A material spreading robot based on closed-loop spreading

Abstract

This utility model relates to a closed-loop material spreading robot, comprising an intelligent steaming robot with a vertical feeding arm. A sealing cover is detachably installed at the lower end of the vertical feeding arm. A circular material spreading plate is fixed inside the sealing cover. Multiple material spreading holes are evenly distributed circumferentially on the material spreading plate. A vertical rotating shaft is rotatably mounted at the center of the material spreading plate. A drive mechanism for driving the rotating shaft is provided on the sealing cover. A circular perforation plate is attached to the bottom surface of the material spreading plate. The perforation plate is fixed to the rotating shaft and has a discharge port that mates with each of the individual material spreading holes. This utility model uses the intelligent steaming robot to place the sealing cover on the steaming vessel. The rotating shaft drives the perforation plate to rotate, causing the discharge ports on the perforation plate to sequentially pass through each material spreading hole. The fermented mash falls into the steaming vessel through the discharge ports and is evenly distributed. Throughout the entire steaming and spreading process, the steaming vessel remains closed, preventing external air from entering and ensuring internal steaming efficiency and effect.

Description

Technical Field

[0001] This utility model relates to the field of liquor manufacturing technology, specifically to a material spreading robot based on a closed-loop spreading mechanism. Background Technology

[0002] Baijiu brewing is a unique manufacturing industry in China. Baijiu is made primarily from grains and requires processes such as solid-state fermentation and barrel distillation. Traditional manufacturing methods rely heavily on manual labor, which is highly dependent on human experience and requires a large workforce, resulting in high labor costs and low overall production efficiency.

[0003] Our company discloses a three-axis multi-dimensional drive mechanism for an intelligent steaming machine in patent CN205774433U. This intelligent steaming robot is based on rigid-flexible dynamics, dynamic simulation of flexible robots, spatial dynamic measurement and system stiffness research, and nonlinear control strategy research. It can be precisely controlled to achieve thin, gentle, and uniform sprinkling of the mash, thereby improving the alcohol yield. During operation, the robot uses a buffer feeding arm at its end to sprinkle the mash into the steaming tank 10 for steaming. However, during the sprinkling process, the lid of the steaming tank needs to be open. With the tank open, cold air from outside can enter, lowering the steaming temperature and affecting steaming efficiency and results. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by providing a material-spreading robot based on a closed-loop spreading method. This method reduces the impact of external factors on the interior of the steaming chamber and ensures steaming efficiency.

[0005] This utility model is achieved through the following technical solution: a material spreading robot based on a closed-loop spreading mechanism, comprising an intelligent steaming robot. The intelligent steaming robot has a vertical feeding arm, and a sealing cover is detachably installed at the lower end of the vertical feeding arm. A circular material spreading plate is fixedly connected inside the sealing cover. Multiple material spreading holes are evenly distributed along the circumference of the material spreading plate. A vertical rotating shaft is rotatably installed at the center of the material spreading plate. A driving mechanism for driving the rotating shaft is provided on the sealing cover. A circular hole-blocking plate is attached to the bottom surface of the material spreading plate. The hole-blocking plate is fixedly connected to the rotating shaft. A material discharge port that matches a single material spreading hole is opened on the hole-blocking plate.

[0006] In this system, an intelligent loading robot places a sealing cap on the steaming vessel, creating a closed environment inside. The robot delivers the fermented mash via a vertical feeding arm, feeding it into a distribution plate inside the sealing cap and distributing it through various distribution holes. During distribution, a drive mechanism rotates a shaft, causing a perforation plate to rotate and allowing the discharge ports on the perforation plate to pass through each distribution hole sequentially. The fermented mash from each distribution hole then falls into the steaming vessel through the discharge ports, ensuring even distribution. Throughout the entire loading and distributing process, the steaming vessel remains sealed, preventing external air from entering and thus guaranteeing efficient and effective steaming.

[0007] As an optimization, the feeding holes are fan-shaped holes. In this optimized solution, the fermented mash falls in a fan shape through the fan-shaped feeding holes, and then is distributed circumferentially through multiple feeding holes, making the distribution of fermented mash more uniform.

[0008] As an optimization, a quick-change connector is fixedly connected to the lower end of the vertical feeding arm, and a quick-change plug compatible with the quick-change connector is fixedly connected to the upper end of the sealing cover. This optimized solution achieves a detachable connection between the vertical feeding arm and the sealing cover through the cooperation of the quick-change connector and the quick-change plug, and the connection is faster and more convenient.

