Automatic koji receiving device for wrapping koji

Abstract

The utility model belongs to the technical field of package koji transfer, and particularly discloses an automatic package koji receiving device which comprises a conveying assembly, a temporary storage frame, a material pushing assembly, a robot and a koji frame, and the conveying assembly is connected with a koji making machine and used for horizontally conveying package koji; the temporary storage frame is arranged at the tail end of the conveying assembly, and the material pushing assembly is arranged on the side, opposite to the side where the temporary storage frame is located, of the conveying assembly and used for horizontally pushing the bags on the conveying assembly to the temporary storage frame. The robot is arranged on the side of the temporary storage frame, the robot is provided with a clamping device used for automatically grabbing the koji on the temporary storage frame, and the koji frame is arranged on the side of the robot. Compared with a koji receiving device in the prior art, the automatic koji receiving device is limited by different types of koji blocks, the automatic koji receiving device can be suitable for koji receiving and koji clamping of package koji, the package koji is conveyed in a horizontal posture all the time, a koji turning mechanism is completely eradicated, and the production efficiency is improved. And the risk that the wrapping yeast is broken and fractured due to overturning or vertical conveying is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of bagged starter transportation, in particular to an automatic starter receiving device for bagged starters. Background Art

[0002] In the brewing process, after the fermented grains are steamed, starter drugs need to be added to the fermented grains during the spreading and cooling process to facilitate the subsequent fermentation of the fermented grains in the cellar. Starter drugs are made by a starter-making machine, and the starter blocks made by the starter-making machine need to be fermented in a starter room. Currently, there are two main forms of starter blocks, one is brick-shaped starter, as Figure 1 shown; the other is bagged starter, as Figure 2 shown.

[0003] The inventor of the present application is committed to the research of intelligent brewing equipment, and in 2020, an application was filed for a starter receiving device with a publication number of CN213536411U, including a frame, a starter receiving conveyor line, a starter turning mechanism, a starter pushing mechanism, and a starter block output line; the starter receiving conveyor line is arranged on the frame for transporting starter blocks; the starter turning mechanism is arranged beside the starter receiving conveyor line for turning the starter blocks; the starter pushing mechanism is arranged on the other side of the starter receiving conveyor line relative to the starter turning mechanism for pushing the starter blocks on the starter receiving conveyor line to the starter turning mechanism; the starter block output line is connected to the starter turning mechanism for transporting the turned starter blocks.

[0004] The structures of the brick-shaped starter and the bagged starter have been shown above. The brick-shaped starter is similar to a square brick, and on the basis of the brick-shaped starter, the bagged starter is provided with an arc-shaped protrusion on the top of the brick-shaped starter. The above-mentioned starter receiving device flips the starter blocks by 90° through the starter turning mechanism and then arranges the starter blocks densely together, and then clamps them together by a robot. However, since the top of the bagged starter is arc-shaped, if the bagged starters are still arranged densely side by side, the contact area between the arc-shaped protrusion of the bagged starter and the plane of the adjacent bagged starter is small, and uneven force during the clamping process will cause the bagged starter to shake left and right relative to the contact point, and there is a greater risk of the bagged starter falling off; in addition, the above-mentioned starter receiving device will use a starter turning mechanism. Since the top of the bagged starter is arc-shaped, its center of gravity has shifted, so the bagged starter may fall over during the turning process. In summary, the above-mentioned starter receiving device is not suitable for bagged starters, so there is an urgent need for a new device to realize the automatic starter receiving and clamping process of bagged starters. Summary of the Utility Model

[0005] Aiming at the technical problem that the existing starter receiving device is not suitable for the automatic starter receiving and clamping process of bagged starters, the utility model provides an automatic starter receiving device for bagged starters.

[0006] The technical solution adopted by the utility model is: an automatic starter receiving device for bagged starters, including;

[0007] A conveying assembly, connected to a starter-making machine, for horizontally transporting bagged starters;

[0008] A temporary storage rack is arranged at the end of the conveying component and is used for temporarily storing the bag-shaped bent parts;

[0009] There are at least two pusher components, which are arranged on the opposite side of the conveying component where the temporary storage rack is located, and are used for horizontally pushing the bag-shaped bent parts on the conveying component to the temporary storage rack;

[0010] A robot is arranged beside the temporary storage rack, and a clamping device for automatically grasping the bag-shaped bent parts on the temporary storage rack is arranged on the robot;

[0011] A curved rack is arranged beside the robot and is used for storing the bag-shaped bent parts.

