CN102540923A - Noodle slicing robot as well as noodle slicing control method and noodle slicing control system thereof - Google Patents
Noodle slicing robot as well as noodle slicing control method and noodle slicing control system thereof Download PDFInfo
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- CN102540923A CN102540923A CN2011104126838A CN201110412683A CN102540923A CN 102540923 A CN102540923 A CN 102540923A CN 2011104126838 A CN2011104126838 A CN 2011104126838A CN 201110412683 A CN201110412683 A CN 201110412683A CN 102540923 A CN102540923 A CN 102540923A
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Abstract
The invention relates to the field of making of foods and provides a noodle slicing control method of a noodle slicing robot. The noodle slicing control method comprises the following steps: A, the noodle slicing robot is reset after the noodle slicing robot is started up or the fact that a dough blank is rearranged on a dough disc is detected; B, after receiving a noodle slicing working instruction, the noodle slicing robot further detects whether current environmental conditions satisfy pre-set environmental conditions so as to judge whether noodles are suitable for being sliced currently; and C, in the event of judging that the noodles are suitable for being sliced currently in the step B, the noodle slicing robot carries out noodle slicing action on the dough blank, and, in the event of judging that the noodles are not suitable for being sliced currently in the step B, the step B is repetitively executed till the judgment result in the step B is that the noodles are suitable for being sliced currently. By adoption of different working modes or manners, the intelligent degree of the noodle slicing robot is improved to a certain degree; and conditions with different passenger flow volumes can be dealt with, therefore, the working efficiency of the noodle slicing robot is increased, and the power consumption of the noodle slicing robot is reduced.
Description
Technical field
The invention belongs to the making food field, relate in particular to a kind of plande noodles machine people and bevel control method thereof, control system.
Background technology
Along with growth in the living standard, people pay attention to the science of diet more, and wheaten food receives liking of more and more crowds because of its distinctive nutritional labeling and the characteristics that are easy to digest.The kind and the way of wheaten food are a lot, and be wherein general with plande noodles.Plande noodles receive liking of a domestic and international person sponging on an aristocrat deeply with the thin shape of its unique local flavor, middle webbing and the smooth mouthfeel of chewiness.
Through Noodle cutter investigation and prior art literature search on the present market are found; Existing Noodle cutter only rests on can be cut on the technological layer of appearing; There are shortcomings such as complicated operation, intelligent degree are very low in it, is embodied in following several respects: 1, the each bevel amount of existing Noodle cutter be through the operator with sensation control, can't each bevel amount be controlled accurately; Cause per unit product amount inconsistent, few for a long time when being exactly the amount of at every turn eating face for client's sensation; 2, existing Noodle cutter does not detect and boil the face time to the temperature of water in the pot body does not have timing or control function, is to lean on the operator with sensation and experiential operating entirely yet, is difficult to guarantee the quality of each face product or the unanimity of mouthfeel like this; 3, existing Noodle cutter only has a kind of mode of operation, can not adjust bevel parameter, working method or the pattern of Noodle cutter, and the face article are single, can't satisfy the demand of the variation of the different clients and the volume of the flow of passengers.Exactly because neither one quantizes, convenient, intelligent, stable plande noodles system, causes the popularization of plande noodles restricted greatly, makes this traditional cuisines can not let people all over the world enjoy better.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of plande noodles machine people's bevel control method, is intended to through improving plande noodles machine people's intelligent degree.
For solving the problems of the technologies described above, the present invention provides a kind of plande noodles machine people's bevel control method, comprises the steps:
Steps A, plande noodles machine people perhaps detects in start the laggard horizontal reset of face embryo is housed on its face again;
Step B, plande noodles machine people further detect current environmental baseline and whether satisfy preset environmental baseline to judge the current bevel that whether is fit to after receiving the bevel work order;
Step C, when said step B judged current suitable bevel, plande noodles machine people carried out the bevel action on the face embryo; When said step B judges currently when being not suitable for bevel, then repeat said step B, be current suitable bevel until step B judged result.
Further, said environmental baseline comprises in the distance condition between water temperature condition, water yield condition, plande noodles machine people and the external object one or more; During said step B comprises the steps one or two:
Step B1, plande noodles machine people are after receiving the bevel work order, and whether water temperature condition and/or the water yield condition in the current pot body of further detecting satisfies preset water temperature condition and/or water yield condition to judge the current bevel that whether is fit to;
Step B2, plande noodles machine people further detect distance between plande noodles machine people and the external object to judge the current bevel that whether is fit to after receiving the bevel work order.
