CN109303089B - Non-contact gripper section cutting device - Google Patents
Non-contact gripper section cutting device Download PDFInfo
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- CN109303089B CN109303089B CN201710625475.3A CN201710625475A CN109303089B CN 109303089 B CN109303089 B CN 109303089B CN 201710625475 A CN201710625475 A CN 201710625475A CN 109303089 B CN109303089 B CN 109303089B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 133
- 230000007246 mechanism Effects 0.000 claims abstract description 112
- 230000001360 synchronised effect Effects 0.000 claims abstract description 68
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000001179 sorption measurement Methods 0.000 claims description 18
- 238000009423 ventilation Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims 2
- 235000013305 food Nutrition 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 8
- 230000005012 migration Effects 0.000 abstract description 2
- 238000013508 migration Methods 0.000 abstract description 2
- 230000007723 transport mechanism Effects 0.000 abstract description 2
- 239000010985 leather Substances 0.000 description 15
- 235000013312 flour Nutrition 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 235000009074 Phytolacca americana Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/06—Apparatus for filling pieces of dough such as doughnuts
- A21C9/066—Apparatus for filling pieces of dough such as doughnuts using two separate sheets or pieces of dough with filling in between, e.g. crimped at their edges; Ravioli-making machines
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C3/00—Machines or apparatus for shaping batches of dough before subdivision
- A21C3/10—Machines or apparatus for shaping batches of dough before subdivision combined with dough-dividing apparatus
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/08—Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
Abstract
The utility model belongs to the technical field of food processing, especially, relate to a non-contact gripper tangent plane device, including the tangent plane support, be provided with on the tangent plane support through the vertical tangent skin mechanism of up-and-down motion tangent skin, drive vertical tangent skin mechanism and do horizontal migration's horizontal movement mechanism and carry the synchronous transport mechanism that the face skin passes through from vertical tangent skin mechanism below, horizontal movement mechanism links to each other with vertical tangent skin mechanism, vertical tangent skin mechanism adsorbs next station with the face skin through the suction. The dough cover can be directly horizontally moved from the dough cover cutting station to the dough cover receiving station, and the dough cover is vertically poked into the next station instead of a transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough cover is higher, the problem that the dough cover is difficult to adhere or the dough cover is elongated and thinned is solved.
Description
Technical Field
The application belongs to the technical field of food processing, and particularly relates to a non-contact gripper section cutting device.
Background
When the flour wrapper is processed by the existing stuffed food device, flour dough is often firstly pressed for a plurality of times to form flour bands, the flour bands are cut into small flour wrappers meeting requirements after being subjected to wrapper cutting treatment by a wrapper cutter device, and the small flour wrappers fall freely or are pushed downwards to the next station by the wrapper cutter device while being cut and molded, and then the stuffing wrapping and molding process is carried out.
The technical scheme of the invention is as follows, for example, the patent application number is CN201410170052.3, the application date is 2014.04.25, the invention is named as a stuffed food forming machine: the invention belongs to the technical field of food processing, and particularly relates to a stuffed food forming machine, which comprises a frame, a dough sheet conveying device, a stuffing supplying device, a dough sheet receiving plate, a taking-out device and an annular rail, wherein the dough sheet conveying device, the stuffing supplying device and the taking-out device are respectively and fixedly arranged on a dough sheet receiving station, a stuffing injecting station and a taking-out station of the annular rail, the annular rail is provided with the dough sheet receiving plate capable of moving around the annular rail, and a mold closing device of the stuffed food forming machine is arranged below the dough sheet receiving plate. The dough sheet conveying device of the patent realizes dough sheet cutting through the action of the traditional dough sheet cutter from top to bottom, and directly pokes the dough sheets downwards onto the dough receiving plate to realize stuffing filling and inclusion, but the layout always needs to reserve space for cutting downwards and conveying the dough sheets, so that certain limitation can be definitely caused on the overall design of the food stuffing wrapping machine, and when the moisture content of the processed dough sheets is large, the problem that the dough sheets are easy to adhere or are stretched and thinned in the traditional mode is solved.
