Integrated equipment for bean stick removal and material collection

Abstract

The present invention proposes an integrated device for bean stick stripping and material collection, including a bean stick clamping and fixing device, a stick rotating device, a stick pulling device, a stripping device, a stick collecting hopper, and a bean stick collecting hopper. The bean stick is pressed by the bean stick clamping and fixing device, and the stick rotating head of the stick rotating device is connected to the end of the stick and rotates the stick at the same time to make the stick separate from the bean stick; the stick pulling device clamps the end of the stick and automatically pulls it out, and a number of sticks are pulled out at one time, and the pulled out sticks are stored in the stick collecting hopper; the scraper plate of the stripping device scrapes the bean stick away from the bean stick clamping and fixing device, and the bean sticks that have left are stored in the bean stick collecting hopper. The time of the whole stripping process does not exceed one minute, and the stripping of a number of bean sticks can be completed at one time, and the stripping time of a single bean stick is a few seconds, which is many times the efficiency of manual stripping, thereby improving the stripping efficiency and reducing the labor intensity of people; and the present invention adopts the second method of simulating the manual solution in the background technology, and there is no knife edge on the bean stick, ensuring the appearance of the bean stick is beautiful.

Description

Technical Field

[0001] The invention belongs to the technical field of bean stick processing, and in particular relates to an integrated device for removing and returning bean sticks. Background Art

[0002] The raw material for making bean curd is soybeans, which are ground into soy milk and heated. When the surface of the soy milk forms a film, it is rolled up with a stick. After drying, the stick is removed and the shape is like a stick, so the locals call it "bean stick". The traditional bean stick rolling process is completely manual, which is not only labor-intensive, but also of poor quality.

[0003] In order to solve the above problems, various types of bean curd machines have emerged. The bean curd machine generally includes a bean curd rolling device, a bean curd conveying device, a bean curd clamping device, a bean curd drying device, etc., which are equipment for rolling and shaping the bean curd (referred to as rolling) and drying. After the bean curd rolling and drying process is completed, it is necessary to pull out the stick in the center of the bean curd for rolling and drying (referred to as bean curd stripping), and put the finished bean curds in a unified manner for the next step of the baking process. Automation equipment.

[0004] The prior art generally uses the following two methods to remove the bean sticks: the first method is to manually cut the bean sticks longitudinally and take out the sticks from the blade; the second method is to manually loosen the bean sticks from the sticks and pull the sticks out from one end of the bean stick. The above two prior arts are both manual labor, and each person needs to remove the sticks one by one at a time, which is inefficient and has high labor costs. Among them, the first solution is faster than the second solution, but the finished product is not as beautiful as the second solution because of the longitudinal blade; the second method of manual removal of the sticks takes an average of about 20 seconds to remove a single stick (including taking, collecting, and returning the materials), which is inefficient and requires multiple people to extract together, which has high labor costs. Summary of the invention

[0005] The present invention aims to solve the technical problems existing in the prior art, and an object of the present invention is to provide an integrated device for removing and returning bean sticks.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an integrated device for removing and returning beans to materials, wherein a bean stick is provided at the center of the bean stick, and both ends of the stick extend outside the bean stick; the integrated device comprises a bean stick clamping and fixing device, a stick rotating device, a stick pulling device, a material removing device, a stick collecting hopper, and a bean stick collecting hopper; the bean stick clamping and fixing device has an opening and closing state, and the bean stick clamping and fixing device has a plurality of parallel bean stick grooves arranged at intervals along its width direction for accommodating bean sticks, when the bean stick clamping and fixing device is in the opening state, a plurality of bean sticks can be located in the bean stick grooves in a one-to-one correspondence, and the sticks at both ends of the bean stick extend outside the bean stick clamping and fixing device, and when the bean stick clamping and fixing device is in the closed state, the bean stick clamping and fixing device clamps and fixes the bean stick; the stick rotating device is arranged on the outside of the bean stick clamping and fixing device, and the stick rotating device The device includes a plurality of rotary stick heads which are arranged one by one corresponding to the bean stick grooves, and a rotary stick driving mechanism which drives the plurality of rotary stick heads to rotate, the ends of the bean stick sticks can be inserted into the rotary stick heads and circumferentially fixed thereto, and the rotary stick driving mechanism drives the rotary stick heads to rotate so that the sticks are loosened as the rotary stick heads rotate; a stick pulling device is arranged on the outside of the bean stick clamping and fixing device, the stick pulling device can clamp the ends of all loosened sticks and move the sticks away from the bean stick clamping and fixing device so that the sticks are separated from the bean stick clamping and fixing device, and the separated sticks are stored in a stick collecting hopper; a stripping device has a scraper which can move along the length direction of the bean stick groove, and the movement of the scraper plate can separate all the bean sticks on the bean stick clamping and fixing device in an open state from the bean stick clamping and fixing device after being separated from the bean stick, and the separated bean sticks are stored in the bean stick collecting hopper.

[0007] In the above technical scheme, the bean stick is pressed by the bean stick clamping and fixing device, and the rotating head of the rotating stick device is connected to the end of the stick and rotates the stick at the same time, so that the stick is separated from the bean stick; the stick pulling device is used to clamp the end of the stick and automatically pull it out, and several sticks are pulled out at one time, and the pulled out sticks are stored in the stick collecting hopper; the scraper plate of the stripping device scrapes the bean stick away from the bean stick clamping and fixing device, and the removed bean stick is stored in the bean stick collecting hopper. The time of the whole set of stripping process (including stripping, stripping, collecting and returning materials) does not exceed one minute, and several bean sticks can be stripped at one time, so the average stripping time of a single bean stick is a few seconds, which is many times more efficient than manual stripping, thereby improving the stripping efficiency and reducing the labor intensity of people; and the present invention adopts the second method of simulating the manual scheme in the background technology, and there is no knife edge on the bean stick, which ensures the beautiful appearance of the bean stick.

[0008] In a preferred embodiment of the present invention, the bean stick clamping and fixing device comprises a lower mold and an upper mold arranged opposite to the lower mold and located above the lower mold, the upper mold and / or the lower mold can move vertically to put the bean stick clamping and fixing device in an open or closed state; a bean stick groove with an upper end opening is provided on the upper end surface of the lower mold, and the bean stick can partially protrude out of the bean stick groove of the lower mold, and the lower end surface of the upper mold has a bean stick groove with a lower end opening arranged in a one-to-one correspondence with the lower mold, or the lower end surface of the upper mold is a plane, and the bean stick is pressed into the bean stick groove of the lower mold.

[0009] In the above technical solution, the bean stick clamping and fixing device adopts the structure of the upper mold and the lower mold to press the bean stick. After the bean stick is removed, the upper mold and / or the lower mold moves to open the mold, and the bean stick remains in the bean stick groove of the lower mold, and the upper part of the bean stick protrudes out of the bean stick groove. It is only necessary for the scraper plate to move along the length direction of the bean stick to scrape the upper edge of the lower mold plate to scrape the bean stick away from the bean stick clamping and fixing device, so that the time for the bean stick to be separated from the lower mold is short and the efficiency is high.

