A koji block stacking robot

Abstract

The application provides a koji block stacking robot, which comprises a stacking and conveying mechanism, a mechanical arm and a carrying mechanism mounted on the mechanical arm; the stacking and conveying mechanism can stack and convey koji blocks; the carrying mechanism comprises a flange part connected with the mechanical arm, the flange part is provided with a first telescopic driver, a second telescopic driver and a third telescopic driver, the first telescopic driver and the second telescopic driver are both horizontally transversely extended, but the directions are opposite, the third telescopic driver is downwardly extended and located on the extension direction of the second telescopic driver; the second telescopic driver is located below the flange part, the telescopic end of the second telescopic driver is provided with a push plate, the telescopic end of the third telescopic driver is provided with a baffle, and the baffle can be lowered to horizontally correspond with the push plate and clamp the koji block; the telescopic end of the first telescopic driver is connected with a supporting plate part through a supporting plate frame, the supporting plate part is located below the second telescopic driver and horizontally extends from the supporting plate frame to the extension direction of the second telescopic driver.

Description

Technical Field

[0001] This utility model relates to the field of yeast stacking technology, specifically a yeast stacking robot. Background Technology

[0002] Yeast starter is a key saccharification and fermentation agent in the brewing process. It is a block-shaped material made from grains such as wheat, barley, and peas, which are crushed, mixed with water, pressed into shape, and then naturally fermented under specific temperature and humidity conditions. Yeast starter is fragile and easily damaged; improper handling can easily lead to surface damage or internal cracking, affecting the quality of fermentation.

[0003] Currently, the handling of yeast blocks mainly relies on manual labor, which has problems such as high labor intensity, low efficiency, easy fatigue of personnel, unstable production rhythm, continuously rising human resource costs, and inconsistent yeast block breakage and stacking quality due to inconsistent manual operation.

[0004] To address the aforementioned problems, the inventors designed a yeast block palletizing and conveying system, and designed a yeast block palletizing robot for the system to replace manual handling and palletizing. Utility Model Content

[0005] To address the technical problems existing in the background art, this utility model provides a yeast block palletizing robot.

[0006] The technical solution of this utility model is as follows: A yeast block palletizing robot includes a stacking and conveying mechanism, a robotic arm, and a handling mechanism mounted on the robotic arm; The stacking and conveying mechanism can stack n rows and m columns of yeast blocks, and can also translate the yeast blocks, where n and m ≥ 2; One end of the robotic arm is connected to the mounting base, and the other end is connected to the handling mechanism; The handling mechanism includes a flange that is connected to the robotic arm. The flange is equipped with a first telescopic actuator, a second telescopic actuator, and a third telescopic actuator. The first and second telescopic actuators extend horizontally but in opposite directions. The third telescopic actuator extends downward and is located in the direction of extension of the second telescopic actuator. The second telescopic actuator is located below the flange, and its telescopic end is equipped with a push plate. The telescopic end of the third telescopic actuator is equipped with a baffle, and the baffle can be lowered to be horizontally aligned with the push plate and cooperate to clamp the yeast block. The telescopic end of the first telescopic actuator is connected to a tray section via a tray frame. The tray section is located below the second telescopic actuator. The tray section extends horizontally from the tray frame toward the second telescopic actuator and can move to or pass under the baffle away from the edge of the tray frame.

[0007] In the above scheme, the pallet frame is slidably connected to the flange.

[0008] Furthermore, the pallet frame is equipped with a guide rod, and the flange is equipped with a perforated guide rail. The pallet frame is slidably connected to the flange through the cooperation of the guide rod and the perforated guide rail.

[0009] Furthermore, there are two guide rods and two hole-shaped guide rails, which are slidably fitted and arranged symmetrically along the horizontal longitudinal direction.

[0010] In the above scheme, the pallet part includes a fixed plate and multiple support rods. The fixed plate is connected to the pallet frame. One end of the support rod is connected to the fixed plate, and the other end extends horizontally in the direction of the baffle. The multiple support rods are arranged at intervals along the horizontal longitudinal direction.

[0011] Furthermore, the number of support rods is even.

