Automatic clamping device for wrapping yeast
By designing an automatic clamping device for bag-bearing, using a bevel clamping assembly for tilted fixing and movable clamping blocks, the problem of unstable clamping of bag-bearing in the prior art is solved, the stable automatic clamping and transport of bag-bearing is realized, and the degree of automation of the entire bevel connecting system is improved.
Patent Information
- Application Number
- CN202422068350.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-08-26
AI Technical Summary
In the prior art, the device used to clip the bag bell bend cannot adapt to the arc-shaped top surface of the bag bell bend, resulting in unstable clamping, which can easily lead to the problem of broken or fall off of the bag bell bend.
An automatic clamping device is designed, including a robot, a rack, a base and a clamping assembly. The clamping assembly consists of a fixed clamp, a movable clamp and a power assembly. The fixed clamp is arranged inclined. The movable clamp is driven to move towards the fixed clamp by the power assembly to clamp the bag curve. A flexible silicone pad is provided on the inner side of the clamping assembly to protect the clamping.
It realizes stable automatic clamping and transport of bag chess, and can capture multiple bag chess at the same time, which improves work efficiency and automation, and can complete clamping and stacking of the bell frame, realizing the automated operation of the entire bell connection system.
Smart Images
Figure CN223002315U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of bagged starter transportation, in particular to an automatic clamping device for bagged starters. Background Art
[0002] In the brewing process, after the fermented grains are steamed, it is necessary to add starter drugs to the fermented grains during the cooling process to facilitate the subsequent fermentation of the fermented grains in the cellar. The 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 house. Currently, there are two main forms of starter blocks. One is brick-shaped starter, as shown in Figure 1 ; the other is bagged starter, as shown in Figure 2 .
[0003] The inventor of this application is committed to the research of intelligent brewing equipment and applied for a patent for an automatic starter stacking device with the patent number 2020224242728 in 2020. The device includes a robot and a base connected to the robot. At least one starter clamping mechanism and a power mechanism for driving the starter clamping mechanism are arranged on the base; the starter clamping mechanism includes two parallel sliding plates connected to the base, and clamping plates are evenly arranged at the bottom of the sliding plates. The distance between adjacent clamping plates matches the width of the starter block; the power mechanism includes a cylinder connected to the base. The movable end of the cylinder is sequentially hinged with a first connecting plate and a second connecting plate, and the middle of the second connecting plate is hinged to the base; one end of one side of the second connecting plate is hinged to a sliding plate through a third connecting plate; the other side of the second connecting plate is hinged to the other sliding plate through a fourth connecting plate.
[0004] The above-mentioned starter stacking device clamps the starter blocks through two clamping plates. However, due to the different shapes of brick-shaped starters and bagged starters, the top surface of the bagged starter is arc-shaped. If two clamping plates are still used to clamp the bagged starter, the stress points and stress areas during clamping are different, which will cause the bagged starter to be damaged or the risk of the bagged starter falling off, and the clamping stability is poor. Therefore, there is an urgent need for a new device to realize the automatic clamping of bagged starters. Summary of the Utility Model
[0005] Aiming at the technical problem that the existing starter stacking device is not suitable for clamping bagged starters, which will cause the bagged starters to be scratched, damaged or fall off during the clamping process, the utility model provides an automatic clamping device for bagged starters.
[0006] The technical solution adopted by the present utility model is as follows: an automatic clamping device for bag bends, comprising a robot and a frame connected to the robot. A base connected to the robot and at least two clamping components for clamping bag bends in the thickness direction are arranged on the frame. The clamping components include two fixed clamping blocks connected to the frame, two movable clamping blocks arranged at a certain distance from the fixed clamping blocks, and a first power component. The fixed clamping blocks are arranged obliquely, and the inclination angle of the fixed clamping blocks matches the angle of the curved bag. The first power component can drive the movable clamping blocks to move towards the fixed clamping blocks. The fixed end of the first power component is connected to the frame, and the movable end of the first power component is connected to the movable clamping blocks. When clamping the bag bend, the bag bend is clamped between the fixed clamping blocks and the movable clamping blocks.
[0007] Furthermore, the fixed clamping blocks are hinged to the frame, the fixed clamping blocks can rotate relative to the frame, and the fixed clamping blocks are connected to the frame by screws.
