CN115125642A

CN115125642A - Automatic soot blowing equipment for cheese

Info

Publication number: CN115125642A
Application number: CN202210758061.9A
Authority: CN
Inventors: 生鸿飞; 马政; 黄攀; 张熙; 陈家浩
Original assignee: Wuhan Textile University
Current assignee: Wuhan Textile University
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-09-30
Anticipated expiration: 2042-06-29
Also published as: CN115125642B

Abstract

The invention relates to an automatic soot blower for cheese, which comprises a cheese conveying device, a soot blower and a control device, wherein the cheese conveying device is used for conveying the cheese to a preset station; the feeding mechanical arm picks up the cheese positioned at a preset station and sends the cheese to the automatic soot blowing mechanism; and the automatic soot blowing mechanism performs soot blowing operation on the cheese and collects dust. The automatic cheese soot blowing device can vertically place laid cheese and is suitable for cheese structures with various sizes, a feeding mechanical arm is used for picking up cheese and sending the cheese into the automatic soot blowing device, a mechanical arm supporting and taking mechanism is small and flexible, a manipulator can accurately pick up cheese, the automatic soot blowing mechanism blows soot on the cheese and collects dust, and the clean environment of a workshop is guaranteed.

Description

Automatic soot blowing device for cheese

Technical Field

The invention relates to the field of pretreatment before cheese packaging, in particular to an automatic soot blowing device for cheese.

Background

The yarns used in various textile mills are mostly yarns wound into bobbins, which are bobbins formed by winding the yarns 200 onto the bobbin tubes 100 by an apparatus. Because the yarn of textile mill production can adhere to or the static adsorbs the dust, in the transportation process of cheese to accomplishing the packing, the cheese passes a plurality of workshops, and the surface is very likely to receive dust pollution, directly adopts this yarn can lead to follow-up processing material to contain a large amount of dusts, and then influences the quality of fabric. Therefore, before the cheese is used for spinning, the cheese needs to be subjected to dust removal treatment to remove dust attached to the surface of the cheese.

However, at present, the pretreatment mode before cheese packaging is mostly a pure manual operation mode, the dust removal efficiency is low, a large number of operators are needed for operation, the efficiency is low, and a large amount of labor cost is consumed.

Disclosure of Invention

The invention provides an automatic cheese soot blowing device, which aims to solve the problem of low efficiency of the existing dust removing device.

The technical scheme for solving the technical problems is as follows:

an automatic cheese sootblowing device comprising:

the cheese conveying equipment is used for conveying the cheese to a preset station;

the feeding mechanical arm is used for picking up the cheese positioned at a preset station and sending the cheese into the automatic soot blowing mechanism;

and the automatic soot blowing mechanism performs soot blowing operation on the cheese and collects dust.

Preferably, the cheese conveying equipment comprises a flat belt conveyor arranged along a preset path, a cheese position correcting mechanism positioned on one side of the flat belt conveyor and a cheese erecting mechanism arranged on the inner side of the cheese position correcting mechanism.

Preferably, cheese position correction mechanism includes the backup pad, the backup pad is provided with at least one slip table cylinder, the cheese erects the mechanism and is provided with and is used for carrying out spacing cheese to the cheese and erects the feed cylinder, just the cheese erects the feed cylinder and corresponds the position of slip table cylinder is provided with the through-hole, the slip table cylinder can stretch into through this through-hole to in the feed cylinder is erect to the cheese, the position of adjustment cheese.

Preferably, the cheese erecting mechanism further comprises a turnover mechanism arranged at the bottom of the cheese erecting material barrel, and the turnover mechanism can drive the cheese erecting material barrel to be turned over to be in butt joint with the flat belt conveyor so as to load the cheese.

