AGV composite robot for feeding and discharging saccharified liquid auxiliary materials

Abstract

The utility model relates to the technical field of AGV composite robots, and discloses an AGV composite robot for feeding and discharging saccharified liquid auxiliary materials, which comprises a mounting shell, a mechanical arm is fixedly connected above the mounting shell, one end of the mechanical arm is fixedly connected with an injection head, a second air cylinder is fixedly connected inside the injection head, and the second air cylinder is fixedly connected with the mounting shell. A second connecting pipe is fixedly connected to the output end of the lower portion of the second air cylinder, a third connecting opening is fixedly connected to the outer side of the second connecting pipe, a butt joint is fixedly connected to the lower end of the injection head, and the lower end of the second connecting pipe is movably connected into the butt joint in a sleeved mode. According to the AGV composite robot for saccharification liquid auxiliary material feeding and discharging, butt joints can be conveniently aligned through the arranged second connecting pipe, manual participation is reduced, the production risk is reduced, the working efficiency is improved, cleaning can be conducted through the arranged first connecting pipe, pollution caused by auxiliary material residual liquid left in the robot is prevented, and the AGV composite robot is convenient to use. And the sanitary level of the working environment is improved.

Description

Technical Field

[0001] This utility model relates to the field of AGV composite robot technology, and in particular to an AGV composite robot for loading and unloading saccharification liquid auxiliary materials. Background Technology

[0002] In beer brewing, saccharification is a crucial step, through which starch is converted into fermentable sugars. To optimize this process and influence the final beer's flavor, color, and texture, adjuncts are often used for saccharification. These adjuncts not only improve the utilization rate of raw materials but also reduce costs and improve the beer's taste and stability.

[0003] Robotic liquid dispensing is crucial in the beer brewing industry. Previously, adding liquid adjuncts required manual opening of the mashing manifold to allow the adjuncts to be added. This process posed a risk of burns from high-temperature steam to the workers. To address this, an AGV (Automated Guided Vehicle) composite robot for loading and unloading mashing liquid adjuncts is proposed. Utility Model Content

[0004] The main purpose of this utility model is to provide an AGV composite robot for loading and unloading liquid additives in saccharification, which solves the problem that the addition of liquid additives previously required manual opening of the saccharification inlet to allow the additives to be added, and that the operator was at risk of being scalded by high-temperature steam while opening the inlet.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] An AGV composite robot for loading and unloading saccharification liquid auxiliary materials includes a mounting shell. A robotic arm is fixedly connected to the upper part of the mounting shell. An injection head is fixedly connected to one end of the robotic arm. A second cylinder is fixedly connected inside the injection head. A second connecting pipe is fixedly connected to the lower output end of the second cylinder. A third connecting port is fixedly connected to the outer side of the second connecting pipe. A connector is fixedly connected to the lower end of the injection head. The lower end of the second connecting pipe is movably sleeved inside the connector. A fourth connecting port is fixedly connected to one side of the connector. A second passage groove is provided on the outer side of the second connecting pipe. A second sealing ring is fixedly connected inside the connector. The outer side of the second connecting pipe abuts against the second sealing ring. The second passage groove is provided on the outer side of the second connecting pipe.

[0007] Furthermore, an auxiliary material storage tank is fixedly connected to the upper side of the mounting housing, and four connecting rods are fixedly connected at equal intervals below the auxiliary material storage tank. A first cylinder is fixedly connected below the four connecting rods. The first cylinder is disposed inside the mounting housing, and a first connecting pipe is fixedly connected above the first cylinder. A first connecting port is fixedly connected to one side of the first connecting pipe.

[0008] Furthermore, an installation sleeve is fixedly connected to the lower end of the auxiliary material storage tank, the upper end of the first connecting pipe passes through the installation sleeve and is inserted into the auxiliary material storage tank, a second connecting port is fixedly connected to the outer side of the installation sleeve, a first sealing ring is fixedly connected to the inner side of the lower end of the installation sleeve, the outer side of the first connecting pipe abuts against the first sealing ring, and a first through groove is opened on the outer side of the first connecting pipe.

[0009] Furthermore, a valve array is fixedly connected inside the mounting housing, a hot water tank is fixedly connected inside the mounting housing, an air compressor tank is fixedly connected inside the mounting housing, and an air compressor is fixedly connected inside the mounting housing.

