Bag-yeast stacking and warehousing system

Abstract

The utility model belongs to the technical field of koji block transfer, and particularly discloses a package koji stacking and warehousing system which comprises a koji disassembling robot assembly, an anti-backlash conveying assembly, a stacking robot assembly and an automatic bundling assembly, and the koji disassembling robot assembly is used for clamping package koji which is fermented on a koji frame and has certain intervals to the anti-backlash conveying assembly; the anti-backlash conveying assembly is used for eliminating the interval between the package koji clamped by the koji disassembling robot assembly; the automatic bundling assembly is used for bundling the wrapping yeast layer by layer and bundling the wrapping yeast and the tray. According to the utility model, not only can the clamping and the transferring of the bag yeast be realized, but also the automatic operation of the warehousing process of the bag yeast can be realized, the bag yeast pile can be horizontally bundled layer by layer, and the bag yeast and the tray are bundled together from the vertical direction to form the bag yeast pile, so that the bundling stability of the bag yeast pile is greatly enhanced, and the bundling efficiency of the bag yeast pile is improved. And meanwhile, transportation and transfer of the bag curved piles are facilitated, and the transfer efficiency of the bag curved piles is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of curved block transportation, in particular to a bagged curved block stacking and warehousing system. Background Art

[0002] During the brewing process, after the fermented grains are steamed, it is necessary to add koji medicine to the fermented grains during the spreading process to facilitate the subsequent fermentation of the fermented grains in the cellar. The koji medicine is made by a koji-making machine. The koji blocks made by the koji-making machine need to be fermented in a koji room. After fermentation, the koji blocks need to be bundled for warehousing and sealing or transported to a crusher for crushing. Currently, there are two main forms of koji blocks: referring to Figure 1 and Figure 2 , one is brick koji, similar to a brick, with a square structure; the other is bagged koji, which is provided with a convex arc surface on the basis of the brick koji.

[0003] The inventor of the present application is committed to the research of intelligent brewing equipment and applied for an automated koji block production line with the publication number of CN213864214U in 2020, including a koji-making system, a fermentation system, a packing system and a flipping system; the fermentation system includes a backpack-type AGV robot and koji racks stacked on the upper layer of the backpack-type AGV robot; the koji-making system includes a koji-making machine, a koji receiving mechanism connected to the koji-making machine, a first conveyor line arranged beside the koji receiving mechanism, and a first robot arranged between the koji receiving mechanism and the first conveyor line.

[0004] The packing system of the above application can pack the koji blocks, but the packing system only packs the koji block stack in a single direction, resulting in poor stability of the koji block stack and a risk of falling and damage during transportation; moreover, the above packing system only packs the koji block stack and does not pack the koji block stack with the pallet, so it is not convenient for the transportation and transfer of the packed koji block stack; in addition, the flipping system of the above production line is for brick koji. Since the top of the bagged koji is arc-shaped, its center of gravity has shifted, so the bagged koji may fall during the flipping process; furthermore, because the top of the bagged koji is arc-shaped, if the same dense side-by-side method as the brick koji is still used, the contact area between the convex arc of the bagged koji and the plane of the adjacent bagged koji is small, and the uneven force during the koji clamping process will cause the bagged koji to shake left and right relative to the contact point, and there is a great risk of the bagged koji falling off. Therefore, the clamp of the above application is not suitable for clamping the bagged koji. In summary, the above automated koji block production line is not suitable for bagged koji, so a new device is urgently needed to be suitable for bagged koji. Summary of the Utility Model

[0005] In view of the technical problems that the existing automated curved block production line is not applicable to bagged Qu, the packing method of the packing system is single, and the curved block stack and the tray are not packed together, resulting in poor stability of the curved block stack, the utility model provides a bagged Qu stacking and warehousing system.

[0006] The technical solution adopted by the utility model is as follows: A bagged Qu stacking and warehousing system, comprising:

[0007] A curved block disassembling robot assembly, arranged between the curved block rack and the clearance eliminating conveying assembly. The bagged Qu that has been fermented is stacked on the curved block rack. The curved block disassembling robot assembly is used to clamp the bagged Qu that has completed fermentation and has a certain interval on the curved block rack onto the clearance eliminating conveying assembly;

[0008] The clearance eliminating conveying assembly is used to eliminate the interval between the bagged Qu clamped by the curved block disassembling robot assembly;

[0009] A palletizing robot assembly, used to clamp the bagged Qu and the tray on the clearance eliminating conveying assembly onto the automatic strapping assembly;

[0010] The automatic strapping assembly is arranged beside the palletizing robot assembly and is used to strap the bagged Qu layer by layer and strap the bagged Qu and the tray together;

[0011] The automatic strapping assembly includes a chain conveyor for supporting and conveying the stack of bagged Qu. The stack of bagged Qu includes a tray and the bagged Qu placed on the tray. A horizontal strapping station and a vertical strapping station are arranged on the chain conveyor; A vertical strapping machine is arranged at the horizontal strapping station. The vertical strapping machine is used to horizontally strap each layer of bagged Qu on the tray. A vertical strapping machine is arranged at the vertical strapping station. The vertical strapping machine is used to strap the bagged Qu and the tray together vertically.

[0012] Furthermore, the chain conveyor includes a first chain conveyor and a second chain conveyor arranged adjacent to each other. The first chain conveyor is arranged at the horizontal strapping station, and the second chain conveyor is arranged at the vertical strapping station; It also includes a first power assembly for driving the first chain conveyor to rotate in the horizontal direction. The rotatable first chain conveyor is used to turn the tray and the bagged Qu thereon to achieve staggered stacking of adjacent layers of bagged Qu vertically.

[0013] Furthermore, the bagged Qu between adjacent layers vertically are perpendicular to each other.

[0014] Furthermore, the first power assembly includes a base. A reduction motor is arranged on the base. A gear is arranged at the output end of the reduction motor. A slewing bearing is arranged at the bottom of the first chain conveyor. The gear is meshed with the slewing bearing.

[0015] Furthermore, it further includes a fixing component which is arranged on the first chain conveyor and can fix the tray on the first chain conveyor.

[0016] Furthermore, the fixing component includes a stop bar arranged on one side of the first chain conveyor. On the opposite side of the side of the first chain conveyor where the stop bar is located, there are a push plate and a fixing cylinder for driving the push plate to move towards the stop bar. The fixed end of the fixing cylinder is connected to the first chain conveyor, and the movable end of the fixing cylinder is connected to the push plate.

[0017] Furthermore, it further includes a third shaping component which is used to limit and shape the bag bends of each layer. The vertical strapping machine includes a vertical frame, and a strapping frame is arranged on the vertical frame. The third shaping components are arranged on two opposite sides of the strapping frame, and the number of the third shaping components matches the number of rows of the bag bends.

[0018] Furthermore, the third shaping component includes a third shaping cylinder. The fixed end of the third shaping cylinder is connected to the strapping frame, and the movable end of the third shaping cylinder is provided with a shaping bracket. A resisting rod is arranged on the shaping bracket, and a resisting plate is arranged at the end of the resisting rod. There is a certain distance between the upper and lower resisting plates.

[0019] Furthermore, it further includes a floating component which is used for the resisting rod to automatically adapt to the thickness of different bag bends.

[0020] Furthermore, the floating component includes a long hole horizontally arranged on the shaping bracket. The resisting rod is movably connected to the long hole through a screw, and a spring is arranged on the resisting rod.

[0021] Furthermore, the bending removal robot component includes a first robot and a bending removal and unloading jig arranged on the first robot. The bending removal and unloading jig includes a first base. On one side in the length direction of the first base, there is a unloading cylinder matching the number of bag bends, and on the other side, there is a unloading baffle. The fixed end of the unloading cylinder is connected to the first base, and the movable end of the unloading cylinder is provided with a unloading clamping plate. When unloading, the bag bends are clamped between the unloading clamping plate and the unloading baffle.

[0022] Furthermore, it further includes a rack removal component which is arranged on the first base and is used to remove the empty rack when the bag bends on the rack are completely clamped.

[0023] Furthermore, the rack removal component includes first brackets movably arranged at both ends of the first base and a rack removal cylinder for driving the first brackets to move. The fixed end of the rack removal cylinder is connected to the first base, and the movable end of the rack removal cylinder is connected to the first brackets. First clamping blocks for clamping the rack are arranged on the first brackets, and the rack removal cylinder can drive the two first clamping blocks to move towards each other. When clamping the rack, the rack is clamped between the two first clamping blocks.

[0024] Further, it further includes a first support component, which is used to support the curved frame during the transfer process of the curved frame.

[0025] Further, the first support component includes a first slide rail arranged on the first base and a first slider matching the first slide rail. The first slider is slidably connected to the first slide rail. A first insertion plate is fixedly connected to the first slider. The first bracket is connected to the first slider, and a first clamping block is arranged on the first insertion plate.

