Curved block transporting and stacking system

Abstract

The invention discloses a koji block transporting and stacking system in the technical field of Maotai-flavor liquor production equipment, which comprises a koji frame, a central processing unit, a koji block transporting device, a detection device, a steering device and a stacking device, and further comprises a main frame, the koji block transporting device comprises a koji block conveying mechanism and a koji turning and transporting mechanism; the steering device comprises a pushing mechanism and an overturning mechanism located between the yeast block conveying mechanism and the yeast overturning and transporting mechanism, the overturning mechanism comprises a rotating part, an overturning part is arranged on the annular side of the rotating part, the main rack is provided with a pushing-out mechanism, and when the overturning mechanism rotates to a bearing position, the overturning part is in butt joint with the conveying tail end of the yeast block conveying mechanism; when the overturning mechanism rotates to the overturning position and the yeast blocks are qualified, the overturning piece is in butt joint with the side edge of the yeast overturning and conveying mechanism, and when the overturning piece rotates to the overturning position and the yeast blocks are unqualified, the overturning piece is in butt joint with the side edge of the yeast overturning and conveying mechanism. By means of the system, unqualified products can be efficiently removed in the yeast block transporting and stacking process, and the overall transporting and stacking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the technical field of equipment for producing Maotai-flavor liquor, and in particular to a koji block transport and stacking system. Background Technology

[0002] In the brewing process of Maotai-flavor liquor, Daqu (a type of starter culture) plays a crucial role in aroma development, saccharification, fermentation, and grain addition, significantly influencing the quality of the liquor. Traditional manual Daqu production and stacking operations suffer from high labor intensity, severe dust pollution, and high ambient temperatures, resulting in low efficiency. Currently, most mechanized Daqu production in the industry has achieved mechanical pressing at the front end, but the mechanization of subsequent processes such as stacking and fermentation still faces challenges.

[0003] Chinese patent application CN215466172U, entitled "Curved Block Transport and Palletizing Device," includes a curved block transport and rejection device, a curved block flipping device, a curved block spacing transport device, and a robotic palletizing device. The curved block transport and rejection device comprises two support side plates, with an active idler roller, a driven idler roller, a free idler roller, and a conveyor belt installed between the two support side plates. One end of the active idler roller is connected to an idler roller bearing mounted on the support side plate, and the other end of the active idler roller is connected to a reduction motor mounted on the outside of the support side plate. This automatic curved block transport and palletizing device can automate the mechanical processes of transporting, rejecting, picking up, and palletizing after mechanical pressing, reducing manual labor intensity. However, the curved block transport and rejection device is equipped with a conveyor belt, which is located during the curved block transport process. This means that each curved block, regardless of its quality, must pass through this transport path, occupying a certain amount of transport space and increasing the area used for equipment storage. Furthermore, it enlarges the transport path of the curved blocks, thus slowing down the transport and palletizing time and hindering the overall efficiency of transport and palletizing. Summary of the Invention

[0004] To overcome the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is: how to more efficiently remove unqualified products during the transport and palletizing process of curved blocks, and improve the overall efficiency of transport and palletizing.

[0005] The technical solution adopted by this invention to solve its technical problem is: A curved block transport and palletizing system includes a curved block frame, a central processing unit, and a curved block transport device, a detection device, a steering device, and a palletizing device electrically connected to the central processing unit. The palletizing device is used to transport curved blocks from the curved block transport mechanism to the curved block frame. The detection device is used to detect whether the curved blocks are qualified and includes a main frame. The curved block transport device includes a curved block conveying mechanism, and a turning transport mechanism perpendicular to the conveying direction is provided at intervals at the tail of the curved block conveying mechanism. The steering device includes a pushing mechanism and a flipping mechanism located between the curved block conveying mechanism and the turning transport mechanism. The flipping mechanism includes a rotating component rotatably mounted on the main frame, and a flipping component is provided around the rotating component. The detection device and the pushing mechanism are arranged sequentially along the conveying direction of the curved block conveying mechanism. Assume that the aforementioned host frame is equipped with an ejection mechanism, and the aforementioned pushing mechanism, the aforementioned flipping mechanism, and the aforementioned ejection mechanism are all electrically connected to the aforementioned central processing unit. When the flipping mechanism rotates to the receiving position, the flipping component docks with the conveying tail end of the curved block conveying mechanism. The pushing mechanism is used to push the curved block on the curved block conveying mechanism that is close to the flipping mechanism onto the flipping component. When the flipping mechanism rotates to the flipping position and the curved block is qualified, the flipping component docks with the side of the curved block conveying mechanism. The ejection mechanism is used to push the curved block on the flipping component that has changed direction into the curved block conveying mechanism through the rotating component. When the flipping component rotates to the flipping position and the curved block is not qualified, the flipping component docks with the side of the curved block conveying mechanism. The ejection mechanism is used to push the curved block on the flipping mechanism out of the flipping component and the curved block conveying mechanism in sequence through the rotating component.

[0006] Furthermore, it also includes a curved block rejection device, which includes a material chute located on the side of the curved block conveying mechanism away from the curved block conveying mechanism. The material chute is located on the main frame relative to the ejection end of the ejection mechanism.

[0007] Furthermore, the aforementioned curved block removal device also includes a baffle plate slidably mounted on the main frame. The main frame is equipped with a baffle cylinder for driving the baffle plate to slide. The baffle cylinder is electrically connected to the aforementioned central processing unit. The baffle plate is used to block or avoid curved blocks from entering the material chute.

[0008] Furthermore, the aforementioned detection device includes a fixed frame mounted on the main frame. A photoelectric sensor and a through-beam fiber optic sensor are sequentially mounted on the fixed frame along the conveying direction of the curved block conveying mechanism. The vertical distance between the photoelectric sensor and the conveying surface of the curved block conveying mechanism is lower than the qualified height value of the curved block, while the vertical distance between the through-beam fiber optic sensor and the conveying surface of the curved block conveying mechanism is equal to the qualified height value of the curved block.