Further, said step C controls bevel through following mode:
Step C1, plande noodles machine people receive that the user imports or selects or transfer the maximum value information of in each pot, carrying out single bevel amount, the quantity information of pot and the position relation information between each pot that inside prestores;
Step C2, plande noodles machine people receive the task amount information of treating bevel of user's input, and trigger beginning by the user and in the pot of current correspondence, carry out the bevel action;
Step C3; Plande noodles machine people judges whether the bevel amount in the pot of current correspondence reaches preset maximal value; If no show then continues in the pot of current correspondence, to carry out the bevel action; If reach, then plande noodles machine people is according to the position relation information between each pot, carries out bevel before moving to next pot;
Step C4, repeating step C3 is until accomplishing the bevel task.
Further, during said step C2 further comprises the steps one or two:
Step C21, in the bevel process, whether the volume or weight of the real-time detection faces embryo of plande noodles machine people reaches preset volume lower limit or lower weight limit value, if reach, prompting changing face embryo then;
Step C22, in the bevel process, whether the distance between real-time detection faces embryo of plande noodles machine people and the blade reaches preset maximal distance threshold, if reach, then makes distance between face embryo and the blade within the cut scope of blade through moving face.
Further, said step C carries out bevel through following mode:
Step C5, before bevel, the blade type that receives user's input or select when triggering bevel by the user, uses selecteed blade type to carry out bevel then.
The present invention also provides a kind of plande noodles machine people's bevel control system, and said bevel control system comprises:
Central controller, sensor unit, bevel command reception unit;
Said sensor unit is used to detect on plande noodles machine people's the face whether the face embryo is housed, and also is used to detect current environmental baseline and whether satisfies preset environmental baseline;
Said bevel command reception unit is used to receive the bevel instruction of user's input;
Control plande noodles machine people resetted after said central controller was used on said sensor unit detects plande noodles machine people's face, the face embryo being housed; After said bevel command reception unit receives the bevel instruction of user's input, control the current environmental baseline of the further detection of said sensor unit and whether satisfy preset environmental baseline then to judge the current bevel that whether is fit to; If judge current suitable bevel, then said central controller controls plande noodles machine people carries out the bevel action on the face embryo, when being not suitable for bevel, then repeating to control said sensor unit and detect as if judgement is current, and be current suitable bevel until judged result.
Further, said sensor unit comprises: one or more in cooling-water temperature sensor, water sensor, first range sensor;
Said cooling-water temperature sensor is used to detect the water temperature in pot body; Said water sensor is used to detect the water yield in pot body; Said first range sensor is used to detect the distance between plande noodles machine people and the external object.
Further; Said bevel control system also comprises a parameter set unit, is used to receive the task amount information of treating bevel of user's input or the quantity information of selecting or transfer the maximum value information of in each pot, carrying out single bevel amount that inside prestores, pot, the position relation information between each pot, user's input;
Said bevel control system also comprises judging unit, is used to judge whether the bevel amount in the pot of current correspondence reaches preset maximum;
When the bevel amount of said central controller in the judged result of said judging unit is the pot of current correspondence do not reach preset maximal value; Control plande noodles machine people continues in the pot of current correspondence, to carry out the bevel action; If judged result is the bevel amount in the pot of current correspondence when having reached preset maximal value, then controls and carry out bevel before plande noodles machine people moves to next pot according to the position relation information between each pot.
Further, said sensor unit also comprises: the face idiosome amasss one or more in sensor, face embryo weight sensor, the second distance sensor; Whether the volume that the long-pending sensor of said idiosome is used for real-time detection faces embryo reaches preset volume lower limit; Whether the weight that said embryo weight sensor is used for real-time detection faces embryo reaches preset lower weight limit value, and whether the distance that said second distance sensor is used between real-time detection faces embryo and the blade reaches preset maximal distance threshold;
Said bevel control system also comprises a reminding unit; When whether the volume or weight that detects the face embryo at the long-pending sensor of said idiosome or face embryo weight sensor reaches preset volume lower limit or lower weight limit value, the prompting that the said reminding unit of said central controller controls sends replacing face embryo;
Whether reach preset maximal distance threshold in said second distance sensor to the distance between face embryo and the blade; If reach, said central controller controls plande noodles machine people makes distance between face embryo and the blade within the cut scope of blade through moving face.
Further, said plande noodles machine people is equipped with the composite blade that a plurality of cutting edge shapes have nothing in common with each other;
Said parameter set unit also is used to receive the blade type of user's input or selection, and said central controller is used to control plande noodles machine people and uses selecteed blade type to carry out bevel.