[0008] Furthermore, flexible silica gel pads are arranged on the inner sides of the fixed clamping blocks and the movable clamping blocks.
[0009] Furthermore, there are eight clamping components, which are arranged in a matrix in two rows on the frame.
[0010] Furthermore, a curved frame clamping component is also arranged on the frame, and the curved frame clamping component is used for clamping the curved frame.
[0011] Furthermore, the curved frame clamping component includes brackets movably arranged at both ends of the frame and a second power component for driving the brackets to move. The fixed end of the second power component is connected to the frame, the movable end of the second power component is connected to the brackets, and clamping blocks for clamping the curved frame are arranged on the brackets. The second 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.
[0012] 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;
[0013] Furthermore, the support component includes a slide rail arranged on the frame and a slider matching the slide rail. The slider is slidably connected to the slide rail. A plug board is fixedly connected to the slider, the brackets are connected to the slider, and the clamping blocks are arranged on the plug board.
[0014] The beneficial effects of the present utility model are as follows:
[0015] 1. The automatic clamping device of the present utility model is applicable to the automatic clamping and transfer of bag bends, and can simultaneously grab multiple bag bends, improving the work efficiency and the degree of automation.
[0016] 2. The automatic clamping device of the present utility model can not only complete the automatic clamping and transfer of bag bends, but also complete the clamping and stacking transfer of curved frames, enabling the entire curved frame receiving system to achieve automated operation.
[0017] 3. The clamping block of the present utility model does not exert a clamping force on the curved frame, but only plays a limiting role to prevent the curved frame from swaying during the transfer process. The component that truly supports the curved frame is the insertion plate, which effectively protects the cylinder and extends its service life. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic structural diagram of a brick curve.
[0019] Figure 2 It is a schematic structural diagram of a bag curve.
[0020] Figure 3 It is a schematic structural diagram of the present utility model.
[0021] Figure 4 It is a three-dimensional view of the curved frame clamping assembly Figure 1 .
[0022] Figure 5 It is a three-dimensional view of the curved frame clamping assembly Figure 2 .
[0023] Figure 6 It is a schematic structural diagram of the curved frame clamping assembly for clamping the bag curve.
[0024] Figure 7 It is a schematic structural diagram of the present utility model for clamping the curved frame.
[0025] Figure 8 It is Figure 7 A partial enlarged view of A in
[0026] Figure 9 It is a front view of the present utility model for clamping the curved frame.
[0027] Figure 10 It is Figure 9 A partial enlarged view of B in
[0028] The markings in the figure are:
[0029] 1. Robot;
[0030] 2. Frame; 201. Base;
[0031] 3. Curved frame clamping assembly; 301. Fixed clamping block; 302. Movable clamping block; 303. First power assembly; 304. Flexible silicone pad;
[0032] 4. Curved frame picking component; 401. Bracket; 402. Second power assembly; 403. Clamping block;
[0033] 5. Support assembly; 501. Slide rail; 502. Slide block; 503. Insertion plate.
[0034] 6. Bag-shaped curved part; 7. Curved part rack. Detailed implementation manner
[0035] 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 cannot be construed as a limitation to the present utility model.
[0036] 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 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 circumstances.
[0037] The present utility model will be further described below with reference to the drawings 1-10.
[0038] Embodiment 1
[0039] In view of the technical problems existing in the background art, the present utility model provides an automatic clamping device for a bag-shaped curved part. Two forms of curved blocks, brick-shaped curved part and bag-shaped curved part, have been described in the background art. The automatic clamping device of the present utility model is used to clamp the bag-shaped curved part.
[0040] In a specific technical solution, referring to Figure 3 , the automatic clamping device includes a robot 1 and a frame 2 connected to the robot 1. A base 201 connected to the robot 1 and eight clamping curved part components 3 for clamping the bag-shaped curved part 6 in the thickness direction are provided on the frame 2; the eight clamping curved part components 3 are arranged in a matrix in two rows on the frame 2. The robot 1 is an existing technical device, and its structure and principle will not be described in detail here.
