Pickled vegetable fermentation material taking robot and system

Abstract

The invention relates to the technical field of pickle fermentation and material taking, in particular to a pickle fermentation and material taking robot and system which comprises a moving unit, a lifting disc, a grabbing unit and a material taking assembly. The material taking assembly comprises a grabbing transverse moving part, a rotating block, a rotating block driving part and a collecting box, the moving unit is started, the lifting disc is moved into the fermentation tank, and then the grabbing transverse moving part is started, so that the grabbing unit moves towards the outside of the lifting disc to be close to pickles on the inner wall of the fermentation tank; after the pickles are grabbed, the rotating block driving part drives the rotating block to rotate, the grabbing unit is far away from the inner wall of the fermentation tank and is aligned with the collecting box, then the transverse moving part is grabbed to move towards the interior of the lifting disc, the grabbing unit moves to the position above the collecting box, and the pickles are stored, so that the grabbed pickles can be temporarily stored through the collecting box; the situation that pickles need to be moved out of the fermentation tank for storage after being grabbed is avoided, and the pickle taking efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pickled vegetable fermentation and material taking, and particularly relates to a pickled vegetable fermentation and material taking robot and system. Background Art

[0002] During the batch production of pickled vegetables, they need to be placed in a fermentation tank for fermentation treatment. After fermentation, the traditional operation is to manually grab the pickled vegetables. However, the batch production quantity of pickled vegetables is large, and the staff is in long-term contact with the pickled vegetable water, which not only causes a large working intensity but also is prone to harm to the skin.

[0003] In the prior art, by setting two material claws, when the two material claws are fully opened driven by the material claw driving mechanism, the claw tooth plate is in a vertical state and can vertically move down along the inner wall of the fermentation tank for grasping, so as to completely take out the fermented pickled vegetables, replacing manual operation, and at the same time, it can also grasp the pickled vegetables on the inner wall of the fermentation tank.

[0004] However, in the aforementioned prior art, when grasping pickled vegetables, only simple grasping and clamping actions can be performed; it is impossible to collect pickled vegetables while grasping, resulting in the need to move the material claws out of the fermentation tank, place the pickled vegetables, and then return to the fermentation tank to repeat the operation every time pickled vegetables are grasped, thereby affecting the material taking efficiency of pickled vegetables. Summary of the Invention

[0005] The purpose of the present invention is to provide a pickled vegetable fermentation and material taking robot and system, which solve the problem in the prior art that when grasping pickled vegetables, only simple grasping and clamping actions can be performed; it is impossible to collect pickled vegetables while grasping, resulting in the need to move the material claws out of the fermentation tank, place the pickled vegetables, and then return to the fermentation tank to repeat the operation every time pickled vegetables are grasped, thereby affecting the material taking efficiency of pickled vegetables.

[0006] To achieve the above purpose, the present invention provides a pickled vegetable fermentation and material taking robot, which includes a moving unit, a lifting disk, a grasping unit, and a material taking component. The lifting disk is arranged on the moving unit, and the grasping unit is arranged below the lifting disk;

[0007] The material taking component includes a grasping and transverse moving component, a rotating block, a rotating block driving component, and a collection box. The grasping and transverse moving component is arranged on the lifting disk, the rotating block is rotatably connected to the output end of the grasping and transverse moving component, the rotating block driving component is arranged on the rotating block, the grasping unit is arranged on one side of the rotating block, and the collection box is arranged below the lifting disk.

[0008] Wherein, the moving unit includes a moving seat, an overall lifting component, an overall transverse moving component, and a reinforcing frame. The overall lifting component is arranged above the moving seat, the output end of the overall lifting component is fixedly connected to the overall transverse moving component, and the reinforcing frame is arranged between the overall transverse moving component and the overall lifting component.

[0009] Wherein, the material taking assembly further includes a grasping adjustment unit, and the grasping adjustment unit is arranged at the output end of the overall transverse movement component;

[0010] The grasping adjustment unit includes two material taking lifting components, a support plate, a material taking rotating component and a lifting mechanism. The two material taking lifting components are symmetrically arranged at the output end of the overall transverse movement component, and the output ends of the two material taking lifting components are fixedly connected to the support plate. The material taking rotating component is arranged above the support plate, and the output end of the material taking rotating component penetrates through the support plate and is fixedly connected to the lifting disc.

