CN113913266A

CN113913266A - Automatic rice steamer filling robot

Info

Publication number: CN113913266A
Application number: CN202111200436.1A
Authority: CN
Inventors: 倪永培; 律波; 张卫国
Original assignee: Individual
Current assignee: ANHUI YINGJIA TRIBUTE WINE CO LTD
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2022-01-11
Anticipated expiration: 2041-10-14
Also published as: CN113913266B

Abstract

An automatic retort-filling robot comprises an upright post, a first conveying frame is arranged on the upright post, a first conveying belt is arranged in the first conveying frame, the first conveying frame can rotate relative to the upright post, a second conveying frame is arranged at the lower part of the first conveying frame, a second conveying belt is arranged in the second conveying frame, the second conveying frame can rotate relative to the first conveying frame, the vertical first blanking pipe is installed at one end, far away from the first conveying frame, of the second conveying frame, the second blanking pipe is installed on the stand column through the vertical lifting device, the second blanking pipe is sleeved on the periphery of the first blanking pipe, a corrugated pipe is installed between the upper end of the second blanking pipe and the first blanking pipe, a rotary blanking bin is installed at the lower end of the second blanking pipe, a gear ring is installed on the rotary blanking bin, a third rotating motor is installed on the second blanking pipe, and a gear meshed with the gear ring is installed on an output shaft of the third rotating motor.

Description

Automatic rice steamer filling robot

Technical Field

The invention relates to the technical field of brewing equipment, in particular to an automatic steamer filling robot.

Background

In the process of brewing white spirit, a retort is generally adopted to fill fermented grains, high-temperature steam is utilized to concentrate and separate alcohol in the fermented grains, fragrance is extracted and recombined, in the process of filling the steamer, the wine brewing quality can be ensured only by lightly scattering and uniformly spreading the materials to avoid steam leakage and steam pressure in the distillation process and ensure that the wine steam is uniformly distributed, the existing multi-joint robot for filling the steamer only can play a role of conveying the steamer materials into the steamer barrel, usually, a lump of steamer materials directly fall into the steamer barrel to form a cone-shaped steamer material pile, the thicker steamer materials not only can influence the passing of the steam, but also can compact the steamer materials at the bottom of the steamer barrel, further influencing the distillation effect, being unable to ensure the quality of wine brewing, if the distillation effect is improved, the uniform spreading of the retort materials is manually carried out, but the efficiency of the steamer feeding is greatly influenced, and how to ensure the quality and the efficiency of the steamer filling is a problem to be solved urgently at present.

