A conveying system for dough pieces and a method of conveying dough pieces

Abstract

The application relates to the technical field of dough block conveying, and particularly discloses a dough block conveying system for fermentation and a conveying method thereof. In the first aspect, the dough block conveying system for fermentation comprises a telescopic vertical frame, a folding cross beam frame and a conveying mechanism. The telescopic vertical frame comprises a main vertical frame, an auxiliary vertical frame and a telescopic driving element. The auxiliary vertical frame is telescopically arranged on the main vertical frame, and the telescopic driving element is fixedly arranged on the main vertical frame and connected with the auxiliary vertical frame. The folding cross beam frame is arranged on the telescopic vertical frame. The folding cross beam frame comprises an auxiliary beam frame, a main beam frame and a folding driving element. A group of auxiliary beam frames are rotatably arranged at the two ends of the main beam frame in the length direction. The folding driving element can drive the auxiliary beam frames to swing on the main beam frame. In the other aspect, the application provides a conveying method suitable for the dough block conveying system for fermentation. The application has the effects of efficient, stable and intelligent management on the whole fermentation process of the dough block.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of koji block conveying, in particular to a koji block conveying system for fermentation and a conveying method thereof. BACKGROUND

[0002] Koji block is a kind of artificially cultivated fermentation starter rich in specific microorganisms and enzyme preparations. It takes cereals or legumes as carriers and, through the control of microbial growth, it becomes the core power source driving the formation of flavor and the transformation of substances in brewing and fermented food. Its storage and transportation directly affect the flavor and quality of the final product. In order to meet the needs of subsequent processes, the finished koji block often needs to be temporarily stored and fermented in a specific koji room, and then transported after a certain fermentation period.

[0003] At present, the koji block conveying equipment usually fixes the grabbing device inside the fermentation site through a preset guide rail and a support frame to realize the centralized grabbing and unified transportation of the koji block. This kind of equipment can complete the transportation of a large number of koji blocks at one time, significantly reducing the labor intensity and improving the transportation efficiency. However, in order to ensure the fermentation quality of the koji block during storage, the fermentation site must be constructed as a micro-ecological controllable environment, and the temperature, humidity and ventilation conditions inside must be strictly controlled, and a high hygiene standard must be maintained. This makes there be a certain contradiction between the existing koji block conveying equipment and the site environment requirements.

[0004] Specifically, on the one hand, if the koji block conveying equipment is fixed inside the koji room for a long time, its metal parts, motors and transmission elements will be continuously exposed to an environment with high humidity, large temperature fluctuations and active microorganisms, which may cause problems such as rusting, short circuiting and mold attachment, thereby affecting the equipment running stability and service life; on the other hand, if a driving mechanism is added to realize free movement in order to make the conveying equipment more flexible, the size of the entrance and passage of the fermentation site needs to be expanded accordingly to meet the equipment transfer requirements, which will also pose new challenges to the internal environment control and process layout of the koji room. Therefore, although the existing koji block conveying technology has obvious advantages in transportation efficiency, its adaptability to the fermentation site environment is insufficient, and it is difficult to meet the process requirements of koji block fermentation while ensuring the stability of the equipment, which has become a key problem restricting the popularization and application of the technology. SUMMARY

[0005] The present application provides a koji block conveying system for fermentation and a conveying method thereof, which solves the contradiction between equipment stability and koji room environment adaptability, and realizes efficient, stable and intelligent management of the whole koji block fermentation process.

[0006] In a first aspect, the present application provides a koji block conveying system for fermentation, which adopts the following technical solution:

[0007] A koji block conveying system for fermentation, comprising:

[0008] The telescopic stand comprises a main stand, a secondary stand and a telescopic driving member, the main stand is provided with a plug-in interface, the secondary stand is fixed with a plug-in part, the secondary stand is telescopically arranged on the main stand through the plug-in part, and the telescopic driving member is fixed on the main stand, and the output end of the telescopic driving member is connected with the secondary stand;

[0009] The folding cross beam frame is arranged on the telescopic stand, and comprises a secondary beam frame, a main beam frame and a folding driving member, one group of secondary beam frames is rotationally arranged at the length direction of the two ends of the main beam frame respectively, the secondary stand is selectively connected with the secondary beam frame and the main beam frame in sliding mode, the folding driving member is arranged on the main beam frame, the folding driving member is drivingly connected with the secondary beam frame, and the folding driving member can drive the secondary beam frame to swing on the main beam frame, so that the secondary beam frame is flush with the main beam frame and is combined into a complete translation track.

[0010] The conveying mechanism comprises a walking assembly, a lifting assembly, a grabbing assembly and a clamping assembly, the walking assembly is slidingly arranged on the folding cross beam frame, the walking assembly is provided with a controller, the lifting assembly is arranged on the walking assembly, the walking assembly can drive the lifting assembly to run bidirectionally on the folding cross beam frame along the translation track path, and the grabbing assembly and the clamping assembly are arranged on the lifting assembly, the grabbing assembly is used for clamping and stacking the curved blocks, and the clamping assembly is used for clamping and transferring the curved frames.

[0011] By adopting the above technical scheme, the telescopic stand can be telescopically adjusted according to the height of the curved room and the site working condition, so that the difficulty of equipment arrangement caused by size mismatch of the traditional fixed support is avoided; the folding cross beam frame can be folded when not in use, occupies small space when transported or stored, and does not need to be greatly modified at the entrance and passage when entering the curved room, so that the requirements of the mobility of the equipment and the airtightness of the curved room are met; the conveying mechanism is provided with walking, lifting, grabbing and clamping assemblies, so that the curved frames can be integrally transferred, and the curved blocks can be grabbed or restacked layer by layer, so that various process operations such as curved block warehousing, curved block turning, curved block pile adjusting and curved block unloading are considered, so that the fermentation requirements in different stages are met; the controller is used for unified scheduling, so that the assemblies are cooperatively operated, the automation level and the operation convenience are improved, the advantages of the conveying equipment in improving the carrying efficiency and reducing the labor intensity are reserved, the contradiction between the equipment stability and the environmental adaptability of the curved room is further solved, the equipment life is prolonged, the maintenance cost is reduced, and finally the efficient, stable and intelligent management of the whole process of the curved block fermentation is realized.

[0012] Optionally, the folding driving member comprises a first motor, a winding roller and a cable, the main beam frame is provided with a first mounting hole, the auxiliary beam frame is provided with a second mounting hole, the first motor is fixedly arranged on the main beam frame, the winding roller is rotatably arranged in the first mounting hole, one end of the winding roller is fixedly connected with the output end of the first motor, the second mounting hole is fixedly provided with a first fixed plate, the first fixed plate is rotatably provided with a rotating wheel, one side of the winding roller facing the auxiliary beam frame is fixedly provided with a second fixed plate, one end of the cable is wound around the winding roller, and the other end of the cable is fixedly connected with the second fixed plate after passing through the rotating wheel.

[0013] By adopting the above technical scheme, the folding driving member is composed of the first motor, the winding roller and the cable, the first fixed plate is arranged at the second mounting hole of the auxiliary beam frame, the rotating wheel is rotatably arranged on the first fixed plate, one end of the cable is wound around the winding roller, and the other end of the cable is fixedly connected with the second fixed plate after passing through the rotating wheel, wherein the cable and the rotating wheel form a movable pulley mechanism, which ensures the flexibility and stability of the folding and unfolding of the auxiliary beam frame, effectively reduces the driving load, and improves the reliability and durability of the system; meanwhile, the arrangement of the folding driving member ensures the efficiency and controllability of the folding and unfolding of the auxiliary beam frame, and greatly improves the applicability of the equipment in a narrow environment, thereby further enhancing the stability and practical value of the entire conveying system in actual production.

[0014] Optionally, the auxiliary vertical frame is provided with a sliding member at one end close to the folding cross beam frame, the sliding member comprises an extension seat, a sliding wheel and a limiting wheel, the extension seat is fixedly arranged on one side of the auxiliary vertical frame close to the main beam frame, the sliding wheel is rotatably arranged on the extension seat and movably abuts against the outer bottom wall of the folding cross beam frame in the length direction, the limiting wheel is rotatably arranged on the limiting portion and movably abuts against the outer side wall of the folding cross beam frame, and the limiting wheel is located above the sliding wheel.

