A turnover structure of an automatic turnover robot

Abstract

The application discloses a kind of overturning structure of automatic turning robot, including main frame, push rod electric cylinder, lifting fixed frame, lifting power group, overturning power group and overturning support, the top two sides of main frame are symmetrically provided with square table, square table is fixedly connected on the output end of push rod electric cylinder;Overturning structure is made of the clamping mechanism in overturning structure by the overturning support symmetrically arranged on two sides, lifting fixed frame can be driven to slide by push rod electric cylinder, and then the position of clamping mechanism is adjusted, to use the first sprocket on lifting power group as power input to drive the second chain to run, first fixing piece and second fixing piece on second chain can drive first lifting arm and second lifting arm to move up and down in process;While clamping mechanism is matched with overturning power group, the frame held in clamping mechanism can be turned over, replace artificial to complete turning in bad environment, reduce the intensity of manual labor, improve work efficiency, reduce labor cost.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a flipping structure for an automatic flipping robot. Background Technology

[0002] Currently, most wineries still use traditional methods for making koji (fermentation starter), namely manual koji making. This relies heavily on manual temperature measurement, experience-based testing, and experience-based control of the process. However, due to the subjective influence of human factors, traditional koji making has many shortcomings and deficiencies. These include high labor intensity, low efficiency due to skilled workers relying on personal experience to manage the entire process, and difficulties in maintaining temperature, moisture, and hygiene due to workers constantly moving in and out of the koji room. In recent years, with continuous technological updates and improvements, some wineries have mechanized the koji blank forming stage, but other processes are still done manually, making it difficult to guarantee the final koji quality. Therefore, mechanizing only the koji blank forming stage while still relying on manual labor for the complex microbial cultivation process makes it difficult to produce high-quality koji, especially in the turning stage. Currently, turning the koji is mainly done manually, resulting in a harsh environment in the koji room, high labor intensity, low efficiency, and high labor costs. Therefore, it is necessary to design an automatic koji-turning robot to replace manual turning. Summary of the Invention

[0003] The purpose of this invention is to provide a flipping structure for an automatic flipping robot, in order to solve the problems that the current flipping process is mainly completed manually, which results in a harsh environment in the curing room, high labor intensity, low work efficiency, and high labor costs.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flipping structure for an automatic flipping robot, comprising a main frame, square platforms, push rod electric cylinders, a lifting and fixing frame, push rod sliders, push rod guide rails, side supports, a lifting power unit, a first sprocket, a first chain, a second sprocket, a second chain, a support frame, a third sprocket, a first fixing component, a second fixing component, a first lifting arm, a second lifting arm, a ranging mechanism, a lifting guide rod, a flipping power unit, a flipping support, a vision mechanism, a return-to-center detection mechanism, and a positioning pin. Square platforms are symmetrically arranged on both sides of the top of the main frame, and the square platforms 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. The output end of the lifting power assembly is provided with a first sprocket. A first chain is wound around the first sprocket. A second sprocket is connected to the first chain. A second chain is wound around the second sprocket. A first fixing member and a second fixing member are fixedly connected to the second chain respectively. The first fixing member and the second fixing member are fixedly connected to the lifting fixed frame and the second lifting arm respectively. A tilting power assembly is fixedly connected to the second lifting arm. A tilting bracket is fixedly connected to the output end of the tilting power assembly.

[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, 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 installed on the lifting and fixing frame.

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

[0008] As a further technical solution of the present invention, a ranging 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 vision mechanism is provided on the lifting fixing frame.

[0010] As a further technical solution of the present invention, the flipping bracket is provided with a return-to-center detection mechanism, and positioning pins are evenly arranged on one side of the flipping bracket.