Preferably, the turnover mechanism comprises a material cylinder support, a base, a moving mechanism, a connecting rod and a first driving part, wherein the material cylinder support is arranged at the bottom of the material cylinder for cheese erection and is connected with one side of the material cylinder support, the base is arranged at the bottom of the material cylinder for cheese erection, the moving mechanism is arranged in the base, one end of the connecting rod is rotationally connected with the moving mechanism, the other end of the connecting rod is rotationally connected with one side, far away from the material cylinder support, of the material cylinder for cheese erection, and the first driving part is rotationally connected with the connecting rod at the output end of the connecting rod.

Preferably, the feeding mechanical arm comprises a mechanical arm body and a mechanical arm supporting mechanism arranged at the tail end of the mechanical arm body, and the mechanical arm supporting mechanism can extend into the hollow bobbin core part of the cheese and can tension the hollow bobbin core part of the cheese.

Preferably, the mechanical arm supporting and taking mechanism comprises a servo motor, a mechanical arm main body A and a screw rod sliding block, wherein a screw rod is arranged at one end of the servo motor, the mechanical arm main body A is used for accommodating the screw rod, a screw rod sliding block is arranged at one side of the servo motor, threads matched with the screw rod are arranged inside the screw rod sliding block, a mechanical arm main body B is arranged at the outer side of the screw rod sliding block, a plurality of sliding grooves are formed in the mechanical arm main body B, an annular structure is arranged at the outer side of the mechanical arm main body B, a plurality of sliding blocks extend inwards from the annular structure, and the sliding blocks are respectively matched with the sliding grooves at corresponding positions, so that the annular structure can move along the mechanical arm main body B;

the outside of loop configuration is provided with a plurality of archs, protruding rotation is connected a clamping jaw connecting piece, the one end of clamping jaw connecting piece is rotated and is connected with the work claw, just keeping away from of work claw the loop configuration one end with manipulator main part B rotates to be connected, so that the loop configuration is followed when manipulator main part B removes, can drive the work claw is followed manipulator main part B's the outside extension of axis.

Preferably, the automatic soot blowing mechanism comprises a soot blowing working cylinder for containing the cheese, a plurality of air guns arranged on the inner wall of the soot blowing working cylinder and arranged towards the cheese, a dust hopper arranged at the bottom of the soot blowing working cylinder and a cheese placing reticular platform arranged on the soot blowing working cylinder;

the air gun comprises an installation fixing part fixedly connected with the soot blowing working material barrel, a mounting frame installed on one side, far away from the soot blowing working material barrel, a linear driving part installed in the mounting frame, a sliding block fixedly connected with an execution end of the linear driving part, and a spray gun main body arranged on the outer side of the sliding block and containing the sliding block, wherein a through gas pipeline interface is arranged on the side wall of the spray gun main body, a thread is arranged on the inner wall of the spray gun main body, an air gun head is connected through the thread, and a spray gun nozzle is arranged at the front end of the air gun head.

Preferably, the linear driving portion adopts a servo motor with a screw rod, the servo motor and the slider are provided with a screw rod slider positioning piece, the screw rod of the servo motor penetrates through the slider and is in threaded connection with the slider, the screw rod slider positioning piece faces one side of the slider and is provided with a plurality of guide posts, and the slider is provided with guide holes matched with the guide posts respectively, so that when the servo motor drives the screw rod to rotate, the screw rod can drive the slider to move linearly along the guide posts.

Preferably, the automatic soot blowing mechanism further comprises a dust collecting cylinder connected with the soot blowing working cylinder through a pipeline, a dust storing mechanism main body is sleeved on the dust collecting cylinder, rotating blades, blade motor connecting pieces and a motor are sequentially arranged in the dust storing mechanism main body along an axis, and a dust storing mechanism top cover is further arranged on the upper portion of the dust storing mechanism main body.

