A movable robot upper retort device

Abstract

A mobile robotic steamer loading device includes a material-feeding platform and a recognition platform. A robotic arm is mounted on the upper surface of the material-feeding platform, and a material-feeding device is mounted at the end of the robotic arm. The recognition platform is equipped with a recognition component capable of monitoring the material level in the steamer. The robotic arm and the recognition component are located on one side of several steamers arranged in a straight line. A guide rail is also included, with its extension direction aligned with the arrangement direction of the steamers. Both the material-feeding platform and the recognition platform are equipped with driving devices capable of moving along the length of the guide rail. A feeding device for supplying material to the material-feeding device is located on the side of the guide rail furthest from the steamer. This robotic steamer loading system enables the loading of two adjacent steamers with relatively far centers, or three or more steamers arranged in a straight line, significantly saving equipment costs and environmental space resources.

Description

Technical Field

[0001] This utility model relates to the field of liquor processing technology, specifically a mobile robot for loading the steamer. Background Technology

[0002] Robots are increasingly being used to replace manual steaming in the traditional Chinese liquor industry. A typical robot steaming system includes a robot material distribution control system, a sensor system, and a feeding system. However, due to the limited reach of the robot's arm, a current robot steaming system can only steam one steaming pot at a time, or simultaneously steam two adjacent steaming pots with their centers close together. It can also steam three steaming pots arranged in a triangular pattern with their centers close together. However, it cannot steam two adjacent steaming pots with their centers far apart, or steaming three or more steaming pots arranged in a straight line. In existing solutions, multiple robot steaming systems are typically used when steaming three or more steaming pots arranged in a straight line. This approach significantly increases equipment costs and occupies considerable space. Some smaller distillery workshops cannot support the installation of multiple robot steaming systems, thus limiting the automation upgrades and transformations of liquor enterprises. Utility Model Content

[0003] To address the technical problems existing in the background art, this utility model provides a mobile robot steamer device.

[0004] The technical solution of this utility model is as follows:

[0005] A mobile robotic steamer loading device includes a material-laying platform and a recognition platform. A robotic arm is mounted on the upper surface of the material-laying platform, and a material-laying device is mounted on the end of the robotic arm. The recognition platform is equipped with a recognition component capable of monitoring the material surface of the steamer. The robotic arm and the recognition component are located on one side of several steamers arranged in a straight line.

[0006] It also includes a guide rail, and the extension direction of the guide rail is consistent with the arrangement direction of the multiple steamers. The material feeding platform and the identification platform are movably mounted on the guide rail, and both the material feeding platform and the identification platform are equipped with a driving device that can drive them to move along the length direction of the guide rail.

[0007] A feeding device for feeding material to the material distribution device is provided on the side of the guide rail away from the pot.

[0008] The guide rails are specifically designed such that there are two guide rails arranged in parallel, and the bottom of both the fabric platform and the recognition platform is provided with at least one slider that is slidably connected to the two guide rails.

[0009] The drive device is specifically designed to include a drive motor mounted on the fabric platform and the recognition platform, with the output end of the drive motor facing downwards and equipped with a drive gear.

[0010] A rack that meshes with the drive gear is fixed to one side of the guide rail near the drive gear.

[0011] The specific design of the recognition component is as follows: the recognition component includes a base installed on the recognition platform, and a rotating arm is installed on the upper end of the base via a rotating motor, and a vision sensor is installed at the end of the rotating arm.

[0012] In order to monitor the material level inside the steamer, the visual sensor travels along the path of the rotating arm through the vertical space where the steamer is located.

[0013] The feeding device is specifically designed to include a chain conveyor, and its conveyor chain can move in both directions, with both ends being discharge ports.

[0014] To facilitate the movement of the conveyor chain conveyor and to supply material to the feeding device in conjunction with the steamers at different positions, the bottom of the conveyor chain conveyor is equipped with a mounting frame, which is slidably mounted on two support rails. The mounting frame is equipped with a power unit that can drive the mounting frame to move along the support rails.

[0015] The power unit is specifically designed as follows: the power unit includes two drive wheels and driven wheels installed on the front and rear sides of the mounting frame, both of which are rolledly connected to the support rail. The two drive wheels are connected by a rotating shaft. A power motor is installed on the mounting frame, and the output end of the power motor is connected to the rotating shaft through a reducer.

[0016] To facilitate material supply to the chain conveyor, a buffer hopper is provided on one side of the chain conveyor, and a discharge port is opened on the side of the buffer hopper closest to the chain conveyor.

[0017] The buffer hopper has an opening at the bottom and is equipped with a chain conveyor, which extends through the discharge port and its end in the extension direction is higher than the chain conveyor.

