CN103262874B - The accurate automatic feeding device of noodle slicing robot and face embryo thereof push control method - Google Patents
The accurate automatic feeding device of noodle slicing robot and face embryo thereof push control method Download PDFInfo
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- CN103262874B CN103262874B CN201310177209.0A CN201310177209A CN103262874B CN 103262874 B CN103262874 B CN 103262874B CN 201310177209 A CN201310177209 A CN 201310177209A CN 103262874 B CN103262874 B CN 103262874B
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Abstract
The present invention relates to the accurate automatic feeding device of a kind of noodle slicing robot and face embryo propelling movement control method thereof.This automatic feeding device comprises guided mode mechanism for placed side embryo and face embryo pusher; Guided mode mechanism comprises guided mode frame and supporting plate, and guided mode frame is the cuboid container of upper and lower opening, and it covers at outside supporting plate, and supporting plate can in the upper and lower coffin being arranged at guided mode frame slidably; Face embryo pusher support supporting plate, it comprises first delivery device that can make supporting plate movement in a first direction.By guided mode shaped as frame shape size Control and moulding effect, the standard of face embryo size can be realized, the face embryo of making can not produce face embryo natural subsidence distortion in long or bevel process because of standing time, and by arranging the first delivery device, and control its moving displacement preset, accurately can control bevel cutter and face embryo relative position, thus produce the noodles with a certain setting thickness shape, guarantee to cut out the noodles thickness come homogeneous, realize the standardized production of noodles.
Description
Technical field
The invention belongs to dining food manufacture technology field, particularly relate to the accurate automatic feeding device of a kind of noodle slicing robot and face embryo propelling movement control method thereof.
Background technology
Along with people's rhythm of life is accelerated and growth in the living standard, the science of people to diet is paid attention to more, and wheaten food, because of its distinctive nutritional labeling and the feature being easy to digestion, is subject to liking of more and more people.The kind of wheaten food and way are a lot, wherein general with plande noodles.Plande noodles are dark liking by China and foreign countries people because of advantages such as wherein webbing are thin, middle part chewiness, edge cunning is tender.
Find through the investigation to Noodle cutter device on present market and the retrieval to prior art document, in the prior art, technical staff determines the thickness of noodles relative to the displacement of cutter by control support arm, because of the moving displacement poor stability of support arm, accuracy is low, and do not have measure opposite embryo to carry out plastotype, thus cause the noodles variable thickness produced, be unfavorable for standardization and the culinary art of noodles.
Summary of the invention
First technical problem to be solved by this invention is to provide a kind of noodle slicing robot accurate automatic feeding device, to solve in prior art because the moving displacement poor stability of support arm, accuracy are low, it is moulding to lack face embryo, the noodles variable thickness produced caused, the problem being unfavorable for noodles standardization and culinary art.
The present invention is achieved in that a kind of noodle slicing robot automatic feeding device, comprises the Mian Pei guided mode mechanism for placed side embryo and face embryo pusher; Described guided mode mechanism comprises guided mode frame and supporting plate, and described guided mode frame is the cuboid container of upper and lower opening, and it covers at outside described supporting plate, and described supporting plate can upper and lowerly be arranged in the coffin of described guided mode frame slidably; Supporting plate described in described embryo pusher support, it comprises first delivery device that can make the movement in a first direction of described supporting plate.
Further, described guided mode mechanism can be quickly installed on described first delivery device or from described first delivery device and take off.
Further, the surrounding of described guided mode frame be provided with prevent face embryo and the adhesion of described guided mode frame containing oil groove.
Further, bottom supporting plate described in described first delivery device support, described embryo pusher is connected with robot body, or is connected with robot base, or is connected with another independent rack.
Further, described first delivery device comprises the first support bar and the first driver element, the two ends of described first support bar respectively with described first driver element and supporting plate bottom-hinged.
Further, described first driver element comprises the first motor, screw mandrel, slide block and connecting rod; Described screw mandrel and described first motor are in transmission connection by a pair pitch wheel, and described screw mandrel is threaded with described slide block, and described slide block is fixed on described connecting rod; Described first support bar and described rod hinge connection.
Further, described first delivery device also comprises undersetting and the second support bar, and first, second support bar described is arranged in a crossed manner, and is hinged, the two ends of described second support bar respectively with described supporting plate bottom and undersetting hinged.
Further, described first delivery device also comprises the first encoder, and described first encoder connects with described first motor coaxle.