[0010] In a preferred embodiment of the present invention, the rotary sign driving mechanism includes a plurality of gears which are arranged one by one corresponding to a plurality of rotary sign heads and are coaxially fixedly connected, and a rotary sign motor which drives all the gears to rotate synchronously, and the plurality of gears are rotatably mounted on a gear rack and arranged in parallel; a rotary sign motor drives a gear set to rotate, or all the gears are driven by a rotary sign motor; when a rotary sign motor drives a gear set to rotate, all the gears are divided into a plurality of gear sets equal in number to the number of the rotary sign motors, all the gears of a gear set are arranged side by side in an aligned manner and mesh externally in pairs, the gears between different gear sets are spaced apart and not meshed, and the output shaft of the rotary sign motor is coaxially fixedly connected to one of the gears in the gear set corresponding to the rotary sign motor; when all the gears are driven by a rotary sign motor, all the gears are arranged side by side in an aligned manner and mesh externally in pairs, and the output shaft of the rotary sign motor is coaxially fixedly connected to one of the gears; when all the bean stick slots are arranged at equal intervals, all the rotary sign heads are arranged at equal intervals, and all the gears are arranged at equal intervals, and when a rotary sign motor drives a gear set to rotate, the gears between different gear sets are staggered along the axial direction of the gear.

[0011] In the above technical solution, the rotary pick motor rotates the rotary pick head through gears. One rotary pick motor drives a gear set to rotate, or all gears are driven by one rotary pick motor. Compared with one rotary pick motor driving one gear to rotate the rotary pick head, this solution can reduce the number of rotary pick motors and reduce costs.

[0012] In a preferred embodiment of the present invention, the rotary pick device is installed on a mounting platform, and the mounting platform is connected to a vertical driving mechanism for driving its vertical movement. The rotary pick head has a plug-in groove with a top or bottom opening that matches the shape of the end of the pick. The vertical driving mechanism drives the mounting platform to move vertically, and the plug-in groove of the rotary pick head can be stuck outside the end of the pick and circumferentially fixed to it.

[0013] In the above technical solution, the rotary skewers head has a plug-in slot that matches the shape of the end of the skewers. By moving the rotary skewers head vertically, the end of the skewers can be inserted into the plug-in slot of the rotary skewers head and the two can be fixedly connected in a circumferential direction, so that the skewers can rotate with the rotary skewers head. The rotary skewers head of the solution has a simple structure, low manufacturing cost, and a simple connection method between the rotary skewers head and the skewers.

[0014] In a preferred embodiment of the present invention, the stick pulling device is independently arranged from the stick rotating device, or the stick pulling device and the stick rotating device are integrated; when the stick pulling device is independently arranged from the stick rotating device, the stick pulling device and the stick rotating device are respectively arranged on both sides of the length direction of the stick, and the stick rotating device includes a clamping jaw with an open and closed state for clamping the end of the stick, and a stick pulling drive mechanism for driving the clamping jaw to move along the length direction of the stick to pull out the loosened stick, one clamping jaw clamps one stick, or all the sticks are clamped by one clamping jaw, or a plurality of clamping jaws arranged side by side clamp all the sticks in groups; when the stick pulling device and the stick rotating device are integrated, the end of the stick is clamped by the stick rotating head, and the stick rotating device is connected to the stick pulling drive mechanism for driving it to move along the length direction of the stick to pull out the loosened stick.

[0015] In the above technical solution, two implementation methods of the stick pulling device are provided. The first method is to set the stick pulling device independently from the stick rotating device, and the second method is to integrate the stick pulling device and the stick rotating device. The selection can be made according to actual conditions.

[0016] In another preferred embodiment of the present invention, the clamp includes a lower jaw and an upper jaw located above the lower jaw, the upper jaw and / or the lower jaw is connected to a clamp driving mechanism that drives it to move to open or close the clamp, and the skewers can be clamped and fixed between the upper jaw and the lower jaw; the upper jaw includes an upper jaw plate for clamping the skewers, and an upper jaw frame located above the upper jaw plate, and the upper jaw plate is vertically floatingly connected to the upper jaw frame through a second spring.

[0017] In the above technical solution, the clamp adopts a structure of a lower claw and an upper claw to clamp the end of the skewer, and the structure is simple and reliable; and the upper claw plate is vertically floatingly connected to the upper claw frame through a second spring, thereby automatically adjusting the position change of the skewer caused by the difference in diameter of different bean sticks to ensure the clamping degree of the skewer.

[0018] In another preferred embodiment of the present invention, the scraper plate is driven by a stripping drive mechanism to move along the length direction of the bean stick, a second guide rail parallel to the stripping drive mechanism is provided on the rear side of the scraper plate, a connecting plate with both ends respectively connected to the stripping drive mechanism and the second guide rail is provided above the scraper plate, a falling driving member connected to the scraper plate and driving the scraper plate to move vertically is installed on the connecting plate.

[0019] In the above technical solution, the second guide rail plays a guiding role, so that the scraper plate moves more smoothly along the length direction of the bean stick. The falling driving member is used to drive the scraper plate to move vertically to facilitate the spinning and bean stick falling processes. For example, when spinning the bean stick, the scraper member is located above the bean stick spinning head and does not affect the spinning; after the bean stick is falling off, the scraper plate falls and approaches the bean stick to scrape the bean stick out of the bean stick clamping and fixing device.

[0020] In another preferred embodiment of the present invention, a material receiving platform located below the stick pulling device is provided on the outer side of the bean stick clamping and fixing device, and a material collecting device with a scraper capable of reciprocating linear motion is provided on the material receiving platform, and the stick collecting hopper and the bean stick collecting hopper are respectively arranged on both sides of the material receiving platform; the sticks pulled out by the stick pulling device can fall into the material receiving platform, and the scraper action of the material collecting device can scrape the sticks into the stick collecting hopper; the scraper plate of the material stripping device can scrape the bean sticks on the bean stick clamping and fixing device to the material receiving platform, and the scraper of the material collecting device can scrape the bean sticks into the bean stick collecting hopper by the reverse movement.

[0021] In the above technical scheme, a material receiving platform is provided for receiving the skewers pulled out by the skewer rotating device and the bean sticks hung out by the scraper of the stripping device; a material collecting device is provided for scraping the skewers and bean sticks on the material receiving platform into the skewers collecting hopper and the bean sticks collecting hopper respectively, so as to realize the automatic collection and return of the skewers and bean sticks.

[0022] In another preferred embodiment of the present invention, the integrated device also includes a bean stick plate with a through hole in the middle for loading bean sticks. Before removing the sticks, a number of bean sticks are placed side by side in the bean stick plate, and the spacing of the bean sticks in the bean stick plate corresponds to the spacing of the bean stick grooves one by one. Both ends of the sticks are supported by the bean stick plate, and the bean sticks are located in the through hole in the middle of the bean stick plate. The bean stick plate can be arranged outside the bean stick clamping and fixing device through the through hole in the middle thereof; both ends of the bean stick plate have card slots respectively matching the two ends of the sticks, and the two ends of the sticks can be inserted into the card slots and circumferentially fixed thereto.

[0023] In the above technical solution, a bean stick tray is provided to load the bean sticks. People can place the bean sticks in the opened bean stick clamping and fixing device through the bean stick tray. This is more efficient than putting the bean sticks one by one in the bean stick clamping and fixing device.

[0024] In another preferred embodiment of the present invention, the integrated equipment also includes a tooling tray shifting device having a loading station and a label removing station, the tooling tray shifting device includes a support tray frame for supporting the bean stick tray, and a tooling driving mechanism for driving the support tray frame to move horizontally; when the tooling tray shifting device is in the loading station, the support tray frame is located outside the bean stick clamping and fixing device, and the bean stick tray can be placed on the support tray frame; when the tooling tray shifting device is in the label removing station, the support tray frame can be located in the opened bean stick clamping and fixing device and be sleeved outside the bean stick clamping and fixing device; the tooling tray shifting device also includes a support tray driving mechanism connected to the support tray frame for driving its vertical movement, the support tray driving mechanism is installed on the tooling frame, the tooling driving mechanism is connected to the tooling frame and drives its horizontal movement; the tooling tray shifting device also includes a plurality of clamping blocks arranged on the support tray frame for clamping the bean stick tray, and the clamping blocks are connected with a clamping driving member that drives the bean stick tray.