[0009] Furthermore, the aforementioned folding and transporting mechanism includes a transport frame, on which a folding chain driven by a folding servo motor is provided. Multiple spaced arc-shaped support plates are fixedly installed on the outer side of the folding chain, and the servo motor is electrically connected to the aforementioned central processing unit.

[0010] Furthermore, the aforementioned palletizing device includes a six-axis palletizing robot arm located between the flipping transport mechanism and the curved frame. The end of the six-axis palletizing robot arm is fixed with a curved block clamp via a mounting plate. A placement cylinder assembly is provided through one side of the curved block clamp. The placement cylinder assembly includes multiple placement cylinders arranged at equal intervals along the length direction of the curved block clamp. A palletizing assembly is provided on the other side opposite any placement cylinder. The end faces of the multiple placement cylinders on the same side are located on the same horizontal plane. The palletizing assembly is used to push the curved blocks in the corresponding placement cylinders into the placement holes on the curved frame. The flipping transport mechanism is provided with a stacking assembly on the side opposite the placement cylinder assembly away from the six-axis palletizing robot arm. The six-axis palletizing robot arm, the palletizing assembly, and the stacking assembly are all electrically connected to the central processing unit. When the multiple placement cylinders are connected to their corresponding arc-shaped support plates, the stacking assembly is used to push the curved blocks on the arc-shaped support plates corresponding to the multiple placement cylinders into their corresponding placement cylinders.

[0011] Furthermore, it also includes a support frame. The aforementioned stacking assembly includes a stacking cylinder and a number of push plates equal to the number of placement cylinders. The stacking cylinder is fixedly installed on the support frame and electrically connected to the central processing unit. The telescopic end of the stacking cylinder is provided with a connecting plate. Any push plate and the connecting plate are fixedly connected by multiple stacking shafts.

[0012] Furthermore, the number of cylinder placement assemblies in the aforementioned curved block clamp is two and arranged side by side along the thickness direction of the aforementioned mounting plate. The number of cylinder placement assemblies is four. The number of stacking assemblies is eight. The number of stacking assemblies is two. The two stacking assemblies are arranged sequentially along the transport direction of the turning and conveying mechanism. The number of push plates in the arbitrary stacking assemblies is four. The eight arc-shaped support plates form a support assembly. The number of support assemblies is multiple and arranged at equal intervals.

[0013] Furthermore, the aforementioned stacking assembly includes two guide seats fixedly mounted on the aforementioned support frame and located on both sides of the aforementioned stacking cylinder. A guide shaft is slidably inserted into either guide seat, and one end of the guide shaft near the aforementioned six-axis stacking robot arm is fixedly connected to the connecting plate.

[0014] Furthermore, the aforementioned flipping component includes a first support plate and a second support plate whose central axes are perpendicular to each other and fixedly connected. The first support plate includes a pair of first unit plates spaced apart to form a push port. The second support plate includes a pair of second unit plates that are connected one-to-one with the pair of first unit plates. The pair of second unit plates are spaced apart to form a flow port communicating with the push port. The aforementioned rotating component includes a rotating shaft rotatably mounted on the main support. A pair of rotating plates are fixedly sleeved on the rotating shaft at intervals along its axial direction. The pair of first unit plates are respectively fixedly connected to the side of the same side of the two rotating plates. The aforementioned ejection mechanism includes an ejection cylinder fixedly mounted on the main frame via a push frame. The ejection cylinder is electrically connected to the aforementioned central processing unit, and its telescopic end is fixedly connected to an ejection plate. The ejection cylinder is used to drive the ejection plate through the push port to push the curved block. The number of the aforementioned flipping components is four, and they are evenly spaced on the ring side of the rotating component. The width of the aforementioned flow port is greater than the width of the push frame.

[0015] The beneficial effects of this invention are: This palletizing system integrates a curved block conveying mechanism and a curved block turning and transporting mechanism with a detection device, a steering device, a palletizing device, and a curved block frame. The steering device includes a flipping mechanism, a material ejection mechanism, and an ejection mechanism. By utilizing the positions of the ejection mechanism and the curved block turning and transporting mechanism, it has the function of removing unqualified curved blocks from the system. By combining curved block turning and curved block removal, the overall travel distance of the curved block is shortened, thereby improving the overall efficiency of transport and palletizing. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the curved block transport and palletizing system of the present invention; Figure 2 This is one of the partial structural schematic diagrams of the curved block transport and palletizing system of the present invention; Figure 3 This is the second partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 4 This is the third partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 5 This is the fourth partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 6 This is the fifth partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 7 This is the sixth partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 8 This is the seventh partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 9 This is the eighth partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 10 This is the ninth partial structural schematic diagram of the curved block transport and palletizing system of the present invention; Figure 11 This is the tenth partial structural schematic diagram of the curved block transport and palletizing system of the present invention.