The present invention also provides a kind of plande noodles machine people, comprises that one is built-in with the plande noodles machine human body of aforesaid bevel control system; Said plande noodles machine human body comprises support arm, support arm driving mechanism, bevel arm, bevel arm driving mechanism, lift drive mechanism;
Said support arm one end is installed in the shoulder of robot, and the other end has the face that is used to hold the face embryo; Said support arm driving mechanism is used to control said face translation; Said bevel arm one end is installed in another shoulder of plande noodles machine people, rotating connection one tool arm of the other end, and said bevel arm is used to drive said tool arm and carries out bevel; Said lift drive mechanism is used to drive said face and moves up and down.
Further, said support arm driving mechanism comprises and send the face motor, send the face gear and send the face tooth bar; The said face tooth bar that send is installed on said face below; Said face gear and the said face motor that send of sending is in transmission connection; And be meshed with the said face tooth bar that send; During bevel, the said said face gear that send of face motor driven that send rotates, and the said face gear that send is through driving said face translation cooperating of face tooth bar with said sending.
Further, the other end of said tool arm is equipped with blade, and said blade is the composite blade that single blade or a plurality of cutting edge shape have nothing in common with each other.
Further, said bevel driving mechanism is positioned at plande noodles machine people's chest, and it comprises bevel motor and four-bar mechanism; Said bevel motor can drive the said tool arm bevel that moves back and forth through said four-bar mechanism.
Further, said lift drive mechanism is positioned at the chest of robot, and it comprises lift motor, chute and slide block; Said chute is vertically installed, and said slide block is installed on the said chute, and can move up and down along said chute; Said slide block is fixedly connected with said support arm, which is provided with tooth bar, on the output shaft of said lift motor gear is installed; Said slide block cooperates through said tooth bar and said gear; And be in transmission connection with said lift motor, said lift motor can drive said slide block and move up and down along said chute, moves up and down thereby drive said face.
Further, said plande noodles machine human body also comprises and changes a pot driving mechanism, is used to drive said tool arm and face and between a plurality of pots of bodies, moves.
Further, but the said upper body that changes pot driving mechanism drive machines people rotate, it comprises and changes a pot motor, changes pot gear and change a pot ring gear; Saidly change the waist that pot ring gear is installed in plande noodles machine people; The said pot gear that changes is positioned at the said pot ring gear inboard of changing, and itself and the said pot motor that changes are in transmission connection, and are meshed with the said pot ring gear that changes; When needing conversion plande noodles machine people's bevel position; The said said pot gear of changing of pot motor driven that changes rotates, and the said pot gear that changes is through rotating with the said upper body that cooperating of pot ring gear drives plande noodles machine people that changes, thereby said tool arm is rotated with said face thereupon.
The present invention adopts different working pattern or mode, has improved plande noodles machine people's intelligent degree to a certain extent, can tackle the situation of the different volumes of the flow of passengers, makes plande noodles machine people's work efficiency be improved, and power consumption decreases.Through collection pot to the water temperature in the pot and the water yield, the effective assurance face quality or the mouthfeel of producing.Through gathering the range sensor with external object, effectively avoided in plande noodles machine people bevel process people or object near the time to the injury of people and object; Through gathering the weight or volume of bevel group, guaranteed the consistance of each face product amount.
Description of drawings
Fig. 1 is the present invention's intelligence plande noodles machine people's a bevel control system principle assumption diagram.
Fig. 2 is the monnolithic case synoptic diagram of the present invention's intelligence plande noodles machine people one preferred embodiment.
Fig. 3 is the structural representation that head and chest shell are removed by the robot shown in Fig. 2.
Fig. 4 is the local schematic top plan view of Fig. 3.
Fig. 5 is the cross-sectional schematic along A-A line among Fig. 4.
Embodiment
In order to make technical matters to be solved by this invention, technical scheme and beneficial effect clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Plande noodles machine people's provided by the invention bevel control method comprises the steps:
Steps A, plande noodles machine people perhaps detects in start the laggard horizontal reset of face embryo is housed on its face again;
Step B, plande noodles machine people further detect current environmental baseline and whether satisfy preset environmental baseline to judge the current bevel that whether is fit to after receiving the bevel work order;
Among the present invention; Environmental baseline is divided into pot an internal milieu condition and an external environmental condition; Pot internal milieu condition comprises water temperature condition, water yield condition etc.; External environmental condition comprises the distance condition between plande noodles machine people and the external object etc., and the environmental baseline of plande noodles machine people detection can comprise one or more in the above-mentioned condition.Be in particular in; Plande noodles machine people is after receiving the bevel work order; Whether water temperature condition and/or the water yield condition in the current pot body of further detecting satisfies preset water temperature condition and/or water yield condition to judge the current bevel that whether is fit to; Perhaps plande noodles machine people is after receiving the bevel work order, further detects distance between plande noodles machine people and the external object to judge the current bevel that whether is fit to.