[0025] In the above technical scheme, a support tray frame is provided to support the bean stick tray, and the tooling driving mechanism drives the bean stick tray to move horizontally to transport the bean stick tray at the loading station to the unloading station, thereby completing the automatic loading of the bean sticks and further improving the efficiency; the tooling frame and the support tray driving mechanism are provided to realize the vertical movement of the new bean stick tray, so that the bean stick tray at the unloading station can be moved vertically to a suitable height; and a clamp block is provided to fix the bean stick tray so that the bean stick tray does not separate from the support tray frame during movement.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 It is a schematic diagram of the right-axis structure of the bean stick stripping and material return integrated equipment of the embodiment.

[0029] Figure 2 It is a schematic diagram of the left-side structure of the bean stick stripping and material return integrated equipment of the embodiment.

[0030] Figure 3 2 is a schematic diagram of the right-axis structure of the bean stick clamping and fixing device in the embodiment.

[0031] Figure 4 It is a schematic diagram of the right shaft side structure of the rotary sign device in the embodiment.

[0032] Figure 5 Figure 4 A partial schematic diagram of the left axial side of the rotary skewer head.

[0033] Figure 6It is a schematic diagram of the right shaft side structure of the stick pulling device in the embodiment.

[0034] Figure 7 yes Figure 6 A partial enlarged view of point A in the figure.

[0035] Figure 8 It is a schematic diagram of the right shaft side structure of the stripping device in the embodiment.

[0036] Fig. 9 It is a schematic diagram of the right shaft side structure of the material receiving device in the embodiment.

[0037] Fig.10 It is a schematic diagram of the right axial structure of the bean stick plate in the embodiment.

[0038] Fig.11 It is a bean stick packed in Fig.10 Schematic diagram of the bean stick tray shown.

[0039] Fig.12 It is a schematic diagram of the right shaft side structure of the tooling plate shifting device in the embodiment when it is in the unsigning station.

[0040] Fig.13 It is a schematic diagram of the right-axis structure of conveying the bean stick plate to the bean stick clamping and fixing device through the tooling plate moving device.

[0041] Fig.14 yes Fig.13 A partial enlarged view of point B in FIG.

[0042] The reference numerals in the drawings of the specification include: frame 10, material receiving platform 11, skewer collecting hopper 12, bean stick collecting hopper 13, bean stick clamping and fixing device 20, upper mold 21, upper template 211, first spring 212, upper mold frame 213, upper mold driving member 214, upper mold mounting plate 215, lower mold 22, lower template 221, lower mold driving member 222, lower mold mounting plate 223, bean stick slot 23, guide column 24, skewer rotating device 30, skewer rotating head 31, plug-in slot 311, gear frame 32, gear 33, skewer rotating motor 34, mounting platform 35, vertical driving mechanism 36, skewer rotating mounting plate 37, skewer pulling device 40, clamping claw 41, lower claw 411, upper claw 412, upper claw plate 4121, second spring 4122, upper claw frame 4123, clamping claw drive mechanism 413, clamping claw mounting plate 42, skewer pulling drive mechanism 43, first guide rail 44, stripping device 50, scraper plate 51, stripping drive mechanism 52, second guide rail 53, connecting plate 54, falling drive member 55, material receiving device 60, scraper plate 61, material receiving drive mechanism 62, material receiving motor 621, reducer 622, belt and pulley mechanism 623, third guide rail 63, bean stick plate 70, through hole 71, slot 72, tooling plate moving device 80, support plate frame 81, tooling drive mechanism 82, tooling frame 83, support plate drive mechanism 84, fourth guide rail 85, clamping block 86, bean stick 90, skewer 91. DETAILED DESCRIPTION

[0043] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] In the description of the present invention, it is to be understood that the terms “longitudinal”, “lateral”, “vertical”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 understood as a limitation on the present invention.

[0045] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0046] The present embodiment provides an integrated device for removing sticks from bean sticks and returning them to materials (referred to as integrated device). The bean sticks have completed the rolling and drying processes. The center of the bean sticks has a stick for rolling and drying, and both ends of the sticks extend outside the bean sticks.

[0047] like Figure 1 and Figure 2 As shown, in a preferred embodiment, the integrated device includes a bean stick clamping and fixing device 20, a stick rotating device 30, a stick pulling device 40, a material removing device 50, a stick collecting hopper 12, and a bean stick collecting hopper 13.

[0048] like Figure 1 and Figure 3 As shown, the bean stick clamping and fixing device 20 is installed on the frame 10, and the bean stick clamping and fixing device 20 has an open and closed state, and the bean stick clamping and fixing device 20 has a width direction ( Figure 1 and Figure 2 A plurality of parallel bean stick grooves 23 for accommodating bean sticks are arranged at intervals (in the front-to-back direction as shown in the figure). The present invention is described by taking the arrangement of thirty bean stick grooves 23 as an example. The thirty bean stick grooves 23 are arranged at equal intervals or at unequal intervals. Preferably, the thirty bean stick grooves 23 are arranged at equal intervals.

[0049] Combination Fig.14 As shown, when the bean-stick clamping and fixing device 20 is in an open state, thirty bean-sticks 90 can be located in thirty bean-stick grooves 23 one by one, and the skewers 91 at both ends of the bean-stick 90 extend out of the bean-stick clamping and fixing device 20; when the bean-stick clamping and fixing device 20 is in a closed state, the bean-stick clamping and fixing device 20 clamps and fixes the bean-stick 90, making it convenient for the skewers rotating device 30 to loosen the skewers 91.

[0050] like Figure 1 and Figure 4 As shown, the rotary stick device 30 is installed on the frame 10 and is located outside the bean stick clamping and fixing device 20, for example, it is arranged on the right side of the bean stick clamping and fixing device 20. The rotary stick device 30 includes a plurality of rotary stick heads 31 arranged in a one-to-one correspondence with the bean stick grooves 23, and a rotary stick driving mechanism that drives the plurality of rotary stick heads 31 to rotate. The end of the bean stick skewer can be inserted into the rotary stick head 31 and circumferentially fixed thereto, and the rotary stick driving mechanism drives the rotary stick head 31 to rotate so that the skewer is loosened as the rotary stick head 31 rotates. The present invention is provided with a total of thirty rotary stick heads 31 equal in number to the bean stick grooves 23, and the thirty rotary stick heads 31 are also arranged at equal intervals, and the rotary stick driving mechanism drives the thirty rotary stick heads 31 to rotate independently.

[0051] like Figure 1As shown, the stick pulling device 40 is installed on the frame 10 and is located outside the bean stick clamping device 20, for example, the stick pulling device 40 is arranged on the left side of the bean stick clamping device 20. The stick pulling device 40 can clamp the ends of the left ends of all loosened sticks and move the sticks away from the bean stick clamping device 20 (i.e., move to the left) to make the sticks detach from the bean stick clamping device 20, and the detached sticks are stored in the stick collecting hopper 12. Specifically, the sticks can be manually placed in the stick collecting hopper 12, or the subsequent collecting device 60 can be used to realize automatic material collection.

[0052] like Figure 1 As shown, the stripping device 50 has a stripping device that can be moved along the length direction of the bean stick slot 23 (i.e. Figure 1 The scraper plate 51 of the integrated device shown in the figure can move in the left and right directions, and the scraper plate 51 can make all the bean sticks that have been detached from the bean stick clamping and fixing device 20 in the opened state detach from the bean stick clamping and fixing device 20, and the detached bean sticks are stored in the bean stick receiving hopper 13. Specifically, the bean sticks can be manually placed in the bean stick receiving hopper 13, or the subsequent receiving device 60 can be used to realize automatic material placement.