[0015] By adopting the above technical scheme, the sliding member is arranged at one end of the auxiliary vertical frame close to the folding cross beam frame, the sliding member is composed of the extension seat, the sliding wheel and the limiting wheel, wherein the sliding wheel abuts against the outer bottom wall of the folding cross beam frame, the limiting wheel abuts against the outer side wall of the folding cross beam frame and is located above the sliding wheel, so that the support and limiting in the length direction of the folding cross beam frame are formed during the sliding of the auxiliary vertical frame, and the structure can effectively ensure the stable running of the auxiliary vertical frame on the folding cross beam frame after being completely unfolded; in addition, the sliding member has a compact structure and can maintain good guiding performance in a narrow and high-humidity environment, so as to avoid the tilting or falling of the curved frame or curved block due to the deviation of the folding cross beam frame during the carrying process, and further improve the safety and reliability of the system operation.

[0016] Optionally, the auxiliary beam frame is provided with a connecting reinforcement, the connecting reinforcement comprises a deflection plate, a transmission rod and an insertion plate, the auxiliary beam frame is provided with a receiving groove, the receiving groove is communicated with the second mounting port, the deflection plate is provided as a bent plate, a positioning shaft is fixedly arranged on the inner wall of the second mounting port, the deflection plate is rotationally arranged in the receiving groove through the positioning shaft, the insertion plate is slidingly and limitingly arranged on the inner wall of the second mounting port, one end of the transmission rod is rotationally connected with one end of the deflection plate, the other end of the transmission rod is rotationally connected with one end of the insertion plate, a plug-in hoop is fixedly arranged on the inner wall of the first mounting port, the other end of the insertion plate away from the transmission rod is in plug-in engagement with the plug-in hoop, when the sliding wheel moves from the main beam frame to the auxiliary beam frame, the sliding wheel can rotate the deflection plate, so that the deflection plate drives one end of the insertion plate to be in plug-in engagement with the plug-in hoop.

[0017] By adopting the above technical scheme, the connecting reinforcement is arranged on the auxiliary beam frame, in the process that the equipment support frame mechanism is completely unfolded, the reinforcement locking between the auxiliary beam frame and the main beam frame can be automatically completed along with the movement of the telescopic stand, so that the carrying capacity and the anti-deformation capability of the whole track are significantly enhanced, the complex load in the operation process of the curved frame and the curved block in carrying and curve turning can be reliably borne, meanwhile, when the equipment needs to be folded, the telescopic stand can automatically release the reinforcement locking, the track is quickly folded and reset, and the operation convenience and stability of the system are improved.

[0018] Optionally, the connecting reinforcement further comprises a tension spring, one end of the tension spring is fixedly sleeved on the positioning shaft, and the other end of the tension spring is fixedly connected with one end of the deflection plate.

[0019] By adopting the above technical scheme, since the connecting reinforcement is provided as a connecting rod rotation and plug-in structure with self-locking characteristics, the tension spring is arranged in the connecting reinforcement, the deflection plate always maintains an elastic pre-tightening state when being reset, the deflection plate can be more flexibly rotated when needing to be rotated, the action delay caused by the rotation resistance is avoided, so that the automatic reinforcement between the auxiliary beam frame and the main beam frame in the track unfolding process can be more smoothly realized, and the reliability and the use stability of the reinforcement locking are improved.

[0020] Optionally, a folding connector is arranged between the main beam frame and the auxiliary beam frame, the folding connector comprising a fixing seat, a pressing plate and a first spring, the fixing seat is fixedly arranged on the inner wall of the first mounting port, a first accommodating groove is arranged on the first mounting port, the pressing plate is slidingly arranged in the first accommodating groove, a guide portion is fixedly arranged on the pressing plate, the guide portion is slidingly arranged on the fixing seat, the pressing plate is slidingly connected with the fixing seat through the guide portion, the first spring is sleeved on the guide portion, one end of the first spring is fixedly connected with the fixing seat, and the other end of the first spring is fixedly connected with the pressing plate; a second accommodating groove is arranged on the second mounting port, and a group of the folding connectors are arranged in the second mounting port, and the two groups of the pressing plates are combined to form a rotating hinge.

[0021] By adopting the above technical scheme, the folding connector is arranged between the main beam frame and the auxiliary beam frame, which can realize reliable rotating connection between the two, ensure flexible unfolding and folding of the folding beam frame, and keep the sliding process stable and smooth during the movement of the telescopic stand by pressing the pressing plate into the accommodating groove through the sliding wheel, so as to avoid the problems of jamming or uneven track, thereby ensuring the stability and reliability of the telescopic stand moving from the main beam frame to the auxiliary beam frame.

[0022] Optionally, an auxiliary support is arranged between the auxiliary beam frame and the auxiliary stand, the auxiliary support comprising an inclined support rod, a sliding seat, a second motor and a first lead screw, an avoiding groove is arranged on the plug-in part, the first lead screw is rotatably arranged in the avoiding groove, and the first lead screw is arranged in parallel with the plug-in part, the sliding seat is slidingly arranged in the avoiding groove, and the sliding seat is threadedly connected with the first lead screw, a hinged seat is slidingly arranged on the auxiliary beam frame, one end of the inclined support rod is rotatably connected with the sliding seat, the other end of the inclined support rod is rotatably connected with the hinged seat, the second motor is fixedly arranged on the auxiliary stand, the output end of the second motor is drivingly connected with one end of the first lead screw, and the second motor is electrically connected with the controller.

[0023] By adopting the above technical scheme, the auxiliary support is arranged between the auxiliary beam frame and the auxiliary stand, the sliding seat drives the inclined support rod to lift the auxiliary beam frame first during the process of the auxiliary beam frame moving from the folded state to the main beam frame, so that the auxiliary beam frame is deflected to a certain angle, and then the auxiliary beam frame is completely pulled to the same level as the main beam frame by the cable, thereby solving the problem that the folded driving part alone is difficult to lift the drooping auxiliary beam frame, so that the auxiliary beam frame can be more stably unfolded; at the same time, the auxiliary support can stably fix the auxiliary beam frame in the folded state to prevent it from shaking randomly, thereby improving the safety and reliability of the equipment during folding and unfolding; in addition, the inclined support rod provides reliable support during the unfolding process of the entire support frame mechanism, thereby ensuring the stability of the entire frame and the safety of the track, and improving the smoothness and reliability of the operation of the equipment.

[0024] Optionally, the traveling assembly includes a traveling frame, a traveling motor, gears, and a traveling rack. An extension is fixed to the traveling frame, and a traveling wheel is rotatably mounted on the extension. An auxiliary support is fixed to the extension, and an auxiliary wheel is rotatably mounted on the auxiliary support. The traveling wheel movably abuts against the upper surface of the main beam frame, and the auxiliary wheel movably abuts against the side wall of the main beam frame. Multiple sets of traveling racks are provided, each fixed to the secondary beam frame and the main beam frame. The traveling motor is fixed to the traveling frame. The gear is fixedly connected to the output end of the traveling motor, and the gear meshes with the traveling racks. When the secondary beam frames on both sides are flush with the main beam frame and combined to form a translation track, the multiple sets of traveling racks also combine to form a complete and continuous rack.

[0025] By adopting the above technical solution, the walking component enables the conveying mechanism to move smoothly along the track after the main beam and secondary beam are combined to form a complete translation track. The combination of the walking wheels and auxiliary wheels ensures the longitudinal and lateral guidance stability of the track, thereby avoiding track swaying or deviation and ensuring the safety and stability of the bending frame and bending blocks during handling, turning and other operations. At the same time, the walking component can still maintain operational reliability in complex bending room environments such as high humidity and high temperature, improving the overall operating accuracy and handling efficiency of the equipment.

[0026] On the other hand, this application provides a conveying method suitable for a conveying system for fermentation of koji blocks, comprising the following steps:

[0027] S1. The conveyor system moves into the koji room and transports the koji racks with fresh koji blocks to the door of the target koji room. The controller operates the clamping component to clamp the koji racks and send them into the designated position in the koji room for stacking. Repeat the above steps until all empty spaces in the koji room are filled with koji racks. Then the conveyor system exits the koji room and is dispatched to other koji rooms to perform the same warehousing task.