Compared with the prior art, the technical scheme of the application has the following beneficial technical effects:

1) the cheese conveying equipment vertically places the lying cheese and is suitable for cheese structures with various sizes; the feeding mechanical arm is used for picking up cheese and sending the cheese into the automatic soot blower, and the mechanical arm on the mechanical arm supporting and taking mechanism is small, exquisite and flexible and can accurately pick up cheese; the automatic soot blowing mechanism blows soot on cheese and collects the dust, so that the clean environment of a workshop is ensured, and workers can conveniently process the dust in batches.

2) The device has reasonable structural design and high working efficiency, and provides guarantee for the reliability and consistency of batch completion of cheese soot blowing.

Drawings

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

FIG. 1 is a schematic structural diagram of an automatic cheese soot blower of the present invention;

FIG. 2 is a schematic structural view of a cheese of the present invention;

FIG. 3 is a schematic structural view of a flat belt conveyor and a cheese position correction mechanism of the present invention in a state;

FIG. 4 is a schematic structural view of a flat belt conveyor and a cheese position correction mechanism of the present invention in another state;

FIG. 5 is a schematic structural view of a cheese erecting mechanism according to the present invention;

FIG. 6 is a top view of a cheese erecting mechanism according to the present invention;

FIG. 7 is a cross-sectional view of section A-A of FIG. 6 in accordance with the present invention;

FIG. 8 is a schematic view of the feed robot of the present invention;

FIG. 9 is a schematic structural view of the robot arm supporting mechanism of the present invention;

FIG. 10 is a schematic view of the structure of the automatic soot blowing mechanism of the present invention;

FIG. 11 is a schematic structural view of a cheese sootblowing mechanism of the present invention;

FIG. 12 is a schematic view of the air gun of the present invention;

FIG. 13 is a schematic view of the dust collection and storage mechanism of the present invention;

FIG. 14 is a schematic structural view of the interfacing of the cheese erecting mechanism of the present invention with a flat belt conveyor;

FIG. 15 is a schematic structural view of the cheese erecting mechanism of the present invention turned to a horizontal state;

FIG. 16 is a schematic view of one of the feeding robot arms of the present invention gripping a package;

FIG. 17 is a second schematic view of the feeding mechanical arm gripping a cheese according to the present invention;

FIG. 18 is a schematic structural diagram of an automatic soot blowing mechanism for clamping cheese by a feeding mechanical arm according to the present invention;

fig. 19 is a schematic structural diagram of a feeding mechanical arm for taking out a cheese.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that spatial relationship terms, such as "under," "below," "beneath," "under," "above," "over," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures.

As shown in fig. 1 to 4, the automatic soot blower for cheese of the present invention includes: the automatic dust blowing device comprises a cheese conveying device 1 for conveying cheese to a preset station, a feeding mechanical arm 3 for picking up the cheese positioned at the preset station and feeding the cheese into an automatic dust blowing mechanism 2, wherein the automatic dust blowing mechanism 2 is used for performing dust blowing operation on the cheese and collecting dust generated by dust removal;

the cheese conveying equipment 1 comprises a flat belt conveyor 11 arranged along a preset path, a cheese position correcting mechanism 12 positioned on one side of the flat belt conveyor 11 and a cheese erecting mechanism 13 arranged on the inner side of the cheese position correcting mechanism 12.

When the automatic cheese soot blowing device is used, cheese is sequentially placed on the yarn conveying device 1, the yarn conveying device 1 drives the cheese to move, when the cheese positioned at the front end moves to the tail end of the yarn conveying device 1, the cheese erecting mechanism 13 rises and turns over to be aligned with the yarn conveying device 1, the conveyed cheese is received, and then the cheese erecting mechanism 13 is reset to be in a horizontal state; after the return, the cheese position correcting mechanism 12 adjusts the position in the cheese erecting mechanism 13 so that the cheese is located at a predetermined position where the feeding robot arm 3 performs the pick-up operation.