[0026] Further, the clearance elimination conveying component includes:

[0027] A chain plate conveyor;

[0028] A first stop frame, arranged above the end of the chain plate conveyor, is used to block the movement of the bag curved parts on the chain plate conveyor, thereby eliminating the gap between the bag curved parts. A first sensor is arranged on the first stop frame, and the first sensor is used to detect whether there are bag curved parts in front of the first stop frame;

[0029] A fixed-length cylinder, arranged on the first stop frame. The fixed end of the fixed-length cylinder is connected to the first stop frame, and a fixed-length baffle is arranged at the movable end of the fixed-length cylinder. The fixed-length cylinder can drive the fixed-length baffle to move towards the head end of the chain plate conveyor;

[0030] A second stop frame, arranged on the chain plate conveyor, is spaced a certain distance from the first stop frame. A second sensor is arranged on the second stop frame, and the second sensor is used to detect whether there are bag curved parts in front of the second stop frame;

[0031] Two blocking cylinders, arranged at both ends of the second stop frame. The fixed ends of the blocking cylinders are connected to the second stop frame, and clamping plates are arranged at the movable ends of the blocking cylinders. The blocking cylinders can drive the clamping plates to move towards the middle of the chain plate conveyor, and the bag curved parts on the chain plate conveyor are clamped between the two clamping plates;

[0032] Before the clearance elimination of the bag curved parts, the fixed-length cylinder is in the extended state. After the clearance elimination of the bag curved parts, the fixed-length cylinder is in the retracted state; after the bag curved parts between the first stop frame and the second stop frame reach the clamping quantity, the blocking cylinders extend to clamp the redundant bag curved parts on the chain plate conveyor, and the fixed-length cylinder retracts to reserve a clamping space.

[0033] Further, it further includes a first shaping component, which is arranged on the side of the chain plate conveyor between the first stop frame and the second stop frame. The first shaping component is used to shape the bag curved parts on the chain plate conveyor to ensure that the adjacent bag curved parts are aligned.

[0034] Further, the first shaping component includes a first shaping plate matching the length of the bag stack and a first shaping cylinder for driving the first shaping plate to move. The fixed end of the first shaping cylinder is connected to the chain conveyor, and the movable end of the first shaping cylinder is connected to the first shaping plate. The first shaping cylinder can drive the first shaping plate to move towards the bag stack on the chain conveyor. After the fixed-length cylinder retracts, the first shaping cylinder drives the first shaping plate to extend and retract once.

[0035] Further, a guide sleeve is provided on the chain conveyor, and a guide rod matching the guide sleeve is provided on the first shaping plate.

[0036] Further, there are two guide sleeves, which are respectively arranged on both sides of the first shaping cylinder.

[0037] Further, a third sensor is provided on the chain conveyor at the front end of the first stop bracket, and the first shaping component is driven to work after the third sensor detects a signal.

[0038] Further, guardrails are provided on both sides of the chain conveyor.

[0039] Further, waste collection boxes are provided below both ends of the chain conveyor.

[0040] Further, the palletizing robot component includes a second robot and a pallet-dismantling and bag-stack clamping fixture arranged on the second robot. The pallet-dismantling and bag-stack clamping fixture includes a second base, a number of bag-stack clamping cylinders on one side in the length direction of the second base. The number of bag-stack clamping cylinders are arranged adjacent to each other. The fixed end of the bag-stack clamping cylinder is connected to the second base, and a bag-stack clamping plate is provided at the movable end of the bag-stack clamping cylinder. A bag-stack clamping baffle is provided on the other side in the length direction of the second base. When clamping the bag stack, the bag stack is clamped between the bag-stack clamping baffle and the bag-stack clamping plate in the length direction, and at least two bag-stack clamping plates are aligned in the width direction of each bag stack.

[0041] Further, a second shaping component is also included. When unloading the bag stack, the second shaping component is used to guide the bag stack to fall vertically.

[0042] Further, the second shaping component includes a second shaping cylinder arranged on the second base. The second shaping cylinder is arranged below the bag-stack clamping cylinder. The fixed end of the second shaping cylinder is connected to the second base, and a second shaping plate is provided at the movable end of the second shaping cylinder. During the retraction process of the bag-stack clamping cylinder, the second shaping cylinder drives the second shaping plate to move towards the bag stack, and the moved second shaping plate is spaced a certain distance from the bag stack.

[0043] Further, the moved second shaping plate is spaced 3 mm to 8 mm from the bag stack.

[0044] Further, a pallet-dismantling component is also included, and the pallet-dismantling component is used to grab and transfer the pallet.

[0045] Furthermore, there are four unpacking components, which are arranged in a square shape on the second base; the unpacking component includes an unpacking cylinder, the fixed end of the unpacking cylinder is connected to the second base, and the movable end of the unpacking cylinder is provided with an L-shaped second inserting plate. The unpacking cylinder can drive the second inserting plate to rotate vertically and can also drive the second inserting plate to move horizontally; the unpacking cylinder can drive the second inserting plate to rotate and move into the insertion hole of the tray.

[0046] The beneficial effects of the present utility model are as follows:

[0047] 1. The present utility model not only horizontally binds the curved block stacks layer by layer, but also vertically binds the curved blocks and the trays together to form curved block stacks, greatly enhancing the binding stability of the curved block stacks. At the same time, it is also convenient for the transportation and transfer of the curved block stacks, improving the transfer efficiency of the curved block stacks.

[0048] 2. After the robot of the present utility model places each layer of wrapped curved blocks on the tray, the first chain conveyor rotates 90°, so that the curved blocks arranged between adjacent layers on the tray are staggered by 90°, improving the stacking stability of the curved blocks and the stability of the curved block stacks.

[0049] 4. Before horizontally binding each layer of curved blocks, the present utility model can eliminate gaps and shape each layer of curved blocks layer by layer through the shaping component, eliminating the gaps between the wrapped curved blocks, so that each layer of curved blocks is densely arranged and stacked, thereby improving the binding stability of the curved blocks and the stability of the curved block stacks.

[0050] 5. The present utility model can not only count the curved blocks on the chain conveyor, but also compared with the existing method of using a counting sensor to count the curved blocks, the present utility model counts the curved blocks by a fixed-length mechanical method, effectively solving the counting error caused by the large randomness of the curved block postures and the straw residues on the curved blocks, improving the accuracy of the curved block counting, ensuring the accuracy of the robot's curved block grasping process, playing a protective role for the curved blocks, avoiding the curved blocks being clamped and damaged by the robot, and ensuring the orderly and stable operation of the system.

[0051] 6. The curved block unpacking robot component and the palletizing robot component of the present utility model are applicable to the automatic clamping and transfer of the wrapped curved blocks, and can simultaneously grab multiple wrapped curved blocks, improving the work efficiency and the degree of automation; moreover, it can not only complete the automatic clamping and transfer of the wrapped curved blocks, but also complete the clamping and stacking transfer of the curved frames, enabling the entire system to achieve automatic operation.

[0052] 7. The unpacking and code-curving fixture of the present utility model clamps the flat surface of the bag-shaped koji from the length direction, so it can be applicable to the clamping of bag-shaped koji. Moreover, several code-curving cylinders are provided in this application to clamp the bag-shaped koji, so that each bag-shaped koji is clamped by a separate code-curving cylinder, effectively solving the problem of koji differentiation caused by inconsistent koji block sizes or inconsistent fermentation degrees of koji blocks.

[0053] 8. The present utility model can shape and limit the bag-shaped koji, reducing the free space of the bag-shaped koji, so that the gap between the bag-shaped koji and the unpacking and code-curving fixture is smaller when the bag-shaped koji falls freely, thereby reducing the drop of the bag-shaped koji during free fall, ensuring that the bag-shaped koji accurately falls to the designated location on the tray, avoiding the bag-shaped koji from swaying and tilting during the falling process, and ensuring that the bag-shaped koji stacked on the tray is regular, so that the stack of koji blocks after bundling and packing is more firm. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of brick koji.

[0055] Figure 2 It is a structural schematic diagram of bag-shaped koji.

[0056] Figure 3 It is a three-dimensional view of the present utility model.

[0057] Figure 4 It is a front view of the present utility model.

[0058] Figure 5 It is a three-dimensional view of the automatic bundling assembly of the present utility model.

[0059] Figure 6 It is a front view of the automatic bundling assembly of the present utility model.

[0060] Figure 7 It is a three-dimensional view of the first chain conveyor in the automatic bundling assembly.

[0061] Figure 8 It is a front view of the first chain conveyor in the automatic bundling assembly.

[0062] Figure 9 It is a three-dimensional view of the vertical bundling machine in the automatic bundling assembly.

[0063] Figure 10 It is a front view of the vertical bundling machine in the automatic bundling assembly

[0064] Figure 11 It is a three-dimensional view of the third shaping assembly in the automatic bundling assembly.

[0065] Figure 12 It is a front view of the third shaping assembly in the automatic bundling assembly.

[0066] Figure 13It is a schematic structural diagram of the bag stack of the present utility model.

[0067] Figure 14 It is a schematic structural diagram of the disassembling and bending robot assembly of the present utility model.