[0009] As an optimization, the drive structure includes a motor and a protective cover. The output end of the motor is fixedly connected to the upper end of the rotating shaft. The protective cover is placed outside the motor, and the motor is fixedly connected to the protective cover. The protective cover is fixedly connected to a sealing cover via a connecting rod. In this optimized solution, the motor is fixed inside the protective cover, and the fixed connection between the protective cover and the sealing cover secures the motor, thereby enabling the motor to drive the rotating shaft to rotate.

[0010] As an optimization, the top of the protective cover is tapered. This optimization prevents material from piling up on top of the protective cover.

[0011] As an optimization, a material-pushing rod is fixedly connected to the outer wall of the rotating shaft above the material distribution plate, and the material-pushing rod is parallel to the material distribution plate. In this optimized solution, the rotating shaft drives the material-pushing rod to rotate, which in turn pushes the mash on the material distribution plate into the material distribution holes, keeping the mash flat and uniform, preventing the mash from accumulating on the material distribution plate, and improving the uniformity of material distribution.

[0012] As an optimization, the bottom surface of the feeding rod forms an angle with the feeding plate, the angle being 30°~45°. This optimization makes the feeding rod tilted at a certain angle, facilitating the movement of the mash.

[0013] As an optimization, the intelligent steaming robot includes a base, a vertical frame, a lifting frame, a primary feeding arm, a secondary feeding arm, and a vertical feeding arm. The vertical frame is vertically mounted on the upper part of the base, and a lifting frame is driven and mounted on the vertical frame. The primary feeding arm is horizontally cantilevered within the lifting frame. One end of the secondary feeding arm is rotatably mounted on the cantilever end of the primary feeding arm, and the upper end of the vertical feeding arm is rotatably mounted below the other end of the secondary feeding arm. In this optimized design, the lifting frame's height can be adjusted to facilitate the connection between the sealing cap and the steaming drum. The primary and secondary feeding arms are rotatably connected, allowing for easy adjustment of their horizontal position.

[0014] As an optimization, a drive turntable is installed between the upright frame and the base, which drives the upright frame to rotate. This optimized design allows for a larger adjustment angle in the horizontal direction, making it more convenient to use.

[0015] The beneficial effects of this utility model are: the intelligent steaming robot can adjust its position in both the horizontal and vertical directions, has a high degree of automation, is flexible and convenient to operate, and makes it easier to connect the sealing lid with the steaming bucket. An intelligent loading robot places a sealing lid on the steaming vessel, creating a closed environment inside. The robot then feeds the mash into a distribution plate inside the sealing lid via a vertical feeding arm, distributing it through various distribution holes. During distribution, a drive mechanism rotates a shaft, causing a baffle plate to rotate and allowing the discharge ports on the baffle plate to pass through each distribution hole sequentially. The mash from each distribution hole falls into the steaming vessel through the discharge ports, ensuring even distribution. Throughout the entire loading and distributing process, the steaming vessel remains sealed, preventing external air from entering and thus guaranteeing efficient and effective steaming. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a cross-sectional view of the sealing cap; Figure 3 for Figure 2 Enlarged view of part A; Figure 4 This is a top view of the fabric panel; Figure 5 This is a schematic diagram of a hole-blocking plate; Figure 6 This is a schematic diagram of the feeding rod; Figure 7 This is a schematic diagram showing the connection between the sealing cap and the simmering barrel; As shown in the figure: 1. Vertical feeding arm; 2. Sealing cover; 3. Quick-change connector; 4. Quick-change plug; 5. Fabric plate; 6. Rotating shaft; 7. Drive mechanism; 71. Motor; 72. Protective cover; 73. Connecting rod; 8. Hole shield; 9. Material pusher; 10. Sifting bucket; 11. Fabric hole; 12. Material drop outlet; 13. Base; 14. Stand; 15. Lifting frame; 16. Primary feeding arm; 17. Secondary feeding arm. Detailed Implementation

[0017] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0018] like Figures 1-7 As shown, a material spreading robot based on a closed-loop spreading mechanism includes an intelligent steaming robot with a vertical feeding arm 1. A sealing cover 2 is detachably installed at the lower end of the vertical feeding arm 1. A circular material spreading plate 5 is fixedly connected inside the sealing cover 2, and multiple material spreading holes 11 are evenly distributed along the circumference of the material spreading plate 5. A vertical rotating shaft 6 is rotatably mounted at the center of the material spreading plate 5, and a driving mechanism 7 for driving the rotating shaft 6 is provided on the sealing cover 2. A circular hole-blocking plate 8 is attached to the bottom surface of the material spreading plate 5, and the hole-blocking plate 8 is fixedly connected to the rotating shaft 6. A material discharge port 12 that mates with a single material spreading hole 11 is opened on the hole-blocking plate 8.