[0053] When the integrated device of this embodiment is used to remove the bean sticks, the bean sticks can be manually placed in the bean stick groove 23 of the bean stick clamping and fixing device 20 by a worker, or the bean stick plate 70 with the bean sticks can be transported to the bean stick clamping and fixing device 20 by the tooling shifting device 80 at the back, so as to realize automatic loading (described later). After the bean sticks are placed, the bean stick clamping and fixing device 20 is closed to clamp and fix the bean sticks, and the ends of the right ends of the skewers of the thirty bean sticks are respectively inserted into the rotary skewers heads 31 corresponding to the bean stick grooves 23 where they are located. Then, the rotary skewers driving mechanism is started to make the thirty rotary skewers heads 31 rotate around their own axes, and the skewers rotate with the rotary skewers heads 31, and the skewers rotate relative to the bean sticks to loosen them, and the skewers are separated from the bean sticks. Next, the skewers pulling device 40 is started, and the skewers pulling device 40 clamps the ends of the left ends of the skewers that have been loosened, and the skewers pulling device 40 makes the skewers move to the left and separate from the bean stick clamping and fixing device 20, and the detached skewers are stored in the skewers receiving hopper 12. Next, the bean stick clamping and fixing device 20 is opened to loosen the bean sticks that have been detached, and then the stripping device 50 is started to move the scraper plate 51 along the length direction of the bean stick groove 23. The scraper plate 51 moves to separate all the bean sticks that have been detached from the bean stick clamping and fixing device 20, and the detached bean sticks are stored in the bean stick receiving hopper 13.

[0054] In this embodiment, the stick collecting hopper 12 can be arranged below the stick pulling device 40 on the left side of the bean stick clamping and fixing device 20. After the stick pulling device 40 pulls out the stick, it releases the stick and the stick automatically falls into the stick collecting hopper 12 below it. The bean stick collecting hopper 13 can be arranged above the stick pulling device 40 on the left side of the bean stick clamping and fixing device 20, or above the stick rotating device 30 on the right side of the bean stick clamping and fixing device 20. After the stick pulling device 40 pulls out the stick, the bean stick clamping and fixing device 20 moves the bean stick upward to make the bean stick higher than the bean stick collecting hopper 13, and then the bean stick is moved to the left / right by the stripping device 50 and falls into the bean stick collecting hopper 13.

[0055] like Figure 1 and Figure 2 As shown, in another preferred embodiment, a material receiving platform 11 fixed to the frame 10 and located below the stick pulling device 40 is provided on the outside of the bean stick clamping and fixing device 20, and the stick pulling device 40 is installed on the material receiving platform 11. A material receiving device 60 with a scraper 61 capable of reciprocating linear motion is provided on the material receiving platform 11, and a stick collecting hopper 12 and a bean stick collecting hopper 13 are respectively arranged on both sides of the material receiving platform 11, for example, the stick collecting hopper 12 is arranged on the front side of the material receiving platform 11, and the bean stick collecting hopper 13 is arranged on the rear side of the material receiving platform 11, and the scraper 61 of the material receiving device 60 can move linearly forward and backward.

[0056] After the material receiving platform 11 is set, the sticks extracted by the stick extracting device 40 fall into the material receiving platform 11, and the scraper 61 of the collecting device 60 moves from the back to the front to scrape the sticks into the stick collecting hopper 12 at the front side. After the bean sticks are removed from the sticks, the bean stick clamping and fixing device 20 is opened, and the scraper plate 61 of the material removing device 50 moves the bean sticks to the left to separate from the bean stick clamping and fixing device 20, and the scraper plate 61 scrapes the bean sticks into the material receiving platform 11, and the scraper plate 61 of the collecting device 60 moves backward in the opposite direction to scrape the bean sticks into the bean stick collecting hopper 13 at the rear side.

[0057] like Figure 1 and Figure 8As shown, in this embodiment, the scraper plate 51 of the stripping device 50 is driven by the stripping driving mechanism 52 to move left and right, and the stripping driving mechanism 52 drives the scraper plate 51 to move so as to scrape the bean sticks in the opened bean stick clamping and fixing device 20 along the length direction thereof to the receiving platform 11. Specifically, the stripping driving mechanism 52 is a cylinder, a hydraulic cylinder, an electric cylinder or a linear motor, and the stripping driving mechanism 52 is mounted on the frame 10 by bolts. The rear side of the stripping driving mechanism 52 is provided with a second guide rail 53 mounted on the frame 10 in parallel therewith, and the second guide rail 53 extends in the left-right direction. A connecting plate 54 is provided above the scraper plate 51, and the front and rear ends are respectively connected to the stripping drive mechanism 52 and the second guide rail 53. A falling drive component 55 is respectively installed on the front and rear sides of the lower end of the connecting plate 54. The falling drive component 55 is a cylinder, a hydraulic cylinder, an electric cylinder or a linear motor. The front and rear ends of the scraper plate 51 are respectively connected to the two falling drive components 55, and the scraper plate 51 is driven to move vertically by the two falling drive components 55.

[0058] Initially, the scraper plate 51 is located on the right side of the bean stick clamping device 20 and is higher than the spinner head 31, so it does not affect the spinner process. After the bean stick is detached, the spinner device 30 is reset and the bean stick clamping device 20 is opened, and the detached bean stick leaks out of the upper semicircle in the bean stick clamping device 20; the drop drive member 55 is started to move the scraper plate 51 downward to approach the bean stick; the stripping drive mechanism 52 is started to move the scraper plate 51 to the left, and the scraper plate 51 scrapes the bean sticks in the bean stick clamping device 20 to the left receiving platform 11.

[0059] like Figure 1 and Fig. 9 As shown, in this embodiment, the scraper 61 of the material receiving device 60 is driven to move forward and backward by the material receiving drive mechanism 62, and the material receiving drive mechanism 62 includes a material receiving motor 621 that can be reversible, a reducer 622 connected to the output shaft of the material receiving motor 621, and a belt pulley mechanism 623 (which can also be replaced by a sprocket chain mechanism) connected to the output shaft of the reducer 622. The scraper 61 is fixedly connected to the belt of the belt pulley mechanism 623 and moves forward and backward with the belt. Preferably, two parallel third guide rails 63 are also installed on the material receiving platform 11, and the third guide rails 63 extend along the front and rear direction of the integrated device. The two ends of the scraper 61 are fixedly connected with sliders that can slide on the two third guide rails 63 respectively, and the right end of the scraper 61 extends to the outside of the third guide rail 63 on the right side and is fixedly connected to the belt of the belt pulley mechanism 623.

[0060] The picking device 40 releases the pick, and after the pick falls onto the material receiving platform 11, the material collecting motor 621 is started, and the material collecting motor 621 drives the belt pulley mechanism 623 to operate through the reducer 622, and the belt pulley mechanism 623 causes the scraper 61 to move from the back to the front on the third guide rail 63, and the scraper 61 scrapes the pick on the material receiving platform 11 forward into the pick collecting hopper 12. The scraper plate 51 of the stripping device 50 scrapes the bean sticks after the picks are removed onto the material receiving platform 11, and the material collecting motor 621 is reversed, and the material collecting motor 621 causes the belt pulley mechanism 623 to operate in the reverse direction, and the belt pulley mechanism 623 causes the scraper 61 to move from the front to the back on the third guide rail 63, and the scraper 61 scrapes the bean sticks on the material receiving platform 11 backward into the bean stick collecting hopper 13.