[0068] Figure 15 It is a three-dimensional view of the disassembling and unloading bending fixture in the disassembling and bending robot assembly.

[0069] Figure 16 It is the front view of the disassembling and unloading bending fixture in the disassembling and bending robot assembly.

[0070] Figure 17 It is Figure 16 the left view of.

[0071] Figure 18 It is Figure 16 the bottom view of.

[0072] Figure 19 It is a three-dimensional view of the disassembling component in the disassembling and bending robot assembly clamping the bending frame.

[0073] Figure 20 It is the front view of the disassembling component in the disassembling and bending robot assembly clamping the bending frame.

[0074] Figure 21 It is a three-dimensional view of the clearance-eliminating conveying component after the fixed-length cylinder extends.

[0075] Figure 22 It is Figure 21 the partial enlarged view of A in.

[0076] Figure 23 It is the front view of the clearance-eliminating conveying component after the fixed-length cylinder extends.

[0077] Figure 24 It is Figure 23 the top view of.

[0078] Figure 25 It is the front view of the clearance-eliminating conveying component after the fixed-length cylinder retracts.

[0079] Figure 26 It is Figure 25 the top view of.

[0080] Figure 27 It is a schematic structural diagram of the palletizing robot assembly of the present utility model.

[0081] Figure 28 It is a three-dimensional view of the pallet-disassembling and bending-code clamping fixture of the present utility model.

[0082] Figure 29 It is the front view of the pallet-disassembling and bending-code clamping fixture of the present utility model.

[0083] Figure 30 It isFigure 29 Left view.

[0084] Figure 31 It is a three-dimensional view of the unpacking and palletizing fixture in the palletizing robot assembly grasping the bag.

[0085] Figure 32 It is the front view of the unpacking and palletizing fixture in the palletizing robot assembly grasping the bag.

[0086] Figure 33 It is a three-dimensional view of the unpacking component in the palletizing robot assembly grasping the pallet.

[0087] The markings in the figure are:

[0088] 1. Unpacking robot assembly; 11. First robot; 12. Unpacking and unloading fixture; 1201. First base; 1202. Unloading cylinder; 1203. Unloading baffle; 1204. Unloading clamping plate; 13. Unpacking component; 1301. First bracket; 1302. Unpacking cylinder; 1303. First clamping block; 14. First support component; 1401. First slide rail; 1402. First slider; 1403. First plug board;

[0089] 2. Clearance elimination conveying component; 21. Chain conveyor; 2101. Guide sleeve; 2102. Guide rod; 2103. Third sensor; 2104. Guardrail; 2105. Waste collection box; 22. First stop frame; 2201. First sensor; 23. Fixed-length cylinder; 2301. Fixed-length baffle; 24. Second stop frame; 2401. Second sensor; 25. Blocking cylinder; 2501. Clamping plate; 26. First shaping component; 2601. First shaping plate; 2602. First shaping cylinder;

[0090] 3. Palletizing robot assembly; 31. Second robot; 32. Unpacking and palletizing fixture; 3201. Second base; 3202. Palletizing cylinder; 3203. Palletizing clamping plate; 3204. Palletizing baffle; 33. Second shaping component; 3301. Second shaping cylinder; 3302. Second shaping plate; 34. Unpacking component; 3401. Unpacking cylinder; 3402. Second plug board;

[0091] 4. Automatic strapping assembly; 41. Chain conveyor; 4101. Horizontal strapping station; 4102. Vertical strapping station; 4103. First chain conveyor; 4104. Second chain conveyor; 42. Vertical strapping machine; 4201. Vertical frame; 4202. Strapping frame; 43. Vertical strapping machine; 44. First power assembly; 4401. Base; 4402. Reducing motor; 4403. Gear; 4404. Slewing bearing; 45. Fixed assembly; 4501. Bar; 4502. Pusher plate; 4503. Fixed cylinder; 46. Third shaping assembly; 4601. Third shaping cylinder; 4602. Shaping bracket; 4603. Contact rod; 4604. Contact plate; 47. Floating assembly; 4701. Long hole; 4702. Screw; 4703. Spring;

[0092] 5. Bagged Ququ; 51. Bagged Ququ; 52. Pallet; 5201. Jack;

[0093] 6. Tie. Detailed implementation mode

[0094] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "front", "upper", "lower", "left", "right", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0095] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0096] The following is a further description of the present invention with reference to the attached Figures 1 to 33 drawings.

[0097] Embodiment 1

[0098] In view of the technical problems existing in the background art, the present invention provides a bagged Ququ stacking and warehousing system.

[0099] In the specific technical solution, referring to Figure 3 and Figure 4 , the bagged Ququ stacking and warehousing system includes a Ququ disassembling robot assembly 1, a backlash elimination conveying assembly 2, a stacking robot assembly 3, and an automatic strapping assembly 4.

[0100] Among them, the koji-unloading robot assembly 1 is arranged between the koji rack 6 and the clearance-eliminating conveying assembly 2. The fermented wrapped koji 51 is stacked on the koji rack 6. The koji-unloading robot assembly 1 is used to pick up the wrapped koji 51 that has completed fermentation and has a certain interval on the koji rack 6 and place it on the clearance-eliminating conveying assembly 2. The clearance-eliminating conveying assembly 2 is used to eliminate the interval between the wrapped koji 51 picked up by the koji-unloading robot assembly 1. The palletizing robot assembly 3 is used to pick up the wrapped koji 51 with the clearance eliminated on the clearance-eliminating conveying assembly 2 and the pallet 52 to the automatic strapping assembly 4; the automatic strapping assembly 4 is arranged beside the palletizing robot assembly 3 and is used to strap the wrapped koji 51 layer by layer and strap the wrapped koji 51 and the pallet 52 together.

[0101] Working principle: The fermented wrapped koji 51 in the koji room together with the koji rack 6 is transported to the side of the koji-unloading robot assembly 1. The koji-unloading robot assembly 1 picks up the wrapped koji 51 with a certain interval on the koji rack 6 and places it on the clearance-eliminating conveying assembly 2. After the clearance-eliminating conveying assembly 2 eliminates the clearance between the wrapped koji 51, the palletizing robot assembly 3 picks up the wrapped koji 51 and transports it to the automatic strapping assembly 4. The automatic strapping assembly 4 packs the wrapped koji 51 and the pallet 52, and then stores them in the warehouse for sealing.

[0102] Specifically, referring to Figure 5 and Figure 6 , the automatic strapping assembly 4 includes a chain conveyor 41 for supporting and conveying the wrapped koji stack 5. The wrapped koji stack 5 includes a pallet 52 and the wrapped koji 51 placed on the pallet 52. A horizontal strapping station 4101 and a vertical strapping station 4102 are arranged on the chain conveyor 31; a vertical strapping machine 42 is arranged at the horizontal strapping station 4101. The vertical strapping machine 42 is used to horizontally strap each layer of the wrapped koji 51 on the pallet 52. A vertical strapping machine 43 is arranged at the vertical strapping station 4102. The vertical strapping machine 43 is used to vertically strap the wrapped koji 51 and the pallet 52 together. The vertical strapping machine, the vertical strapping machine, the robot and the chain conveyor are existing technical equipment and are borrowed by the present utility model. Their working principles and structures are not described in detail here. The vertical strapping machine and the vertical strapping machine can adopt the MH-105 series strapping machines produced by Hangzhou Yongchuang Intelligent Equipment Co., Ltd., and the robot can adopt the IRB6700-150 / 3.2 series robots produced by ABB.

[0103] Working principle: The palletizing robot assembly 3 first grabs the empty pallet 52 to the horizontal strapping station 4101 of the chain conveyor 41, and then starts to grab the bagged qukuai 51 onto the pallet 52. After stacking one layer of bagged qukuai, the vertical strapping machine 42 performs horizontal strapping on the bagged qukuai 51 of this layer. The vertical strapping machine 42 performs horizontal strapping on the bagged qukuai 51 layer by layer until the stacking of the bagged qukuai 5 is completed. After the horizontal strapping of the stack of bagged qukuai 5 is completed, the chain conveyor 41 synchronously transports the pallet 52 and the bagged qukuai 51 thereon to the vertical strapping station 4102, and then the vertical strapping machine 43 performs strapping on the bagged qukuai 51 vertically. When strapping, the strapping tape 7 passes through the insertion hole 5201 of the pallet 52 to strap the bagged qukuai 51 and the pallet 52 together. After strapping, the strapped stack of bagged qukuai 5 can be transported by a forklift.

[0104] From the above structure and working principle, it can be seen that the utility model not only performs layer-by-layer horizontal strapping on the stack of qukuai, but also vertically straps the qukuai and the pallet together to form a stack of qukuai, greatly enhancing the stability of the strapping of the stack of qukuai. At the same time, it is also convenient for the transportation and transfer of the stack of qukuai, improving the transfer efficiency of the stack of qukuai.