[0011] Wherein, the lifting mechanism includes a plurality of lifting electric slide rails, a plurality of connecting plates and a plurality of limiting components. The lifting disc has a groove, and the plurality of lifting electric slide rails are sequentially arranged inside the groove. The output ends of the plurality of lifting electric slide rails are respectively fixedly connected to one end of the corresponding connecting plate. The collection box has a limiting groove, and the other end of the connecting plate is located inside the limiting groove. The limiting components are arranged inside the collection box.

[0012] Wherein, the limiting components include electromagnets, telescopic rods and springs. The connecting plate has a limiting hole, and the collection box further has a groove body, and the groove body is communicated with the limiting groove. One end of the electromagnet is adapted to the limiting hole, and the other end of the electromagnet is located inside the groove body. The two ends of the telescopic rod are respectively fixedly connected to the inner wall of the groove body and the other end of the electromagnet. The two ends of the spring are respectively movably connected to the inner wall of the groove body and the other end of the electromagnet, and the spring is sleeved outside the electromagnet.

[0013] Wherein, the grasping unit includes a grasping telescopic component, a moving groove, a bidirectional output motor, two threaded rods and two material claws. The grasping telescopic component is arranged on one side of the rotating block, and the output end of the grasping telescopic component is fixedly connected to the moving groove. The bidirectional output motor is arranged inside the moving groove. The two threaded rods are symmetrically arranged at both ends of the bidirectional output motor. Both material claws have threaded holes, and the threaded holes are adapted to the threaded rods.

[0014] Wherein, the material taking assembly further includes a sensing unit, and the sensing unit includes a plurality of first cameras, a second camera and a control panel. The plurality of first cameras are sequentially arranged above the lifting disc, the second camera is arranged on one side of the bidirectional output motor, and the control panel is arranged on one side of the moving seat.

[0015] Among them, the material taking component further includes a cleaning unit, and the cleaning unit includes a clean water tank, a water spraying component, a plurality of cleaning pushing components, a plurality of cleaning brushes, a rotating cleaning tank, a plurality of cleaning bars, a sewage discharge pipe and a scraping mechanism. The clean water tank is arranged above the lifting plate, the water spraying component is arranged on the clean water tank, a plurality of the cleaning pushing components are sequentially arranged below the lifting plate, and a plurality of the cleaning brushes are respectively fixedly connected to the output ends of the corresponding cleaning pushing components. The rotating cleaning tank is arranged above the moving seat, a plurality of the cleaning bars are sequentially arranged inside the rotating cleaning tank, the sewage discharge pipe is arranged on one side of the rotating cleaning tank, and the scraping mechanism is arranged on one side of the collection box.

[0016] Among them, the scraping mechanism includes a scraping pushing component and a scraping plate. The scraping pushing component is arranged on one side of the collection box, and the output end of the scraping pushing component is fixedly connected to the scraping plate.

[0017] The present invention also provides a pickled vegetable fermentation material taking system, which includes the pickled vegetable fermentation material taking robot described above, and further includes a fermentation tank, a pickled vegetable fermentation feeding device, a pickled vegetable fermentation temperature control device and a pickled vegetable fermentation transfer device. The pickled vegetable fermentation feeding device is connected to the fermentation tank, the pickled vegetable fermentation material taking robot is arranged on one side of the fermentation tank, the pickled vegetable fermentation temperature control device is connected to the fermentation tank, and the pickled vegetable fermentation transfer device is connected to the pickled vegetable fermentation material taking robot.

[0018] For the pickled vegetable fermentation material taking robot and system of the present invention, when the moving unit is started, the lifting plate is moved into the fermentation tank, and then the grasping transverse moving component is started, so that the grasping unit moves outwards from the lifting plate and approaches the pickled vegetables on the inner wall of the fermentation tank. After grasping the pickled vegetables, the rotating block driving component drives the rotating block to rotate, the grasping unit moves away from the inner wall of the fermentation tank and aligns with the collection box, and then the grasping transverse moving component makes it move into the lifting plate, so that the grasping unit moves above the collection box for storing the pickled vegetables. Through the above structural arrangement, the collected pickled vegetables can be temporarily stored by relying on the collection box, and at the same time, the position of the grasping unit can be freely adjusted, so that the pickled vegetables can be temporarily stored without affecting the material taking operation, and it is avoided that the grasping unit needs to be repeatedly moved out of the fermentation tank, greatly improving the pickled vegetable material taking efficiency. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0020] Figure 1 It is a schematic structural diagram of the whole of the present invention.