[0012] Furthermore, the number of support rods is four or more, with two rods forming a pair, and multiple pairs of support rods arranged horizontally and longitudinally at intervals.

[0013] Furthermore, in multiple pairs of support rods, the spacing between each pair of support rods is equal.

[0014] Furthermore, the stacking and conveying mechanism includes m parallel and evenly spaced conveyor belts.

[0015] Furthermore, the spacing between each pair of support rods is greater than the width of the conveyor belt.

[0016] This utility model provides a yeast block palletizing robot that can replace manual labor in handling yeast blocks. It can handle a large number of yeast blocks at a time, and the stable handling motion is achieved through the fixing of the pallet, baffle, and pusher, increasing handling speed and efficiency, and preventing the yeast blocks from falling and damaging them. Furthermore, the yeast blocks can be pre-arranged, and the loading, handling, and unloading processes do not disrupt the arrangement, thus saving the double steps of manual stacking and palletizing, improving stacking efficiency, and avoiding the problem of inconsistent quality in manual palletizing. Attached Figure Description

[0017] In the attached diagram: Figure 1 A schematic diagram of a yeast stacking robot; Figure 2 This is a schematic diagram of the handling mechanism.

[0018] The components represented by the various reference numerals in the diagram are: 1. Stacking and conveying mechanism; 11. Conveyor belt; 12. Stacking and turning wheel; 121. Turning shaft; 122. Turning wheel; 2. Robotic arm; 3. Handling mechanism; 31. Flange; 32. First telescopic actuator; 33. Second telescopic actuator; 34. Third telescopic actuator; 35. Push plate; 36. Baffle; 37. Pallet frame; 371. Guide rod; 372. Hole-type guide rail; 373. Vertical plate; 374. Horizontal plate; 375. Rear connecting plate; 38. Pallet part; 381. Fixing plate; 382. Support rod. Detailed Implementation

[0019] like Figure 1 and Figure 2 As shown, this utility model embodiment provides a wine yeast block palletizing robot, including a stacking and conveying mechanism 1, a robotic arm 2, and a handling mechanism 3 mounted on the robotic arm 2.

[0020] The stacking and conveying mechanism 1 can stack n rows and m columns of yeast blocks and can also translate the yeast blocks, where n and m are both greater than or equal to 2.

[0021] The stacking and conveying mechanism 1 includes a conveyor belt 11 and stacking and turning wheels 12. The conveyor belt 11 is used to carry and move the yeast blocks horizontally. The stacking and turning wheel includes a turning shaft 121 and turning wheels 122. The turning wheels 122 include four support plates connected to the cylindrical surface of the turning shaft 121 and extending tangentially along the turning shaft 121. The four support plates are evenly distributed around the turning shaft 121, forming a ratchet-shaped turning wheel 122. Adjacent support plates cooperate to form a station for turning the yeast blocks. For details, please refer to [link to relevant documentation]. Figure 1 As shown.

[0022] The stacking and conveying mechanism 1 includes m parallel and evenly spaced conveyor belts 11. The flipping shaft 121 is axially oriented. For each conveyor belt 11, there are two flipping wheels 122. The two flipping wheels 122 are symmetrically distributed axially on the flipping shaft 121 and are located on both sides of the corresponding conveyor belt 11. The two flipping wheels 122 flip the same piece of yeast block together.

[0023] One end of the robotic arm 2 is connected to the mounting base, and the other end is connected to the conveying mechanism 3. The conveying mechanism 3 is used to pick up the yeast blocks from the stacking and conveying mechanism 1, while the robotic arm 2 is used to move the conveying mechanism 3 to transfer the yeast blocks.

[0024] The mounting base can be a fixed base or a movable base, such as a wheeled movable base or a rail movable base.

[0025] like Figure 2As shown, the conveying mechanism 3 includes a flange 31 for connection with the robotic arm 2. The flange 31 is provided with a first telescopic actuator 32, a second telescopic actuator 33 and a third telescopic actuator 34. The first telescopic actuator 32 and the second telescopic actuator 33 extend horizontally, but in opposite directions. The third telescopic actuator 34 extends downward and is located in the extension direction of the second telescopic actuator 33.