[0105] If the bagged qukuai 51 stacked on the pallet 52 are all arranged in the same direction, it will lead to poor stability of the stack of bagged qukuai 5 and there is a risk of tipping. Therefore, the utility model makes the following further improvements: Referring to Figure 5 and Figure 6 , in this embodiment, the chain conveyor 41 is divided into two, specifically: The chain conveyor 41 includes a first chain conveyor 4103 and an adjacent second chain conveyor 4104. The first chain conveyor 4103 is arranged at the horizontal strapping station 4101, and the second chain conveyor 4104 is arranged at the vertical strapping station 4102;

[0106] Among them, it also includes a first power assembly 44 for driving the first chain conveyor 4103 to rotate horizontally. The rotatable first chain conveyor 4103 is used to turn the pallet 52 and the bagged qukuai 51 thereon to achieve staggered stacking of the bagged qukuai 51 between adjacent layers vertically, and the bagged qukuai 51 between adjacent layers vertically are perpendicular to each other.

[0107] Specifically, referring to Figure 7 and Figure 8 , the first power assembly 44 includes a base 4401. A reduction motor 4402 is arranged on the base 4401. A gear 4403 is arranged at the output end of the reduction motor 4402. A slewing bearing 4404 is arranged at the bottom of the first chain conveyor 4103. The gear 4403 is meshed with the slewing bearing 4404.

[0108] Working principle: The first chain conveyor 4103 is set to be rotatable so that the palletizing robot assembly can alternately place the adjacent layers of the bagged qu 51 at 90°. For example, after the palletizing robot assembly 3 places one layer of the bagged qu 51 on the pallet 52, the first power assembly 44 drives the first chain conveyor 4103 to rotate 90°. Then the palletizing robot assembly 3 places the second layer of the bagged qu 51, and so on. Every time the palletizing robot assembly 3 places one layer of the bagged qu, it needs to rotate 90°. In this way of placement, the adjacent layers of the bagged qu 51 will be arranged in a 90° staggered manner.

[0109] From the above structure and working principle, it can be seen that after the palletizing robot assembly of the present utility model places one layer of the bagged qu 51 on the pallet 52 each time, the first chain conveyor rotates 90°, so that the curved blocks arranged between adjacent layers on the pallet 52 are staggered by 90°, improving the stacking stability of the bagged qu and the stability of the bagged qu stack.

[0110] To prevent the pallet 52 from moving on the first chain conveyor 4103 and causing misalignment when the palletizing robot assembly 3 places the bagged qu 51, the following further improvements are made in this embodiment: Refer to Figure 7 This embodiment also provides a fixing assembly 45. The fixing assembly 45 is arranged on the first chain conveyor 4103, and the fixing assembly 45 can fix the pallet 52 on the first chain conveyor 4103.

[0111] Specifically, refer to Figure 7 The fixing assembly 45 includes a stop bar 4501 arranged on one side of the first chain conveyor 4103. On the opposite side of the side of the first chain conveyor 4103 where the stop bar 4501 is located, there is a push plate 4502 and a fixing cylinder 4503 for driving the push plate 4502 to move towards the stop bar 4501. The fixed end of the fixing cylinder 4503 is connected to the first chain conveyor 4103, and the movable end of the fixing cylinder 4503 is connected to the push plate 4502.

[0112] Working principle: After the palletizing robot assembly 3 grabs the pallet 52 onto the first chain conveyor 4103, the fixing cylinder 4503 extends, driving the push plate 4502 to move towards the stop bar 4501, and then fixing the pallet 52 between the stop bar 4501 and the push plate 4502. It can be seen that the present utility model can fix the pallet on the first chain conveyor, prevent the pallet from moving on the first chain conveyor, and improve the accuracy of the robot in placing the bagged qu and the stacking stability of the bagged qu.

[0113] Among them, refer to Figure 14 The disassembling robot assembly 1 includes a first robot 11 and a disassembling and unloading qu fixture 12 arranged on the first robot 11;

[0114] Specifically, refer to Figures 15 to 18, the frame dismantling and curve unloading fixture 12 includes a first base 1201. On one side in the length direction of the first base 1201, a curve unloading cylinder 1202 matching the number of bag curves 51 is arranged. On the other side, a curve unloading baffle 1203 is arranged. The fixed end of the curve unloading cylinder 1202 is connected to the first base 1201, and the movable end of the curve unloading cylinder 1202 is provided with a curve unloading clamping plate 1204. When unloading the curve, the bag curve 51 is clamped between the curve unloading clamping plate 1204 and the curve unloading baffle 1203.

[0115] After the bag curves 51 on the curve frame 6 are picked up, it is necessary to move the empty curve frame 6 away so as to pick up the bag curves 51 in the lower curve frame 6. For this purpose, referring to Figures 15 to 18 , this embodiment further includes a frame dismantling assembly 13. The frame dismantling assembly 13 is arranged on the first base 1201. After the bag curves 51 on the curve frame 6 are picked up, the frame dismantling assembly 13 is used to move away the empty curve frame 6.

[0116] Specifically, referring to Figures 15 to 18 , the frame dismantling assembly 13 includes a first support 1301 movably arranged at both ends of the first base 1201 and a frame dismantling cylinder 1302 for driving the first support 1301 to move. The fixed end of the frame dismantling cylinder 1302 is connected to the first base 1201, and the movable end of the frame dismantling cylinder 1302 is connected to the first support 1301. A first clamping block 1303 for clamping the curve frame 6 is arranged on the first support 1301. The frame dismantling cylinder 1302 can drive the two first clamping blocks 1303 to move towards each other; when picking up the curve frame 6, the curve frame 6 is clamped between the two first clamping blocks 1303.

[0117] Working principle: When picking up the curve frame 6, first, through the control of the curve dismantling robot assembly 1, the first support 1301 is placed above the curve frame 6. The frame dismantling cylinder 1302 is started. The frame dismantling cylinder 1302 drives the two first clamping blocks 1303 to move towards the curve frame 6 through the first support 1301, and finally clamps the curve frame 6 between the two first clamping blocks 1303.

[0118] From the above structure and principle, it can be seen that the utility model can not only complete the automatic picking and transfer of the bag curves, but also complete the picking and stacking transfer of the curve frames, enabling the entire curve receiving system to realize automatic operation.

[0119] Since the cylinder can only provide horizontal clamping force and cannot provide vertical force, the cylinder will be bent and damaged when subjected to lateral force. For this reason, in view of the above problems, the following further improvements are made in this embodiment: Referring to Figures 15 to 18 , this embodiment is also provided with a first support assembly 14. The first support assembly 14 is used to support the curve frame 6 during the transfer process of the curve frame 6.

[0120] Specifically, referring to Figures 15 to 18, the first support assembly 14 includes a first slide rail 1401 disposed on the first base 1201 and a first slider 1402 that mates with the first slide rail 1401. The first slider 1402 is slidably connected to the first slide rail 1401. A first insertion plate 1403 is fixedly connected to the first slider 1402. The first bracket 1301 is connected to the first slider 1402, and the first clamping block 1303 is disposed on the first insertion plate 1403.

[0121] Working principle: Refer to Figure 19 and Figure 20 , when the dismantling cylinder 1302 drives the first bracket 1301 to move, the first bracket 1301, the first slider 1402, the first clamping block 1303, and the first insertion plate 1403 move synchronously through the first slide rail 1401. That is to say, when the first clamping block 1303 moves, the first insertion plate 1403 also moves synchronously toward the curved frame 6. When the first clamping block 1303 reaches the side wall of the curved frame 6, the first insertion plate 1403 is located below the curved frame 6. At this time, the first insertion plate 1403 is not stressed. During the process of the dismantling and bending robot assembly 1 driving the curved frame 6 to be transported, the curved frame 6 falls onto the first insertion plate 1403, and only then is the first insertion plate 1403 stressed. That is to say, the first clamping block 1303 serves as a limiting function and does not apply a clamping force to the curved frame, but only serves as a limiting function to prevent the curved frame from swaying during the transportation of the curved frame. The component that actually supports the curved frame is the first insertion plate 1403.

[0122] From the above structure and principle, it can be seen that the first clamping block of the present invention does not apply a clamping force to the curved frame, but only serves as a limiting function to prevent the curved frame from swaying during the transportation of the curved frame. The component that actually supports the curved frame is the first insertion plate, which effectively protects the cylinder and improves the service life of the cylinder.

[0123] There is a gap between the wrapped curved parts 51 picked up by the palletizing robot assembly 3 onto the pallet 52. If the gap is not eliminated, the wrapped curved parts 51 after bundling are still relatively loose and have poor stability. Therefore, the following further improvements are made in this embodiment: Refer to Figure 9 and Figure 10 , this embodiment further includes a third shaping assembly 46 for limiting and shaping each layer of the wrapped curved parts 51. The vertical strapping machine 42 includes a vertical frame 4201, and a strapping frame 4202 is disposed on the vertical frame 4201. The third shaping assembly 46 is arranged on opposite sides of the strapping frame 4202, and the number of the third shaping assemblies 46 matches the number of rows of the wrapped curved parts.