Disclosure of Invention

The invention aims to provide an automatic retort filling robot, wherein a uniform material scattering device is additionally arranged at a blanking port of a third conveyor belt at the tail end of multi-stage transmission, so that a retort material firstly falls onto an inclined plate, and the retort material is rotated and falls into a retort barrel through the rotation of a rotary blanking bin, so that the uniform blanking in the retort barrel is realized, a thin and loose layer of retort material is gradually scattered, the wine brewing quality in the distillation process is further ensured, and the problems in the prior art are solved.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an automatic retort-filling robot, which comprises an upright post, wherein a first conveying frame is arranged on the upright post, a first conveying belt is arranged in the first conveying frame, the first conveying frame can rotate relative to the upright post, a second conveying frame is arranged at the lower part of the first conveying frame, a second conveying belt is arranged in the second conveying frame, the second conveying frame can rotate relative to the first conveying frame, a vertically arranged first blanking pipe is arranged at one end of the second conveying frame, which is far away from the first conveying frame, a second blanking pipe is arranged on the upright post through a vertical lifting device, the second blanking pipe is sleeved on the periphery of the first blanking pipe, a corrugated pipe is arranged between the upper end of the second blanking pipe and the first blanking pipe, a rotary blanking bin is arranged at the lower end of the second blanking pipe, a gear ring is arranged on the rotary blanking bin, a third rotary motor is arranged on the second blanking pipe, and a gear meshed with the gear ring is arranged on an output shaft of the third rotary motor, the third rotating electrical machines starts can drive rotatory blanking bin and rotate relatively the second blanking pipe, is connected with the third conveyer belt bottom rotatory blanking bin, and the third conveyer belt is located the downside of second blanking pipe, installs even bulk cargo ware in third conveyer belt one end position department, even bulk cargo ware is including the arc riser, and arc riser bottom is connected with the swash plate, the base of swash plate coincides mutually with the planar radius projection in ring gear place. The vertical column is provided with a first rotating motor, an output shaft of the first rotating motor is provided with a rotating sleeve, the rotating sleeve is provided with a first supporting arm, the first supporting arm is provided with a first conveying frame through a first connecting plate, the first conveying frame can synchronously rotate with the first supporting arm, a material containing barrel is arranged at the upper side of one end, close to the vertical column, of the first conveying frame, the material containing barrel is positioned at one end of a first conveying belt, a first blanking port is arranged on the first conveying frame at the other end of the first conveying belt, a second rotating motor is arranged at one end, far away from the rotating sleeve, of the first supporting arm, an output shaft of the second rotating motor is provided with a second supporting arm, the second conveying frame is arranged on the second supporting arm through a second connecting plate, the second conveying frame can synchronously rotate with the second supporting arm, the second rotating motor and the first blanking port are positioned at the same axial position, and one end of the second conveying belt is positioned at the lower side of the first blanking port, and a second blanking port is arranged on a second conveying frame at the other end of the second conveying belt, a vertically arranged first blanking pipe is arranged at the bottom of the second blanking port, and a second blanking pipe is arranged at one end, far away from the second rotating motor, of the second supporting arm through a vertical lifting device. The conveying belt rolling device is installed in the second conveying frame and comprises a plurality of rolling driving units arranged along the length direction of the second conveying frame, each rolling driving unit comprises a transmission shaft, a plurality of cams are installed on the transmission shaft, a round wheel is installed on each of two sides of the transmission shaft, the cams are located between the two round wheels, the cams on adjacent rolling driving units are arranged in a staggered mode, a transmission chain wheel is installed on the transmission shaft, a first driving motor is arranged on the second conveying frame, a driving chain wheel is installed on an output shaft of the first driving motor, a transmission chain is installed on the driving chain wheel and the transmission chain wheel in a matched mode, the first driving motor starts to drive the cams to rotate to jack up the second conveying belt, anti-falling plates which are obliquely arranged are arranged on the positions of two sides of the length direction of the second conveying frame, and the bottoms of the anti-falling plates are located on the conveying belts on the upper sides of the round wheels, and a rubber pad is also arranged at the bottom of the anti-falling plate and is in contact fit with the second conveying belt. And a conveying belt fluctuation device is arranged in the third conveying belt, and the third conveying belt is driven by a servo motor. The vertical lifting device comprises a vertical guide rail arranged at the end part of the second support arm, a vertically arranged lead screw is arranged on one side of the vertical guide rail, a nut block is arranged on the lead screw in a matched mode, the nut block is arranged on the second blanking pipe, a second driving motor is arranged at the upper end of the vertical guide rail, an output shaft of the second driving motor is connected with the lead screw, and the second driving motor can drive the nut block and the second blanking pipe to vertically move when being started. Install first range finding sensor in the second blanking pipe, install third driving motor in the second blanking mouth, install the rotor plate on third driving motor's the output shaft, first range finding sensor is connected with third driving motor through control scheme, and the rotor plate can be with the upper end shutoff of first blanking pipe when rotatory. And a second distance measuring sensor and a thermal infrared imager are arranged at the bottom of the inclined plate. The bottom of the first blanking pipe is provided with a limiting convex edge, the second blanking pipe is provided with an annular plate matched with the limiting convex edge, the annular plate is positioned on the periphery of the first blanking pipe, and the annular plate is always positioned on the upper side of the limiting convex edge. Install the automatic centring means of dress rice steamer on the first blanking pipe, the automatic centring means of dress rice steamer is including setting up the pole setting in four vertical settings of first blanking pipe periphery, the pole setting all is located the periphery of third conveyer belt, all articulated in every pole setting have the dwang, install driving cylinder between pole setting and dwang, driving cylinder's cylinder is installed in the pole setting, driving cylinder's piston rod is installed on the dwang, the dwang in every pole setting can be close to central point to put the rotation, also can rotate to be in same vertical axis position with the pole setting, still install the reinforcement arc cover in every pole setting, it is located the periphery of second blanking pipe to consolidate the arc cover. The retort material filtering and recovering device is installed in the rotary blanking bin and comprises a first sieve plate, the first sieve plate is installed in the rotary blanking bin through a first rotating shaft, a torsion spring is installed on the first rotating shaft and always tends to enable the first sieve plate to be horizontally located in the rotary blanking bin, a bin door capable of being opened and closed in a rotating mode is installed on one side of the rotary blanking bin, the bin door is installed on the rotary blanking bin through a second rotating shaft, a linkage rod is installed at one end, extending out of the rotary blanking bin, of the first rotating shaft, an opening and closing gear is installed on the second rotating shaft, a rack meshed with the opening and closing gear is hinged to the linkage rod, a hoop capable of rotating is installed on the second rotating shaft and located in the hoop, the rack can be tightly pressed on the opening and closing gear by the hoop, a touch rod is installed on a vertical rod, and when the rotary blanking bin moves upwards relative to the vertical rod, the touch rod can push the linkage rod to rotate and synchronously open the bin gate and lead the first sieve plate to rotate and incline towards the position of the bin gate, the bottom of the vertical guide rail is provided with an electric push rod, a piston rod of the electric push rod is provided with a recovery box, the recovery box can move close to the rotary blanking bin, the recovery box is provided with a second sieve plate which can rotate, a rotating shaft of the second sieve plate is provided with a rotating motor, the rotating motor can drive the second sieve plate to rotate, a guide inclined plate is arranged on a third conveyor belt, the second sieve plate can extend between the guide inclined plate and the bin gate, the inside of the touch rod is provided with a vertical moving rod, one end of the vertical moving rod extending out of the touch rod is provided with a touch seat, the bottom of the touch seat is provided with a touch switch, the touch switch is connected with the electric push rod and the rotating motor through a control circuit, when the rotary blanking bin drives the linkage rod to move upwards to contact with the touch switch, the second sieve rotates to be opened and the collection box removes to rotatory blanking storehouse and is close to, moves to when contacting with the touch pole on touching the seat, and first sieve rotates, install proximity switch on the vertical guide rail, proximity switch is connected with vertical elevating gear through control scheme, and the collection box removes can be detected by proximity switch when being close to vertical guide rail.

The invention has the positive effects that: the invention relates to an automatic retort filling robot, which comprises a first conveyor belt and a second conveyor belt for conveying fermented grains, wherein the first conveyor belt and the second conveyor belt are arranged on a conveying frame on which the conveyor belts are arranged, and can respectively rotate through a rotating motor, so that retorts of retort barrels at different positions can be filled, a uniform material scattering device is additionally arranged at a blanking port of a third conveyor belt at the tail end of multi-stage transmission, the retort materials are rolled onto an inclined plate firstly, the retort materials are rolled into the retort barrels while rotating through the rotation of a rotary material dropping bin, uniform blanking in the retort barrels is realized, a thin and loose layer of retort materials are gradually spread, steam leakage and steam pressure caused by uneven spreading of the retort materials are avoided, steam can be more fully contacted with the retort materials in the distillation process, alcohol is concentrated and separated, a large amount of fragrant substances are effectively provided, the distillation effect is improved, the quality of wine making is ensured, and the filling efficiency in the whole wine making process is also improved, the height position of the rotary blanking bin can be adjusted as required to be matched with the caldrons with different height types, so that the application range of the device is expanded.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

FIG. 2 is a front view of the present invention; (dotted line in the figure shows retort barrel)

FIG. 3 is an enlarged partial view of I of FIG. 2;