[0010] Furthermore, an industrial control computer is fixedly connected inside the mounting housing, and a vehicle body is fixedly connected to the bottom of the mounting housing.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. This utility model, through the provision of a second connecting pipe, facilitates alignment of the connector, reduces manual intervention, lowers production risks, and improves work efficiency. The second cylinder is activated, pushing the inlet of the connector through the second connecting pipe. The second connecting pipe moves within the robotic arm until it no longer abuts against the second sealing ring. The second through groove on the second connecting pipe aligns with the position of the second sealing ring. At this point, saccharification additives can be injected into the robotic arm through the connector. The saccharification additive liquid passes through the gap between the second connecting pipe and the robotic arm, then through the second through groove into the fourth connecting port, and is subsequently injected into the additive storage tank through the fourth connecting port. Similarly, the robot can move to the next process, performing the same operation to inject the saccharification additives from the additive storage tank into the next production equipment. This design facilitates alignment of the connector, reduces manual intervention, lowers production risks, and improves work efficiency.

[0013] 2. This utility model, through the provision of a first connecting pipe, enables cleaning, preventing contamination from residual auxiliary materials and improving the hygiene of the working environment. After the auxiliary material storage tank discharges the saccharified auxiliary materials, the hot water tank is activated to inject hot water into the second connecting port. Then, the first cylinder is activated, pushing the first connecting pipe until it no longer abuts against the first sealing ring. The first through groove on the first connecting pipe aligns with the first sealing ring. At this point, the hot water in the second connecting port can pass through the gap between the first connecting pipe and the mounting sleeve, and enter the auxiliary material storage tank through the first through groove. Simultaneously, the air compressor and air tank are activated, continuously drawing air from the auxiliary material storage tank through the first connecting port to create negative pressure that drives the hot water. As the air in the auxiliary material storage tank is completely drawn out, the tank is filled with hot water, which cleans the inside of the tank. The same operation is then performed to discharge the cleaned hot water. This design effectively cleans the auxiliary material storage tank, preventing contamination from residual auxiliary materials and improving the hygiene of the working environment.

[0014] The parts of the device not covered herein are the same as or can be implemented using existing technologies. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of an AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to the present invention from the first angle.

[0016] Figure 2 This is a schematic diagram of the overall structure of an AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to the present invention from a second angle.

[0017] Figure 3 This is a schematic diagram of the internal structure of the mounting shell of an AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to the present invention.

[0018] Figure 4 This is a partial structural diagram of the first connecting pipe in the non-moving state of an auxiliary material storage tank with finger massage function according to this utility model.

[0019] Figure 5 This is a partial structural diagram of the first connecting pipe in the auxiliary material storage tank of an AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to the present invention, showing its movement state.

[0020] Figure 6 This is a partial structural diagram of the second connecting pipe of an AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to the present invention.

[0021] Figure 7This is a partial structural diagram of the docking interface between the injection head of an AGV composite robot used for loading and unloading saccharification liquid auxiliary materials and an external device, according to this utility model.

[0022] Figure 8 This is a schematic diagram illustrating the working process of an AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to the present invention, showing the state of gas injection and saccharification auxiliary material filling.

[0023] In the diagram: 1. Housing; 2. Industrial computer; 3. Air compressor; 4. Valve array; 5. Hot water tank; 6. Air compressor tank; 7. Vehicle body; 8. Auxiliary material storage tank; 9. First cylinder; 10. First connecting pipe; 11. First connection port; 12. First through groove; 13. First sealing ring; 14. Second connection port; 15. Injection head; 16. Second cylinder; 17. Third connection port; 18. Fourth connection port; 19. Second connecting pipe; 20. Connector; 21. Second through groove; 22. Second sealing ring; 23. Robotic arm; 24. Camera. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0025] like Figures 1-8 As shown, an AGV composite robot for loading and unloading saccharification liquid excipients includes a mounting shell 1. The mounting shell 1 is characterized by a robotic arm 23 fixedly connected to its upper part, an injection head 15 fixedly connected to one end of the robotic arm 23, a second cylinder 16 fixedly connected inside the injection head 15, a second connecting pipe 19 fixedly connected to the lower output end of the second cylinder 16, a third connecting port 17 fixedly connected to the outer side of the second connecting pipe 19, a connector 20 fixedly connected to the lower end of the injection head 15, and the lower end of the second connecting pipe 19 movably fitted into the connector 20 for docking. A fourth connection port 18 is fixedly connected to one side of the head 20. A second through groove 21 is opened on the outer side of the second connecting tube 19. A second sealing ring 22 is fixedly connected inside the connector 20. The outer side of the second connecting tube 19 abuts against the second sealing ring 22. A second through groove 21 is opened on the outer side of the second connecting tube 19. A camera 24 is fixedly connected to the outer side of the injection head 15. By adopting the above technical solution, a movable groove is opened on the outer side of the injection head 15. The outer sides of the third connection port 17 and the fourth connection port 18 both pass through the movable groove. The third connection port 17 can move in the movable groove.