[0021] Figure 2 It is a cross-sectional view of the whole of the present invention.

[0022] Figure 3 It is a schematic structural view of the lifting disc of the present invention.

[0023] Figure 4 It is a cross-sectional view of the lifting disc of the present invention.

[0024] Figure 5 It is of the present invention Figure 4 Cross-sectional view taken along line A-A.

[0025] Figure 6 It is of the present invention Figure 5 Cross-sectional view taken along line B-B.

[0026] Figure 7 It is a bottom view of the lifting disc of the present invention.

[0027] Figure 8 It is of the present invention Figure 7 Enlarged view of the local structure at C.

[0028] Figure 9 It is a schematic diagram of the principle of the pickling fermentation and material taking system of the present invention.

[0029] 1 - Lifting disc, 2 - Grabbing and transverse moving component, 3 - Rotating block, 4 - Rotating block driving component, 5 - Collection box, 6 - Moving seat, 7 - Overall lifting component, 8 - Overall transverse moving component, 9 - Reinforcement frame, 10 - Material taking and lifting component, 11 - Support plate, 12 - Material taking and rotating component, 13 - Lifting electric slide rail, 14 - Connecting plate, 15 - Limiting component, 16 - Groove, 17 - Limiting groove, 18 - Electromagnet, 19 - Telescopic rod, 20 - Spring, 21 - Limiting hole, 22 - Tank body, 23 - Grabbing and telescopic component, 24 - Moving groove, 25 - Bidirectional output motor, 26 - Threaded rod, 27 - Material claw, 28 - Threaded hole, 29 - First camera, 30 - Second camera, 31 - Control panel, 32 - Water tank, 33 - Spraying component, 34 - Cleaning and pushing component, 35 - Cleaning brush, 36 - Rotary cleaning tank, 37 - Cleaning strip, 38 - Drain pipe, 39 - Scraping and pushing component, 40 - Scraping plate, 41 - Fermentation tank, 42 - Pickling fermentation and feeding device, 43 - Pickling fermentation temperature control device, 44 - Pickling fermentation transfer device. Detailed implementation manners

[0030] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0031] Please refer to Figures 1 to 8, the present invention provides a pickling fermentation material-taking robot, which includes a moving unit, a lifting plate 1, a grasping unit and a material-taking component. The material-taking component includes a grasping transverse movement component 2, a rotating block 3, a rotating block driving component 4 and a collection box 5. The moving unit includes a moving seat 6, an overall lifting component 7, an overall transverse movement component 8 and a reinforcement frame 9. The material-taking component further includes a grasping adjustment unit, and the grasping adjustment unit includes two material-taking lifting components 10, a support plate 11, a material-taking rotation component 12 and a lifting mechanism. The lifting mechanism includes a plurality of lifting electric slide rails 13, a plurality of connecting plates 14 and a plurality of limiting components 15. The lifting plate 1 has a groove 16, the collection box 5 has a limiting groove 17, the limiting component 15 includes an electromagnet 18, a telescopic rod 19 and a spring 20. The connecting plate 14 has a limiting hole 21, the collection box 5 further has a groove body 22. The grasping unit includes a grasping telescopic component 23, a moving groove 24, a bidirectional output motor 25, two threaded rods 26 and two material claws 27. The material-taking component further includes a sensing unit, and the sensing unit includes a plurality of first cameras 29, a second camera 30 and a control panel 31. The material-taking component further includes a cleaning unit, and the cleaning unit includes a clean water tank 32, a water spraying component 33, a plurality of cleaning pushing components 34, a plurality of cleaning brushes 35, a rotating cleaning box 36, a plurality of cleaning strips 37, a sewage discharge pipe 38 and a scraping mechanism. The scraping mechanism includes a scraping pushing component 39 and a scraping plate 40.

