Anti-backlash device with counting function

Abstract

The utility model belongs to the technical field of curved block transfer, and particularly discloses an anti-backlash device with a counting function, which comprises a chain scraper conveyor, a first blocking frame, a first power component, a second blocking frame and a second power component, a first sensor is arranged on the first blocking frame, and a second sensor is arranged on the second blocking frame; the first power assembly is in an extending state before the curved block is subjected to backlash elimination, and the first power assembly is in a retracting state after the curved block is subjected to backlash elimination; according to the utility model, not only can the yeast blocks on the chain scraper conveyor be counted, but also the yeast blocks are counted in a fixed-length mechanical mode, so that the counting error caused by large randomness of the posture of the yeast blocks and residual straws on the yeast blocks is effectively solved, the accuracy of the yeast block counting is improved, and the accuracy of the yeast grabbing process of a robot is ensured; and the yeast blocks are protected and prevented from being damaged by the robot, and orderly and stable operation of the system is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of koji block transportation, in particular to a backlash elimination device with a counting function. Background Art

[0002] In the brewing process, after the fermented grains are steamed, koji medicine needs to be added to the fermented grains during the cooling process for subsequent cellar fermentation. The koji medicine is made by a koji making machine. The koji blocks made by the koji making machine need to be placed on a koji rack and then moved to a koji room for fermentation. The koji blocks on the koji rack need to be spaced at a certain distance to ensure that the koji blocks are fully in contact with air, facilitating the fermentation of the koji blocks. After fermentation, the gaps between the koji blocks need to be eliminated before bundling, packing, and storing in the warehouse.

[0003] The inventor of this application is committed to the research of intelligent brewing equipment and applied for a high-temperature Daqu stacking system and a koji block fermentation method with a publication number of CN114715675A in 2022, which relates to the technical field of koji block production. The high-temperature Daqu stacking system includes a depalletizer, a bundling machine, and a feeding chain conveyor connected in sequence. A robot and a backlash elimination mechanism for eliminating the gaps between adjacent koji blocks are arranged beside the bundling machine. A palletizing and depalletizing robot and stacked koji racks are arranged on the opposite side of the robot where the bundling machine is located, and an AGV robot for transporting the koji rack is arranged at the bottom of the koji rack.

[0004] The above application discloses a backlash elimination mechanism for eliminating the gaps between adjacent koji blocks, but the backlash elimination mechanism of this application does not have a counting function. The number of koji blocks grasped by the robot each time is certain, and due to the inconsistent thickness of the koji blocks prepared by the koji making machine, this leads to inaccurate grasping of the koji blocks by the robot, increasing the difficulty of the robot grasping the koji blocks. Summary of the Utility Model

[0005] Aiming at the technical problem that the existing backlash elimination mechanism does not have a counting function, resulting in inaccurate grasping of koji blocks by the robot, the utility model provides a backlash elimination device with a counting function.

[0006] The technical solution adopted by the utility model is as follows:

[0007] The beneficial effect of the utility model is that the backlash elimination device with a counting function includes a chain conveyor, and further includes:

[0008] A first stop frame, arranged above the end of the chain conveyor, used to block the movement of the koji blocks on the chain conveyor, thereby eliminating the gaps between the koji blocks. A first sensor is arranged on the first stop frame, and the first sensor is used to detect whether there is a koji block in front of the first stop frame;

[0009] The first power component is arranged on the first retaining frame. The fixed end of the first power component is connected to the first retaining frame, and a baffle is provided at the movable end of the first power component. The first power component can drive the baffle to move towards the head end of the chain conveyor.

[0010] The second retaining frame is arranged on the chain conveyor and is spaced a certain distance from the first retaining frame. A second sensor is provided on the second retaining frame, and the second sensor is used to detect whether there is a curved block in front of the second retaining frame.

[0011] There are two second power components, which are arranged at both ends of the second retaining frame. The fixed end of the second power component is connected to the second retaining frame, and a clamping plate is provided at the movable end of the second power component. The second power component can drive the clamping plate to move towards the middle of the chain conveyor, and the curved block on the chain conveyor is clamped between the two clamping plates.