Further, described first pusher also comprises upper bracket, and bottom supporting plate described in described upper bracket support, one end of described first support bar is articulated with on described upper bracket.
Further, described automatic feeding device also comprises second delivery device that can make the movement in a second direction of described supporting plate and guided mode frame, and first, second direction described is mutually vertical.
Further, described second delivery device comprises rack-plate and the second driver element; Bottom first delivery device described in described rack-plate support, there is bottom it tooth bar that can be in transmission connection with described second driver element.
Further, described second driver element comprises the second motor and gear trace, described gear trace comprises connecting rod and is positioned at the gear at described connecting rod two ends, two gears on described gear trace are connected with rack-driving bottom the output shaft of described second motor and rack-plate respectively, described first delivery device comprises undersetting, described first support bar is installed on described undersetting, bottom the undersetting of the first delivery device described in described rack-plate support.
Further, described second delivery device also comprises the second encoder, and described second encoder connects with described second motor coaxle.
Further, described automatic feeding device also comprises pedestal, and described pedestal is provided with guide rail, and described guide rail extends along described second direction, and being provided with in described guide rail can along the slide block of described guide rail movement, and described rack-plate is fixedly connected with described slide block.
Further, described automatic feeding device also comprises adjusting seat, described pedestal and described adjusting seat hinged, described adjusting seat is connected in Robot arm rotationally.
Further, described automatic feeding device comprises supporting plate described in some groups and face embryo pusher, described some groups of supporting plates and face embryo pusher is linearly or circumferential arrangements.
Further, described some groups of supporting plates and the linearly arrangement of face embryo pusher, described automatic feeding device also comprises base, described base is provided with guide rail, described guide rail extends along the arragement direction of described some groups of supporting plates and face embryo pusher, which is provided with can along the slide block of described guide rail movement, and each embryo pusher is fixed on described slide block.
Further, described some groups of supporting plates and face embryo pusher circumferentially shape are arranged, and described automatic feeding device also comprises rotatable base, and the pedestal of each embryo pusher is fixed on described base.
Second technical problem to be solved by this invention is that the face embryo providing the accurate automatic feeding device of a kind of noodle slicing robot as above pushes control method, comprises the steps:
Steps A, the described supporting plate being placed with face embryo is pushed to bevel station by described embryo pusher, so that bevel cutter performs bevel action;
Step B, at face embryo after front layer has been cut, described embryo pusher upwards pushes described supporting plate, so that bevel cutter continues to perform bevel action; Repeat this step until reach the bevel task amount of setting.
Further, described steps A specifically comprises the steps:
Steps A 1, the described supporting plate being placed with face embryo is pushed to bevel station by described embryo pusher, after a face cut by bevel cutter, described in described embryo pusher crosswise pushing, supporting plate has moved default shift length, so that bevel cutter continues to perform bevel action;
Steps A 2, repeating said steps A1, until the front layer of working as of face embryo has been cut.
Compared with prior art, beneficial effect is in the present invention:
(1) realized the standard of face embryo size by guided mode shaped as frame shape size Control, can ensure that the equalization of the cut shape such as plande noodles length, thickness, width is consistent, realize the quantitative criteria of plande noodles;
(2) by the moulding effect of guided mode frame, the face embryo of making can not produce face embryo natural subsidence distortion in long or bevel process because of standing time, and the phenomenon nonstandard with shape such as plande noodles length, uneven thickness that the face embryo not installing guided mode frame can be avoided to cut, shape, quality and mouthfeel that each plande noodles noodles of effective guarantee are produced;
(3) by arranging the first delivery device, and control its moving displacement preset, accurately can control the relative position of bevel cutter and face embryo, thus the noodles with a certain setting thickness shape can be produced, guarantee to cut out the noodles thickness come homogeneous, thus realize the standardized production of noodles.
Accompanying drawing explanation
Fig. 1 is the decomposition texture schematic diagram of the accurate automatic feeding device of a kind of noodle slicing robot that the embodiment of the present invention provides.
Fig. 2 is the assembled state schematic diagram of the accurate automatic feeding device of noodle slicing robot shown in Fig. 1.
Fig. 3 is the structural representation of the accurate automatic feeding device straight-line combination of noodle slicing robot shown in three Fig. 1.
Fig. 4 is the structural representation of the rotary combination of the accurate automatic feeding device of noodle slicing robot shown in three Fig. 1.