[0032] Among them, the lifting plate 1 is arranged on the moving unit, the grasping unit is arranged below the lifting plate 1, the grasping transverse movement component 2 is arranged on the lifting plate 1, the rotating block 3 is rotationally connected to the output end of the grasping transverse movement component 2, the rotating block driving component 4 is arranged on the rotating block 3, the grasping unit is arranged on one side of the rotating block 3, and the collection box 5 is arranged below the lifting plate 1. The grasping transverse movement component 2 is an electric slide rail, and the rotating block driving component 4 is a self-locking motor; when the moving unit is started, the lifting plate 1 is moved into the fermentation tank 41, and then the grasping transverse movement component 2 is started, so that the grasping unit moves out of the lifting plate 1 and approaches the pickles on the inner wall of the fermentation tank 41; after grasping the pickles, the rotating block driving component 4 drives the rotating block 3 to rotate, the grasping unit moves away from the inner wall of the fermentation tank 41 and aligns with the collection box 5, and then the grasping transverse movement component 2 makes it move into the lifting plate 1, so that the grasping unit moves above the collection box 5 for pickle storage.

[0033] Secondly, the overall lifting component 7 is arranged above the moving seat 6. The output end of the overall lifting component 7 is fixedly connected to the overall transverse moving component 8. The reinforcing frame 9 is arranged between the overall transverse moving component 8 and the overall lifting component 7. The overall lifting component 7 is a cylinder, and the overall transverse moving component 8 is an electric slide rail. The moving seat 6 moves to one side of the fermentation tank 41. Then, through the adjustment of the overall lifting component 7 and the overall transverse moving component 8, the lifting plate 1 is placed inside the fermentation tank 41 to take pickled vegetables. At the same time, the reinforcing frame 9 provides reinforcement and support for the overall lifting component 7.

[0034] Meanwhile, the grasping adjustment unit is arranged at the output end of the overall transverse moving component 8; two material-taking lifting components 10 are symmetrically arranged at the output end of the overall transverse moving component 8. The output ends of the two material-taking lifting components 10 are both fixedly connected to the support plate 11. The material-taking rotating component 12 is arranged above the support plate 11. The output end of the material-taking rotating component 12 penetrates through the support plate 11 and is fixedly connected to the lifting plate 1. The material-taking lifting component 10 is a cylinder, and the material-taking rotating component 12 is a self-locking motor; when the material-taking lifting component 10 is started, it drives the support plate 11 to move downward to adjust the height of the lifting plate 1, so as to grasp pickled vegetables at different heights. When the material-taking rotating component 12 is started, it drives the lifting plate 1 to rotate, so as to grasp pickled vegetables at different positions. The lifting mechanism can adjust the lifting of the collection box 5.

[0035] In addition, the lifting plate 1 has a groove 16. A plurality of lifting electric slide rails 13 are sequentially arranged inside the groove 16. The output ends of the plurality of lifting electric slide rails 13 are respectively fixedly connected to one end of the corresponding connecting plate 14. The collection box 5 has a limiting groove 17. The other end of the connecting plate 14 is located inside the limiting groove 17. The limiting component 15 is arranged inside the collection box 5. When pickled vegetables need to be collected, the lifting electric slide rail 13 is started to drive the connecting plate 14 to move, so that the collection box 5 moves downward. At this time, the picked pickled vegetables are placed in the collection box 5, and then the collection box 5 moves upward and is placed in the groove 16, thus avoiding the collection box 5 from colliding with the inner bottom wall of the fermentation tank 41 when the lifting plate 1 moves downward for grasping. After the collection is completed, the lifting plate 1 is moved out of the fermentation tank 41, and the collection box 5 can be quickly unloaded through the limiting component 15.

[0036] Then, the connecting plate 14 has a limiting hole 21, and the collection box 5 further has a groove body 22. The groove body 22 communicates with the limiting groove 17. One end of the electromagnet 18 is adapted to the limiting hole 21, and the other end of the electromagnet 18 is located inside the groove body 22. Both ends of the telescopic rod 19 are fixedly connected to the inner wall of the groove body 22 and the other end of the electromagnet 18 respectively. Both ends of the spring 20 are movably connected to the inner wall of the groove body 22 and the other end of the electromagnet 18 respectively. The spring 20 is sleeved outside the electromagnet 18. After the connecting plate 14 is inserted into the limiting groove 17, the electromagnet 18 is energized, and then the two symmetrically distributed electromagnets 18 attract each other and insert into the limiting hole 21 to limit and fix the connecting plate 14. When it is full and needs to be disassembled, the electromagnet 18 is powered off, the spring 20 rebounds, drives the electromagnet 18 to reset and separate from the limiting hole 21, and at the same time the telescopic rod 19 follows and contracts to maintain stability, so that the collection box 5 can be quickly removed.