Step C, when said step B judged current suitable bevel, plande noodles machine people carried out the bevel action on the face embryo; When said step B judges currently when being not suitable for bevel, then repeat said step B, be current suitable bevel until step B judged result.
This control method is applicable to single pot of bevel, and also applicable to many pots of bevels, when between a plurality of pots, carrying out bevel in turn, said step C controls through following mode:
Step C1, plande noodles machine people receive that the user imports or selects or transfer the maximum value information of in each pot, carrying out single bevel amount, the quantity information of pot and the position relation information between each pot that inside prestores.
For guaranteeing the mouthfeel and the texture of plande noodles, need be arranged on the maximal value of carrying out single bevel amount in each pot, with avoid in the single pot the bevel amount too much and the quality of influence surface.When the bevel amount in the pot surpasses this maximal value; Promptly stop at bevel in this pot and turn to and carry out the bevel action in the next pot; The quantity information of pot and the position relation information between each pot also need be set simultaneously; After last pot bevel is finished, then later carry out bevel to first pot.Wherein, the quantity of pot has been cut the face required time that task amount requires by single pan boiling face required time and plande noodles machine people and has been determined jointly.
In the present embodiment; The quality that can come the face that boils in the bonding pot through weight and two aspects of quantity of bevel; Be that the maximum value information of carrying out single bevel amount in each pot specifically can comprise maximum quantity threshold information and/or maximum weight threshold information, during practical implementation, can adopt the maximum quantity threshold information separately; Also can adopt the maximum weight threshold information separately; Also can two kinds of information have concurrently, this moment, plande noodles machine people served as with reference to judging that said weighted value can be set with the maximum value information that weighted value was calculated between maximum weight threshold values information and the maximum quantity threshold information.
Above-mentioned various parameter information can be pre-stored in the plande noodles machine people; If the user does not reset above-mentioned parameter during bevel; Then plande noodles machine people acquiescence is carried out the bevel operation according to the parameter that prestores; If the user resets above-mentioned parameter, then be as the criterion and carry out the bevel operation with the newly-installed parameter of user.
Step C2, plande noodles machine people receive the task amount information of treating bevel of user's input, and trigger beginning by the user and in the pot of current correspondence, carry out the bevel action.
Step C3; Plande noodles machine people judges whether the bevel amount in the pot of current correspondence reaches preset maximal value; If no show then continues in the pot of current correspondence, to carry out the bevel action; If reach, then plande noodles machine people is according to the position relation information between each pot, carries out bevel before moving to next pot.
When adopting maximum quantity threshold information and maximum weight threshold information as a reference simultaneously; Plande noodles machine people utilizes the weight calculation that sets both to go out maximum value information; As long as the bevel amount judged in current pot of plande noodles machine people reaches the maximum value information that is calculated then; Promptly according to the position relation information between each pot, carry out bevel before moving to next pot.
Step C4, repeating step C3 is until accomplishing the bevel task.
According to from first to last one order execution in step C3, after last pot bevel is finished, then later carry out bevel, until accomplishing the bevel task to first pot.
Further; In the bevel process; When bevel proceeds to a certain degree, the long-pending too small or weight of face idiosome may occur remaining and kick the beam and can't continue bevel, so need the volume or weight of the real-time detection faces embryo of plande noodles machine people whether to reach preset volume lower limit or lower weight limit value among the present invention; If reach, prompting changing face embryo then.Simultaneously the face embryo surface also possibly appear owing to too far making blade cut the situation less than face with blade distance in the bevel process; Therefore plande noodles machine people also needs the distance between real-time detection faces embryo and the blade whether to reach preset maximal distance threshold; If reach, then make distance between face embryo and the blade within the cut scope of blade through moving face.
In addition, the blade among the present invention can adopt single blade, the composite blade that also can adopt a plurality of cutting edge shapes to have nothing in common with each other; To satisfy the demand of different clients to difform type; When adopting multiple composite blade, before bevel, the blade type that also need receive user's input or select; When triggering bevel, use selecteed blade type to carry out bevel then by the user.