FIG. 4 is a schematic view of the structure of the homogenizing disperser;

FIG. 5 is a view from the direction A of FIG. 2;

FIG. 6 is an enlarged view of the cross-sectional view taken along line B-B in FIG. 2;

FIG. 7 is a schematic view of the structure of the vertical lifting device;

FIG. 8 is a schematic view of the ring plate in the second blanking pipe descending onto the position-limiting ledge in the first blanking pipe;

FIG. 9 is a schematic structural view of a retort-filling automatic centering device added to a blanking pipe;

FIG. 10 is a schematic view of the automatic centering device for loading into the steamer barrel, and the rotating rod rotates to the position of the same vertical axis with the vertical rod; (dotted line in the figure shows retort barrel)

FIG. 11 is an enlarged partial view of II of FIG. 2;

FIG. 12 is a schematic structural view of a retort material filtering and recovering device arranged in a rotary blanking bin;

FIG. 13 is a cross-sectional view taken along line C-C of FIG. 12;

FIG. 14 is a schematic view of the rotary blanking bin moving upward and the bin door being opened;

FIG. 15 is an enlarged partial view of III of FIG. 12;

fig. 16 is an enlarged view of the view from direction D in fig. 12.

Detailed Description

The automatic retort filling robot comprises an upright post 1, wherein the upright post 1 is used as an installation base of the whole machine, a first conveying frame 6 is installed on the upright post 1, a first conveying belt 7 is installed in the first conveying frame 6, the first conveying frame 6 can rotate relative to the upright post 1, a second conveying frame 13 is installed at the lower part of the first conveying frame 6, a second conveying belt 14 is installed in the second conveying frame 13, and the second conveying frame 13 can rotate relative to the first conveying frame 6.

Install first rotating electrical machines 2 on stand 1, be equipped with on the output shaft of first rotating electrical machines 2 and change cover 3, change and install first support arm 4 on the cover 3, first support arm 4 level sets up, installs first carriage 6 through first connecting plate 5 on first support arm 4, installs first conveyer belt 7 in first carriage 6, and first conveyer belt 7 can realize the transport to the rice steamer material. Under the connecting action of the first connecting plate 5, when the rotating sleeve 3 rotates, the conveying frame 6 can synchronously rotate with the first supporting arm 4.

Install containing bucket 8 at the upside of first carriage 6 near 1 one end of stand, containing bucket 8 is located the one end of first conveyer belt 7, installs first blanking mouth 9 on the first carriage 6 of the first conveyer belt 7 other end, can carry the rice steamer material to first blanking mouth 9 position department by containing bucket 8 when first conveyer belt 7 rotates.

The one end that first support arm 4 kept away from commentaries on classics cover 3 installs second rotating electrical machines 10, installs second support arm 11 on the output shaft of second rotating electrical machines 10, installs second carriage 13 through second connecting plate 12 on second support arm 11, installs second conveyer belt 14 in the second carriage 13, and second conveyer belt 14 also can realize the transport to the rice steamer material. Under the connecting action of the second connecting plate 12, when the output shaft of the second rotating motor 10 rotates, the second conveying frame 13 can rotate synchronously with the second supporting arm 11.

In order to ensure that the retort materials conveyed by the first conveyor belt 7 can fall onto the second conveyor belt 14 when the second conveyor frame 13 rotates relative to the first conveyor frame 6, wherein the second rotating motor 10 and the first blanking port 9 are located at the same axial position, one end of the second conveyor belt 14 is located at the lower side of the first blanking port 9, and the second blanking port 15 is installed on the second conveyor frame 13 at the other end of the second conveyor belt 14. No matter what angular position's of second carriage 13 rotation is carried out to first carriage 6 to the setting of above-mentioned structure, second conveyer belt 14 can be in the downside of first blanking mouth 9 all the time to ensure the continuous transportation of retort material.

The bottom of the second blanking port 15 is provided with a vertically arranged first blanking pipe 16, one end of the second supporting arm 11 far away from the second rotating motor 10 is provided with a second blanking pipe 17 through a vertical lifting device, the second blanking pipe 17 is sleeved on the periphery of the first blanking pipe 16, the second blanking pipe 17 can vertically lift relative to the first blanking pipe 16 to adjust the height position extending into the retort barrel as required, wherein the vertical lifting device can be an existing electric push rod or a lifting oil cylinder, and the second blanking pipe 17 can be driven to vertically lift. A corrugated pipe 18 is arranged between the upper end of the second blanking pipe 17 and the first blanking pipe 16, and the corrugated pipe 18 extends and retracts along with the lifting of the second blanking pipe 17 to form a barrier between the first blanking pipe 16 and the second blanking pipe 17, so that sundries are prevented from entering the retort materials.

A rotary blanking bin 19 is mounted at the lower end of the second blanking pipe 17, the rotary blanking bin 19 extends into a retort barrel during retort filling, retort filling operation in the retort barrel is achieved, and a bull-eye bearing or a thrust bearing can be mounted between the rotary blanking bin 19 and the second blanking pipe 17, so that relative rotation between the rotary blanking bin 19 and the second blanking pipe 17 is achieved. As shown in fig. 3, a gear ring 20 is installed on the rotary blanking bin 19, a third rotary motor 21 is installed on the second blanking pipe 17, a gear 22 engaged with the gear ring 20 is installed on an output shaft of the third rotary motor 21, and the third rotary motor 21 can be started to drive the rotary blanking bin 19 to rotate relative to the second blanking pipe 17.

The bottom of the rotary blanking bin 19 is connected with a third conveyor belt 23, the third conveyor belt 23 is located on the lower side of the second blanking pipe 17, and the retort materials on the second conveyor belt 14 can fall onto the third conveyor belt 23 through the second blanking port 15, the first blanking pipe 16 and the second blanking pipe 17 in sequence and are conveyed to the retort barrel through the third conveyor belt 23.