[0037] Again, the grasping and telescopic member 23 is arranged on one side of the rotating block 3. The output end of the grasping and telescopic member 23 is fixedly connected to the moving groove 24. The bidirectional output motor 25 is arranged inside the moving groove 24. Two threaded rods 26 are symmetrically arranged at both ends of the bidirectional output motor 25. Both material claws 27 have threaded holes 28, and the threaded holes 28 are adapted to the threaded rods 26. The grasping and telescopic member 23 is a cylinder. When the grasping and telescopic member 23 is started, it drives the moving groove 24 to move, so that the material claws 27 approach the inner wall of the fermentation tank 41. At this time, the bidirectional output motor 25 is started to drive the threaded rod 26 to rotate, which is adapted to the threaded hole 28, and drives the material claws 27 to move to clamp the pickled vegetables attached to the inner wall of the fermentation tank 41. If it is necessary to clamp the pickled vegetables on the inner bottom wall, the rotating block driving member 4 is started to drive the rotating block 3 to rotate, so that the material claws 27 are aligned with the inner bottom wall of the fermentation tank 41 for clamping. After the pickled vegetables are clamped, continue to rotate so that the material claws 27 are aligned with the collection box 5 and rely on the grasping and transverse moving member 2 to move above the collection box 5. At this time, the material claws 27 are loosened, and the pickled vegetables are placed in the collection box 5.

[0038] Moreover, multiple said first cameras 29 are sequentially arranged above the lifting disc 1, the second camera 30 is arranged on one side of the bidirectional output motor 25, and the control panel 31 is arranged on one side of the moving seat 6. The control panel 31 is electrically connected to each device for the staff to control. During the pickling material taking process, the first camera 29 takes pictures of the inside of the fermentation tank 41 from above the lifting disc 1, and at the same time the second camera 30 takes pictures from the material claw 27, and transmits the captured pictures to the control panel 31, so as to analyze and judge the specific position where the pickles adhere to the inner wall of the fermentation tank 41 for accurate grasping.

[0039] Furthermore, the water tank 32 is arranged above the lifting disc 1, the water spraying component 33 is arranged on the water tank 32, multiple said cleaning pushing components 34 are sequentially arranged below the lifting disc 1, multiple said cleaning brushes 35 are respectively fixedly connected to the output ends of the corresponding cleaning pushing components 34, the rotary cleaning tank 36 is arranged above the moving seat 6, multiple said cleaning strips 37 are sequentially arranged inside the rotary cleaning tank 36, the sewage discharge pipe 38 is arranged on one side of the rotary cleaning tank 36, and the scraping mechanism is arranged on one side of the collection box 5. The water tank 32 stores clean water. The water spraying component 33 is composed of a water pump and a nozzle. The water in the water tank 32 is sprayed on the inner wall of the fermentation tank 41 through the water spraying component 33, which can wash the fermentation tank 41 and also helps to wash down the adhering pickles. At the same time, the cleaning pushing component 34 is started to drive the cleaning brush 35 to fit the inner wall of the fermentation tank 41. Then the material taking rotating component 12 is started to drive the lifting disc 1 to rotate, so that multiple said cleaning brushes 35 rotate quickly to clean the inner wall of the fermentation tank 41. After the cleaning is completed, the lifting disc 1 is moved out of the fermentation tank 41, and then the material claw 27 is turned downward so that the material claw 27 moves into the rotary cleaning tank 36. The rotary cleaning tank 36 is provided with a motor. When the motor is started, the rotary cleaning tank 36 rotates, and the material claw 27 is cleaned by the cleaning strips 37 inside, and finally the sewage is discharged through the sewage discharge pipe 38.