Fig. 5 is the noodle slicing robot overall schematic that the embodiment of the present invention provides.
Detailed description of the invention
In order to make technical problem to be solved by this invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Referring to Fig. 1, Fig. 2 and Fig. 5, is a preferred embodiment of the present invention, and the accurate automatic feeding device of this noodle slicing robot comprises guided mode mechanism for placed side embryo (not shown) and face embryo pusher.Guided mode mechanism comprises supporting plate 1 and guided mode frame 2, and guided mode frame 2 is the cuboid container of upper and lower opening, and it covers at outside supporting plate 1, and supporting plate 1 can upper and lowerly be arranged in the coffin 201 of guided mode frame slidably, supporting plate 1 and guided mode frame 2 common composition face embryo container.Face embryo pusher support supporting plate 1, it comprises first delivery device that can make supporting plate 1 movement in a first direction.
Above-mentioned guided mode frame 2 is cuboid, its Dou Shi right angle, four angles, and simultaneously the diagonal of rectangle is equal, and rectangle planar any point is equal to the quadratic sum of the distance of its two diagonal end points.Face embryo is placed in guided mode mechanism, is controlled by guided mode frame 2 geomery and realize the standard of face embryo size, can ensure that the equalization of the cut shape such as plande noodles length, thickness, width is consistent, realize the quantitative criteria of plande noodles; Guided mode frame 2 opposite embryo has plastotype effect, the face embryo of making can not because of growing standing time or producing face embryo natural subsidence distortion in bevel process, and the plande noodles length that the face embryo not installing guided mode frame 2 can be avoided to cut, thickness, the unequal and nonstandard phenomenon of shape, effectively ensure shape, quality and mouthfeel that each plande noodles noodles are produced; But also by placing the face embryo of different cultivars in the automatic feeding device of multiple same item character, reply client, with the demand of a bowl of nooldes variety classes noodles, improves the variation that noodle slicing robot is produced effectively.Further, the surrounding of guided mode frame 2 is provided with containing oil groove, effectively can prevent the sidewall adhesion of face embryo and guided mode frame 2.
Particularly, face embryo pushes away assembling device and is connected with the support arm 100 of robot, and bottom the first delivery device support supporting plate 1, it comprises the first support bar 3 and the first driver element, the two ends of the first support bar 3 respectively with the first driver element and supporting plate 1 bottom-hinged.In the present embodiment, first direction is vertical direction, and the first driver element comprises the first motor 4, screw mandrel 5, slide block 6 and connecting rod 7.Screw mandrel 5 and the first motor 4 are in transmission connection by a pair pitch wheel 8, and screw mandrel 5 is threaded with slide block 6, and slide block 6 is fixed on connecting rod 7.First support bar 3 is hinged with connecting rod 7.
First motor 4 of the present embodiment is stepper motor, and the first delivery device also comprises the first encoder 9, first encoder 9 and coaxially connects with the first motor 4.
For making supporting plate 1 can steadily move abreast in a first direction, in the present embodiment, the first delivery device also comprises upper bracket 10, undersetting 11 and the second support bar 12.Bottom upper bracket 10 support supporting plate 1, first, second support bar 3,12 arranged in a crossed manner, and be hinged, one end of first, second support bar 3,12 is articulated with on upper bracket 10, connecting rod 7 is slidably mounted on undersetting 11, and the other end and the undersetting 11 of the second support bar 12 are hinged.In the present embodiment, take off on the upper bracket 10 that guided mode mechanism can be quickly installed to the first delivery device or from upper bracket 10, can realize changing face embryo quickly and easily.
Above-mentioned supporting plate 1 and guided mode frame 2 are for loading end embryo, face embryo first can be positioned in guided mode frame 2 and supporting plate 1, and then dislocation is on upper bracket 10, first motor 4 drives screw mandrel 5 to rotate by gear 8, because screw mandrel 5 is threaded with slide block 6, slide block 6 can moving axially along screw mandrel 5, connecting rod 7 on slide block 6 also followed by slide block 6 and moves, the connecting rod 7 of movement and the first support bar 3 constitute two power bars, because supporting plate 1 is hinged with one end of connecting rod 7 by upper bracket 10, so supporting plate 1 can in a first direction, bottom offset, namely face embryo can upper and lower displacement.