[0012] Before the clearance elimination of the curved block, the first power component is in the extended state, and after the clearance elimination of the curved block, the first power component is in the retracted state.

[0013] Furthermore, a shaping component is also included. The shaping component is arranged on the side of the chain conveyor between the first retaining frame and the second retaining frame. The shaping component is used to shape the curved blocks on the chain conveyor to ensure alignment between adjacent curved blocks.

[0014] Furthermore, the shaping component includes a shaping plate matching the length of the curved block stack and a third power component for driving the shaping plate to move. The fixed end of the third power component is connected to the chain conveyor, and the movable end of the third power component is connected to the shaping plate. The third power component can drive the shaping plate to move towards the curved blocks on the chain conveyor; after the first power component retracts, the third power component drives the shaping plate to expand and contract once.

[0015] Furthermore, a guide sleeve is provided on the chain conveyor, and a guide rod matching the guide sleeve is provided on the shaping plate.

[0016] Furthermore, there are two guide sleeves, which are respectively arranged on both sides of the third power component.

[0017] Furthermore, the first power component, the second power component and the third power component are cylinders.

[0018] Furthermore, a third sensor is provided on the chain conveyor at the front end of the first retaining frame, and the shaping component is driven to work after the third sensor detects a signal.

[0019] Furthermore, the first sensor, the second sensor and the third sensor are diffuse reflection sensors.

[0020] Furthermore, guardrails are provided on both sides of the chain conveyor.

[0021] Furthermore, waste collection bins are provided below both ends of the chain plate conveyor.

[0022] The beneficial effects of the present utility model are as follows:

[0023] 1. The present utility model can not only count the curved blocks on the chain plate conveyor, but also, compared with the existing method of using a counting sensor to count the curved blocks, the present utility model uses a fixed-length mechanical method to count the curved blocks, effectively solving the counting error caused by the large randomness of the posture of the curved blocks and the straw residue on the curved blocks, improving the accuracy of the curved block counting, ensuring the accuracy of the robot's process of grasping the curved blocks, protecting the curved blocks, avoiding the curved blocks being damaged by the robot, and ensuring the orderly and stable operation of the system.

[0024] 2. The present utility model can push and align the curved blocks to be grasped on the chain plate conveyor flat through the shaping component, ensuring that the curved blocks are located on the same straight line, making the curved blocks evenly stressed after being grasped by the robot, protecting the curved blocks, and reducing the risk of the curved blocks being crushed. Description of the Drawings

[0025] Figure 1 is the perspective view after the first power component of the present utility model extends.

[0026] Figure 2 is Figure 1 the partial enlarged view of A in

[0027] Figure 3 is the front view after the first power component of the present utility model extends.

[0028] Figure 4 is Figure 3 the top view of

[0029] Figure 5 is the front view after the first power component of the present utility model retracts.

[0030] Figure 6 is Figure 5 the top view of

[0031] The markings in the figure are:

[0032] 1. Chain plate conveyor; 101. Third sensor; 102. Guardrail; 103. Waste collection bin;

[0033] 2. First stop; 201. First sensor; 202. First power component; 203. Baffle;

[0034] 3. Second stop; 301. Second sensor; 302. Second power component; 303. Clamping plate;

[0035] 4. Shaping component; 401. Shaping plate; 402. Third power component; 403. Guide sleeve; 404. Guide rod;

[0036] 5. Curved block. Detailed implementation mode

[0037] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "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 cannot be understood as a limitation to the present utility model.

[0038] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. 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.

[0039] The following combines the attached Figures 1 to 6 To further illustrate the present utility model.

[0040] Embodiment 1

[0041] In view of the technical problems existing in the background art, the present utility model provides a backlash elimination device with a counting function.