[0028] S2. When the temperature inside the curing room reaches 35℃ and the temperature of the stacked curing blocks reaches 48℃, the conveying system re-enters the curing room. The controller controls the gripping components to re-stack the full curing racks in the curing room, grabbing them from top to bottom and from inside to outside and re-stacking them in a new position. After all the predetermined replacement tasks are completed, the conveying system exits the curing room.

[0029] S3. When the temperature inside the curing room reaches 40℃ and the temperature of the stacked curing blocks reaches 57℃, the conveying system re-enters the curing room. Then, the gripping component grips the curing blocks on the curing rack and re-stacks them in a new position. When all the curing blocks on the rack are unloaded, the clamping component moves the empty rack to the entrance of the curing room. The above steps are repeated until all the curing racks in the curing room are removed. After completion, the conveying system exits the curing room and moves to the next curing room for cyclical operation.

[0030] S4, when the temperature in the fermentation room reaches 36℃ and the product temperature of the stacked koji blocks reaches 60℃, the conveying system enters the koji room, the grabbing assembly performs koji turning operation on the koji blocks, and the stacking height needs to be operated when the koji blocks are restacked; after completion, the conveying system switches to the first working posture again and exits the koji room;

[0031] When the temperature in the koji room reaches 34℃ and the product temperature of the stacked koji blocks reaches 50℃, the conveying system needs to enter the koji room again to repeat the above operation to turn the koji blocks;

[0032] S5, when the finished koji blocks need to be discharged, the empty koji rack is sent to the koji room door, the conveying system enters the koji room, the grabbing assembly grabs the koji blocks, and the AGV takes away the koji rack full of koji blocks; repeat the above steps until all the koji blocks in the koji room are discharged.

[0033] Through the above technical scheme, during the koji rack storage stage, the conveying system can accurately transport the koji blocks to the designated position in the koji room, reducing the disturbance of frequent manual entry and exit of the koji room to the temperature, humidity and micro-ecological environment; after the koji rack is full, the system can restack according to the set temperature and koji block product temperature, realize koji turning and stacking from top to bottom and from inside to outside, and thus ensure the uniformity and fermentation quality of the koji blocks; during the koji block maturation stage, the system can automatically transport the koji blocks from the koji room to the discharge position, and stack them on the koji rack according to the discharge requirements, realizing safe and efficient discharge operation. This method not only realizes automatic management of the whole koji block fermentation process, significantly reduces the labor intensity, and improves the transportation and koji turning efficiency, but also maintains the stability of the koji room micro-ecological environment during the whole koji block fermentation, stacking and discharge process, and improves the uniformity, finished product quality and production standardization level of the koji blocks.

[0034] In summary, the present application includes at least one of the following beneficial technical effects:

[0035] 1. The telescopic stand is set to be telescopic and adjustable according to the height of the koji room and the site conditions, avoiding the difficulty of equipment arrangement caused by size mismatch of traditional fixed supports; the folding cross beam frame can be folded when not in use, occupying less space during transportation or storage, and does not need to be greatly modified at the entrance and passage when entering the koji room, taking into account the mobility of the equipment and the requirement of the closed nature of the koji room; the conveying system not only retains the advantages of conveying equipment in improving transportation efficiency and reducing labor intensity, but also further solves the contradiction between equipment stability and koji room environment adaptability, prolongs the service life of the equipment, reduces the maintenance cost, and finally realizes efficient, stable and intelligent management of the whole koji block fermentation process;

[0036] 2. The connecting reinforcement is arranged on the sub-beam frame, and the reinforcement locking between the sub-beam frame and the main beam frame can be automatically completed along with the movement of the telescopic stand during the complete unfolding of the equipment support frame mechanism, thereby significantly enhancing the carrying strength and anti-deformation ability of the whole track, enabling it to reliably bear the complex load of the curved frame and curved block during the operation process such as carrying and curve turning, and improving the operation convenience and stability of the system. In addition, the connecting reinforcement is arranged as a connecting rod toggle joint structure with self-locking characteristics, and a tension spring is arranged in the connecting reinforcement, so that the deflection plate always maintains an elastic pre-tightening state when being reset, and can be more flexibly rotated when needed, thereby improving the reliability and use stability of the reinforcement locking;

[0037] 3. The auxiliary support is arranged between the sub-beam frame and the sub-stand, and during the process of the sub-beam frame being closed to the main beam frame from the folded state, the sliding seat drives the inclined strut to first lift the sub-beam frame, so that it is deflected to a certain angle, and then the sub-beam frame is completely pulled to the same level as the main beam frame by the cable, thereby solving the problem that the sub-beam frame is difficult to be pulled up by the folding drive alone, so that the sub-beam frame can be more stably unfolded. At the same time, the auxiliary support can stably fix the sub-beam frame in the folded state to prevent it from shaking randomly, thereby improving the safety and reliability of the equipment during folding and unfolding. In addition, the inclined strut provides reliable support during the unfolding process of the whole support frame mechanism, thereby ensuring the stability of the whole frame and the safety of the track, and improving the smoothness and reliability of the equipment operation. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is the overall structure schematic diagram of the conveying system for the curved block fermentation of the present application.

[0039] Figure 2 is the structure schematic diagram of the folding drive in the embodiment of the present application.

[0040] Figure 3 is Figure 1 is the enlarged schematic diagram of part A in

[0041] Figure 4 is the overall structure schematic diagram of the folding beam frame in the embodiment of the present application.

[0042] Figure 5 is the overall structure schematic diagram of the telescopic stand in the embodiment of the present application.

[0043] Figure 6 is the overall structure schematic diagram of the clamping assembly in the embodiment of the present application.

[0044] Figure 7 is the overall structure schematic diagram of the clamping assembly in the embodiment of the present application.

[0045] : 1, telescopic stand; 11, main stand; 111, insertion port; 12, auxiliary stand; 121, insertion part; 122, avoiding groove; 13, telescopic driving piece; 14, sliding piece; 141, extension seat; 1411, limiting part; 142, sliding wheel; 143, limiting wheel; 15, auxiliary support piece; 151, inclined support rod; 152, sliding seat; 153, second motor; 154, first screw rod;

[0046] 2, folding beam frame; 21, auxiliary beam frame; 211, second mounting port; 212, first fixed plate; 213, positioning shaft; 214, auxiliary beam; 215, connecting beam; 22, main beam frame; 221, first mounting port; 222, second fixed plate; 223, insertion hoop; 23, folding driving piece; 231, first motor; 232, winding roller; 233, cable; 234, rotating wheel; 24, connecting reinforcing piece; 241, deflection plate; 242, transmission rod; 243, insertion plate; 244, tension spring; 25, folding connecting piece; 251, fixed seat; 252, pressing plate; 2521, guide part; 253, first spring; 26, hinged seat;

[0047] 3, controller;

[0048] 4, walking assembly; 41, walking frame; 42, walking motor; 43, gear; 44, walking rack; 411, outer extension part; 412, walking wheel; 4111, auxiliary support; 413, auxiliary wheel;

[0049] 5, lifting assembly; 51, lifting roller; 52, lifting motor; 53, lifting cable; 54, lifting frame;

[0050] 6, grabbing assembly; 61, base plate; 62, abutting plate; 63, clamping plate; 64, grabbing driving piece; 65, rotating driving piece;

[0051] 7, clamping assembly; 71, clamping frame; 72, deflection disc; 73, pull rod; 74, clamping rod; 75, clamping driving piece. DETAILED DESCRIPTION

[0052] The following will be described in detail below with reference to the accompanying drawings. Figures 1-7 The application is described in further detail.

[0053] The application discloses a conveying system for curved block fermentation.

