Automatic positioning, taking and placing device for cellar cover

Abstract

The utility model provides a kind of automatic positioning and taking and placing device of cellar cover, including the three-dimensional moving platform being arranged above kiln pool, positioning assembly and taking and placing assembly are equipped on the three-dimensional moving platform, the positioning assembly is used to obtain the position information of kiln pool or cellar cover, the three-dimensional moving platform moves taking and placing assembly to kiln pool or cellar cover above according to position information, the taking and placing assembly is used to execute taking and placing action to extract or put down cellar cover.The utility model realizes the full-automatic positioning, capture and release of cellar cover by the synergistic innovation of three-dimensional moving platform, accurate positioning assembly and intelligent taking and placing mechanism, completely replaces traditional manual hook operation, significantly improves the continuity and safety of brewing production line, while reducing labor cost and accident risk.

Description

Technical Field

[0001] This utility model relates to the field of brewing equipment technology, and in particular to an automatic positioning and placement device for cellar cover. Background Technology

[0002] In the process of automating the brewing workshop, the loading and unloading of mash into the fermentation pits has been mechanized, but the handling of the fermentation pit lids still relies on manual assistance. Currently, the crane needs to lower its hook to a designated height, and then the operator manually attaches the lifting rings to the pit lid before the equipment transports it. This manual intervention mode has significant drawbacks: firstly, it is inefficient, with frequent manual operations causing interruptions in the brewing process, making it difficult to meet the requirements of a fully automated, unmanned factory; secondly, it poses significant safety hazards, as collisions are prone to occur during manual hooking, and the personal safety of the operators is not guaranteed.

[0003] Current technologies lack solutions for the precise positioning and automated placement of fermentation pit covers. Manual operation not only increases labor intensity and costs but also restricts the continuity of the brewing production line. Therefore, there is an urgent need to develop a specialized device that can automatically position the fermentation pit covers and complete the placement and removal process to eliminate the risks of manual intervention and improve operational safety and efficiency. Utility Model Content

[0004] This utility model proposes an automatic positioning and placement device for cellar covers, which solves the problem that the existing technology lacks a solution for precise positioning and automatic placement of cellar covers. Manual operation not only increases labor intensity and cost, but also restricts the continuity of the brewing production line.

[0005] The technical solution of this utility model is implemented as follows:

[0006] This utility model provides an automatic positioning and placement device for a kiln cover, including a three-dimensional moving platform arranged above the kiln. The three-dimensional moving platform is equipped with a positioning component and a placement component. The positioning component is used to acquire the position information of the kiln or the kiln cover. The three-dimensional moving platform moves the placement component above the kiln or the kiln cover according to the position information. The placement component is used to perform the placement action to pick up or put down the kiln cover.

[0007] Specifically, the three-dimensional mobile platform includes: a track arranged along the direction of the pit, a large trolley mechanism that can move along the track in the X direction, and a small trolley mechanism that can move in the Y direction and is mounted on the large trolley mechanism. The positioning component and the pick-and-place component are installed at the bottom of the lifting component of the small trolley mechanism.

[0008] Furthermore, the lifting assembly includes a frame, a drive motor is installed on one side of the frame, a drum is installed inside the frame, and several turns of steel wire rope are wound around the outside of the drum; a base frame is provided below the frame, and a pulley is installed on the base frame. The free end of the steel wire rope passes around the bottom of the pulley and is fixedly connected to the frame. The drive motor is used to drive the drum to wind or unwind the steel wire rope, thereby driving the base frame to rise or fall.

[0009] Furthermore, a scissor arm is connected between the frame and the base frame.

[0010] Optionally, the positioning component includes a laser scanner or a visual positioning module.

[0011] Furthermore, the positioning component is mounted on the bottom of the three-dimensional moving platform via a bracket, and a rotary motor is mounted on the bracket to drive the positioning component to rotate and scan and position the kiln pool or cellar cover below.

[0012] Preferably, a vertical linear module is installed on the bracket, and the rotary motor is mounted on the slider of the linear module through a fixing bracket. The linear module is used to drive the rotary motor and the positioning component to rise and be stored inside the bracket or to descend and extend outside the bracket.