[0042] When improving the counting function, the inventor of the present applicant first thought of using a counting sensor (which is also the most common counting method at present), and detecting the number of curved blocks on the chain plate conveyor by setting a counting sensor on the chain plate conveyor. However, it was found in subsequent use that: due to the large randomness of the attitude of the curved blocks passing through the counting sensor, for example, the bottom of the curved block is uneven, causing the curved block to tilt and stick to the previous curved block, and the counting sensor misidentifies it as one curved block; and there is straw residue during the fermentation of the curved blocks in the process, which affects the accuracy of counting. These will all lead to large counting errors, resulting in inaccurate grasping of the curved blocks by the robot, causing the curved blocks to be clamped or fall off, and affecting the stable operation of the system.

[0043] Therefore, in view of the above technical problems, the following further improvements are made to the counting function in this embodiment:

[0044] In the specific technical solution, the backlash elimination device includes a chain plate conveyor 1, a first stop frame 2, a first power component 202, a second stop frame 3, and a second power component 302.

[0045] Among them, the first stop bracket 2 is arranged above the end of the chain conveyor 1, used to block the movement of the curved blocks 5 on the chain conveyor 1, thereby eliminating the gaps between the curved blocks 5. A first sensor 201 is arranged on the first stop bracket 2, and the first sensor 201 is used to detect whether there is a curved block 5 in front of the first stop bracket 2; a first power assembly 202 is arranged on the first stop bracket 2, the fixed end of the first power assembly 202 is connected to the first stop bracket 2, a baffle 203 is arranged at the movable end of the first power assembly 202, and the first power assembly 202 can drive the baffle 203 to move towards the head end of the chain conveyor 1; the second stop bracket 3 is arranged on the chain conveyor 1, at a certain distance from the first stop bracket 2, a second sensor 301 is arranged on the second stop bracket 3, and the second sensor 301 is used to detect whether there is a curved block 5 in front of the second stop bracket 3; two second power assemblies 302 are arranged at both ends of the second stop bracket 3, the fixed end of the second power assembly 302 is connected to the second stop bracket 3, a clamping plate 303 is arranged at the movable end of the second power assembly 302, and the second power assembly 302 can drive the clamping plate 303 to move towards the middle of the chain conveyor 1, and the curved blocks 5 on the chain conveyor 1 are clamped between the two clamping plates 303; before the clearance elimination of the curved blocks, the first power assembly 202 is in the extended state, and after the clearance elimination of the curved blocks, the first power assembly 202 is in the retracted state. The first power assembly 202 and the second power assembly 302 adopt air cylinders, and the first sensor 201 and the second sensor 301 adopt diffuse reflection sensors.

[0046] Working principle: Before clearance elimination, referring to Figure 1 , Figure 3 and Figure 4 , the first power assembly 202 is in the extended state. When the curved block 5 on the chain conveyor 1 reaches the baffle 203, it is blocked by the baffle 203. At this time, the chain conveyor 1 continues to operate, while the curved block 5 on the chain conveyor 1 is blocked in front of the baffle 203 and stagnates, and the curved blocks are adjacent to each other, thereby eliminating the gaps between the curved blocks. When the first sensor 201 detects a signal, indicating that there is a curved block 5 in front of the first stop bracket 2, if the second sensor 301 detects a continuous signal at this time, it means that the curved blocks between the first stop bracket 2 and the second stop bracket 3 are full, meeting the number of curved blocks grabbed by the robot and the grabbing conditions. At this time, the second power assembly 302 extends to clamp the curved block 5 under the second stop bracket 2. At this time, the remaining curved blocks 5 on the chain conveyor 1 are blocked outside the second stop bracket 3, referring to Figure 5 and Figure 6, immediately afterwards, the first power component 202 retracts, driving the baffle 203 to retract synchronously. Then, the curved block 5 located between the first retaining frame 2 and the second retaining frame 3 advances a certain distance, which is the length of the retraction of the first power component 202. The gap left by this distance facilitates the robot to grasp the curved block, creating sufficient space for the robot to grasp the curved block. After the robot grasps the curved block, the second power component 302 retracts, and the first power component 202 extends, preparing for the robot to grasp the curved block for the second time, and so on in a cycle.