[0017] The diagram is labeled as follows: 1-Curved block conveyor mechanism, 11-Conveyor frame, 12-Conveyor belt, 2-Detection device, 21-Through-beam fiber optic sensor, 22-Photoelectric sensor, 23-Fixed frame, 3-Steering device, 31-Material blocking mechanism, 311-Blocking cylinder, 312-Material blocking plate, 3121-Material blocking unit plate, 32-Pushing mechanism, 321-Pushing frame, 322-Pushing cylinder, 323-Pushing plate, 33-Pushing mechanism, 331-Pushing cylinder, 332-Lifting assembly, 3 321-Sliding plate, 3322-Lifting frame, 3323-Lifting cylinder, 333-Fixed plate, 3331-Through opening, 334-Guide rail, 335-Slider, 336-Restricting block, 337-Pushing plate, 34-Tilting mechanism, 341-Tilting component, 3411-First support plate, 34111-Pushing port, 34112-First unit plate, 3412-Second support plate, 34121-Second unit plate, 34122-Flow port, 342-Rotary servo motor, 3 43-Rotating component, 3431-Rotating shaft, 3432-Rotating plate, 4-Curved block removal device, 41-Sliding chute, 42-Baffle plate, 43-Baffle cylinder, 5-Turning and conveying mechanism, 51-Supporting assembly, 511-Arc-shaped support plate, 512-Supporting block, 52-Conveying frame, 53-Turning servo motor, 54-Chain, 6-Main frame, 7-Palletizing device, 71-Base, 72-Six-axis palletizing robot arm, 721-Robot chassis, 722-First robotic arm, 723 - Second robotic arm, 73- Mounting plate, 74- Curved block clamp, 741- Placement cylinder, 742- Palletizing assembly, 7421- Palletizing cylinder, 7422- Palletizing rod, 7423- Palletizing pusher, 743- Support housing, 744- Clamping body, 75- Stacking assembly, 751- Push plate, 752- Stacking cylinder, 753- Connecting plate, 754- Stacking shaft, 755- Guide seat, 756- Guide shaft, 8- Curved frame, 81- Placement hole, 9- Support frame, 10- Cylindrical curved block. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments use a cylindrical curved block 10 as an example.

[0019] like Figures 1-11The illustrated curved block transport and palletizing system includes a curved block frame 8, a central processing unit (CPU), and curved block transport devices, a detection device 2, a steering device 3, and a palletizing device 7 electrically connected to the CPU. The palletizing device 7 transports curved blocks from the curved block transport mechanism to the curved block frame 8. The detection device 2 detects whether the curved blocks are qualified and includes a main frame 6. The curved block transport device includes a curved block conveying mechanism 1, with a turning transport mechanism 5 perpendicular to the conveying direction at its tail end. The steering device 3 includes a pushing mechanism 33 and a flipping mechanism 34 located between the curved block conveying mechanism 1 and the turning transport mechanism 5. The flipping mechanism 34 includes a rotating component 343 rotatably mounted on the main frame 6, with a flipping component 341 circumferentially mounted on the rotating component 343. The detection device 2 and the pushing mechanism 33 are arranged sequentially along the conveying direction of the curved block conveying mechanism 1. The main frame 6 is equipped with... When the flipping mechanism 34 rotates to the receiving position, the flipping component 341 connects with the conveying tail end of the curved block conveying mechanism 1. The pushing mechanism 33 is used to push the curved block on the curved block conveying mechanism 1 near the flipping mechanism 34 onto the flipping component 341. The pushing mechanism 33, the flipping mechanism 34 and the pushing mechanism 32 are all electrically connected to the central processing unit. The pushing mechanism 32 is used to push the curved block on the flipping component 341 with a changed direction into the flipping transport mechanism 5 through the rotating component 343. When the flipping mechanism 34 rotates to the flipping position and the curved block is qualified, the flipping component 341 connects with the side of the flipping transport mechanism 5. When the flipping component 341 rotates to the flipping position and the curved block is unqualified, the flipping component 341 connects with the side of the flipping transport mechanism 5 through the rotating component 343. The pushing mechanism 32 is used to push the curved block on the flipping mechanism 34 out of the flipping component 341 and the flipping transport mechanism 5 in sequence through the rotating component 343. The curved block conveying mechanism 1 includes a conveyor frame 11, the conveyor frame 11 is provided with a conveyor belt 12, the conveyor belt 12 is driven by a power servo motor, and the power servo motor is electrically connected to the central processing unit.

[0020] During installation, the system is installed after the koji-making equipment. Once the system starts working, the central processing unit (CPU) activates the servo motor, which drives the conveyor belt 12. The koji blocks produced on the koji-making equipment are arranged at intervals and sequentially enter the conveyor belt 12 for transport. As the koji blocks travel on the conveyor belt 12, they first pass through the detection device 2, which checks whether the passing blocks are qualified and sends the detection result to the CPU. The CPU receives and records whether the corresponding koji block is qualified. Then, the koji blocks enter the area of ​​the pushing mechanism 33 of the turning device 3. The pushing mechanism 33 pushes the koji block at the tail end of the koji block conveying mechanism 1, i.e., the block closest to the flipping mechanism 34, onto the flipping component 341. The CPU then controls the flipping mechanism 34, causing the rotating component 343 to rotate, driving the flipping component 341 from the initial receiving position to the flipping position. The flipping component 341 and the flipping component... The curved transport mechanism 5 is connected to the side. When the corresponding curved block is flipped, the curved block changes from its original vertical position to a horizontal position. Then, the central processing unit will start the ejection mechanism 32 according to the recorded whether the curved block is qualified. When the curved block is qualified, the central processing unit starts the ejection mechanism 32, which pushes the curved block on the flipping part 341 into the curved transport mechanism 5 through the rotating part 343. When the curved block is unqualified, the central processing unit starts the ejection mechanism 32. At this time, the stroke of the ejection mechanism 32 will be increased compared with the stroke of the ejection mechanism 32 when facing the qualified curved block. That is, after the ejection mechanism 32 pushes the curved block on the flipping mechanism 34 out of the flipping part 341 through the rotating part 343, it will not stop but continue to push along the previous running direction and push the curved block out of the curved transport mechanism 5. The curved block is removed from the curved transport mechanism 5, that is, it is removed from the curved block transport and palletizing system. While the flipping mechanism 34 is operating, the folding and conveying mechanism 5 also begins to work. Qualified folding blocks that successfully enter the folding and conveying machine are driven sequentially towards the palletizing device 7 by the running folding and conveying machine. The central processing unit controls the palletizing device 7 to start. After starting, the palletizing device 7 picks up the folding blocks from the folding and conveying mechanism 5 and transports them to the folding rack 8, where they are stacked in layers on the rack 8. This structure enables automated transport and palletizing of folding blocks. This design cleverly utilizes the push-out mechanism 32 in the steering device 3. By controlling the stroke of the push-out mechanism 32, the two functions of pushing folding blocks into and pushing them out of the folding and conveying mechanism 5 are switched, further reducing the space occupied by the structure for removing unqualified folding blocks. This simplifies unnecessary transport processes, shortens the transport trajectory of the folding blocks, and reduces the overall volume and installation space of the transport and palletizing system, thereby improving production efficiency to a certain extent. At the same time, the device adopts automated control, which can accurately remove unqualified folding blocks, stabilize the quality of the folding blocks to a certain extent, and reduce the labor intensity of folding workers.

