阅读说明：本技术 醅料出窖设备 (Fermented grain material discharging device ) 是由 何文浩 宋海涛 宋金连 于 2021-08-04 设计创作，主要内容包括：本发明涉及制酒设备技术领域,尤其涉及一种醅料出窖设备,包括视觉系统、移动装置和挖料装置,挖料装置与视觉系统均设置于移动装置上,视觉系统与挖料装置连接,以检测窖池的实际位置和窖池内的醅料深度,并控制移动装置的移动位置和挖料装置的挖料深度。根据视觉系统检测的窖池深度信息控制挖去装置对酒醅进行出窖提取,对设备本身进行精确定位并调整自身位姿到最有利于挖取醅料的状态,自动化程度高,替代了传统的用人工来辅助机械抓斗进行挖醅,通过视觉系统精确地控制挖料装置移动,避免挖料装置与窖池的池壁和窖泥发生碰撞,以解决在传统酿酒过程中醅料出窖人力劳动强度大、行车投入费用高、醅料出窖效率低、出窖易损坏窖池等问题。(The invention relates to the technical field of wine making equipment, in particular to fermented grain material discharging equipment which comprises a visual system, a moving device and a material digging device, wherein the material digging device and the visual system are arranged on the moving device, and the visual system is connected with the material digging device so as to detect the actual position of a pit and the depth of fermented grain materials in the pit and control the moving position of the moving device and the material digging depth of the material digging device. According to the pit depth information control of vision system detection dig the device and go out the cellar for storing things and draw wine unstrained spirits, carry out accurate positioning and adjust self position appearance to the state that is favorable to digging the unstrained spirits material most to equipment itself, degree of automation is high, replaced traditional assisting machinery grab bucket with the manual work and dug the unstrained spirits, control through vision system ground accurately and dig the material device and remove, avoid digging the pool wall and the cellar for storing things mud of material device and cellar for storing things and collide, it is big to solve unstrained spirits material out the cellar for storing things manpower intensity of labour at traditional making wine in-process, the driving input cost is high, unstrained spirits material goes out the cellar for storing things inefficiency, go out the easy damage cellar for storing things scheduling problem.)

1. The fermented grain material cellar discharging device is characterized in that: the pit digging device comprises a visual system, a moving device and a digging device, wherein the digging device and the visual system are arranged on the moving device, the visual system is connected with the digging device to detect the actual position of a pit and the depth of fermented grains in the pit, and the moving position of the moving device and the digging depth of the digging device are controlled.

2. The fermented grain material cellar discharging device of claim 1, wherein: the visual system comprises a first visual system, a second visual system and a controller, the first visual system is used for positioning the mobile device and controlling the mobile device to move in the length direction of the pit pool, the second visual system is used for detecting the depth of fermented materials in the pit pool, the first visual system and the second visual system are both connected with the controller, and the mobile device and the digging device are connected with the controller.

3. The fermented grain material cellar discharging device of claim 2, wherein: the moving device comprises a walking frame and a transmission assembly, the transmission assembly is arranged on the walking frame, and the transmission assembly is connected with the digging device so as to control the horizontal and vertical movement of the digging device.

4. The fermented grain material discharging device according to claim 3, wherein: the transmission assembly comprises a transverse driving piece, a longitudinal driving piece and a vertical driving piece, the vertical driving piece is connected with the digging device to drive the digging device to move vertically, the longitudinal driving piece is connected with the vertical driving piece to drive the digging device to move vertically along the horizontal direction, the transverse driving piece is arranged on the walking frame and connected with the longitudinal driving piece to drive the digging device to move transversely along the horizontal direction.

5. The fermented grain material discharging device according to claim 4, wherein: the transverse driving piece comprises a first driver, a first chain rail and a bracket, the first driver is connected with the first chain rail, the first driver and the first chain rail are arranged on the walking frame, the longitudinal driving piece is arranged on the bracket, and the bracket is connected with the first chain rail; the longitudinal driving piece comprises a second driver and a second caterpillar track, the second driver is connected with the second caterpillar track, the second driver and the second caterpillar track are arranged on the bracket, and the vertical driving piece is connected with the second caterpillar track; the vertical driving piece comprises a third driver and a connecting shaft, the third driver is arranged on the second caterpillar track and connected with the connecting shaft, the connecting shaft is vertically arranged and connected with the digging device, and the first driver, the second driver and the third driver are all connected with the controller.