[0013] Specifically, the pick-and-place assembly includes a drive component, a rotating shaft, and a hook. The rotating shaft is mounted on the bottom of the three-dimensional moving platform via bearings, and the hook is fixedly sleeved on the rotating shaft. The drive component is used to drive the rotating shaft to rotate, thereby enabling the hook to pick up or release the top ring of the cellar cover.

[0014] Furthermore, a mounting plate is provided on one side of the hook, and two position sensors are provided on the mounting plate, which are used to acquire the hook-hooking ring positioning signal and the hook-releasing ring positioning signal, respectively.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] (1) Through the collaborative innovation of a three-dimensional moving platform, a precise positioning component and an intelligent picking and placing mechanism, this utility model realizes fully automatic positioning, picking and releasing of the cellar cover, completely replacing the traditional manual hooking operation, significantly improving the continuity and safety of the brewing production line, while reducing labor costs and accident risks.

[0017] (2) The present invention is based on a track-type mobile frame for the layout of the cellar, which combines the X-axis movement capability of the trolley mechanism and the Y-axis movement capability of the trolley mechanism and the Z-axis lifting function of the lifting component to realize the rapid and precise movement of the pick-up and put-down components in three-dimensional space, greatly reducing the no-load adjustment time of the crane and effectively improving the transfer efficiency of the cellar cover.

[0018] (3) This utility model uses a rotary motor to drive the positioning component to dynamically scan the position of the cellar cover, and combines a linear module to control the lifting and extending of the positioning component. This not only ensures the scanning accuracy, but also allows the component to retract into the bracket in non-operational state to avoid collision damage, thus significantly extending the equipment life.

[0019] (4) This utility model uses a position sensor to monitor the rotation angle of the hook in real time and forms a closed-loop feedback with the drive component: when hooking, it ensures that the hook is fully locked to the lifting ring, and when releasing, it accurately disengages from the lifting ring; this design completely eliminates the risk of disengagement of the hook manually and ensures zero errors in the operation process. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of an automatic positioning and placement device for cellar covers according to the present invention;

[0022] Figure 2 This is a schematic diagram of the lifting assembly in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the installation structure of the positioning component in an embodiment of this utility model;

[0024] Figure 4 This is a perspective view of the pick-and-place component in an embodiment of this utility model;

[0025] Figure 5 This is a front view of the pick-and-place component in an embodiment of this utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the pick-and-place component for hooking the cellar cover in an embodiment of the present invention;

[0027] In the diagram: 1. Positioning component; 2. Pick-up and place component; 3. Track; 4. Trolley mechanism; 5. Cart mechanism; 6. Lifting component; 7. Frame; 8. Drive motor; 9. Wire rope; 10. Base frame; 11. Pulley; 12. Scissor arm; 13. Bracket; 14. Rotary motor; 15. Linear module; 16. Fixing frame; 17. Drive component; 18. Rotary shaft; 19. Hook; 20. Bearing; 21. Cellar cover; 22. Lifting ring; 23. Mounting plate; 24. Position sensor. Detailed Implementation

[0028] The technical solution of this utility model will be clearly and completely described below with reference to its embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0029] Reference Figures 1 to 6 This utility model provides an automatic positioning and placement device for a kiln cover, including a three-dimensional moving platform arranged above the kiln. The three-dimensional moving platform is provided with a positioning component 1 and a placement component 2. The positioning component 1 is used to acquire the position information of the kiln or the kiln cover 21. The three-dimensional moving platform moves the placement component 2 above the kiln or the kiln cover 21 according to the position information. The placement component 2 is used to perform the placement action to pick up or put down the kiln cover 21.

[0030] Through the collaborative innovation of a three-dimensional moving platform, a precise positioning component 1, and an intelligent picking and placing mechanism, the utility model achieves fully automatic positioning, picking, and releasing of the cellar cover, completely replacing the traditional manual hooking operation 19, significantly improving the continuity and safety of the brewing production line, while reducing labor costs and accident risks.