Disclosure of Invention
In order to overcome the above-mentioned problems in the prior art, a device for cutting a surface by using a non-contact gripper has been proposed.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
the utility model provides a non-contact gripper tangent plane device includes the tangent plane support, be provided with on the tangent plane support through the vertical tangent mechanism of up-and-down motion tangent plane skin, drive vertical tangent mechanism and do horizontal migration's horizontal motion mechanism and carry the synchronous conveying mechanism that the dough sheet passes through from vertical tangent mechanism below, horizontal motion mechanism links to each other with vertical tangent mechanism, vertical tangent mechanism adsorbs next station with the dough sheet through the suction. The vertical wrapper cutting mechanism specifically adsorbs and moves the wrapper after wrapper cutting from a cutter Pi Gongwei to a forming die, and then the forming die conveys the wrapper to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption.
The vertical skin cutting mechanism comprises a first servo motor, wherein the first servo motor is connected with a lifting guide rod, and the bottom of the lifting guide rod is connected with a cutter assembly. The first servo motor drives the cutter assembly at the bottom of the lifting guide rod to do up-and-down reciprocating motion.
The cutter assembly comprises an annular skin cutter and a skin cutter fixing plate, the skin cutter is connected to the skin cutter fixing plate, a non-contact gripper is arranged inside the skin cutter, a cutting edge is arranged at the bottom of the skin cutter, the non-contact gripper is communicated with a vent pipe, and the vent pipe is connected with the air compressor. The breather pipe transmits negative pressure to the non-contact gripper, so that the non-contact gripper can adsorb the dough sheet after the dough sheet is cut.
The non-contact gripper comprises a gripper body, an annular groove is formed in the bottom of the gripper body, and an air outlet is formed in the side edge of the annular groove. Because the air outlet is arranged on the side wall of the annular groove, negative-pressure airflow can flow along the annular groove, so that a negative-pressure vortex airflow similar to the tornado principle is formed.
The air outlet is obliquely arranged, and the inclination direction of the air outlet is the same as the circumferential direction of the annular groove. The air outlet that the slant was seted up can make negative pressure air current more adapt to the annular groove for negative pressure air current flows in the annular groove more easily.
The bottom of the gripper body is also provided with a plurality of small holes, and needles are arranged in the small holes. For assistance and insurance, avoid the face skin to take place to drop at absorbing in-process, can also set up the needle in the tongs bottom, the needle pierces into face skin upper surface, provides certain upward pulling force, guarantees that the adsorption affinity of face skin is enough, when falling the skin, can upwards promote the needle a certain distance for the upper surface that the needle can the face skin is taken out, thereby does not influence the falling skin of face skin.
The number of the air outlets is at least two. The two air outlets can form stronger rotary suction force, and the dough cover can be better adsorbed.
The top of gripper body is connected with the breather pipe, breather pipe one end links to each other with a plurality of air outlets, and the other end is connected with the air compressor machine. The breather pipe transmits negative pressure to the gripper body, so that the gripper body can adsorb the dough sheet after cutting the dough sheet through the oblique air outlet.
The needle in the aperture is reciprocally movable up and down relative to the aperture surface. The reciprocating motion can better realize the placement action of the dough cover, avoiding the adhesion between the dough cover and the needle during placement and affecting the placement of the dough cover. The motion can be realized by additionally arranging a mounting plate connected with the needle in the gripper body, and the mounting plate can drive the needle to reciprocate through a cylinder or other driving mechanisms.
And three skin cutter fixed plates are connected with the skin cutter.
The lifting guide rod is connected with a connecting block, and the connecting block is fixedly connected with the cutter assembly.
The first servo motor is connected with one end of a first ball screw through a transmission belt, a push block is fixed on the first ball screw, and a lifting guide rod is connected to the push block.