[0054] Reference is made to Figure 1The conveying system for fermentation of curved blocks comprises a folding cross beam frame 2, telescopic vertical frames 1 and a conveying mechanism, wherein the conveying mechanism comprises a walking assembly 4, a lifting assembly 5, a grabbing assembly 6 and a clamping assembly 7, the telescopic vertical frames 1 are provided in two groups, the two groups of telescopic vertical frames 1 are respectively arranged at two ends in the length direction of the folding cross beam frame 2, the two groups of telescopic vertical frames 1 and the folding cross beam frame 2 are combined into a gantry structure of the whole conveying system for fermentation of curved blocks, the conveying mechanism is installed on the folding cross beam frame 2, the walking assembly 4 is installed on the folding cross beam frame 2, the lifting assembly 5 is installed on the walking assembly 4, the grabbing assembly 6 and the clamping assembly 7 are both installed on the lifting assembly 5, and the clamping assembly 7 is located above the grabbing assembly 6.

[0055] The gantry structure combined by the telescopic vertical frames 1 and the folding cross beam frame 2 serves as the installation and operation basis of the whole conveying system, the walking assembly 4 can drive the lifting assembly 5 to reciprocate along the length direction of the folding cross beam frame 2, the lifting assembly 5 can simultaneously drive the clamping assembly 7 and the grabbing assembly 6 to move up and down along the vertical direction, the clamping assembly 7 can be used for clamping a curved frame, and the grabbing assembly 6 can be used for grabbing a certain number of curved blocks, and the controller 3 is installed on the walking assembly 4.

[0056] Referring to Figure 1 and Figure 2 In the embodiment, the folding cross beam frame 2 comprises a sub-beam frame 21, a main-beam frame 22, a folding connecting piece 25, a folding driving piece 23 and a connecting reinforcing piece 24, the sub-beam frame 21 and the main-beam frame 22 are both made of rectangular stainless steel pipes welded together, the sub-beam frame 21 comprises a connecting beam and a sub-beam, one group of sub-beams is fixed at one end of the connecting beam in the length direction, and the two groups of sub-beams and the connecting beam are combined into a “” shaped sub-beam frame 21, one end of the main-beam frame 22 is provided as a first mounting port 221, and the other end of the sub-beam away from the connecting beam is provided as a second mounting port 211.

[0057] The sub-beam frame 21 is rotatably arranged at one end of the main-beam frame 22 in the length direction through a folding connecting piece 25, and the folding connecting piece 25 comprises a fixing seat 251, a pressing plate 252 and a first spring 253. In the embodiment, the fixing seat 251 is arranged as an angle steel, and the fixing seat 251 is fixedly arranged on the inner wall of the main-beam frame 22 by welding. A first accommodating groove is formed in the first mounting port 221, and the pressing plate 252 is slidably arranged in the first accommodating groove. A plurality of guide portions 2521 are fixedly arranged on the pressing plate 252, the guide portions 2521 are slidably arranged on the fixing seat 251, and a preventing portion is fixedly arranged on the end of the guide portions 2521 away from the pressing plate 252. The pressing plate 252 is slidably connected with the fixing seat 251 through the guide portions 2521. The first spring 253 is sleeved on the guide portions 2521, one end of the first spring 253 is fixedly connected with the fixing seat 251, and the other end of the first spring 253 is fixedly connected with the pressing plate 252. A second accommodating groove is formed in the second mounting port 211, and a folding connecting piece 25 is also arranged in the second mounting port 211. The two pressing plates 252 are combined to form a rotary hinge. The sub-beam frame 21 is rotatably connected with the main-beam frame 22 through the rotary hinge.

[0058] With reference to Figure 2 and Figure 3 In the embodiment, the folding driving piece 23 comprises a first motor 231, a winding roller 232, a rotating wheel 234 and a cable 233. The first motor 231 is fixedly arranged on the main-beam frame 22, and the first motor 231 can be a stepping motor. The first motor 231 is electrically connected with the controller 3. The winding roller 232 is rotatably arranged in the first mounting port 221, and one end of the winding roller 232 is fixedly connected with the output end of the motor. A fixing plate is fixedly arranged in the second mounting port 211, and a rotating seat is fixedly arranged on the side of the fixing plate facing the second mounting port 211. The rotating wheel 234 is rotatably arranged on the fixing plate through the rotating seat. A fixing portion is fixedly arranged on the inner side of the first mounting port 221, and the fixing portion is located on the side of the winding roller 232 facing the sub-beam frame 21. One end of the cable 233 is wound around the winding roller 232, and the other end of the cable 233 is fixedly connected with the fixing portion after passing through the rotating wheel 234.

[0059] The connecting reinforcing piece 24 comprises a deflection plate 241, a tension spring 244, a transmission rod 242 and an insertion plate 243. The connecting reinforcing piece 24 is arranged on the sub-beam frame 21, and an accommodating groove is formed in the sub-beam. The deflection plate 241 is arranged as a bent plate, and an included angle of 135° is formed between the two ends of the deflection plate 241 in the length direction. A positioning shaft 213 is fixedly arranged on the inner wall of the sub-beam. The deflection plate 241 is rotatably arranged in the accommodating groove through the positioning shaft 213. One end of the tension spring 244 is fixedly sleeved on the positioning shaft 213, and the other end of the tension spring 244 is fixedly connected with one end of the deflection plate 241.

[0060] A plurality of groups of limiting hoops are linearly arranged and fixed on the inner wall of the sub-beam, the plug plate 243 is slidingly arranged on the inner wall of the sub-beam through the limiting hoops, one end of the transmission rod 242 is rotatably connected to the end of the deflection plate 241 away from the second mounting port 211, the other end of the transmission rod 242 is rotatably connected to the end of the plug plate 243 away from the second mounting port 211, the inner wall at the first mounting port 221 is fixedly provided with a plug-in hoop 223, and the end of the plug plate 243 away from the transmission rod 242 is movably and plug-in connected with the plug-in hoop 223. The connecting reinforcement 24 is provided with two groups on each group of sub-beam frames 21, and the two groups of connecting reinforcements 24 are symmetrically arranged along the width direction of the sub-beam.

[0061] Referring to Figure 4 and Figure 5 In the embodiment, the telescopic stand 1 comprises a telescopic driving member 13, a main stand 11, a sub-stand 12, an auxiliary support member 15 and a displacement member, the main stand 11 comprises a stand column, a bearing beam and a reinforcing beam, the stand column is provided with two groups, the two groups of stand columns are fixedly arranged at the two ends of the bearing beam in the length direction, and the reinforcing beam is fixedly arranged between the two groups of stand columns, the reinforcing beam is located at the end of the stand column away from the bearing beam, and the end face of the end of the stand column away from the bearing beam is provided with a plug-in port 111. The bearing beam is fixedly provided with a power module, and the power module can provide stable power output for the whole conveying system.

[0062] The sub-stand 12 is a " " shaped frame made of rectangular stainless steel pipes by welding, two groups of extension ends of the sub-stand 12 are arranged as plug-in parts 121, the plug-in parts 121 are slidingly arranged in the plug-in port 111, and the sub-stand 12 is telescopically arranged on the main stand 11 through the plug-in parts 121.

[0063] A bearing plate is fixedly arranged on the side of the bearing beam away from the sub-stand 12, the displacement member is mounted on the bearing plate, the displacement member comprises a rotating shaft, a steering gear set, a steering motor, a driving motor and a roller, the rotating shaft is rotatably arranged at one end of the bearing plate in the length direction, the steering gear set comprises a driving gear and a driven gear, the number of teeth of the driven gear is much larger than that of the driving gear, the driven gear is coaxially and rotatably sleeved on the rotating shaft and is fixedly arranged on the bearing plate, the end of the rotating shaft away from the bearing plate is fixedly provided with a mounting plate, the steering motor is fixedly arranged on the mounting plate, the steering motor can be a servo motor, the steering motor is electrically connected with the controller 3, the driving gear is fixedly arranged on the output end of the steering motor, and the driving gear is in mesh with the driven gear.

[0064] The mounting plate is also fixedly provided with a mounting seat, the roller is rotatably arranged on the mounting seat, and the driving motor is fixedly arranged on the mounting seat, the driving motor can be a servo motor, the driving motor is electrically connected with the controller 3, and the roller is fixedly connected with the output end of the driving motor. The displacement member is provided with two groups on the bearing plate, and the two groups of displacement members are symmetrically arranged along the length direction of the bearing plate.

[0065] In addition, a plurality of groups of electric telescopic cylinders are installed on each group of bearing plates, and the electric telescopic cylinders are electrically connected with the controller 3. In the non-moving state of the entire conveying system, the electric telescopic cylinders are in the extended state, so that the entire conveying system can be stably fixed in place, and the stable operation of the system equipment is facilitated.