[0026] The first telescopic actuator 32 is mounted on the top of the flange 31, the second telescopic actuator 33 is located below the flange 31 and is connected to the flange 31 via a mounting bracket, and the third telescopic actuator 34 is mounted on the side of the flange 31. The second telescopic actuator 33 and the third telescopic actuator 34 are located near the two ends of the first telescopic actuator 32, and the second telescopic actuator 33 is near the end of the telescopic rod of the first telescopic actuator 32 that extends outward.

[0027] The telescopic end of the second telescopic driver 33 is provided with a push plate 35, and the telescopic end of the third telescopic driver 34 is provided with a baffle 36. The baffle 36 can be lowered to be horizontally aligned with the push plate 35 and cooperate to clamp the yeast block.

[0028] Both the pusher plate 35 and the baffle plate 36 are horizontally extending strip plates. The pusher plate 35 has a U-shaped extension section, with its arched portion close to the pusher plate 35. This improves the bending resistance of the pusher plate 35 and makes the thrust provided by the pusher plate 35 more even at all positions, preventing the yeast block from being improperly compressed at both ends. The baffle plate 36 has an L-shaped extension section. One part extends downward from the bend to cooperate with the pusher plate 35 to clamp the yeast block, and the other part extends from the bend towards the pusher plate 35 to connect with the telescopic end of the third telescopic actuator 34.

[0029] The telescopic end of the first telescopic actuator 32 is connected to a tray portion 38 via a tray frame 37. The tray portion 38 is located below the second telescopic actuator 33. The tray portion 38 extends horizontally from the tray frame 37 toward the second telescopic actuator 33 and its edge away from the tray frame 37 can move to or pass under the baffle 36.

[0030] The tray portion 38 and the tray frame 37 are connected in an L-shape. The upper part of the tray frame 37 is connected to the telescopic end of the first telescopic actuator 32, and the lower part is connected to the tray portion 38. The tray portion 38 extends horizontally from the lower part of the tray frame 37 towards the baffle 36. As the first telescopic actuator 32 extends and retracts, the tray portion 38 can move to a position simultaneously below the baffle 36 and the push plate 35 to support the yeast block.

[0031] The pallet section 38 includes a fixed plate 381 and a plurality of support rods 382. The fixed plate 381 is connected to the pallet frame 37. One end of the support rod 382 is connected to the fixed plate 381, and the other end extends horizontally in the direction of the baffle 36. The plurality of support rods 382 are arranged at intervals along the horizontal longitudinal direction.

[0032] Specifically, the fixing plate 381 is a horizontal strip plate extending longitudinally, with its upper surface connected to the support frame 37 and its lower surface connected to multiple support rods 382.

[0033] The support rods 382 are used to support the yeast blocks. There are an even number of support rods 382, ​​with two rods forming a pair. The two support rods 382 in each pair work together to support one row of yeast blocks. Preferably, there are four or more support rods 382, ​​with multiple pairs of support rods 382 arranged horizontally and longitudinally at intervals, thereby enabling the support of more than two rows of yeast blocks at one time, improving the efficiency of yeast block handling.

[0034] Multiple support rods 382 form a fork shape, used in conjunction with the m parallel and evenly spaced conveyor belts 11 of the stacking and conveying mechanism 1. In use, two support rods 382 of each pair are inserted into the space between the two sides of one conveyor belt 11, allowing the support rods 382 to extend under the yeast block without touching the belt or the yeast block, and then lift upwards to support the yeast block, preventing collisions that could cause the yeast block to fall or break during the process.

[0035] Therefore, in the multiple pairs of support rods 382, ​​the spacing between each pair of support rods 382 is set to be equal, and the spacing between each pair of support rods 382 is greater than the width of the conveyor belt 11.

[0036] In addition, in order to make the support rod 382 more stable when supporting the yeast block, the support rod 382 is a rectangular rod, and the long side of its rectangular cross section extends horizontally longitudinally.