6. The fermented grain material discharging device according to claim 5, wherein: the walking frame comprises a frame body and a vehicle body, the frame body is arranged on the vehicle body, and the transmission assembly is arranged on the frame body.

7. The fermented grain material discharging device according to claim 6, wherein: the automobile body includes runner, fourth driver and control panel, the fourth driver with the runner is connected, and can drive the rotation of runner, the control panel with the fourth driver is connected.

8. The fermented grain material discharging device according to claim 7, wherein: the control panel is connected with the controller.

9. The fermented grain material discharging device according to claim 6, wherein: and the vehicle body is also provided with a storage bin.

10. The fermented grain material discharging device according to claim 4, wherein: the material digging device comprises a material receiving barrel, a material receiving plate and a telescopic connecting rod, wherein the material receiving plate is hinged to an opening of the material receiving barrel, the connecting rod is arranged inside the material receiving barrel, one end of the connecting rod is hinged to the material receiving barrel, the other end of the connecting rod is hinged to the material receiving plate, and the material receiving barrel is connected with the vertical driving piece.

Technical Field

The invention relates to the technical field of wine making equipment, in particular to fermented grain material cellar discharging equipment.

Background

The white spirit is mainly divided into faint scent type, strong scent type and Maotai scent type according to scent type. The fen-flavor liquor is fermented by using a ground jar, and the Luzhou-flavor liquor and Maotai-flavor liquor are fermented by using a cellar. The pit is a rectangular fermentation container, and different pit mud is correspondingly adopted on the wall of the pit according to the requirements of different production processes of strong aromatic type and Maotai-flavor type.

At present, most of excavation of fermented grains in a pit is manual excavation or a mode of adopting a travelling crane to match with a mechanical grab bucket for discharging. The driving mode can reduce the labor intensity to a certain extent, but the ideal brewing process requirement is not met far: 1. the high-altitude crane grab bucket has large mass, volume and inertia, so that high operation requirements are imposed on operators, and ground personnel are required to be matched beside a pit to prevent the mechanical grab bucket from damaging the wall of the pit; 2. the pit mud on the wall of the pit and the red wall is prevented from being damaged by the mechanical grab bucket, the grab bucket cannot be close to the wall of the pit, and the fermented grains around the pit cannot be completely taken out; 3. the ground auxiliary personnel and the mechanical grab bucket are too close to each other, so that safety accidents are easily caused; 4. the adoption of the traveling crane mode requires enterprises to increase the investment of infrastructure, the investment is large, the operation and maintenance cost is high, and some old plants do not have the condition for erecting the traveling crane. Therefore, although the driving mode improves the efficiency of the wine making industry, the driving mode needs overhigh investment funds and certain factory conditions, and has certain potential safety hazards.

The existing fermented grain material discharging equipment is characterized in that a bucket type lifting main body with corners is hung on a rotatable shaft at the upper end of a scissor lifting support to form a combined body, the combined body is arranged on a movable walking mechanism, and a corresponding detection part and an industrial personal computer control system are configured, so that the digging end of the lifting main body of the device moves in a three-dimensional space in a pit to dig the fermented grain material. The device is limited in that the device is manually driven to the initial point of the pit when the fermented grains are dug each time, and the bucket type lifting main body is located on the boundary, so that manual intervention is needed, and the precision and the safety cannot be guaranteed. And comprises a side vertical surface and a bottom surface which are composed of frameworks, the frameworks are provided with bone spurs which are vertically arranged with the frameworks, the frameworks are composed of bendable movable joints, and the top of the device is provided with a lifting ring. When the device is placed into a cellar, the whole device is placed into a cellar pool, then food materials are placed into the device for fermentation, and when the device is taken out of the cellar, a traveling crane is adopted to lift the whole device out of a ground cylinder. The scheme is simple, but capital construction needs to be greatly increased for enterprises without traveling cranes, the investment cost is high, and the operation and maintenance cost is high.