Bevel proembryo, is first placed on initial position by face embryo, and then arrange a certain on the occasion of (set upwards as just) in controller (not shown), start the first motor 4, encoder 9 synchronously transfers the numerical value of displacement to the signal of telecommunication and feeds back to controller; After embryo moves to the numerical value of a certain setting face to face, controller sends signal, stops the first motor 4 to rotate, and face embryo stops moving up, and cutter 200 carries out bevel operation; Behind certain hour interval, cutter 200 resets, and face embryo continues the numerical value along with supporting plate 1 sets to top offset; And so forth, the noodles cut each time are made to have unified thickness.
Above-mentioned first delivery device accurately can control the relative position of bevel cutter 200 and face embryo, thus can produce the noodles with a certain setting thickness shape, guarantees to cut out the noodles thickness come homogeneous, achieves the standardized production of noodles.
As the further improvement of above-mentioned embodiment, above-mentioned automatic feeding device also comprises second delivery device that can make the movement in a second direction of supporting plate 1 and guided mode frame 2, and first, second direction is mutually vertical, and in the present embodiment, second direction is horizontal direction.
Particularly, the second delivery device comprises rack-plate 13 and the second driver element.Bottom the undersetting 11 of rack-plate 13 support first delivery device, there is bottom rack-plate 13 tooth bar 1301 that can be in transmission connection with the second driver element.In the present embodiment, the second driver element comprises the second motor 14 and gear trace 15.Gear trace 15 comprises connecting rod 1501 and is positioned at the gear 1502 at connecting rod 1501 two ends, two gears 1502 on gear trace 15 respectively with the output shaft of the second motor 14 and rack-plate 13 bottom tooth bar 1301 be in transmission connection.
Second motor 14 of the present embodiment is also stepper motor, and the second delivery device also comprises the second encoder 16, second encoder 16 and coaxially connects with the second motor 14.
Similar to the Bit andits control principle of above-mentioned first delivery device, can arrange on the controller a certain on the occasion of (set with cutter in opposite directions direction as just), second motor 14 driven gear trace 15 is rotated, gear trace 15 drives the rack-plate 13 engaged with it to move toward cutter 200 direction, because of rack-plate 13 support first delivery device, first delivery device is support supporting plate 1 again, so face embryo is final toward the numerical value set by cutter 200 direction displacement.Noodles under second delivery device can ensure to cut each time have unified width, and the effect of the propelling movement face of serving embryo.
In order to make supporting plate 1 and guided mode frame 2 movement in a second direction smooth and easy, in the present embodiment, automatic feeding device also comprises pedestal 17, pedestal 17 is provided with guide rail 18, guide rail 18 extends along second direction, being provided with in guide rail 18 can along the slide block 19 of guide rail movement, and rack-plate 13 is fixedly connected with slide block 19.
Above-mentioned automatic feeding device also comprises adjusting seat 20, and pedestal 17 is hinged with adjusting seat 20, and adjusting seat 20 is connected in Robot arm 100 rotationally.Can the angle of inclination of chain of command embryo plane by turn pedestal 17, control noodles by cut lower after land place and guided mode frame 2 distance in the horizontal direction, thus packing container or the cook utensil of different size can be met.Certainly, the fixing embodiment of automatic feeding device is not limited to and is connected with Robot arm, it can also be connected with other positions of robot body, robot base and another independent rack, can be one or more the directly or indirectly fixing combining structures in these modes.
Please together consult Fig. 3 and Fig. 4, automatic feeding device of the present invention can comprise some groups of supporting plates 1, guided mode frame 2 and face embryo pusher, some groups of supporting plates 1, guided mode frame 2 and face embryo pusher can linearly (i.e. straight-lines, as shown in Figure 3) or circle-shaped (namely rotary, as shown in Figure 4) arrange.Straight-line shown in Fig. 3, automatic feeding device also comprises base 21, and base 21 is provided with guide rail 22, and guide rail 22 extends along the arragement direction of some groups of supporting plates 1 and face embryo pusher, which is provided with can along the slide block 23 of guide rail 22 movement, and the pedestal 17 of each embryo pusher is fixed on slide block 23.By the Combination Design of this straight-line, can place different types of embryo, in bevel process, carry out diverter surface embryo by mobile foundation 17 on different supporting plates 1, the variation realizing noodles is produced.Rotary shown in Fig. 4, automatic feeding device comprises rotatable base 24, and the pedestal 17 of each embryo pusher is fixed on base 24, by rotating base 24, also can realize the switching between inhomogeneity profile embryo.