[0037] In this embodiment, in order to improve the load-bearing capacity and stability of the pallet portion 38 during movement, the pallet frame 37 is slidably connected to the flange portion 31. Through the sliding cooperation between the pallet frame 37 and the flange portion 31, the flange portion 31 replaces the first telescopic actuator 32 as the component that bears the weight of the yeast block and the guiding component. The first telescopic actuator 32 only provides horizontal driving function.

[0038] Specifically, the pallet frame 37 is provided with a guide rod 371, and the flange part 31 is provided with a hole-shaped guide rail 372. The pallet frame 37 is slidably connected to the flange part 31 through the cooperation of the guide rod 371 and the hole-shaped guide rail 372.

[0039] More specifically, the pallet frame 37 includes two upright plates 373 and a horizontal plate 374 connecting the upper ends of the two upright plates 373. The middle part of the horizontal plate 374 is connected to the telescopic end of the first telescopic actuator 32. A perforated guide rail 372 is disposed on the lower side of the flange portion 31. One end of the guide rod 371 is connected to the horizontal plate 374 of the pallet frame 37, and the other end passes through the perforated guide rail 372, extending horizontally laterally towards the baffle 36. The perforated guide rail 372 may be a linear bearing.

[0040] Preferably, there are two guide rods 371 and two perforated guide rails 372, which are slidably fitted and arranged symmetrically in the horizontal longitudinal direction relative to the first telescopic actuator 32, thereby further improving the load-bearing capacity and stability of the pallet section 38 during movement.

[0041] In addition, the hole-shaped guide rail 372 is located near the telescopic end of the first telescopic actuator 32 and is only sleeved with a section of the guide rod 371. While providing sufficient load-bearing capacity, it reduces the contact area with the guide rod 371 to reduce friction during sliding.

[0042] In addition, the ends of the two guide rods 371 away from the pallet frame 37 are connected to each other by the rear connecting plate 375 to ensure the parallelism of the two guide rods 371 when sliding, and to ensure the smooth sliding of the pallet part 38.

[0043] The steps for using the yeast block palletizing robot in this embodiment are as follows: S1, Arrange the yeast blocks; A row of m yeast blocks is placed on the stacking and turning wheel 12 of the stacking and conveying mechanism 1. The stacking and turning wheel 12 rotates 90 degrees, turning the row of yeast blocks to stand upright and onto the conveyor belt 11. The conveyor belt 11 moves the row of yeast blocks a distance equal to the thickness of one yeast block. This process is repeated until n rows are stacked. After this, the conveyor belt 11 moves a larger preset distance.

[0044] S2. Loading and transporting yeast blocks; S21. The baffle 36 is raised by the third telescopic driver 34, the push plate 35 is retracted by the second telescopic driver 33, and the pallet 38 is retracted by the first telescopic driver 32. S22, the robotic arm 2 starts, and the moving transport mechanism 3 moves so that the pallet part 38 is inserted under the yeast blocks on the conveyor belt 11. Through the third telescopic driver 34, the baffle 36 is driven to descend and lock onto the front side of the stacked yeast blocks. Through the second telescopic driver 33, the push plate 35 is pushed out horizontally and locked onto the rear side of the stacked yeast blocks. It cooperates with the baffle 36 to clamp and fix the n rows and m columns of yeast blocks. The transport mechanism 3 is lifted by the robotic arm 2, and the pallet part 38 carries the stacked yeast blocks and moves with the robotic arm 2.

[0045] S3. Unload the yeast block; The robotic arm 2 brings the pallet 38 close to the placement or stacking plane. The first telescopic driver 32 extends and pulls the pallet 38 away from under the yeast block. Then, the second telescopic driver 33 and the third telescopic driver 34 are activated in sequence to retract the push plate 35 and raise the baffle 36 to complete the unloading or stacking of the yeast block.

[0046] In this embodiment, the first telescopic actuator 32 is a sliding cylinder, and the second telescopic actuator 33 and the third telescopic actuator 34 are triaxial guide cylinders.

[0047] In addition, to avoid misunderstanding, it is hereby stated that the telescopic end mentioned in this application specifically refers to the exposed end of the telescopic rod of each telescopic actuator.

