central control rotating platform, a bucket connector (315), a rotating bucket (316), a lower scraper (317), and a side scraper (318). The end of the six-axis robot (2) is connected to the rotating hopper section (31) through a transition piece (311). The central control rotating platform and the transition piece (311) are connected together through a connecting seat (312) and a rotating platform connecting plate (313). A depth camera (3113) is mounted on the transition piece (311). A rotating connector (314) is installed in the middle of the central control rotating platform. The rotating connector (314) is connected to the rotating bucket (316) through the bucket connector (315). A lower scraper (317) is mounted below the rotating bucket (316). A flexible side scraper (318) is mounted on the side of the rotating bucket (316).

3. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 2, characterized in that, The rotating bucket (316) is equipped with a probe mounting base (319) in the middle. The probe mounting base (319) contains a pressure sensor. The probe mounting base (319) is equipped with a guide tube (3110). The end of the guide tube (3110) is equipped with a limit sleeve (3111). The guide tube (3110) contains a spring and a probe (3112). The end of the spring presses against the pressure sensor.

4. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 2, characterized in that, The lower insert stop (32) is connected to the rotating platform connecting plate (313) through the module mounting plate (321). The module mounting plate (321) is equipped with a linear module (3210). The linear module (3210) is equipped with a baffle connector (322). The baffle connector (322) is equipped with a guide sleeve mounting block (323). The guide sleeve mounting block (323) contains a linear bearing (327). The linear bearing (327) slides on the guide rod (328). The guide rod (328) is equipped with a guide rod spring (329). Both ends of the guide rod (328) are fixed on the connecting block (324). The connecting block (324) is connected to the baffle plate (325). The baffle plate (325) is equipped with a flexible baffle plate (326) below and on the side.

5. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 2, characterized in that, The central control rotating platform of the rotating hopper section (31) is connected to the rotating bucket (316) through the rotating connecting seat (314) and the bucket connecting piece (315) to realize the rotation of the rotating bucket (316). The flexible side scraper (318) is installed at a certain angle to the rotating bucket (316) to ensure that the scraper can fit against the cylinder wall and achieve the degree of cleaning.

6. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 2, characterized in that, The pressure sensor installed in the middle of the rotating bucket (316) can accurately control the descent height of the bucket, so that the scraper below the rotating bucket (316) can fit with the bottom of the ground cylinder, thus achieving clean scraping of the bottom material.

7. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 2, characterized in that, After the rotating bucket (316) completes its rotating scraping action, the baffle plate (325) blocks the opening of the rotating bucket (316) and gathers all the remaining material into the bucket.

8. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 1, characterized in that, The vehicle (1) includes a triangular track wheel (11) and a vehicle chassis (12). The triangular track wheel (11) is installed under the vehicle chassis (12). A vehicle position positioning camera is installed at the front end of the vehicle chassis (12). A positioning radar is installed at the highest point in the middle of the vehicle chassis (12). A positioning code reader is installed below the vehicle chassis (12).

9. The equipment for cleaning the tailings of fermented grains in earthen vats according to claim 8, characterized in that, The four triangular track wheels (11) of the vehicle (1) can be independently controlled to achieve turning in place.

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