[0061] like Figure 3 As shown, in a preferred embodiment of the present invention, the bean stick clamping and fixing device 20 includes a lower mold 22 and an upper mold 21 disposed above the lower mold 22, and the upper mold 21 and / or the lower mold 22 can move vertically to open or close the bean stick clamping and fixing device 20. The upper end surface of the lower mold 22 is provided with a bean stick groove 23 with an upper end opening, and the bean stick can partially protrude out of the bean stick groove 23 of the lower mold 22, and the lower end surface of the upper mold 21 has a bean stick groove with a lower end opening arranged in a one-to-one correspondence with the lower mold 22, or the lower end surface of the upper mold 21 is a plane, and the bean stick is pressed into the bean stick groove 23 of the lower mold 22 by the upper mold 21.

[0062] like Figure 3 As shown, in this embodiment, preferably both the upper mold 21 and the lower mold 22 can move vertically. The lower mold 22 includes a lower mold 221 for placing bean sticks and a lower mold driving member 222 for driving the lower mold 221 to move vertically. The bean stick groove 23 is arranged on the upper surface of the lower mold 221. The lower mold driving member 222 can be a linear motor, a cylinder, a hydraulic cylinder or an electric cylinder. The lower mold driving member 222 is installed on a lower mold mounting plate 223 fixed to the frame 10 and located below the lower mold 221. The upper mold 21 includes an upper mold 211 for pressing the bean sticks and an upper mold driving member 214 for driving the upper mold 211 to move vertically. Preferably, the lower surface of the upper mold 211 is provided with bean stick grooves corresponding to the bean stick grooves 23 of the lower mold 221. The upper mold driving member 214 can also be a linear motor, a cylinder, a hydraulic cylinder or an electric cylinder. The upper mold driving member 214 is installed on an upper mold mounting plate 215 fixed to the frame 10 and located above the upper mold 211.

[0063] like Figure 3As shown, in another preferred embodiment, the upper mold 21 also includes an upper mold frame 213 located above the upper mold plate 211, and the upper mold frame 213 is located below the upper mold mounting plate 215. The upper mold plate 211 is vertically floatingly connected to the upper mold frame 213 through a first spring 212 (a guide column is provided in the middle of the first spring 212), and the upper mold driving member 214 is connected to the upper mold frame 213 and drives it to move vertically, and the upper mold plate 211 moves vertically with the upper mold frame 213.

[0064] like Figure 3 and Fig.14 As shown, further preferably, the upper template 211 is composed of thirty upper modules, which are equal to the number of bean stick slots 23, and the thirty upper modules are arranged side by side along the front-to-back direction of the integrated device. Each upper module is vertically floatingly connected to the upper mold frame 213 through a plurality of first springs 212 arranged at intervals along its length direction (the left-right direction of the integrated device). For example, one upper module is connected to the upper mold frame 213 through three first springs 212 arranged at intervals, and three rows of first springs 212 are arranged in the left-right direction to connect the upper mold frame 213 and the thirty upper modules.

[0065] By providing the first spring 212, the present solution can automatically adjust the position change of the upper part of the bean stick caused by the difference in diameter of different bean sticks, thereby ensuring the clamping degree of the bean stick and preventing the bean stick from being crushed.

[0066] like Figure 3 As shown, in another preferred embodiment, the lower mold plate 221 is connected to the lower mold mounting plate 223 through four guide columns 24 provided at its four corners, thereby making the vertical movement of the lower mold plate 221 more stable. The upper mold frame 213 is connected to the upper mold mounting plate 215 through four guide columns 24 provided at its four corners, thereby making the vertical movement of the upper mold frame 213 and the upper mold plate 211 more stable.

[0067] like Figure 4 As shown, in another preferred embodiment, the rotary pick driving mechanism of the rotary pick device 30 includes thirty gears 33 which are arranged one by one corresponding to the thirty rotary pick heads 31 and are coaxially fixed, and a rotary pick motor 34 which drives all the gears 33 to rotate synchronously. The thirty gears 33 are rotatably mounted on the gear rack 32 and are arranged in parallel.

[0068] In this embodiment, one rotary stick motor 34 drives one gear set to rotate. For example, three rotary stick motors 34 are provided, and all gears 33 are divided into three gear sets equal in number to the rotary stick motors 34, and each gear set has ten gears 33. The ten gears 33 of one gear set are arranged side by side and meshed externally in pairs, and the gears 33 between different gear sets are spaced apart and not meshed, so that the movements between the gear sets do not interfere with each other, and the output shafts of the three rotary stick motors 34 are respectively coaxially fixedly connected to one of the gears 33 in the corresponding gear set, preferably fixedly connected to the fifth or sixth gear 33 of one gear set.

[0069] When all bean stick slots 23 are arranged at equal intervals, all spinner heads 31 are arranged at equal intervals, and all gears 33 are arranged at equal intervals, the gears 33 between different gear sets are staggered along the axial direction of the gear 33 (i.e., the left and right direction of the integrated device), for example, the two gear sets on the front and rear sides are arranged on the left, and the middle gear set is arranged on the right.

[0070] It should be noted that all the gears 33 may also be driven by one rotary pick motor 34 . In this case, all the gears 33 are arranged side by side and meshed with each other. The output shaft of the rotary pick motor 34 is coaxially fixed to one of the gears 33 .

[0071] like Figure 4 and Figure 5 As shown, in another preferred embodiment, the rotary pick device 30 is installed on the mounting platform 35. Specifically, the gear frame 32 is fixedly connected to the mounting platform 35, and three rotary pick motors 34 are installed on the mounting platform 35 by bolts. The mounting platform 35 is connected to a vertical drive mechanism 36 that drives its vertical movement. The vertical drive mechanism 36 is a linear motor, a hydraulic cylinder, a cylinder or an electric cylinder. The vertical drive mechanism 36 is installed by bolts on a rotary pick mounting plate 37 located below the mounting platform 35 and fixedly connected to the frame 10. The rotary pick head 31 has a top-opening plug-in slot 311 that matches the shape of the end of the pick. For example, if the end of the pick is rectangular, the plug-in slot 311 is also rectangular. Preferably, the top of the plug-in slot 311 has a trapezoidal notch that plays a guiding role.

[0072] Initially, the spin-stick head 31 is located below the bean stick in the bean stick clamping and fixing device 20, and the vertical driving mechanism 36 drives the mounting platform 35 to move vertically upward, so that the spin-stick head 31 moves vertically upward, so that the insertion groove 311 of the spin-stick head 31 is stuck outside the end of the stick and is circumferentially fixed thereto. When spinning the stick, the spin-stick head 31 drives the stick to rotate an integer number of circles, so that after the spin-stick head 31 stops rotating, the opening of the insertion groove 311 of the spin-stick head 31 is still upward.

[0073] It should be noted that the opening of the insertion groove 311 can also be located at the bottom thereof, so that initially, the spin-stick head 31 is located above the bean stick of the bean stick clamping and fixing device 20, and the vertical driving mechanism 36 drives the mounting platform 35 to move downward, so that the spin-stick head 31 moves downward, so that the insertion groove 311 of the spin-stick head 31 is stuck outside the end of the stick and is circumferentially fixed thereto. When spinning the stick, the spin-stick head 31 drives the stick to rotate an integer number of circles, so that after the spin-stick head 31 stops rotating, the opening of the insertion groove 311 of the spin-stick head 31 is still downward.

[0074] like Figure 1 and Figure 6 As shown, the spin stick device 30 includes a clamping jaw 41 with an open and closed state for clamping the left end of the stick, and a stick pulling drive mechanism 43 for driving the clamping jaw 41 to move along the length direction of the stick to pull out the loosened stick. In this embodiment, one clamping jaw 41 clamps one stick, or all sticks are clamped by one clamping jaw 41, or multiple clamping jaws 41 arranged side by side clamp all sticks in groups, preferably one clamping jaw 41 clamps one stick, and a total of thirty clamping jaws 41 are set. Thirty clamping jaws 41 are installed on a clamping jaw mounting plate 42 at intervals along the front-to-back direction of the integrated device, and the stick pulling drive mechanism 43 drives the clamping jaw mounting plate 42 to move left and right.