[0040] Finally, the scraping pushing component 39 is arranged on one side of the collection box 5, and the output end of the scraping pushing component 39 is fixedly connected to the scraping plate 40. During the process of the material claw 27 placing the clamped pickles in the collection box 5, after the two material claws 27 are opened, the scraping pushing component 39 is started to drive the scraping plate 40 to move between the two material claws 27, and then the material claws 27 move towards the inner wall of the fermentation tank 41. Furthermore, the scraping plate 40 can play a scraping role to scrape off the pickles that adhere to or have not completely fallen between the two material claws 27, avoiding a large amount of pickles from winding or adhering between the two material claws 27.

[0041] When using the pickled vegetable fermentation and material-taking robot of this embodiment, through the adjustment of the overall lifting component 7 and the overall transverse movement component 8, the lifting plate 1 is placed inside the fermentation tank 41 for pickled vegetable material-taking; then the grasping transverse movement component 2 is activated, causing the material claw 27 to move outward from the lifting plate 1 and approach the pickled vegetables attached to the inner wall of the fermentation tank 41; at this time, the two-way output motor 25 is activated, driving the threaded rod 26 to rotate, which is adapted to the threaded hole 28, driving the material claw 27 to move, and clamping the pickled vegetables attached to the inner wall of the fermentation tank 41; after grasping the pickled vegetables, the rotating block driving component 4 drives the rotating block 3 to rotate, the material claw 27 moves away from the inner wall of the fermentation tank 41 and aligns with the collection box 5, then the grasping transverse movement component 2 makes it move inside the lifting plate 1, the material claw 27 moves above the collection box 5 and releases, for pickled vegetable storage. By operating repeatedly in this way, through the above structural settings, relying on the collection box 5, the picked pickled vegetables can be temporarily stored, and at the same time, the grasping unit can freely adjust its position, so that the pickled vegetables can be temporarily stored without affecting the material-taking operation, avoiding the need for the grasping unit to repeatedly move out of the fermentation tank 41, greatly improving the pickled vegetable material-taking efficiency; it can also reduce the number of times the lifting plate 1 repeatedly moves out of the fermentation tank 41, reduce the situation of the lifting plate 1 colliding with the fermentation tank 41, and further improve the safety of material-taking.

[0042] Please refer to Figure 9 , the present invention also provides a pickled vegetable fermentation and material-taking system, including the pickled vegetable fermentation and material-taking robot described above, and further including a fermentation tank 41, a pickled vegetable fermentation feeding device 42, a pickled vegetable fermentation temperature control device 43, and a pickled vegetable fermentation transfer device 44. The pickled vegetable fermentation feeding device 42 is connected to the fermentation tank 41, the pickled vegetable fermentation and material-taking robot is arranged on one side of the fermentation tank 41, the pickled vegetable fermentation temperature control device 43 is connected to the fermentation tank 41, and the pickled vegetable fermentation transfer device 44 is connected to the pickled vegetable fermentation and material-taking robot.

[0043] Among them, the fermentation tank 41 is used for fermenting pickled vegetables, the pickled vegetable fermentation feeding device 42 is used for feeding the pickled vegetables to be fermented, and then during the fermentation process, the pickled vegetable fermentation temperature control device 43 monitors and adjusts the temperature and humidity conditions of the fermentation tank 41 to ensure the fermentation effect. After fermentation is completed, the pickled vegetable fermentation and material-taking robot is relied on to take the materials, and finally the pickled vegetable fermentation transfer device 44 transports the taken pickled vegetables to the next processing area.

[0044] The above-disclosed are only one or more preferred embodiments of the present application, and the scope of rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A kimchi fermentation material taking robot, comprising a moving unit, a lifting plate and a grabbing unit, wherein the lifting plate is arranged on the moving unit, and the grabbing unit is arranged below the lifting plate, characterized in that: Also included is a reclaiming assembly; The material picking assembly includes a grabbing and transverse moving component, a rotating block, a rotating block driving component and a collection box, the grabbing and transverse moving component is arranged on the lifting plate, the rotating block is rotatably connected to the output end of the grabbing and transverse moving component, the rotating block driving component is arranged on the rotating block, the grabbing unit is arranged on one side of the rotating block, and the collection box is arranged below the lifting plate.

2. The kimchi fermentation material taking robot according to claim 1, characterized in that: The moving unit includes a moving seat, an integral lifting component, an integral transverse moving component and a reinforcement frame. The integral lifting component is arranged above the moving seat, the output end of the integral lifting component is fixedly connected to the integral transverse moving component, and the reinforcement frame is arranged between the integral transverse moving component and the integral lifting component.