[0047] It should be noted that the distance between the first retaining frame 2 and the second retaining frame 3 can be set according to the actual situation. The distance between the two is greater than the width of the required number of curved blocks, and the width of one extra curved block is exactly the length of the extension of the first power component. After the first power component 202 retracts, the gap left by this width facilitates the robot to grasp the curved block, creating sufficient space for the robot to grasp the curved block. Refer to Figure 4 , for example, in this application, the robot grasps 11 curved blocks at one time, and the distance between the first retaining frame and the second retaining frame should be greater than the total length of 11 curved blocks added together.

[0048] From the above structure and principle, it can be seen that the utility model can not only count the curved blocks on the chain conveyor, but also, compared with the prior art method of using a counting sensor to count the curved blocks, the utility model counts the curved blocks by a fixed-length mechanical method, effectively solving the counting error caused by the large randomness of the posture of the curved blocks and the straw residue on the curved blocks, improving the accuracy of the curved block counting, ensuring the accuracy of the robot's grasping process of the curved blocks, protecting the curved blocks, avoiding the curved blocks being damaged by the robot, and ensuring the orderly and stable operation of the system.

[0049] To limit the curved blocks on the chain conveyor and prevent the curved blocks from falling off the chain conveyor, guardrails 102 are provided on both sides of the chain conveyor 1.

[0050] There are residues of curved blocks on the chain conveyor for transporting curved blocks. To collect the residues, refer to Figure 1 , in this embodiment, waste collection boxes 103 are also provided below both ends of the chain conveyor 1.

[0051] Embodiment 2

[0052] The curved blocks on the chain conveyor are not all arranged in the same straight line, with a slight error. This error causes the clamping force of the robot when clamping the curved blocks not to be in the same straight line, resulting in uneven force on the curved blocks and a risk of the curved blocks being crushed. Therefore, to address the above technical problems, on the basis of Embodiment 1, the following further improvements are made in this embodiment: Refer to Figure 1 and Figure 2, this embodiment further includes a shaping component 4, which is arranged on the side of the chain conveyor 1 between the first stop 2 and the second stop 3. The shaping component 4 is used to shape the curved blocks 5 on the chain conveyor 1 to ensure alignment between adjacent curved blocks.

[0053] Specifically, referring to Figure 2 , the shaping component 4 includes a shaping plate 401 matching the length of the curved block stack and a third power component 402 for driving the movement of the shaping plate 401. The fixed end of the third power component 402 is connected to the chain conveyor 1, and the movable end of the third power component 402 is connected to the shaping plate 401. The third power component 402 can drive the shaping plate 401 to move towards the curved blocks on the chain conveyor 1; after the first power component 202 retracts, the third power component 402 drives the shaping plate 401 to expand and contract once.

[0054] Working principle: After the first power component 202 retracts, the third power component 402 drives the shaping plate 401 to extend. The extended shaping plate 401 pushes the curved blocks 5 on the chain conveyor 1 flat and aligned, ensuring that the curved blocks are on the same straight line, which is convenient for the robot to grasp. After the shaping plate 401 flattens the curved blocks, it retracts again, without affecting the robot's grasping of the curved blocks.

[0055] From the above structure and principle, it can be seen that the utility model can push the curved blocks to be grasped on the chain conveyor flat and aligned through the shaping component, ensure that the curved blocks are on the same straight line, make the curved blocks evenly stressed after being grasped by the robot, play a protective role for the curved blocks, and reduce the risk of the curved blocks being crushed.

[0056] To make the expansion and contraction of the shaping plate more stable, referring to Figure 2 , this embodiment also provides guide sleeves 403 on the chain conveyor 1, and guide rods 404 matching the guide sleeves 403 are provided on the shaping plate 401. There are two guide sleeves 403, which are respectively arranged on both sides of the third power component 402.