[0075] Preferably, two first guide rails 44 are installed on the receiving platform 11 and are spaced apart along the front-rear direction thereof. The first guide rails 44 extend in the left-right direction, and sliders capable of sliding on the two first guide rails 44 are fixedly connected to both ends of the clamping jaw mounting plate 42. The picking drive mechanism 43 drives the clamping jaw mounting plate 42 to move left and right on the first guide rails 44 in the form of a motor + reducer + screw rod, or a motor + reducer + belt and pulley mechanism / sprocket chain mechanism, which are all prior arts and will not be described in detail here.

[0076] like Figure 7 As shown, in a preferred embodiment, the clamp 41 includes a lower jaw 411, an upper jaw 412 located above the lower jaw 411, and the upper jaw 412 and / or the lower jaw 411 are connected to a clamp driving mechanism 413 that drives the movement thereof to open or close the clamp 41, and the pick can be clamped and fixed between the upper jaw 412 and the lower jaw 411, and the clamp driving mechanism 413 is installed on the clamp mounting plate 42 by bolts. Specifically, the clamp 41 can be driven to move by pneumatic, hydraulic or electric means, such as using a pneumatic clamp to move the clamp 41, and the upper jaw 412 and the lower jaw 411 are respectively fixed to the two clamp arms of the pneumatic clamp, and the structure and principle of the pneumatic clamp are prior art and will not be described in detail here.

[0077] like Figure 7As shown, in another preferred embodiment, the upper claw 412 includes an upper claw plate 4121 for clamping the skewer, and an upper claw frame 4123 located above the upper claw plate 4121. The upper claw plate 4121 is vertically floatingly connected to the upper claw frame 4123 through a second spring 4122 (a guide column is provided in the middle of the second spring 4122), thereby automatically adjusting the position change of the skewer caused by the difference in diameter of different bean sticks to ensure the clamping degree of the skewer. Preferably, one upper claw frame 4123 corresponds to two upper claw plates 4121 spaced apart in the front-to-back direction, thereby one claw driving mechanism 413 drives one upper claw frame 4123 to move and complete the opening and closing of the two claws 41, that is, only fifteen claw driving mechanisms 413 are required for thirty claws 41.

[0078] It should be noted that the aforementioned stick pulling device 40 is independently arranged from the stick rotating device 30, and the stick pulling device 40 and the stick rotating device 30 are respectively arranged on the left and right sides of the bean stick clamping and fixing device 20. In practice, the stick pulling device 40 and the stick rotating device 30 can also be arranged integrally. In this case, the stick rotating head 31 is an openable and closable clamp, and the end of the right end of the stick is clamped by the stick rotating head 31. The stick rotating device 30 is connected to a stick pulling drive mechanism that drives it to move along the length direction of the stick (the left and right direction of the integrated device) to pull out and loosen the stick. At this time, the material receiving platform 11 is arranged on the right side of the bean stick clamping and fixing device 20.

[0079] like Fig.10 and Fig.11 As shown, in another preferred embodiment, the integrated device further comprises a bean stick plate 70 with a through hole 71 in the middle for loading the bean stick 90, and the bean stick plate 70 is a rectangular frame. Before the bean stick 90 is removed from the bean stick, a plurality of bean sticks 90 are arranged side by side in the bean stick plate 70, and the spacing of the bean sticks 90 in the bean stick plate 70 corresponds to the spacing of the bean stick grooves 23. The two ends of the skewer 91 are supported by the bean stick plate 70, and the bean stick 90 is located in the through hole 71 in the middle of the bean stick plate 70. The bean stick plate 70 can be arranged outside the lower mold 22 of the bean stick clamping and fixing device 20 through the through hole 71 in the middle. Preferably, the two ends of the bean stick plate 70 have a card slot 72 respectively matched with the two ends of the skewer 91, and the two ends of the skewer 91 can be inserted into the card slot 72 and circumferentially fixed thereto. For example, the end of the skewer 91 is rectangular, and the card slot 72 can be set as an isosceles trapezoid with the large end on top.

[0080] Combination Figure 3As shown, in this embodiment, people can manually move the bean stick plate 70 with bean sticks 90 to the opened bean stick clamping and fixing device 20, and the bean stick plate 70 is located between the upper mold 21 and the lower mold 22, and then the lower mold 221 is moved upward or the bean stick plate 70 is moved downward, and the bean stick plate 70 is arranged outside the lower mold 22 through the through hole 71 in the middle, and a plurality of bean sticks are left in the bean stick grooves 23 of the lower mold 221 one by one and separated from the bean stick plate 70, and then the upper mold 21 and / or the lower mold 22 are moved vertically to make the bean stick clamping and fixing device 20 in a closed state to clamp and fix the bean sticks. After the bean sticks are removed from the bean sticks, the bean stick clamping and fixing device 20 is opened, and then the bean stick plate 70 arranged outside the lower mold 22 is taken away.

[0081] It should be noted that the bean stick tray 70 of the present invention is not only used for loading bean sticks when the bean sticks are removed from the sticks, but can also be used as a loading tool when the bean sticks with the sticks are dried, and also plays a role in the turnover of the bean sticks with the sticks.

[0082] like Figure 1 and Figure 12-14 As shown, in another preferred embodiment, the integrated equipment also includes a tooling tray shifting device 80 for loading, which has a loading station and a label removing station. The tooling tray shifting device 80 includes a support tray frame 81 for supporting the bean stick tray 70, and a tooling driving mechanism 82 for driving the support tray frame 81 to move horizontally left and right. The support tray frame 81 is a rectangular frame.

[0083] Initially, when the tooling plate shifting device 80 is at the loading station, the support plate frame 81 is located outside the right side of the bean stick clamping and fixing device 20, and people place the bean stick plate 70 on the support plate frame 81 at the loading station. The tooling driving mechanism 82 drives the support plate frame 81 to move from right to left and is at the sign-off station. The bean stick plate 70 moves leftward with the support plate frame 81 and is located between the upper mold 21 and the lower mold 22, so that the lower mold 22 and the support plate frame 81 move vertically relative to each other. The support plate frame 81 and the bean stick plate 70 are both sleeved outside the lower mold 22, so that the bean stick 90 with the sign remains on the lower mold 22 and is off the bean stick plate 70, and the two ends of the sign 91 extend outside the lower mold 22.

[0084] like Fig.12 and Fig.14 As shown, in another preferred embodiment, the tooling tray moving device 80 further includes a tray driving mechanism 84 connected to the tray frame 81 and driving the tray frame 81 to move vertically, and the tray driving mechanism 84 is installed on a tooling frame 83 located below the tray frame 81, and the tooling driving mechanism 82 is connected to the tooling frame 83 and drives the tooling frame 83 to move horizontally to the left and right, so that the tray frame 81 moves horizontally to the left and right along with the tooling frame 83. For example, the tooling driving mechanism 82 includes two cylinders provided at the front side of the lower end of the tray frame 81, and two cylinders provided at the rear side of the lower end of the tray frame 81, and the cylinders may also be replaced by electric cylinders, hydraulic cylinders or linear motors, as long as the vertical movement of the tray frame 81 can be realized.

[0085] Further preferably, two fourth guide rails 85 arranged in parallel are fixedly connected to the frame 10, and the fourth guide rails 85 extend in the left-right direction. The front and rear ends of the tooling frame 83 are fixedly connected with sliders that can slide on the two fourth guide rails 85 respectively, and the tooling drive mechanism 82 drives the tooling frame 83 to move left and right on the two fourth guide rails 85.