As shown in fig. 4, the uniform material distributor is installed at one end of the third conveyor belt 23, and includes an arc-shaped vertical plate 25, an inclined plate 26 is connected to the bottom of the arc-shaped vertical plate 25, the bottom edge of the inclined plate 26 coincides with the radial projection of the plane where the gear ring 20 is located, wherein the arc-shaped vertical plate 25 can play a guiding role, so that the retort materials coming out of the third conveyor belt 23 move to the inclined plate 26, while the rotary blanking bin 19 rotates, the retort materials firstly roll down on the inclined plate 26 under the action of self weight and are uniformly scattered in a fan shape, a layer of loose retort materials are obtained by throwing and thinning the materials in the retort barrel, so that the materials can be evenly dropped in the retort barrel, the addition of the retort materials layer by layer can be realized along with the rotation of the rotary dropping bin 19, and the retort materials filled by the device are loose and cannot be compacted mutually, so that the steam can pass through the retort materials, and the quality of distilled liquor brewing is improved. The horizontal position of the rotary blanking bin 19 can be adjusted by the first rotating motor 2 and the second rotating motor 10, and the height position can be adjusted by the vertical lifting device, so that the retort filling operation can be performed between different retorts or retorts with different height types.

In order to keep the conveyed retort materials in a loose state and avoid bonding and further ensure that the feeding uniformity and the loosening degree are kept consistent every time, a conveyor belt fluctuation device is installed in the second conveying frame 13 and can drive a conveyor belt to fluctuate irregularly so as to effectively loosen the retort materials and avoid bonding. As shown in fig. 5 and 6, the belt undulation device includes a plurality of undulation driving units disposed along the length direction of the second carriage 13, each undulation driving unit includes a transmission shaft 27, a plurality of cams 28 are mounted on the transmission shaft 27, a circular wheel 48 is mounted on both sides of the transmission shaft 27, the plurality of cams 28 are located between the two circular wheels 48, and the cams 28 on adjacent undulation driving units are all arranged in a staggered manner to prevent mutual interference during rotation. A transmission chain wheel 29 is mounted on the transmission shaft 27, a first driving motor 30 is arranged on the second conveying frame 13, a driving chain wheel 31 is mounted on an output shaft of the first driving motor 30, a transmission chain 32 is mounted on the driving chain wheel 31 and the transmission chain wheel 29 in a matched mode, the first driving motor 30 starts to drive the cam 28 to rotate to jack up the second conveying belt 14, so that intermittent fluctuation of the conveying belt is achieved, and retort materials on the conveying belt are effectively loosened. In order to prevent the fluctuant retort materials from being scattered on the conveyor belt, the anti-falling plates 33 which are obliquely arranged are arranged at the two sides of the second conveyor frame 13 in the length direction, the bottoms of the anti-falling plates 33 are positioned on the conveyor belt at the upper side of the round wheel 48, rubber pads 49 are further arranged at the bottoms of the anti-falling plates 33, and the rubber pads 49 are in contact fit with the second conveyor belt 14. The obliquely arranged anti-falling plate 33 enables the turned retort materials to finally fall onto the second conveyor belt 14, the belts on two sides of the second conveyor belt 14 cannot undulate due to the arrangement of the round wheel 48, and the rubber pad 49 is positioned on the second conveyor belt 14, so that the retort materials can be prevented from leaking outwards while the retort material guiding effect is achieved, and the friction between the retort materials and the second conveyor belt 14 is reduced.

Further, a conveyor belt undulation device is installed in the third conveyor belt 23, and the conveyor belt undulation device can drive retort materials on the third conveyor belt 23 to undulate and loosen.

In order to realize the accurate control of the height position of the second blanking pipe 17, as shown in fig. 7, the vertical lifting device comprises a vertical guide rail 34 installed at the end part of the second supporting arm 11, a vertically arranged lead screw 35 is installed at one side of the vertical guide rail 34, a nut block 36 is installed on the lead screw 35 in a matching manner, and the nut block 36 is installed on the second blanking pipe 17. Install second driving motor 37 in the upper end of vertical guide 34, the output shaft of second driving motor 37 is connected with lead screw 35, and the energy band moves screw block 36 and second blanking pipe 17 and carries out vertical removal when second driving motor 37 starts, through matched with lead screw 35 and screw block 36, is rotated by second driving motor 37 drive lead screw 35, can realize the accurate regulation and control to second blanking pipe 17 height position.

Further, in order to avoid accumulation of retort materials in the second blanking pipe 17 and prevent excessive retort materials from being extruded and bonded mutually, a first distance measuring sensor 38 is installed in the second blanking pipe 17, the height of the retort materials in the second blanking pipe 17 can be monitored by the first distance measuring sensor 38 in real time, a third driving motor 39 is installed in the second blanking port 15, a rotating plate 40 is installed on an output shaft of the third driving motor 39, the first distance measuring sensor 38 is connected with the third driving motor 39 through a control circuit, and the upper end of the first blanking pipe 16 can be blocked by the rotating plate 40 when the rotating plate rotates. When the first distance measuring sensor 38 detects that the retort material in the second blanking pipe 17 exceeds the set height range, a control electric signal is sent to the third driving motor 39, so that the rotating plate 40 plugs the first blanking pipe 16, and meanwhile, the first conveyor belt 7 and the second conveyor belt 14 stop conveying, so that excessive retort material is prevented from entering the second blanking pipe 17.

Further, in order to adjust the height positions of the rotary blanking bin 19 and the third conveyor belt 23 in real time according to the height position of the retort material in the retort barrel and to perform retort material scattering in time at the steam outlet position in the retort charging process so as to prevent steam leakage in the distillation charging process, the bottom of the inclined plate 26 is provided with a second distance measuring sensor 41 and an infrared thermal imager 42, wherein the second distance measuring sensor 41 is connected with the second driving motor 37 through a control circuit, and the infrared thermal imager 42 can identify a region with higher temperature, such as the steam escaping position, so that the effective scattering of the retort material at a specific position is controlled, the steam leakage pressure is avoided, and the distillation quality is improved.