And two ends of the pushing block are respectively connected with a lifting guide rod.
The outside of the lifting guide rod is sleeved with a guide sleeve, and the guide sleeve is fixed on the inner side of the tangent plane bracket.
The first servo motor drives the first ball screw so as to drive the pushing block to do vertical movement, and the lifting guide rod and the connecting block are connected with the pushing block, so that the connecting block also follows to do reciprocating movement in the vertical direction.
The horizontal movement mechanism comprises a box body, a second servo motor is arranged on the box body, and the second servo motor is connected with a fixing plate for installing the vertical skin cutting mechanism.
The second servo motor is connected with a second ball screw, one end of the second ball screw is provided with a screw nut, and the screw nut is connected with the fixing plate.
The second servo motor is connected with the fixed plate through a second ball screw and drives the fixed plate to do horizontal reciprocating motion, and the fixed plate is connected with the vertical skin cutting mechanism, so that the vertical skin cutting mechanism can be driven to do horizontal reciprocating motion.
The synchronous conveying mechanism comprises a synchronous support, a synchronous conveying belt is arranged on the synchronous support, and a cutter assembly is arranged at the tail end of the synchronous support and above the synchronous conveying belt and used for cutting off dough sheets from the dough sheets.
Scheme one: the synchronous conveyor belt is provided with a dough sheet hole, a blade is arranged at the position right below the synchronous conveyor belt, which is used for cutting the dough sheet, and the blade and the dough sheet cutter form a cutter pair. The first scheme utilizes the synchronous conveyer belt with holes, when the flour leather holes on the synchronous belt stop below the leather cutter, the synchronous conveyer belt stops moving, the leather cutter cuts leather downwards, and the leather cutter passes through the flour leather holes and the cutter blade below to realize leather cutting.
Scheme II: and a backing plate for supporting the synchronous conveyer belt is arranged below the synchronous conveyer belt. The second scheme is unnecessary to open holes on the synchronous conveyor belt, the leather cutter directly cuts the leather on the synchronous conveyor belt advancing in a stepping way, and the backing plate can play a role in supporting the synchronous conveyor belt when the leather cutter cuts the leather, and the function of cutting the leather can be realized without adopting a blade for cutter setting.
The automatic dough sheet cutting machine is characterized in that a stripper plate is arranged at the tail end of the synchronous support and above the synchronous conveying belt, a dough sheet modeling opening is formed in the stripper plate, the stripper plate is used for blocking the residual skin, the residual skin and the cut dough sheet are prevented from being adsorbed together, and the residual skin is scraped from the periphery of the dough sheet cutting knife.
The bottom of the synchronous support is provided with a scraper. The scraper can scrape the surface slag on the surface of the returned belt.
The working principle of the application is as follows:
the vertical skin cutting mechanism cuts the skin through the downward movement on the surface belt positioned on the synchronous conveying mechanism, adsorbs the skin after skin cutting is completed and moves upward to an initial horizontal position, the horizontal movement mechanism drives the vertical skin cutting mechanism to do horizontal movement, the adsorbed skin is placed on the next station, and finally the vertical skin cutting mechanism is reset, so that a complete skin cutting process is realized.
Specifically, cutting edges are arranged on the periphery of a skin cutter of the cutter assembly of the vertical skin cutting mechanism, so that skin cutting of the dough skin is realized, and the non-contact gripper of the skin cutter realizes adsorption of the skin behind the skin through negative pressure provided by an air outlet arranged on the inner wall of the annular groove.
The application has the advantages that:
1. the dough cover can be directly horizontally moved from the dough cover cutting station to the dough cover receiving station, and the dough cover is vertically poked into the next station instead of a transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough cover is higher, the problem that the dough cover is difficult to adhere or the dough cover is elongated and thinned is solved.