[0066] In the embodiment, the telescopic driving member 13 is an electric telescopic cylinder, the telescopic driving member 13 is fixedly arranged on the main stand 11, the output end of the telescopic driving member 13 is connected with the auxiliary stand 12, and the telescopic driving member 13 can drive the auxiliary stand 12 to move reciprocatingly and telescopically in the vertical direction.

[0067] The auxiliary support member 15 includes an inclined support rod 151, a sliding seat 152, a second motor 153, a first screw rod 154, a guide rod and a transmission member, the insertion part 121 is provided with an avoiding groove 122, the main stand 11 is provided with a letting port corresponding to the avoiding groove 122, the first screw rod 154 and the guide rod are both rotationally arranged in the insertion part 121, and the first screw rod 154 is parallel to the insertion part 121, the sliding seat 152 is slidingly arranged in the insertion part 121, the sliding seat 152 is threadedly connected with the first screw rod 154, and the sliding seat 152 is slidingly connected with the guide rod.

[0068] The sliding seat 152 is provided with a movable groove, a fixed shaft is fixedly arranged in the movable groove, and one end of the inclined support rod 151 is rotationally connected with the fixed shaft. In the embodiment, the transmission member can be a bevel gear set, the transmission member includes a driving bevel gear and a driven bevel gear, the driven bevel gear is coaxially and fixedly arranged at one end of the first screw rod 154 close to the main beam frame 22, the second motor 153 is fixedly arranged on the auxiliary stand 12, the driving bevel gear is fixedly arranged on the output end of the second motor 153, the driving bevel gear is meshed with the driven bevel gear, the second motor 153 can be a servo motor, and the second motor 153 is electrically connected with the controller 3.

[0069] The auxiliary beam is provided with a sliding rail on the side close to the auxiliary stand 12, the two ends of the sliding rail in the length direction are both provided with anti-disengagement structures, the sliding rail is slidingly provided with a hinged seat 26, and one end of the inclined support rod 151 away from the auxiliary stand 12 is rotationally connected with the hinged seat 26.

[0070] The sliding part 14 is arranged at one end of the folding beam frame 2 close to the auxiliary vertical frame 12, and comprises an extension seat 141, a sliding wheel 142 and a limiting wheel 143. The extension seat 141 is fixedly arranged on one side of the auxiliary vertical frame 12 facing the main beam frame 22. The sliding wheel 142 is rotatably arranged on the extension seat 141 and is in movable abutment with the auxiliary beam. Two groups of limiting parts 1411 are fixedly arranged on the extension seat 141. The limiting wheel 143 is rotatably arranged on the limiting parts 1411 and is in movable abutment with one side of the auxiliary beam in the width direction. The two groups of limiting wheels 143 are arranged in circumferential symmetry with the center of the extension seat 141. An electric push rod is also arranged on the extension seat 141 and is electrically connected with the controller 3. A latch is fixedly arranged on the output end of the electric push rod. The main beam frame 22 and the auxiliary beam frame 21 are both provided with a plug hole in movable plug connection with the latch.

[0071] More specifically, referring to Figure 1 , in the initial state, the folding beam frame 2 is in the folded state, the auxiliary beam frame 21 is perpendicular to the main beam frame 22, the hinge seat 26 is located at one end of the sliding rail away from the main beam frame 22, and the sliding seat 152 is also located at one end of the plug-in part 121 away from the main vertical frame 11. When the entire device needs to be unfolded, the telescopic driving part 13 lifts the auxiliary vertical frame 12 upward to the position, then the second motor 153 located on the left side of the main beam frame 22 drives the first screw rod 154 to rotate, the sliding seat 152 moves downward to lift and deflect the downward auxiliary beam frame 21 on the left side of the main beam frame 22 to one side through the inclined support rod 151, and at the same time, the first motor 231 drives the winding roller 232 to rotate and gradually tightens the cable 233. When the sliding seat 152 slides to the lowermost end of the avoiding groove 122, the controller 3 turns off the second motor 153, the first motor 231 continues to drive the winding roller 232 to rotate, and the cable 233 continues to pull the auxiliary beam frame 21 until the auxiliary beam frame 21 is flush with the main beam frame 22, thereby forming a complete translation track.

[0072] Subsequently, the steering motor drives the roller to deflect 90° through the steering gear set, so that the roller faces the main beam frame 22, and then the driving motor drives the roller to rotate, so that the entire telescopic vertical frame 1 on the left side of the main beam frame 22 moves away from the main beam frame 22, while the telescopic vertical frame 1 on the other side is in the original position and is in the locked state. During this period, the sliding wheel 142 arranged on the auxiliary vertical frame 12 will press the deflection plate 241 from one end to the other end, so as to insert the plug-in plate 243 into the plug-in hoop 223 through the transmission rod 242. When the telescopic vertical frame 1 on the left side of the main beam frame 22 moves to the position, the inclined support rod 151 is just in the vertical state and is inserted into the avoiding groove 122.

[0073] Referring to Figure 4In the embodiment of the present application, the conveying mechanism comprises a walking assembly 4, a lifting assembly 5, a grabbing assembly 6 and a clamping assembly 7. The walking assembly 4 comprises a walking frame 41, a walking motor 42, a gear 43 and a walking rack 44. The walking frame 41 is provided in the shape of a "mouth" frame. The walking frame 41 is provided with an extension part 411 on both sides in the length direction of the main beam frame 22. The walking wheels 412 are rotatably arranged on the extension part 411. The auxiliary supports 4111 are fixedly arranged on both sides in the width direction of the extension part 411. The auxiliary wheels 413 are rotatably arranged on the auxiliary supports 4111. The walking wheels 412 are in movable abutment with the upper surface of the main beam frame 22. The auxiliary wheels 413 are in movable abutment with the side wall of the main beam frame 22. The extension part 411 is provided with four groups. The four groups of extension parts 411 are respectively arranged at the four corners of the walking frame 41.

[0074] The walking rack 44 is provided with three groups. The three groups of walking racks 44 are linearly arranged. The three groups of walking racks 44 are respectively provided as a first rack, a second rack and a third rack. The second rack is fixedly arranged on the inner side of the outer wall of the main beam frame 22. The second rack is parallel to the length direction of the main beam frame 22. The first rack and the second rack are respectively fixedly arranged on the inner side of the outer wall of the auxiliary beam frame 21 on both sides of the main beam frame 22. When the two auxiliary beam frames 21 and the main beam frame 22 are combined to form a translation track, the first rack, the second rack and the third rack are also combined to form a complete continuous rack. The walking frame 41 is provided with a mounting part for mounting the walking motor 42. The walking motor 42 is fixedly arranged on the mounting part. The walking motor 42 can be a servo motor. The walking motor 42 is electrically connected with the controller 3. The gear 43 is fixedly connected with the output end of the walking motor 42. The gear 43 is engaged with the walking rack 44.

[0075] The lifting assembly 5 comprises a lifting roller 51, a lifting motor 52, a lifting cable 53 and a lifting frame 54. The walking frame 41 is fixedly provided with a plurality of bearing seats. The lifting roller 51 is rotatably arranged on the walking frame 41 through the bearing seat. The lifting roller 51 is provided with a winding part at both ends for winding the lifting cable 53. The end of the lifting cable 53 is fixedly arranged on the winding part. The lifting cable 53 is also wound on the winding part. The lifting roller 51 is provided with two groups. The two groups of lifting rollers 51 are symmetrically arranged along the length direction of the walking frame 41.

[0076] The walking frame 41 is fixedly provided with a mounting frame. The mounting frame is fixedly provided with a reversing gear box. The reversing gear box is provided with one input end and two output ends. The lifting motor 52 is fixedly arranged on the reversing gear box. The output end of the lifting motor 52 is fixedly connected with the input end of the reversing gear box. The lifting motor 52 can be a servo motor. The lifting motor 52 is electrically connected with the controller 3. One end of the lifting roller 51 is fixedly connected with one output end of the reversing gear box. The reversing gear box is provided with a plurality of bevel gears. The reversing gear box can uniformly transmit the torque of the lifting motor 52 to each group of lifting rollers 51.