[0124] Specifically, refer to Figure 11 and Figure 12The third shaping component 46 includes a third shaping cylinder 4601, the fixed end of the third shaping cylinder 4601 is connected to the bundling frame 4202, the movable end of the third shaping cylinder 4601 is provided with a shaping bracket 4602, the shaping bracket 4602 is provided with a resistance rod 4603, the end of the resistance rod 4603 is provided with a resistance plate 4604, and the upper and lower resistance plates 4604 are spaced a certain distance apart.

[0125] Working principle: before horizontal bundling, the third shaping cylinder 4601 extends, driving the abutment rod 4603 and the abutment plate 4604 to move synchronously, and the third shaping assembly 46 located on the opposite sides of the bundling frame 4202 clamps the bag curve 51 between the abutment plates 4604, thereby eliminating the gap between the bag curves 51. Since the abutment plates will abut against the arc-shaped convex surface of the bag curve 51, the abutment plates 4604 are designed to be upper and lower; in addition, the upper and lower abutment plates 4604 are spaced a certain distance apart to allow the cable tie 7 to pass through.

[0126] From the above structure and working principle, it can be known that before the curved blocks of each layer are horizontally bundled, the utility model can eliminate gaps and shape the curved blocks of each layer layer by layer through the shaping component, eliminate the gaps between the curved blocks, and make the curved blocks of each layer densely arranged and stacked, thereby improving the stability of the curved block bundling and the stability of the curved block stack.

[0127] Since the thickness of the bao qu produced by the qu making machine is not uniform, there is a small error, so the width of each layer of bao qu stacked on the tray is inconsistent. In addition, the extension distance of the third shaping cylinder 4601 is certain, so some rows of qu blocks will be clamped too tightly, causing the qu blocks to be broken and damaged; some rows of qu blocks will be clamped too loosely, and the fixing effect cannot be achieved. For this reason, refer to Figure 11 and Figure 12 This embodiment is also provided with a floating component 47, and the floating component 47 is used to automatically adapt to different bag curves 51 thicknesses by the resistance rod 4603.

[0128] Specifically, refer to Figure 11 and Figure 12 The floating assembly 47 includes a long hole 4701 horizontally arranged on the shaping bracket 4602, and the resistance rod 4603 is movably connected to the long hole 4701 through a screw 4702, and a spring 4703 is arranged on the resistance rod 4603.

[0129] Working principle: Since the resistance rod is movably connected to the long hole by a screw, the distance of the long hole leaves a certain amount of movable space for the resistance rod. Coupled with the effect of the spring, this space has an adaptive effect and can automatically adapt to the different widths of each layer of the curved block to solve the problem of the curved block being clamped or too loose due to the inconsistent width of each layer of the curved block caused by the thickness error of the bag curved block.

[0130] Embodiment 2

[0131] The inventors of the present application are committed to the research of intelligent brewing equipment and applied for a high-temperature Daqu stacking system and a method for fermenting Qu blocks with a publication number of CN114715675A in 2022, which relates to the technical field of Qu block production. The high-temperature Daqu stacking system includes a depalletizer, a bundling machine, and a feeding chain conveyor connected in sequence. A robot and a clearance elimination mechanism for eliminating the clearance between adjacent Qu blocks are arranged beside the bundling machine. A depalletizing and stacking robot and stacked Qu racks are arranged on the opposite side of the robot where the bundling machine is located, and an AGV robot for transporting the Qu racks is arranged at the bottom of the Qu racks.

[0132] The above application discloses a clearance elimination mechanism for eliminating the clearance between adjacent Qu blocks, but the clearance elimination mechanism of this application does not have a counting function. The number of Qu blocks grasped by the robot each time is fixed, and due to the inconsistent thickness of the Qu blocks prepared by the Qu block making machine, this leads to inaccurate grasping of Qu blocks by the robot, increasing the difficulty of the robot grasping Qu blocks.

[0133] Therefore, on the basis of Embodiment 1, the present application improves the clearance elimination conveying component to make it have a counting function to match the stacking robot 3. When improving the counting function, the inventors of the present applicant first thought of using a counting sensor (which is also the most common counting method currently), and detecting the number of Qu blocks on the chain conveyor by setting a counting sensor on the chain conveyor. However, it is found in subsequent use that: due to the large randomness of the posture of the Qu blocks passing through the counting sensor, for example, the bottom of the Qu block is uneven, causing the Qu block to tilt and stick to the previous Qu block, and the counting sensor misidentifies it as one Qu block; and there is straw residue during the fermentation of Qu blocks in the process, affecting the accuracy of counting. These will all lead to large counting errors, resulting in inaccurate grasping of Qu blocks by the robot, causing the Qu blocks to be clamped or fall off, and affecting the stable operation of the system.

[0134] Therefore, in view of the above technical problems, the present embodiment makes the following further improvements to the counting function:

[0135] In the specific technical solution, referring to Figures 21 to 26 , the clearance elimination conveying component 2 includes a chain conveyor 21, a first stop frame 22, a fixed-length cylinder 23, a second stop frame 24, and a blocking cylinder 25.

[0136] Specifically, the first stop frame 22 is arranged above the end of the chain conveyor 21, used to block the movement of the bag bend 51 on the chain conveyor 21, thereby eliminating the gap between the bag bends. A first sensor 2201 is provided on the first stop frame 22, and the first sensor 2201 is used to detect whether there is a bag bend 51 in front of the first stop frame 22; the fixed-length cylinder 23 is arranged on the first stop frame 22, the fixed end of the fixed-length cylinder 23 is connected to the first stop frame 22, and a fixed-length baffle 2301 is arranged at the movable end of the fixed-length cylinder 23. The fixed-length cylinder 23 can drive the fixed-length baffle 2301 to move towards the head end of the chain conveyor 21; the second stop frame 24 is arranged on the chain conveyor 21, at a certain distance from the first stop frame 22, and a second sensor 2401 is provided on the second stop frame 24. The second sensor 2401 is used to detect whether there is a bag bend 51 in front of the second stop frame 24; there are two blocking cylinders 25, arranged at both ends of the second stop frame 24, the fixed end of the blocking cylinder 25 is connected to the second stop frame 24, and a clamping plate 2501 is arranged at the movable end of the blocking cylinder 25. The blocking cylinder 25 can drive the clamping plate 2501 to move towards the middle of the chain conveyor 21, and the bag bend 51 on the chain conveyor 21 is clamped between the two clamping plates 2501.

[0137] Before the gap elimination of the bag bend 51, the fixed-length cylinder 23 is in the extended state. After the gap elimination of the bag bend 51, the fixed-length cylinder 23 is in the retracted state; when the number of bag bends 51 between the first stop frame 22 and the second stop frame 24 reaches the clamping quantity, the blocking cylinder 25 extends to clamp the redundant bag bends 51 on the chain conveyor 21, and the fixed-length cylinder 23 retracts to reserve a clamping space. The first sensor and the second sensor adopt diffuse reflection sensors.

[0138] Working principle: Before the gap elimination, referring to Figure 21 , Figure 23 and Figure 24 , the fixed-length cylinder 23 is in the extended state. When the bag bend 51 on the chain conveyor 21 reaches the fixed-length baffle 2301, it is blocked by the fixed-length baffle 2301. At this time, the chain conveyor 21 continues to operate, while the bag bend 51 on the chain conveyor 21 is blocked in front of the fixed-length baffle 2301 and stagnates. The bag bends are adjacent to each other, thereby eliminating the gap between the bag bends. When the first sensor 2201 detects a signal, indicating that there is a bag bend 51 in front of the first stop frame 22, if the second sensor 2401 detects a continuous signal at this time, it means that the bag bends between the first stop frame 22 and the second stop frame 24 are already full, meeting the grasping quantity and grasping conditions of the robot. At this time, the blocking cylinder 25 extends to clamp the bag bend 51 under the second stop frame 24. At this time, the remaining bag bends 51 on the chain conveyor 21 are all blocked outside the second stop frame 24, referring to Figure 25 and Figure 26, immediately afterwards, the fixed-length cylinder 23 retracts, driving the fixed-length baffle 2301 to retract synchronously. Then the bag pack 51 located between the first baffle 22 and the second baffle 24 advances a distance, which is the retracted length of the fixed-length cylinder 23. The gap left by this distance facilitates the robot to grab the bag pack, creating enough space for the palletizing robot assembly 3 to grab the bag pack. After the palletizing robot assembly 3 grabs the bag pack, the blocking cylinder 25 retracts and the fixed-length cylinder 23 extends, preparing for the palletizing robot assembly 3 to grab the bag pack for the second time, and so on in a cycle.

[0139] It should be noted that the distance between the first baffle 22 and the second baffle 24 can be set according to the actual situation. The distance between the two is greater than the width required for the number of bag packs. The extra width of one bag pack is exactly the extended length of the fixed-length cylinder 23. After the fixed-length cylinder 23 retracts, the gap left by this width facilitates the palletizing robot assembly 3 to grab the bag pack, creating enough space for the palletizing robot assembly 3 to grab the bag pack. Refer to Figure 4 , for example, in this application, the palletizing robot assembly 3 grabs 11 bag packs at a time, and the distance between the first baffle and the second baffle should be greater than the total length of 11 bag packs added together.