[0012] Furthermore, the pusher component includes a pusher support, on which a first push plate is horizontally arranged and a first power component for driving the first push plate to move in the horizontal direction, the fixed end of the first power component is connected to the pusher support, the movable end of the first power component is connected to the first push plate, the first push plate is arranged beside the conveying component, and the first push plate can push the bag-shaped bent parts on the conveying component to the temporary storage rack; a baffle and a second power component for driving the baffle to move up and down vertically are arranged beside the first push plate, the fixed end of the second power component is connected to the pusher support, the movable end of the second power component is connected to the baffle, the baffle is arranged directly above the conveying component, and after the baffle descends, it is spaced a certain distance from the conveying component. The descended baffle can prevent the bag-shaped bent parts from moving on the conveying component and can limit the bag-shaped bent parts at the pusher station.

[0013] Furthermore, it further includes a detection component, which is used for detecting whether there are bag-shaped bent parts at the pusher station, and then controlling the baffle to descend to limit the bag-shaped bent parts at the pusher station.

[0014] Furthermore, the detection component includes a detection support arranged on the conveying component, and a first sensor matching the number of pusher components is arranged on the detection support. The first sensor is located directly above the conveying component and is used for detecting whether there are bag-shaped bent parts at the pusher station.

[0015] Furthermore, it further includes a rejection component, which is arranged in the middle of the conveying component and is used for rejecting unqualified bag-shaped bent parts.

[0016] Further, the rejection component includes a rejection bracket, on which a second push plate and a third power component for driving the second push plate to move horizontally are provided. The fixed end of the third power component is connected to the rejection bracket, and the movable end of the third power component is connected to the second push plate. The second push plate can push the unqualified packages on the conveying component away from the conveying component. A second sensor is provided on the rejection bracket, which is used to detect whether the packages on the conveying component are qualified, so as to control the expansion and contraction of the third power component. The second sensor is located directly above the conveying component, and a waste box is provided on the opposite side of the conveying component where the second push plate is located, for accommodating the unqualified packages.

[0017] Further, a temporary storage bracket is horizontally arranged on the temporary storage rack, and temporary storage plates matching the number of the pushing components are provided on the temporary storage bracket. The pushing components can push the packages on the conveying component onto the temporary storage plates for temporary storage, and the robot can grasp the packages on the temporary storage plates and store them on the curved rack.

[0018] Further, there are two temporary storage brackets, which are arranged in an upper and lower stacked manner. The temporary storage brackets are movably connected to the temporary storage rack. A first lifting component is provided on the temporary storage rack, which is used to drive the temporary storage brackets to move up and down vertically. The fixed end of the first lifting component is connected to the temporary storage rack, and the movable end of the first lifting component is connected to the temporary storage brackets.

[0019] Further, a synchronous pulley and a synchronous belt connected to the synchronous pulley are provided on the temporary storage rack. The temporary storage brackets are connected to the synchronous belt, and the temporary storage brackets can move synchronously with the synchronous belt.

[0020] Further, the clamping device includes a frame connected to the robot. A base connected to the robot and a clamping component for clamping the packages in the thickness direction are provided on the frame. The number of the clamping components matches the number of the temporary storage plates; the clamping component includes two fixed clamping blocks connected to the frame, two movable clamping blocks arranged at a certain distance from the fixed clamping blocks, and a fourth power component. The fixed clamping blocks are arranged obliquely, and the inclination angle of the fixed clamping blocks matches the angle of the curved packages. The fourth power component can drive the movable clamping blocks to move towards the fixed clamping blocks. The fixed end of the fourth power component is connected to the frame, and the movable end of the fourth power component is connected to the movable clamping blocks; when clamping, the packages are clamped between the fixed clamping blocks and the movable clamping blocks.

[0021] Further, the fixed clamping blocks are hinged to the frame, and the fixed clamping blocks can rotate relative to the frame. The fixed clamping blocks are connected to the frame by screws.

[0022] Further, flexible silicone pads are provided on the inner sides of the fixed clamping blocks and the movable clamping blocks.

[0023] Further, there are eight clamping components, which are arranged in a matrix in two rows on the frame.

[0024] Furthermore, a curved frame clamping component is also provided on the rack, and the curved frame clamping component is used to clamp the curved frame.

[0025] Furthermore, the curved frame clamping component includes brackets movably arranged at both ends of the rack and a fifth power component for driving the brackets to move. The fixed end of the fifth power component is connected to the rack, and the movable end is connected to the brackets. Clamping blocks for clamping the curved frame are arranged on the brackets, and the fifth power component can drive the two clamping blocks to move towards each other; when clamping the curved frame, the curved frame is clamped between the two clamping blocks.

[0026] Furthermore, a support component is also included, and the support component is used to support the curved frame during the transfer process of the curved frame.

[0027] Furthermore, the support component includes a slide rail arranged on the rack and a slider matching the slide rail. The slider is slidably connected to the slide rail, an insertion plate is fixedly connected to the slider, the brackets are connected to the slider, and the clamping blocks are arranged on the insertion plate.

