Automatic yeast turning robot

Abstract

The invention discloses an automatic leaven turning robot which comprises a track subassembly, a trolley subassembly and a rotating subassembly, the track subassembly is provided with the trolley subassembly, the trolley subassembly is fixedly connected with the rotating subassembly, the rotating subassembly is fixedly connected with a turning main frame in a turning subassembly, the turning main frame is slidably connected with a sliding block, and the sliding block is fixedly connected with the track subassembly. A lifting fixed arm is fixedly connected to the sliding block, an electric push rod is fixedly connected to the lifting fixed arm, and the output end of the electric push rod is fixedly connected to the overturning main frame; stacking work is completed through the overturning subassembly, the second transmission chain drives the connecting piece and the sliding frame which are connected to the second transmission chain to move upwards by a certain stroke on the lifting guide rail, the second driving piece drives the overturning clamp to drive the empty yeast frame to overturn to complete yeast frame overturning, stacking and yeast overturning work can be completed automatically, manual participation is not needed, and the efficiency is high. The automation degree is improved, the labor cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment, and in particular to an automatic bending robot. Background Art

[0002] At present, most winery koji making workshops still use the traditional koji making method - manual koji making, which mainly relies on manual temperature measurement, empirical humidity measurement, and empirical adjustment to control the koji process; in the traditional koji making process, due to the influence of human subjective factors, there are many shortcomings and deficiencies in koji making, which are mainly manifested in the high intensity of manual labor, the low efficiency of technical workers managing the entire koji making process based on personal experience, and the workers working in and out of the koji room, which is not conducive to the insulation, moisture retention and hygiene of koji making; in recent years, with the continuous updating and improvement of technology, some wineries have achieved mechanization in the process of koji blank forming, but other processes are still completed manually, and the quality of the final koji is still difficult to guarantee; it can be seen that only the koji blank forming has been mechanized, while the complex bacterial culture process is still completed manually, making it difficult to form high-quality koji; especially in the stacking and koji turning stages, which are mainly completed manually, the koji room environment is poor, the manual labor intensity is high, the work efficiency is low, and the labor cost is high, so it is necessary to design an automatic koji turning robot. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic bending robot to solve the problems that the existing stacking and bending stages are mainly completed manually, the bending room environment is poor, the manual labor intensity is high, the work efficiency is low, and the labor cost is high.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic bending robot, comprising a track portion, a trolley portion, a rotating portion and a flipping portion, the track portion is provided with a trolley portion, the trolley portion is fixedly connected to the rotating portion, the rotating portion is fixedly connected to the flipping portion, the main frame of the flipping portion is symmetrically provided with guide rail sliders, the guide rails are fixed on the main frame, the sliders are fixedly connected to a lifting and fixing arm, the lifting and fixing arm is fixedly connected to an electric push rod, and the output end of the electric push rod is fixedly connected to the lifting and fixing arm.

[0005] As a further technical solution of the present invention, the flipping part is composed of a flipping main frame, a sliding block, a lifting and fixing arm, an electric push rod, a first driving member, a first transmission chain, a lifting guide rail, a second transmission chain, a connecting member, a sliding frame, a second driving member and a flipping clamp, and the first driving member is fixedly connected to the sliding frame.

[0006] As a further technical solution of the present invention, the output end of the first driving member is meshedly connected to one end of the first transmission chain.

[0007] As a further technical solution of the present invention, the other end of the first transmission chain is meshedly connected to the lifting guide rail.

[0008] As a further technical solution of the present invention, the lifting guide rail is fixedly connected to the lifting fixed arm.

[0009] As a further technical solution of the present invention, a second transmission chain is meshedly connected to the lifting guide rail.

[0010] As a further technical solution of the present invention, a connecting piece is provided on the second transmission chain.

[0011] As a further technical solution of the present invention, the connecting member is fixedly connected to the lifting and fixing arm and the sliding frame respectively.

[0012] As a further technical solution of the present invention, a second driving member is fixedly connected to the sliding frame, and an output end of the second driving member is fixedly connected to the flip fixture.

[0013] As a further technical solution of the present invention, the rotating part is fixedly connected with a control system.