The cheese position correcting mechanism 12 mentioned above can be implemented in various ways, for example, in some embodiments, the cheese position correcting mechanism 12 includes a support plate, the support plate is provided with at least one sliding table cylinder, the cheese erecting mechanism 13 is provided with a cheese erecting material barrel 131 for limiting the cheese, and the position of the cheese erecting material barrel 131 corresponding to the sliding table cylinder is provided with a through hole through which the sliding table cylinder can extend into the cheese erecting material barrel 131 to adjust the position of the cheese.

It can be understood that, a plurality of sliding table cylinders, such as two, three, four, or more, may be provided, but from the principle of positioning, three sliding table cylinders are provided to position the center point of the cheese, for example, three sliding table cylinders are set to form an arrangement form with an included angle of 120 degrees, or four sliding table cylinders are set to form an arrangement form with an included angle of 90 degrees;

further, in some simplified configurations, in the case where the feeding robot arm 3 has a certain visual recognition function, the number of the slide table cylinders can be reduced.

As shown in fig. 5 to 7, the above-mentioned bobbin yarn erecting mechanism 13 further includes a turnover mechanism disposed at the bottom of the bobbin yarn erecting cylinder 131, and the turnover mechanism can drive the bobbin yarn erecting cylinder 131 to be turned over to be in butt joint with the flat belt conveyor 11 to load the bobbin yarn.

The turnover mechanism mentioned above may be implemented in various ways, for example, in some embodiments, the turnover mechanism includes a cartridge holder 132 disposed at the bottom of the bobbin erection cartridge 131 and connected to one side thereof, a base 133 disposed at the bottom of the bobbin erection cartridge 131, a moving mechanism disposed in the base 133, a connecting rod 137 having one end rotatably connected to the moving mechanism and the other end rotatably connected to one side of the bobbin erection cartridge 131 far from the cartridge holder 132, and a first driving part 136 having an output end rotatably connected to the connecting rod 137.

Because the length of a bobbin of 100 cheese is more than the height of a bobbin wound by 200 yarns, if the cheese is transported in a vertical state, the cheese is easy to incline and lie down in the flat belt transportation process, so that the states of the cheese are different, and the transportation complexity is increased. Therefore, the uniformity of the cheese in the transportation process is ensured, and the cheese is laid horizontally and uniformly and vertically when being conveyed. In a specific embodiment, a cheese (the cheese is in a lying state) is conveyed by the flat belt conveyor 11 to reach the end position of the flat belt conveyor 11, the cheese erecting mechanism 13 is controlled by a first driving part 136 (such as an air cylinder, a hydraulic cylinder, a linear motor and the like), the cheese erecting cylinder 131 is lifted, the top of the cheese erecting cylinder 131 is parallel to two side baffles of the flat belt conveyor 11, the cheese falls into the cheese erecting cylinder 131, the first driving part 136 controls the cheese erecting cylinder 131 to reset, and the cheese finishes erecting; the sliding

table air cylinders

122, 123, 124 and 125 correct position deviation of the cheese.

As shown in fig. 8 to 9, the feeding mechanical arm 3 includes a mechanical arm body and a mechanical arm supporting mechanism 38 disposed at a distal end of the mechanical arm body, and the mechanical arm supporting mechanism 38 may extend into the hollow bobbin core portion of the cheese and perform tensioning and supporting on the hollow bobbin core portion of the cheese.

It should be noted that the mechanical arm supporting mechanism 38 may be implemented in various manners, for example, by using a tensioning shaft structure, and by arranging the tensioning shaft structure at the end of the mechanical arm body, when in use, compressed air is input to expand the tensioning shaft, the expanded tensioning shaft is tightly attached to the inner wall of the cheese bobbin 100 of the cheese, and the generated friction force may make the friction force generated by the mechanical arm 3 after being lifted be greater than the gravity of the cheese and not fall off.