Disclosure of Invention

The invention provides fermented grain material discharging equipment which is used for solving the problems that the fermented grain material discharging equipment in the prior art is low in working precision and low in automation degree, a material digging device is prone to defects of incomplete digging and damage to the wall of a pit pool, strong adaptability is achieved, the automation degree is high, the traditional method that manual work is used for assisting a mechanical grab bucket to dig fermented grains is replaced, the whole pit discharging process can completely break away from manual work, alcohol volatilization is reduced, safety and reliability are achieved, the material digging device is accurately controlled to move through a vision system, and the effect that the material digging device collides with the wall of the pit pool and pit mud is avoided.

The invention provides fermented grain material discharging equipment which comprises a visual system, a moving device and a material digging device, wherein the material digging device and the visual system are arranged on the moving device, and the visual system is connected with the material digging device so as to detect the actual position of a pit and the fermented grain material depth in the pit and control the moving position of the moving device and the material digging depth of the material digging device.

According to the fermented grain material discharging device provided by the invention, the vision system comprises a first vision system, a second vision system and a controller, the first vision system is used for positioning the moving device and controlling the moving device to move in the length direction of the pit, the second vision system is used for detecting the depth of fermented grain materials in the pit, the first vision system and the second vision system are both connected with the controller, and the moving device and the digging device are connected with the controller.

According to the fermented grain material discharging device provided by the invention, the moving device comprises a walking frame and a transmission assembly, the transmission assembly is arranged on the walking frame, and the transmission assembly is connected with the digging device so as to control the digging device to move horizontally and vertically.

According to the fermented grain material discharging device provided by the invention, the transmission assembly comprises a transverse driving piece, a longitudinal driving piece and a vertical driving piece, the vertical driving piece is connected with the material digging device to drive the material digging device to move vertically, the longitudinal driving piece is connected with the vertical driving piece to drive the material digging device to move longitudinally along the horizontal direction, the transverse driving piece is arranged on the walking frame, and the transverse driving piece is connected with the longitudinal driving piece to drive the material digging device to move transversely along the horizontal direction.

According to the fermented grain material discharging device provided by the invention, the transverse driving member comprises a first driver, a first caterpillar track and a support, the first driver is connected with the first caterpillar track, the first driver and the first caterpillar track are arranged on the walking frame, the longitudinal driving member is arranged on the support, and the support is connected with the first caterpillar track; the longitudinal driving piece comprises a second driver and a second caterpillar track, the second driver is connected with the second caterpillar track, the second driver and the second caterpillar track are arranged on the bracket, and the vertical driving piece is connected with the second caterpillar track; the vertical driving piece comprises a third driver and a connecting shaft, the third driver is arranged on the second caterpillar track and connected with the connecting shaft, the connecting shaft is vertically arranged and connected with the digging device, and the first driver, the second driver and the third driver are all connected with the controller.

According to the fermented grain material cellar discharging device provided by the invention, the walking frame comprises a frame body and a vehicle body, the frame body is arranged on the vehicle body, and the transmission assembly is arranged on the frame body.

According to the fermented grain material cellar discharging device provided by the invention, the vehicle body comprises a rotating wheel, a fourth driver and a control board, the fourth driver is connected with the rotating wheel and can drive the rotating wheel to rotate, and the control board is connected with the fourth driver.

According to the fermented grain material discharging device provided by the invention, the control panel is connected with the controller.

According to the fermented grain material discharging device provided by the invention, the vehicle body is also provided with a storage bin.

According to the fermented grain material cellar discharging device provided by the invention, the digging device comprises a material receiving barrel, a material receiving plate and a telescopic connecting rod, the material receiving plate is hinged with an opening of the material receiving barrel, the connecting rod is arranged inside the material receiving barrel, one end of the connecting rod is hinged with the material receiving barrel, the other end of the connecting rod is hinged with the material receiving plate, and the material receiving barrel is connected with the vertical driving piece.

The invention provides fermented grains discharging equipment, which is equipment for automatically discharging fermented grains from a pit, wherein a vision system is used for positioning a moving device and a digging device, can detect the actual position and the depth of the pit in real time, accurately identifies the edge of the pit, and adjusts the self poses of the moving device and the digging device to the state which is most favorable for digging and taking the fermented grains. The mobile device carries on the vision system and digs the material device, sets up in the cellar for storing things pond outside and support and cellar for storing things pond top, and the mobile device can effectively control the position change of digging the material device on the horizontal direction and control and dig the material device and reciprocate in the direction of depth. The digging device can move in a three-dimensional space under the driving of the moving device and is used for automatically digging and taking the fermented grains in the cellar.