[0021] The system also includes a curved block rejection device 4, which comprises a chute 41 located on the side of the curved block conveying mechanism 5 away from the curved block conveying mechanism 1. The chute 41 is positioned on the main frame 6 relative to the ejection end of the ejection mechanism 32. The chute 41 has a concave cross-section and is made of stainless steel. The design of the chute 41 provides a guiding function, preventing the ejected defective curved blocks from scattering and facilitating subsequent cleaning and collection. Preferably, a curved block collection box connected to the chute 41 can be installed below the end of the chute 41 away from the curved block conveying mechanism, which can more conveniently collect defective curved blocks and facilitate subsequent handling and transfer of them.

[0022] The aforementioned curved block rejection device 4 also includes a baffle plate 42 slidably mounted on the main frame 6. The main frame 6 is equipped with a baffle cylinder 43 for driving the baffle plate 42 to slide. The baffle cylinder 43 is electrically connected to the aforementioned central processing unit. The baffle plate 42 is used to block or avoid curved blocks from entering the sliding groove 41. The baffle plate 42 can be slidably arranged along the longitudinal direction of the main frame 6. That is, when the curved block is unqualified, the baffle cylinder 43 drives the baffle plate 42 upward to avoid the opening end of the sliding groove 41. When the curved block is qualified, the baffle cylinder 43 drives the baffle plate 42 downward to block the opening end of the sliding groove 41. This design can, to a certain extent, prevent the curved block from being pushed out of the turning and conveying mechanism 5 due to the impact force of the pushing mechanism 32. That is, the baffle plate 42 can play a certain protective role and reduce the probability of qualified curved blocks falling off during the process of the curved block conveying mechanism 1 reaching the turning and conveying mechanism 5. It is worth noting that the baffle plate 42 can also be slidably mounted on the main frame 6 along the conveying direction of the bending and conveying mechanism 5. That is, the baffle plate 42 can be slid by the extension and retraction of the baffle cylinder 43, thereby fulfilling the requirement of the baffle plate 42 to block or avoid the curved block from entering the sliding groove 41.

[0023] like Figures 9-10 The aforementioned detection device 2 includes a fixed frame 23 mounted on the main frame 6. A photoelectric sensor 22 and a through-beam fiber optic sensor 21 are sequentially mounted on the fixed frame 23 along the conveying direction of the curved block conveying mechanism 1. The vertical distance between the photoelectric sensor 22 and the conveying surface of the curved block conveying mechanism 1 is lower than the acceptable height of the curved block, while the vertical distance between the through-beam fiber optic sensor 21 and the conveying surface of the curved block conveying mechanism 1 is equal to the acceptable height of the curved block. Figure 9The red arrow indicates the transport direction of the curved block on the curved block conveyor mechanism 1. The photoelectric sensor 22 is a through-beam type, comprising an emitter and a receiver, positioned on opposite sides of the transverse central axis of the curved block conveyor mechanism 1. The emitter (typically an LED or laser diode) continuously emits a light beam (such as infrared, visible, or laser light), while the receiver (photodiode or phototransistor) is located opposite the emitter, forming a straight light path. When unobstructed, the light beam reaches the receiver directly, maintaining a stable signal. When an object enters the light path, it blocks part or all of the light beam, causing a significant decrease or complete disappearance of the light intensity received by the receiver. The receiver converts the light intensity change into an electrical signal, triggering the sensor to output a switching signal (such as a TTL level), thereby determining the presence or location of the object. This design uses photoelectric sensors to detect the cylindrical block 10 entering the workstation, while a through-beam fiber optic sensor 21 is used to detect the height of the block. When the photoelectric sensor 22 detects the block and sends it to the central processing unit, it proves that the block has reached the detection position. If the block exceeds or falls below the set height, the through-beam fiber optic sensor 21 will not detect any data and will determine that the block at the detection position is an unqualified block and will be recorded by the central processing unit.

[0024] The aforementioned folding and transporting mechanism 5 includes a transport frame 52, on which a folding chain 54 driven by a folding servo motor 53 is mounted. Multiple spaced-apart arc-shaped support plates 511 are fixedly mounted on the outer side of the folding chain 54. The servo motor is electrically connected to the central processing unit. The central processing unit drives the folding servo motor 53 to operate, and the folding servo motor 53, when activated, causes the folding chain 54 to rotate, thereby driving the multiple spaced-apart arc-shaped support plates 511 to rotate.

[0025] The aforementioned palletizing device 7 includes a six-axis palletizing robot arm 72 located between the crimping transport mechanism 5 and the crimping frame 8. A crimping block clamp 74 is fixedly mounted at the end of the six-axis palletizing robot arm 72 via a mounting plate 73. A placement cylinder assembly is provided through one side of the crimping block clamp 74. The placement cylinder assembly includes multiple placement cylinders 741 evenly spaced along the length of the crimping block clamp 74. A palletizing assembly 742 is provided on the other side opposite any placement cylinder 741. The end faces of the multiple placement cylinders 741 on the same side are on the same horizontal plane. The palletizing assembly 742 is used to palletize the corresponding... The curved blocks inside the placement cylinder 741 are pushed into the placement holes 81 on the curved frame 8. The aforementioned turning and transporting mechanism 5, on the side away from the six-axis palletizing robot arm 72, has a stacking component 75 opposite the placement cylinder assembly. The six-axis palletizing robot arm 72, the palletizing assembly 742, and the stacking component 75 are all electrically connected to the central processing unit. When multiple placement cylinders 741 are aligned with their corresponding arc-shaped support plates 511, the stacking component 75 pushes the curved blocks on the multiple arc-shaped support plates 511 corresponding to the multiple placement cylinders 741 into their respective placement cylinders 741. Figure 7As shown, the six-axis palletizing robot arm 72 includes a robot chassis 721, a first robotic arm 722, and a second robotic arm 723 connected in sequence.