[0031] Specifically, such as Figure 1 As shown, the three-dimensional mobile platform includes: a track 3 arranged along the direction of the pit, a trolley mechanism 4 that can move along the track 3 in the X direction, and a trolley mechanism 5 installed on the trolley mechanism 4 that can move in the Y direction. The positioning component 1 and the pick-and-place component 2 are installed at the bottom of the lifting component 6 of the trolley mechanism 5. Based on the track 3 type mobile frame of the pit layout, combined with the X-direction movement capability of the trolley mechanism 4, the Y-direction movement capability of the trolley mechanism 5, and the Z-direction lifting function of the lifting component 6, the pick-and-place component 2 can be moved quickly and accurately in three-dimensional space, greatly reducing the crane's no-load adjustment time and effectively improving the pit cover transfer efficiency.

[0032] In this embodiment, track 3 is laid along the direction of the pit array. The trolley mechanism 4 can move in the X direction by engaging the gear with the rack of track 3 via a motor-driven gear (or by driving the wheels on the trolley mechanism 4 along track 3 via a servo motor, or by using other methods to drive the trolley mechanism 4 to move along track 3). The trolley mechanism 5 is connected to the trolley mechanism 4 via a slide rail, and moves in the Y direction by driving the lead screw via a servo motor. The industrial control computer pre-stores the pit coordinates and controls the trolley mechanism 4 and the trolley mechanism 5 to move the pick-and-place component 2 within ±50cm above the target pit, achieving coarse positioning of the pick-and-place component 2. The trolley mechanism 4 and the trolley mechanism 5 in this embodiment are existing technologies in the art and will not be described in detail here.

[0033] In this embodiment, the large trolley mechanism 4 and the track 3 are positioned by laser or barcode (other positioning methods can also be used in the specific implementation). This allows for precise positioning of each row of the kiln array. Laser or barcode positioning enables the large trolley mechanism 4 to move along the track 3 and stop above the corresponding row of kilns. The small trolley mechanism 5 and the slide rail on the large trolley mechanism 4 are positioned by laser or barcode (other positioning methods can also be used in the specific implementation). This allows for precise positioning of each column of the kiln array. Laser or barcode positioning enables the small trolley mechanism 5 to move along the slide rail and stop above the corresponding column of kilns, thereby accurately moving the pick-and-place component 2 above the target kiln.

[0034] Furthermore, such as Figure 2 As shown, the lifting assembly 6 includes a frame 7, a drive motor 8 (with a reducer) is installed on one side of the frame 7, a drum (not shown in the figure) is installed inside the frame 7, and several turns of steel wire rope 9 are wound around the outside of the drum; a base frame 10 is provided below the frame 7, and a pulley 11 is installed on the base frame 10. The free end of the steel wire rope 9 passes around the bottom of the pulley 11 and is fixedly connected to the frame 7. The drive motor 8 is used to drive the drum to wind or unwind the steel wire rope 9, thereby driving the base frame 10 to rise or fall.

[0035] In this embodiment, as Figure 2 As shown, the frame 7 is provided in two sets, and the two sets of frames 7 are arranged in parallel and spaced apart. A set of steel wire ropes 9 are wound around both ends of the drum. The base frame 10 is a horizontal frame structure. Two pulleys 11 are installed on both sides of the frame. Each pulley 11 corresponds to a set of steel wire ropes 9. The two sets of steel wire ropes 9 at both ends of each drum correspond to the two pulleys 11 on one side of the frame. The positioning component 1 and the pick-and-place component 2 are installed on the base frame 10.

[0036] Furthermore, such as Figure 2 As shown, a scissor arm 12 is connected between the frame 7 and the base frame 10, providing rigid support during the winding and unwinding of the wire rope 9, effectively suppressing the shaking of the pick-up and drop-off assembly 2 and the cellar cover, ensuring the stability of heavy-load lifting, and avoiding equipment damage or positioning deviation caused by shaking.

[0037] Optionally, the positioning component 1 includes a laser scanner or a visual positioning module. The laser scanner obtains the position information of various points on the top surface of the kiln or the top surface of the kiln cover 21 based on the laser ranging principle, thereby accurately locating the position information of the lifting ring 22 on the top surface of the kiln or the kiln cover 21. The visual positioning module obtains the position information of the lifting ring 22 on the top surface of the kiln or the kiln cover 21 based on image recognition technology. Both positioning technologies are commonly used in the field, and will not be described in detail in this embodiment.