According to the invention, the embedded vision system is used for detecting the edge of the cellar, the digging device is controlled to carry out cellar discharging extraction on fermented grains according to cellar depth information detected by the vision system, the fermented grains are stored in the fermented grain storage structure, the device is accurately positioned and the self pose is adjusted to the state which is most beneficial to digging the fermented grains, the adaptability is strong, the automation degree is high, the traditional method that manual work is used for assisting a mechanical grab bucket to dig the fermented grains is replaced, the whole cellar discharging process can be completely separated from manual labor, the volatilization of alcohol is reduced, the device is safe and reliable, the movement of the digging device is accurately controlled through the vision system, the collision between the digging device and the wall of the cellar and cellar mud is avoided, and the problems that the fermented grain discharging labor intensity is high, the driving investment cost is high, the fermented grain discharging efficiency is low, the cellar is easy to damage the cellar and the like in the traditional brewing process are solved. The method is beneficial to protecting the cellar pool, improves the yield, reduces the manual operation, and is an efficient and safe automatic cellar discharging method. The fermented grains can be freely moved in the three-dimensional space of the cellar pool, and the fermented grains can be flexibly, conveniently and rapidly dug, lifted and discharged from the cellar. The fermentation pit discharging device is simple and reasonable in structure, high in automation degree, high in pit discharging efficiency and high in fermented grain discharging net rate.

In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the present invention will be further described with reference to the accompanying drawings or will be understood by the practice of the present invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of fermented grain material discharging equipment provided by the invention;

FIG. 2 is a schematic structural diagram of a transmission assembly of the fermented grain material discharging device provided by the invention;

FIG. 3 is a schematic structural diagram of a digging device of fermented grain material discharging equipment provided by the invention;

FIG. 4 is a schematic structural diagram of a vehicle body of fermented grain material discharging equipment provided by the invention;

reference numerals:

100: a vision system; 110: a first vision system; 120: a second vision system;

200: a mobile device; 210: a walking frame; 220: a transverse drive; 230: a longitudinal drive member; 240: a vertical drive; 211: a frame body; 212: a vehicle body; 213: a storage bin; 221: a first driver; 222: a first caterpillar track; 223: a support; 231: a second caterpillar track; 241: a connecting shaft; 2121: a rotating wheel; 2122: a fourth driver; 2123: a control panel;

300: a material digging device; 310: a material receiving barrel; 320: a material collecting plate; 330: a connecting rod.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

As shown in fig. 1, the fermented substance discharging device provided by the embodiment of the present invention includes a vision system 100, a moving device 200, and a material digging device 300, wherein the material digging device 300 and the vision system 100 are both disposed on the moving device 200, and the vision system 100 is connected to the material digging device 300 to detect an actual position of a pit and a fermented substance depth in the pit, and control a moving position of the moving device 200 and a material digging depth of the material digging device 300.

The fermented grain material discharging device is an automatic fermented grain material discharging device for pit fermentation, the vision system 100 is used for positioning the moving device 200 and the digging device 300, meanwhile, the actual position and the depth of the pit can be detected in real time, the edge of the pit can be accurately identified, and the self poses of the moving device 200 and the digging device 300 are adjusted to the state which is most beneficial to digging and taking the fermented grain material. The mobile device 200 carries the vision system 100 and the digging device 300, is arranged outside the cellar and is supported above the cellar, and the mobile device 200 can effectively control the position change of the digging device 300 in the horizontal direction and control the up-and-down movement of the digging device 300 in the depth direction. The digging device 300 can be driven by the moving device 200 to move in a three-dimensional space and is used for automatically digging unstrained spirits in the cellar.

