Turnover structure of automatic yeast turning robot

Abstract

The invention discloses an overturning structure of an automatic koji overturning robot, the overturning structure comprises a main frame, a push rod electric cylinder, a lifting fixing frame, a lifting power group, an overturning power group and an overturning support, square tables are symmetrically arranged on the two sides of the top of the main frame, and the square tables are fixedly connected to the output end of the push rod electric cylinder; according to the overturning structure, overturning supports symmetrically arranged on the two sides form a clamping mechanism in the overturning structure, a push rod electric cylinder can drive a lifting fixing frame to slide, then the position of the clamping mechanism is adjusted, and a first chain wheel on a lifting power set serves as power input to drive a second chain to operate; in the process, the first lifting arm and the second lifting arm can be driven to move up and down through the first fixing piece and the second fixing piece on the second chain; meanwhile, the clamping mechanism is matched with the turnover power set to turn over the koji frame clamped in the clamping mechanism, manual koji turning is replaced in a koji room in a severe environment, the labor intensity of workers is reduced, the working efficiency is improved, and the labor cost is reduced.

Description

Technical Field

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

[0002] At present, most winery koji making workshops still use the traditional koji making method, i.e. manual koji making, which mainly relies on manual temperature measurement, experience testing, and experience 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 heat preservation, 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 koji blank forming link, 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, which makes it difficult to form high-quality koji, especially in the koji turning stage. At present, the koji turning process is 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. Therefore, it is very necessary to design a flipping structure of an automatic koji turning robot to replace manual koji turning. Summary of the invention

[0003] The purpose of the present invention is to provide a turning structure of an automatic turning robot to solve the problem that the turning process is currently mainly completed manually, the turning 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: a flipping structure of an automatic bending robot, comprising a main frame, a square table, a push rod electric cylinder, a lifting and fixing frame, a push rod slider, a push rod guide rail, a side bracket, a lifting power group, a first sprocket, a first chain, a second sprocket, a second chain, a support frame, a third sprocket, a first fixing member, a second fixing member, a first lifting arm, a second lifting arm, a distance measuring mechanism, a lifting guide rod, a flipping power group, a flipping bracket, a visual mechanism, a return detection mechanism and a positioning pin shaft, and square tables are symmetrically arranged on both sides of the top of the main frame, and the square tables are fixedly connected At the output end of the push rod electric cylinder, the push rod electric cylinder is fixedly installed on the top of the lifting fixed frame, the first lifting arm is fixedly installed with a lifting power assembly, a first sprocket is arranged on the output end of the lifting power group, a first chain is wound around the first sprocket, a second sprocket is matched and connected in the first chain, a second chain is wound around the second sprocket, a first fixing member and a second fixing member are respectively fixedly connected to the second chain, and the first fixing member and the second fixing member are respectively fixedly connected to the lifting fixed frame and the second lifting arm, a flipping power group is fixedly connected to the second lifting arm, and a flipping bracket is fixedly connected to the output end of the flipping power group.

[0005] As a further technical solution of the present invention, push rod sliders are symmetrically arranged at the bottom of the lifting and fixing frame, and the push rod sliders are slidably connected to the push rod guide rails, and the push rod guide rails are symmetrically installed on the top of the main frame.

[0006] As a further technical solution of the present invention, the second sprocket is rotatably connected to the support frame, and the support frame is symmetrically mounted on the lifting and fixing frame.

[0007] As a further technical solution of the present invention, a third sprocket is installed at the bottom of one side of the support frame, and the third sprocket is cooperatively connected in the second chain.

[0008] As a further technical solution of the present invention, a distance measuring mechanism is provided at the bottom of one side of the first lifting arm, and the first lifting arm is fixedly connected to the second lifting arm.

[0009] As a further technical solution of the present invention, the first lifting arm is slidably connected to the lifting guide rod, and the lifting guide rod is installed on both sides of the first lifting arm, and a visual mechanism is arranged on the lifting fixed frame.

[0010] As a further technical solution of the present invention, a return detection mechanism is provided in the flip bracket, and positioning pins are evenly provided on one side of the flip bracket.

[0011] The turning structure of an automatic bending-turning robot provided by the present invention has the advantages that: the turning brackets symmetrically arranged on both sides constitute the clamping mechanism in the turning structure, the lifting and fixing frame is slidably connected to the two sides of the main frame by means of a push rod slider and a push rod guide rail, and the lifting and fixing frame can be driven to slide along the push rod guide rail by the push rod electric cylinder, so as to adjust the position of the clamping mechanism, and the second sprocket and the third sprocket are rotatably supported by the support frame after the second sprocket is connected to the first chain and the second chain, and the first sprocket on the lifting power group is used as power input to drive the second chain to run around the second sprocket and the third sprocket, and during the process, the first lifting arm and the second lifting arm can be driven up and down by the first fixing member and the second fixing member on the second chain, and the lifting guide rod is used for limiting the position during the movement; the clamping mechanism can be used in conjunction with the turning power group during the movement and lifting process to turn over the bending frame clamped in the clamping mechanism, so as to replace manual labor to complete the bending process in a bending room with harsh environment, reduce the intensity of manual labor, improve work efficiency, and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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.