[0019] Specifically, the sealing cover 2 has a conical structure, with the small-diameter end serving as the feed inlet, which is fixedly connected to the lower end of the vertical feeding arm 1. In this embodiment, a quick-change connector 3 is fixedly connected to the lower end of the vertical feeding arm 1, and a quick-change plug 4 compatible with the quick-change connector 3 is fixedly connected to the upper end of the sealing cover 2. The quick-change connector 3 and quick-change plug 4 can be purchased commercially. Through the cooperation of the quick-change connector 3 and quick-change plug 4, a detachable connection between the vertical feeding arm 1 and the sealing cover 2 is achieved, and the connection is faster and more convenient.

[0020] Specifically, the feeding holes 11 are fan-shaped holes. The included angle between the central axes of adjacent feeding holes 11 is preferably between 24° and 36°. In this embodiment, the feeding plate 5 has 10 feeding holes 11, which are evenly distributed circumferentially around the center of the feeding plate 5. When the mash falls into the fermentation tank 10, it disperses in a fan shape. By maintaining a small included angle between adjacent feeding holes 11, the mash can cover the corresponding fan-shaped area of ​​the fermentation tank 10, avoiding any gaps in the feeding. Furthermore, the fan-shaped feeding holes 11 allow the mash to fall in a fan shape, and the multiple feeding holes 11 distribute the mash circumferentially, making the distribution of the mash more uniform.

[0021] Specifically, the rotating shaft 6 is rotatably connected to the fabric plate 5 via bearings, resulting in smoother rotation. The drive structure includes a motor 71 and a protective cover 72. The output end of the motor 71 is fixedly connected to the upper end of the rotating shaft 6. The protective cover 72 covers the outside of the motor 71, and the motor 71 is fixedly connected to the protective cover 72. The protective cover 72 is fixedly connected to the sealing cover 2 via a connecting rod 73. The motor 71 is fixed inside the protective cover 72, and the fixed connection between the protective cover 72 and the sealing cover 2 secures the motor, thereby driving the rotating shaft 6 to rotate. In this embodiment, the top of the protective cover 72 is conical to prevent material from piling up on top of the protective cover 72.

[0022] Specifically, the rotating shaft 6 is fixedly connected to the center of the baffle plate 8. The discharge port 12 has a fan-shaped structure, and the angle of the discharge port 12 is greater than the angle of the feeding hole 11. When the rotating shaft 6 drives the baffle plate 8 to rotate, the discharge port 12 passes through each feeding hole 11 one by one. By limiting the angle of the discharge port 12, the multiple feeding holes 11 discharge material one by one, preventing turbulence when the mash falls and affecting the distribution of the mash.

[0023] A material-pushing rod 9 is fixedly connected to the outer wall of the rotating shaft 6 above the spreading plate 5. The material-pushing rod 9 extends radially, and one end of the material-pushing rod 9 is fixedly connected to the rotating shaft 6. The material-pushing rod 9 is parallel to the spreading plate 5. An angle of 30° to 45° is formed between the bottom surface of the material-pushing rod 9 and the spreading plate 5. The rotating shaft 6 drives the material-pushing rod 9 to rotate, causing it to push the mash on the spreading plate 5 into the spreading hole 11, keeping the mash flat and uniform, preventing it from accumulating on the spreading plate 5, and improving the uniformity of spreading. The material-pushing rod 9 is tilted at a certain angle to facilitate pushing and leveling the mash.

[0024] In this embodiment, four feeding rods 9 are fixedly connected to the rotating shaft 6 to improve feeding efficiency. The four feeding rods 9 are arranged in pairs, and the two pairs of feeding rods 9 are symmetrically fixed to both sides of the outer wall of the rotating shaft 6, with the two feeding rods 9 in the same pair distributed vertically.