In some embodiments, the robot arm supporting and fetching mechanism 38 may further include a servo motor having a screw at one end, a robot main body a382 disposed at one side of the servo motor and configured to accommodate the screw, and a screw slider 383 having threads engaged with the screw inside, a robot main body B386 disposed outside the screw slider 383, a plurality of sliding grooves disposed on the robot main body B386, an annular structure disposed outside the robot main body B386, a plurality of sliding blocks extending inward from the annular structure, and the plurality of sliding blocks being engaged with the corresponding sliding grooves respectively, so that the annular structure can move along the robot main body B386;

the outer side of the ring-shaped structure is provided with a plurality of bulges which are rotatably connected with a clamping jaw connecting piece 384, one end of the clamping jaw connecting piece 384 is rotatably connected with a working claw 385, and one end of the working claw 385, which is far away from the ring-shaped structure, is rotatably connected with a manipulator main body B386, so that when the ring-shaped structure moves along the manipulator main body B386, the working claw 385 can be driven to extend outwards along the central axis of the manipulator main body B386.

Meanwhile, the feeding mechanical arm 3 further includes a support 31, a mechanical arm base 32 disposed on the support 31, a mechanical arm shaft a33 disposed on the mechanical arm base 32, a mechanical arm shaft b34, a mechanical arm shaft c35, a mechanical arm shaft d36, and an expansion link 37 having one end rotatably connected to the mechanical arm shaft d36 and the other end connected to the arm 38.

The pick-up process is as follows:

feeding an electric telescopic rod 37 and a mechanical arm supporting and taking mechanism 38 in a mechanical arm 3 to the position of a cheese erecting mechanism 13, extending the electric telescopic rod 37, extending the mechanical arm supporting and taking mechanism 38 into a cheese bobbin 100, and supporting and taking the mechanical arm supporting and taking mechanism 38 to fix cheese; then, the electric telescopic rod 37 is shortened to lift the cheese, the mechanical arm base 32 is rotated, the mechanical arm shaft b34 and the mechanical arm shaft c35 are moved, the electric telescopic rod 37 and the mechanical arm supporting mechanism 38 reach the position of the automatic soot blowing mechanism 2, then the electric telescopic rod 37 is extended, the mechanical arm supporting mechanism 38 is contracted, and the cheese is placed on the cheese placing net table 213.

As shown in fig. 10 to 13, the automatic soot blowing mechanism 2 of the present invention includes a soot blowing work drum 212 for accommodating a cheese, a plurality of air guns provided on an inner wall of the soot blowing work drum 212 and disposed toward the cheese, a dust hopper 214 provided at a bottom of the soot blowing work drum 212, and a cheese placement mesh table 213 provided at the soot blowing work drum 212;

the air gun comprises a mounting fixing member 2157 fixedly connected with the soot blowing working material barrel 212, a mounting frame 2156 mounted on one side of the mounting fixing member 2157 far away from the soot blowing working material barrel 212, a linear driving part mounted in the mounting frame 2156, a sliding block 2153 fixedly connected with an execution end of the linear driving part, and a spray gun body 2155 arranged outside the sliding block 2153 and accommodating the sliding block 2153, wherein a through gas pipeline interface is arranged on the side wall of the spray gun body 2155, a thread is arranged on the inner wall of the spray gun body 2155, an air gun head 2152 is connected through the thread, and a spray gun nozzle 2151 is arranged at the front end of the air gun head 2152;

the linear driving part adopts a servo motor with a screw rod to control the movement of the sliding block 2153. The direction of movement of the slide block 2153 toward the lance head 2152 is taken as the forward direction. When the slide block 2153 moves forward and is fully contacted with the gun head 2152, the air outlet of the spray gun is blocked to stop air injection; when the slide block 2153 is retracted, the air flow can reach the spray gun nozzle 2151 through an air pipeline interface on the spray gun main body 2155 to spray out, and the cheese is blown and blown. In a specific embodiment, the air injection time is determined according to actual conditions on site, the spray gun nozzle 2151 is replaced, the input air flow is adjusted, the size of the sprayed air flow is changed, and the soot blowing work is completed.