[0026] The curved block clamp 74 includes a clamp body 744, a plurality of placement cylinders 741 disposed within the clamp body 744, a support housing 743 fixedly installed on the side of the clamp body 744 away from the turning and transporting mechanism 5, and a stacking assembly 742 disposed within the support housing 743. The stacking assembly 742 includes a stacking cylinder 7421, which is fixedly disposed within the support housing 743. The extended end of the stacking cylinder 7421 is connected to a stacking rod 7422, and the end of the stacking rod 7422 away from the stacking cylinder 7421 is connected to a stacking pusher 7423. Preferably, the stacking pusher 7423 is a circular stainless steel sheet. The stacking pusher 7423 passes through the stacking cylinder 7421 into the corresponding placement cylinder 741 to push the curved blocks within the placement cylinder 741. When it is necessary to transport the curved blocks on the crimping and conveying mechanism 5 to the crimping frame 8, the central processing unit first starts the six-axis palletizing robot arm 72. The six-axis palletizing robot arm 72 drives the curved block clamp 74 to move, so that the side of the curved block clamp 74 away from the palletizing assembly 742 gradually docks with the crimping and conveying mechanism, and finally makes the multiple placement cylinders 741 on the placement cylinder assembly dock with their corresponding arc-shaped support plates 511. Then the stacking assembly 75 starts, pushing the curved blocks on the arc-shaped support plates 511 that have docked with the placement cylinders 741 into the corresponding placement cylinders 741. After the loading component 75 completes its work, the central processing unit controls the six-axis palletizing robot arm 72 to move the curved block clamp 74 to the curved frame 8, ensuring that multiple placement cylinders 741 on the placement cylinder assembly are aligned with the side of the curved frame 8 closest to the six-axis palletizing robot arm 72, and that each placement cylinder 741 aligns with the corresponding placement hole 81 on the curved frame 8. Once this alignment is complete, the central processing unit stops the six-axis palletizing robot arm 72 and starts the palletizing assembly 742, pushing the curved blocks in the placement cylinders 741 into the corresponding placement holes 81, thus completing the transport and palletizing of the curved blocks. This design method is more cost-effective and has a more rational and convenient operating path compared to simply relying on robots for handling. The six-axis palletizing robot arm 72 can complete the transport without using wheels for long-distance movement. The flexible arrangement and coordination of the curved block clamp 74, palletizing assembly 742, multiple loading components 75, and multiple placement cylinders 741 cleverly complete the transfer and palletizing of the curved blocks between various components.

[0027] It also includes a support frame 9. The aforementioned stacking assembly 75 includes a stacking cylinder 752 and a number of push plates 751 equal to the number of placement cylinders 741. The stacking cylinder 752 is fixedly installed on the support frame 9 and electrically connected to the central processing unit. The telescopic end of the stacking cylinder 752 is provided with a connecting plate 753. Any push plate 751 and the connecting plate 753 are fixedly connected by multiple stacking shafts 754. When the mounting assembly 75 needs to operate, the mounting cylinder 752 extends, causing the connecting plate 753 to slide on the support frame 9. The sliding of the connecting plate 753 causes the push plate 751, connected by multiple mounting shafts 754, to slide, thereby pushing the curved block on the arc-shaped support plate 511 into the corresponding placement cylinder 741, completing the transfer of the curved block. In this design, the mounting cylinder 752 is used as the power source for the mounting assembly 75, taking advantage of the cylinder's sensitive response and zero-delay action, which can quickly complete the transfer of the curved block. At the same time, the multiple mounting shafts 754 make the installation of the push plate 751 and the connecting plate 753 more secure, increasing the overall service life of the mounting assembly 75 and reducing the occurrence of equipment downtime due to the push plate 751 failing to work caused by damage to the mounting shafts 754. Preferably, in order to better adapt to the cylindrical curved block 10, the push plate 751 can be made of circular stainless steel plate.

[0028] The aforementioned curved block clamp 74 contains two placement cylinder assemblies arranged side-by-side along the thickness direction of the mounting plate 73. Each placement cylinder assembly has four placement cylinders 741, eight stacking assemblies 742, and two stacking assemblies 75. The two stacking assemblies 75 are arranged sequentially along the transport direction of the bending transport mechanism 5. Each stacking assembly 75 has four push plates 751. Eight arc-shaped support plates 511 form a support assembly 51, and the support assemblies 51 are multiple and evenly spaced. Preferably, the two stacking assemblies 75 are located near the tail of the bending transport mechanism 5. Among the two placement cylinder assemblies, the stacking assembly 75 corresponding to the placement cylinder assembly closer to the six-axis stacking robot arm 72 is closer to the tail of the bending transport mechanism 5. The two placement cylinder assemblies first fill the placement cylinders 741 in the placement cylinder assembly near the six-axis palletizing robot arm 72 with curved blocks. That is, the central processing unit first starts the operation of the six-axis palletizing robot arm 72, so that the four placement cylinders 741 on the placement cylinder assembly near the six-axis palletizing robot arm 72 are aligned with the four arc-shaped receiving plates near the rear of the turning and conveying mechanism 5. Then, the corresponding stacking assembly 75 is started to push the corresponding curved blocks into the corresponding placement cylinders 741. The central processing unit controls the six-axis palletizing robot arm 72 to move, so that the four placement cylinders 741 on the placement cylinder assembly away from the six-axis palletizing robot arm 72 are aligned with the four arc-shaped receiving plates. The second stacking assembly 75 is started to push the next four curved blocks into the corresponding placement cylinders 741. After both placement cylinder assemblies have completed the clamping of the curved blocks, the curved block clamp 74 completes the clamping of the curved blocks. Subsequently, the six-axis palletizing robot, using the aforementioned device, drives the curved block clamp 74 to move the curved block to the curved frame 8 in a flat and slightly upward posture. After the curved frame 8 is in motion, the six-axis palletizing robot rotates the curved block clamp 74 by 90 degrees, so that the curved block clamp 74 is rotated to a vertical position. The robot then controls the placement cylinder 741 of the curved block clamp 74 to align with the placement hole 81 of the curved frame 8. Then, multiple palletizing components 742 are activated together to push the curved block in the placement cylinder 741 onto the curved frame 8, completing the palletizing action.

