CN113071890B - Koji receiving device, intelligent koji carrying production line and koji block carrying method - Google Patents

Koji receiving device, intelligent koji carrying production line and koji block carrying method Download PDF

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Publication number
CN113071890B
CN113071890B CN202110303680.4A CN202110303680A CN113071890B CN 113071890 B CN113071890 B CN 113071890B CN 202110303680 A CN202110303680 A CN 202110303680A CN 113071890 B CN113071890 B CN 113071890B
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China
Prior art keywords
block
curved
bent
koji
bending
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CN202110303680.4A
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Chinese (zh)
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CN113071890A (en
Inventor
刘世严
蒯海波
徐军
徐飞
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Suzhou Guanhong Intelligent Equipment Co ltd
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Suzhou Guanhong Intelligent Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/88—Separating or stopping elements, e.g. fingers
    • B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
    • B65G47/883—Fixed stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/035—Stacking of articles by adding to the top of the stack from above with a stepwise downward movement of the stack

Abstract

The application discloses a koji receiving device, an intelligent koji carrying production line and a koji block carrying method, belongs to the technical field of intelligent manufacturing, and is characterized in that: the device comprises: the bending machine comprises a bending transverse rack, longitudinal rail members distributed on two sides, a push plate lifting assembly, a bending platform, a transverse pushing member, a bent block bending member, a bending positioning baffle, a single bent block advancing space platform and an edge-approaching baffle; the length of a limb pushing rod of an L-shaped rod of the curved block connecting curved member is not more than the width of the curved block, the limb pushing rod is in a vertical state in an initial state, and when the curved block needs to be pushed, the limb pushing rod is driven by the rotating mechanism to rotate by 90 degrees, and the length direction of the limb pushing rod is transverse; when the bent block is not required to be pushed, the push limb rod is driven by the rotating mechanism to rotate 90 degrees again, and the bent block is in a vertical state. The application aims to provide a koji receiving device, an intelligent koji carrying production line and a koji block carrying method so as to carry koji blocks conveniently.

Description

Koji receiving device, intelligent koji carrying production line and koji block carrying method
Technical Field
The application relates to the field of intelligent manufacturing equipment industry (industrial robot), in particular to a koji receiving device, an intelligent koji carrying production line and a koji block carrying method.
Background
For the automatic code disc work of a curved block, Luzhou product creation science and technology Limited at CN108516355A is a high-efficiency intelligent brewing curved cake code disassembling system which comprises a robot, a clamp, a lifter, a curved basket and a curved frame, wherein the clamp is fixedly connected with the wrist of the robot, two sides of the clamp are provided with a hook for clamping the curved frame and a driving device I for driving the hook to move, the clamp is further provided with a push plate for pushing the curved cake on the curved frame to move back and forth and a driving device II for driving the push plate to move back and forth, the lifter is arranged on one side of the robot and corresponds to the position of the curved basket, the lifter is provided with a material plate and a driving device III for driving the material plate to move up and down, the lifter is further provided with a driving device IV for driving the material plate to move back and forth, and one end, close to the curved basket, of the upper part of the material plate in the back and forth movement direction, of the lifter is provided with a material blocking plate and a driving device V. The invention can automatically take out the koji cakes from the koji frame and stack the koji cakes into the koji basket layer by arranging the clamp matched with the koji frame on the robot and matching with the lifter capable of moving up and down and back and forth, and has the characteristics of intellectualization, high disassembly efficiency and strong adaptability. .
However, the logistics work of white spirit from starter propagation to the crushing area involves: automatic code disc of the yeast blocks, automatic packaging of the yeast blocks and automatic discharging of broken yeast in the yeast library.
In the prior art, the whole logistics work only has part of work contents to realize automation, such as: CN108516355A curved frame. Other content is still running manually.
Therefore, how to realize the automation of the whole process of 'the logistics work from the yeast making to the crushing area' of the white spirit is a technical problem to be solved urgently.
Disclosure of Invention
The utility model aims to provide a to the not enough of above-mentioned prior art, provide a connect bent device, intelligent distiller's yeast transport production line, distiller's yeast piece transport method.
The technical scheme of the application is as follows:
a method for carrying distiller's yeast blocks comprises the following steps:
s1, conveying the yeast blocks pressed by the yeast maker by a conveyor; the shape of the curved block is rectangular, the curved block sequentially comprises a surface A, a surface B and a surface C according to the sequence of the area from large to small, and the length, the width and the height of the curved block are sequentially decreased; after the starter propagation is produced by the starter propagation machine, a starter block group consisting of at least 2 starter blocks is horizontally placed on a belt of a conveyor in parallel, a surface A contacts the belt of the conveyor, and the length direction of the starter blocks is parallel to the conveying direction of the conveyor;
s2, turning the bent blocks one by one: the curved block takes the surface A as the bottom surface and turns over to take the surface B as the bottom surface;
s3, placing the bent blocks on a placing platform one by one;
and S4, stacking the koji blocks into a koji rack by a koji stacking robot, and moving an empty koji rack to the position above the koji rack filled with the koji blocks by the koji stacking robot.
A flexure device comprising: the bending machine comprises a bending transverse rack, longitudinal rail members distributed on two sides, a push plate lifting assembly, a bending platform, a transverse pushing member, a bent block bending member, a bending positioning baffle, a single bent block advancing space platform and an edge-approaching baffle;
the longitudinal rail member includes: the vertical column and the longitudinal beam are arranged on the top surface of the longitudinal beam, the conveyor is conveyed in a belt type, and the vertical column and the longitudinal beam are arranged on two sides of the conveyor;
the buckling transverse frame is of a 'door' -shaped structure and comprises two upright posts and a cross beam for connecting the two upright posts, and the two upright posts of the buckling transverse frame are respectively supported on the longitudinal rails of the longitudinal beam and can longitudinally move along the longitudinal beam;
the push plate lifting assembly comprises: a fixed plate, a lifting cylinder and a push plate; the fixed plate is fixedly connected to a cross beam of the bending transverse rack, the fixed part of the lifting cylinder is installed on the fixed plate, and the push plate is connected to the movable bottom end of the lifting cylinder; the push plate can be controlled to move up and down through the lifting cylinder;
the bending platform is arranged between the two longitudinal rails, one side of the bending platform is provided with a transverse pushing component, and the other side of the bending platform is provided with a crank block bending component;
the lateral thrust member comprises: the transverse pushing and pulling mechanism comprises a transverse pushing and pulling power mechanism and a transverse pushing and pulling plate, wherein the transverse pushing and pulling plate is fixedly connected to the moving end part of the transverse pushing and pulling power mechanism;
the crank block coupling member, which is disposed along a longitudinal direction, includes: the crank block is connected with a longitudinal push-pull power mechanism, a rotating mechanism and an L-shaped rod; the moving end of the curved block connecting curved longitudinal push-pull power mechanism is fixedly provided with a rotating mechanism, and the L-shaped rod is connected with the rotating mechanism;
the transverse pushing component and the curved block bending component are respectively arranged on two sides of the bending platform, and the side-close baffle is also arranged opposite to the transverse pushing component;
the buckling positioning baffle is arranged on one side of the transverse pushing component in the longitudinal direction and can cover the same group of bent blocks conveyed by the conveyor;
the length of a limb pushing rod of an L-shaped rod of the curved block connecting curved member is not more than the width of the curved block, the limb pushing rod is in a vertical state in an initial state, and when the curved block needs to be pushed, the limb pushing rod is driven by the rotating mechanism to rotate by 90 degrees, and the length direction of the limb pushing rod is transverse; when the bent block is not required to be pushed, the push-limb rod is driven by the rotating mechanism to rotate 90 degrees again, and the bent block is in a vertical state;
the single curved block advancing space platform is arranged behind the curved platform, and when the push limb rod of the L-shaped rod pushes the curved block to move, the curved block moves to the single curved block advancing space platform from the curved platform.