[0038] Furthermore, such as Figure 3As shown, the positioning component 1 is mounted on the bottom of the three-dimensional moving platform via a bracket 13. A rotary motor 14 is mounted on the bracket 13 to drive the positioning component 1 to rotate and scan and position the kiln or cellar cover 21 below. By driving the positioning component 1 to rotate via the rotary motor 14, scanning information from various angles can be obtained, thereby improving the positioning accuracy.

[0039] Preferably, such as Figure 3 As shown, a vertical linear module 15 is installed on the bracket 13, and the rotary motor 14 is installed on the slider of the linear module 15 through the fixing bracket 16. The linear module 15 is used to drive the rotary motor 14 and the positioning component 1 to rise and be stored inside the bracket 13 or to descend and extend outside the bracket 13.

[0040] In this embodiment, the positioning component 1 is driven by the rotary motor 14 to dynamically scan the position of the cellar cover 21. Combined with the linear module 15 to control the lifting and extending of the positioning component 1, the scanning accuracy is ensured and the component can be retracted into the bracket 13 in the non-operation state to avoid collision damage, thus significantly extending the equipment life.

[0041] In this embodiment, the positioning component 1 is driven by the linear module 15 to descend to a position 30-50cm from the top surface of the cellar cover 21. Then, the positioning component 1 is driven to rotate by the rotary motor 14 to scan the edge of the cellar cover 21 and the position of the lifting ring 22. The industrial control computer calculates the center coordinates and height of the cellar cover 21 based on the scan data and generates a position compensation command. After the scan is completed, the linear module 15 retracts the positioning component 1 into the bracket 13. The industrial control computer then drives the trolley mechanism 4 and the trolley mechanism 5 to move the pick-and-place component 2 to directly above the target position based on the position compensation command. Finally, the lifting component 6 drives the pick-and-place component 2 to descend to the target height to perform the pick-and-place action.

[0042] Specifically, such as Figure 4-6 As shown, the pick-and-place assembly 2 includes a drive component 17, a rotating shaft 18, and a hook 19. The rotating shaft 18 is mounted on the bottom of the three-dimensional moving platform via a bearing 20. The hook 19 is fixedly sleeved on the rotating shaft 18. The drive component 17 drives the rotating shaft 18 to rotate, thereby rotating the hook 19 and enabling the hook 19 to hook or release the lifting ring 22 on the top of the cellar cover 21. When picking up the cover: the drive component 17 drives the rotating shaft 18 to rotate 90° clockwise, causing the hook 19 to hook the lifting ring 22; when placing the cover: it rotates 90° counterclockwise to release the lifting ring 22.

[0043] Furthermore, such as Figure 4 , 5As shown, a mounting plate 23 is provided on one side of the hook 19, and two position sensors 24 are provided on the mounting plate 23, which are used to obtain the signal that the hook 19 has hooked the lifting ring 22 and the signal that the lifting ring 22 has been released. This utility model uses position sensors 24 to monitor the rotation angle of the hook 19 in real time, forming a closed-loop feedback with the drive component 17: when hooking, it ensures that the hook 19 is fully locked to the lifting ring 22, and when releasing, it accurately disengages from the lifting ring 22; this design completely eliminates the risk of disengagement of the hook 19 manually, ensuring zero errors in the operation process.

[0044] The working process of the automatic positioning and placement device in this embodiment is as follows:

[0045] 1) Initial positioning

[0046] The device moves to the area above the cellar via a three-dimensional moving platform (track 3 + trolley mechanism 4 + trolley mechanism 5). The positioning component 1 (laser scanner or vision module) is activated and driven by the rotary motor 14 to perform a 360° scan to obtain the precise position coordinates of the cellar opening or cellar cover 21.

[0047] 2) Three-dimensional precise movement

[0048] The three-dimensional mobile platform receives positioning data and controls the trolley mechanism 4 (X-axis) and the trolley mechanism 5 (Y-axis) to move directly above the target. The lifting component 6 drives the base frame 10 to descend via the steel wire rope 9 (the scissor arm 12 extends synchronously to provide rigid support), so that the pick-and-place component 2 approaches the cellar cover 21.