[0028] The beneficial effects of the present utility model are as follows:

[0029] 1. Compared with the existing curved block connecting device, due to the differences in the types of curved blocks, the automatic curved block connecting device of the present utility model can be applicable to the connection and clamping of bag-shaped curved blocks. The present utility model always conveys the bag-shaped curved blocks in a lying posture, eliminating the use of a curved block turning mechanism and reducing the risk of bag-shaped curved blocks being broken or fractured due to turning or vertical conveying.

[0030] 2. The detection component of the present utility model is used in cooperation with the pushing component. When the first sensor detects a curved block, the baffle at the pushing station will descend, thereby blocking the curved block on the conveying component at the pushing station and preventing the curved block from moving with the conveying component, making the bag-shaped curved block located directly in front of the first push plate and ensuring that the first push plate only pushes one bag-shaped curved block at a time.

[0031] 3. The present utility model is provided with two temporary storage brackets in the temporary storage rack, which can store more curved blocks, meet the clamping device, increase the quantity of stored curved blocks, and improve the transfer efficiency of the curved blocks.

[0032] 4. The automatic clamping device of the present utility model can be applicable to the automatic clamping and transfer of bag-shaped curved blocks, and can simultaneously grab multiple bag-shaped curved blocks, improving the work efficiency and the degree of automation.

[0033] 5. The automatic clamping device of the present utility model can not only complete the automatic clamping and transfer of bag-shaped curved blocks, but also complete the clamping and stacking transfer of the curved frame, enabling the entire curved block connecting system to achieve automated operation.

[0034] 6. The clamping block of the present utility model does not apply a clamping force to the curved frame, but only serves as a limiting function to prevent the curved frame from swinging during the transfer process. The component that truly supports the curved frame is the insertion plate, which effectively protects the cylinder and extends the service life of the cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic structural diagram of a brick curve.

[0036] Figure 2 It is a schematic structural diagram of a bag curve.

[0037] Figure 3 It is the front view of the present utility model.

[0038] Figure 4 It is the perspective view of the present utility model.

[0039] Figure 5 It is a schematic structural diagram of the pusher assembly of the present utility model.

[0040] Figure 6 It is a schematic structural diagram of the detection assembly of the present utility model.

[0041] Figure 7 It is a schematic structural diagram of the rejection assembly of the present utility model.

[0042] Figure 8 It is a schematic structural diagram of the temporary storage rack of the present utility model.

[0043] Figure 9 It is the perspective Figure 1 .

[0044] Figure 10 It is the perspective Figure 2 .

[0045] Figure 11 It is a schematic structural diagram of the curved frame clamping assembly of the present utility model when clamping a bag curve.

[0046] Figure 12 It is a schematic structural diagram of the present utility model for clamping a curved frame.

[0047] Figure 13 It is Figure 12 The partial enlarged view of A in.

[0048] Figure 14 It is the front view of the present utility model for clamping a curved frame.

[0049] Figure 15 It is Figure 14 The partial enlarged view of B in.

[0050] Figure 16It is a schematic diagram of the installation of the bagged koji and the koji rack.

[0051] In the figure, the markings are as follows:

[0052] 1. Conveyor assembly;

[0053] 2. Temporary storage rack; 201. Temporary storage support; 202. Temporary storage plate; 203. First lifting assembly; 204. Synchronous belt pulley; 205. Synchronous belt;

[0054] 3. Pushing component; 301. Pushing support; 302. First push plate; 303. First power component; 304. Baffle; 305. Second power component;

[0055] 4. Detection component; 401. Detection support; 402. First sensor;

[0056] 5. Rejection component; 501. Rejection support; 502. Second push plate; 503. Third power component; 504. Second sensor; 505. Scrap box;

[0057] 6. Gripping device; 601. Frame; 602. Base;

[0058] 7. Koji clamping component; 701. Fixed clamping block; 702. Movable clamping block; 703. Fourth power component; 704. Flexible silica gel pad;

[0059] 8. Koji rack gripping device; 801. Support; 802. Fifth power component; 803. Clamping block;

[0060] 9. Support component; 901. Slide rail; 902. Slide block; 903. Insert plate;

[0061] 10. Robot; 11. Koji making machine; 12. Bagged koji; 13. Koji rack. Specific implementation manner

[0062] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "front", "upper", "lower", "left", "right", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0063] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0064] The following will further illustrate the present utility model in conjunction with the Figures 1 to 16 accompanying drawings.

[0065] Embodiment 1

[0066] In view of the technical problems existing in the background art, the present utility model provides an automatic koji-connecting device for bag-shaped koji.