Fig. 1 shows the structural principle of plande noodles machine people's provided by the invention bevel control system.See also Fig. 1, the bevel control system comprises at least: central controller, sensor unit, bevel command reception unit.Said central controller can adopt MCU treatment circuit or computer processing circuit or PLC treatment circuit; This treatment circuit comprises interface, the bevel control program storer with the other system exchanges data; Inside prestores multiple bevel control program, and this bevel control program comprises the control function and the accurate control function of the empirical rule of bevel control procedure relevant under the different working modes.This mode of operation comprises manual bevel pattern, full-automatic bevel pattern or semi-automatic bevel pattern.Above-mentioned interface comprises that native's machine interactive interface comprises remote control mode input, keyboard-type input circuit, mouse type, mobile storage imput output circuit, network communication interface.
Said sensor unit is used to detect on plande noodles machine people's the face whether the face embryo is housed, and also is used to detect current environmental baseline and whether satisfies preset environmental baseline; Said bevel command reception unit is used to receive the bevel instruction of user's input; Control plande noodles machine people resetted after said central controller was used on said sensor unit detects plande noodles machine people's face, the face embryo being housed; After said bevel command reception unit receives the bevel instruction of user's input, control the current environmental baseline of the further detection of said sensor unit and whether satisfy preset environmental baseline then to judge the current bevel that whether is fit to; If judge current suitable bevel, then said central controller controls plande noodles machine people carries out the bevel action on the face embryo, when being not suitable for bevel, then repeating to control said sensor unit and detect as if judgement is current, and be current suitable bevel until judged result.
Further, said sensor unit comprises: one or more in cooling-water temperature sensor, water sensor, first range sensor; Said cooling-water temperature sensor is used to detect the water temperature in pot body; Said water sensor is used to detect the water yield in pot body; Said first range sensor is used to detect the distance between plande noodles machine people and the external object.
Further; As indicated above; The present invention can be applicable to the occasion of many pots of work; This moment, said bevel control system also comprised a parameter set unit and a judging unit, and said parameter set unit is used to receive the task amount information of treating bevel of user's input or the quantity information of selecting or transfer the maximum value information of in each pot, carrying out single bevel amount that inside prestores, pot, the position relation information between each pot, user's input; Said judging unit.Be used to judge whether the bevel amount in the pot of current correspondence reaches preset maximum.When the bevel amount of said central controller in the judged result of said judging unit is the pot of current correspondence do not reach preset maximal value; Control plande noodles machine people continues in the pot of current correspondence, to carry out the bevel action; If judged result is the bevel amount in the pot of current correspondence when having reached preset maximal value, then controls and carry out bevel before plande noodles machine people moves to next pot according to the position relation information between each pot.
Further, said sensor unit also comprises: the face idiosome amasss one or more in sensor, face embryo weight sensor, the second distance sensor; Whether the volume that the long-pending sensor of said idiosome is used for real-time detection faces embryo reaches preset volume lower limit; Whether the weight that said embryo weight sensor is used for real-time detection faces embryo reaches preset lower weight limit value, and whether the distance that said second distance sensor is used between real-time detection faces embryo and the blade reaches preset maximal distance threshold.Said bevel control system also comprises a reminding unit; When whether the volume or weight that detects the face embryo at the long-pending sensor of said idiosome or face embryo weight sensor reaches preset volume lower limit or lower weight limit value, the prompting that the said reminding unit of said central controller controls sends replacing face embryo.Whether reach preset maximal distance threshold in said second distance sensor to the distance between face embryo and the blade; If reach, said central controller controls plande noodles machine people makes distance between face embryo and the blade within the cut scope of blade through moving face.
When plande noodles machine people is equipped with the composite blade that a plurality of cutting edge shapes have nothing in common with each other; Said parameter set unit also is used to receive the blade type of user's input or selection, and said central controller is used to control plande noodles machine people and uses selecteed blade type to carry out bevel.
Above-mentioned bevel control system can be built among the plande noodles machine human body; See also Fig. 2 to Fig. 5; It is the present invention's intelligence plande noodles machine people's a preferred embodiment; This plande noodles machine human body mainly comprises support arm 1, support arm driving mechanism 2, bevel arm 3, bevel arm driving mechanism 4, lift drive mechanism 5, also can further comprise and change pot driving mechanism 6.
Support arm driving mechanism 2 is used to drive face 11 translations, please together consults Fig. 5, and in the present embodiment, support arm driving mechanism 2 comprises and send face motor 21, send face gear 22 and send face tooth bar 23.Send face tooth bar 23 to be installed on face 11 belows, send face gear 22 and send face motor 21 to be in transmission connection, and be meshed with sending face tooth bar 23.During bevel, send face motor 21 to drive and send face gear 22 to rotate, send face gear 22 through driving face 11 translations cooperating of face tooth bar 23 with sending.It is appreciated that support driving mechanism among the present invention also can adopt other structure, as long as can drive face 11 translations.