Further, a gap for the side baffle to pass through is arranged on the limb pushing rod; the height of the side baffle is less than that of the curved block.
Further, connect the length that crooked positioning baffle apart from keeping close to the limit baffle to be not more than the width of 2 bent pieces, its length with the limb pushing rod is not more than the width of bent piece and cooperatees, guarantees that the limb pushing rod only promotes 1 bent piece at every turn and moves ahead.
Further, the power mode that the articulated transverse frame moves along the track of the longitudinal beam is as follows: the longitudinal beam is provided with a telescopic rod structure, namely one end of a telescopic rod is connected with an upright post of a curved transverse frame, and the other end of the telescopic rod is connected and fixed with the structure of the longitudinal beam; or, a screw rod-nut structure is adopted, namely a threaded hole is formed in an upright post of the bending transverse rack, the threaded hole penetrates through a screw rod arranged above the longitudinal beam, and when the screw rod rotates, the bending transverse rack moves longitudinally along the longitudinal beam.
An intelligent distiller's yeast transport production line includes: the device comprises a conveyor, the yeast receiving device, a material arranging device, a yeast stacking robot and a yeast rack placing area;
the device comprises a conveyor, a starter propagation device and a starter receiving device, wherein the conveyor is used for receiving a starter block transferred by the starter propagation device, and the tail end of the conveyor corresponds to a starter receiving platform of the starter receiving device;
wherein, reason material device includes: the bending block turning-transition conveying integrated machine comprises a bending block turning-transition conveying integrated machine, a placing platform and a bending block translation module;
wherein, bent piece translation module includes: the device comprises a rack, an X-direction positioning mechanism, a Y-direction clamping device and a Z-direction positioning mechanism; the X direction, the Y direction and the Z direction are vertical to each other;
the X direction is parallel to the advancing direction of the transition conveyer belt, and the Z direction is a vertical direction;
the direction of the mechanical arm is Y direction and is a cantilever structure;
the X-direction positioning mechanism comprises: the mechanical arm mechanism comprises an L-shaped mechanical arm arranged on a rack and a driving mechanism driving the mechanical arm to move along the X-direction, wherein an X-direction moving track is arranged on the upper surface of the rack 202-1, and a groove and a protrusion matched with the X-direction moving track arranged on the upper surface of the rack are arranged on the lower surface of the first end part of the mechanical arm;
the Z-direction positioning mechanism comprises: a Z-direction track which is vertically downward and a driving mechanism for driving the Y-direction clamping device to vertically move are arranged at the second end part of the mechanical arm; the side surface of the Y-direction clamping device is provided with a groove and a bulge matched with the Z-direction track;
the Y-direction clamping device comprises: the end parts of the Y-direction cylinders are connected with clamping plates, and the distance between the two clamping plates is adjusted through the two Y-direction cylinders;
wherein, receiving device is with reason material device's cooperation:
a curved block steering-transition conveying all-in-one machine is arranged in the advancing direction of the single curved block advancing space table, and when the turnover plates rotate, the second plate of each turnover plate can be flush with the single curved block advancing space table and can be kept in a horizontal state.
The placing platform is arranged at the rear ends of the 2 transition conveyor belts, and the top surfaces of the placing platform and the transition conveyor belts are at the same height, so that the bent blocks can be conveniently moved onto the placing platform;
the stacking robot adopts a six-axis joint robot, and a clamp is connected to the connecting end part of the six-axis robot;
the jig includes: t-shaped connecting rods, a bent frame clamp and a bent block clamp;
the T-shaped connecting rod comprises: a horizontal portion and a vertical first end, a vertical second end; the horizontal part is connected with the connecting end part of the stacking robot;
the first vertical end is connected with the bent frame clamp, and the second vertical end is connected with the bent block clamp.
Further, the curved block jig includes: the device comprises a connecting plate and a plurality of cylinder type opposite clamps below the connecting plate; the number of the cylinder type opposite clamps is a plurality, and the cylinder type opposite clamps are arranged in a row along the connecting plate.
Bent frame anchor clamps include: the connecting frame and the bearing part above the connecting frame; the receiving part includes: the L-shaped plate comprises a vertical plate and a horizontal plate, and the vertical plate is connected with the pushing part of the cylinder; the bearing parts are arranged at four corners of the connecting frame.
Furthermore, the curved frame comprises a plurality of grooves which are arranged in a matrix type of rows and columns; when the bent block is placed in the groove of the bent frame, a certain gap can be formed between the bent block and the periphery of the groove;
the lower ends of the four corners of the curved frame are provided with conical guide pins, and the upper ends of the four corners of the curved frame are provided with guide holes; the connection mode of adjacent bent frames is as follows: the conical guide pin of the upper curved frame is inserted into the guide hole of the lower curved frame, namely the upper curved frame and the lower curved frame can be mutually stacked after being matched with the upper guide hole through the conical guide pin at the lower end;
the conical guide pin is matched with the height of the guide hole;
and an insertion hole is formed above the frame beam of the bent frame so as to facilitate the matching of the bent block clamp.
A method for carrying distiller's yeast blocks adopts the intelligent distiller's yeast carrying production line to carry the distiller's yeast blocks; the method comprises the following steps:
firstly, conveying the yeast blocks pressed by a yeast making machine by a conveyor; the shape of the curved block is rectangular, the curved block sequentially comprises a surface A, a surface B and a surface C according to the sequence of the area from large to small, and the length, the width and the height of the curved block are sequentially decreased; after the starter propagation is produced by the starter propagation machine, a starter block group consisting of at least 2 starter blocks is horizontally placed on a belt of a conveyor in parallel, a surface A contacts the belt of the conveyor, and the length direction of the starter blocks is parallel to the conveying direction of the conveyor;
step two, the yeast block group is pushed to a material arranging device one by one sequentially through a yeast receiving device:
step A, after the curved block group passes through a curved transverse rack after the conveyor moves, the curved block group moves to a curved platform from the conveyor;
b, a lifting cylinder of the push plate lifting assembly controls the push plate to move downwards, the bending transverse rack moves towards the bending positioning baffle along the longitudinal beam, and the push plate moves the bending block group until the bending block contacts the bending positioning baffle; then, a lifting cylinder of the push plate lifting assembly controls the push plate to move upwards, and the bending transverse rack moves towards the direction of the koji making machine along the longitudinal beam;
repeating the steps by the bending transverse frame, and continuously moving the bending block group to the position of the bending positioning baffle;
step C, after the curved block group is blocked by the curved positioning baffle, the transverse pushing component starts to push the curved block group to enable the curved block group to be pushed along the transverse direction until the curved edge on one side contacts the edge-approaching baffle; then the transverse pushing component retracts;
the rotating mechanism of the crank block connecting member is started to enable the L-shaped rod to rotate 90 degrees, and then the limb pushing rod pushes the single crank block to move forwards to the material arranging device along the single crank block advancing space table;
c, repeating the step C, and pushing all the koji blocks of the koji block group to a material arranging device one by one;
step three, moving the bent block to a turnover plate of the bent block turning-transition conveying all-in-one machine: the surface A of the curved block is contacted with one surface of the turnover plate, and the surface B of the curved block is contacted with the other surface of the turnover plate;
then the curved block steering cylinder rotates to drive the turnover plate and the curved block to rotate, so that the curved block is turned over, along with the turning over of the turnover plate, two sides of a surface B of the curved block are in contact with the 2 transition conveyor belts, the middle part of the surface B is not in contact with the turnover plate, and then the transition conveyor belts are started to move the curved block to the end part of the placing platform;
step four, the bent block translation module will move the bent block of place the platform tip and put the other end of place the platform one by one:
starting the X-direction positioning mechanism, aligning the Y-direction clamping device to the bent block, starting the Z-direction positioning mechanism to drive the Y-direction clamping device to move downwards, and moving the Y-direction clamping device relatively to clamp the bent block;
then, starting the Z-direction positioning mechanism to drive the Y-direction clamping device and the crank block to move upwards; starting the X-direction positioning mechanism, and moving the Y-direction clamping device and the bent block to a preset position; the Z-direction positioning mechanism is started to drive the Y-direction clamping device and the bent block to move downwards; the bent block is loosened by a clamping plate of the Y-direction clamping device;
repeating the step four, arranging the bent blocks into a row along the X direction, and placing the bent blocks on a placing platform to form a bent block row;
step five, carrying the koji blocks and the koji racks by a koji stacking robot:
5.1: carrying the koji blocks by a koji stacking robot: a curved block clamp of the curved block stacking robot faces downwards, then a cylinder type opposite clamp corresponds to and clamps each curved block of a curved block array arranged on a placing platform, then an arm of the curved block stacking robot rotates and lifts, the curved block array is moved to a curved frame, and then the cylinder type opposite clamp is released;
5.2: carrying the empty yeast rack by a yeast stacking robot: after the koji rack is filled with koji blocks, continuously placing empty koji racks on the koji rack; at the moment, the clamp of the stacking robot rotates 180 degrees, and the clamp of the curved frame faces downwards; the stacking robot drives the bent frame clamp to move to the empty bent frame stacking, an air cylinder of the bent frame clamp is started, a horizontal plate of the L-shaped plate is inserted into an insertion hole of the empty bent frame, and at the moment, the stacking robot drives the bent frame clamp and the empty bent frame to move, so that the empty bent frame is moved to the position above the bent frame filled with bent blocks;
repeating the steps 5.1 and 5.2, and continuously loading the koji blocks of the koji making machine in a koji rack;
when the empty yeast rack is completely stacked, a carrying robot is adopted to carry a new empty yeast rack for stacking; when the full-load yeast rack stacking of the yeast blocks is full, the yeast blocks are carried to a warehouse by a carrying robot for fermentation.