[0077] The lifting frame 54 is arranged as a rectangular frame, and is located directly below the main beam frame 22. Four groups of lifting wheels are rotatably arranged on the lifting frame 54, and are arranged in one-to-one correspondence with the winding portions on the lifting roller 51. The lifting wheels are located below the winding portions, and one end of the sling 53 wound on the winding portions is wound on the lifting wheels. The other end of the sling 53 wound on the lifting wheels is fixed to the walking frame 41.

[0078] With reference to Figure 6 In the embodiment, the clamping assembly 7 includes a clamping frame 71, a deflection disc 72, a pull rod 73, a clamping rod 74, and a clamping drive 64. The clamping frame 71 is arranged as a rectangular frame and is located below the lifting frame 54. A plurality of hoisting supports are fixed to the clamping frame 71, and the clamping frame 71 is fixed to the lifting frame 54 through the hoisting supports.

[0079] The deflection disc 72 is fixed with a connecting portion, and the clamping frame 71 is fixed with a “door” shaped support. The connecting portion is rotatably connected with the “door” shaped support, and the deflection disc 72 is rotatably arranged on the clamping frame 71 through the connecting portion. The deflection disc 72 is fixed with an extension portion. Four groups of the extension portions are arranged on the deflection disc 72, and are arranged in pairs symmetrically with the center line in the length direction of the clamping frame 71 as the center. The two groups of the extension portions on the same side are arranged symmetrically with the center line in the width direction of the clamping frame 71 as the center.

[0080] The clamping frame 71 is fixed with a rotating seat at each corner. The clamping rod 74 is rotatably arranged in the rotating seat. The clamping rod 74 is fixed with a rotating portion at one end and a clamping portion at the other end. The rotating portion and the clamping rod 74 are arranged perpendicularly to each other. The clamping portion and the clamping rod 74 are arranged perpendicularly to each other. The rotating portion and the clamping portion are arranged non-parallelly.

[0081] In the embodiment, the rotating portion is arranged in a cam shape. The large diameter end of the rotating portion is coaxially arranged with the clamping rod 74. The small diameter end of the rotating portion is fixed with a connecting shaft. The clamping rod 74 is arranged in four groups, and is arranged in one-to-one correspondence with the rotating seat. The pull rod 73 is rotatably connected with the connecting shaft at one end, and is rotatably connected with the extension portion away from the deflection disc 72 at the other end. The pull rod 73 is arranged in four groups, and is arranged in one-to-one correspondence with the extension portion. Of course, in other embodiments of the application, the rotating portion can also be arranged in a strip shape.

[0082] It is worth noting that in the embodiment, the two groups of rotating portions and clamping portions on the same side in the length direction of the clamping frame 71 are arranged at an angle of 90° between one group of rotating portions and the clamping portion, and at an angle of 45° between the other group of rotating portions and the clamping portion.

[0083] The clamping driving member 64 comprises a housing, a clamping motor, a clamping turbine and a clamping worm, the housing is fixed on the lifting frame 54, the clamping motor is fixed on the housing, the clamping motor can adopt a servo motor, the clamping motor is electrically connected with the controller 3, the clamping turbine and the clamping worm are both rotationally arranged in the housing and the clamping turbine is engaged with the clamping worm. The lifting frame 54 rotationally transmits a transmission shaft, one end of the transmission shaft is fixedly connected with the clamping turbine in a same axis, and the other end of the transmission shaft is fixedly connected with the connecting portion.

[0084] With reference to Figure 7 In the embodiment, the grabbing assembly 6 comprises a base plate 61, an abutting plate 62, a clamping plate 63, a clamping driving member 64 and a rotating driving member 65, the base plate 61 is fixedly arranged with a connecting support, the base plate 61 is rotationally arranged on the clamping frame 71 through the connecting support, the abutting plate 62 is fixed on the side of the base plate 61 away from the connecting support, and the abutting plate 62 is located at the middle line position of the base plate 61 in the width direction.

[0085] The base plate 61 is fixedly arranged with a guide rail, one end of the clamping plate 63 in the width direction is fixedly arranged with a bent portion, the bent portion is fixedly arranged with a sliding block, the clamping plate 63 is slidingly arranged on the base plate 61 through the sliding block, the other end of the clamping plate 63 is arranged with a buffer, the buffer comprises a buffer plate and a buffer spring, the buffer plate is fixedly arranged with a guide rod, the guide rod is slidingly arranged through the clamping plate 63, the buffer spring is sleeved on the guide rod, one end of the buffer spring is fixedly connected with the clamping plate 63, and the other end of the buffer spring is fixedly connected with the buffer plate, and a plurality of groups of buffers are uniformly arranged on the clamping plate 63. The abutting plate 62 and the clamping plate 63 are both arranged with two groups, and the two groups of the abutting plate 62 and the clamping plate 63 are symmetrically arranged with the middle line in the width direction of the base plate 61 as the center.

[0086] The clamping driving member 64 comprises a clamping motor, a bidirectional screw rod, a transmission belt, a driving pulley and a driven pulley, a plurality of bearing seats are fixedly arranged on the base plate 61, the bidirectional screw rod is rotationally arranged on the side of the base plate 61 away from the abutting plate 62 through the bearing seat, the clamping motor is fixedly arranged on the base plate 61, the clamping motor can adopt a servo motor, the clamping motor is electrically connected with the controller 3, the driving pulley is fixedly arranged on the output end of the clamping motor, the driven pulley is coaxially fixedly arranged on the bidirectional screw rod, and the transmission belt is simultaneously wound on the driving pulley and the driven pulley.

[0087] The rotating driving member 65 is installed on the clamping frame 71, in the embodiment, the rotating driving member 65 is arranged in the same manner as the clamping driving member 75, the rotating driving member 65 comprises a rotating motor, a rotating turbine and a rotating worm, wherein the rotating turbine is fixedly connected with the rotating support, and the rotating driving member 65 can drive the entire base plate 61 to rotate on the clamping frame 71.

[0088] The first working posture is that the whole conveying system is in a fully retracted state, the second working posture is that only the sub-beam frame 21 in the conveying system is retracted, and the third working posture is that the whole conveying system is fully deployed.

[0089] In addition, the operation of the clamping assembly 7 in the conveying system for clamping the curved frame is set as mode A, and the specific implementation process of mode A is as follows: the controller 3 controls the lifting roller 51 to rotate and lower the lifting frame 54 until the clamping frame 71 is overlapped on the curved frame, and then the clamping drive 75 drives the deflection disc 72 to deflect to one side by a certain angle, so that the clamping rod 74 is also deflected through the pull rod 73, so that the clamping part at one end of each group of clamping rods 74 hooks the curved frame, so as to complete the clamping action of the curved frame.

[0090] Then, the lifting motor 52 drives the lifting frame 54 to move upwards, so as to lift the curved frame, and then the curved frame is moved to a predetermined position and can be stacked in a specific stacking mode.

[0091] The operation of the clamping assembly 7 in the conveying system for clamping the curved frame is set as mode A, and the specific implementation process of mode A is as follows: the controller 3 controls the lifting roller 51 to rotate and lower the lifting frame 54 until the clamping frame 71 is overlapped on the curved frame, and then the clamping drive 75 drives the deflection disc 72 to deflect to one side by a certain angle, so that the clamping rod 74 is also deflected through the pull rod 73, so that the clamping part at one end of each group of clamping rods 74 hooks the curved frame, so as to complete the clamping action of the curved frame.

[0092] The implementation principle of the conveying system for fermented dough blocks in the embodiment of the application is as follows: the system first uses the clamping assembly 7 to stack the curved frame full of fresh dough blocks transported by the AGV into the fermentation room according to a preset rule for fermentation; in the middle of the fermentation, the clamping assembly 7 is used again to restack the curved frame to ensure uniform fermentation; when the fermentation reaches a specific stage, the clamping assembly 7 and the clamping assembly 7 in the conveying system work cooperatively: the clamping assembly 6 is responsible for unloading the dough blocks from the curved frame and stacking them on the ground, and after the curved frame is emptied, the clamping assembly 7 moves the empty curved frame to the door of the fermentation room.