[0029] The aforementioned stacking assembly 75 includes two guide seats 755 fixedly mounted on the aforementioned support member and located on both sides of the aforementioned stacking cylinder 752. A guide shaft 756 is slidably inserted into either guide seat 755. The end of the guide shaft 756 closest to the aforementioned six-axis palletizing robot arm 72 is fixedly connected to the connecting plate 753. The assembly of the guide shaft 756 and the guide seats 755 can, to a certain extent, support the connecting plate 753, reduce the load-bearing capacity of the stacking cylinder 752, and extend the service life of the stacking cylinder 752.

[0030] The aforementioned flipping component 341 includes a first support plate 3411 and a second support plate 3412 whose central axes are perpendicular to each other and fixedly connected. The first support plate 3411 includes a pair of first unit plates 34112 spaced apart to form push ports 34111. The second support plate 3412 includes a pair of second unit plates 34121 connected one-to-one with the pair of first unit plates 34112. The pair of second unit plates 34121 are spaced apart to form flow ports 34122 communicating with the push ports 34111. The aforementioned rotating component 343 includes a rotating shaft 3431 rotatably mounted on the main support. The rotating shaft 3431 is spaced apart along its axial direction. A pair of rotating plates 3432 are fixedly provided. The pair of first unit plates 34112 are respectively fixedly connected to the side of the same side of the two rotating plates 3432. The ejection mechanism 32 includes an ejection cylinder 322 fixedly installed on the main frame 6 through a pusher frame 321. The ejection cylinder 322 is electrically connected to the central processing unit, and its telescopic end is fixedly connected to an ejection plate 323. The ejection cylinder 322 is used to drive the ejection plate 323 through the push port 34111 to push the curved block. The number of the flipping parts 341 is four and they are evenly distributed on the ring side of the rotating parts 343. The width of the flow port 34122 is greater than the width of the pusher frame 321.

[0031] The pushing mechanism 33 includes a fixed plate 333 fixedly installed on the main frame 6 and having a through-hole 3331. A lifting assembly 332 is slidably mounted on the fixed plate 333. The lifting assembly 332 includes a sliding plate 3321 and a lifting frame 3322. The sliding plate 3321 is slidably mounted on the upper side of the fixed plate 333 along the conveying direction of the conveyor belt 12 via a matching guide rail 334 and a slider 335. A pushing cylinder 331 electrically connected to the central processing unit is provided on the upper side of the fixed plate 333. The telescopic end of the pushing cylinder 331 is fixedly connected to the sliding plate 3321. A lifting cylinder 3323 electrically connected to the central processing unit is provided on the upper side of the sliding plate 3321. The lifting end of the lifting cylinder 3323 passes through the sliding plate 3321 and is connected to the lifting frame 3322. The pushing plate 337 is welded to the lifting frame 3322. A limiting block 336 is provided on the sliding plate 3321 at the end near the through-hole 3331 and away from the pusher cylinder 331. The limiting block 336 is used to limit the sliding stroke of the sliding plate 3321.

[0032] like Figure 11The red arrow in the diagram indicates the conveying direction of the cylindrical curved block 10 on the conveyor belt 12. The main frame 6 is located on both sides of the conveyor belt 12 and has two blocking cylinders 311 mounted on the conveyor frame 11. The two blocking cylinders 311 are electrically connected to the central processing unit. The telescopic end of any blocking cylinder 311 is fixedly connected to a material blocking unit plate 3121. The two blocking cylinders 311 are used to drive the two material blocking unit plates 3121 to either engage or disengage. When the two material blocking unit plates 3121 engage, they form a material blocking plate 312 that prevents the curved block from moving towards the flipping mechanism 34. The material blocking plate 312 is located on the side of the pusher plate 337 away from the flipping mechanism 34.

[0033] The aforementioned rotating component 343 includes a rotating shaft 3431 rotatably mounted on the main frame 6. A pair of rotating plates 3432 are fixedly sleeved on the rotating shaft 3431 at intervals along its axial direction. The rotating plates 3432 are connected to the rotating shaft 3431 by welding. The first support plates 3411 of the four flipping components 341 are respectively fixedly connected to the four sets of sides of the two rotating plates 3432. The rotating component 343 includes a rotating servo motor 342 mounted on the main frame 6, which is electrically connected to the central processing unit. When the servo motor starts, it drives the rotating shaft 3431 to rotate, thereby realizing the rotation of the rotating plates 3432. The rotation of the rotating plates 3432 drives the rotation of the rotating shaft 3431.