The beneficial effect of this application lies in:
first, the present application requires protection of four innovative points: firstly, the intelligent distiller's yeast carrying production line is provided; secondly, a material receiving device, thirdly, a bending block turning-transition conveying integrated machine; fourthly, the method for transporting the distiller's yeast blocks is provided.
Therefore, in order to protect the above 4 innovative points in general, in particular protection: the material receiving device and the bent block turning-transition conveying integrated machine comprise two single products.
Secondly, the first invention is characterized in that: the sign indicating number bent transport workstation of bent piece has been proposed, an intelligent distiller's yeast transport production line includes: the device comprises a conveyor, a yeast receiving device, a material arranging device, a yeast stacking robot and a yeast rack placing area; the core points are as follows: the design of the koji receiving device, the matching of the koji receiving device and the material arranging device, the design of the material arranging device and the matching of the material arranging device and the koji stacking robot.
Third, the second invention of the present application is: and (5) designing a material arranging device.
Fourth, a third invention of the present application is: a curved block steering-transition conveying integrated machine is provided; in particular, the embodiment is a first generation of integrated machine for turning and transitional conveying of the bent blocks, and the embodiment provides a second generation of integrated machine for turning and transitional conveying of the bent blocks.
A curved block steering-transition conveying all-in-one machine comprises: the device comprises a frame, a crank block steering cylinder, 4 turnover plates, 2 transition conveyor belts and a servo motor;
4 turnover plates are uniformly and circumferentially arranged on the bent block steering cylinder at intervals; the returning face plate adopts L template, and the returning face plate includes: a first plate and a second plate; the first plate is in the tangential direction of the curved block steering cylinder; the second plate is in the radial direction of the bent block steering cylinder;
wherein, the frame includes: a column and a connecting beam; a bent block limiting plate is arranged above the connecting beam and used for stabilizing a bent block;
wherein, 2 transition conveyer belts are symmetrically arranged at two sides of the curved block steering cylinder, namely the area between the 2 transition conveyer belts is used for the rotation of the turnover plate; the transition conveying belt comprises a front rotating shaft, a rear rotating shaft and a conveying belt, and the conveying belt is sleeved on the front rotating shaft and the rear rotating shaft; the central shafts of 2 front rotating shafts of 2 transition conveying belts are not connected together; the central shafts of the rear rotating shafts of the 2 transition conveying belts are coaxial;
wherein, the height of the 2 transition conveyer belts is lower than that of the curved block steering cylinder;
wherein, servo motor drives the bent block steering cylinder to rotate around its central rotating shaft.
A curved block steering-transition conveying all-in-one machine comprises: the device comprises a frame, a crank block steering cylinder, 4 turnover plates, 2 transition conveyor belts and a servo motor;
4 turnover plates are uniformly and circumferentially arranged on the bent block steering cylinder at regular intervals;
the frame includes: a column and a connecting beam; the 2 transition conveyer belts are symmetrically arranged at two sides of the curved block steering cylinder, namely, the area between the 2 transition conveyer belts is used for the turnover plate to rotate;
the transition conveyer belt comprises a front rotating shaft and a rear rotating shaft, and the central shafts of 2 front rotating shafts of 2 transition conveyer belts are connected together;
the returning face plate adopts L template, includes: a first plate, a second plate; the first plate is perpendicular to the second plate;
the radius of the curved block steering cylinder is r, and the distance from the rotating center of the curved block steering cylinder to the upper surface of the second transition conveying belt is h;
when the turnover plate is in the position of No. C, the first plate is in a vertical state, and the second plate is in a horizontal state;
when the turnover plate is in the E position, the first plate is in a horizontal state, and the second plate is in a vertical state;
when the turnover plate is positioned at the position of No. E, the distance from the upper surface of the first plate to the upper surface of the second transition conveyor belt is k;
the connecting line through the first board of returning face plate and second board and the face of the rotation axis of bent piece steering cylinder (two straight lines can confirm a face), and the contained angle between the horizontal plane is in respectively: arcsin [ (h-k)/r ], arcsin [ (h-k)/r ] + pi/2, arcsin [ (h-k)/r ] + pi, arcsin [ (h-k)/r ] +3 pi/2;
in particular, the rotating angular speed w of the curved block steering cylinder and the moving speed L of the transition conveying belt satisfy the following relation:
L/w＝{[r2-(h-k)2]0.5—(r2-h2)0.5}/{arcsin(h/r)—arcsin[(h-k)/r]}。
particularly, a central rotating shaft of the crank block steering cylinder is rotationally connected to an upright post of the frame; a driven gear is fixedly arranged on the central rotating shaft, a driving gear is arranged on an output shaft of the servo motor, and the driving gear is meshed with the driven gear.
Fifth, a fourth invention of the present application is: the application provides a method for carrying distiller's yeast blocks. To this end, the application claims two independent claims: firstly, how to turn the curved surface is changed from a surface A as a bottom surface to a surface B as a bottom surface; and the other is a carrying method of an intelligent distiller's yeast carrying production line.
Drawings
The present application will be described in further detail with reference to the following examples, which are not intended to limit the scope of the present application.
FIG. 1 is a diagram showing the overall design of an intelligent koji-handling line according to example 1.
Fig. 2 is a schematic diagram of face a/face B/face C of the curved block.
Fig. 3 is a schematic design diagram of the connecting device 100 of embodiment 1.
Fig. 4 is a schematic three-dimensional design of the connecting device 100 of example 1 from another perspective.
Fig. 5 is a schematic view showing the state of the lateral moving member, the curved block curved member, and the curved positioning damper in embodiment 1.
Fig. 6 is a schematic three-dimensional design diagram of the material arranging device of embodiment 1.