3. The kimchi fermentation material taking robot according to claim 2, characterized in that: The material picking assembly further comprises a grabbing adjustment unit, and the grabbing adjustment unit is arranged at the output end of the integral transverse moving component; The grabbing and adjusting unit includes two material picking and lifting components, a support plate, a material picking rotating component and a lifting mechanism. The two material picking and lifting components are symmetrically arranged at the output end of the overall transverse moving component. The output ends of the two material picking and lifting components are fixedly connected to the support plate. The material picking rotating component is arranged above the support plate. The output end of the material picking rotating component passes through the support plate and is fixedly connected to the lifting plate.

4. The kimchi fermentation material taking robot according to claim 3, characterized in that: The lifting mechanism includes multiple lifting electric slide rails, multiple connecting plates and multiple limiting components. The lifting plate has a groove, and the multiple lifting electric slide rails are sequentially arranged inside the groove. The output ends of the multiple lifting electric slide rails are respectively fixedly connected to one end of the corresponding connecting plate. The collection box has a limiting groove, and the other end of the connecting plate is located inside the limiting groove. The limiting component is arranged inside the collection box.

5. The kimchi fermentation material taking robot according to claim 4, characterized in that: The limiting component includes an electromagnet, a telescopic rod and a spring. The connecting plate has a limiting hole. The collecting box also has a slot body, which is connected to the limiting slot. One end of the electromagnet is adapted to the limiting hole. The other end of the electromagnet is located inside the slot body. The two ends of the telescopic rod are respectively fixedly connected to the inner wall of the slot body and the other end of the electromagnet. The two ends of the spring are respectively movably connected to the inner wall of the slot body and the other end of the electromagnet. The spring is sleeved on the outside of the electromagnet.

6. The kimchi fermentation material taking robot according to claim 5, characterized in that: The grabbing unit includes a grabbing telescopic component, a movable groove, a bidirectional output motor, two threaded rods and two material claws. The grabbing telescopic component is arranged on one side of the rotating block, and the output end of the grabbing telescopic component is fixedly connected to the movable groove. The bidirectional output motor is arranged inside the movable groove. The two threaded rods are symmetrically arranged at both ends of the bidirectional output motor. The two material claws both have threaded holes, and the threaded holes and the threaded rods are adapted to each other.

7. The kimchi fermentation material taking robot according to claim 6, characterized in that: The material picking component also includes a sensing unit, which includes multiple first cameras, a second camera and a control panel. The multiple first cameras are sequentially arranged above the lifting plate, the second camera is arranged on one side of the bidirectional output motor, and the control panel is arranged on one side of the moving base.

8. The kimchi fermentation material taking robot according to claim 7, characterized in that: The material taking assembly also includes a cleaning unit, which includes a clean water tank, a water spray component, multiple cleaning push components, multiple cleaning brushes, a rotating cleaning box, multiple cleaning strips, a drain pipe and a scraping mechanism. The clean water tank is arranged above the lifting plate, the water spray component is arranged on the clean water tank, multiple cleaning push components are arranged in sequence below the lifting plate, multiple cleaning brushes are respectively fixedly connected to the output ends of the corresponding cleaning push components, the rotating cleaning box is arranged above the moving seat, multiple cleaning strips are arranged in sequence inside the rotating cleaning box, the drain pipe is arranged on one side of the rotating cleaning box, and the scraping mechanism is arranged on one side of the collecting box.

9. The kimchi fermentation material taking robot according to claim 8, characterized in that: The scraping mechanism comprises a scraping pushing component and a scraping plate. The scraping pushing component is arranged at one side of the collecting box, and the output end of the scraping pushing component is fixedly connected to the scraping plate.

10. A kimchi fermentation material taking system, comprising the kimchi fermentation material taking robot according to claim 9, characterized in that: It also includes a fermentation tank, a kimchi fermentation feeding device, a kimchi fermentation temperature control device and a kimchi fermentation transport device. The kimchi fermentation feeding device is connected to the fermentation tank, the kimchi fermentation material taking robot is arranged on one side of the fermentation tank, the kimchi fermentation temperature control device is connected to the fermentation tank, and the kimchi fermentation transport device is connected to the kimchi fermentation material taking robot.

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