[0011] The present invention provides a flipping structure for an automatic bending robot, which has the following advantages: The clamping mechanism in the flipping structure is composed of symmetrically arranged flipping brackets on both sides. A lifting and fixing frame is slidably connected to both sides of the main frame via push rod sliders and push rod guide rails. A push rod electric cylinder can drive the lifting and fixing frame to slide along the push rod guide rails, thereby adjusting the position of the clamping mechanism. A support frame provides rotational support for the second and third sprockets. After the second sprocket connects to the first and second chains, the first sprocket on the lifting power unit serves as the power input to drive the second chain to run around the second and third sprockets. During this process, the first and second fixing parts on the second chain can drive the first and second lifting arms to move up and down. Limiting is achieved by the lifting guide rod during movement. The clamping mechanism, in conjunction with the flipping power unit, can flip the bending frame held in the clamping mechanism during movement and lifting. This allows for the replacement of manual labor in the harsh environment of a bending room, reducing the intensity of manual labor, improving work efficiency, and lowering labor costs. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a three-dimensional diagram of the overall structure of the present invention;

[0014] Figure 2 for Figure 1 A magnified view of a portion of region A in the middle;

[0015] Figure 3 for Figure 1 A magnified view of a portion of region B in the middle.

[0016] In the diagram: 1. Main frame; 2. Square platform; 3. Push rod electric cylinder; 4. Lifting and fixing frame; 5. Push rod slider; 6. Push rod guide rail; 7. Side bracket; 8. Lifting power unit; 9. First sprocket; 10. First chain; 11. Second sprocket; 12. Second chain; 13. Support frame; 14. Third sprocket; 15. First fixing component; 16. Second fixing component; 17. First lifting arm; 18. Second lifting arm; 19. Distance measuring mechanism; 20. Lifting guide rod; 21. Tilting power unit; 22. Tilting bracket; 23. Vision mechanism; 24. Return detection mechanism; 25. Positioning pin. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] Please see the appendix Figure 1 - Appendix Figure 3One embodiment of the present invention provides a flipping structure for an automatic flipping robot, comprising a main frame 1, a square platform 2, a push rod electric cylinder 3, a lifting and fixing frame 4, a push rod slider 5, a push rod guide rail 6, a side bracket 7, a lifting power unit 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 ranging mechanism 19, a lifting guide rod 20, a flipping power unit 21, a flipping bracket 22, a vision mechanism 23, a return-to-center detection mechanism 24, and a positioning pin. A square platform 2 is symmetrically arranged on both sides of the top of the main frame 1, shaft 25. 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 and fixing frame 4. A side bracket 7 is provided on the lifting and fixing frame 4. A lifting power unit 8 is fixedly installed on the side bracket 7. A first sprocket 9 is provided on the output end of the lifting power unit 8. A first chain 10 is wound around the first sprocket 9. A second sprocket 11 is 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 fixedly connected to the second chain 12 respectively. Furthermore, 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. A tilting power unit 21 is fixedly connected to the second lifting arm 18, and a tilting bracket 22 is fixedly connected to the output end of the tilting power unit 21. Push rod sliders 5 are symmetrically arranged at the bottom of the lifting frame 4. The push rod sliders 5 are slidably connected to the push rod guide rails 6, and the push rod guide rails 6 are 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 frame 4. A third sprocket 14 is rotatably connected to the bottom of one side of the support frame 13. The third sprocket 14 is connected to the second chain 12; a ranging mechanism 19 is provided on the bottom 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 the bottom side of the lifting fixed frame 4, and a vision mechanism 23 is symmetrically provided on the lifting fixed frame 4; a return detection mechanism 24 is provided in the flip bracket 22, and a positioning pin 25 is evenly provided on one side of the flip bracket 22. The positioning pin 25 can be used to fix the curved frame to prevent the curved frame from falling.