Fig. 7 is a schematic three-dimensional design diagram of the curved block turning-transition conveying all-in-one machine and the placing platform in another view angle in the embodiment 1.
Fig. 8 is a schematic three-dimensional design diagram of the curved block translation module 202 according to embodiment 1.
Fig. 9 is a schematic front view of the 2 front rotary shafts of the crank deflection drum-transition conveyor belt according to embodiment 1.
Fig. 10 is a schematic view of the joint function design of the quadword robot in embodiment 1.
Fig. 11 is a schematic three-dimensional design of the jig 1000 according to example 1.
Fig. 12 is a schematic view of the stack of the curved shelves of embodiment 1.
FIG. 13 is a schematic design diagram of a single curved frame in example 1.
Fig. 14a is a design schematic diagram of the flap of the curved block steering cylinder of embodiment 1.
Fig. 14B is a schematic diagram of the movement of the curved block from position B to the transition conveyor belt of example 1.
Fig. 15 is a design schematic view of a flap of the crank steering column of embodiment 2.
The reference numerals of fig. 1-15 illustrate the following:
the automatic yeast-making machine comprises a yeast receiving device 100, a material arranging device 200, a yeast stacking robot 400, a safety fence 600, a clamp 1000 and a yeast rack 1100;
the device comprises a vertical column 101, a longitudinal beam 102, a curved transverse frame 103, a push plate lifting assembly 104, a curved platform 105, a transverse pushing member 106, a curved block curved member 107, a curved positioning baffle 108, a single curved block advancing space table 109 and a side-leaning baffle 110;
the bending block turning-transition conveying integrated machine 201, a bending block translation module 202 and a placing platform 203;
a curved block steering cylinder 201-1, a turnover plate 201-2 and a transition conveyer belt 201-3;
a machine frame 202-1, an X-direction positioning mechanism 202-2, a Y-direction clamping device 202-4 and a Z-direction positioning mechanism 202-3;
a curved block clamp 1001, a curved frame clamp 1002 and a T-shaped connecting rod 1003;
the device comprises a connecting plate 1002-1, a rotating rod 1002-2, a rotating rod driving device 1002-3, an intermediate adapter component 1002-4, a vertical clamp rod 1002-5, a horizontal adapting part 1002-6 and a horizontal clamp rod 1002-7;
curved frame 1100, tapered guide pin 1101, guide hole 1102, and insertion hole 1103.
Detailed Description
The basic problem of intelligent distiller's yeast transport production line is: how to design, and from which step to solve.
For the curved block, the shape of the curved block is similar to a rectangle and sequentially comprises a surface A, a surface B and a surface C from large to small; the length, width and height of the bent block are sequentially decreased;
selection of node condition one: how are the koji blocks given by the koji maker placed? Plane a/plane B/plane C contact line? Is it transported one by one or 2 parallel or 3 parallel together?
And (3) selecting a node condition two: how do the song pieces move onto the rack?
Selection of node condition three: how are the yeast blocks on the yeast rack placed?
In the face of the above design problems, the team of inventors performed the following analyses:
firstly, the node condition three adopts: the surface B of the curved block is placed on the curved frame, the curved blocks are arranged in a row along the width direction of the curved block, and the row direction is along the length direction of the curved block; the bent block can keep stable and the utilization rate of the bent frame is high.
Secondly, under the condition of a node, the outgoing yeast block of the yeast maker is generally with the surface A below.
Thirdly, based on the node conditions I and III, the technical problem is decomposed into the following sub-problems:
TABLE 1 research and development thought chart
Figure GDA0003292629960000081
Figure GDA0003292629960000091
Embodiment 1, as shown in fig. 1, an intelligent koji-handling production line includes: the automatic yeast-making machine comprises a conveyor, a yeast receiving device 100, a material arranging device 200, a yeast stacking robot 400, a safety fence 600 and a yeast rack placing area.
Wherein the connecting device 100 comprises: the bending machine comprises a bending transverse rack 103, longitudinal track members distributed on two sides of a conveyor, a push plate lifting assembly 104, a bending platform 105, a transverse pushing member 106, a bending block bending member 107, a bending positioning baffle 108, a single bending block advancing space table 109 and an edge-leaning baffle 110;
the longitudinal rail member includes: the conveying device comprises upright columns 101, longitudinal beams 102 and longitudinal rails arranged on the top surfaces of the longitudinal beams 102, wherein a conveyor is conveyed in a belt manner, and the upright columns 101 and the longitudinal beams 102 are arranged on two sides of the conveyor (namely, longitudinal rail members are arranged on two sides of the conveyor);
the curved transverse frame 103 is of a 'door' -shaped structure and comprises two upright posts and a cross beam for connecting the two upright posts, and the two upright posts of the curved transverse frame are respectively supported on the longitudinal rails of the longitudinal beam 102 and can move longitudinally along the longitudinal beam 102;
the pusher lift assembly 104 includes: a fixed plate, a lifting cylinder and a push plate; the fixed plate is fixedly connected to a cross beam of the bending transverse rack 103, the fixed part of the lifting cylinder is installed on the fixed plate, and the push plate is connected to the movable bottom end of the lifting cylinder; the push plate can be controlled to move up and down through the lifting cylinder;
the powered manner of movement of the articulated transverse frame 103 along the tracks of the longitudinal beams 102 may employ conventional techniques, such as: a telescopic rod structure is arranged on the longitudinal beam, namely one end of a telescopic rod is connected with an upright post of the curved transverse rack 103, and the other end of the telescopic rod is connected and fixed with the longitudinal beam 102; similarly, a screw-nut structure can also be adopted, namely a threaded hole is arranged on an upright post of the bending transverse frame 103, the threaded hole penetrates through a screw rod arranged above the longitudinal beam 102, and when the screw rod rotates, the bending transverse frame 103 moves longitudinally along the longitudinal beam;
the bending platform 105 is arranged in the longitudinal direction of the conveyor, one side of the bending platform is provided with a transverse pushing component 106, and the other side of the bending platform is provided with a bending block connecting component 107;
said lateral thrust member 106 comprises: the transverse pushing and pulling power mechanism (a conventional power mechanism such as a hydraulic rod, an air rod and the like can be selected) and a transverse pushing and pulling plate, wherein the transverse pushing and pulling plate is fixedly connected to the moving end part of the transverse pushing and pulling power mechanism;
the crank block coupling member 107, which is disposed along the longitudinal direction, includes: the crank block is connected with a longitudinal push-pull power mechanism (a conventional power mechanism such as a hydraulic rod and an air rod can be selected), a rotating mechanism and an L-shaped rod;
the moving end of the bent block bending longitudinal push-pull power mechanism is fixedly provided with a rotating mechanism (the L-shaped rod can be driven to rotate by adopting a motor-gear mode or other known modes), and the L-shaped rod is connected with the rotating mechanism;
a curved positioning baffle 108 is provided on one side of the longitudinal direction of the lateral thrust member 106, and the curved positioning baffle 108 can cover the same set of curved pieces conveyed by the conveyor, for example: the transverse distance of the conveyor can place N curved blocks at the same time, and the curved positioning baffle 108 can contact with the N curved blocks (the length of the baffle is not required to be equal to the transverse width of the conveyor).
The length of the limb pushing rod of the L-shaped rod of the curved block bending member 107 (the shape of the L-shaped rod is for beauty, and at the same time, the L-shaped rod is for forming a plane concept, which is convenient for an operator to observe, the L-shaped rod can be replaced by a strip-shaped limb pushing rod) is not more than the width of the curved block (only 1 curved block is guaranteed to be pushed forward), the limb pushing rod is in a vertical state in an initial state, and when the curved block needs to be pushed, the limb pushing rod is driven by the rotating mechanism to rotate by 90 degrees, and the length direction of the limb pushing rod is transverse; when the bent block is not required to be pushed, the push-limb rod is driven by the rotating mechanism to rotate 90 degrees again, and the bent block is in a vertical state;
it should be noted that the limb pushing rod is provided with a gap for the edge-leaning baffle 110 to pass through; the height of the edge guard 110 is less than the height of the curved block.