Bevel driving mechanism 4 is used to drive tool arm 32 bevels, and in the present embodiment, bevel driving mechanism 4 is positioned at the chest of robot, and it comprises bevel motor 41 and four-bar mechanism 42.Bevel motor 41 can drive tool arms 32 bevel that moves back and forth through four-bar mechanism 42, thereby the face embryo on the face 11 is carried out cutting again and again.It is appreciated that bevel driving mechanism among the present invention also can adopt other structure, as long as can drive tool arm 32 and move back and forth.
Change that pot driving mechanism 6 is used to drive tool arm 32 and face 11 moves (promptly moving to the position of corresponding pot body 200) between a plurality of pots of bodies, in the pot body that noodles is cut to another position from the position of corresponding as shown in Figure 2 pot body 100.In the present embodiment, but the upper body that changes pot driving mechanism 6 drive machines people rotate, it comprises and changes pot motor 61, changes pot gear 62 and change pot ring gear 63.Change the waist that pot ring gear 63 is installed in robot, change pot gear 62 and be positioned at and change pot ring gear 63 inboards, its with change pot motor 61 and be in transmission connection, and with change pot ring gear 63 and be meshed.When needing the bevel position of conversion robot, change 61 drivings of pot motor and change 62 rotations of pot gear, change the upper body rotation of pot gear 62, thereby tool arm 32 is rotated with face 11 thereupon through drive machines people with changing cooperating of pot ring gear 63.Pot driving mechanism 6 that changes in the present embodiment is that drive machines people's upper body rotates and realizes changing pot; Can certainly realize changing pot through drive machines people unitary rotation or translation; And the embodiment that changes pot driving mechanism also is not limited to above-mentioned embodiment, as long as it can drive tool arm 32 and move to another position with face 11.
Above-mentioned intelligent plande noodles machine people's principle of work is following: after face 11 was loaded onto the face embryo, face embryo sensor was to having face and weight qualified, and system promptly begins to reset, and the face embryo is delivered to initial position, waited for work order.After system receives work order, intelligence system will be checked related sensor (pot body sensor, environmental sensor, safety sensor etc.) but whether be in duty.If do not allow work, system permits wait condition, starts working again; If permission work, system promptly begins bevel work, at first, and according to command request; Whether more tool changing type is so that switch selected plande noodles, carries out bevel by the quantity of setting, and tool arm 32 is done reciprocally swinging under the effect of bevel motor 41 and four-bar mechanism 42; Composite blade 321 simultaneously, send the rotating drive of face motor 21 to send face tooth bar 23 with regard to each bevel of ability like this; Drive face 11 motions, when face 11 to a lateral movement to the extreme the time, the trigger position sensor; Control system stops 21 work of bevel motor, and then control system will be controlled lift motor 51 runnings, makes the certain distance of slide block 53 risings; Because support arm 1 is to tighten together with slide block 53 with face 11, the certain distance so face 11 and face embryo can rise, control system control bevel motor 41 is started working then; And control and give the face motor 21 counter-rotatings, make the face embryo send face to other side direction motion, continue bevel work.When bevel when a certain amount of, the face mass sensor can be notified control system, sends the notice of in time changing face.After control system obtains bevel instruction, also can regulate and distribute face is cut in the different pot bodies in turn according to what of bevel amount, consistent to guarantee sensory of noodles.Control system also can be switched the bevel cutter or changed the generous parameter of noodles according to the different generous requirements of noodles shape.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (17)
1. a plande noodles machine people bevel control method is characterized in that, comprises the steps:
Steps A, plande noodles machine people perhaps detects in start the laggard horizontal reset of face embryo is housed on its face again;
Step B, plande noodles machine people further detect current environmental baseline and whether satisfy preset environmental baseline to judge the current bevel that whether is fit to after receiving the bevel work order;
Step C, when said step B judged current suitable bevel, plande noodles machine people carried out the bevel action on the face embryo; When said step B judges currently when being not suitable for bevel, then repeat said step B, be current suitable bevel until step B judged result.