2. The negative pressure type is adopted to provide adsorption force for the dough cover, so that the appearance integrity of the dough cover can be guaranteed to the greatest extent, and the dough cover can be adsorbed by utilizing the vortex suction force by adopting the design of the annular groove and the air outlet, so that the adsorption effect is enhanced.
Drawings
Fig. 1 is a schematic perspective view of a non-contact gripper cutting device.
Fig. 2 is a side view of a non-contact gripper cutting device.
Fig. 3 is a schematic perspective view of a vertical skin cutting mechanism.
Fig. 4 is a side view of a vertical peeling mechanism.
Fig. 5 is a cross-sectional view of a vertical peeling mechanism.
Fig. 6 is a schematic perspective view of a horizontal movement mechanism.
Fig. 7 is a schematic cross-sectional structure of the horizontal movement mechanism.
Fig. 8 is a schematic structural diagram of a synchronous conveying mechanism according to the first embodiment.
Fig. 9 is a schematic cross-sectional view of a synchronous conveyor mechanism of the first embodiment.
Fig. 10 is a schematic structural view of a synchronous conveying mechanism matched with a skin cutter in the first scheme.
Fig. 11 is a schematic structural view of a synchronous conveying mechanism of the second scheme, which is matched with a skin cutter.
Fig. 12 is a schematic cross-sectional view of a synchronous transport mechanism of the second embodiment.
Figure 13 is a schematic view of a cutter assembly.
Figure 14 is a schematic top view of a cutter assembly.
Figure 15 is a schematic cross-sectional view of the cutter assembly.
Fig. 16 is a schematic view of a non-contact gripper structure.
Fig. 17 is a schematic view of the structure of the non-contact gripper provided with a small hole and a needle.
In the accompanying drawings: vertical skin cutting mechanism 1200, horizontal motion mechanism 1300, synchronous conveying mechanism 1400, and cut surface support 1500.
Gripper body 1101, cutting edge 1102, annular groove 1103, air outlet 1104, aperture 1105, needle 1106, vent tube 1107.
The automatic leather cutting device comprises a first servo motor 1201, a lifting guide rod 1202, a leather cutting knife 1203, a leather cutting knife fixing plate 1204, a connecting block 1205, a transmission belt 1206, a first ball screw 1207, a push block 1208 and a guide sleeve 1209.
The housing 1301, the second servo motor 1302, the fixing plate 1303, a second ball screw 1304, a lead screw nut 1305.
A synchronous support 1401, a synchronous conveyer belt 1402, a dough sheet hole 1403, a blade 1404, a backing plate 1405, a discharge plate 1406 and a scraper 1407.
Detailed Description
Example 1
The non-contact gripper dough cutting device is characterized in that a vertical dough cutting mechanism 1200 for cutting dough through up-and-down movement, a horizontal movement mechanism 1300 for driving the vertical dough cutting mechanism 1200 to horizontally move and a synchronous conveying mechanism 1400 for conveying dough from below the vertical dough cutting mechanism 1200 are arranged on the dough cutting support 1500, and the horizontal movement mechanism 1300 is connected with the vertical dough cutting mechanism 1200. The vertical skin slitting mechanism 1200 sucks the skin to the next station by suction. The vertical skin cutting mechanism 1200 specifically adsorbs and moves the skin after skin cutting from the cut Pi Gongwei to a forming die, and then the forming die conveys the skin to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption. The vertical skin cutting mechanism 1200 cuts the skin by moving downwards on the surface belt positioned on the synchronous conveying mechanism 1400, then adsorbs the skin after the skin cutting is completed and moves upwards to the initial horizontal position, the horizontal moving mechanism 1300 drives the vertical skin cutting mechanism 1200 to do horizontal movement, the adsorbed skin is placed on the next station, and finally the vertical skin cutting mechanism 1200 is reset, so that a complete skin cutting process is realized.