[0013] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention; Figure 2 for Figure 1 A partial enlarged view of the middle A area; Figure 3 for Figure 1 A partial enlarged view of area B.

[0014] In the figure: 1. main frame; 2. square table; 3. push rod electric cylinder; 4. lifting fixed frame; 5. push rod slider; 6. push rod guide rail; 7. side bracket; 8. lifting power group; 9. first sprocket; 10. first chain; 11. second sprocket; 12. second chain; 13. support frame; 14. third sprocket; 15. first fixing member; 16. second fixing member; 17. first lifting arm; 18. second lifting arm; 19. distance measuring mechanism; 20. lifting guide rod; 21. flipping power group; 22. flipping bracket; 23. visual mechanism; 24. return detection mechanism; 25. positioning pin shaft. DETAILED DESCRIPTION

[0015] 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.

[0016] 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.

[0017] Please see attached Figure 1 -Attached Figure 3The present invention provides an embodiment: a flipping structure of an automatic flipping robot, comprising a main frame 1, a square table 2, a push rod electric cylinder 3, a lifting fixed frame 4, a push rod slider 5, a push rod guide rail 6, a side bracket 7, a lifting power group 8, a first sprocket 9, a first chain 10, a second sprocket 11, a second chain 12, a support frame 13, a third sprocket 14, a first fixing member 15, a second fixing member 16, a first lifting arm 17, a second lifting arm 18, a distance measuring mechanism 19, a lifting guide rod 20, a flipping power group 21, a flipping bracket 22, a visual mechanism 23, a return detection mechanism 24 and a positioning pin Axis 25, square platforms 2 are symmetrically arranged on both sides of the top of the main frame 1, the square platforms 2 are fixedly connected to the output end of the push rod electric cylinder 3, the push rod electric cylinder 3 is fixedly installed on the top of the lifting fixed frame 4, the lifting fixed frame 4 is provided with a side bracket 7, a lifting power group 8 is fixedly installed on the side bracket 7, a first sprocket 9 is arranged on the output end of the lifting power group 8, a first chain 10 is wound around the first sprocket 9, a second sprocket 11 is matched and connected in the first chain 10, a second chain 12 is wound around the second sprocket 11, and a first fixing member 15 and a second fixing member 16 are respectively fixedly connected to the second chain 12, The first fixing member 15 and the second fixing member 16 are respectively fixedly connected to the first lifting arm 17 and the second lifting arm 18, and the second lifting arm 18 is fixedly connected to the flip power group 21, and the output end of the flip power group 21 is fixedly connected to the flip bracket 22; the bottom of the lifting fixed frame 4 is symmetrically provided with a push rod slider 5, and the push rod slider 5 is slidably connected to the push rod guide rail 6, and the push rod guide rail 6 is symmetrically installed on the top of the main frame 1; the second sprocket 11 is rotatably connected to the support frame 13, and the support frame 13 is symmetrically installed on the lifting fixed frame 4; the bottom of one side of the support frame 13 is rotatably connected to the third sprocket 14 , and the third sprocket 14 is connected in cooperation with the second chain 12; a distance measuring mechanism 19 is provided at the bottom of one side of the first lifting arm 17, and the first lifting arm 17 is fixedly connected to the second lifting arm 18; the first lifting arm 17 is slidably connected to the lifting guide rod 20, and the lifting guide rod 20 is symmetrically installed on one side of the bottom of the lifting fixed frame 4, and the lifting fixed frame 4 is symmetrically provided with a visual mechanism 23; a return detection mechanism 24 is provided in the flip bracket 22, and a positioning pin shaft 25 is evenly provided on one side of the flip bracket 22, and the positioning pin shaft 25 provided can be used to fix the bent frame to prevent the bent frame from falling; Specifically, when in use, first, the turning brackets 22 symmetrically arranged on both sides constitute the clamping mechanism in the turning structure, and the lifting and fixing frame 4 is slidably connected to the two sides of the main frame 1 through the push rod slider 5 and the push rod guide rail 6. The lifting and fixing frame 4 can be driven to slide along the push rod guide rail 6 through the push rod electric cylinder 3, and then the position of the clamping mechanism is adjusted, and the second sprocket 11 and the third sprocket 14 are rotatably supported by the support frame 13. After the second sprocket 11 is connected to the first chain 10 and the second chain 12, the first sprocket 9 on the lifting power group 8 is used as power input to drive the second chain 12 to run around the second sprocket 11 and the third sprocket 14. During the process, the first lifting arm 17 and the second lifting arm 18 can be driven to move up and down by the first fixing member 15 and the second fixing member 16 on the second chain 12, and the lifting guide rod 20 is used to limit the position during the movement; during the movement and lifting process, the clamping mechanism can be combined with the turning power group 21 to turn the bending frame clamped in the clamping mechanism, and the bending process can be replaced by manual labor in the bending room with harsh environment, thereby reducing manual labor. The strength of the movement is improved, the work efficiency is improved, and the labor cost is reduced; during the working process, the flipping structure of the automatic bending robot is fixed in the sliding guide system. During the bending process, the lifting and fixing frame 4 is first driven outward by the push rod electric cylinder 3, and then the lifting power group 8 drives the first chain 10 to operate through the first sprocket 9, and then drives the second sprocket 11 to rotate, so that the first fixing member 15 and the second fixing member 16 on the second chain 12 move down, and the flip bracket 22 is moved to the bending frame position, and then the push rod electric cylinder 3 drives the lifting and fixing frames 4 on both sides to approach each other, and the positioning pin shaft 25 on the flip bracket 22 is inserted into the bending frame, and then the lifting power group 8 drives the first chain 10 to operate through the first sprocket 9, and then drives the second sprocket 11 to rotate, so that the first fixing member 15 and the second fixing member 16 on the second chain 12 move up, and the bending frame is extracted, and then the flipping power group 21 drives the flipping bracket 22 to flip, and the bending is completed. Finally, the sliding guide system, the push rod electric cylinder 3 and the lifting power group 8 are matched to place the bending frame at the specified position to complete the entire bending process.