Further, in order to adjust the falling speed rate of the retort materials into the retort barrel as required, the third conveyor belt 23 is driven by a servo motor, and the servo motor can control the rotating speed of the third conveyor belt 23 according to the retort filling requirement, so that the retort materials thrown through the third conveyor belt 23 can be uniformly distributed in the retort barrel.

Further, in order to ensure that the second blanking pipe 17 is always located at the periphery of the first blanking pipe 16 in the vertical moving process, and retort materials can completely enter the second blanking pipe 17 through the first blanking pipe 16, as shown in fig. 8, a limiting convex edge 43 is arranged at the bottom of the first blanking pipe 16, an annular plate 44 matched with the limiting convex edge 43 is installed on the second blanking pipe 17, the annular plate 44 is located at the periphery of the first blanking pipe 16, the annular plate 44 is always located at the upper side of the limiting convex edge 43, and due to the existence of the limiting convex edge 43, when the second blanking pipe 17 moves vertically, the annular plate 44 can be at most lowered to the upper side of the limiting convex edge 43, so that the second blanking pipe 17 can be kept located at the periphery of the first blanking pipe 16 all the time, and cannot be separated from the first blanking pipe 16 in the vertical height.

Further, in order to ensure that the center position of the rotary blanking bin 19 can be located at the upper side of the center position of the retort barrel during the retort filling operation and ensure that the retort materials can be uniformly scattered along the radius of the retort barrel when the rotary blanking bin 19 rotates, the first blanking pipe 16 is provided with the automatic retort filling centering device, as shown in fig. 9, the automatic retort filling centering device comprises four vertically arranged upright posts 45 arranged on the periphery of the first blanking pipe 16, and the upright posts 45 are all located on the periphery of the third conveyor belt 23. Each upright rod 45 is hinged with a rotating rod 46, a driving oil cylinder 47 is installed between the upright rod 45 and the rotating rod 46, a cylinder barrel of the driving oil cylinder 47 is installed on the upright rod 45, and a piston rod of the driving oil cylinder 47 is installed on the rotating rod 46. The rotating rod 46 of each upright 45 can rotate close to the central position and can also rotate to be positioned at the same vertical axis with the upright 45. Wherein, the circle surrounded by the four upright stanchions 45 is matched with the inner diameter circle of the retort barrel, the rotating rods 46 are in a mutually closed state under the control of the driving oil cylinder 47, then moves to the upper position close to the caldron barrel, then gradually rotates to the position coaxial with the upright rod 45 under the control of the driving oil cylinder 47, in the rotating process, the rotating rod 46 can contact with the inner wall of the retort barrel, if the central position of the rotary blanking bin 19 deviates from the central position of the retort barrel, the rotating rod 46 rotates to drive the rotary blanking bin 19 to automatically align until the rotating rod 46 rotates to be positioned at the same vertical axis position with the upright rod 45, at the moment, the central position of the rotary blanking bin 19 is positioned at the same central axis with the central position of the retort barrel, then, the height positions of the second blanking pipe 17 and the rotary blanking bin 19 are adjusted according to the requirement of the height of the retort, and the retort materials can be uniformly scattered along the radius of the retort barrel. In the process of the action of the automatic retort filling centering device, the first conveying frame 6 and the second conveying frame 13 can automatically swing, and the self-locking state can be released by the rotating motor for controlling the conveying frames to swing, so that the conveying frames can smoothly follow the automatic retort filling centering device to perform follow-up swing adjustment, unnecessary interference is avoided, and then the normal operation of retort filling operation is performed.

For guaranteeing pole setting 45's intensity, still install reinforcement arc cover 24 in every pole setting 45, reinforcement arc cover 24 is located second blanking pipe 17's periphery, and second blanking pipe 17 can consolidate arc cover 24 relatively and carry out vertical lift, and the setting of reinforcement arc cover 24 can effectively avoid rocking of pole setting 45, and then ensures pole setting 45 and bottom dwang 46's bulk strength.

Further, in order to ensure that the retort materials falling on the third conveyor belt 23 are kept loose, prevent the agglomerated and bonded retort materials from falling on the third conveyor belt 23 for carrying out retort loading operation, and effectively recover the agglomerated and bonded retort materials, a retort material filtering and recovering device is installed in the rotary blanking bin 19, as shown in fig. 12 and 13, the retort material filtering and recovering device comprises a first sieve plate 50, the first sieve plate 50 can screen the retort materials in the rotary blanking bin 19, so that the retort materials in a loose state or with a particle size meeting the requirement fall, and the agglomerated and bonded retort materials or the retort materials with a larger particle size are positioned on the upper side of the first sieve plate 50. First sieve 50 is installed in rotatory blanking storehouse 19 through first pivot 51, install torsional spring 52 on the first pivot 51, torsional spring 52 has the trend that makes first sieve 50 level be located rotatory blanking storehouse 19 all the time, that is at dress rice steamer in-process, and first sieve 50 will rotate blanking storehouse 19 bottom shutoff to play effective screening effect, then can be gathered together when first sieve 50 rotates and bond or the great rice steamer material of particle diameter is retrieved. The upper side of the end of the first sieve plate 50 far away from the vertical guide rail 34 can be provided with a balancing weight, and the first sieve plate 50 can be further ensured to normally rotate to the horizontal state under the action of the gravity of the balancing weight and the action of the torsion spring 52. The balancing weight can also be an existing vibrating motor, the vibrating motor drives the first sieve plate 50 to vibrate, the retort material on the vibrating motor is prevented from being blocked, normal blanking is ensured, the vibrating motor can be connected to a power circuit on the automatic retort filling robot, and a storage battery can also be arranged in the vibrating motor to ensure normal power supply.