[0025] Specifically, the intelligent steamer robot includes a base 13, a stand 14, a lifting frame 15, a primary feeding arm 16, a secondary feeding arm 17, and the vertical feeding arm 1.

[0026] A support frame 14 is vertically mounted on the upper end of the base 13. A drive turntable is installed between the support frame 14 and the base 13. The drive turntable drives the support frame 14 to rotate. The support frame 14 can rotate freely on the base 13 about a vertical axis, and the rotation angle can be controlled. The drive turntable can be an electric slewing bearing, which can be directly purchased.

[0027] A lifting frame 15 is driven and mounted on the upright frame 14. The lifting frame 15 is slidably connected to the upright frame 14, and the lifting frame 15 is driven by a lifting drive device to move up and down along the upright frame 14. The lifting drive device can be a telescopic cylinder, such as a hydraulic cylinder or an electric cylinder, which can be directly purchased.

[0028] A primary feeding arm 16 is horizontally cantilevered within the lifting frame 15, and a secondary feeding arm 17 is rotatably mounted at the cantilever end of the primary feeding arm 16. A rotation control device is installed between the primary feeding arm 16 and the secondary feeding arm 17. The control system controls the secondary feeding arm 17 to swing horizontally back and forth. Specifically, the interface of the connecting channel between the primary feeding arm 16 and the secondary feeding arm 17 is sealed and free to rotate. A gear set is installed between the primary feeding arm 16 and the secondary feeding arm 17. This gear set is driven by a drive motor. The driving gear and driven gear of the gear set are fixedly mounted on the primary feeding arm 16 and the secondary feeding arm 17, respectively. The gear set is driven by the drive motor to rotate, thereby controlling the secondary feeding arm 17 to swing horizontally.

[0029] The upper end of a vertical feeding arm 1 is rotatably mounted below the other end of the secondary feeding arm 17. The vertical feeding arm 1 is a hollow cylindrical structure. A rotation control device is also installed between the secondary feeding arm 17 and the vertical feeding arm 1. The control system controls the vertical feeding arm 1 to automatically rotate shaft 6. The driving gear and driven gear of the gear set are respectively fixed on the secondary feeding arm 17 and the vertical feeding arm 1. The gear set is driven by a drive motor to rotate, thereby controlling the rotation speed and rotation angle of the vertical feeding arm 1. The rotation of the vertical feeding arm drives the sealing cover to rotate, which facilitates the adjustment of the sealing cover angle. If the mash is unevenly distributed during the feeding process and there are gaps in the material, the angle of each distribution hole can be adjusted by rotating the sealing cover angle to adjust the material drop position of each distribution hole and ensure uniform material distribution.

[0030] The specific structure of the feeding mechanism of the primary feeding arm and the secondary feeding arm is as follows: Both the primary feeding arm 16 and the secondary feeding arm 17 are hollow cylindrical structures. The upper end of the primary feeding arm 16 is fixed with a feeding hopper for inputting materials. A screw feeder is coaxially installed inside the primary feeding arm 16. One end of the screw feeder extends out of the rear end of the primary feeding arm 16 and is coaxially installed with a feeding motor. A feeding channel is formed on the primary feeding arm 16 below the other end of the screw feeder. The lower end of the feeding channel is connected to the secondary feeding arm 17. Another screw feeder and a feeding motor are coaxially installed inside the secondary feeding arm 17. This intelligent steaming robot is based on the prior art disclosed in our patent CN205774433U. It adjusts the height of the lifting frame 15. The upright frame 14 is rotatably connected to the base 13, and the primary feeding arm 16 is rotatably connected to the secondary feeding arm 17. The secondary feeding arm 17 is rotatably connected to the vertical feeding arm 1, which facilitates the adjustment of the horizontal position and makes it easier to seal the sealing cover 2 with the steaming drum 10.

[0031] It should be noted that in our patent CN205774433U, a buffer feeding arm is installed at the lower end of the vertical feeding arm 1, and material is spread through the buffer feeding arm. Since a quick-change connector 3 is fixedly connected to the lower end of the vertical feeding arm 1 in this invention, those skilled in the art will realize that a quick-change connector 4 can also be fixedly connected to the feed inlet of the buffer feeding arm, allowing for quick connection with the vertical feeding arm 1, thus enabling the buffer feeding arm and the sealing cover 2 of this invention to be used interchangeably. For open-type material spreading, the buffer feeding arm can be connected to the vertical feeding arm 1; for closed-type material spreading, the sealing cover 2 can be connected to the vertical feeding arm 1. This makes the operation more flexible.