[0067] In the specific technical solution, referring to Figure 3 and Figure 4 , the automatic koji-connecting device includes a conveying assembly 1, a temporary storage rack 2, a pusher assembly 3, a robot 10, and a koji rack 13. The conveying assembly 1 is connected to the koji-making machine 11 and is used for horizontally conveying the bag-shaped koji 12; the temporary storage rack 2 is arranged at the end of the conveying assembly 1 and is used for temporarily storing the bag-shaped koji 12; the pusher assembly 3, there are four of them, is arranged on the opposite side of the conveying assembly 1 where the temporary storage rack 2 is located, and is used for horizontally pushing the bag-shaped koji 12 on the conveying assembly 1 to the temporary storage rack 2; the robot 10 is arranged beside the temporary storage rack 2, and a clamping device 6 for automatically grasping the bag-shaped koji 12 on the temporary storage rack 2 is arranged on the robot 10; the koji rack 13 is arranged beside the robot 10 and is used for storing the bag-shaped koji 12. The conveying assembly 1 adopts a chain conveyor, and the chain conveyor and the robot 10 are existing technical equipment and are borrowed by the present utility model, so their structures and principles will not be elaborated here.

[0068] Working principle: The bag-shaped koji 12 made by the koji-making machine 11 is horizontally conveyed on the conveying assembly 1. When it is conveyed to the end of the conveying assembly 1, the pusher assembly 3 pushes the bag-shaped koji 12 on the conveying assembly 1 to the temporary storage rack 2, and the temporary storage rack temporarily stores the bag-shaped koji. Then the robot 10 grabs the bag-shaped koji 12 on the temporary storage rack through the clamping device 6 and stores it in the koji rack.

[0069] It can be seen that compared with the existing koji-connecting device, limited by the different types of koji blocks, the automatic koji-connecting device of the present utility model can be applicable to the koji connection and clamping of bag-shaped koji. The present utility model always conveys the bag-shaped koji in a horizontal posture, eliminating the use of a koji-turning mechanism and reducing the risk of breakage and fracture of the bag-shaped koji caused by flipping or vertical conveying.

[0070] Among them, referring to Figure 5, the pusher component 3 includes a pusher support 301. Horizontally arranged on the pusher support 301 are a first push plate 302 and a first power component 303 that drives the first push plate 302 to move in the horizontal direction. The fixed end of the first power component 303 is connected to the pusher support 301, and the movable end of the first power component 303 is connected to the first push plate 302. The first push plate 302 is arranged beside the conveying component 1, and the first push plate 302 can push the bag curve 12 on the conveying component 1 to the temporary storage rack 2. A baffle 304 is arranged beside the first push plate 302, and a second power component 305 that drives the baffle 304 to move up and down vertically is provided. The fixed end of the second power component 305 is connected to the pusher support 301, and the movable end of the second power component 305 is connected to the baffle 304. The baffle 304 is arranged directly above the conveying component 1. After descending, the baffle 304 is spaced a certain distance from the conveying component 1. After descending, the baffle 304 can prevent the bag curve 12 from moving on the conveying component 1 and can limit the bag curve 12 at the pusher station. The first power component 303 and the second power component 305 adopt air cylinders, which have a simple structure and are convenient to arrange.

[0071] Working principle: When the bag curve 12 is conveyed by the conveying component 1 to the side of the pusher component 3, the second power component 305 extends to drive the baffle 304 to descend. After descending, the baffle 304 is spaced a certain distance from the conveying component 1 to avoid interference between the baffle 304 and the conveying component 1. The descending baffle 304 blocks the bag curve 12 directly in front of the first push plate 302. At this time, the conveying component 1 continues to operate, but the bag curve 12 on it is blocked and no longer moves synchronously with the conveying component 1. When the front of all four pusher components 3 blocks the bag curve, the first power component 303 extends to drive the first push plate 302 to move towards the temporary storage rack 2. The first push plate 302 pushes the bag curve 12 on the conveying component 1 onto the temporary storage rack 2. Then the pusher component 3 repeats the above actions in a cycle. The purpose of setting the baffle 304 is to ensure that the bag curve is directly in front of the first push plate 302 and to ensure that the first push plate 302 only pushes one bag curve at a time.

[0072] Refer to Figure 6 , this embodiment also sets a detection component 4 used in cooperation with the pushing component. The detection component 4 is used to detect whether there is a bag curve 12 at the pusher station, and then control the baffle 304 to descend to limit the bag curve 12 at the pusher station.

[0073] Specifically, refer to Figure 6 , the detection component 4 of this embodiment includes a detection support 401 arranged on the conveying component 1. A first sensor 402 that matches the number of pusher components 3 is arranged on the detection support 401. The first sensor 402 is located directly above the conveying component 1. The first sensor 402 is used to detect whether there is a bag curve 12 at the pusher station, and the signal feedback of the first sensor 402 has a sequence.

[0074] Working principle: Each first sensor 402 corresponds to a pushing component 3. When the first sensor 402 detects a curved block, the baffle at the pushing station will descend, thereby blocking the curved block on the conveying component at this pushing station and preventing the curved block from moving with the conveying component.