[0014] The automatic bending robot provided by the present invention has the advantages that: a bending rack stacking instruction is received through a control system, and at this time, the bending rack filled with bending blanks has been transported to the corresponding position at the door of the bending room through a conveying device, and the automatic bending robot receives the instruction, automatically detects and issues instructions, so that the rotating part and the flipping part are both operated to a working position that satisfies the picking and placing of the bending rack, and the electric push rod is driven by the output of the electric push rod to drive the lifting fixed arm and the slider to move outward on the flip main frame for a certain stroke, and the first transmission chain and the second transmission chain are driven to rotate by the output of the first driving member, and the connecting member and the sliding frame connected thereto are driven by the second transmission chain to move downward on the lifting guide rail to the clamping position of the clamp, and the electric push rod is driven by the output of the electric push rod to drive the lifting fixed arm and the sliding frame to move inward on the flip main frame for a certain stroke, at this time, the positioning pin shaft of the flip clamp has been inserted into the pin hole of the bending rack, and the first transmission chain and the second transmission chain are driven to rotate again by the output of the first driving member, and the connecting member and the sliding frame connected thereto are driven by the second transmission chain to move upward on the lifting guide rail for a certain stroke, at this time, the clamped bending rack has been separated from the bending rack on the bending stack, and the upper The above steps bring the clamped curved frame to the stacking area for stacking; when flipping is required, the flipping curved frame is clamped through the above steps and moved to the flipping area. At the same time, the rotating power part on the rotating part connected to the flipping part drives the flipping part to rotate 180°, so as to achieve the flipping process requirement of exchanging the position of the outer curved blank and the inner curved blank on the curved frame, and then the first driving part drives the first transmission chain and the second transmission chain to rotate, and the second transmission chain drives the connecting part and the sliding frame connected thereto to move downward on the lifting guide rail to the curved frame base to a reasonable position; the electric push rod The output of the electric push rod causes the lifting fixed arm and the slider to move outward on the flip main frame for a certain stroke, so that the positioning pin shaft of the flip fixture is separated from the empty curved frame and the pin hole of the fourth layer curved frame, and then the first driving member drives the first transmission chain and the second transmission chain to rotate, and the second transmission chain drives the connecting member and the sliding frame connected thereto to move upward on the lifting guide rail for a certain stroke, and the output of the electric push rod causes the electric push rod to move inward on the flip main frame for a certain stroke, at which time the positioning pin shaft of the flip fixture has been inserted into the pin hole of the upper layer curved frame;The first driving member drives the first transmission chain and the second transmission chain to rotate, and the second transmission chain drives the connecting member and the sliding frame connected thereto to move upward on the lifting guide rail for a certain stroke, and the second driving member drives the flipping fixture to flip the empty bending frame 180°, and the first driving member drives the first transmission chain and the second transmission chain to rotate, and the second transmission chain drives the connecting member and the sliding frame connected thereto to move upward on the lifting guide rail to the initial position, and the trolley is loaded and accurately positioned to the flipping and bending stacking position, and the first driving member drives the first transmission chain and the second transmission chain to rotate, and the second transmission chain drives the connecting member and the sliding frame connected thereto to move downward on the lifting guide rail for a certain stroke, and the output of the electric push rod causes the electric push rod to move outward on the flip main frame with the lifting fixed arm and the slider for a certain stroke, so that the positioning pin shaft of the flipping fixture is separated from the pin hole of the empty bending frame, and the bending of the bending frame is completed at this time; the stacking and bending work can be completed automatically without manual participation, thereby improving the degree of automation, reducing labor costs, and improving production efficiency. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the position of the track assembly in the present invention; Figure 3 It is a schematic diagram of the position of the flip clamp in the present invention; Figure 4 It is a schematic diagram of the main structure of the present invention; Figure 5 This is a schematic diagram of the curved stack structure.