[0018] In order to facilitate the dispersion of materials on the chain plate feeder and ensure the uniformity of materials, a feeding roller is rotatably installed at the discharge port, which spans across the chain plate feeder, and a feeding rod is provided on the outer surface of the feeding roller.

[0019] A feeding motor is installed on the outside of the buffer hopper, and the feeding motor is connected to the feeding roller through a reducer.

[0020] The beneficial effects of this utility model are as follows: This utility model is a mobile robot steamer loading device, which can solve the problem that a set of robot steamer loading systems in the existing technical solutions cannot support loading two adjacent steamers with far centers or three or more steamers arranged in a straight line. By controlling the movement of the material-laying platform and the recognition platform on the ground track, the positions of the accompanying robotic arm and vision sensors of the material-laying device are changed. Combined with the chain conveyor with discharge ports at both ends in the feeding device, the position of the discharge ports is changed. The chain conveyor can move through the power unit, ensuring that the material-laying device can be supplied when the steaming pots are being fed at different positions. This supports the conveying of mash required for feeding different steaming pots. Furthermore, the setting of two discharge ports means that a single movement of the chain conveyor can supply material to at least two nearby steaming pots, reducing the number of adjustments required by the chain conveyor. This is convenient and fast, enabling a single robotic steaming system to feed two adjacent steaming pots that are far apart in center, or three or more steaming pots arranged in a straight line, greatly saving equipment costs and environmental space resources. Attached Figure Description

[0021] The advantages and solutions of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this invention.

[0022] In the attached diagram:

[0023] Figure 1 This is a schematic diagram of the overall structure of this solution;

[0024] Figure 2 A schematic diagram showing the installation of the robotic arm and recognition components;

[0025] Figure 3 This is a schematic diagram of the feeding device;

[0026] Figure 4 This is a magnified view of point A;

[0027] Figure 5 This is a partial structural side view of the design;

[0028] Figure 6 This is a magnified view of point B;

[0029] Figure 7 Schematic diagram of the buffer hopper design;

[0030] The components represented by the various reference numerals in the diagram are:

[0031] 1. Fabric feeding platform; 2. Recognition platform; 3. Robotic arm; 4. Fabric feeding device; 5. Steamer; 6. Guide rail; 7. Slider; 8. Drive motor; 9. Drive gear; 10. Rack; 11. Base; 12. Rotary motor; 13. Rotary swing arm; 14. Vision sensor; 15. Chain conveyor; 151. Conveyor chain; 152. Discharge port; 16. Mounting frame; 17. Support rail; 18. Drive wheel; 19. Driven wheel; 20. Rotating shaft; 21. Power motor; 22. Buffer hopper; 23. Discharge port; 24. Chain feeder; 25. Feeding roller; 26. Feeding rod; 27. Feeding motor. Detailed Implementation

[0032] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0033] Example

[0034] As mentioned in the background section, the existing steaming robots used in factories have many shortcomings. They can usually only steam two or three steamers that are close to each other or arranged in a triangular pattern. In order to meet production needs, a large number of steaming robots need to be deployed, which occupies a lot of layout space and increases the investment cost of enterprises. Therefore, the inventors have improved the existing steaming devices and designed a new type of mobile steaming device, which will be explained in detail below with reference to the figures.

[0035] This embodiment provides a mobile robotic steamer loading device, designed to achieve efficient and precise steamer loading operations, meeting the automation requirements for steamer material distribution in industrial production. (See also...) Figure 1 The system includes a material-laying platform 1 and an identification platform 2. A robotic arm 3 is installed on the upper surface of the material-laying platform 1. The robotic arm 3 is located on one side of several steamers 5 arranged in a straight line. A material-laying device 4 is installed at the end of the robotic arm 3. The material-laying device 4 is an existing device in the field and will not be described in detail. The material-laying device 4 is responsible for evenly spreading the material in the steamer 5.

[0036] This solution also includes guide rail 6, which, in this solution, is combined with... Figure 2 The guide rail 6 is a key component for realizing the movement function of the device, and its extension direction is consistent with the arrangement direction of the steaming pot 5. Multiple steaming pots 5 are arranged at intervals along a straight line. This steaming device is used for steaming pots 5 with three or more openings. In this embodiment, two guide rails 6 are provided and arranged parallel to each other. At least two sliders 7 are installed on the bottom surface of both the feeding platform 1 and the recognition platform 2. These sliders 7 are slidably connected to the two guide rails 6, allowing the feeding platform 1 and the recognition platform 2 to move freely along the length of the guide rails 6. To drive the movement of the feeding platform 1 and the recognition platform 2, a driving device is installed on both the feeding platform 1 and the recognition platform 2. Specifically, combined with... Figure 5 and Figure 6 The driving device includes a drive motor 8 mounted on the fabric platform 1 and the recognition platform 2. The output end of the drive motor 8 faces downward, and a drive gear 9 is mounted on the output end via a reducer. Simultaneously, a rack 10 meshing with the drive gear 9 is fixed to one side of the guide rail 6 near the drive gear 9. When the drive motor 8 operates, the drive gear 9 rolls on the rack 10, thereby driving the fabric platform 1 and the recognition platform 2 to move along the guide rail 6, enabling flexible movement of the fabric platform 1 and the recognition platform 2 in the arrangement direction of the steaming pot 5 to adapt to the different steaming requirements of the steaming pot 5.