[0075] Among them, referring to Figure 8 , in this embodiment, a temporary storage bracket 201 is horizontally arranged on the temporary storage rack 2, and temporary storage plates 202 matching the number of pushing components 3 are arranged on the temporary storage bracket 201. The pushing component 3 can push the bagged curved pieces 12 on the conveying component 1 onto the temporary storage plates 202 for temporary storage, and the robot 10 can grab the bagged curved pieces 12 on the temporary storage plates 202 and store them on the curved piece rack 13.

[0076] In order to make the number of curved blocks stored on the temporary storage rack meet the clamping device, increase the clamping quantity of the curved blocks, and improve the efficiency, a further improvement to the temporary storage rack: There are two temporary storage brackets 201, which are arranged in an upper and lower stacked manner. The temporary storage bracket 201 is movably connected to the temporary storage rack 2. A first lifting component 203 is arranged on the temporary storage rack 2, and the first lifting component 203 is used to drive the temporary storage bracket 201 to move up and down vertically. The fixed end of the first lifting component 203 is connected to the temporary storage rack 2, and the movable end of the first lifting component 203 is connected to the temporary storage bracket 201.

[0077] Specifically, referring to Figure 8 , the first lifting component 203 adopts the following form: A synchronous pulley 204 and a synchronous belt 205 connected to the synchronous pulley 204 are arranged on the temporary storage rack 2. The temporary storage bracket 201 is connected to the synchronous belt 205, and the temporary storage bracket 201 can move synchronously with the synchronous belt 205.

[0078] Working principle: The pushing component 3 pushes the curved block onto the temporary storage plate 202 of the temporary storage bracket 201. Four temporary storage plates 202 are arranged on each temporary storage bracket 201. The temporary storage plate 202 is of a hollow structure, aiming to facilitate the clamping device to clamp the bagged curved pieces on the temporary storage plate 202. After the four pushing components 3 push four bagged curved pieces onto the four temporary storage plates 202 on the same temporary storage bracket 201, the first lifting component 203 extends and drives the temporary storage bracket 201 to rise. At this time, the temporary storage bracket 201 on the second layer rises to the same level as the pushing component 3, and the pushing component pushes another four curved blocks onto the temporary storage plate 202. After both temporary storage brackets 201 are filled with curved blocks, the robot grabs the curved blocks on them.

[0079] It can be seen that the present utility model is provided with two temporary storage brackets in the temporary storage rack, which can store more curved blocks, meet the clamping device, increase the quantity of curved block storage, and improve the transfer efficiency of the curved blocks.

[0080] Among them, referring to Figure 3 and Figure 4, the clamping device 6 of this embodiment includes a frame 601 connected to the robot 10. A base 602 connected to the robot 10 and a clamping component 7 for clamping the bag curve 12 in the thickness direction are provided on the frame 601. The number of the clamping components 7 matches the number of the temporary storage plates 202;

[0081] Specifically, referring to Figure 9 , Figure 10 and Figure 11 , the clamping component 7 includes two fixed clamping blocks 701 connected to the frame 601, two movable clamping blocks 702 arranged at a certain distance from the fixed clamping blocks 701, and a fourth power component 703. The fixed clamping blocks 701 are arranged obliquely, and the inclination angle of the fixed clamping blocks 701 matches the curve angle of the bag. The fourth power component 703 can drive the movable clamping blocks 702 to move towards the fixed clamping blocks 701. The fixed end of the fourth power component 703 is connected to the frame 601, and the movable end of the fourth power component 703 is connected to the movable clamping blocks 702; when clamping the curve, the bag curve 12 is clamped between the fixed clamping blocks 701 and the movable clamping blocks 702. The fourth power component 303 uses a cylinder, and the arrangement method is simple and reliable.

[0082] Working principle: The bag curves 12 to be grabbed are arranged in two rows beside the robot 10 on the temporary storage rack 2, with four bag curves 12 in each row. When grabbing the curve, the robot 10 controls the frame 601 to move horizontally to the side of the bag curve 12. As shown in Figure 11 , the robot 10 controls the movable clamping blocks 702 of the clamping component 7 to be placed under the bag curve 12, starts the fourth power component 703, and the fourth power component 703 drives the movable clamping blocks 702 to move towards the fixed clamping blocks 701. The bag curve 12 gradually separates from the temporary storage plate 202 and moves towards the fixed clamping blocks 701, and is finally clamped between the fixed clamping blocks 701 and the movable clamping blocks 702; at this time, the robot 10 controls the frame 601 to move to the curve rack 13, places the bag curve 12 on the curve rack 13, and grabs the curve again, repeating this cycle until the curve blocks on the curve rack 13 are stacked full.

[0083] Through the above structure and principle, it can be seen that the automatic clamping device of the present utility model is applicable to the automatic clamping and transfer of bag curves, and can grab multiple bag curves at the same time, improving the working efficiency and the degree of automation.

[0084] Since the curve angles of the arc surfaces of different bag curves are different, in this embodiment, the fixed clamping blocks 701 are designed to be hinged to the frame 601, and the fixed clamping blocks 701 can rotate relative to the frame 601. After the fixed clamping blocks 701 are adjusted to the appropriate positions, the fixed clamping blocks 701 are connected to the frame 601 by screws to meet the bag curves with different curve angles and improve the applicable range of the equipment.