[0093] Then, when the fermentation parameters need to be adjusted, the clamping assembly 6 independently performs the dough block turning operation to stack and collect the dough blocks on the ground; when the fermentation is completed, the clamping assembly 6 again performs the operation to stack the finished dough blocks on the tray, and the AGV transports the dough blocks out of the warehouse, so as to complete the whole-cycle automatic material handling and management from the warehousing, maintenance to the warehousing.

[0094] The embodiment of the application also discloses a conveying method of the conveying system for fermented dough blocks, which comprises the following steps:

[0095] S1, full curve frame into the warehouse stacking: AGV small car will be fresh curve block frame into the target curve room door, the conveying system moves to the curve room in the first working posture;

[0096] Subsequently, the conveying system switches to the second working posture, the controller 3 controls the lifting frame 54 to descend, and operates the clamping driving part 75 to hook the curve frame, and then drives the lifting frame 54 to ascend to lift the curve frame, through the displacement part installed on the telescopic column and cooperates with the walking assembly 4 to send the curve frame into the designated position in the curve room, according to the actual needs, the curve frame is accurately stacked in a specific stacking manner;

[0097] Repeat the above steps until all the empty positions in the curve room are full of curve frames, and then the conveying system switches to the first working posture and exits the curve room, and then the conveying system can be dispatched to other curve rooms to perform the same storage task;

[0098] S2, secondary stacking to make the fermentation of the curve block uniform: when the temperature in the curve room reaches 35℃ and the temperature of the stacked curve block reaches 48℃, the conveying system first reenters the curve room in the first working posture, and then the conveying system switches to the second working posture, the controller 3 controls the clamping assembly 7 to re-stack the full curve frame in the curve room, in order to ensure that the micro-environment (temperature, humidity, ventilation) of all curve frames tends to be consistent, so the curve frame originally placed below needs to be moved to the upper part, usually in the way of from top to bottom and from inside to outside, and then re-stacked in the new position; After completing all the scheduled switching tasks, the conveying system switches to the first working posture and exits the curve room;

[0099] S3, remove the curve frame: when the temperature in the curve room reaches 40℃ and the temperature of the stacked curve block reaches 57℃, the conveying system first reenters the curve room in the first working posture, and then the conveying system switches to the third working posture, the conveying system first grabs the curve block on the curve frame through mode B, and re-stacks the grabbed curve block in the new position and stacks it neatly in a specific stacking manner;

[0100] When the curve block on the curve frame is completely unloaded, the conveying system immediately clamps the empty curve frame through mode A, and moves it to the curve room door;

[0101] The above steps are repeatedly performed, the grabbing assembly 6 unloads and stacks, and the clamping assembly 7 moves away the empty frame, until all the curve frames in the curve room are removed, and after completion, the conveying system switches to the first working posture and exits the curve room, and goes to the next curve room for cyclic operation;

[0102] S4, turning: when the temperature in the koji room reaches 36℃, and the temperature of the stacked koji blocks reaches 60℃, the first working posture of the conveying system enters the koji room, after the conveying system performs the koji room, the conveying system switches to the third working posture, and the koji blocks are turned through mode B, the koji blocks on the ground are re-grabbed by the grabbing assembly 6, and the stacking height needs to be operated when re-stacking to reduce the stacking area, change the heat dissipation and heat preservation performance of the koji pile, and promote the fermentation process; after completion, the conveying system is switched to the first working posture and exits the koji room;

[0103] When the temperature in the koji room reaches 34℃, and the temperature of the stacked koji blocks reaches 50℃, the conveying system needs to enter the koji room again, and repeat the above operation to turn the koji blocks;

[0104] S5, koji block delivery: the AGV car carries an empty tray to the koji room entrance or designated position, the conveying system enters the koji room in the first working posture, after the conveying system performs the koji room, the conveying system switches to the third working posture, and the koji blocks are grabbed through mode B, the koji blocks on the ground are stacked into the tray according to the delivery requirements, and the AGV takes away the tray full of koji blocks; repeat the above steps until all the koji blocks in the koji room are delivered.

[0105] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A conveying system for fermenting koji blocks, characterized in that, include: Telescopic support frame (1), the telescopic support frame (1) includes a main support frame (11), a secondary support frame (12) and a telescopic drive component (13). The main support frame (11) is provided with a plug-in interface (111). The secondary support frame (12) is fixedly provided with a plug-in part (121). The secondary support frame (12) is telescopically mounted on the main support frame (11) through the plug-in part (121). The telescopic drive component (13) is fixed on the main support frame (11). The output end of the telescopic drive component (13) is connected to the secondary support frame (12). Folding crossbeam frame (2), the folding crossbeam frame (2) is set on the telescopic upright frame (1), the folding crossbeam frame (2) includes a secondary beam frame (21), a main beam frame (22) and a folding drive component (23), a set of secondary beam frames (21) are rotatably set at both ends of the main beam frame (22) in the length direction, the secondary upright frame (12) is slidably connected to the secondary beam frame (21) and the main beam frame (22), the folding drive component (23) is set on the main beam frame (22), the folding drive component (23) is connected to the secondary beam frame (21) in a transmission, the folding drive component (23) can drive the secondary beam frame (21) to swing on the main beam frame (22), so that the secondary beam frame (21) and the main beam frame (22) are flush and combined to form a complete translation track; The telescopic support frame (1) is provided in two sets. The two sets of telescopic support frames (1) are respectively located at both ends of the folding crossbeam frame (2) in the length direction. The two sets of telescopic support frames (1) and the folding crossbeam frame (2) are combined to form the gantry structure of the entire fermentation conveying system. The conveying mechanism includes a walking component (4), a lifting component (5), a gripping component (6), and a clamping component (7). The walking component (4) is slidably mounted on the folding crossbeam frame (2). A controller (3) is mounted on the walking component (4). The lifting component (5) is mounted on the walking component (4). The walking component (4) can drive the lifting component (5) to run bidirectionally along the translation track path on the folding crossbeam frame (2). The gripping component (6) and the clamping component (7) are both mounted on the lifting component (5). The gripping component (6) is used to clamp and stack the curved blocks, and the clamping component (7) is used to clamp and transfer the curved frame.

2. The conveying system for fermentation of koji blocks according to claim 1, characterized in that: The folding drive component (23) includes a first motor (231), a take-up roller (232), and a cable (233). A first mounting opening (221) is provided on the main beam frame (22), and a second mounting opening (211) is provided on the secondary beam frame (21). The first motor (231) is fixed to the main beam frame (22), and the take-up roller (232) is rotatably disposed within the first mounting opening (221). One end of the take-up roller (232) is connected to the first motor (231). The outlet is fixedly connected, and a first fixing plate (212) is fixedly provided in the second mounting port (211). A rotating wheel (234) is rotatably provided on the first fixing plate (212). A second fixing plate (222) is fixedly provided on the side of the take-up roller (232) facing the sub-beam frame (21). One end of the cable (233) is wound around the take-up roller (232), and the other end of the cable (233) passes around the rotating wheel (234) and is fixedly connected to the second fixing plate (222).

3. The conveying system for fermentation of koji blocks according to claim 2, characterized in that: The sub-upper frame (12) is provided with a sliding member (14) at one end near the folding crossbeam frame (2). The sliding member (14) includes an extension seat (141), a sliding wheel (142), and a limiting wheel (143). The extension seat (141) is fixed on the side of the sub-upper frame (12) near the main beam frame (22). The sliding wheel (142) is rotatably mounted on the extension seat (141) and the sliding wheel (142) is in movable contact with the outer bottom wall of the folding crossbeam frame (2) in the length direction. A limiting part (1411) is fixed on the extension seat (141). The limiting wheel (143) is rotatably mounted on the limiting part (1411) and the limiting wheel (143) is in movable contact with the outer side wall of the folding crossbeam frame (2). The limiting wheel (143) is located above the sliding wheel (142).