[0037] In this embodiment, the recognition platform 2 is equipped with a recognition component capable of monitoring the material level in the steamer 5. The recognition component and the robotic arm 3 are located on the same side of the steamer 5. Specifically, the recognition component includes a base 11 mounted on the recognition platform 2. A rotating arm 13 is mounted on the upper end of the base 11 via a rotary motor 12. A vision sensor 14 is mounted at the end of the rotating arm 13, preferably a depth camera, i.e., a 3D camera, such as Microsoft's Azure Kinect DK. The vision sensor 14 travels along the path of the rotating arm 13 through the vertical space where the steamer 5 is located. Driven by the rotary motor 12, the rotating arm 13 drives the vision sensor 14 to rotate directly above the steamer 5, enabling the monitoring of the material level height inside the steamer 5 during material distribution.

[0038] Based on the above structure, a feeding device for feeding the material distribution device 4 is provided on the side of the guide rail 6 away from the pot 5. The feeding device, as the source of material supply, includes a chain conveyor 15. The conveying chain 151 of the chain conveyor 15 can move in both directions, and both ends are discharge ports 152. This design of bidirectional conveying and double discharge ports 152 greatly improves the flexibility and efficiency of material supply. The chain conveyor 15 with discharge ports 152 at both ends can change the position of the discharge ports 152 and can move by the drive of the power device, ensuring that the material distribution device 4 can be supplied when the pot 5 is being steamed at different positions. This supports the conveying of mash required for steaming different pots 5. Furthermore, the setting of two discharge ports 152 means that with one movement of the chain conveyor 15, it can supply material to at least two pots 5 that are close to each other, reducing the number of adjustments required for the chain conveyor 15.

[0039] In addition, combined Figure 3 and Figure 4The chain conveyor 15 has a mounting frame 16 at its bottom, which is slidably mounted on two support rails 17. A power unit is mounted on the mounting frame 16 to drive it to move along the support rails 17. The power unit includes two drive wheels 18 and driven wheels 19 mounted on the front and rear sides of the mounting frame 16. Both drive wheels 18 and driven wheels 19 are tactilely connected to the support rails 17. The two drive wheels 18 are connected by a rotating shaft 20. A power motor 21 is mounted on the mounting frame 16, and the output end of the power motor 21 is connected to the rotating shaft 20 via a reducer. When the power motor 21 starts, the reducer reduces the speed and increases the torque, driving the rotating shaft 20 to rotate, which in turn drives the two drive wheels 18 to roll on the support rails 17, thus enabling the chain conveyor 15 to move along the support rails 17. This facilitates the chain conveyor 15 in transporting materials to the vicinity of the steamer 5 at different locations.

[0040] It should be noted that only three steamers 5 are arranged in the diagram for ease of illustration. The number and spacing of the steamers 5 can be adjusted according to actual needs, by extending the length of the guide rail 6 and the support rail 17 accordingly.

[0041] In addition, combined Figure 7 A buffer hopper 22 is provided on one side of the chain conveyor 15. The buffer hopper 22 is used for temporary storage of materials to ensure continuous material supply. A discharge port 23 is provided on the side of the buffer hopper 22 closest to the chain conveyor 15. The bottom of the buffer hopper 22 is open and equipped with a chain feeder 24. The chain feeder 24 extends through the discharge port 23, and its end in the extension direction is higher than the chain conveyor 15. This design allows materials to be smoothly conveyed from the buffer hopper 22 to the chain conveyor 15. To prevent material blockage at the discharge port 23, a rotatable discharge roller 25 is provided at the discharge port 23. The discharge roller 25 is positioned across the chain feeder 24, and a discharge rod 26 is provided on its outer surface. A discharge motor 27 is provided on the outside of the buffer hopper 22, and the discharge motor 27 is connected to the discharge roller 25 through a reducer. When the feeding motor 27 is working, it drives the feeding roller 25 to rotate through the reducer. The feeding rod 26 continuously hits the material as the feeding roller 25 rotates, so that the material can pass smoothly through the discharge port 23 and enter the chain plate feeder 24, and then be transported to the chain plate conveyor 15.