Example 2
The non-contact gripper dough cutting device comprises a dough cutting support 1500, wherein a vertical dough cutting mechanism 1200 for cutting dough through up-and-down movement, a horizontal movement mechanism 1300 for driving the vertical dough cutting mechanism 1200 to horizontally move and a synchronous conveying mechanism 1400 for conveying dough to pass below the vertical dough cutting mechanism 1200 are arranged on the dough cutting support 1500, and the horizontal movement mechanism 1300 is connected with the vertical dough cutting mechanism 1200. The vertical skin slitting mechanism 1200 sucks the skin to the next station by suction. The vertical skin cutting mechanism 1200 specifically adsorbs and moves the skin after skin cutting from the cut Pi Gongwei to a forming die, and then the forming die conveys the skin to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption. The vertical skin cutting mechanism 1200 comprises a first servo motor 1201, wherein the first servo motor 1201 is connected with a lifting guide rod 1202, and the bottom of the lifting guide rod 1202 is connected with a cutter assembly. The first servo motor 1201 drives the cutter assembly at the bottom of the elevation guide bar 1202 to reciprocate up and down.
The cutter assembly comprises an annular skin cutter 1203 and a skin cutter fixing plate 1204, the skin cutter 1203 is connected to the skin cutter fixing plate 1204, a non-contact gripper is arranged inside the skin cutter 1203, a cutting edge 1102 is arranged at the bottom of the skin cutter 1203, the non-contact gripper is communicated with a ventilation pipe 1107, and the ventilation pipe 1107 is connected with an air compressor. The vent tube 1107 transmits negative pressure to the non-contact gripper so that the non-contact gripper can adsorb the dough sheet from which the skin cut is completed.
The non-contact gripper comprises a gripper body 1101, an annular groove 1103 is arranged at the bottom of the gripper body 1101, and an air outlet 1104 is arranged at the side edge of the annular groove 1103. Since the air outlet 1104 is disposed on the side wall of the annular groove 1103, the negative pressure air flows along the annular groove 1103, thereby forming a negative pressure vortex air flow similar to the tornado principle.
The air outlet 1104 is obliquely opened, and the inclination direction of the air outlet 1104 is the same as the circumferential direction of the annular groove 1103. The diagonally-open air outlet 1104 enables the negative pressure air flow to better adapt to the annular groove 1103, so that the negative pressure air flow more easily flows within the annular groove 1103.
The bottom of the gripper body 1101 is further provided with a plurality of small holes 1105, and needles 1106 are arranged in the small holes 1105. For assistance and safety, the dough cover is prevented from falling off in the adsorption process, a needle 1106 can be arranged at the bottom of the gripper, the needle 1106 penetrates into the upper surface of the dough cover to provide a certain upward pulling force, ensuring that the adsorption force of the dough cover is enough, when the dough cover falls, the needle 1106 can be lifted upwards for a certain distance, so that the upper surface of the dough cover can be pulled out by the needle 1106, and the falling of the dough cover is not influenced.
The number of the air outlets 1104 is at least two. The two air outlets 1104 can form stronger rotary suction force and can better adsorb the dough cover.
The top of the gripper body 1101 is connected with a vent pipe 1107, one end of the vent pipe 1107 is connected with a plurality of air outlets 1104, and the other end is connected with an air compressor. The breather pipe 1107 transmits negative pressure to the gripper body 1101, so that the gripper body 1101 can adsorb the dough sheet with the cut dough sheet through the slant air outlet 1104.
The needle 1106 in the aperture 1105 may reciprocate up and down relative to the surface of the aperture 1105. The reciprocating motion can better realize the placement action of the dough cover, and the phenomenon that the dough cover is adhered to the needle 1106 when placed and the placement of the dough cover is affected is avoided. This may be accomplished by providing an additional mounting plate within the gripper body 1101 that is coupled to the needle 1106, the needle 1106 may be reciprocated by a mounting plate via a cylinder or other drive mechanism.
Three skin-cutting knives 1203 are connected to the skin-cutting knife fixing plate 1204.