[0048] The yeast block palletizing robot provided in this embodiment replaces manual palletizing with a palletizing and conveying mechanism 1, enabling precise control of the palletizing array specifications and making the palletizing process more standardized and regulated. Furthermore, the robotic arm 2 and the handling mechanism 3 can replace manual handling of the yeast blocks, not only handling a large number of yeast blocks at a time, but also ensuring smooth handling through the fixing of the pallet 38, baffle 36, and pusher 35, thus increasing handling speed and efficiency, and preventing the yeast blocks from falling and damaging them. In addition, the yeast blocks can be pre-arranged, and the loading, handling, and unloading processes do not disrupt the arrangement, thus saving the double steps of stacking and handling required by manual handling, improving stacking efficiency, and avoiding the problem of inconsistent quality in manual palletizing.

Claims

1. A wine yeast block palletizing robot, characterized in that, It includes a stacking and conveying mechanism (1), a robotic arm (2), and a handling mechanism (3) mounted on the robotic arm (2); The stacking and conveying mechanism (1) can stack n rows and m columns of yeast blocks and can translate the yeast blocks, where n and m ≥ 2; One end of the robotic arm (2) is connected to the mounting base, and the other end is connected to the handling mechanism (3). The handling mechanism (3) includes a flange (31) connected to the robotic arm (2). The flange (31) is provided with a first telescopic actuator (32), a second telescopic actuator (33) and a third telescopic actuator (34). The first telescopic actuator (32) and the second telescopic actuator (33) extend horizontally, but in opposite directions. The third telescopic actuator (34) extends downward and is located in the extension direction of the second telescopic actuator (33). The second telescopic actuator (33) is located below the flange (31), and its telescopic end is provided with a push plate (35). The telescopic end of the third telescopic actuator (34) is provided with a baffle (36), and the baffle (36) can be lowered to be horizontally aligned with the push plate (35) and cooperate to clamp the yeast block. The telescopic end of the first telescopic actuator (32) is connected to a tray part (38) via a tray frame (37). The tray part (38) is located below the second telescopic actuator (33). The tray part (38) extends horizontally from the tray frame (37) toward the second telescopic actuator (33) and its edge away from the tray frame (37) can move to or pass under the baffle (36).

2. The yeast block palletizing robot as described in claim 1, characterized in that, The pallet holder (37) is slidably connected to the flange (31).

3. The yeast block palletizing robot as described in claim 2, characterized in that, The pallet frame (37) is provided with a guide rod (371), and the flange part (31) is provided with a hole-shaped guide rail (372). The pallet frame (37) is slidably connected to the flange part (31) through the cooperation of the guide rod (371) and the hole-shaped guide rail (372).

4. The yeast block palletizing robot as described in claim 3, characterized in that, Two guide rods (371) and two hole-shaped guide rails (372) are provided, which are slidably fitted and arranged symmetrically along the horizontal longitudinal direction.

5. The yeast block palletizing robot as described in claim 1, characterized in that, The pallet section (38) includes a fixed plate (381) and multiple support rods (382). The fixed plate (381) is connected to the pallet frame (37). One end of the support rod (382) is connected to the fixed plate (381), and the other end extends horizontally in the direction of the baffle (36). The multiple support rods (382) are arranged at intervals along the horizontal longitudinal direction.

6. The yeast block palletizing robot as described in claim 5, characterized in that, The number of support rods (382) is an even number.

7. A wine yeast block palletizing robot as described in claim 6, characterized in that, The number of brackets (382) is four or more, with two in a pair, and multiple pairs of brackets (382) are arranged horizontally and longitudinally at intervals.

8. A wine yeast block palletizing robot as described in claim 7, characterized in that, In the multiple pairs of support rods (382), the spacing between each pair of support rods (382) is equal.

9. A wine yeast block palletizing robot as described in claim 8, characterized in that, The stacking conveyor mechanism (1) includes m parallel and evenly spaced conveyor belts (11).

10. A wine yeast block palletizing robot as described in claim 9, characterized in that, The spacing between each pair of support rods (382) is greater than the width of the conveyor belt (11).

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