[0034] When the rotating component 343 is in its initial state, and the upper plane of the first support plate 3411 of one flipping component 341 (referred to as the first flipping component 341, and the subsequent three flipping components 341 in clockwise order are referred to as the second flipping component 341, the third flipping component 341, and the fourth flipping component 341) is on the same horizontal plane as the conveying surface of the curved block conveying mechanism 1, when the first curved block passes the pusher plate 337 above the conveyor belt 12, the central processing unit controls the pusher mechanism 33 to start, and the lifting component 332 starts to drive the pusher plate 33. 7. Moving downwards, i.e., towards the first curved block on the conveyor mechanism, when the distance between the lower side of the pusher plate 337 and the upper surface of the conveyor belt 12 reaches a preset value (the preset value can be set by the operator according to the actual situation, preferably 5mm-10mm), the lifting component 332 stops moving downwards. Subsequently, the pusher cylinder 331 starts to slide along the conveying direction of the conveyor mechanism, driving the pusher plate 337 to push the first curved block on the conveyor belt 12 to move quickly towards the first receiving plate of the flipping component 341 of the flipping mechanism 34. At the same time, the central processing unit activates the blocking cylinder. The two blocking cylinders 311 drive the two blocking unit plates 3121 to move relative to each other. When the two blocking unit plates 3121 are connected, the two blocking unit plates 3121 form a blocking plate 312 to block the second curved block from moving towards the flipping mechanism 34. After the pusher plate 337 pushes the first curved block onto the first receiving plate, the rotating component 343 moves as follows. Figure 4The rotating component 343 begins to rotate counterclockwise from the indicated position (because the flow port 34122 is connected to the push port 34111, and the width of the flow port 34122 is greater than the width of the push frame 321, the rotating component 343 can continue to rotate without affecting the operation of the push mechanism 32). This causes the four flipping components 341 to rotate. After rotating 90 degrees, the upper plane of the first support plate 3411 of the first flipping component 341 is perpendicular to the conveying surface of the curved block conveying mechanism 1. The first flipping component 341 reaches the flipping position, and the second flipping component 341 reaches the receiving position (the upper plane of the first support plate 3411 of the second flipping component 341 is on the same horizontal plane as the conveying surface of the curved block conveying mechanism 1). The rotating component 343 stops rotating, and the first curved block changes from a vertical placement state to a horizontal placement state. The initial turning of the first curved block is completed. Subsequently, the ejection mechanism 32 on the main frame 6 begins to operate. If the information received by the central processing unit indicates that the curved block is qualified, the central processing unit controls the ejection cylinder 322 to start. The ejection cylinder 322 drives the ejection plate 323 through the rotating member 343 and the pushing port 34111 to eject the first curved block located on the second support plate 3412. The first curved block enters the turning and transporting mechanism 5. If the information received by the central processing unit indicates that the curved block is unqualified, the central processing unit controls the ejection cylinder 322 to start. The ejection cylinder 322 drives the ejection plate 323 through the rotating member 343 and the pushing port 34111 to eject the first curved block located on the second support plate 3412 and continues to push it out of the turning and transporting mechanism 5, thus completing the transfer of the first curved block. The central processing unit activates two blocking cylinders 311, causing two material blocking unit plates 3121 to move away from each other. After releasing the second curved block, the two blocking cylinders 311, driving the two material blocking unit plates 3121 to move relative to each other, intercept the third curved block, thus enabling the turning and transfer of the second curved block. During the turning of the second curved block, the rotary servo motor 342 continues to work, meaning the rotating component 343 continues to rotate counterclockwise to perform a second flip. This cycle is repeated to complete the transfer and rejection of subsequent curved blocks. In this design, the arrangement of four flipping components 341 allows the rotating component 343 to... Figure 4 The indicated orientation allows for counter-clockwise rotation, eliminating the need to change direction midway. This makes operation easier and saves energy compared to the energy required for the rotating component 343 to return to its initial position. The width of the flow port 34122 allows the flipping component 341 to pass smoothly through the pusher frame 321, enabling the rotating component 343 to rotate 360 ​​degrees.

[0035] In summary, this application proposes a curved block transport and palletizing system. A curved block conveying mechanism 1, a detection device 2, a steering device 3, a curved block rejection device 4, a flipping transport mechanism 5, a palletizing device 7, and a curved block frame 8 are installed on the main frame 6. The steering device 3 enables the curved block conveying mechanism 1 and the flipping transport mechanism 5 to be arranged vertically, saving a certain amount of placement space for the system. The detection device 2 detects the height of the curved blocks to determine whether they are qualified. Combined with the push-out mechanism 32 and the curved block rejection device 4 on the steering device 3, by changing the formation of the push-out mechanism 32, the system performs both the turning and rejection of the curved blocks. This allows for the rejection of curved blocks with unqualified heights while merging the two processes into one, shortening the curved block transport journey and thus improving the overall efficiency of transport and palletizing.

Claims

1. A curved block transport and palletizing system, comprising a curved block carrier (8), a central processing unit, and a curved block transport device, a detection device (2), a steering device (3), and a palletizing device (7) electrically connected to the central processing unit, wherein the palletizing device (7) is used to transport curved blocks on the curved block transport mechanism to the curved block carrier (8), and the detection device (2) is used to detect whether the curved blocks are qualified, characterized in that: The device includes a main frame (6), a curved block transport device including a curved block conveying mechanism (1), a turning transport mechanism (5) perpendicular to the conveying direction at the tail of the curved block conveying mechanism (1), a steering device (3) including a pushing mechanism (33) and a turning mechanism (34) located between the curved block conveying mechanism (1) and the turning transport mechanism (5), the turning mechanism (34) including a rotating part (343) rotatably mounted on the main frame (6), a turning part (341) on the circumferential side of the rotating part (343), a detection device (2) and a pushing mechanism (33) arranged sequentially along the conveying direction of the curved block conveying mechanism (1), a push mechanism (32) provided on the main frame (6), the pushing mechanism (33), the turning mechanism (34) and the push mechanism (32) are all electrically connected to the central processing unit, when the turning machine When the structure (34) rotates to the receiving position, the flipping part (341) connects with the conveying tail end of the curved block conveying mechanism (1). The pushing mechanism (33) is used to push the curved block on the curved block conveying mechanism (1) close to the flipping mechanism (34) onto the flipping part (341). When the flipping mechanism (34) rotates to the flipping position and the curved block is qualified, the flipping part (341) connects with the side of the flipping transport mechanism (5). The pushing mechanism (32) is used to push the curved block on the flipping part (341) with the changed direction through the rotating part (343) into the flipping transport mechanism (5). When the flipping part (341) rotates to the flipping position and the curved block is not qualified, the flipping part (341) connects with the side of the flipping transport mechanism (5). The pushing mechanism (32) is used to push the curved block on the flipping mechanism (341) out of the flipping part (341) and the flipping transport mechanism (5) in sequence through the rotating part (343).