According to the invention, the embedded vision system 100 is used for detecting the edge of the cellar, the digging device is controlled to take out fermented grains from the cellar and extract the fermented grains into the cellar storage structure according to the cellar depth information detected by the vision system 100, the fermented grains are stored in the cellar storage structure, the device is accurately positioned and the self pose is adjusted to the state which is most beneficial to digging the fermented grains, the adaptability is strong, the automation degree is high, the traditional method that a mechanical grab bucket is used for assisting in digging the fermented grains by manpower is replaced, the whole cellar discharging process can be completely separated from the manual labor, the volatilization of alcohol is reduced, the device is safe and reliable, the device 300 is accurately controlled to move through the vision system 100, the collision between the device 300 and the wall of the cellar and the cellar mud is avoided, and the problems that the fermented grains are discharged from the cellar and are high in labor intensity, the driving investment cost is high, the fermented grains are discharged from the cellar and the cellar is easy to damage the cellar in the traditional brewing process are solved. The method is beneficial to protecting the cellar pool, improves the yield, reduces the manual operation, and is an efficient and safe automatic cellar discharging method. The fermented grains can be freely moved in the three-dimensional space of the cellar pool, and the fermented grains can be flexibly, conveniently and rapidly dug, lifted and discharged from the cellar. The fermentation pit discharging device is simple and reasonable in structure, high in automation degree, high in pit discharging efficiency and high in fermented grain discharging net rate.

The fermented grain material discharging device provided by the invention is not limited to automatic discharging of fermented grains in the brewing industry, can be applied to discharging of vinegar fermented grains in the vinegar making industry and automatic discharging of fermented grains fermented by a pit in other industries, and has wide application range and strong universality.

According to one embodiment of the invention, the vision system 100 comprises a first vision system 110, a second vision system 120 and a controller, wherein the first vision system 110 is used for positioning the mobile device 200 and controlling the mobile device 200 to move in the length direction of the pit, the second vision system 120 is used for detecting the depth of fermented materials in the pit, the first vision system 110 and the second vision system 120 are both connected with the controller, and the mobile device 200 and the digging device 300 are connected with the controller. In this embodiment, the first vision system 110 is a common vision system 100, and is used for positioning the pit itself, and adaptively adjusting the pose of the apparatus itself, so that the apparatus is more suitable for digging unstrained spirits, the second vision system 120 is a depth vision system 100, and can implement detection of the unstrained spirits depth in the pit, the controller controls the moving apparatus 200 to move to the digging work position of the pit according to the information detected by the first vision system 110, and can also control the digging apparatus 300 to dig unstrained spirits in batches and in layers according to the pit exit process detected by the second vision system 120.

The common vision is that the camera acquires images at a high speed, the controller processes the common images, the edge of one side of the pit is identified, the camera is used for referencing the edge of one side of the pit and controlling the mobile device 200 to adjust the pose, the front side of the mobile device 200 faces the length direction of the pit, and the rapid implementation of the fermented grain digging process is facilitated; the depth vision is composed of a camera and a laser emitter, a small included angle is formed between the optical center directions of the camera and the laser emitter to form a structured light vision sensor, the depth value of a measured object relative to the camera can be accurately detected, the depth vision is used for detecting the current depth of the fermented grain material in the fermented grain digging process, and then the mobile device 200 is controlled to enable the digging device 300 to dig at the specified depth. The computer vision technology can be used for accurate control, so that the unstrained spirits digging mechanism reaches the edge of the pit and the pit wall cannot be damaged.

The pit discharging process from device positioning, unstrained spirits digging, extraction, pit discharging, storage to final discharging can be carried out fully automatically, the problems of high labor intensity caused by manual operation of traditional unstrained spirits digging and poor input safety caused by unstrained spirits digging in a travelling crane are solved, and the operation sanitary environment of unstrained spirits pit discharging in the wine making industry is improved. The device is a ground advancing device, does not need factory increase or change capital construction, and has low investment cost and less maintenance cost. Meanwhile, the second vision system 120 better controls the digging device 300 to reach a proper fermented substance depth for digging, so that excessive extrusion to the fermented substance caused by excessive depth in the digging process of the digging device 300 is avoided, and the quality and grade of final wine brewing are influenced. The automatic cellar discharging device strictly follows the traditional production process for discharging fermented grains for brewing wine, and the fermented grains are discharged out of the cellar layer by layer and quickly enter the retort for distillation, so that the problem that the fermented grains are discharged out of the cellar manually or by driving in the traditional method is avoided, the volatilization of alcohol in the process is reduced, and the production efficiency and the brewing quality of enterprises are improved.