[0026] The third connection port 17 is connected to the internal space of the second connection pipe 19;

[0027] The internal spaces of the fourth connection port 18 and the connector 20 are connected;

[0028] The size of the second passage groove 21 is designed so that the second cylinder 16 can push the second connecting pipe 19 to move. When the second passage groove 21 moves to the side of the second sealing ring 22, the second connecting pipe 19 does not come into contact with the second sealing ring 22 to seal. Liquid can pass through the second passage groove 21 and pass through the gap between the second connecting pipe 19 and the second sealing ring 22.

[0029] The third connection port 17 can simultaneously function as an exhaust port and a hot water flushing port;

[0030] Camera 24 can monitor the position of injection head 15 for easy alignment.

[0031] An auxiliary material storage tank 8 is fixedly connected to the upper side of the mounting housing 1. Four connecting rods are fixedly connected at equal intervals below the auxiliary material storage tank 8. A first cylinder 9 is fixedly connected below the four connecting rods. The first cylinder 9 is located inside the mounting housing 1. A first connecting pipe 10 is fixedly connected above the first cylinder 9. A first connecting port 11 is fixedly connected to one side of the first connecting pipe 10. By adopting the above technical solution, the internal space of the first connecting port 11 is connected to the first connecting pipe 10.

[0032] A support frame is installed below the auxiliary material storage tank 8, and the air compressor tank 6 and hot water tank 5 are fixedly connected to the bottom of the support frame.

[0033] An installation sleeve is fixedly connected to the lower end of the auxiliary material storage tank 8. The upper end of the first connecting pipe 10 passes through the installation sleeve and is inserted into the auxiliary material storage tank 8. A second connecting port 14 is fixedly connected to the outer side of the installation sleeve. A first sealing ring 13 is fixedly connected to the inner side of the lower end of the installation sleeve. The outer side of the first connecting pipe 10 abuts against the first sealing ring 13. A first through groove 12 is opened on the outer side of the first connecting pipe 10. By adopting the above technical solution, the second connecting port 14 communicates with the internal space of the installation sleeve.

[0034] When the first sealing ring 13 and the first connecting pipe 10 come into contact, a seal can be achieved.

[0035] A valve array 4 is fixedly connected inside the mounting housing 1, a hot water tank 5 is fixedly connected inside the mounting housing 1, an air compressor tank 6 is fixedly connected inside the mounting housing 1, and an air compressor 3 is fixedly connected inside the mounting housing 1. By adopting the above technical solution, the air compressor 3 can control the electrical components on the robot.

[0036] The air compressor tank 6 is equipped with a filter screen inside, which can filter the air passing through the air compressor tank 6 and allow clean air to enter the auxiliary material storage tank 8.

[0037] The pipeline of valve array 4 is connected to components such as air compressor tank 6, hot water tank 5, first connection port 11, second connection port 14, third connection port 17 and fourth connection port 18 on the robot, and the flow direction of materials in the pipeline can be controlled as needed.

[0038] An industrial control computer 2 is fixedly connected inside the mounting housing 1, and a vehicle body 7 is fixedly connected to the bottom of the mounting housing 1. By adopting the above technical solution, the industrial control computer 2 can control the components on the robot.

[0039] The vehicle body 7 can move the mounting shell 1.

[0040] It should be noted that in actual use, the robot on vehicle 7 moves the machine, and when liquid excipients need to be poured and transferred, the robotic arm 23 controls the injection head 15 to be installed onto the docking head of the production equipment, such as... Figure 7 As shown, the second cylinder 16 is activated, and the second cylinder 16 pushes the inlet of the interface open through the second connecting pipe 19. The second connecting pipe 19 moves inside the robotic arm 23 until the second connecting pipe 19 no longer abuts against the second sealing ring 22. The second through groove 21 on the second connecting pipe 19 is aligned with the position of the second sealing ring 22. At this time, the saccharification auxiliary material can be injected into the robotic arm 23 through the docking interface. The saccharification auxiliary material liquid passes through the gap between the second connecting pipe 19 and the robotic arm 23, and enters the fourth connecting port 18 through the second through groove 21. Then, the saccharification auxiliary material is injected into the auxiliary material storage tank 8 through the fourth connecting port 18. Similarly, the robot can move to the next process through the vehicle body 7 and perform the same operation to inject the saccharification auxiliary material in the auxiliary material storage tank 8 into the production equipment of the next process.