[0140] From the above structure and principle, it can be seen that the utility model can not only count the bag packs on the chain conveyor, but also, compared with the existing method of using a counting sensor to count the bag packs, the utility model counts the bag packs by a fixed-length mechanical method, effectively solving the counting errors caused by the large randomness of the postures of the bag packs and the straw residues on the bag packs, improving the accuracy of counting the bag packs, ensuring the accuracy of the robot's grabbing process, protecting the bag packs, avoiding the bag packs being clamped and damaged by the robot, and ensuring the orderly and stable operation of the system.

[0141] To limit the bag packs on the chain conveyor and prevent the bag packs from falling off the chain conveyor, refer to Figure 21 , guardrails 2104 are provided on both sides of the chain conveyor 21.

[0142] There are block residues on the chain conveyor for transporting the bag packs. To collect the residues, refer to Figure 21 , in this embodiment, waste collection bins 2105 are also provided below both ends of the chain conveyor 21.

[0143] Embodiment 3

[0144] The bag packs on the chain conveyor 21 are not all arranged in the same straight line, with a slight error. This error causes the clamping force of the palletizing robot assembly 3 when clamping the bag pack 51 not to be in the same straight line, resulting in uneven force on the bag pack 51 and a risk of the bag pack 51 being crushed. Therefore, in view of the above technical problems, on the basis of Embodiment 2, this embodiment further makes the following improvements: Refer to Figure 21 andFigure 22 , this embodiment further includes a first shaping component 26, which is arranged on the side of the chain conveyor 21 between the first stop 22 and the second stop 24. The first shaping component 26 is used to shape the bag curves 51 on the chain conveyor 21 to ensure alignment between adjacent bag curves 51.

[0145] Specifically, referring to Figure 22 , the first shaping component 26 includes a first shaping plate 2601 matching the length of the bag curve stack and a first shaping cylinder 2602 for driving the movement of the first shaping plate 2601. The fixed end of the first shaping cylinder 2602 is connected to the chain conveyor 21, and the movable end of the first shaping cylinder 2602 is connected to the first shaping plate 2601. The first shaping cylinder 2602 can drive the first shaping plate 2601 to move towards the bag curves 51 on the chain conveyor 21; after the fixed-length cylinder 23 retracts, the first shaping cylinder 2602 drives the first shaping plate 2601 to extend and retract once.

[0146] Working principle: After the fixed-length cylinder 23 retracts, the first shaping cylinder 2602 drives the first shaping plate 2601 to extend. The extended first shaping plate 2601 flattens and aligns the bag curves 51 on the chain conveyor 21 to ensure that the bag curves 51 are on the same straight line, facilitating the grasping by the palletizing robot component 3. After the first shaping plate 2601 flattens the bag curves, it retracts again without affecting the grasping of the bag curves by the palletizing robot component 3.

[0147] From the above structure and principle, it can be seen that the utility model can flatten and align the bag curves to be grasped on the chain conveyor through the first shaping component, ensure that the bag curves are on the same straight line, make the bag curves evenly stressed after being grasped by the robot, play a protective role for the bag curves, and reduce the risk of the bag curves being crushed.

[0148] To make the extension and retraction of the first shaping plate 2601 more stable, referring to Figure 22 , this embodiment also provides a guide sleeve 2101 on the chain conveyor 21, and a guide rod 2102 matching the guide sleeve 2101 is provided on the first shaping plate 2601. There are two guide sleeves 2101, which are respectively arranged on both sides of the first shaping cylinder 2602.

[0149] To cooperate with the work of the first shaping component, referring to Figure 21 , this embodiment provides a third sensor 2103 on the chain conveyor 21 at the front end of the first stop 22, and drives the first shaping component 26 to work after the third sensor 2103 detects a signal.

[0150] Embodiment Four

[0151] The inventors of the present application are dedicated to the research of intelligent brewing equipment and applied for an automatic koji stacking device with the publication number CN213536558U in 2020. The device includes a robot and a base connected to the robot. At least one koji clamping mechanism and a power mechanism for driving the koji clamping mechanism are arranged on the base. The koji clamping mechanism includes two parallel slide plates slidably connected to the base. Clamping plates are evenly arranged at the bottom of the slide plates, and the distance between adjacent clamping plates matches the width of the koji block. The power mechanism includes a cylinder connected to the base. The movable end of the cylinder is sequentially hinged with a first connecting plate and a second connecting plate, and the middle of the second connecting plate is hinged to the base. One end of one side of the second connecting plate is hinged to a slide plate through a third connecting plate, and the other side of the second connecting plate is hinged to the other slide plate through a fourth connecting plate.

[0152] Limited by different types of koji blocks, koji blocks include brick koji and bag-shaped koji. The above application is used for the clamping of brick koji, and the brick koji is clamped by clamping plates. Since the brick koji has a flat structure, there is no problem in clamping the brick koji with clamping plates. However, one surface of the bag-shaped koji has an arc-shaped protrusion. If two clamping plates are used to clamp the bag-shaped koji again, then the arc-shaped protrusion surface of the bag-shaped koji is in point contact, and the bag-shaped koji will shake during the clamping process, and there is a risk of the bag-shaped koji falling off. Moreover, due to the shaking of the bag-shaped koji, the posture of the bag-shaped koji will be randomly large. For example, the bag-shaped koji will be skewed, which will cause the robot to be unable to accurately place the bag-shaped koji on the koji rack for storage, increasing the difficulty for the robot to place the bag-shaped koji. It can be seen that the above automatic koji stacking device is not applicable to the grasping of bag-shaped koji, so a new device is urgently needed to grasp the bag-shaped koji.

[0153] Therefore, in view of the above technical problems, on the basis of Embodiment 1, the present embodiment makes the following further improvements to the palletizing robot assembly 3:

[0154] Specifically, referring to Figure 27 , the palletizing robot assembly 3 includes a second robot 31 and a palletizing and koji clamping fixture 32 arranged on the second robot 31.

[0155] Among them, the palletizing and koji clamping fixture 32 includes a second base 3201, a number of koji clamping cylinders 3202 on one side in the length direction of the second base 3201. The number of koji clamping cylinders 3202 are arranged adjacent to each other. The fixed end of the koji clamping cylinder 3202 is connected to the second base 3201, and a koji clamping plate 3203 is arranged at the movable end of the koji clamping cylinder 3202. A koji baffle 3204 is arranged on the other side in the length direction of the second base 3201. When clamping the koji, the bag-shaped koji 51 is clamped between the koji baffle 3204 and the koji clamping plate 3203 in the length direction.

[0156] It should be noted that when the inventor of the present application was researching and developing the koji-making cylinder 3202, initially, a cylinder was designed to drive a long board to clamp all the koji bags between a long board and a baffle. However, it was found during use that due to the different sizes of the koji bags produced by the koji-making machine, there were slight differences. In addition, the koji bags would undergo a certain amount of deformation after fermentation. If the clamping method of using one cylinder to drive one long board was adopted, the larger koji bags would be clamped between the long board and the baffle, while the smaller koji bags, due to their smaller size, could not contact the long board, resulting in the smaller koji bags being clamped unstably or not clamped at all, and the koji bags falling off and being damaged.

[0157] Therefore, to address the above technical problems, in this embodiment, the koji-making cylinder 3202 is designed as a number of closely arranged koji-making cylinders 3202, and at least two koji-making clamping plates 3203 are aligned in the width direction of each koji bag 51. Refer to Figure 32 , that is to say, at least two koji-making cylinders 3202 act together on one koji bag, so that each koji bag is tightened by a separate koji-making cylinder 3202, effectively solving the problem of koji bag differentiation caused by inconsistent koji bag sizes or inconsistent fermentation degrees of koji bags; and because one koji bag corresponds to at least two koji-making cylinders 3202, it can ensure that the koji bag is stably clamped between the baffle and the clamping plate, preventing the koji bag from falling off.

[0158] From the above structure and principle, it can be seen that the tray-unloading and koji-making fixture of the present utility model clamps the flat surface of the koji bag in the length direction, so it can be applied to the clamping of koji bags; and the present application is provided with a number of koji-making cylinders 3202 to clamp the koji bags, and each koji bag is clamped by a separate koji-making cylinder 3202, effectively solving the problem of koji bag differentiation caused by inconsistent koji bag sizes or inconsistent fermentation degrees of koji bags; in addition, each koji bag corresponds to at least two koji-making cylinders 3202, which can ensure that the koji bag is stably clamped between the koji-making baffle and the koji-making clamping plate, preventing the koji bag from falling off.