[0041] Among them, referring to Figure 4 , Figure 5 and Figure 6, the clamping and bending assembly 3 includes two fixed clamping blocks 301 connected to the frame 2, two movable clamping blocks 302 arranged at a certain distance from the fixed clamping blocks 301, and a first power assembly 303. The fixed clamping blocks 301 are arranged obliquely, and the inclination angle of the fixed clamping blocks 301 matches the bending angle of the bag. The first power assembly 303 can drive the movable clamping blocks 302 to move towards the fixed clamping blocks 301. The fixed end of the first power assembly 303 is connected to the frame 2, and the movable end of the first power assembly 303 is connected to the movable clamping blocks 302. When clamping and bending, the bag bend 6 is clamped between the fixed clamping blocks 301 and the movable clamping blocks 302. The first power assembly 303 uses a cylinder, and the arrangement is simple and reliable.
[0042] Working principle: The bags to be grasped are arranged in two rows on the production line beside the robot 1, with four bags in each row. When grasping and bending, the robot 1 controls the frame 2 to move horizontally to the side of the bag, as Figure 6 shown. The robot 1 controls the movable clamping blocks 302 of the clamping and bending assembly 3 to be placed below the bag. The first power assembly 303 is started, and the first power assembly 303 drives the movable clamping blocks 302 to move towards the fixed clamping blocks 301. The bag gradually disengages from the production line and moves towards the fixed clamping blocks 301, and is finally clamped between the fixed clamping blocks 301 and the movable clamping blocks 302. At this time, the robot 1 controls the frame 2 to move to the bending rack 7 and places the bag on the bending rack 7, and then goes to clamp and bend again, and so on until the bending blocks on the bending rack 7 are stacked full.
[0043] From the above structure and principle, it can be seen that the automatic clamping device of the present invention is applicable to the automatic clamping and transfer of bag bends, and can grasp multiple bag bends at the same time, improving work efficiency and automation degree.
[0044] Since the bending angles of the arc surfaces of different bag bends are different, in this embodiment, the fixed clamping blocks 301 are designed to be hinged to the frame 2, and the fixed clamping blocks 301 can rotate relative to the frame 2. After the fixed clamping blocks 301 are adjusted to the appropriate positions, the fixed clamping blocks 301 are connected to the frame 2 by screws to meet bag bends with different bending angles and improve the applicable range of the equipment.
[0045] In order to perform flexible operation on the bag bend and avoid damage to the bag bend by the clamping and bending assembly, referring to Figure 5 , in this embodiment, flexible silicone pads 304 are provided on the inner sides of the fixed clamping blocks 301 and the movable clamping blocks 302.
[0046] Embodiment 2
[0047] After a bending rack is filled with bending blocks, an empty bending rack needs to be installed on it to continue loading bending blocks. To realize the automation of bending rack installation, on the basis of Embodiment 1, the following further improvements are made in this embodiment: Referring to Figure 4 ,Figure 5 and Figure 6 In this embodiment, a curved frame clamping component 4 is further arranged on the rack 2, and the curved frame clamping component 4 is used for clamping the curved frame 7.
[0048] Specifically, referring to Figures 7 to 10 , the curved frame clamping component 4 includes brackets 401 movably arranged at both ends of the rack 2 and a second power component 402 for driving the brackets 401 to move. The fixed end of the second power component 402 is connected to the rack 2, and the movable end of the second power component 402 is connected to the brackets 401. Clamping blocks 403 for clamping the curved frame 7 are arranged on the brackets 401, and the second power component 402 can drive the two clamping blocks 403 to move towards each other; when clamping the curved frame 7, the curved frame 7 is clamped between the two clamping blocks 403. The second power component 402 adopts a cylinder, and the layout is simple and reliable.
[0049] Working principle: When clamping the curved frame, first control the robot 1 to place the rack 2 above the curved frame 7, start the second power component 402, and the second power component 402 drives the two clamping blocks 403 to move towards the curved frame 7 through the brackets 401, and finally clamps the curved frame 7 between the clamping blocks 403.
[0050] 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, stacking and transfer of the curved frame, enabling the entire curved frame receiving system to achieve automated operation.
[0051] 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. Therefore, in view of the above problems, the following further improvements are made in this embodiment: Referring to Figure 3 and Figure 4 , a support component 5 is further arranged in this embodiment, and the support component 5 is used to support the curved frame 7 during the transfer of the curved frame 7.