[0057] To cooperate with the work of the shaping component, referring to Figure 1 , this embodiment provides a third sensor 101 on the chain conveyor 1 at the front end of the first stop 2. After the third sensor 101 detects a signal, it drives the shaping component 4 to work. The third sensor 101 is a diffuse reflection sensor.

[0058] The specific embodiments described above further elaborate on the purpose, technical solutions, 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. A gap elimination device with a counting function, comprising a chain conveyor (1), characterized in that: Also includes: A first stop frame (2) is arranged above the end of the chain conveyor (1) and is used to stop the curved blocks (5) from moving on the chain conveyor (1), thereby eliminating the gaps between the curved blocks (5). A first sensor (201) is provided on the first stop frame (2). The first sensor (201) is used to detect whether there is a curved block (5) in front of the first stop frame (2); A first power assembly (202) is arranged on the first baffle frame (2), the fixed end of the first power assembly (202) is connected to the first baffle frame (2), the movable end of the first power assembly (202) is provided with a baffle plate (203), and the first power assembly (202) can drive the baffle plate (203) to move toward the head end of the chain conveyor (1); The second stop frame (3) is arranged on the chain plate conveyor (1) and is spaced a certain distance from the first stop frame (2). The second stop frame (3) is provided with a second sensor (301), and the second sensor (301) is used to detect whether there is a curved block (5) in front of the second stop frame (3); There are two second power assemblies (302) arranged at both ends of the second stop frame (3). The fixed end of the second power assembly (302) is connected to the second stop frame (3). The movable end of the second power assembly (302) is provided with a clamping plate (303). The second power assembly (302) can drive the clamping plate (303) to move toward the middle of the chain conveyor (1). The curved block (5) on the chain conveyor (1) is clamped between the two clamping plates (303). Before the curved block eliminates the backlash, the first power assembly (202) is in an extended state, and after the curved block eliminates the backlash, the first power assembly (202) is in a retracted state.

2. The backlash eliminating device with counting function as claimed in claim 1, characterized in that: It also includes a shaping component (4), which is arranged on the side of the chain conveyor (1) between the first stop frame (2) and the second stop frame (3), and is used to shape the curved blocks (5) on the chain conveyor (1) to ensure that adjacent curved blocks are aligned.

3. The gap eliminating device with counting function as claimed in claim 2, characterized in that: The shaping assembly (4) comprises a shaping plate (401) matching the length of the curved block pile and a third power assembly (402) driving the shaping plate (401) to move, wherein the fixed end of the third power assembly (402) is connected to the chain conveyor (1), and the movable end of the third power assembly (402) is connected to the shaping plate (401), and the third power assembly (402) can drive the shaping plate (401) to move toward the curved blocks on the chain conveyor (1); After the first power assembly (202) is retracted, the third power assembly (402) drives the shaping plate (401) to retract once.

4. The backlash eliminating device with counting function as claimed in claim 2, characterized in that: The chain conveyor (1) is provided with a guide sleeve (403), and the shaping plate (401) is provided with a guide rod (404) matching the guide sleeve (403).

5. The backlash eliminating device with counting function as claimed in claim 4, characterized in that: There are two guide sleeves (403), which are respectively arranged on both sides of the third power assembly (402).

6. The backlash eliminating device with counting function as claimed in claim 3, characterized in that: The first power assembly (202), the second power assembly (302) and the third power assembly (402) are cylinders.

7. The backlash eliminating device with counting function as claimed in claim 3, characterized in that: A third sensor (101) is provided on the chain conveyor (1) at the front end of the first baffle frame (2), and the shaping component (4) is driven to operate after the third sensor (101) detects a signal.

8. The backlash eliminating device with counting function as claimed in claim 7, characterized in that: The first sensor (201), the second sensor (301) and the third sensor (101) are diffuse reflection sensors.

9. The backlash eliminating device with counting function as claimed in claim 1, characterized in that: Guardrails (102) are provided on both sides of the chain conveyor (1).

10. The backlash eliminating device with counting function as claimed in claim 1, characterized in that: Waste collection boxes (103) are provided below both ends of the chain conveyor (1).

Images