A bin door 53 capable of being opened and closed in a rotating mode is installed on one side of the rotating blanking bin 19, the bin door 53 is installed on the rotating blanking bin 19 through a second rotating shaft 54, a linkage rod 55 is installed at one end, extending out of the rotating blanking bin 19, of the first rotating shaft 51, an opening and closing gear 56 is installed on the second rotating shaft 54, a rack 57 meshed with the opening and closing gear 56 is installed on the linkage rod 55 in a hinged mode, and a touch rod 58 is installed on the vertical rod 45. When the rotary blanking bin 19 moves upwards relative to the upright rod 45, the touch rod 58 can push the linkage rod 55 to rotate, and the bin door 53 is opened and the first sieve plate 50 rotates and tilts towards the position of the bin door 53 synchronously. I.e. the agglomerated cake or retort material with larger particle size on the upper side of the first screen 50, can be recovered through the opened bin gate 53. The second rotating shaft 54 is provided with a rotatable hoop 64, the rack 57 is positioned in the hoop 64, the hoop 64 can press the rack 57 against the opening and closing gear 56, and no matter what angle the rack 57 rotates relative to the opening and closing gear 56, the hoop 64 can enable the rack 57 to be meshed with the opening and closing gear 56, so that the first sieve plate 50 and the bin door 53 can be synchronously linked.

An electric push rod 59 is installed at the bottom of the vertical guide rail 34, a recovery box 60 is arranged on a piston rod of the electric push rod 59, and the recovery box 60 can move close to the rotary blanking bin 19. A second sieve plate 61 capable of rotating is installed on the recycling box 60, a rotating motor 62 is installed on a rotating shaft of the second sieve plate 61, and the rotating motor 62 can drive the second sieve plate 61 to rotate when being started. A guide sloping plate 63 is installed on the third conveyor belt 23, and the second screen deck 61 can extend between the guide sloping plate 63 and the bin gate 53.

In order to ensure that after the retort loading is finished, after the rotary blanking bin 19 vertically rises, the second sieve plate 61 rotates to be opened and is driven by the recovery box 60 to extend between the rotary blanking bin 19 and the third conveyor belt 23, then the first sieve plate 50 rotates to incline, the bin gate 53 is opened, so that the retort material on the bin gate falls on the second sieve plate 61, as shown in fig. 15, a vertical moving rod 65 is installed inside the touch rod 58, a touch seat 66 is arranged at one end of the vertical moving rod 65, which extends out of the touch rod 58, a touch switch 67 is installed at the bottom of the touch seat 66, and the touch switch 67 is connected with the electric push rod 59 and the rotating motor 62 through a control circuit. When the rotating blanking bin 19 drives the linkage rod 55 to move upwards to contact with the touch switch 67, the touch switch 67 sends an electric signal to the electric push rod 59 and the rotating motor 62, so that the second sieve plate 61 rotates to be opened and the recovery box 60 moves towards the rotating blanking bin 19 to be close to the rotating blanking bin, when the rotating blanking bin 19 continuously moves upwards to the touch seat 66 to contact with the touch rod 58, as shown in fig. 14, the touch seat 66 has no space for continuously moving upwards, the linkage rod 55 tilts and rotates, the first sieve plate 50 rotates, the bin gate 53 is synchronously opened, after the rotating blanking bin 19 ascends to be separated from the retort barrel, the second sieve plate 61 extends between the rotating blanking bin 19 and the third conveyor belt 23, then the first sieve plate 50 tilts and the bin gate 53 is opened, and the above-mentioned operation sequence can ensure that the retort material on the first sieve plate 50 falls onto the second sieve plate 61. Similarly, when the rotary drop bin 19 is lowered, the first screen deck 50 is rotated to the horizontal position, the bin gate 53 is closed, and then the second screen deck 61 exits between the rotary drop bin 19 and the third conveyor belt 23. When the linkage rod 55 is not in contact with the touch seat 66, the touch seat 66 can be separated from the touch rod 58 under the self-weight, the vertical moving rod 65 is provided with a limit block to prevent the touch rod 58 from being separated, a spring can be additionally arranged on the periphery of the vertical moving rod 65 if necessary, the touch seat 66 is separated from the touch rod 58 through the elasticity of the spring, wherein the elasticity of the spring is far less than that of the torsion spring 52, and the normal overturning of the first screen plate 50 cannot be influenced.

In the process that the linkage rod 55 is contacted with the touch switch 67 until the touch seat 66 is contacted with the touch rod 58, the rotating blanking bin 19 moves upwards, the electric push rod 59 can push the second sieve plate 61 opened on the recovery box 60 to the bottom position of the bin gate 53, so that the following retort materials with the inclined first sieve plate 50 and the overlarge grain diameter after the bin gate 53 is opened can smoothly fall onto the second sieve plate 61.

The vertical guide rail 34 is provided with a proximity switch 68, the proximity switch 68 is connected with the vertical lifting device through a control circuit, the recovery box 60 can be detected by the proximity switch 68 when moving close to the vertical guide rail 34, when the recovery of the retort materials with large particle size needs to be carried out the retort filling operation of a new retort barrel, the recovery box 60 firstly keeps away from the rotary blanking bin 19, then vertically descends from the second blanking pipe 17 and extends into the retort barrel, when the recovery box 60 is close to the vertical guide rail 34 and triggers the proximity switch 68 on the recovery box, the recovery box 60 cannot interfere with the vertical descending of the rotary blanking bin 19, at the moment, the proximity switch 68 sends an electric signal to the vertical lifting device, and the second blanking pipe 17 and the rotary blanking bin 19 are controlled to enter the new retort barrel.