[0086] like Fig.12 and Fig.14 As shown, in another preferred embodiment, the tooling tray moving device 80 further includes a plurality of clamping blocks 86 disposed on the tray support frame 81 for clamping the bean stick tray 70, and each clamping block 86 is connected to a clamping driving member that drives it to move to clamp the bean stick tray 70. For example, two clamping blocks 86 are respectively disposed on the front and rear sides of the tray support frame 81, and the clamping driving member is a pneumatic finger cylinder (which is the prior art). The clamping driving member drives the clamping block 86 to move vertically to press down the bean stick tray 70, so as to fix the bean stick tray 70 on the tray support frame 81, and ensure that the bean stick tray 70 does not separate from the tray support frame 81 during movement.

[0087] It should be noted that the clamping drive can also drive the clamping block 86 to move forward and backward or tilted, then the two front clamping blocks 86 are located on the front side of the bean stick plate 70, and the front end of the bean stick plate 70 is clamped by the two front clamping blocks 86, and the two rear clamping blocks 86 are located on the rear side of the bean stick plate 70, and the rear end of the bean stick plate 70 is clamped by the two rear clamping blocks 86.

[0088] The working process of the integrated device for removing and returning bean sticks of the present invention is as follows: initially, the tooling plate shifting device 80 is at the loading station, the support plate frame 81 is located on the right side of the bean stick clamping and fixing device 20, and the rotating plate device 30 is located below the support plate frame 81, which does not affect the leftward movement of the bean stick plate 70. People place the bean stick plate 70 equipped with bean sticks 90 with skewers on the support plate frame 81 at the loading station of the tooling plate shifting device 80, and then operate the clamping block 86 on the support plate frame 81 to fix the bean stick plate 70 so that the bean stick plate 70 does not separate from the support plate frame 81 during movement.

[0089] Start the tool drive mechanism 82 of the tool plate moving device 80 to move the bean stick plate 70 to the left to between the upper mold 21 and the lower mold 22 of the bean stick clamping and fixing device 20, and start the support plate drive mechanism 84 to move the bean stick plate 70 upward to make the bean stick 90 reach the height required for removal.

[0090] The lower mold driving member 222 and the upper mold driving member 214 of the bean stick clamping and fixing device 20 are started, the lower mold driving member 222 causes the lower mold plate 221 to move upward, and the lower mold plate 221 penetrates into the through hole 71 between the support plate frame 81 and the bean stick plate 70, so that the bean stick 90 is located in the bean stick groove 23 of the lower mold plate 221, and the support plate driving mechanism 84 causes the bean stick plate 70 to move downward, so that the bean stick plate 70 is completely separated from the bean stick 90 to make room for rotating and pulling out the bean stick; the upper mold driving member 214 causes the upper mold plate 211 to move downward and close the mold with the lower mold plate 221 to press the bean stick 90, so that the bean stick clamping and fixing device 20 is in a closed state.

[0091] The vertical driving mechanism 36 is started to move the rotating skewer device 30 upward, and the skewer head 31 of the rotating skewer device 30 moves upward, so that the right end of the skewer 91 of the bean stick 90 is inserted into the insertion slot 311 of the skewer head 31. Next, the three skewer motors 34 are started, and the skewer motors 34 rotate the skewer head 31 through the gear 33, and the skewer 91 rotates with the skewer head 31, so that the skewer 91 is loosened and separated from the bean stick 90.

[0092] When the stick rotating device 30 loosens the stick 91, the stick pulling driving mechanism 43 of the stick pulling device 40 drives the clamping claw mounting plate 42 to move rightward, and the clamping claw 41 moves rightward accordingly and approaches the left end of the stick 91 of the bean stick 90. ​​After the stick 91 of the bean stick 90 is loosened, the clamping claw driving mechanism 413 drives the clamping claw 41 to move, and the thirty clamping claws 41 clamp the left ends of the thirty sticks 91 of the bean stick 90 respectively; then the stick pulling driving mechanism 43 drives the clamping claw mounting plate 42 to move leftward, and the clamping claw 41 clamps the stick 91 and moves leftward. At this time, the bean stick 90 is pressed by the upper template 211 and the lower template 221 and remains in the bean stick clamping and fixing device 20, and the stick 91 is pulled out as the clamping claw 41 moves leftward. After the skewer 91 is completely pulled out by the skewer extraction device 40, the clamp 41 releases the skewer 91, and the skewer 91 falls into the material receiving platform 11 below it; the scraper 61 of the material receiving device 60 moves and scrapes the material from the back to the front, scraping the skewer 91 on the material receiving platform 11 into the skewer receiving hopper 12 on the front side.

[0093] The vertical drive mechanism 36 is started to make the rotating stick device 30 move downward to the initial state, and at the same time, the upper mold driving member 214 drives the upper mold plate 211 to move upward to the initial state, so that the bean stick clamping and fixing device 20 is in the open state, and the bean stick 90 that has been detached from the stick leaks out of the upper semicircle in the bean stick groove 23 of the lower mold plate 221. The falling driving member 55 of the stripping device 50 is started to make the scraper plate 51 move downward to approach the bean stick 90, and the stripping driving mechanism 52 is started to make the scraper plate 51 move from right to left, and the scraper plate 51 scrapes the upper edge of the lower mold plate 221 to scrape the bean stick 90 to the left receiving platform 11; the scraper plate 61 of the receiving device 60 moves in the opposite direction and scrapes the material from front to back, and scrapes the bean stick 90 on the receiving platform 11 into the bean stick receiving hopper 13 at the rear side.

[0094] Next, the stripping device 50 and the lower mold 22 return to their positions, and the support tray frame 81 of the tooling tray moving device 80 moves rightward to the loading position, so that the bean stick tray 70 on the support tray frame 81 moves rightward to the initial position, and then the clamping block 86 is actuated to release the bean stick tray 70, and the empty bean stick tray 70 can be removed manually at this time. A process of loading, rotating, pulling, collecting and returning is completed, and the next cycle can be carried out.

[0095] The present invention puts the whole tray of baked bean sticks 90 with skewers into the skewer removal station of the tooling tray transfer device 80, and the upper mold 21 and the lower mold 22 press the bean sticks 90. The skewer rotating device 30 is connected to one end of the skewer 91 and rotates the skewer 91 at the same time to make the skewer 91 separate from the bean stick 90. ​​The clamping claw 41 of the skewer extraction device 40 clamps the other end of the skewer 91 and automatically extracts it, and the whole tray of skewer 91 is extracted at one time. The whole set of skewer removal process (including loading, skewer rotation, skewer extraction, material collection and material return) does not take more than one minute. If there are thirty bean sticks 90 on a single tray, the efficiency is ten times that of manual skewer removal (taking, collecting and returning materials takes about twenty seconds in total), and only 1-2 people are required to operate, which greatly saves labor costs.