[0042] In the actual steaming process, the mash is first conveyed to the buffer hopper 22. The chain conveyor 24 and the feeding motor 27 are started, driving the feeding roller 25 to rotate and convey the mash to the chain conveyor 15. The chain conveyor 15 is moved to a suitable position according to actual needs via a power device. The material distribution platform 1 and the identification platform 2 are adjusted to move to the steaming pot 5 to be steamed. The robotic arm 3 is controlled to drive the material distribution device 4 to the discharge port 152. The chain conveyor 15 is started to convey the mash to the corresponding discharge port 152 and drop it into the material distribution device 4. After it is full, the robotic arm 3 drives the material distribution device 4 to move into the steaming pot 5 to spread the material. At the same time, the vision sensor 14 moves above the steaming pot 5 along with the rotating swing arm 13 to monitor the material surface in real time. The spreading stops when the maximum height is reached.

Claims

1. A mobile robotic steamer loading device, comprising a material feeding platform (1) and an identification platform (2), wherein a robotic arm (3) is mounted on the upper surface of the material feeding platform (1), a material feeding device (4) is mounted on the end of the robotic arm (3), and an identification component capable of monitoring the material surface of the steamer (5) is mounted on the identification platform (2), and the robotic arm (3) and the identification component are located on one side of a plurality of steamers (5) arranged in a straight line, characterized in that, It also includes a guide rail (6), and the extension direction of the guide rail (6) is consistent with the arrangement direction of the multiple steam pots (5). The material feeding platform (1) and the identification platform (2) are movably arranged on the guide rail (6), and both the material feeding platform (1) and the identification platform (2) are equipped with a driving device that can drive them to move along the length direction of the guide rail (6). The guide rail (6) is provided with a feeding device for feeding the material to the feeding device (4) on the side away from the pot (5).

2. The mobile robot steamer device according to claim 1, characterized in that, Two guide rails (6) are provided and arranged in parallel. At least one slider (7) is provided at the bottom of the fabric platform (1) and the identification platform (2) to be slidably connected to the two guide rails (6).

3. The mobile robot steamer device according to claim 2, characterized in that, The driving device includes a drive motor (8) installed on the fabric platform (1) and the identification platform (2), and the output end of the drive motor (8) faces downward and is equipped with a drive gear (9); A rack (10) that meshes with the drive gear (9) is fixed to one side of the guide rail (6) near the drive gear (9).

4. The mobile robot steamer device according to claim 1, characterized in that, The identification component includes a base (11) mounted on the identification platform (2), and a rotating arm (13) is mounted on the upper end of the base (11) via a rotating motor (12), and a visual sensor (14) is mounted on the end of the rotating arm (13).

5. The mobile robot steamer device according to claim 4, characterized in that, The path of the visual sensor (14) as it rotates with the rotating arm (13) passes through the vertical space where the pot (5) is located.

6. The mobile robot steamer device according to claim 1, characterized in that, The feeding device includes a chain conveyor (15), and its conveyor chain (151) can move in both directions, with both ends being discharge ports (152).

7. The mobile robot steamer device according to claim 6, characterized in that, The chain conveyor (15) is provided with a mounting frame (16) at the bottom, and the mounting frame (16) is slidably mounted on two support rails (17). The mounting frame (16) is equipped with a power device that can drive the mounting frame (16) to move along the support rails (17).

8. The mobile robot steamer device according to claim 7, characterized in that, The power unit includes two drive wheels (18) and driven wheels (19) installed on the front and rear sides of the mounting frame (16), both of which are rolledly connected to the support rail (17). The two drive wheels (18) are connected by a rotating shaft (20). A power motor (21) is installed on the mounting frame (16), and the output end of the power motor (21) is connected to the rotating shaft (20) through a reducer.

9. The mobile robot steamer device according to claim 6, characterized in that, A buffer hopper (22) is provided on one side of the chain conveyor (15), and a discharge port (23) is opened on the side of the buffer hopper (22) close to the chain conveyor (15); The buffer hopper (22) has an opening at the bottom and is equipped with a chain plate feeder (24), which extends through the discharge port (23) and the end of the extension direction is higher than the chain plate conveyor (15).

10. The mobile robot steamer device according to claim 9, characterized in that, A feeding roller (25) is rotatably provided at the discharge port (23), which is arranged across the chain plate feeder (24), and a feeding rod (26) is provided on the outer surface of the feeding roller (25); The buffer hopper (22) is equipped with a feeding motor (27) on its outer side, and the feeding motor (27) is connected to the feeding roller (25) through a reducer.

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