When the retort filling operation is performed, the rotary blanking bin 19 extends into the retort barrel, as shown in fig. 12, the first sieve plate 50 is in a horizontal state to perform the screening of retort materials, the bin gate 53 is in a closed state, the recovery box 60 is far away from the rotary blanking bin 19 and is located outside the retort barrel, the interference on the rotation or vertical movement of the rotary blanking bin 19 is avoided, the retort materials meeting the requirements fall onto the third conveyor belt 23, and the non-meeting retort materials are accumulated on the upper side of the first sieve plate 50. When a retort barrel is completely filled with retort, retort materials which do not meet the requirement on the upper side of the first sieve plate 50 need to be recovered, the rotary blanking bin 19 moves upwards to be separated from the retort barrel, in the process of moving upwards, the linkage rod 55 firstly contacts with the touch switch 67, so that the piston rod of the electric push rod 59 extends out to drive the recovery box 60 to be close to the rotary blanking bin 19, the rotary motor 62 is started to drive the second sieve plate 61 to rotate to open and extend to the bottom position of the bin gate 53, then the rotary blanking bin 19 drives the linkage rod 55 to move upwards continuously until the touch seat 66 contacts with the touch rod 58, at the moment, the touch seat 66 does not have a space for moving upwards any more, the touch rod 58 pushes the linkage rod 55 to rotate, as shown in figure 14, the first sieve plate 50 rotates and inclines by overcoming the elasticity of the torsion spring 52, meanwhile, the rack 57 drives the opening and closing gear 56 to rotate clockwise, so that the bin gate 53 is opened, and the second sieve plate 61 is located at the bottom position of the opened bin gate 53, such unsatisfactory retort material is guided along the first screen 50 and falls onto the second screen 61 via the gate 53, where it is screened a second time. If the materials meet the requirements, the materials directly fall back to the third conveyor belt 23 through the guide inclined plate 63, if the materials do not meet the requirements, the materials are left on the second sieve plate 61, then the piston rod of the electric push rod 59 is retracted, the second sieve plate 61 is far away from the rotary blanking bin 19, the rotary motor 62 rotates in the reverse direction, the materials on the second sieve plate 61 fall into the recovery box 60, and the recovery box 60 can be communicated with a material barrel of the whole device, so that the recovery of the materials is realized.

The technical solution of the present invention is not limited to the scope of the embodiments of the present invention. The technical contents not described in detail in the present invention are all known techniques.

Claims

1. An automatic dress rice steamer robot which characterized in that: the automatic feeding device comprises a vertical column (1), wherein a first conveying frame (6) is installed on the vertical column (1), a first conveying belt (7) is installed in the first conveying frame (6), the first conveying frame (6) can rotate relative to the vertical column (1), a second conveying frame (13) is installed on the lower portion of the first conveying frame (6), a second conveying belt (14) is installed in the second conveying frame (13), the second conveying frame (13) can rotate relative to the first conveying frame (6), a vertically arranged first blanking pipe (16) is installed at one end, far away from the first conveying frame (6), of the second conveying frame (13), a second blanking pipe (17) is installed on the vertical column (1) through a vertical lifting device, the second blanking pipe (17) is sleeved on the periphery of the first blanking pipe (16), a corrugated pipe (18) is installed between the upper end of the second blanking pipe (17) and the first blanking pipe (16), a rotary blanking bin (19) is arranged at the lower end of the second blanking pipe (17), a gear ring (20) is arranged on the rotary blanking bin (19), a third rotary motor (21) is arranged on the second blanking pipe (17), a gear (22) meshed with the gear ring (20) is arranged on an output shaft of the third rotary motor (21), the third rotary motor (21) can be started to drive the rotary blanking bin (19) to rotate relative to the second blanking pipe (17), the bottom of the rotary blanking bin (19) is connected with a third conveyor belt (23), the third conveyor belt (23) is positioned at the lower side of the second blanking pipe (17), a uniform material scattering device is arranged at one end of the third conveyor belt (23), the uniform material scattering device comprises an arc-shaped vertical plate (25), the bottom of the arc-shaped vertical plate (25) is connected with an inclined plate (26), the bottom edge of the sloping plate (26) coincides with the radial projection of the plane where the gear ring (20) is located.

2. The automatic retort filling robot according to claim 1, characterized in that: the automatic feeding device is characterized in that a first rotating motor (2) is installed on the stand column (1), a rotating sleeve (3) is arranged on an output shaft of the first rotating motor (2), a first supporting arm (4) is installed on the rotating sleeve (3), a first conveying frame (6) is installed on the first supporting arm (4) through a first connecting plate (5), the first conveying frame (6) can rotate synchronously with the first supporting arm (4), a containing barrel (8) is installed on the upper side, close to one end of the stand column (1), of the first conveying frame (6), the containing barrel (8) is located at one end of a first conveying belt (7), a first blanking opening (9) is installed on the first conveying frame (6) at the other end of the first conveying belt (7), a second rotating motor (10) is installed at one end, far away from the rotating sleeve (3), of the first supporting arm (4), a second supporting arm (11) is installed on an output shaft of the second rotating motor (10), install second carriage (13) through second connecting plate (12) on second support arm (11), second carriage (13) can rotate with second support arm (11) is synchronous, and wherein second rotating electrical machines (10) are in same axis position department with first blanking mouth (9), and the one end of second conveyer belt (14) is located first blanking mouth (9) downside, installs second blanking mouth (15) on second carriage (13) of second conveyer belt (14) other end, and first blanking pipe (16) of vertical setting are installed to second blanking mouth (15) bottom, second blanking pipe (17) are installed through vertical elevating gear to the one end that second rotating electrical machines (10) were kept away from in second support arm (11).

3. The automatic retort filling robot according to claim 1, characterized in that: the conveying belt fluctuation device is installed in the second conveying frame (13), the conveying belt fluctuation device comprises a plurality of fluctuation driving units arranged along the length direction of the second conveying frame (13), each fluctuation driving unit comprises a transmission shaft (27), a plurality of cams (28) are installed on the transmission shaft (27), a round wheel (48) is installed on each of two sides of the transmission shaft (27), the plurality of cams (28) are located between the two round wheels (48), the cams (28) on adjacent fluctuation driving units are arranged in a staggered mode, a transmission chain wheel (29) is installed on the transmission shaft (27), a first driving motor (30) is arranged on the second conveying frame (13), a driving chain wheel (31) is installed on an output shaft of the first driving motor (30), a transmission chain (32) is installed on the driving chain wheel (31) and the transmission chain wheel (29) in a matched mode, the first driving motor (30) can drive the cams (28) to rotate to jack up the second conveying belt (14), the anti-falling plate (33) is obliquely arranged at the two sides of the second conveying frame (13) in the length direction, the bottom of the anti-falling plate (33) is located on the conveying belt on the upper side of the round wheel (48), the rubber pad (49) is further installed at the bottom of the anti-falling plate (33), and the rubber pad (49) is in contact fit with the second conveying belt (14).