2. plande noodles machine people's as claimed in claim 1 bevel control method is characterized in that, said environmental baseline comprises in the distance condition between water temperature condition, water yield condition, plande noodles machine people and the external object one or more; During said step B comprises the steps one or two:
Step B1, plande noodles machine people are after receiving the bevel work order, and whether water temperature condition and/or the water yield condition in the current pot body of further detecting satisfies preset water temperature condition and/or water yield condition to judge the current bevel that whether is fit to;
Step B2, plande noodles machine people further detect distance between plande noodles machine people and the external object to judge the current bevel that whether is fit to after receiving the bevel work order.
3. plande noodles machine people's as claimed in claim 1 bevel control method is characterized in that, said step C controls bevel through following mode:
Step C1, plande noodles machine people receive that the user imports or selects or transfer the maximum value information of in each pot, carrying out single bevel amount, the quantity information of pot and the position relation information between each pot that inside prestores;
Step C2, plande noodles machine people receive the task amount information of treating bevel of user's input, and trigger beginning by the user and in the pot of current correspondence, carry out the bevel action;
Step C3; Plande noodles machine people judges whether the bevel amount in the pot of current correspondence reaches preset maximal value; If no show then continues in the pot of current correspondence, to carry out the bevel action; If reach, then plande noodles machine people is according to the position relation information between each pot, carries out bevel before moving to next pot;
Step C4, repeating step C3 is until accomplishing the bevel task.
4. plande noodles machine people's as claimed in claim 3 bevel control method is characterized in that, during said step C2 further comprises the steps one or two:
Step C21, in the bevel process, whether the volume or weight of the real-time detection faces embryo of plande noodles machine people reaches preset volume lower limit or lower weight limit value, if reach, prompting changing face embryo then;
Step C22, in the bevel process, whether the distance between real-time detection faces embryo of plande noodles machine people and the blade reaches preset maximal distance threshold, if reach, then makes distance between face embryo and the blade within the cut scope of blade through moving face.
5. like claim 3 or 4 described plande noodles machine people's bevel control method, it is characterized in that said step C carries out bevel through following mode:
Step C5, before bevel, the blade type that receives user's input or select when triggering bevel by the user, uses selecteed blade type to carry out bevel then.
6. a plande noodles machine people bevel control system is characterized in that, said bevel control system comprises:
Central controller, sensor unit, bevel command reception unit;
Said sensor unit is used to detect on plande noodles machine people's the face whether the face embryo is housed, and also is used to detect current environmental baseline and whether satisfies preset environmental baseline;
Said bevel command reception unit is used to receive the bevel instruction of user's input;
Control plande noodles machine people resetted after said central controller was used on said sensor unit detects plande noodles machine people's face, the face embryo being housed; After said bevel command reception unit receives the bevel instruction of user's input, control the current environmental baseline of the further detection of said sensor unit and whether satisfy preset environmental baseline then to judge the current bevel that whether is fit to; If judge current suitable bevel, then said central controller controls plande noodles machine people carries out the bevel action on the face embryo, when being not suitable for bevel, then repeating to control said sensor unit and detect as if judgement is current, and be current suitable bevel until judged result.
7. plande noodles machine people's as claimed in claim 6 bevel control system is characterized in that, said sensor unit comprises: one or more in cooling-water temperature sensor, water sensor, first range sensor;
Said cooling-water temperature sensor is used to detect the water temperature in pot body; Said water sensor is used to detect the water yield in pot body; Said first range sensor is used to detect the distance between plande noodles machine people and the external object.
8. plande noodles machine people's as claimed in claim 6 bevel control system; It is characterized in that; Said bevel control system also comprises a parameter set unit, is used to receive the task amount information of treating bevel of user's input or the quantity information of selecting or transfer the maximum value information of in each pot, carrying out single bevel amount that inside prestores, pot, the position relation information between each pot, user's input;
Said bevel control system also comprises judging unit, is used to judge whether the bevel amount in the pot of current correspondence reaches preset maximum;
When the bevel amount of said central controller in the judged result of said judging unit is the pot of current correspondence do not reach preset maximal value; Control plande noodles machine people continues in the pot of current correspondence, to carry out the bevel action; If judged result is the bevel amount in the pot of current correspondence when having reached preset maximal value, then controls and carry out bevel before plande noodles machine people moves to next pot according to the position relation information between each pot.