The vertical skin cutting mechanism 1200 cuts the skin by moving downwards on the surface belt positioned on the synchronous conveying mechanism 1400, then adsorbs the skin after the skin cutting is completed and moves upwards to the initial horizontal position, the horizontal moving mechanism 1300 drives the vertical skin cutting mechanism 1200 to do horizontal movement, the adsorbed skin is placed on the next station, and finally the vertical skin cutting mechanism 1200 is reset, so that a complete skin cutting process is realized.
Specifically, the cutting edges 1102 are arranged around the skin cutter 1203 of the cutter assembly of the vertical skin cutting mechanism 1200, so that skin cutting of the dough skin is realized, and the non-contact gripper of the skin cutter 1203 realizes adsorption of the skin behind the skin by negative pressure provided by the air outlet 1104 arranged on the inner wall of the annular groove 1103.
The dough cover can be directly horizontally moved from the dough cover cutting station to the dough cover receiving station, and the dough cover is vertically poked into the next station instead of a transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough cover is higher, the problem that the dough cover is difficult to adhere or the dough cover is elongated and thinned is solved.
The negative pressure is adopted to provide adsorption force for the dough cover, so that the appearance integrity of the dough cover can be guaranteed to the greatest extent, and the design of the annular groove 1103 and the air outlet 1104 can utilize the vortex suction force to adsorb the dough cover, so that the adsorption effect is enhanced.
Example 3
The non-contact gripper dough cutting device comprises a dough cutting support 1500, wherein a vertical dough cutting mechanism 1200 for cutting dough through up-and-down movement, a horizontal movement mechanism 1300 for driving the vertical dough cutting mechanism 1200 to horizontally move and a synchronous conveying mechanism 1400 for conveying dough to pass below the vertical dough cutting mechanism 1200 are arranged on the dough cutting support 1500, and the horizontal movement mechanism 1300 is connected with the vertical dough cutting mechanism 1200. The vertical skin slitting mechanism 1200 sucks the skin to the next station by suction. The vertical skin cutting mechanism 1200 specifically adsorbs and moves the skin after skin cutting from the cut Pi Gongwei to a forming die, and then the forming die conveys the skin to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption.
The vertical skin cutting mechanism 1200 comprises a first servo motor 1201, wherein the first servo motor 1201 is connected with a lifting guide rod 1202, and the bottom of the lifting guide rod 1202 is connected with a cutter assembly. The first servo motor 1201 drives the cutter assembly at the bottom of the elevation guide bar 1202 to reciprocate up and down.
The cutter assembly comprises an annular skin cutter 1203 and a skin cutter fixing plate 1204, the skin cutter 1203 is connected to the skin cutter fixing plate 1204, a non-contact gripper is arranged inside the skin cutter 1203, a cutting edge 1102 is arranged at the bottom of the skin cutter 1203, the non-contact gripper is communicated with a ventilation pipe 1107, and the ventilation pipe 1107 is connected with an air compressor. The vent tube 1107 transmits negative pressure to the non-contact gripper so that the non-contact gripper can adsorb the dough sheet from which the skin cut is completed.
The non-contact gripper comprises a gripper body 1101, an annular groove 1103 is arranged at the bottom of the gripper body 1101, and an air outlet 1104 is arranged at the side edge of the annular groove 1103. Since the air outlet 1104 is disposed on the side wall of the annular groove 1103, the negative pressure air flows along the annular groove 1103, thereby forming a negative pressure vortex air flow similar to the tornado principle.
The air outlet 1104 is obliquely opened, and the inclination direction of the air outlet 1104 is the same as the circumferential direction of the annular groove 1103. The air outlet 1104 formed in an inclined manner can enable the negative pressure air flow to be more suitable for the annular groove 1103, so that the negative pressure air flow can flow in the annular groove 1103 more easily.