4. The conveying system for fermentation of koji blocks according to claim 3, characterized in that: The sub-beam frame (21) is provided with a connecting reinforcement (24), which includes a deflection plate (241), a transmission rod (242), and a insert plate (243). The sub-beam frame (21) has a receiving groove that communicates with the second mounting port (211). The deflection plate (241) is a bent plate. A positioning shaft (213) is fixedly mounted on the inner wall of the second mounting port (211). The deflection plate (241) is rotatably mounted in the receiving groove via the positioning shaft (213). The insert plate (243) is slidably limited on the inner wall of the second mounting port (211). The transmission rod (242)... One end of the transmission rod (242) is rotatably connected to one end of the deflection plate (241), and the other end of the transmission rod (242) is rotatably connected to one end of the insertion plate (243). A plug clamp (223) is fixed on the inner wall of the first mounting port (221). The end of the insertion plate (243) away from the transmission rod (242) is movably plugged into the plug clamp (223). When the sliding wheel (142) moves from the main beam frame (22) to the secondary beam frame (21), the sliding wheel (142) can rotate the deflection plate (241), thereby causing the deflection plate (241) to drive one end of the insertion plate (243) to plug into the plug clamp (223).

5. A conveying system for fermentation of koji blocks according to claim 4, characterized in that: The connecting reinforcement (24) also includes a tension spring (244), one end of which is fixedly sleeved on the positioning shaft (213), and the other end of which is fixedly connected to one end of the deflection plate (241).

6. The conveying system for fermentation of koji blocks according to claim 2, characterized in that: A folding connector (25) is provided between the main beam frame (22) and the secondary beam frame (21). The folding connector (25) includes a fixed base (251), a pressing plate (252), and a first spring (253). The fixed base (251) is fixed on the inner wall of the first mounting opening (221). A first clearance groove is provided on the first mounting opening (221). The pressing plate (252) is slidably disposed in the first clearance groove. A guide portion (2521) is fixed on the pressing plate (252) and slides through the fixed base (251). The pressing plate (252) is slidably connected to the fixed seat (251) through the guide part (2521). The first spring (253) is sleeved on the guide part (2521). One end of the first spring (253) is fixedly connected to the fixed seat (251), and the other end of the first spring (253) is fixedly connected to the pressing plate (252). A second clearance groove is provided on the second mounting port (211). A set of the folding connectors (25) is also provided in the second mounting port (211). The two sets of pressing plates (252) are combined to form a rotating hinge.

7. The conveying system for fermentation of koji blocks according to claim 1, characterized in that: An auxiliary support (15) is provided between the sub-beam frame (21) and the sub-upright frame (12). The auxiliary support (15) includes a diagonal brace (151), a sliding seat (152), a second motor (153), and a first lead screw (154). A clearance groove (122) is provided on the plug-in part (121). The first lead screw (154) is rotatably disposed in the clearance groove (122) and is arranged parallel to the plug-in part (121). The sliding seat (152) is slidably disposed in the clearance groove (122). Inside, the sliding seat (152) is threadedly connected to the first lead screw (154), and a hinge seat (26) is slidably arranged on the sub-beam frame (21). One end of the diagonal brace (151) is rotatably connected to the sliding seat (152), and the other end of the diagonal brace (151) is rotatably connected to the hinge seat (26). The second motor (153) is fixed on the sub-upper frame (12), and the output end of the second motor (153) is drivenly connected to one end of the first lead screw (154). The second motor (153) is electrically connected to the controller (3).

8. The conveying system for fermentation of koji blocks according to claim 1, characterized in that: The walking assembly (4) includes a walking frame (41), a walking motor (42), a gear (43), and a walking rack (44). An extension (411) is fixedly provided on the walking frame (41), and a walking wheel (412) is rotatably provided on the extension (411). An auxiliary support (4111) is fixedly provided on the extension (411), and an auxiliary wheel (413) is rotatably provided on the auxiliary support (4111). The walking wheel (412) is in movable contact with the upper surface of the main beam frame (22), and the auxiliary wheel (413) is in contact with the main beam frame (22). The side wall is movable and abuts; the traveling rack (44) is provided in multiple sets, and the multiple sets of traveling racks (44) are respectively fixed on the sub-beam frame (21) and the main beam frame (22). The traveling motor (42) is fixed on the traveling frame (41). The gear (43) is fixedly connected to the output end of the traveling motor (42). The gear (43) meshes with the traveling rack (44). When the sub-beam frames (21) on both sides are flush with the main beam frame (22) to form a translation track, the multiple sets of traveling racks (44) are also combined to form a complete and continuous rack.

9. A conveying method applicable to the conveying system for fermentation of koji blocks according to any one of claims 1-8, characterized in that: Includes the following steps: The first working posture is to set the entire conveyor system for fermenting koji blocks to be fully retracted; the second working posture is to set only the secondary beam frame (21) of the conveyor system for fermenting koji blocks to be retracted; and the third working posture is to set the entire conveyor system for fermenting koji blocks to be fully extended. The operation of clamping the koji frame in the conveyor system for fermenting koji blocks is set to mode A, and the operation of grabbing koji blocks in the conveyor system for fermenting koji blocks is set to mode B. S1. Fully stacked koji blocks are stored and stacked: The AGV trolley transports the stacked fresh koji blocks to the door of the target koji room, and the koji block fermentation conveyor system moves into the koji room in the first working posture. Subsequently, the conveying system for fermentation of koji blocks switches to the second working posture, and the controller (3) operates the clamping component (7) to clamp the koji rack and send the koji rack into the designated position in the koji room for stacking; Repeat the above steps until all empty spaces in the fermentation room are filled with fermentation racks. Then, the fermentation block conveyor system switches back to its first working state and exits the fermentation room. After that, the fermentation block conveyor system is dispatched to other fermentation rooms to perform the same storage task. S2. Secondary stacking ensures uniform fermentation of koji blocks: When the temperature inside the koji room reaches 35°C and the temperature of the stacked koji blocks reaches 48°C, the koji block fermentation conveying system first re-enters the koji room in the first working posture, then switches to the second working posture, and the controller (3) controls the gripping component (7) to re-stack the full koji rack in the koji room, grabbing it from top to bottom and from inside to outside, and re-stacking it to a new position; after all the predetermined replacement tasks are completed, the koji block fermentation conveying system switches back to the first working posture and exits the koji room; S3. Removal from the fermentation rack: When the temperature inside the fermentation room reaches 40℃ and the temperature of the stacked fermentation blocks reaches 57℃, the fermentation block conveying system first re-enters the fermentation room in the first working posture. Then, the fermentation block conveying system switches to the third working posture. The fermentation block conveying system first grabs the fermentation blocks on the fermentation rack through mode B, and then re-stacks the grabbed fermentation blocks in a new position and stacks them neatly. After all the koji blocks on the koji rack are unloaded, the koji block fermentation conveying system then uses mode A to immediately clamp the empty koji rack with the clamping component (7) and move it to the entrance of the koji room. Repeat the above steps, grab component (6) to unload and stack koji, clamp component (7) to remove empty rack, until all koji racks in the koji room are removed. After completion, the koji block fermentation conveying system switches back to the first working posture and exits the koji room, and goes to the next koji room for cyclical operation. S4, Turning the koji: When the temperature in the koji room reaches 36℃ and the temperature of the stacked koji blocks reaches 60℃, the koji block fermentation conveying system enters the koji room in the first working posture. After the koji block fermentation conveying system enters the koji room, it switches to the third working posture and turns the koji blocks through mode B. The grabbing component (6) grabs the koji blocks stacked on the ground again and stacks them up when they are re-stacked to reduce the stacking area, thereby changing the heat dissipation and heat preservation performance of the koji pile and promoting the fermentation process. Once the fermentation of the koji blocks is complete, the conveyor system will switch back to its first working state and exit the koji room; When the temperature inside the fermentation room reaches 34°C and the temperature of the stacked fermentation blocks reaches 50°C, the fermentation conveyor system for the fermentation blocks needs to enter the fermentation room again and repeat the above operation to turn the fermentation blocks. S5. Fermentation Block Outbound: The AGV trolley carrying an empty pallet arrives at the entrance of the fermentation room or a designated location. The fermentation block conveying system enters the fermentation room in its first working posture. After entering the fermentation room, the fermentation block conveying system switches to its third working posture and grabs the fermentation blocks through mode B. The fermented fermentation blocks on the ground are stacked into the pallet according to the outbound requirements. The AGV then takes away the pallet full of fermentation blocks. The above steps are repeated until all fermentation blocks in the fermentation room have been outbound.

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