[0159] When the tray-unloading and koji-making fixture places the koji bags, it does not release the koji bags after the bottom of the koji bags touches the tray or the koji bags, but there is a certain distance. Therefore, after the tray-unloading and koji-making fixture releases the koji bags, the koji bags will free-fall for a certain distance. During the free-fall process, there is a certain drop of the koji bags, which may cause the koji bags falling on the tray or the lower-layer koji bags to be arranged irregularly, deviate and tilt, and ultimately lead to the koji bag stack being tied insecurely due to irregularity. To address the above technical problems, the following further improvements are made in this embodiment:

[0160] Refer to Figure 28 , this embodiment further includes a second shaping component 33; during koji unloading, the second shaping component 33 is used to guide the koji bag 51 to fall vertically.

[0161] Specifically, referring to Figure 28 , Figure 29 and Figure 30 , the second shaping component 33 includes a second shaping cylinder 3301 disposed on the second base 3201. The second shaping cylinder 3301 is arranged below the bending cylinder 3202. The fixed end of the second shaping cylinder 3301 is connected to the second base 3201, and a second shaping plate 3302 is provided at the movable end of the second shaping cylinder 3301. During the retraction process of the bending cylinder 3202, the second shaping cylinder 3301 drives the second shaping plate 3302 to move towards the bag bend 51, and after movement, the second shaping plate 3302 is spaced from the bag bend 51 by a certain distance. After movement, the second shaping plate 3302 is spaced from the bag bend 51 by 3 mm to 8 mm.

[0162] Working principle: When the disassembly and bending fixture 32 reaches above the tray 52 and needs to place the bag bend onto the tray 52, the bending cylinder 3202 retracts, and the second shaping cylinder 3301 extends, driving the second shaping plate 3302 to extend synchronously. After complete extension, the second shaping plate 3302 is spaced 5 mm from the bag bend. It can be seen that the purpose of the extended second shaping plate 3302 is not to clamp the bag bend 51, but to shape and limit the bag bend 51, reduce the free space of the bag bend, so that the gap between the bag bend during free fall and the disassembly and bending fixture is smaller, thereby reducing the drop of the bag bend during free fall, ensuring that the bag bend accurately falls to the designated location on the tray, preventing the bag bend from swaying and tilting during the fall, and ensuring that the stacked bag bends on the tray are regular, so that the stack of bag bends after bundling and packing is more firm.

[0163] After the tray 52 is filled with bag bends 51 and bundled, a new tray 52 needs to be placed beside the robot. To achieve automatic grasping of the tray 52 and further improve the degree of automation, referring to Figure 28 and Figure 29 , this embodiment further provides a disassembly component 34 on the base. The disassembly component 34 is used for grasping and transporting the tray 52. There are four disassembly components 34, which are arranged in a square on the second base 3201;

[0164] Specifically, referring to Figure 29 , Figure 30 and Figure 33 , the disassembly component 34 includes a disassembly cylinder 3401. The fixed end of the disassembly cylinder 3401 is connected to the second base 3201, and an L-shaped second insertion plate 3402 is provided at the movable end of the disassembly cylinder 3401. The disassembly cylinder 3401 can drive the second insertion plate 3402 to rotate vertically and can also drive the second insertion plate 3402 to move horizontally; the disassembly cylinder 3401 can drive the second insertion plate 3402 to rotate and move into the insertion hole 5201 of the tray 52.

[0165] Working principle: When it is necessary to clamp the tray 52, the unstacking cylinder 3401 extends, driving the second insertion plate 3402 to extend synchronously. Then, the unstacking cylinder 3401 drives the second insertion plate 3402 to rotate 90°. The second insertion plate 3402 rotates from the horizontal state to the vertical state. Next, the unstacking cylinder 3401 drives the second insertion plate 3402 to retract. During the retraction process, the second insertion plate 3402 is inserted into the jack 5201 of the tray 52 to fix the tray 52, and then the robot transports the tray 52.

[0166] From the above structure and working principle, it can be seen that the present utility model can not only be used for clamping and stacking the bag curves, but also for unstacking and clamping the trays, realizing the automated operation of the entire process and improving the automation degree of the equipment.

[0167] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present utility model. It should be understood that the above are only specific embodiments of the present utility model and are not used to limit the protection scope of the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. Bag-shaped palletizing storage system, characterized by: include: The koji disassembling robot assembly (1) is arranged between the koji rack (6) and the gap-eliminating conveying assembly (2); the koji rack (6) is stacked with fermented koji (51); the koji disassembling robot assembly (1) is used to clamp the fermented koji (51) with a certain interval on the koji rack (6) to the gap-eliminating conveying assembly (2); A gap-eliminating conveying assembly (2) for eliminating the gaps between the bag curves (51) clamped by the curve-removing robot assembly (1); A palletizing robot assembly (3) is used to clamp the bag curves (51) and pallets (52) whose gaps have been eliminated on the gap-eliminating conveying assembly (2) to the automatic strapping assembly (4); An automatic strapping assembly (4) is arranged beside the palletizing robot assembly (3) and is used to strap the bag rolls (51) layer by layer and to strap the bag rolls (51) to the pallet (52); The automatic strapping assembly (4) comprises a chain conveyor (41) for supporting and conveying a bag song pile (5), wherein the bag song pile (5) comprises a pallet (52) and bag songs (51) placed on the pallet (52), and a horizontal strapping station (4101) and a vertical strapping station (4102) are arranged on the chain conveyor (41); a vertical strapping machine (42) is arranged on the horizontal strapping station (4101), and the vertical strapping machine (42) is used to horizontally strap each layer of bag songs (51) on the pallet (52), and a vertical strapping machine (43) is arranged on the vertical strapping station (4102), and the vertical strapping machine (43) is used to strap the bag songs (51) and the pallet (52) together from a vertical direction.

2. The bag-shaped palletizing and warehousing system according to claim 1, characterized in that: The chain conveyor (41) comprises a first chain conveyor (4103) and a second chain conveyor (4104) arranged adjacent to each other, wherein the first chain conveyor (4103) is arranged at a horizontal bundling station (4101), and the second chain conveyor (4104) is arranged at a vertical bundling station (4102); It also includes a first power assembly (44) for driving the first chain conveyor (4103) to rotate in the horizontal direction. The rotatable first chain conveyor (4103) is used to turn the tray (52) and the bag curves (51) thereon to achieve staggered stacking of adjacent layers of bag curves (51) in the vertical direction.

3. The bag-shaped palletizing and warehousing system according to claim 2, characterized in that: The bag curves (51) between adjacent layers in the vertical direction are perpendicular to each other.

4. The bag-shaped palletizing and warehousing system according to claim 2, characterized in that: The first power assembly (44) includes a base (4401), a reduction motor (4402) is arranged on the base (4401), a gear (4403) is arranged at the output end of the reduction motor (4402), a slewing bearing (4404) is arranged at the bottom of the first chain conveyor (4103), and the gear (4403) is meshedly connected with the slewing bearing (4404).

5. The bag-shaped palletizing and warehousing system according to claim 2, characterized in that: It also includes a fixing component (45), which is arranged on the first chain conveyor (4103), and the fixing component (45) can fix the tray (52) on the first chain conveyor (4103).

6. The bag-shaped palletizing and warehousing system according to claim 5, characterized in that: The fixed component (45) includes a stop bar (4501) arranged on one side of the first chain conveyor (4103), a push plate (4502) and a fixed cylinder (4503) driving the push plate (4502) to move toward the stop bar (4501) are arranged on the opposite side of the first chain conveyor (4103) where the stop bar (4501) is located, the fixed end of the fixed cylinder (4503) is connected to the first chain conveyor (4103), and the movable end of the fixed cylinder (4503) is connected to the push plate (4502).

7. The bag-shaped palletizing and warehousing system according to claim 1, characterized in that: It also includes a third shaping component (46), which is used to limit and shape the bag curve (51) of each layer; The vertical strapping machine (42) comprises a vertical frame (4201), a strapping frame (4202) is arranged on the vertical frame (4201), and the third shaping components (46) are arranged on two opposite sides of the strapping frame (4202), and the number of the third shaping components (46) matches the number of bag rows.

8. The bag-shaped palletizing and warehousing system according to claim 7, characterized in that: The third shaping component (46) comprises a third shaping cylinder (4601), the fixed end of the third shaping cylinder (4601) is connected to the bundling frame (4202), the movable end of the third shaping cylinder (4601) is provided with a shaping bracket (4602), the shaping bracket (4602) is provided with a resistance rod (4603), the end of the resistance rod (4603) is provided with a resistance plate (4604), and the upper and lower resistance plates (4604) are spaced a certain distance apart.

9. The bag-shaped palletizing and warehousing system according to claim 8, characterized in that: It also includes a floating component (47), which is used for the resistance rod (4603) to automatically adapt to different bag curve (51) thicknesses.

10. The bag-shaped palletizing and warehousing system according to claim 9, characterized in that: The floating assembly (47) includes a long hole (4701) horizontally arranged on the shaping bracket (4602), the resistance rod (4603) is movably connected to the long hole (4701) through a screw (4702), and a spring (4703) is arranged on the resistance rod (4603).