The bottom of the gripper body 1101 is further provided with a plurality of small holes 1105, and needles 1106 are arranged in the small holes 1105. For the assistance and safety, avoid the face skin to take place to drop at absorbing in-process, can also set up needle 1106 in the tongs bottom, needle 1106 pierces the face skin upper surface, provides certain upward pulling force, guarantees that the adsorption affinity of face skin is enough, when falling the skin, can upwards promote certain distance with needle 1106 for needle 1106 can the upper surface of face skin be taken out, thereby do not influence the falling skin of face skin.
The number of the air outlets 1104 is at least two. The two air outlets 1104 can form stronger rotary suction force and can better adsorb the dough cover.
The top of the gripper body 1101 is connected with a vent pipe 1107, one end of the vent pipe 1107 is connected with a plurality of air outlets 1104, and the other end is connected with an air compressor. The breather pipe 1107 transmits negative pressure to the gripper body 1101, so that the gripper body 1101 can adsorb the dough sheet with the cut dough sheet through the slant air outlet 1104.
The needle 1106 in the aperture 1105 may reciprocate up and down relative to the surface of the aperture 1105. The reciprocating motion can better realize the placement action of the dough cover, and the phenomenon that the dough cover is adhered to the needle 1106 when placed and the placement of the dough cover is affected is avoided. This may be accomplished by providing an additional mounting plate within the gripper body 1101 that is coupled to the needle 1106, and by which the needle 1106 may be reciprocated by a cylinder or other drive mechanism.
Three skin-cutting knives 1203 are connected to the skin-cutting knife fixing plate 1204.
The vertical skin cutting mechanism 1200 cuts the skin by moving downwards on the surface belt positioned on the synchronous conveying mechanism 1400, then adsorbs the skin after the skin cutting is completed and moves upwards to the initial horizontal position, the horizontal moving mechanism 1300 drives the vertical skin cutting mechanism 1200 to do horizontal movement, the adsorbed skin is placed on the next station, and finally the vertical skin cutting mechanism 1200 is reset, so that a complete skin cutting process is realized.
Specifically, the cutting edges 1102 are arranged around the skin cutter 1203 of the cutter assembly of the vertical skin cutting mechanism 1200, so that skin cutting of the dough skin is realized, and the non-contact gripper of the skin cutter 1203 realizes adsorption of the skin behind the skin by negative pressure provided by the air outlet 1104 arranged on the inner wall of the annular groove 1103.
The dough cover can be directly horizontally moved from the dough cover cutting station to the dough cover receiving station, and the dough cover is vertically poked into the next station instead of a transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough cover is higher, the problem that the dough cover is difficult to adhere or the dough cover is elongated and thinned is solved.
The negative pressure is adopted to provide adsorption force for the dough cover, so that the appearance integrity of the dough cover can be guaranteed to the greatest extent, and the design of the annular groove 1103 and the air outlet 1104 can utilize the vortex suction force to adsorb the dough cover, so that the adsorption effect is enhanced.
The lifting guide rod 1202 is connected with a connecting block 1205, and the connecting block 1205 is fixedly connected with the cutter assembly.
The first servo motor 1201 is connected to one end of a first ball screw 1207 through a driving belt 1206, a push block 1208 is fixed on the first ball screw 1207, and a lifting guide rod 1202 is connected to the push block 1208.
Two ends of the push block 1208 are respectively connected with a lifting guide rod 1202.
The outside of the lifting guide rod 1202 is sleeved with a guide sleeve 1209, and the guide sleeve 1209 is fixed on the inner side of the section bracket 1500.
The first servo motor 1201 drives the first ball screw 1207, thereby driving the push block 1208 to move vertically, and since the lifting guide rod 1202 and the connecting block 1205 are connected with the push block 1208, the connecting block 1205 also moves reciprocally in the vertical direction.
The horizontal movement mechanism 1300 comprises a box 1301, a second servo motor 1302 is arranged on the box 1301, and the second servo motor 1302 is connected with a fixing plate 1303 for installing the vertical skin cutting mechanism 1200.