[0041] When injecting saccharification auxiliary materials into the auxiliary material storage tank 8, the saccharification auxiliary material liquid is first injected into the second connection port 14, and then the first cylinder 9 is started. The first cylinder 9 pushes the first connecting pipe 10 to move until the first connecting pipe 10 no longer abuts against the first sealing ring 13. The first through groove 12 opened on the first connecting pipe 10 is aligned with the first sealing ring 13. At this time, the saccharification auxiliary materials in the second connection port 14 can pass through the gap between the first connecting pipe 10 and the installation sleeve. The saccharification auxiliary materials enter the auxiliary material storage tank 8 through the first through groove 12. At the same time, the air compressor 3 and the air tank 6 are started. The air in the auxiliary material storage tank 8 is continuously drawn out through the first connection port 11 to form a negative pressure to drive the saccharification auxiliary materials. As the air in the auxiliary material storage tank 8 is completely drawn out, the auxiliary material storage tank 8 is also filled with saccharification auxiliary materials. When it is necessary to discharge the saccharification auxiliary materials, the first cylinder 9 is started again, but filtered air is injected through the first connection port 11. The air is pressurized to discharge the saccharification auxiliary materials in the auxiliary material storage tank 8.

[0042] Before injecting saccharification excipients into the excipient storage tank 8, pure gas is injected into the excipient storage tank 8 through the same operation.

[0043] After the auxiliary material storage tank 8 discharges the saccharification auxiliary materials, the hot water tank 5 is started to inject hot water into the second connection port 14. Then, the first cylinder 9 is started, and the first cylinder 9 pushes the first connecting pipe 10 to move until the first connecting pipe 10 no longer abuts against the first sealing ring 13. The first through groove 12 opened on the first connecting pipe 10 is aligned with the first sealing ring 13. At this time, the hot water in the second connection port 14 can pass through the gap between the first connecting pipe 10 and the installation sleeve. The hot water enters the auxiliary material storage tank 8 through the first through groove 12. At the same time, the air compressor 3 and the air tank 6 are started. The air in the auxiliary material storage tank 8 is continuously drawn out through the first connection port 11 to form a negative pressure to drive the hot water. As the air in the auxiliary material storage tank 8 is completely drawn out, the auxiliary material storage tank 8 is also filled with hot water. The hot water cleans the inside of the auxiliary material storage tank 8. Then, the same operation is performed to discharge the cleaned hot water.

[0044] This utility model provides an AGV composite robot for loading and unloading liquid additives in saccharification, which solves the problem that the addition of liquid additives previously required manual opening of the saccharification inlet to allow the additives to be added, and that the operator was at risk of being burned by high-temperature steam while opening the inlet. This is more practical.

[0045] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An AGV composite robot for loading and unloading saccharification liquid auxiliary materials, comprising a mounting shell (1), characterized in that, A robotic arm (23) is fixedly connected to the top of the mounting housing (1). An injection head (15) is fixedly connected to one end of the robotic arm (23). A second cylinder (16) is fixedly connected inside the injection head (15). A second connecting pipe (19) is fixedly connected to the lower output end of the second cylinder (16). A third connecting port (17) is fixedly connected to the outside of the second connecting pipe (19). A connector (20) is fixedly connected to the lower end of the injection head (15). The lower end of the second connecting pipe (19) is movably sleeved inside the connector (20). A fourth connecting port (18) is fixedly connected to one side of the connector (20). A second through groove (21) is opened on the outside of the second connecting pipe (19). A second sealing ring (22) is fixedly connected inside the connector (20). The outside of the second connecting pipe (19) abuts against the second sealing ring (22). A second through groove (21) is opened on the outside of the second connecting pipe (19).

2. The AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to claim 1, characterized in that: An auxiliary material storage tank (8) is fixedly connected to the upper side of the mounting shell (1). Four connecting rods are fixedly connected at equal intervals below the auxiliary material storage tank (8). A first cylinder (9) is fixedly connected below the four connecting rods. The first cylinder (9) is set inside the mounting shell (1). A first connecting pipe (10) is fixedly connected above the first cylinder (9). A first connecting port (11) is fixedly connected to one side of the first connecting pipe (10).

3. The AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to claim 2, characterized in that: The lower end of the auxiliary material storage tank (8) is fixedly connected to an installation sleeve. The upper end of the first connecting pipe (10) passes through the installation sleeve and is inserted into the auxiliary material storage tank (8). The outer side of the installation sleeve is fixedly connected to a second connecting port (14). The inner side of the lower end of the installation sleeve is fixedly connected to a first sealing ring (13). The outer side of the first connecting pipe (10) abuts against the first sealing ring (13). The outer side of the first connecting pipe (10) is provided with a first through groove (12).

4. The AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to claim 3, characterized in that: A valve array (4) is fixedly connected inside the mounting housing (1), a hot water tank (5) is fixedly connected inside the mounting housing (1), an air compressor tank (6) is fixedly connected inside the mounting housing (1), and an air compressor (3) is fixedly connected inside the mounting housing (1).

5. The AGV composite robot for loading and unloading saccharification liquid auxiliary materials according to claim 4, characterized in that: An industrial control computer (2) is fixedly connected inside the mounting housing (1), and a vehicle body (7) is fixedly connected to the bottom of the mounting housing (1).

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