It should be noted that the length of the curved positioning baffle 108 from the edge baffle 110 is not more than 2 curved blocks; this feature is coupled with the feature that the length of the limb pushing rod is not greater than the width of the curved block (i.e. it is ensured that only 1 curved block is pushed forward by the limb pushing rod each time).
Wherein, reason material device 200 includes: the curved block turning-transition conveying integrated machine 201, the placing platform 203 and the curved block translation module 202;
the curved block turning-transition conveying integrated machine 201 comprises: the device comprises a frame, a bent block steering cylinder 201-1, 4 turnover plates 201-2 (adopting L-shaped plates), 2 transition conveyor belts 201-3 and a servo motor;
4 turnover plates 201-2 are circumferentially and uniformly arranged on the curved block steering cylinder 201-1 at intervals, and the curved block steering cylinder 201-1 and the turnover plates are equal in width;
the roll-over plate includes: the first plate is in the tangential direction of the curved block steering cylinder; the second plate is in the radial direction of the bent block steering cylinder;
the frame includes: a column and a connecting beam; a bent block limiting plate 201-4 is arranged above the connecting beam and used for stabilizing a bent block;
the 2 transition conveyer belts are symmetrically arranged at two sides of the curved block steering cylinder, namely, the area between the 2 transition conveyer belts is used for the turnover plate to rotate; the transition conveyer belt comprises a front rotating shaft and a rear rotating shaft, and the central shafts of 2 front rotating shafts of 2 transition conveyer belts are not connected together (if the central shafts are connected together, the central shafts need to pass through the bent block steering cylinder to cause the bent block steering cylinder to be incapable of rotating);
the central shafts of the rear rotating shafts of the 2 transition conveying belts are coaxial;
the height of the 2 transition conveyer belts is lower than that of the curved block steering cylinder 201-1.
The matching of the material receiving device 100 and the material arranging device 200 is as follows:
a curved block turning-transitional conveying integrated machine 201 is arranged in the forward direction of the single curved block forward space platform 109, and at least 1 plate (the turnover plate is an L-shaped plate) in each turnover plate can be flush with the single curved block forward space platform 109 and keep a horizontal state when the turnover plates 201-2 rotate.
The placing platform 203 is arranged at the rear ends of the 2 transition conveyor belts 201-3, and the top surfaces of the placing platform 203 and the transition conveyor belts 201-3 are at the same height, so that the curved blocks can be conveniently moved onto the placing platform 203;
the central rotating shaft of the crank block steering cylinder 201-4 is rotationally connected to an upright post of the frame; the servo motor drives the crank block steering cylinder 201-1 to rotate around the central rotating shaft; specifically, a driven gear is fixedly arranged on the central rotating shaft, a driving gear is arranged on an output shaft of the servo motor, and the driving gear is meshed with the driven gear (about the mode that the servo motor drives the crank block rotating cylinder to rotate, or about the mode that the output shaft of the servo motor is provided with the driving gear, the driving gear and the driven gear are connected and driven by a gear set or a belt and the like);
the curved block translation module 202 includes: the device comprises a rack 202-1, an X-direction positioning mechanism 202-2, a Y-direction clamping device 202-4 and a Z-direction positioning mechanism 202-3; the X direction, the Y direction and the Z direction are vertical to each other;
the X direction is parallel to the advancing direction of the transition conveyer belt 201-3, and the Z direction is a vertical direction;
the direction of the mechanical arm is Y direction and is a cantilever structure;
the X-direction positioning mechanism 202-2 includes: the mechanical arm is arranged on the rack 202-1, and the driving mechanism drives the mechanical arm to move along the X direction, the upper surface of the rack 202-1 is provided with an X direction moving track (the X direction moving track adopts a bulge or a groove), and the lower surface of the first end part of the mechanical arm is provided with a groove and a bulge which are matched with the X direction moving track arranged on the upper surface of the rack 202-1; (for the connection relation between the driving mechanism moving in the X direction and the mechanical arm, the prior art such as screw rod-nut, telescopic rod and the like can be adopted);
the Z-direction positioning mechanism 202-3 includes: a Z-direction track (a Z-direction moving track adopts a bulge or a groove) which is vertically downward (the mechanical arm adopts an L-shaped structure) and a driving mechanism for driving the Y-direction clamping device 202-4 to vertically move are arranged at the second end part of the mechanical arm; the side surface of the Y-direction clamping device 202-4 is provided with a groove and a bulge which are matched with the Z-direction track; (for the connection between the driving mechanism in the Z direction and the Y-direction clamping device 202-4, the existing technologies such as screw rod-nut, telescopic rod, etc. can be adopted).
The Y-clamp 202-4 includes: the end parts of the Y-direction cylinders are connected with clamping plates, and the distance between the two clamping plates is adjusted through the two Y-direction cylinders (the two clamping distances are in the Y direction);
although the crank block translation module 202 has functions of moving in the X, Y, and Z directions, the design of these functions cannot be compared with the prior art, for example, "applicant's prior application: a technique described in intelligent transfer robot-202011140366.0'.
The particular feature of the crank translation module 202 is that the robot arm is a fixed L-shaped structure and the Y-clamp is located at the bottom of the Z-drive mechanism. Conventional three-way moving mechanisms are like: "an intelligent transfer robot-202011140366.0", the arm can not adopt fixed L type structure, is about to the vertical pole of arm moves along the horizontal pole direction of arm, realizes the removal of Y to. The block translation module 202 of the present application is designed to substantially break the prejudice of the prior art.
The stacking robot 400 adopts a six-axis robot (prior art, such as http:// www.szproxima.com/products/ty /), and a clamp 1000 is connected to the connecting end part of the six-axis robot;
the six-axis robot is selected as follows: the robot is a joint type six-axis robot, and the specific rotation of the robot is shown in the attached figure 10.
As shown in fig. 10, the jig 1000 includes: t-shaped connecting rod 1003, bent frame clamp 1002 and bent block clamp 1001;
the T-shaped connecting rod 1003 includes: a horizontal portion and a vertical first end, a vertical second end; the horizontal part is connected with the connection end part of the stacking robot 400;
the vertical first end is connected with a bent frame clamp 1002, and the vertical second end is connected with a bent block clamp 1001;
the curved block jig 1001 includes: the device comprises a connecting plate and a plurality of cylinder type opposite clamps below the connecting plate; the number of the cylinder type opposite clamps is a plurality, and the cylinder type opposite clamps are arranged in a row along the connecting plate;
the bent frame jig 1002 includes: the connecting frame and the bearing part above the connecting frame; the receiving part includes: the L-shaped plate comprises a vertical plate and a horizontal plate, and the vertical plate is connected with the pushing part of the cylinder; the bearing parts are arranged at four corners of the connecting frame.
It should be noted that the bent frame fixture and the bent frame of the present application correspond to each other:
the curved frame comprises a plurality of grooves which are arranged in a matrix type of rows and columns; when the bent block is placed in the groove of the bent frame, a certain gap can be formed between the bent block and the periphery of the groove;
the lower ends of the four corners of the curved frame 1100 are provided with tapered guide pins 1101, and the upper ends of the four corners of the curved frame are provided with guide holes 1102; the connection mode of adjacent bent frames is as follows: the conical guide pin of the upper curved frame is inserted into the guide hole of the lower curved frame, namely the upper curved frame and the lower curved frame can be mutually stacked after being matched with the upper guide hole through the conical guide pin at the lower end;
the conical guide pin is matched with the height of the guide hole;
an insertion hole 1103 is provided above the frame beam of the bent frame to facilitate the fitting of the bent block jig.