For the form that above-mentioned many group supporting plates 1, horizontal frame 2 combine with face embryo pusher, base 21,24 and Robot arm 100 can be connected and fixed, also base 21,24 can be connected to other positions of robot body, or be connected on robot base, or be connected on another independent rack, principle is the normal operation position of the face embryo that can ensure in cutter 200 and guided mode frame 2, and now, pedestal 17 and the robot of Dan Zuzhong do not have annexation.
As other embodiment, first, second driver element above-mentioned can adopt the combining structure directly or indirectly driven by one or more in electric, hydraulic pressure, electromagnetism and motor.
As other accurate mobile embodiment, first, second driver element above-mentioned can adopt one or more combinations directly or indirectly controlled of time controling displacement, Pulse Width Control displacement.
The face embryo of above-mentioned automatic feeding device pushes control method and comprises the steps, details are as follows:
Steps A, the described supporting plate being placed with face embryo is pushed to bevel station by described embryo pusher, so that bevel cutter performs bevel action.
Step B, at face embryo after front layer has been cut, described embryo pusher upwards pushes described supporting plate, so that bevel cutter continues to perform bevel action; Repeat this step until reach the bevel task amount of setting.
In the present invention, face embryo pusher pushes the one-tenth-value thickness 1/10 that height value that face embryo exceedes guided mode frame 2 is plande noodles at every turn, and the natural subsidence value that this thickness produces is minimum, can ignore.Further, steps A specifically comprises the steps:
Steps A 1, the described supporting plate being placed with face embryo is pushed to bevel station by described embryo pusher, after a face cut by bevel cutter, described in described embryo pusher crosswise pushing, supporting plate has moved default shift length, so that bevel cutter continues to perform bevel action.
The displacement of above-mentioned transverse shifting presets, and is specially the width size of plande noodles.
Steps A 2, repeating said steps A1, until the front layer of working as of face embryo has been cut.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (18)
1. the accurate automatic feeding device of noodle slicing robot, is characterized in that, comprises the guided mode mechanism for placed side embryo and face embryo pusher; Described guided mode mechanism comprises guided mode frame and supporting plate, and described guided mode frame is the cuboid container of upper and lower opening, and it covers at outside described supporting plate, and described supporting plate can upper and lowerly be arranged in the coffin of described guided mode frame slidably; Supporting plate described in described embryo pusher support, it comprises first delivery device that can make the movement in a first direction of described supporting plate, described first delivery device comprises the first support bar, the first driver element, undersetting and the second support bar, the two ends of described first support bar respectively with described first driver element and supporting plate bottom-hinged; First, second support bar described is arranged in a crossed manner, and is hinged, the two ends of described second support bar respectively with described supporting plate bottom and undersetting hinged.
2. the accurate automatic feeding device of noodle slicing robot as claimed in claim 1, it is characterized in that, described guided mode mechanism can be installed on described first delivery device or from described first delivery device and take off.
3. the accurate automatic feeding device of noodle slicing robot as claimed in claim 1, is characterized in that, the surrounding of described guided mode frame be provided with prevent face embryo and the adhesion of described guided mode frame contain oil groove.
4. the accurate automatic feeding device of noodle slicing robot as claimed in claim 1, is characterized in that, described embryo pusher is connected with robot body, or is connected with robot base, or is connected with another independent rack.
5. the accurate automatic feeding device of noodle slicing robot as claimed in claim 1, it is characterized in that, described first driver element comprises the first motor, screw mandrel, slide block and connecting rod; Described screw mandrel and described first motor are in transmission connection by a pair pitch wheel, and described screw mandrel is threaded with described slide block, and described slide block is fixed on described connecting rod; Described first support bar and described rod hinge connection.
6. the accurate automatic feeding device of noodle slicing robot as claimed in claim 5, it is characterized in that, described first delivery device also comprises the first encoder, and described first encoder connects with described first motor coaxle.
7. the accurate automatic feeding device of noodle slicing robot as claimed in claim 1, it is characterized in that, described first pusher also comprises upper bracket, and bottom supporting plate described in described upper bracket support, one end of described first support bar is articulated with on described upper bracket.
8. the accurate automatic feeding device of noodle slicing robot as claimed in claim 1, it is characterized in that, described automatic feeding device also comprises second delivery device that can make the movement in a second direction of described supporting plate and guided mode frame, and first, second direction described is mutually vertical.