[0017] In the figure: 1. track assembly; 2. trolley assembly; 3. rotating assembly; 4. flip assembly; 6. control system; 41. flip main frame; 42. slider; 43. lifting and fixing arm; 44. electric push rod; 45. first driving member; 46. first transmission chain; 47. lifting guide rail; 48. second transmission chain; 49. connecting member; 50. sliding frame; 51. second driving member; 52. flip fixture. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] Please refer to the attached Figure 1 -Attached Figure 5 , an embodiment of the present invention: an automatic bending robot comprises a track assembly 1, a trolley assembly 2 and a rotating assembly 3, the track assembly 1 is provided with a trolley assembly 2, the trolley assembly 2 is fixedly connected with the rotating assembly 3, the rotating assembly 3 is fixedly connected with a turning main frame 41 in the turning assembly 4, a slider 42 is slidably connected with the turning main frame 41, a lifting and fixing arm 43 is fixedly connected with the slider 42, an electric push rod 44 is fixedly connected with the lifting and fixing arm 43, an output end of the electric push rod 44 is fixedly connected with the turning main frame 41, and the turning assembly 4 comprises a turning main frame 41, a slider 42, a lifting and fixing arm 43, an electric push rod 44, a first driving member 45, a first transmission chain 46, a lifting guide rail 47, a second transmission chain 48, a connecting member 49, and a sliding frame 5 0, a second driving member 51 and a flip fixture 52, a first driving member 45 is fixedly connected to the lifting and fixing arm 43, an output end of the first driving member 45 is meshedly connected to one end of a first transmission chain 46, the other end of the first transmission chain 46 is meshedly connected to the lifting guide rail 47, the lifting guide rail 47 is fixedly connected to the lifting and fixing arm 43, a second transmission chain 48 is meshedly connected to the lifting guide rail 47, a connecting member 49 is provided on the second transmission chain 48, the connecting member 49 is fixedly connected to the sliding frame 50, the sliding frame 50 is fixedly connected to the second driving member 51, the output end of the second driving member 51 is fixedly connected to the flip fixture 52, the flip fixture 52 is used to clamp the curved frame, a control system 6 is fixedly connected to the rotating part 3, and the rotating part 3 is used to provide support for the flip part 4; Specifically, when in use, first, the control system 6 receives a stacking instruction for the bent racks. At this time, the bent racks filled with bent blanks have been transported to the corresponding position at the entrance of the bent room through the conveying device for picking up and placing the bent racks. An automatic bending robot receives the instruction, automatically detects and issues instructions, so that the rotating part 3 and the flipping part 4 both run to the working position that meets the requirements of picking up and placing the bent racks. Through the output of the electric push rod 44, the electric push rod 44 carries the lifting and fixing arm 43 and the slider 42 to run a certain stroke outward on the flip main frame 41, and the first transmission chain 46 and the second transmission chain 48 are driven to rotate through the output of the first driving member 45.

[0021] The second transmission chain 48 drives the connecting piece 49 and the sliding frame 50 connected thereto to move downward on the lifting guide rail 47 to the clamping position of the clamp, and the output of the electric push rod 44 causes the electric push rod 44 to move a certain distance inward on the flipping main frame 41 with the lifting fixed arm 43 and the sliding block 42. At this time, the positioning pin shaft of the flipping clamp 52 has been inserted into the pin hole of the bent frame, and the output of the first driving member 45 drives the first transmission chain 46 and the second transmission chain 48 to rotate again. The second transmission chain 48 drives the connecting piece 49 and the sliding frame 50 connected thereto to move a certain distance upward on the lifting guide rail 47. At this time, the clamped bent frame has been separated from the bent frame on the bent stack. The clamped bent frame is brought to the stacking area for stacking through the above steps; when flipping is required, the flipping bent frame is clamped through the above steps and moved to the flipping area.

[0022] At the same time, the rotating power part on the rotating part 3 connected to the flip part 4 drives the flip part 4 to rotate 180 degrees, so as to realize the flipping process requirement of exchanging the positions of the outer and inner curved embryos on the bending frame, and then drives the first transmission chain 46 and the second transmission chain 48 to rotate through the first driving member 45, and drives the connecting member 49 and the sliding frame 50 connected thereto to move downward on the lifting guide rail 47 to the bending frame base to a reasonable position through the second transmission chain 48; through the output of the electric push rod 44, the electric push rod 44 brings the lifting fixed arm 43 and the slider 42 on the flip main frame 41 It runs outward for a certain distance so that the positioning pin shaft of the flipping fixture 52 is separated from the empty curved frame and the pin hole of the fourth layer curved frame, and then the first driving member 45 drives the first transmission chain 46 and the second transmission chain 48 to rotate, and the second transmission chain 48 drives the connecting member 49 and the sliding frame 50 connected thereto to run upward for a certain distance on the lifting guide rail 47. Through the output of the electric push rod 44, the electric push rod 44 brings the lifting fixed arm 43 and the slider 42 to run inward for a certain distance on the flipping main frame 41. At this time, the positioning pin shaft of the flipping fixture 52 has been inserted into the pin hole of the upper layer curved frame.