[0085] In order to perform flexible operation on the bag curve and avoid damaging the bag curve by the clamping component, referring toFigure 10 , so in this embodiment, flexible silica gel pads 704 are provided on the inner sides of the fixed clamping block 701 and the movable clamping block 702.

[0086] Embodiment 2

[0087] The thicknesses of the koji blocks produced by the koji-making machine are inconsistent. Koji blocks that are too thick or too thin will affect the fermentation of the koji blocks. Therefore, koji blocks that are too thick or too thin are classified as unqualified koji blocks and need to be removed. For this purpose, on the basis of Embodiment 1, with reference to Figure 3 , this embodiment is further provided with a removal component 5. The removal component 5 is arranged in the middle of the conveying component 1 and is used to remove unqualified bagged koji 12.

[0088] Specifically, with reference to Figure 7 , the removal component 5 includes a removal bracket 501. A second push plate 502 and a third power component 503 for driving the second push plate 502 to move in the horizontal direction are arranged on the removal bracket 501. The fixed end of the third power component 503 is connected to the removal bracket 501, and the movable end of the third power component 503 is connected to the second push plate 502. The second push plate 502 can push the unqualified bagged koji 12 on the conveying component 1 away from the conveying component 1. A second sensor 504 is arranged on the removal bracket 501. The second sensor 504 is used to detect whether the bagged koji 12 on the conveying component 1 is qualified, so as to control the telescopic movement of the third power component 503. The second sensor 504 is located directly above the conveying component 1. A waste box 505 is arranged on the opposite side of the conveying component 1 where the second push plate 502 is located. The waste box 505 is used to hold unqualified bagged koji 12. The third power component 503 uses a cylinder, which has a simple structure and is convenient to arrange.

[0089] Working principle: The second sensor 504 determines whether the bagged koji is qualified by detecting the thickness of the bagged koji on the conveying component 1. When it detects that the bagged koji is unqualified, the third power component 503 extends, driving the second push plate 502 to extend. The second push plate 502 pushes the unqualified bagged koji away from the conveying component 1 and pushes the unqualified bagged koji into the waste box 505.

[0090] It can be seen that the utility model can identify unqualified bagged koji through the removal component and push the unqualified bagged koji away from the conveying component, avoiding the situation of inconsistent fermentation caused by unqualified bagged koji and affecting the quality of the koji blocks.

[0091] Embodiment 3

[0092] After a koji rack is filled with koji blocks, an empty koji rack needs to be installed on it to continue loading koji blocks. To realize the automation of koji rack installation, on the basis of Embodiment 1, the following further improvements are made in this embodiment: With reference to Figure 9 , Figure 10 and Figure 11, in this embodiment, a curved frame clamping component 8 is further arranged on the frame 601, and the curved frame clamping component 8 is used to clamp the curved frame 13.

[0093] Specifically, referring to Figures 12 to 15 , the curved frame clamping component 8 includes brackets 801 movably arranged at both ends of the frame 601 and a fifth power component 802 for driving the brackets 801 to move. The fixed end of the fifth power component 802 is connected to the frame 601, and the movable end of the fifth power component 802 is connected to the brackets 801. Clamping blocks 803 for clamping the curved frame 13 are arranged on the brackets 801, and the fifth power component 802 can drive the two clamping blocks 803 to move towards each other; when clamping the curved frame 13, the curved frame 13 is clamped between the two clamping blocks 803. The fifth power component 802 adopts a cylinder, and the arrangement method is simple and reliable.

[0094] Working principle: When clamping the curved frame, first control the robot 10 to place the frame 601 above the curved frame 13, start the fifth power component 802, and the fifth power component 802 drives the two clamping blocks 803 to move towards the curved frame 13 through the brackets 801, and finally clamps the curved frame 13 between the clamping blocks 803.

[0095] From the above structure and principle, it can be seen that the automatic clamping device of the present utility model can not only complete the automatic clamping and transfer of the bag bend, but also complete the clamping and stacking transfer of the curved frame, enabling the entire curved frame receiving system to achieve automated operation.

[0096] Since the cylinder can only provide horizontal clamping force and cannot provide vertical force, the cylinder will be bent and damaged when subjected to lateral force. For this reason, in response to the above problems, the following further improvements are made in this embodiment: Referring to Figure 9 , Figure 10 and Figure 11 , a support component 9 is further arranged in this embodiment, and the support component 9 is used to support the curved frame 13 during the transfer of the curved frame.

[0097] Specifically, referring to Figure 13 and Figure 15 , the support component 9 includes a slide rail 901 arranged on the frame 601 and a slider 902 matching the slide rail 901. The slider 902 is slidably connected to the slide rail 901. A plug board 903 is fixedly connected to the slider 902. The bracket 801 is connected to the slider 902, and the clamping block 803 is arranged on the plug board 903.