The dust collecting device further comprises a dust collecting cylinder 231 connected with the soot blowing working cylinder 212 through a pipeline, the dust collecting cylinder 231 is sleeved with a dust storage mechanism main body 232, a rotating blade 233, a blade motor connecting piece 234 and a motor 235 are sequentially arranged in the dust storage mechanism main body 232 along the axis, and a dust storage mechanism top cover 236 is further arranged on the upper portion of the dust storage mechanism main body 232.

It should be noted that the linear driving part can be implemented in various manners, such as an air cylinder, a hydraulic cylinder, a linear motor, etc., and the slide block 2153 can be directly pushed to move in the spray gun main body 2155 by the air cylinder, the hydraulic cylinder, the linear motor, etc., so as to control whether the spray gun injects air.

In some embodiments, the linear driving portion may further adopt a structure that the linear driving portion adopts a servo motor with a screw rod, the servo motor may reduce the volume and the mass of the working component as much as possible, a screw rod and slider positioning member 2154 is disposed on the servo motor and the slider 2153, the screw rod of the servo motor penetrates through the slider 2153 and is in threaded connection with the slider 2153, a plurality of guide posts are disposed on one side of the screw rod and slider positioning member 2154 facing the slider 2153, and guide holes respectively matched with the plurality of guide posts are disposed on the slider 2153, so that when the servo motor drives the screw rod to rotate, the screw rod can drive the slider 2153 to move linearly along the guide posts.

After the cheese picked up by the mechanical arm supporting mechanism 38 reaches the automatic soot blowing mechanism 2, the

air guns

215, 216, 217 and 218 blow air simultaneously, dust firstly enters the dust hopper 214, the motor 235 drives the rotating blade to rotate 233, airflow is formed, and the dust is sucked into the dust collecting cylinder 231 from the dust hopper 214;

after the soot blowing actions of the

air guns

215, 216, 217 and 218 are finished, the electric telescopic rod 37 and the mechanical arm supporting mechanism 38 reach the automatic soot blowing mechanism 2 again and extend into the cheese bobbin 100, then the electric telescopic rod extends 37, and the mechanical arm supporting mechanism 38 supports and lifts the cheese to go to the next processing mechanism.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An automatic soot blower for cheese, comprising:

the cheese conveying equipment (1) is used for conveying the cheese to a preset station;

the feeding mechanical arm (3) is used for picking up the cheese positioned at a preset station and sending the cheese into the automatic soot blowing mechanism (2);

and the automatic soot blowing mechanism (2) performs soot blowing operation on the cheese and collects dust.

2. The automatic cheese sootblower according to claim 1, wherein the cheese conveyor device (1) includes a flat belt conveyor (11) disposed along a predetermined path, a cheese position correcting mechanism (12) disposed on one side of the flat belt conveyor (11), and a cheese erecting mechanism (13) disposed inside the cheese position correcting mechanism (12).

3. The automatic cheese soot blowing device according to claim 2, wherein the cheese position correcting mechanism (12) comprises a support plate, the support plate is provided with at least one sliding table cylinder, the cheese erecting mechanism (13) is provided with a cheese erecting material barrel (131) used for limiting the cheese, a through hole is formed in the position, corresponding to the sliding table cylinder, of the cheese erecting material barrel (131), and the sliding table cylinder can extend into the cheese erecting material barrel (131) through the through hole to adjust the position of the cheese.

4. The automatic cheese soot blower according to claim 2 or 3, characterized in that the cheese erecting mechanism (13) further comprises a turnover mechanism arranged at the bottom of the cheese erecting cylinder (131), and the turnover mechanism can drive the cheese erecting cylinder (131) to be turned over to be in butt joint with the flat belt conveyor (11) so as to load the cheese.