The working mode of the application is as follows:
firstly, conveying the yeast blocks pressed by a yeast making machine by a conveyor; the shape of the curved block is rectangular, and the curved block sequentially comprises a surface A, a surface B and a surface C from large to small; after the starter propagation is produced by the starter propagation machine, a starter block group consisting of at least 2 starter blocks is horizontally placed on a belt of a conveyor in parallel, a surface A contacts the belt of the conveyor, and the length direction of the starter blocks is parallel to the conveying direction of the conveyor;
step two, the yeast block groups are pushed to the material arranging device 200 one by one sequentially through the yeast connecting device 100:
step A, after a curved block group passes through a curved transverse rack 103 after a conveyor moves, the curved block group moves to a curved platform 105 from the conveyor under the action of inertia;
step B, a lifting cylinder of the push plate lifting assembly 104 controls a push plate to move downwards (after the push plate and a curved block group are at the same height, when the curved transverse rack 103 moves longitudinally, the push plate can be contacted with the curved block group), the curved transverse rack 103 moves towards the curved positioning baffle 108 along the longitudinal beam 102, and the push plate moves the curved block group to the curved block to be contacted with the curved positioning baffle 108; then, the lifting cylinder of the push plate lifting assembly 104 controls the push plate to move upwards (after the push plate moves upwards, the lower end of the push plate cannot touch the curved block group), and the curved transverse rack 103 moves towards the direction of the koji making machine along the longitudinal beam 102;
repeating the steps by the bending transverse frame 103, and continuously moving the bending block group to the position of the bending positioning baffle 108;
step C, after the curved block group is blocked by the curved positioning baffle 108, the transverse pushing component 106 starts to push the curved block group along the transverse direction until the curved edge on one side contacts the edge-abutting baffle 110; transverse push member 106 is then retracted;
the rotating mechanism of the crank block connecting component 107 is started, so that the L-shaped rod rotates 90 degrees, and then the limb pushing rod pushes the single crank block to advance to the material arranging device 200 along the single crank block advancing space table 109;
c, repeating the step C, and pushing all the koji blocks of the koji block group to the material arranging device 200 one by one;
step three, moving the bent block to a turnover plate 201-2 of the bent block turning-transition conveying all-in-one machine 201: the surface A of the curved block is contacted with one surface of the turnover plate, and the surface B of the curved block is contacted with the other surface of the turnover plate;
then the curved block steering cylinder 201-1 rotates to drive the turnover plate 201-2 and the curved block to rotate, turnover of the curved block is achieved, along with turnover of the turnover plate 201-2, two sides of a face B of the curved block are in contact with 2 transition conveyor belts, the middle part of the face B is not in contact with the turnover plate, then the transition conveyor belts are started, and the curved block is moved to the end part of the placing platform 203;
step four, the curved block translation module 202 places the curved blocks moved to the end of the placing platform 203 one by one at the other end of the placing platform 203:
starting the X-direction positioning mechanism 202-2, aligning the Y-direction clamping device to the bent block, then starting the Z-direction positioning mechanism to drive the Y-direction clamping device to move downwards, and then moving the Y-direction clamping device relatively to clamp the bent block;
then, starting the Z-direction positioning mechanism to drive the Y-direction clamping device and the crank block to move upwards; starting the X-direction positioning mechanism 202-2, and moving the Y-direction clamping device and the bent block to preset positions; the Z-direction positioning mechanism is started to drive the Y-direction clamping device and the bent block to move downwards; the bent block is loosened by a clamping plate of the Y-direction clamping device;
repeating the step four, arranging the bent blocks into a row along the X direction, and placing the bent blocks on the placing platform 203 to form a bent block row;
step five, carrying the koji blocks and the koji racks by a koji stacking robot:
5.1: carrying the koji blocks by a koji stacking robot: the bent block clamp of the bent block stacking robot 400 faces downwards, then the cylinder type opposite clamp corresponds to and clamps each bent block of the bent block array arranged on the placing platform 203, then the arm of the bent block stacking robot 400 rotates and lifts, the bent block array is moved to a bent frame, and then the cylinder type opposite clamp is released;
5.2: the music piece stacking robot 400 carries the empty music piece frame: after the koji rack is filled with koji blocks, continuously placing empty koji racks on the koji rack; at this time, the clamp of the stacking robot 400 rotates 180 degrees, and the clamp of the curved frame faces downwards (the horizontal plate of the L-shaped plate is below the vertical plate); the stacking robot drives the bent frame clamp to move to the empty bent frame stacking, an air cylinder of the bent frame clamp is started, a horizontal plate of the L-shaped plate is inserted into an insertion hole of the empty bent frame, and at the moment, the stacking robot drives the bent frame clamp and the empty bent frame to move, so that the empty bent frame is moved to the position above the bent frame filled with bent blocks;
repeating the steps 5.1 and 5.2, and continuously loading the koji blocks of the koji making machine in a koji rack;
when the empty yeast rack is completely stacked, a carrying robot is adopted to carry a new empty yeast rack for stacking; when the full-load yeast rack stacking of the yeast blocks is full, the yeast blocks are carried to a warehouse by a carrying robot for fermentation.
Embodiment 2, the first generation curved block turning-transitional conveying all-in-one machine 201 of embodiment 1 has a problem that: the roll-over plate includes: the first plate is in the tangential direction of the curved block steering cylinder; the second plate is in the radial direction of the bent block steering cylinder; this is the conventional practice of flipping a plate-crank steering column.
However, in actual operation, a problem occurs as shown in fig. 14B, that is, the turning plate rotates from the position a to the position B, so as to turn the curved block, but the turning of the curved block is achieved, which does not mean: the bent block can move horizontally from the position B.
Since the central rotating shaft of the transition conveyor belt approaches the single curved block forward space table 109, the height of the transition conveyor belt cannot reach the height of the first plate at the B-position.
The bent blocks are inclined forwards when the bent blocks are required to move to the transition conveying belt, then the bent blocks are gradually separated from the first plate along with the rotation of the turnover plate, and the bent blocks are continuously pushed forwards by the second plate, so that the bent blocks are erected on the transition conveying belt.
However, the above process is very prone to forward lean, which loses the meaning of steering: face a is again facing downward.
In order to solve the above problems, the following design is creatively proposed:
the second generation of the curved block turning-transition conveying all-in-one machine 201 comprises: the device comprises a frame, a bent block steering cylinder 201-1, 4 turnover plates 201-2 (L-shaped structures), 2 transition conveyor belts 201-3 and a servo motor;
4 turnover plates 201-2 are circumferentially and uniformly arranged on the curved block steering cylinder 201-1 at intervals;
the frame includes: a column and a connecting beam;
the 2 transition conveyer belts are symmetrically arranged at two sides of the curved block steering cylinder, namely, the area between the 2 transition conveyer belts is used for the turnover plate to rotate;
the transition conveyer belt comprises a front rotating shaft and a rear rotating shaft, and the central shafts of 2 front rotating shafts of 2 transition conveyer belts are connected together (if the central shafts are connected together, the central shafts need to pass through the bent block steering cylinder to cause the bent block steering cylinder to be incapable of rotating);
the roll-over plate includes: a first plate, a second plate; the first plate is perpendicular to the second plate;
the radius of the curved block steering cylinder is r, and the distance from the rotating center of the curved block steering cylinder to the upper surface of the second transition conveying belt is h;
when the turnover plate is in the position of No. C, the first plate is in a vertical state, and the second plate is in a horizontal state;
when the turnover plate is in the E position, the first plate is in a horizontal state, and the second plate is in a vertical state;
when the turnover plate is positioned at the position of No. E, the distance from the upper surface of the first plate to the upper surface of the second transition conveyor belt is k;
thus, it can be seen that:
when two boards of returning face plate are in level, vertical state respectively, 4 position limit relations of returning face plate on bent piece steering cylinder are:
the connecting line of the first board of returning face plate and second board and the face of the rotation axis of bent piece steering cylinder, and the contained angle between the horizontal plane are in respectively: arcsin [ (h-k)/r ], arcsin [ (h-k)/r ] + pi/2, arcsin [ (h-k)/r ] + pi, arcsin [ (h-k)/r ] +3 pi/2;
that is, β in fig. 15 is arcsin [ (h-k)/r ];
the above design is counter-conventional and is distinct from the flap design of fig. 7, 14a-14 b.