[0098] Working principle: When the fifth power component 802 drives the bracket 801 to move, the bracket 801, slider 802, clamping block 803 and inserting plate 903 move synchronously through the slide rail 901. That is to say, when the clamping block 803 moves, the inserting plate 903 also moves towards the curved frame 13 synchronously. When the clamping block 803 reaches the side wall of the curved frame 13, the inserting plate 903 is located below the curved frame 13, and at this time, the inserting plate 903 is not stressed. During the process of the robot 10 driving the curved frame 13 for transfer, the curved frame 13 falls onto the inserting plate 903, and only then is the inserting plate 903 stressed. That is to say, the clamping block serves as a limiting function and does not apply a clamping force to the curved frame, but only serves as a limiting function to prevent the curved frame from swaying during the transfer process. The component that actually supports the curved frame is the inserting plate.

[0099] From the above structure and principle, it can be seen that the clamping block of the present utility model does not apply a clamping force to the curved frame, but only serves as a limiting function to prevent the curved frame from swaying during the transfer process. The component that actually supports the curved frame is the inserting plate, thereby effectively protecting the cylinder and improving the service life of the cylinder.

[0100] The specific embodiments described above further elaborate on the purpose, technical solution and beneficial effects of the present utility model. It should be understood that the above description is only the specific embodiments of the present utility model and is not used to limit the protection scope of the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An automatic song-joining device for bag song, characterized in that: include; A conveying assembly (1) connected to a koji making machine (11) and used for conveying the koji (12) horizontally; A temporary storage rack (2), arranged at the end of the conveying assembly (1), for temporarily storing the bag song (12); At least two material pushing components (3) are arranged on the side opposite to the conveying component (1) where the temporary storage rack (2) is located, and are used to horizontally push the bag curves (12) on the conveying component (1) to the temporary storage rack (2); A robot (10) is arranged beside the temporary storage rack (2), and a gripping device (6) is provided on the robot (10) for automatically grabbing the bag (12) on the temporary storage rack (2); The song rack (13) is arranged beside the robot (10) and is used to store the bag song (12).

2. The automatic song-joining device for wrapping songs as claimed in claim 1, characterized in that: The pushing assembly (3) comprises a pushing bracket (301), a first pushing plate (302) and a first power assembly (303) for driving the first pushing plate (302) to move in a horizontal direction are horizontally arranged on the pushing bracket (301), a fixed end of the first power assembly (303) is connected to the pushing bracket (301), a movable end of the first power assembly (303) is connected to the first pushing plate (302), the first pushing plate (302) is arranged beside the conveying assembly (1), and the first pushing plate (302) can push the bag curve (12) on the conveying assembly (1) to the temporary storage rack (2); the first pushing plate A baffle (304) and a second power assembly (305) for driving the baffle (304) to rise and fall vertically are arranged on the side of (302); the fixed end of the second power assembly (305) is connected to the material pushing bracket (301); the movable end of the second power assembly (305) is connected to the baffle (304); the baffle (304) is arranged directly above the conveying assembly (1); after the baffle (304) is lowered, it is spaced a certain distance from the conveying assembly (1); after the baffle (304) is lowered, it can prevent the bag curve (12) from moving on the conveying assembly (1), and can limit the bag curve (12) at the material pushing station.

3. The automatic song-joining device for wrapping songs as claimed in claim 2, characterized in that: It also includes a detection component (4), which is used to detect whether there is a bag curve (12) at the material pushing station, and then control the baffle (304) to descend to limit the bag curve (12) at the material pushing station.

4. The automatic song-joining device for wrapping songs as claimed in claim 3, characterized in that: The detection component (4) comprises a detection bracket (401) arranged on the conveying component (1), and the detection bracket (401) is provided with first sensors (402) whose number matches the pushing components (3). The first sensors (402) are located directly above the conveying component (1), and the first sensors (402) are used to detect whether there is a bag curve (12) at the pushing station.

5. The automatic song-joining device for wrapping songs as claimed in claim 1, characterized in that: It also comprises a rejection component (5), which is arranged in the middle of the conveying component (1) and is used to reject unqualified bag curves (12).

6. The automatic song-joining device for wrapping songs as claimed in claim 5, characterized in that: The rejecting assembly (5) comprises a rejecting bracket (501), on which a second push plate (502) and a third power assembly (503) for driving the second push plate (502) to move in a horizontal direction are arranged, wherein a fixed end of the third power assembly (503) is connected to the rejecting bracket (501), and a movable end of the third power assembly (503) is connected to the second push plate (502), and the second push plate (502) can push unqualified bag curves (12) on the conveying assembly (1) away from the conveying assembly (1). Component (1), a second sensor (504) is arranged on the rejection bracket (501), the second sensor (504) is used to detect whether the bag curve (12) on the conveying component (1) is qualified, and then control the extension and retraction of the third power component (503), the second sensor (504) is located directly above the conveying component (1), and a waste box (505) is arranged on the opposite side of the conveying component (1) where the second push plate (502) is located, and the waste box (505) is used to accommodate unqualified bag curves (12).