11. The bag-shaped palletizing and warehousing system according to claim 1, characterized in that: The debonding robot assembly (1) comprises a first robot (11) and a frame debonding fixture (12) arranged on the first robot (11); The frame dismantling and unloading clamp (12) comprises a first base (1201), one side of the first base (1201) in the length direction is provided with unloading cylinders (1202) whose number matches the number of bagged bends (51), and the other side is provided with an unloading baffle plate (1203), the fixed end of the unloading cylinder (1202) is connected to the first base (1201), and the movable end of the unloading cylinder (1202) is provided with an unloading clamp plate (1204), and when unloading the bends, the bagged bends (51) are clamped between the unloading clamp plate (1204) and the unloading baffle plate (1203).

12. The bag-shaped palletizing and warehousing system according to claim 11, characterized in that: It also includes a rack dismantling assembly (13), which is arranged on the first base (1201). When all the bags (51) on the curved rack (6) are clamped, the rack dismantling assembly (13) is used to remove the empty curved rack (6).

13. The bag-shaped palletizing and warehousing system according to claim 12, characterized in that: The frame dismantling assembly (13) comprises a first bracket (1301) movably arranged at two ends of a first base (1201) and a frame dismantling cylinder (1302) for driving the first bracket (1301) to move; a fixed end of the frame dismantling cylinder (1302) is connected to the first base (1201); a movable end of the frame dismantling cylinder (1302) is connected to the first bracket (1301); a first clamping block (1303) for clamping the curved frame (6) is arranged on the first bracket (1301); the frame dismantling cylinder (1302) can drive the two first clamping blocks (1303) to move toward each other; when clamping the curved frame (6), the curved frame (6) is clamped between the two first clamping blocks (1303).

14. The bag-shaped palletizing and warehousing system according to claim 13, characterized in that: It also includes a first support assembly (14), which is used to support the curved frame (6) during the transportation of the curved frame (6).

15. The bag-shaped palletizing and warehousing system according to claim 14, characterized in that: The first supporting assembly (14) comprises a first slide rail (1401) arranged on a first base (1201) and a first slider (1402) matched with the first slide rail (1401); the first slider (1402) is slidably connected to the first slide rail (1401); a first plug plate (1403) is fixedly connected to the first slider (1402); the first bracket (1301) is connected to the first slider (1402); and a first clamping block (1303) is arranged on the first plug plate (1403).

16. The bag-shaped palletizing and warehousing system according to claim 1, characterized in that: The anti-backlash conveying assembly (2) comprises: Chain conveyor (21); A first stop frame (22) is arranged above the end of the chain conveyor (21) and is used to block the bag curves (51) from moving on the chain conveyor (21), thereby eliminating the gaps between the bag curves. A first sensor (2201) is provided on the first stop frame (22). The first sensor (2201) is used to detect whether there is a bag curve (51) in front of the first stop frame (22); A fixed-length cylinder (23) is arranged on the first baffle frame (22), a fixed end of the fixed-length cylinder (23) is connected to the first baffle frame (22), a movable end of the fixed-length cylinder (23) is provided with a fixed-length baffle plate (2301), and the fixed-length cylinder (23) can drive the fixed-length baffle plate (2301) to move toward the head end of the chain conveyor (21); The second stop frame (24) is arranged on the chain plate conveyor (21) and is spaced a certain distance from the first stop frame (22). The second stop frame (24) is provided with a second sensor (2401), and the second sensor (2401) is used to detect whether there is a bag curve (51) in front of the second stop frame (24); There are two blocking cylinders (25) arranged at both ends of the second blocking frame (24); the fixed end of the blocking cylinder (25) is connected to the second blocking frame (24); the movable end of the blocking cylinder (25) is provided with a clamping plate (2501); the blocking cylinder (25) can drive the clamping plate (2501) to move toward the middle of the chain conveyor (21); the bag curve (51) on the chain conveyor (21) is clamped between the two clamping plates (2501); Before the bag curve (51) eliminates the gap, the fixed-length cylinder (23) is in an extended state, and after the bag curve (51) eliminates the gap, the fixed-length cylinder (23) is in a retracted state; after the bag curve (51) between the first blocking frame (22) and the second blocking frame (24) reaches the clamping quantity, the blocking cylinder (25) extends to clamp the excess bag curve (51) on the chain conveyor (21), and the fixed-length cylinder (23) retracts to reserve a clamping space.

17. The bag-shaped palletizing and warehousing system according to claim 16, characterized in that: It also includes a first shaping component (26), which is arranged on the side of the chain conveyor (21) between the first stop frame (22) and the second stop frame (24), and the first shaping component (26) is used to shape the bag curves (51) on the chain conveyor (21) to ensure that adjacent bag curves (51) are aligned.

18. The bag-shaped palletizing and warehousing system according to claim 17, characterized in that: The first shaping component (26) comprises a first shaping plate (2601) matching the length of the bag curve pile and a first shaping cylinder (2602) driving the first shaping plate (2601) to move, wherein the fixed end of the first shaping cylinder (2602) is connected to the chain conveyor (21), and the movable end of the first shaping cylinder (2602) is connected to the first shaping plate (2601), and the first shaping cylinder (2602) can drive the first shaping plate (2601) to move toward the bag curve (51) on the chain conveyor (21); After the fixed-length cylinder (23) is retracted, the first shaping cylinder (2602) drives the first shaping plate (2601) to extend and retract once.

19. The bag-shaped palletizing and warehousing system according to claim 17, characterized in that: The chain conveyor (21) is provided with a guide sleeve (2101), and the first shaping plate (2601) is provided with a guide rod (2102) matching the guide sleeve (2101).

20. The bag-shaped palletizing and warehousing system according to claim 19, characterized in that: There are two guide sleeves (2101), which are arranged on both sides of the first shaping cylinder (2602) respectively.

21. The bag-shaped palletizing and warehousing system according to claim 18, characterized in that: A third sensor (2103) is provided on the chain conveyor (21) at the front end of the first baffle frame (22), and the first shaping component (26) is driven to operate after the third sensor (2103) detects a signal.

22. The bag-shaped palletizing and warehousing system according to claim 16, characterized in that: Guardrails (2104) are provided on both sides of the chain conveyor (21).

23. The bag-shaped palletizing and warehousing system according to claim 16, characterized in that: Waste collection boxes (2105) are provided below both ends of the chain conveyor (21).

24. The bag-shaped palletizing and warehousing system according to claim 16, characterized in that: The palletizing robot assembly (3) comprises a second robot (31) and a palletizing fixture (32) arranged on the second robot (31); The demounting and bending clamp (32) comprises a second base (3201), a plurality of bending cylinders (3202) on one side of the second base (3201) in the length direction, the plurality of bending cylinders (3202) are arranged closely together, the fixed ends of the bending cylinders (3202) are connected to the second base (3201), the movable ends of the bending cylinders (3202) are provided with bending clamps (3203), and the other side of the second base (3201) in the length direction is provided with bending baffles (3204); When the bag curve (51) is clamped in the length direction, it is clamped between the code curve baffle (3204) and the code curve clamping plate (3203), and each bag curve (51) is aligned with at least two code curve clamping plates (3203) in the width direction.

25. The bag-curved palletizing and warehousing system according to claim 24, characterized in that: It also includes a second shaping component (33); when the bag is unloaded, the second shaping component (33) is used to guide the bag of bag (51) to fall vertically.

26. The bag-curved palletizing and warehousing system according to claim 25, characterized in that: The second shaping component (33) comprises a second shaping cylinder (3301) arranged on a second base (3201), the second shaping cylinder (3301) is arranged below the code bending cylinder (3202), the fixed end of the second shaping cylinder (3301) is connected to the second base (3201), and the movable end of the second shaping cylinder (3301) is provided with a second shaping plate (3302); During the retraction of the code curve cylinder (3202), the second shaping cylinder (3301) drives the second shaping plate (3302) to move toward the bag curve (51), and after the movement, the second shaping plate (3302) is spaced a certain distance from the bag curve (51).

27. The bag-curved palletizing and warehousing system according to claim 26, characterized in that: After the movement, the second shaping plate (3302) is spaced 3 mm to 8 mm from the bag curve (51).

28. The bag-shaped palletizing and warehousing system according to claim 24, characterized in that: It also includes a tray dismantling assembly (34), which is used to grab and transfer the tray (52).

29. The bag-shaped palletizing and warehousing system according to claim 28, characterized in that: There are four disk disassembly components (34) arranged in a square shape on the second base (3201); The tray removing assembly (34) comprises a tray removing cylinder (3401), the fixed end of which is connected to the second base (3201), the movable end of which is provided with an L-shaped second plug plate (3402), the tray removing cylinder (3401) can drive the second plug plate (3402) to rotate in the vertical direction, and can also drive the second plug plate (3402) to move in the horizontal direction; the tray removing cylinder (3401) can drive the second plug plate (3402) to rotate and move so as to extend into the plug hole (5201) of the tray (52).

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