4. An automatic retort-filling robot according to claim 2, characterized in that: and a conveying belt fluctuation device is arranged in the third conveying belt (23), and the third conveying belt (23) is driven by a servo motor.

5. An automatic retort-filling robot according to claim 2, characterized in that: vertical elevating gear is including installing vertical guide rail (34) at second support arm (11) tip, lead screw (35) of vertical setting are installed to vertical guide rail (34) one side, screw block (36) are installed in the cooperation on lead screw (35), screw block (36) are installed on second blanking pipe (17), second driving motor (37) are installed to the upper end at vertical guide rail (34), the output shaft of second driving motor (37) is connected with lead screw (35), can drive screw block (36) and second blanking pipe (17) when second driving motor (37) start-up and carry out vertical movement.

6. An automatic retort-filling robot according to claim 2, characterized in that: a first distance measuring sensor (38) is installed in the second blanking pipe (17), a third driving motor (39) is installed in the second blanking port (15), a rotating plate (40) is installed on an output shaft of the third driving motor (39), the first distance measuring sensor (38) is connected with the third driving motor (39) through a control circuit, and the rotating plate (40) can plug the upper end of the first blanking pipe (16) when rotating.

7. The automatic retort filling robot according to claim 1, characterized in that: and a second distance measuring sensor (41) and a thermal infrared imager (42) are arranged at the bottom of the inclined plate (26).

8. The automatic retort filling robot according to claim 1, characterized in that: the bottom of the first blanking pipe (16) is provided with a limiting convex edge (43), the second blanking pipe (17) is provided with an annular plate (44) matched with the limiting convex edge (43), the annular plate (44) is positioned on the periphery of the first blanking pipe (16), and the annular plate (44) is always positioned on the upper side of the limiting convex edge (43).

9. The automatic retort filling robot according to claim 1, characterized in that: the first blanking pipe (16) is provided with a steamer filling automatic centering device, the steamer filling automatic centering device comprises four upright rods (45) which are vertically arranged on the periphery of the first blanking pipe (16), the upright rods (45) are all positioned on the periphery of the third conveyor belt (23), each upright rod (45) is hinged with a rotating rod (46), a driving oil cylinder (47) is arranged between the upright stanchion (45) and the rotating rod (46), the cylinder barrel of the driving oil cylinder (47) is arranged on the upright stanchion (45), the piston rod of the driving oil cylinder (47) is arranged on the rotating rod (46), the rotating rod (46) on each upright stanchion (45) can rotate to the central position to be close to and also can rotate to the position which is in the same vertical axis with the upright stanchion (45), and a reinforcing arc sleeve (24) is further arranged on each vertical rod (45), and the reinforcing arc sleeve (24) is positioned on the periphery of the second blanking pipe (17).

10. The automatic retort filling robot according to claim 1, characterized in that: the retort material filtering and recovering device is installed in the rotary blanking bin (19) and comprises a first sieve plate (50), the first sieve plate (50) is installed in the rotary blanking bin (19) through a first rotating shaft (51), a torsion spring (52) is installed on the first rotating shaft (51), the torsion spring (52) always tends to enable the first sieve plate (50) to be horizontally located in the rotary blanking bin (19), a bin door (53) capable of being opened and closed in a rotating mode is installed on one side of the rotary blanking bin (19), the bin door (53) is installed on the rotary blanking bin (19) through a second rotating shaft (54), a linkage rod (55) is installed at one end, extending out of the rotary blanking bin (19), of the first rotating shaft (51), an opening and closing gear (56) is installed on the second rotating shaft (54), and a rack (57) meshed with the opening and closing gear (56) is installed on the linkage rod (55) in a hinged mode, a rotatable hoop (64) is installed on the second rotating shaft (54), a rack (57) is located in the hoop (64), the hoop (64) can tightly press the rack (57) on an opening and closing gear (56), a touch rod (58) is installed on a vertical rod (45), when the rotary blanking bin (19) moves upwards relative to the vertical rod (45), the touch rod (58) can push a linkage rod (55) to rotate and synchronously open the bin door (53) and enable the first sieve plate (50) to rotate and incline towards the position of the bin door (53), an electric push rod (59) is installed at the bottom of the vertical guide rail (34), a recovery box (60) is arranged on a piston rod of the electric push rod (59), the recovery box (60) can move to be close to the rotary blanking bin (19), a rotatable second sieve plate (61) is installed on the recovery box (60), and a rotating motor (62) is installed on a rotating shaft of the second sieve plate (61), the rotating motor (62) is started to drive the second sieve plate (61) to rotate, the guide inclined plate (63) is installed on the third conveyor belt (23), the second sieve plate (61) can extend into a position between the guide inclined plate (63) and the bin door (53), the vertical moving rod (65) is installed inside the touch rod (58), a touch seat (66) is arranged at one end, extending out of the touch rod (58), of the vertical moving rod (65), a touch switch (67) is installed at the bottom of the touch seat (66), the touch switch (67) is connected with the electric push rod (59) and the rotating motor (62) through a control circuit, when the rotating dropping bin (19) drives the linkage rod (55) to contact with the upward moving touch switch (67), the second sieve plate (61) is rotated to be opened, the recovery box (60) moves close to the rotating dropping bin (19), and when the touch seat (66) moves upwards to contact with the touch rod (58), first sieve (50) rotate, install proximity switch (68) on vertical guide rail (34), proximity switch (68) are connected with vertical elevating gear through control scheme, and can be detected by proximity switch (68) when collection box (60) remove and are close to vertical guide rail (34).