7. The automatic song-joining device for wrapping song as claimed in claim 1, characterized in that: A temporary storage support (201) is horizontally arranged on the temporary storage rack (2), and temporary storage boards (202) matching the number of the pushing components (3) are arranged on the temporary storage support (201). The pushing components (3) can push the bag song (12) on the conveying component (1) onto the temporary storage board (202) for temporary storage, and the robot (10) can grab the bag song (12) on the temporary storage board (202) and store it on the song rack (13).

8. The automatic song-joining device for wrapping songs as claimed in claim 7, characterized in that: There are two temporary storage brackets (201) arranged in an upper and lower stack. The temporary storage bracket (201) is movably connected to the temporary storage rack (2). The temporary storage rack (2) is provided with a first lifting component (203). The first lifting component (203) is used to drive the temporary storage bracket (201) to rise and fall in the vertical direction. The fixed end of the first lifting component (203) is connected to the temporary storage rack (2), and the movable end of the first lifting component (203) is connected to the temporary storage bracket (201).

9. The automatic song-joining device for wrapping songs as claimed in claim 8, characterized in that: The temporary storage rack (2) is provided with a synchronous pulley (204) and a synchronous belt (205) connected to the synchronous pulley (204); the temporary storage bracket (201) is connected to the synchronous belt (205); and the temporary storage bracket (201) can move synchronously with the synchronous belt (205).

10. The automatic song-joining device for wrapping songs as claimed in claim 7, characterized in that: The clamping device (6) comprises a frame (601) connected to the robot (10), the frame (601) is provided with a base (602) connected to the robot (10) and a clamping assembly (7) for clamping the bag (12) in the thickness direction, and the number of the clamping assemblies (7) matches the number of the temporary storage plates (202); The clamping and bending assembly (7) comprises two fixed clamping blocks (701) connected to the frame (601), two movable clamping blocks (702) arranged at a certain distance from the fixed clamping blocks (701), and a fourth power assembly (703); the fixed clamping blocks (701) are arranged tilted, and the tilting angle of the fixed clamping blocks (701) matches the bending angle; the fourth power assembly (703) can drive the movable clamping blocks (702) to move toward the fixed clamping blocks (701); the fixed end of the fourth power assembly (703) is connected to the frame (601), and the movable end of the fourth power assembly (703) is connected to the movable clamping blocks (702); when clamping and bending, the bag (12) is clamped between the fixed clamping blocks (701) and the movable clamping blocks (702).

11. The automatic song-joining device for wrapping song as claimed in claim 10, characterized in that: The fixed clamp block (701) is hinged to the frame (601), the fixed clamp block (701) can rotate relative to the frame (601), and the fixed clamp block (701) is connected to the frame (601) via screws.

12. The automatic song-joining device for wrapping song as claimed in claim 10, characterized in that: Flexible silicone pads (704) are provided on the inner sides of the fixed clamping block (701) and the movable clamping block (702).

13. The automatic song-joining device for wrapping song as claimed in claim 10, characterized in that: There are eight clamping components (7) arranged in two rows in a matrix on the frame (601).

14. The automatic song-joining device for wrapping song as claimed in claim 10, characterized in that: The frame (601) is also provided with a curved frame clamping assembly (8), and the curved frame clamping assembly (8) is used to clamp the curved frame (13).

15. The automatic song-joining device for wrapping song as claimed in claim 14, characterized in that: The curved frame clamping assembly (8) comprises a bracket (801) movably arranged at both ends of the frame (601) and a fifth power assembly (802) for driving the bracket (801) to move, wherein the fixed end of the fifth power assembly (802) is connected to the frame (601), and the movable end of the fifth power assembly (802) is connected to the bracket (801), and a clamping block (803) for clamping the curved frame (13) is arranged on the bracket (801), and the fifth power assembly (802) can drive the two clamping blocks (803) to move towards each other; when clamping the curved frame (13), the curved frame (13) is clamped between the two clamping blocks (803).

16. The automatic song-joining device for wrapping song as claimed in claim 15, characterized in that: It also includes a support assembly (9), which is used to support the curved frame (13) during the curved frame transportation process.

17. The automatic song-joining device for wrapping song as claimed in claim 16, characterized in that: The support assembly (9) comprises a slide rail (901) arranged on a frame (601) and a slider (902) matched with the slide rail (901); the slider (902) is slidably connected to the slide rail (901); a plug plate (903) is fixedly connected to the slider (902); the bracket (801) is connected to the slider (902); and a clamping block (803) is arranged on the plug plate (903).

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