In the initial stage, the problem that the bent block is required to move to the transition conveying belt and is inclined forwards, then the bent block is gradually separated from the first plate along with the rotation of the turnover plate, and the bent block is continuously pushed forwards by the second plate, so that the bent block is erected on the transition conveying belt is solved.
However, this speed is very slow and it is difficult to determine the relevant laws during testing.
In the embodiment 2, the turning plate is stopped at the position C and the position D, so as to receive the curved block to be turned.
Based on the above features, the inventors further proposed, for the solution of embodiment 2: the rotation speed of the curve block steering cylinder and the linear speed of the transition conveying belt are adjusted to avoid the mutual friction distance between the curve block and the transition line (further ensuring the stability of the curve block moving from the turnover plate to the transition conveying belt in the turnover process):
namely: the rotating angular speed w of the curved block steering cylinder and the moving speed L of the transition conveying belt satisfy the following relation:
{arcsin(h/r)—arcsin[(h-k)/r]}/w＝{[r2-(h-k)2]0.5—(r2-h2)0.5}/L
the above formula can be changed into:
L/w＝{[r2-(h-k)2]0.5—(r2-h2)0.5}/{arcsin(h/r)—arcsin[(h-k)/r]}
the significance of the above formula is that the transition conveyor no longer needs to be as in the solution of example 1: in the case of embodiment 1, the transition conveyor belt also needs to be started and stopped, i.e. adapted to the rhythm of the flap.
The transition conveyer belt can always move at a constant speed, so that the control difficulty of the transition conveyer belt is reduced.
The above-mentioned embodiments are merely preferred embodiments of the present application, which are not intended to limit the present application in any way, and it will be understood by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the present application.

Claims (9)

1. A flexure device, comprising: the bending machine comprises a bending transverse rack, longitudinal rail members distributed on two sides, a push plate lifting assembly, a bending platform, a transverse pushing member, a bent block bending member, a bending positioning baffle, a single bent block advancing space platform and an edge-approaching baffle;
the longitudinal rail member includes: the vertical column and the longitudinal beam are arranged on the top surface of the longitudinal beam, the conveyor is conveyed in a belt type, and the vertical column and the longitudinal beam are arranged on two sides of the conveyor;
the buckling transverse frame is of a 'door' -shaped structure and comprises two upright posts and a cross beam for connecting the two upright posts, and the two upright posts of the buckling transverse frame are respectively supported on the longitudinal rails of the longitudinal beam and can longitudinally move along the longitudinal beam;
the push plate lifting assembly comprises: a fixed plate, a lifting cylinder and a push plate; the fixed plate is fixedly connected to a cross beam of the bending transverse rack, the fixed part of the lifting cylinder is installed on the fixed plate, and the push plate is connected to the movable bottom end of the lifting cylinder; the push plate can be controlled to move up and down through the lifting cylinder;
the bending platform is arranged between the two longitudinal rails, one side of the bending platform is provided with a transverse pushing component, and the other side of the bending platform is provided with a crank block bending component;
the lateral thrust member comprises: the transverse pushing and pulling mechanism comprises a transverse pushing and pulling power mechanism and a transverse pushing and pulling plate, wherein the transverse pushing and pulling plate is fixedly connected to the moving end part of the transverse pushing and pulling power mechanism;
the crank block coupling member, which is disposed along a longitudinal direction, includes: the crank block is connected with a longitudinal push-pull power mechanism, a rotating mechanism and an L-shaped rod; the moving end of the curved block connecting curved longitudinal push-pull power mechanism is fixedly provided with a rotating mechanism, and the L-shaped rod is connected with the rotating mechanism;
the transverse pushing component and the curved block bending component are respectively arranged on two sides of the bending platform, and the side-close baffle is also arranged opposite to the transverse pushing component;
the buckling positioning baffle is arranged on one side of the transverse pushing component in the longitudinal direction and can cover the same group of bent blocks conveyed by the conveyor;
the length of a limb pushing rod of an L-shaped rod of the curved block connecting curved member is not more than the width of the curved block, the limb pushing rod is in a vertical state in an initial state, and when the curved block needs to be pushed, the limb pushing rod is driven by the rotating mechanism to rotate by 90 degrees, and the length direction of the limb pushing rod is transverse; when the bent block is not required to be pushed, the push-limb rod is driven by the rotating mechanism to rotate 90 degrees again, and the bent block is in a vertical state;
the single curved block advancing space platform is arranged behind the curved platform, and when the push limb rod of the L-shaped rod pushes the curved block to move, the curved block moves to the single curved block advancing space platform from the curved platform.
2. The connecting device of claim 1, wherein the push rod is provided with a notch for the side baffle to pass through; the height of the side baffle is less than that of the curved block.
3. The joint bending device according to claim 1, wherein the joint bending positioning baffle has a length from the side baffle which is not more than 2 curved blocks in width, and the joint bending positioning baffle is matched with the limb pushing rod which has a length not more than the width of the curved blocks so as to ensure that the limb pushing rod only pushes 1 curved block to advance at each time.
4. A coupling device according to claim 1, characterized in that the power means for the movement of the coupling cross frame along the trajectory of the longitudinal beam are: the longitudinal beam is provided with a telescopic rod structure, namely one end of a telescopic rod is connected with an upright post of a curved transverse frame, and the other end of the telescopic rod is connected and fixed with the structure of the longitudinal beam; or, a screw rod-nut structure is adopted, namely a threaded hole is formed in an upright post of the bending transverse rack, the threaded hole penetrates through a screw rod arranged above the longitudinal beam, and when the screw rod rotates, the bending transverse rack moves longitudinally along the longitudinal beam.
5. The utility model provides an intelligent distiller's yeast transport production line which characterized in that includes: a conveyor, a koji receiving device according to any one of claims 1 to 4, a material arranging device, a koji stacking robot, a koji rack placing area;
the device comprises a conveyor, a starter propagation device and a starter receiving device, wherein the conveyor is used for receiving a starter block transferred by the starter propagation device, and the tail end of the conveyor corresponds to a starter receiving platform of the starter receiving device;
wherein, reason material device includes: the bending block turning-transition conveying integrated machine comprises a bending block turning-transition conveying integrated machine, a placing platform and a bending block translation module;
wherein, bent piece translation module includes: the device comprises a rack, an X-direction positioning mechanism, a Y-direction clamping device and a Z-direction positioning mechanism; the X direction, the Y direction and the Z direction are vertical to each other;
the X direction is parallel to the advancing direction of the transition conveyer belt, and the Z direction is a vertical direction;
the direction of the mechanical arm is Y direction and is a cantilever structure;
the X-direction positioning mechanism comprises: the mechanical arm mechanism comprises an L-shaped mechanical arm arranged on a rack and a driving mechanism driving the mechanical arm to move along the X-direction, wherein an X-direction moving track is arranged on the upper surface of the rack, and a groove and a protrusion matched with the X-direction moving track arranged on the upper surface of the rack are arranged on the lower surface of a first end part of the mechanical arm;
the Z-direction positioning mechanism comprises: a Z-direction track which is vertically downward and a driving mechanism for driving the Y-direction clamping device to vertically move are arranged at the second end part of the mechanical arm; the side surface of the Y-direction clamping device is provided with a groove and a bulge matched with the Z-direction track;
the Y-direction clamping device comprises: the end parts of the Y-direction cylinders are connected with clamping plates, and the distance between the two clamping plates is adjusted through the two Y-direction cylinders;
wherein, receiving device is with reason material device's cooperation:
a curved block steering-transitional conveying all-in-one machine is arranged in the advancing direction of the single curved block advancing space table, and when the turnover plates rotate, the second plate of each turnover plate can be flush with the single curved block advancing space table and keep a horizontal state;
the placing platform is arranged at the rear ends of the 2 transition conveyor belts, and the top surfaces of the placing platform and the transition conveyor belts are at the same height, so that the bent blocks can be conveniently moved onto the placing platform;
the stacking robot adopts a six-axis joint robot, and a clamp is connected to the connecting end part of the six-axis robot;
the jig includes: t-shaped connecting rods, a bent frame clamp and a bent block clamp;
the T-shaped connecting rod comprises: a horizontal portion and a vertical first end, a vertical second end; the horizontal part is connected with the connecting end part of the stacking robot;
the first vertical end part is connected with a bent frame clamp, and the second vertical end part is connected with a bent block clamp;
the bent frame placing area is placed with: an empty bent frame and a bent frame for containing bent blocks.