As shown in fig. 1 and 2, according to an embodiment of the present invention, the moving device 200 includes a traveling frame 210 and a driving assembly provided on the traveling frame 210, the driving assembly being connected to the material excavating device 300 to control horizontal and vertical movements of the material excavating device 300. In this embodiment, the moving device 200 is moved and fixed on the ground through the bottom walking frame 210, and the transmission assembly is disposed on the walking frame 210 and used for driving the digging device 300 to move in the horizontal direction and the vertical direction. In this embodiment, the traveling frame 210 is composed of four guide rails in the upper horizontal direction and four vertical posts in the lower vertical direction, the four guide rails form a square frame, the space laterally surrounded by the four guide rails is the space occupied by the wine cellar, the transmission assemblies are arranged on the four guide rails, and the four vertical posts are respectively connected to four corners of the square frame installed guide rails for supporting the guide rails above the ground and forming a lifting space for digging the fermented grains by the digging device 300. In this embodiment, the first vision system 110 is disposed on the rail, and the second vision system 120 is disposed on the bracket 223.

According to an embodiment of the present invention, the transmission assembly includes a transverse driving member 220, a longitudinal driving member 230 and a vertical driving member 240, the vertical driving member 240 is connected to the material digging device 300 to drive the material digging device 300 to move vertically, the longitudinal driving member 230 is connected to the vertical driving member 240 to drive the material digging device 300 to move longitudinally in a horizontal direction, the transverse driving member 220 is disposed on the traveling frame 210, and the transverse driving member 220 is connected to the longitudinal driving member 230 to drive the material digging device 300 to move transversely in the horizontal direction. In this embodiment, the length direction that horizontal drive piece 220 drive longitudinal driving piece 230 was followed the jiao chi removes, thereby drive vertical drive piece 240 on the longitudinal driving piece 230 and dig the material device 300 and remove along the length direction who cellar for storing things the chi, the width direction that longitudinal driving piece 230 drive vertical drive piece 240 was followed the jiao chi removes, thereby it removes along the width direction who cellar for storing things the chi to drive dig the material device 300 on the vertical drive piece 240, vertical drive piece 240 drives and digs the depth direction that material device 300 was followed the cellar for storing things the chi and removes, thereby it removes along the depth direction who cellar for storing things the chi to drive the material device 300 of digging.

According to one embodiment of the present invention, the transverse driving member 220 comprises a first driver 221, a first chain rail 222 and a bracket 223, the first driver 221 is connected with the first chain rail 222, the first driver 221 and the first chain rail 222 are arranged on the walking frame 210, the longitudinal driving member 230 is arranged on the bracket 223, and the bracket 223 is connected with the first chain rail 222; the longitudinal driving member 230 comprises a second driving member and a second chain rail 231, the second driving member is connected with the second chain rail 231, the second driving member and the second chain rail 231 are arranged on the bracket 223, and the vertical driving member 240 is connected with the second chain rail 231; vertical driving piece 240 includes third driver and even axle 241, and the third driver sets up on second caterpillar 231, and the third driver is connected with even axle 241, and even axle 241 vertical setting and even axle 241 are connected with digging device 300, and first driver 221, second driver and third driver all are connected with the controller.