[0023] The first driving member 45 drives the first transmission chain 46 and the second transmission chain 48 to rotate, and the second transmission chain 48 drives the connecting member 49 and the sliding frame 50 connected thereto to move upward on the lifting guide rail 47 for a certain stroke, and the second driving member 51 drives the flipping fixture 52 to flip the empty frame 180°, and the first driving member 45 drives the first transmission chain 46 and the second transmission chain 48 to rotate, and the second transmission chain 48 drives the connecting member 49 and the sliding frame 50 connected thereto to move upward on the lifting guide rail 47 to the initial position, and the trolley assembly 2 runs and is accurately positioned to the flipping stack position, and the first A driving member 45 drives the first transmission chain 46 and the second transmission chain 48 to rotate, and the second transmission chain 48 drives the connecting member 49 and the sliding frame 50 connected thereto to move downward a certain distance on the lifting guide rail 47. Through the output of the electric push rod 44, the electric push rod 44 brings the lifting fixed arm 43 and the slider 42 to move outward a certain distance on the flipping main frame 41, so that the positioning pin shaft of the flipping fixture 52 is separated from the empty bending frame pin hole. At this time, the bending frame flipping is completed; the stacking and flipping work can be completed automatically without manual participation, thereby improving the degree of automation, reducing labor costs, and improving production efficiency.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic bending robot, comprising a track assembly (1), a trolley assembly (2) and a rotating assembly (3), characterized in that: The track assembly (1) is provided with a trolley assembly (2), the trolley assembly (2) is fixedly connected to a rotating assembly (3), the rotating assembly (3) is fixedly connected to a flip main frame (41) in the flip assembly (4), a slider (42) is slidably connected to the flip main frame (41), a lifting and fixing arm (43) is fixedly connected to the slider (42), an electric push rod (44) is fixedly connected to the lifting and fixing arm (43), and an output end of the electric push rod (44) is fixedly connected to the flip main frame (41).

2. The automatic bending robot according to claim 1, characterized in that: The flipping assembly (4) is composed of a flipping main frame (41), a sliding block (42), a lifting and fixing arm (43), an electric push rod (44), a first driving member (45), a first transmission chain (46), a lifting guide rail (47), a second transmission chain (48), a connecting member (49), a sliding frame (50), a second driving member (51) and a flipping fixture (52), wherein the sliding frame (50) is fixedly connected to the first driving member (45).

3. The automatic bending robot according to claim 2, characterized in that: The output end of the first driving member (45) is meshingly connected to one end of a first transmission chain (46).

4. The automatic bending robot according to claim 3, characterized in that: The other end of the first transmission chain (46) is meshedly connected to the lifting guide rail (47).

5. The automatic bending robot according to claim 4, characterized in that: The lifting guide rail (47) is fixedly connected to the lifting fixed arm (43).

6. The automatic bending robot according to claim 5, characterized in that: The lifting guide rail (47) is meshedly connected with a second transmission chain (48).

7. The automatic bending robot according to claim 6, characterized in that: The second transmission chain (48) is provided with a connecting piece (49).

8. The automatic bending robot according to claim 7, characterized in that: The connecting member (49) is fixedly connected to the lifting and fixing arm (43).

9. The automatic bending robot according to claim 8, characterized in that: A second driving member (51) is fixedly connected to the sliding frame (50), and an output end of the second driving member (51) is fixedly connected to the turning fixture (52).

10. The automatic bending robot according to claim 1, characterized in that: A control system (6) is fixedly connected to the rotating part (3).

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