6. An intelligent koji-handling line according to claim 5, wherein the koji jig comprises: the device comprises a connecting plate and a plurality of cylinder type opposite clamps below the connecting plate; the number of the cylinder type opposite clamps is a plurality, and the cylinder type opposite clamps are arranged in a row along the connecting plate;
bent frame anchor clamps include: the connecting frame and the bearing part above the connecting frame; the receiving part includes: the L-shaped plate comprises a vertical plate and a horizontal plate, and the vertical plate is connected with the pushing part of the cylinder; the bearing parts are arranged at four corners of the connecting frame.
7. An intelligent koji carrying production line according to claim 6, wherein the koji holder comprises a plurality of grooves, the grooves are arranged in a matrix type of rows and columns; when the bent block is placed in the groove of the bent frame, a certain gap can be formed between the bent block and the periphery of the groove;
the lower ends of the four corners of the curved frame are provided with conical guide pins, and the upper ends of the four corners of the curved frame are provided with guide holes; the connection mode of adjacent bent frames is as follows: the conical guide pin of the upper curved frame is inserted into the guide hole of the lower curved frame, namely the upper curved frame and the lower curved frame can be mutually stacked after being matched with the upper guide hole through the conical guide pin at the lower end;
the conical guide pin is matched with the height of the guide hole;
and an insertion hole is formed above the frame beam of the bent frame so as to facilitate the matching of the bent block clamp.
8. A koji mold piece carrying method characterized by carrying a koji mold piece by using the intelligent koji carrying line according to claim 7; the method comprises the following steps:
firstly, conveying the yeast blocks pressed by a yeast making machine by a conveyor; the shape of the curved block is rectangular, the curved block sequentially comprises a surface A, a surface B and a surface C according to the sequence of the area from large to small, and the length, the width and the height of the curved block are sequentially decreased; after the starter propagation is produced by the starter propagation machine, a starter block group consisting of at least 2 starter blocks is horizontally placed on a belt of a conveyor in parallel, a surface A contacts the belt of the conveyor, and the length direction of the starter blocks is parallel to the conveying direction of the conveyor;
step two, the yeast block group is pushed to a material arranging device one by one sequentially through a yeast receiving device:
step A, after the curved block group passes through a curved transverse rack after the conveyor moves, the curved block group moves to a curved platform from the conveyor;
b, a lifting cylinder of the push plate lifting assembly controls the push plate to move downwards, the bending transverse rack moves towards the bending positioning baffle along the longitudinal beam, and the push plate moves the bending block group until the bending block contacts the bending positioning baffle; then, a lifting cylinder of the push plate lifting assembly controls the push plate to move upwards, and the bending transverse rack moves towards the direction of the koji making machine along the longitudinal beam;
repeating the steps by the bending transverse frame, and continuously moving the bending block group to the position of the bending positioning baffle;
step C, after the curved block group is blocked by the curved positioning baffle, the transverse pushing component starts to push the curved block group to enable the curved block group to be pushed along the transverse direction until the curved edge on one side contacts the edge-approaching baffle; then the transverse pushing component retracts;
the rotating mechanism of the crank block connecting member is started to enable the L-shaped rod to rotate 90 degrees, and then the limb pushing rod pushes the single crank block to move forwards to the material arranging device along the single crank block advancing space table;
c, repeating the step C, and pushing all the koji blocks of the koji block group to a material arranging device one by one;
step three, moving the bent block to a turnover plate of the bent block turning-transition conveying all-in-one machine: the surface A of the curved block is contacted with one surface of the turnover plate, and the surface B of the curved block is contacted with the other surface of the turnover plate;
then the curved block steering cylinder rotates to drive the turnover plate and the curved block to rotate, so that the curved block is turned over, along with the turning over of the turnover plate, two sides of a surface B of the curved block are in contact with the 2 transition conveyor belts, the middle part of the surface B is not in contact with the turnover plate, and then the transition conveyor belts are started to move the curved block to the end part of the placing platform;
step four, the bent block translation module will move the bent block of place the platform tip and put the other end of place the platform one by one:
repeating the step four, arranging the bent blocks into a row along the X direction, and placing the bent blocks on a placing platform to form a bent block row;
step five, carrying the koji blocks and the koji racks by a koji stacking robot:
5.1: carrying the koji blocks by a koji stacking robot: a curved block clamp of the curved block stacking robot faces downwards, then a cylinder type opposite clamp corresponds to and clamps each curved block of a curved block array arranged on a placing platform, then an arm of the curved block stacking robot rotates and lifts, the curved block array is moved to a curved frame, and then the cylinder type opposite clamp is released;
5.2: carrying the empty yeast rack by a yeast stacking robot: after the koji rack is filled with koji blocks, continuously placing empty koji racks on the koji rack; at the moment, the clamp of the stacking robot rotates 180 degrees, and the clamp of the curved frame faces downwards; the stacking robot drives the bent frame clamp to move to the empty bent frame stacking, an air cylinder of the bent frame clamp is started, a horizontal plate of the L-shaped plate is inserted into an insertion hole of the empty bent frame, and at the moment, the stacking robot drives the bent frame clamp and the empty bent frame to move, so that the empty bent frame is moved to the position above the bent frame filled with bent blocks;
repeating the steps 5.1 and 5.2, and continuously loading the koji blocks of the koji making machine in a koji rack;
when the empty yeast rack is completely stacked, a carrying robot is adopted to carry a new empty yeast rack for stacking; when the full-load yeast rack stacking of the yeast blocks is full, the yeast blocks are carried to a warehouse by a carrying robot for fermentation.
9. A method of handling koji blocks according to claim 8, wherein the fourth step comprises:
starting the X-direction positioning mechanism, aligning the Y-direction clamping device to the bent block, starting the Z-direction positioning mechanism to drive the Y-direction clamping device to move downwards, and moving the Y-direction clamping device relatively to clamp the bent block;
then, starting the Z-direction positioning mechanism to drive the Y-direction clamping device and the crank block to move upwards; starting the X-direction positioning mechanism, and moving the Y-direction clamping device and the bent block to a preset position; the Z-direction positioning mechanism is started to drive the Y-direction clamping device and the bent block to move downwards; the clamping plate of the Y-direction clamping device loosens the crank block.
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KR910000188Y1 (en) * 1988-02-04 1991-01-18 손진석 Automatic stacking machine for sidewalk block
FR2891266B1 (en) * 2005-09-26 2007-11-02 Tlm Sa AMORTIZING STOPS INTENDED FOR THE STOPPING OF A MOBILE LOAD.
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