[0049] 3) Automatic pick-up and put-down operation

[0050] Lid Removal: The drive component 17 (such as a servo motor) of the pick-and-place assembly 2 drives the rotating shaft 18 to rotate, causing the hook 19 to rotate to the hooking angle. When the hook 19 is engaged with the lifting ring 22 of the cellar cover 21, the position sensor 24 detects a "hook in place" signal, and the drive component 17 stops rotating, ensuring that the hook 19 is locked to the lifting ring 22. The lifting assembly 6 raises the base frame 10, lifting the cellar cover 21 away from the cellar.

[0051] Lid placement: The 3D platform moves above the target pit, and the lifting assembly 6 lowers the base frame 10. The drive component 17 rotates the hook 19 in the opposite direction to the release angle, and the position sensor 24 triggers the "release in place" signal, causing the hook 19 to disengage from the lifting ring 22. The lifting assembly 6 retracts, and the device moves out of the work area.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic positioning and placement device for cellar covers, characterized in that, The system includes a three-dimensional moving platform arranged above the kiln pool. The three-dimensional moving platform is equipped with a positioning component (1) and a pick-and-place component (2). The positioning component (1) is used to obtain the position information of the kiln pool or the cellar cover (21). The three-dimensional moving platform moves the pick-and-place component (2) above the kiln pool or the cellar cover (21) according to the position information. The pick-and-place component (2) is used to perform pick-and-place actions to pick up or put down the cellar cover (21).

2. The automatic positioning and placement device for cellar covers as described in claim 1, characterized in that, The three-dimensional mobile platform includes: a track (3) arranged along the direction of the cellar, a large trolley mechanism (4) that can move along the track (3) in the X direction, and a small trolley mechanism (5) installed on the large trolley mechanism (4) that can move in the Y direction. The positioning component (1) and the pick-and-place component (2) are installed at the bottom of the lifting component (6) of the small trolley mechanism (5).

3. The automatic positioning and placement device for cellar covers as described in claim 2, characterized in that, The lifting assembly (6) includes a frame (7), a drive motor (8) is installed on one side of the frame (7), a drum is installed inside the frame (7), and several turns of steel wire rope (9) are wound around the outside of the drum; a base frame (10) is provided below the frame (7), and a pulley (11) is installed on the base frame (10). The free end of the steel wire rope (9) passes around the bottom of the pulley (11) and is fixedly connected to the frame (7). The drive motor (8) is used to drive the drum to wind or unwind the steel wire rope (9), thereby driving the base frame (10) to rise or fall.

4. The automatic positioning and placement device for cellar covers as described in claim 3, characterized in that, A scissor arm (12) is connected between the frame (7) and the base frame (10).

5. The automatic positioning and placement device for cellar covers as described in claim 1, characterized in that, The positioning component (1) includes a laser scanner or a visual positioning module.

6. The automatic positioning and placement device for a cellar cover as described in claim 5, characterized in that, The positioning component (1) is mounted on the bottom of the three-dimensional moving platform via a bracket (13). A rotary motor (14) is mounted on the bracket (13) to drive the positioning component (1) to rotate and scan and position the kiln pool or cellar cover (21) below.

7. The automatic positioning and placement device for a cellar cover as described in claim 6, characterized in that, A vertical linear module (15) is installed on the bracket (13). The rotary motor (14) is installed on the slider of the linear module (15) through the fixing frame (16). The linear module (15) is used to drive the rotary motor (14) and the positioning component (1) to rise and be stored inside the bracket (13) or to descend and extend outside the bracket (13).

8. The automatic positioning and placement device for a cellar cover as described in claim 1, characterized in that, The pick-and-place assembly (2) includes a drive component (17), a rotating shaft (18), and a hook (19). The rotating shaft (18) is mounted on the bottom of the three-dimensional moving platform via a bearing (20). The hook (19) is fixedly sleeved on the rotating shaft (18). The drive component (17) is used to drive the rotating shaft (18) to rotate and drive the hook (19) to rotate, so as to realize the hook (19) to hook or release the top ring (22) of the cellar cover (21).

9. The automatic positioning and placement device for a cellar cover as described in claim 8, characterized in that, The hook (19) is provided with a mounting plate (23) on one side. The mounting plate (23) is provided with two position sensors (24), which are used to obtain the signal of the hook (19) hooking the ring (22) and the signal of the ring (22) being released. The position sensors (24) are linked and controlled with the drive component (17).

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