[0052] Specifically, referring to Figure 8 and Figure 10 , the support component 5 includes a slide rail 501 arranged on the rack 2 and a slide block 502 matching the slide rail 501. The slide block 502 is slidably connected to the slide rail 501. A plug board 503 is fixedly connected to the slide block 502. The bracket 401 is connected to the slide block 502, and the clamping block 403 is arranged on the plug board 503.
[0053] Working principle: When the second power component 402 drives the bracket 401 to move, the bracket 401, slider 502, clamping block 403 and insertion plate 503 move synchronously through the slide rail 501. That is to say, when the clamping block 403 moves, the insertion plate 503 also moves towards the curved frame 7 synchronously. When the clamping block 403 reaches the side wall of the curved frame 7, the insertion plate 503 is located below the curved frame 7, and at this time, the insertion plate 503 is not stressed. During the process of the robot 1 driving the curved frame 7 for transfer, the curved frame 7 falls onto the insertion plate 503, and only then is the insertion plate 503 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 truly supports the curved frame is the insertion plate.
[0054] 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 truly supports the curved frame is the insertion plate, thereby effectively protecting the cylinder and increasing the service life of the cylinder.
[0055] 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 gripping device for bagging, comprising a robot (1) and a frame (2) connected to the robot (1), characterized in that: The frame (2) is provided with a base (201) connected to the robot (1) and at least two clamping components (3) for clamping the bag (6) in the thickness direction; The clamping and bending assembly (3) comprises two fixed clamping blocks (301) connected to the frame (2), two movable clamping blocks (302) arranged at a certain distance from the fixed clamping blocks (301), and a first power assembly (303); the fixed clamping blocks (301) are arranged obliquely, and the inclination angle of the fixed clamping blocks (301) matches the bending angle; the first power assembly (303) can drive the movable clamping blocks (302) to move toward the fixed clamping blocks (301); the fixed end of the first power assembly (303) is connected to the frame (2), and the movable end of the first power assembly (303) is connected to the movable clamping blocks (302); when clamping and bending, the wrapped bend (6) is clamped between the fixed clamping blocks (301) and the movable clamping blocks (302).
2. The automatic clamping device for bagging as claimed in claim 1, characterized in that: The fixed clamp block (301) is hinged to the frame (2); the fixed clamp block (301) can rotate relative to the frame (2); and the fixed clamp block (301) is connected to the frame (2) via screws.
3. The automatic clamping device for bagging as claimed in claim 1, characterized in that: Flexible silicone pads (304) are provided on the inner sides of the fixed clamping block (301) and the movable clamping block (302).
4. The automatic clamping device for bagging as claimed in claim 1, characterized in that: There are eight clamping components (3) arranged in two rows in a matrix on the frame (2).
5. The automatic clamping device for bagging as claimed in claim 1, characterized in that: The frame (2) is also provided with a curved frame clamping assembly (4), and the curved frame clamping assembly (4) is used to clamp the curved frame (7).
6. The automatic clamping device for bagging as claimed in claim 5, characterized in that: The curved frame clamping assembly (4) comprises a bracket (401) movably arranged at both ends of the frame (2) and a second power assembly (402) for driving the bracket (401) to move, wherein the fixed end of the second power assembly (402) is connected to the frame (2), and the movable end of the second power assembly (402) is connected to the bracket (401), and a clamping block (403) for clamping the curved frame (7) is arranged on the bracket (401), and the second power assembly (402) can drive the two clamping blocks (403) to move towards each other; when clamping the curved frame (7), the curved frame (7) is clamped between the two clamping blocks (403).
7. The automatic clamping device for bagging as claimed in claim 6, characterized in that: It also includes a support assembly (5), which is used to support the curved frame (7) during the transportation process of the curved frame (7).
8. The automatic clamping device for bagging as claimed in claim 7, characterized in that: The support assembly (5) comprises a slide rail (501) arranged on the frame (2) and a slider (502) matched with the slide rail (501); the slider (502) is slidably connected to the slide rail (501); a plug plate (503) is fixedly connected to the slider (502); the bracket (401) is connected to the slider (502); and the clamping block (403) is arranged on the plug plate (503).