In this embodiment, the first driver 221 is formed by connecting a first servo motor and a first speed reducer, the outer side of the first speed reducer is connected with a first synchronous belt inside a guide rail extending along the length direction of the pit on the walking frame 210 through a gear structure to form a first chain rail 222, the wire is wrapped in the first chain rail 222, the support 223 extends along the width direction of the pit, and the end portion of the support 223 is disposed on the first chain rail 222. When first servo motor rotated, first synchronous belt can drive support 223 horizontal migration on the guide rail that extends along cellar for storing things pond length direction to make the vertical driving piece 230 that sets up on the support 223 along cellar for storing things pond length direction horizontal migration. The second driver adopts second servo motor and second reduction gear to link to each other and forms, and the second reduction gear outside links to each other through gear structure and the second hold-in range that extends along cellar for storing things pond length direction on the support 223 and forms second caterpillar 231, and the wire parcel is in second caterpillar 231. When second servo motor rotated, the second hold-in range can drive vertical driving piece 240 horizontal migration on the support 223 that extends along cellar for storing things pond width direction to make vertical driving piece 240 go up to dig material device 300 along cellar for storing things pond width direction horizontal migration. The third driver can adopt third servo motor and third reduction gear, and the third reduction gear accessible gear structure is connected with even axle 241 to control even axle 241 and rise or descend along cellar for storing things pond depth direction, so that the device 300 of digging of linking 241 end connection reciprocates along cellar for storing things pond depth direction. In other embodiments, the transverse driving member 220, the longitudinal driving member 230 and the vertical driving member 240 may adopt other linear motion mechanisms, so as to ensure that the digging device 300 can change its position in the horizontal direction, and ascend and descend to dig the fermented grains layer by layer.

According to an embodiment of the present invention, the walking frame 210 includes a frame body 211 and a vehicle body 212, the frame body 211 is disposed on the vehicle body 212, and the transmission assembly is disposed on the frame body 211. In this embodiment, the walking frame 210 is composed of an upper frame body 211 and a lower vehicle body 212, the upper frame body 211 is composed of four guide rails in the upper horizontal direction and four upright posts in the lower vertical direction, the four guide rails form a square frame shape, and the four upright posts are respectively connected to four corners of the square frame guide rails for supporting the guide rails above the ground, so that a certain lifting space for digging the fermented grains by the digging device 300 is formed between the frame body 211 and the wine cellar. The two vehicle bodies 212 are respectively positioned on the length edges of the two sides of the pit, the two pairs of upright posts corresponding to the length direction are respectively positioned on the two vehicle bodies 212, and the frame body 211, the transmission assembly, the vision system 100 and the digging device 300 can be integrally driven to synchronously move by controlling the advancing of the vehicle bodies 212. The vehicle body 212 enables the invention to have higher autonomy and flexibility, the self state of the invention can be adjusted under the state which is not beneficial to digging and taking the fermented materials, and meanwhile, the invention can replace the traditional trolley to autonomously advance to the appointed fermented material collecting and storing position in the fermented material conveying process.

As shown in fig. 4, according to the fermented material discharging apparatus provided by the present invention, the body 212 includes a rotating wheel 2121, a fourth driver 2122 and a control plate 2123, the fourth driver 2122 is connected to the rotating wheel 2121 and drives the rotating wheel 2121 to rotate, and the control plate 2123 is connected to the fourth driver 2122. In this embodiment, the rotating wheel 2121 on one vehicle body 212 is divided into a driving wheel and a driven wheel, the fourth driver 2122 employs a fourth servo motor and a fourth speed reducer, the fourth speed reducer is connected to the driving wheel, the control board 2123 can send a control signal to the fourth servo motor, the driving wheel drives the driven wheel to rotate under the driving of the fourth servo motor, and the vehicle body 212 moves forward to adjust the position of the fermented material discharging device and the position of the material grabbing device. The fourth servo motor controls the speed reducer, and the control boards 2123 of the two vehicle bodies 212 can output different speed commands so as to control the different speeds of the wheels 2121 on the two sides to achieve the purpose of steering the vehicle bodies 212.

According to the fermented grain material discharging device provided by the invention, the control panel 2123 is connected with the controller. In this embodiment, the vision system 100 can control the autonomous movement of the vehicle body 212, and the vision system can greatly reduce the manual labor for the problem that operators need to manually align the unstrained spirits digging mechanism and the cellar pool around the unstrained spirits digging process in the past, can adjust the self pose by using the output control of the vision system 100, and can autonomously translate along the length direction of the cellar pool in the unstrained spirits digging process, and the control board 2123 receives the signal of the controller of the vision system 100, and gives control quantity to the fourth servo motor and the transmission assembly according to the edge and depth information and the like detected by the first vision system 110 and the second vision system 120, and controls the vehicle body 212 to adjust the position and the position of the digging device 300. In other embodiments, the control panel 2123 can also be connected to other control devices to enable remote control by an operator.