[0032] Working Principle: During operation, the intelligent loading robot adjusts the position of the sealing cover 2, ensuring it covers the steaming vessel 10 and creating a closed environment inside. The fermented mash, delivered by the intelligent loading robot, is fed onto the distribution plate 5 inside the sealing cover 2 via the vertical feeding arm 1. The drive mechanism 7 drives the rotating shaft 6 to rotate, causing the feeding rod 9 to rotate and evenly distribute the mash into each distribution hole 11. Simultaneously, the rotating shaft 6 drives the hole-blocking plate 8 to rotate, causing the discharge port 12 on the hole-blocking plate 8 to pass through each distribution hole 11 in sequence. The fermented mash in each distribution hole 11 falls into the steaming vessel 10 through the discharge port 12 and is evenly distributed. Throughout the entire loading and distributing process, the steaming vessel 10 remains closed, preventing external air from entering and ensuring internal steaming efficiency and effect.

[0033] Of course, the above description is not limited to the examples above. Technical features of this utility model not described can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of this utility model and are not intended to limit this utility model. This utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model do not depart from the spirit of this utility model and should also fall within the protection scope of the claims of this utility model.

Claims

1. A spreading robot based on closed spreading, comprising a smart top-up robot having a vertical feeding arm (1), characterized in that: The lower end of the vertical feeding arm (1) is detachably fitted with a sealing cover (2). A circular fabric plate (5) is fixedly connected inside the sealing cover (2). Multiple fabric holes (11) are evenly distributed along the circumference of the fabric plate (5). A vertical rotating shaft (6) is rotatably installed at the center of the fabric plate (5). A driving mechanism (7) for driving the rotating shaft (6) is provided on the sealing cover (2). A circular hole-blocking plate (8) is attached to the bottom surface of the fabric plate (5). The hole-blocking plate (8) is fixedly connected to the rotating shaft (6). A material drop port (12) that matches a single fabric hole (11) is opened on the hole-blocking plate (8).

2. A spreader robot based on closed spread according to claim 1, characterized in that: The fabric hole (11) is a fan-shaped hole.

3. The material spreading robot based on a closed-loop spreading mechanism according to claim 1, characterized in that: The lower end of the vertical feeding arm (1) is fixedly connected to a quick-change connector (3), and the upper end of the sealing cover (2) is fixedly connected to a quick-change plug (4) that is compatible with the quick-change connector (3).

4. The enclosed spread-based spreading robot of claim 1, wherein: The drive mechanism includes a motor (71) and a protective cover (72). The output end of the motor is fixedly connected to the upper end of the rotating shaft (6). The protective cover (72) is placed on the outside of the motor. The motor is fixedly connected to the protective cover (72). The protective cover (72) is fixedly connected to the sealing cover (2) through a connecting rod (73).

5. A closed-spout based spreading robot according to claim 4, characterized in that: The top of the protective cover (72) is conical.

6. The enclosed spread-based spreading robot of claim 1, wherein: The rotating shaft (6) is fixed to the outer wall above the fabric plate (5) with a material-pulling rod (9), which is parallel to the fabric plate (5).

7. A closed-spout based spreading robot according to claim 6, characterized in that: The bottom surface of the feed bar (9) and the fabric plate (5) form an angle, the angle being 30°~45°.

8. A closed-spout based spilling robot according to any one of claims 1-7, characterized in that: The intelligent steamer robot includes a base (13), a stand (14), a lifting frame (15), a primary feeding arm (16), a secondary feeding arm (17), and the vertical feeding arm (1). The stand (14) is vertically installed on the upper end of the base (13). A lifting frame (15) is driven and installed on the stand (14). The primary feeding arm (16) is horizontally cantilevered inside the lifting frame (15). One end of the secondary feeding arm (17) is rotatably installed at the cantilever end of the primary feeding arm (16). The upper end of the vertical feeding arm (1) is rotatably installed below the other end of the secondary feeding arm (17).

9. A closed-spout based spreading robot according to claim 8, characterized in that: A drive turntable is installed between the upright (14) and the base (13), which drives the upright (14) to rotate.

Images