9. the accurate automatic feeding device of noodle slicing robot as claimed in claim 8, it is characterized in that, described second delivery device comprises rack-plate and the second driver element; Bottom first delivery device described in described rack-plate support, there is bottom it tooth bar that can be in transmission connection with described second driver element.
10. the accurate automatic feeding device of noodle slicing robot as claimed in claim 9, it is characterized in that, described second driver element comprises the second motor and gear trace, described gear trace comprises connecting rod and is positioned at the gear at described connecting rod two ends, two gears on described gear trace are connected with rack-driving bottom the output shaft of described second motor and rack-plate respectively, described first delivery device comprises undersetting, described first support bar is installed on described undersetting, bottom the undersetting of the first delivery device described in described rack-plate support.
The accurate automatic feeding device of 11. noodle slicing robot as claimed in claim 10, it is characterized in that, described second delivery device also comprises the second encoder, and described second encoder connects with described second motor coaxle.
The accurate automatic feeding device of 12. noodle slicing robot as claimed in claim 8, it is characterized in that, described automatic feeding device also comprises pedestal, described pedestal is provided with guide rail, described guide rail extends along described second direction, being provided with in described guide rail can along the slide block of described guide rail movement, and described rack-plate is fixedly connected with described slide block.
The accurate automatic feeding device of 13. noodle slicing robot as claimed in claim 12, it is characterized in that, described automatic feeding device also comprises adjusting seat, described pedestal and described adjusting seat hinged, described adjusting seat is connected in Robot arm rotationally.
14. accurate automatic feeding devices of noodle slicing robot as described in claim 1 to 13 any one, it is characterized in that, described automatic feeding device comprises supporting plate described in some groups and face embryo pusher, described some groups of supporting plates and face embryo pusher is linearly or circumferential arrangements.
The accurate automatic feeding device of 15. noodle slicing robot as claimed in claim 14, it is characterized in that, described some groups of supporting plates and the linearly arrangement of face embryo pusher, described automatic feeding device also comprises base, described base is provided with guide rail, described guide rail extends along the arragement direction of described some groups of supporting plates and face embryo pusher, and which is provided with can along the slide block of described guide rail movement, and each embryo pusher is fixed on described slide block.
The accurate automatic feeding device of 16. noodle slicing robot as claimed in claim 14, it is characterized in that, described some groups of supporting plates and face embryo pusher circumferentially shape are arranged, and described automatic feeding device also comprises rotatable base, and the pedestal of each embryo pusher is fixed on described base.
The face embryo of 17. 1 kinds of accurate automatic feeding devices of noodle slicing robot as claimed in claim 1 pushes control method, it is characterized in that, comprises the steps:
Steps A, the described supporting plate being placed with face embryo is pushed to bevel station by described embryo pusher, so that bevel cutter performs bevel action;
Step B, at face embryo after front layer has been cut, described embryo pusher upwards pushes described supporting plate, so that bevel cutter continues to perform bevel action; Repeat this step until reach the bevel task amount of setting.
18. face as claimed in claim 17 embryos push control method, and it is characterized in that, described steps A specifically comprises the steps:
Steps A 1, the described supporting plate being placed with face embryo is pushed to bevel station by described embryo pusher, after a face cut by bevel cutter, described in described embryo pusher crosswise pushing, supporting plate has moved default shift length, so that bevel cutter continues to perform bevel action;
Steps A 2, repeating said steps A1, until the front layer of working as of face embryo has been cut.
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| CN103766427B (en) * | 2014-01-02 | 2017-01-18 | 深圳爱她他智能餐饮技术有限公司 | Guide die frame of sliced noodle robot |
| CN103766426B (en) * | 2014-01-10 | 2016-08-17 | 深圳爱她他智能餐饮技术有限公司 | Noodle slicing robot support dish leveling device |
| CN105145714B (en) * | 2015-08-10 | 2018-11-27 | 嘉兴市新飞腾塑业有限公司 | Dough scraper |
| CN105165948B (en) * | 2015-08-10 | 2018-04-17 | 海门市大德知识产权服务有限公司 | Portable dough scraper |
| CN109645040B (en) * | 2017-10-12 | 2023-12-22 | 厦门西湖良田科技有限公司 | Dough pushing device |
| CN110074155B (en) * | 2019-05-23 | 2024-02-02 | 深圳爱她他智能餐饮技术有限公司 | Automatic noodle making robot and noodle making method |
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| CN103262874A (en) | 2013-08-28 |
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