[0096] In the description of this specification, the description with reference to the terms "preferred embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0097] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An integrated device for removing and returning beans to the bean stick, wherein the bean stick has a stick in the center, and both ends of the stick extend outside the bean stick; characterized in that: The integrated equipment includes a bean stick clamping and fixing device, a stick rotating device, a stick pulling device, a material stripping device, a stick collecting hopper, and a bean stick collecting hopper; The bean-stick clamping and fixing device has an open and closed state, and the bean-stick clamping and fixing device has a plurality of parallel bean-stick grooves arranged at intervals along the width direction thereof for accommodating bean-sticks. When the bean-stick clamping and fixing device is in the open state, a plurality of bean-sticks can be located in the bean-stick grooves one by one, and the sticks at both ends of the bean-stick extend out of the bean-stick clamping and fixing device. When the bean-stick clamping and fixing device is in the closed state, the bean-stick clamping and fixing device clamps and fixes the bean-sticks. The spin stick device is arranged outside the bean stick clamping and fixing device, and comprises a plurality of spin stick heads arranged one by one corresponding to the bean stick grooves, and a spin stick driving mechanism driving the plurality of spin stick heads to rotate, the ends of the bean stick sticks can be inserted into the spin stick heads and circumferentially fixedly connected thereto, and the spin stick driving mechanism drives the spin stick heads to rotate, so that the sticks are loosened as the spin stick heads rotate; The stick pulling device is arranged on the outside of the bean stick clamping and fixing device, and can clamp the ends of all loosened sticks and move the sticks away from the bean stick clamping and fixing device to make the sticks detach from the bean stick clamping and fixing device, and the detached sticks are stored in the stick receiving hopper; The stripping device comprises a scraper plate which can move along the length direction of the bean stick groove, and the movement of the scraper plate can make all the bean sticks that have been detached from the bean stick clamping and fixing device in the open state detach from the bean stick clamping and fixing device, and the detached bean sticks are stored in the bean stick receiving hopper; the bean stick clamping and fixing device comprises a lower mold and an upper mold which is arranged opposite to the lower mold and is located above the lower mold, and the upper mold and / or the lower mold can move vertically to make the bean stick clamping and fixing device in an open or closed state; The upper end surface of the lower mold is provided with the bean stick groove with an upper end opening, and the bean stick can partially protrude out of the bean stick groove of the lower mold, and the lower end surface of the upper mold has a bean stick groove with a lower end opening arranged one-to-one with the lower mold, or the lower end surface of the upper mold is a plane, and the bean stick is pressed into the bean stick groove of the lower mold; The rotary pick driving mechanism includes a plurality of gears which are arranged one by one corresponding to the plurality of rotary pick heads and are coaxially fixedly connected, and a rotary pick motor which drives all the gears to rotate synchronously. The plurality of gears are rotatably mounted on a gear frame and are arranged in parallel. One rotary pick motor drives one gear set to rotate, or all gears are driven by one rotary pick motor.

2. The integrated bean stick removal and material collection equipment according to claim 1, characterized in that: When a rotary pick motor drives a gear set to rotate, all gears are divided into a number of gear sets equal to the number of rotary pick motors, all gears of a gear set are arranged side by side and meshed with each other, the gears between different gear sets are spaced apart and do not mesh, and the output shaft of the rotary pick motor is coaxially fixedly connected with one of the gears in the gear set corresponding to the rotary pick motor; When all the gears are driven by a rotary motor, all the gears are arranged side by side and meshed with each other, and the output shaft of the rotary motor is coaxially fixed to one of the gears; When all the bean stick slots are arranged at equal intervals, all the spinner heads are arranged at equal intervals, and all the gears are arranged at equal intervals.

3. The integrated bean stick removal and material collection equipment according to claim 1, characterized in that: The rotary pick device is installed on a mounting platform, and the mounting platform is connected to a vertical driving mechanism for driving its vertical movement. The rotary pick head has a plug-in slot with a top or bottom opening that matches the shape of the end of the pick. The vertical driving mechanism drives the mounting platform to move vertically, and the plug-in slot of the rotary pick head can be stuck outside the end of the pick and circumferentially fixed to it.

4. The integrated bean stick removal and material collection equipment according to claim 1, characterized in that: The stick pulling device is independently provided from the stick rotating device, or the stick pulling device is integrated with the stick rotating device; When the stick pulling device is independently provided from the stick rotating device, the stick pulling device and the stick rotating device are respectively provided on both sides of the length direction of the stick, and the stick rotating device comprises a clamping jaw with an open and closed state for clamping the end of the stick, and a stick pulling driving mechanism for driving the clamping jaw to move along the length direction of the stick to extract the loosened stick, one clamping jaw clamps one stick, or all the sticks are clamped by one clamping jaw, or a plurality of clamping jaws arranged side by side clamp all the sticks in groups; When the stick pulling device is integrated with the stick rotating device, the end of the stick is clamped by the stick rotating head, and the stick rotating device is connected to a stick pulling drive mechanism that drives it to move along the length direction of the stick to extract the loosened stick.

5. The integrated bean stick removal and material collection equipment according to claim 4, characterized in that: The clamping jaw comprises a lower jaw and an upper jaw located above the lower jaw, and the upper jaw and / or the lower jaw are connected to a clamping jaw driving mechanism for driving the upper jaw and / or the lower jaw to move to open or close the clamping jaw, and the skewers can be clamped and fixed between the upper jaw and the lower jaw; The upper claw comprises an upper claw plate for clamping the skewers, and an upper claw frame located above the upper claw plate, and the upper claw plate is vertically floatingly connected to the upper claw frame through a second spring.

6. The integrated bean stick removal and material collection equipment according to claim 1, characterized in that: The scraper plate is driven by a stripping drive mechanism to move along the length direction of the bean stick. A second guide rail parallel to the stripping drive mechanism is provided on the rear side of the scraper plate. A connecting plate with two ends respectively connected to the stripping drive mechanism and the second guide rail is provided above the scraper plate. A falling driving member connected to the scraper plate and driving the scraper plate to move vertically is installed on the connecting plate.

7. The integrated bean stick removal and material collection equipment according to any one of claims 1 to 6, characterized in that: A material receiving platform located below the bean stick pulling device is provided on the outer side of the bean stick clamping and fixing device, a material collecting device with a scraper capable of reciprocating linear motion is provided on the material receiving platform, and the stick collecting hopper and the bean stick collecting hopper are respectively provided on both sides of the material receiving platform; The sticks drawn out by the stick pulling device can fall into the material receiving platform, and the scraper action of the material receiving device can scrape the sticks into the stick receiving hopper; The scraper plate of the stripping device can scrape the bean sticks on the bean stick clamping and fixing device to the material receiving platform, and the scraper plate of the collecting device can scrape the bean sticks into the bean stick collecting hopper by reverse movement.

8. The integrated bean stick removal and material collection equipment according to any one of claims 1 to 6, characterized in that: It also includes a bean stick plate with a through hole in the middle for loading bean sticks. Before the sticks are removed, a plurality of bean sticks are placed side by side in the bean stick plate. The spacing of the bean sticks in the bean stick plate corresponds to the spacing of the bean stick grooves. Both ends of the sticks are supported by the bean stick plate. The bean sticks are located in the through hole in the middle of the bean stick plate. The bean stick plate can be placed outside the bean stick clamping and fixing device through the through hole in the middle thereof. Both ends of the bean stick plate are provided with slots respectively matched with the two ends of the skewers, and the two ends of the skewers can be inserted into the slots and fixedly connected thereto in a circumferential direction.

9. The integrated bean stick removal and material collection equipment according to claim 8, characterized in that: It also includes a tooling tray shifting device having a loading station and a label removing station, the tooling tray shifting device including a tray support frame for supporting the bean stick tray, and a tooling driving mechanism for driving the tray support frame to move laterally; When the tooling tray moving device is at the loading station, the tray support frame is located outside the bean stick clamping and fixing device, and the bean stick tray can be placed on the tray support frame; When the tooling tray moving device is at the label-off position, the tray support frame can be located in the opened bean stick clamping and fixing device and sleeved outside the bean stick clamping and fixing device; The tooling plate moving device also includes a support plate driving mechanism connected to the support plate frame to drive its vertical movement, the support plate driving mechanism is installed on the tooling frame, and the tooling driving mechanism is connected to the tooling frame and drives its lateral movement; The tooling tray moving device also includes a plurality of clamping blocks arranged on the tray support frame for clamping the bean stick tray, and the clamping blocks are connected to a clamping driving member for driving the clamping blocks to clamp the bean stick tray.

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