According to an embodiment of the present invention, a storage bin 213 is further disposed on the vehicle body 212. In this embodiment, one of the two vehicle bodies 212 is provided with a storage bin 213 for temporarily storing the excavated materials. Meanwhile, the device can replace the traditional trolley to automatically move to a designated fermented grain material collecting and storing position in the fermented grain material conveying process.

As shown in fig. 3, according to an embodiment of the present invention, the digging device 300 includes a receiving barrel 310, a receiving plate 320 and a retractable connecting rod 330, the receiving plate 320 is hinged to an opening of the receiving barrel 310, the connecting rod 330 is disposed inside the receiving barrel 310, and has one end hinged to the receiving barrel 310 and the other end hinged to the receiving plate 320, and the receiving barrel 310 is connected to the vertical driving member 240. In this embodiment, the material receiving plate 320 is controlled by the connecting rod 330 to collect or dump the collected fermented grains, the material receiving barrel 310 is connected to the material receiving plate 320, and the material receiving plate 320 is opened or closed with respect to the peripheral wall of the material receiving barrel 310 to prevent the collected fermented grains from leaking. The lower end of the connecting rod 330 is hinged with the lower end of the material receiving plate 320, and the top wall of the material receiving barrel 310 is connected with the lower end of the connecting shaft 241 and used for temporarily storing the dug fermented grains. Before digging, the material receiving plate 320 is in a loose opening state relative to the material receiving barrel 310, when digging the unstrained spirits, the material receiving barrel 310 gradually deepens into the unstrained spirits for a certain depth under the drive of the vertical driving member 240, the material receiving plates 320 gradually sink into the unstrained spirits, the telescopic connecting rod 330 connected with the material receiving plate 320 gradually shrinks and shortens, so that the material receiving plates 320 are pulled upwards, the material receiving plates 320 are tightened and closed relative to the material receiving barrel 310, the two material receiving plates 320 are just tightened and attached to form the bottom surface of the material receiving barrel 310, then the material receiving barrel 310 is lifted away from the ingredients under the drive of the vertical driving member 240, and the dug ingredients are moved to the storage bin 213 under the drive of the horizontal driving member 220 and the longitudinal driving member 230 to store the unstrained spirits which are dug currently. During discharging, the retractable connecting rod 330 connected to the material receiving plate 320 is gradually extended and lengthened, so that the material receiving plate 320 is stacked downwards, and the material receiving plate 320 is loosened and opened relative to the material receiving barrel 310.

The fermented grain cellar discharging method provided by the embodiment of the invention comprises the following steps:

s1, firstly, pushing the fermented grain discharging equipment to move to the initial position, and starting the system to be powered on;

s2, the vision system 100 starts to detect the edge of the pit and the depth of the fermented grains in the pit, adjusts the self pose until the connecting shaft 241 of the moving device 200 is perpendicular to the length direction of the pit, adjusts the lower end of the connecting shaft 241, drives the digging device 300 to be aligned with the edge of the inner side of the pit, and prepares to start digging;

s3, controlling the digging device 300 to deeply enter the fermented grains for digging according to the depth detected by the second vision system 120, gradually tightening the pull-up link 330, collecting the fermented grains, lifting the digging device 300 and temporarily dumping the fermented grains into the stock bin 213 on one side;

s4, controlling the mobile device 200 to move along the width direction of the cellar, and repeating the step S3 until the layer of fermented grains in the cellar is dug and taken;

s5, the controller sends a control signal at the moment, drives the vehicle body 212 to move a certain distance along the length direction of the pit, digs the fermented grains on the layer at the current time, and after the ground vehicle body 212 moves the whole pit length backward, the layer of fermented grains in the pit are completely digged;

s6, the vehicle body 212 is driven to move forward along the length direction of the pit again, and digging of the fermented grains at the next layer is carried out until all the fermented grains in the pit are dug;

s7, the vehicle body 212 can be directly driven to move forward along the length direction of the pit due to the fact that the pits are arranged in order, the next pit is searched by the aid of the vision system 100, and the steps S2, S3, S4, S5 and S6 are repeated until all pits are completely dug;

s8, when the stock bin 213 on the side of the car body 212 is full during digging, it is necessary to dump it into a cart, and the cart is pushed away by a worker or the machine is driven to a predetermined fermented grain material collecting and storing position to dump it.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.