9. plande noodles machine people's as claimed in claim 8 bevel control system is characterized in that, said sensor unit also comprises: the face idiosome amasss one or more in sensor, face embryo weight sensor, the second distance sensor; Whether the volume that the long-pending sensor of said idiosome is used for real-time detection faces embryo reaches preset volume lower limit; Whether the weight that said embryo weight sensor is used for real-time detection faces embryo reaches preset lower weight limit value, and whether the distance that said second distance sensor is used between real-time detection faces embryo and the blade reaches preset maximal distance threshold;
Said bevel control system also comprises a reminding unit; When whether the volume or weight that detects the face embryo at the long-pending sensor of said idiosome or face embryo weight sensor reaches preset volume lower limit or lower weight limit value, the prompting that the said reminding unit of said central controller controls sends replacing face embryo;
Whether reach preset maximal distance threshold in said second distance sensor to the distance between face embryo and the blade; If reach, said central controller controls plande noodles machine people makes distance between face embryo and the blade within the cut scope of blade through moving face.
10. like claim 8 or 9 described plande noodles machine people's bevel control system, it is characterized in that said plande noodles machine people is equipped with the composite blade that a plurality of cutting edge shapes have nothing in common with each other;
Said parameter set unit also is used to receive the blade type of user's input or selection, and said central controller is used to control plande noodles machine people and uses selecteed blade type to carry out bevel.
11. a plande noodles machine people is characterized in that, comprises that one is built-in with the plande noodles machine human body like each described bevel control system of claim 6 to 10; Said plande noodles machine human body comprises support arm, support arm driving mechanism, bevel arm, bevel arm driving mechanism, lift drive mechanism;
Said support arm one end is installed in the shoulder of robot, and the other end has the face that is used to hold the face embryo; Said support arm driving mechanism is used to control said face translation; Said bevel arm one end is installed in another shoulder of plande noodles machine people, rotating connection one tool arm of the other end, and said bevel arm is used to drive said tool arm and carries out bevel; Said lift drive mechanism is used to drive said face and moves up and down.
12. plande noodles machine people as claimed in claim 11 is characterized in that, said support arm driving mechanism comprises and send the face motor, send the face gear and send the face tooth bar; The said face tooth bar that send is installed on said face below; Said face gear and the said face motor that send of sending is in transmission connection; And be meshed with the said face tooth bar that send; During bevel, the said said face gear that send of face motor driven that send rotates, and the said face gear that send is through driving said face translation cooperating of face tooth bar with said sending.
13. plande noodles machine people as claimed in claim 11 is characterized in that the other end of said tool arm is equipped with blade, said blade is the composite blade that single blade or a plurality of cutting edge shape have nothing in common with each other.
14. plande noodles machine people as claimed in claim 11 is characterized in that said bevel driving mechanism is positioned at plande noodles machine people's chest, it comprises bevel motor and four-bar mechanism; Said bevel motor can drive the said tool arm bevel that moves back and forth through said four-bar mechanism.
15. plande noodles machine people as claimed in claim 11 is characterized in that said lift drive mechanism is positioned at the chest of robot, it comprises lift motor, chute and slide block; Said chute is vertically installed, and said slide block is installed on the said chute, and can move up and down along said chute; Said slide block is fixedly connected with said support arm, which is provided with tooth bar, on the output shaft of said lift motor gear is installed; Said slide block cooperates through said tooth bar and said gear; And be in transmission connection with said lift motor, said lift motor can drive said slide block and move up and down along said chute, moves up and down thereby drive said face.
16. plande noodles machine people as claimed in claim 11 is characterized in that, said plande noodles machine human body also comprises and changes a pot driving mechanism, is used to drive said tool arm and face and between a plurality of pots of bodies, moves.
17. plande noodles machine people as claimed in claim 16 is characterized in that, but the said upper body that changes pot driving mechanism drive machines people rotate, it comprises and changes a pot motor, changes pot gear and change a pot ring gear; Saidly change the waist that pot ring gear is installed in plande noodles machine people; The said pot gear that changes is positioned at the said pot ring gear inboard of changing, and itself and the said pot motor that changes are in transmission connection, and are meshed with the said pot ring gear that changes; When needing conversion plande noodles machine people's bevel position; The said said pot gear of changing of pot motor driven that changes rotates, and the said pot gear that changes is through rotating with the said upper body that cooperating of pot ring gear drives plande noodles machine people that changes, thereby said tool arm is rotated with said face thereupon.
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| CN201110412683.8A CN102540923B (en) | 2011-12-12 | 2011-12-12 | Noodle slicing robot as well as noodle slicing control method and noodle slicing control system thereof |
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| CN111480665A (en) * | 2019-08-08 | 2020-08-04 | 青岛海科佳智能装备科技有限公司 | Four-connecting-rod type double-action cutter mechanism |
| CN111480665B (en) * | 2019-08-08 | 2024-03-15 | 青岛海科佳智能科技股份有限公司 | Four-bar linkage type double-action cutter mechanism |
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| CN102540923B (en) | 2014-01-15 |
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