[0018] 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.

[0019] 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.

[0020] 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. A turning structure of an automatic turning robot, comprising a main frame (1), a square table (2), a push rod electric cylinder (3), a lifting fixed frame (4), a push rod slider (5), a push rod guide rail (6), a side bracket (7), a lifting power assembly (8), a first sprocket (9), a first chain (10), a second sprocket (11), a second chain (12), a support frame (13), a third sprocket (14), a first fixing member (15), a second fixing member (16), a first lifting arm (13), a second lifting arm (18), a distance measuring mechanism (19), a lifting guide rod (20), a turning power group (21), a turning bracket (22), a visual mechanism (23), a return detection mechanism (24) and a positioning pin (25), characterized in that: A square platform (2) is symmetrically arranged on both sides of the top of the main frame (1). The square platform (2) is fixedly connected to the output end of the push rod electric cylinder (3). The push rod electric cylinder (3) is fixedly installed on the top of the lifting fixed frame (4). The lifting power assembly (8) is fixed on the first lifting arm (13). A first sprocket (9) is arranged on the output end of the lifting power group (8). A first chain (10) is wound around the first sprocket (9). A second sprocket (11) is matched and connected to the first chain (10). A second chain (12) is wound around the second sprocket (11). A first fixing member (15) and a second fixing member (16) are respectively fixedly connected to the second chain (12). The first fixing member (15) and the second fixing member (16) are respectively fixedly connected to the lifting fixed frame (4). A flipping power group (21) is fixedly connected to the second lifting arm (18). A flipping bracket (22) is fixedly connected to the output end of the flipping power group (21).

2. The turning structure of the automatic bending turning robot according to claim 1, characterized in that: A push rod slider (5) is symmetrically arranged at the bottom of the lifting and fixing frame (4), and the push rod slider (5) is slidably connected to a push rod guide rail (6), and the push rod guide rail (6) is symmetrically installed on the top of the main frame (1).

3. The turning structure of the automatic bending robot according to claim 1, characterized in that: The second sprocket (11) is rotatably connected to the support frame (13), and the support frame (13) is symmetrically mounted on the lifting and fixing frame (4).

4. The turning structure of the automatic bending robot according to claim 3 is characterized in that: A third sprocket (14) is installed at the bottom of one side of the support frame (13), and the third sprocket (14) is connected in cooperation with the second chain (12).

5. The turning structure of the automatic bending robot according to claim 1, characterized in that: A distance measuring mechanism (19) is provided at the bottom of one side of the first lifting arm (13), and the first lifting arm (13) is fixedly connected to the second lifting arm (18).

6. The turning structure of the automatic bending turning robot according to claim 5, characterized in that: The first lifting arm (13) is slidably connected to the lifting guide rod (20), and the lifting guide rod (20) is symmetrically mounted on both sides of the first lifting arm (13), and a visual mechanism (23) is provided on the lifting fixed frame (4).

7. The turning structure of the automatic bending robot according to claim 1, characterized in that: A return detection mechanism (24) is provided in the flip bracket (22), and positioning pins (25) are evenly provided on one side of the flip bracket (22).

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