5. The automatic cheese soot blower according to claim 4, wherein the turnover mechanism includes a drum bracket (132) provided at the bottom of the cheese erecting drum (131) and connected to one side thereof, a base (133) provided at the bottom of the cheese erecting drum (131), a moving mechanism provided in the base (133), a connecting rod (137) having one end rotatably connected to the moving mechanism and the other end rotatably connected to the side of the cheese erecting drum (131) away from the drum bracket (132), and a first driving part (136) having an output end rotatably connected to the connecting rod (137).

6. The automatic cheese soot blowing device according to claim 1, wherein the feeding robot arm (3) includes a robot arm body and a robot arm supporting mechanism (38) disposed at an end of the robot arm body, and the robot arm supporting mechanism (38) is configured to extend into and tension the hollow bobbin core portion of the cheese.

7. The automatic cheese soot blower of claim 6, wherein the mechanical arm supporting mechanism (38) comprises a servo motor with a screw at one end, a manipulator main body A (382) arranged at one side of the servo motor and used for accommodating the screw, and a screw slider (383) internally provided with threads matched with the screw, wherein a manipulator main body B (386) is arranged outside the screw slider (383), a plurality of sliding grooves are arranged on the manipulator main body B (386), an annular structure is arranged outside the manipulator main body B (386), a plurality of sliding blocks extend inwards from the annular structure, and the plurality of sliding blocks are respectively matched with the sliding grooves at corresponding positions, so that the annular structure can move along the manipulator main body B (386);

the outer side of the annular structure is provided with a plurality of bulges, the bulges are rotatably connected with a clamping jaw connecting piece (384), one end of the clamping jaw connecting piece (384) is rotatably connected with a working claw (385), and one end of the working claw (385), which is far away from the annular structure, is rotatably connected with the manipulator main body B (386), so that when the annular structure moves along the manipulator main body B (386), the working claw (385) can be driven to extend outwards along the central axis of the manipulator main body B (386).

8. The automatic soot blowing device for cheese according to claim 1, wherein the automatic soot blowing mechanism (2) comprises a soot blowing work cylinder (212) for accommodating the cheese, a plurality of air guns provided on an inner wall of the soot blowing work cylinder (212) and disposed toward the cheese, a dust hopper (214) provided at a bottom of the soot blowing work cylinder (212), and a cheese placement mesh table (213) provided at the soot blowing work cylinder (212);

the air gun include with ash blowing work feed cylinder (212) fixed connection's installation mounting (2157), install in installation mounting (2157) is kept away from ash blowing work feed cylinder (212) one side mounting bracket (2156), install in linear drive portion in mounting bracket (2156), fixed connection in slider (2153) of the execution end of linear drive portion, set up in slider (2153) outside and holding spray gun main part (2155) of slider (2153), the lateral wall of spray gun main part (2155) is provided with the gas pipeline interface that link up, the inner wall of spray gun main part (2155) is provided with the screw thread, and has air gun rifle head (2152) through this threaded connection, and the front end of air gun rifle head (2152) is provided with spray gun nozzle (2151).

9. The automatic cheese soot blower of claim 8, wherein the linear driving unit is a servo motor with a screw, a screw slider positioning member (2154) is disposed between the servo motor and the slider (2153), the screw of the servo motor passes through the slider (2153) and is in threaded connection with the slider (2153), a plurality of guide posts are disposed on one side of the screw slider positioning member (2154) facing the slider (2153), and guide holes respectively engaged with the guide posts are disposed on the slider (2153), so that when the screw is driven by the servo motor to rotate, the screw can drive the slider (2153) to move linearly along the guide posts.

10. The automatic cheese soot blower according to claim 8, wherein the automatic soot blower (2) further comprises a dust collecting cylinder (231) connected to the soot blowing operation cylinder (212) through a pipe, the dust collecting cylinder (231) is sleeved with a dust storage mechanism main body (232), a rotating blade (233), a blade motor connecting member (234) and a motor (235) are sequentially arranged in the dust storage mechanism main body (232) along an axis, and a dust storage mechanism top cover (236) is further arranged on the upper portion of the dust storage mechanism main body (232).