[0020] Specifically, in use, the clamping mechanism in the flipping structure is first formed by the symmetrically arranged flipping brackets 22 on both sides. The lifting and fixing frame 4 is slidably connected to both sides of the main frame 1 through the push rod slider 5 and the push rod guide rail 6. The push rod electric cylinder 3 can drive the lifting and fixing frame 4 to slide along the push rod guide rail 6, thereby adjusting the position of the clamping mechanism. The support frame 13 provides rotational support for the second sprocket 11 and the third sprocket 14. 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 unit 8 is used as the 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 through the first fixing part 15 and the second fixing part 16 on the second chain 12. During the movement, the lifting guide rod 20 is used for limiting. During the movement and lifting process, the clamping mechanism, together with the flipping power unit 21, can flip the bending frame clamped in the clamping mechanism, replacing manual labor in the harsh environment of the bending room and reducing manual labor. The system improves the intensity of movement, increases work efficiency, and reduces labor costs. During operation, the automatic turning robot's turning structure is fixed in the sliding guide system. During the turning process, the push rod electric cylinder 3 first drives the lifting fixed frame 4 to move outward. Then, the lifting power group 8 drives the first chain 10 to rotate through the first sprocket 9, which in turn drives the second sprocket 11 to rotate, causing the first fixing part 15 and the second fixing part 16 on the second chain 12 to move downward, moving the turning bracket 22 to the turning frame position. Then, the push rod electric cylinder 3 drives the lifting fixed frames 4 on both sides to move closer to each other, inserting the positioning pin 25 on the turning bracket 22 into the turning frame. Then, the lifting power group 8 drives the first chain 10 to rotate through the first sprocket 9, which in turn drives the second sprocket 11 to rotate, causing the first fixing part 15 and the second fixing part 16 on the second chain 12 to move upward, lifting the turning frame. After that, the turning power group 21 drives the turning bracket 22 to turn, completing the turning process. Finally, the sliding guide system, push rod electric cylinder 3, and lifting power group 8 are used to place the turning frame in the designated position to complete the entire turning process.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0023] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A turnover structure of an automatic turnover robot, comprising a main frame (1), a square table (2), a push rod electric cylinder (3), a lifting fixed frame (4), a push rod sliding block (5), a push rod guide rail (6), a side support (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 part (15), a second fixing part (16), a first lifting arm (17), a second lifting arm (18), a distance measuring mechanism (19), a lifting guide rod (20), a turnover power group (21), a turnover support (22), a visual mechanism (23), a return detection mechanism (24) and a positioning pin shaft (25), characterized in that: The top of the main frame (1) is symmetrically provided with a square table (2) fixedly connected to the output end of a push rod electric cylinder (3), the push rod electric cylinder (3) is fixedly installed on the top of a lifting fixed frame (4), the lifting fixed frame (4) is provided with a side support (7), the side support (7) is fixedly installed with a lifting power set (8), the output end of the lifting power set (8) is provided with a first sprocket (9), the first sprocket (9) is wound with a first chain (10), the first chain (10) is connected with a second sprocket (11), the second sprocket (11) is wound with a second chain (12), the second chain (12) is fixedly connected with a first fixing member (15) and a second fixing member (16) respectively, the first fixing member (15) and the second fixing member (16) are fixedly connected to a first lifting arm (17) and a second lifting arm (18) respectively, the second lifting arm (18) is fixedly connected with a turnover power set (21); the output end of the turnover power set (21) is fixedly connected with a turnover support (22); The bottom of the lifting fixed frame (4) is symmetrically provided with a push rod sliding block (5), the push rod sliding block (5) is slidingly connected to a push rod guide rail (6), 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 a support frame (13), and the support frame (13) is symmetrically installed on the lifting fixed frame (4); The bottom of the support frame (13) is provided with a third sprocket (14), and the third sprocket (14) is connected in the second chain (12); The bottom of the first lifting arm (17) is provided with a distance measuring mechanism (19), and the first lifting arm (17) is fixedly connected to the second lifting arm (18); The first lifting arm (17) is slidingly connected to a lifting guide rod (20), and the lifting guide rod (20) is symmetrically installed on the two sides of the first lifting arm (17), and the lifting fixed frame (4) is provided with a visual mechanism (23); The turnover support (22) is provided with a back-to-normal detection mechanism (24), and the side of the turnover support (22) is uniformly provided with a positioning pin shaft (25).

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