2. The curved block transport and palletizing system as described in claim 1, characterized in that: It also includes a curved block rejection device (4), which includes a material chute (41) located on the side of the curved block conveying mechanism (5) away from the curved block conveying mechanism (1). The material chute (41) is located on the main frame (6) with its push-out end opposite to the push-out mechanism (32).

3. The curved block transport and palletizing system as described in claim 2, characterized in that: The block removal device (4) further includes a baffle plate (42) slidably disposed on the main frame (6). The main frame (6) is provided with a baffle cylinder (43) for driving the baffle plate (42) to slide. The baffle cylinder (43) is electrically connected to the central processor. The baffle plate (42) is used to block or avoid the block from entering the sliding groove (41).

4. The curved block transport and palletizing system as described in claim 1, characterized in that: The detection device (2) includes a fixed frame (23) on the main frame (6). A photoelectric sensor (22) and a through-beam fiber optic sensor (21) are sequentially arranged on the fixed frame (23) along the conveying direction of the curved block conveying mechanism (1). The vertical distance between the photoelectric sensor (22) and the conveying surface of the curved block conveying mechanism (1) is lower than the qualified height value of the curved block, and the vertical distance between the through-beam fiber optic sensor (21) and the conveying surface of the curved block conveying mechanism (1) is equal to the qualified height value of the curved block.

5. The curved block transport and palletizing system as described in claim 1, characterized in that: The folding transport mechanism (5) includes a transport frame (52), on which a folding chain (54) driven by a folding servo motor (53) is provided. Multiple spaced arc-shaped support plates (511) are fixedly installed on the outer side of the folding chain (54), and the servo motor is electrically connected to the central processing unit.

6. The curved block transport and palletizing system as described in claim 5, characterized in that: The palletizing device (7) includes a six-axis palletizing robot arm (72) located between the turning and transporting mechanism (5) and the curved frame (8). The end of the six-axis palletizing robot arm (72) is fixedly provided with a curved block clamp (74) by a mounting plate (73). A placement cylinder assembly is provided through one side of the curved block clamp (74). The placement cylinder assembly includes multiple placement cylinders (741) arranged at equal intervals along the length direction of the curved block clamp (74). A palletizing assembly (742) is provided on the other side opposite any placement cylinder (741). The end faces of the multiple placement cylinders (741) on the same side are located on the same horizontal plane. The palletizing assembly (742) is used to place the corresponding... The curved blocks inside the placement cylinder (741) are pushed into the placement holes (81) on the curved frame (8). The side of the turning and transporting mechanism (5) away from the six-axis palletizing robot arm (72) is provided with a stacking component (75) opposite to the placement cylinder assembly. The six-axis palletizing robot arm (72), the palletizing assembly (742) and the stacking component (75) are all electrically connected to the central processing unit. When multiple placement cylinders (741) are connected to their corresponding arc-shaped support plates (511), the stacking component (75) is used to push the curved blocks on the arc-shaped support plates (511) corresponding to the multiple placement cylinders (741) into their corresponding placement cylinders (741).

7. The curved block transport and palletizing system as described in claim 6, characterized in that: Also includes The support frame (9) includes a coding cylinder (752) and a number of push plates (751) equal to the number of placement cylinders (741). The coding cylinder (752) is fixedly installed on the support frame (9) and electrically connected to the central processing unit. The telescopic end of the coding cylinder (752) is provided with a connecting plate (753). Any push plate (751) and the connecting plate (753) are fixedly connected by multiple coding shafts (754).

8. The curved block transport and palletizing system as described in claim 7, characterized in that: The number of cylinder assemblies placed in the curved block clamp (74) is two and arranged side by side along the thickness direction of the mounting plate (73). The number of placement cylinder assemblies is four. The number of stacking assemblies (742) is eight. The number of stacking assemblies (75) is two. The two stacking assemblies (75) are arranged sequentially along the transport direction of the turning transport mechanism (5). The number of push plates (751) in any stacking assembly (75) is four. Eight arc-shaped support plates (511) form a support assembly (51). The number of support assemblies (51) is multiple and arranged at equal intervals.

9. The curved block transport and palletizing system as described in claim 8, characterized in that: The stacking assembly (75) includes two guide seats (755) fixed on the support frame (9) and located on both sides of the stacking cylinder (752). A guide shaft (756) is slidably passed through either guide seat (755). One end of the guide shaft (756) near the six-axis stacking robot arm (72) is fixedly connected to the connecting plate (753).

10. The curved block transport and palletizing system according to any one of claims 2-9, characterized in that: The flipping component (341) includes a first support plate (3411) and a second support plate (3412) whose central axes are perpendicular to each other and fixedly connected. The first support plate (3411) includes a pair of first unit plates (34112) spaced apart to form a push port (34111). The second support plate (3412) includes a pair of second unit plates (34121) that are connected one-to-one with the pair of first unit plates (34112). The pair of second unit plates (34121) are spaced apart to form a flow port (34122) communicating with the push port (34111). The rotating component (343) includes a rotating shaft (3431) rotatably mounted on the main support. The rotating shaft (3431) is fixedly spaced along its axial direction. A pair of rotating plates (3432) are provided, and a pair of first unit plates (34112) are fixedly connected to the side of the same side of the two rotating plates (3432). The ejection mechanism (32) includes an ejection cylinder (322) fixedly installed on the main frame (6) via a pusher frame (321). The ejection cylinder (322) is electrically connected to the central processing unit, and its telescopic end is fixedly connected to an ejection plate (323). The ejection cylinder (322) is used to drive the ejection plate (323) through the push port (34111) to push the curved block. The number of the flipping parts (341) is four and they are evenly distributed on the ring side of the rotating parts (343). The width of the flow port (34122) is greater than the width of the pusher frame (321).

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