The second servo motor 1302 is connected with a second ball screw 1304, one end of the second ball screw 1304 is provided with a screw nut 1305, and the screw nut 1305 is connected with the fixed plate 1303.
The second servo motor 1302 is connected with the fixed plate 1303 through the second ball screw 1304, and drives the fixed plate 1303 to do horizontal reciprocating motion, and the fixed plate 1303 is connected with the vertical skin cutting mechanism 1200, so that the vertical skin cutting mechanism 1200 can be driven to do horizontal reciprocating motion.
The synchronous conveying mechanism 1400 comprises a synchronous bracket 1401, a synchronous conveying belt 1402 is arranged on the synchronous bracket 1401, and a cutter assembly is arranged at the tail end of the synchronous bracket 1401 and above the synchronous conveying belt 1402 and used for cutting dough cover from the dough belt.
Scheme one: the dough sheet hole 1403 is arranged on the synchronous conveyor 1402, a blade 1404 is arranged at the position right below the synchronous conveyor 1402, and the blade 1404 and the skin cutter form a knife. The first scheme utilizes a synchronous conveyer belt 1402 with holes, when a dough sheet hole 1403 on the synchronous conveyer belt is stopped below a skin cutter, the synchronous conveyer belt 1402 stops moving, the skin cutter cuts skin downwards, and the skin cutter passes through the dough sheet hole 1403 and is aligned with a blade 1404 below to realize skin cutting.
Scheme II: a backing plate 1405 for supporting the timing belt 1402 is provided below the timing belt 1402. The second scheme is not required to open holes on the synchronous conveyor belt 1402, the skin cutter directly cuts the skin on the synchronous conveyor belt 1402 which advances in a stepping way, and the cushion plate 1405 can play a role in supporting the synchronous conveyor belt 1402 when the skin cutter cuts the skin, and the function of cutting the skin can be realized without adopting the cutter 1404 for cutting the skin.
The end of the synchronous support 1401 and the upper part of the synchronous conveyer belt 1402 are provided with a discharge plate 1406, the discharge plate 1406 is provided with a hole for shaping the dough sheet, the discharge plate 1406 is used for blocking the residual skin, the residual skin and the cut dough sheet are prevented from being adsorbed together, and the residual skin is scraped from the periphery of the skin cutter.
A scraper 1407 is arranged at the bottom of the synchronous bracket 1401. The scraper 1407 can scrape off the surface slag on the surface of the returned belt.
Claims (15)
1. A non-contact gripper section device which is characterized in that: the dough cutting machine comprises a dough cutting support (1500), wherein a vertical dough cutting mechanism (1200) for cutting dough through up-and-down motion, a horizontal motion mechanism (1300) for driving the vertical dough cutting mechanism (1200) to horizontally move and a synchronous conveying mechanism (1400) for conveying the dough through the lower part of the vertical dough cutting mechanism (1200) are arranged on the dough cutting support (1500), the horizontal motion mechanism (1300) is connected with the vertical dough cutting mechanism (1200), and the vertical dough cutting mechanism (1200) adsorbs the dough to the next station through suction;
the vertical skin cutting mechanism (1200) cuts the skin by downwards moving the skin belt positioned on the synchronous conveying mechanism (1400), then adsorbs the skin obtained after the skin cutting is completed, upwards moves to the initial horizontal position of the vertical skin cutting mechanism (1200), the horizontal moving mechanism (1300) drives the vertical skin cutting mechanism (1200) to horizontally move, the adsorbed skin is placed on the next station, and finally the vertical skin cutting mechanism (1200) is reset, so that a complete set of cutting Pi Gongxu is realized;
the vertical skin cutting mechanism (1200) comprises a first servo motor (1201), wherein the first servo motor (1201) is connected with a lifting guide rod (1202), and the bottom of the lifting guide rod (1202) is connected with a cutter assembly;
the cutter assembly comprises an annular skin cutter (1203) and a skin cutter fixing plate (1204), the skin cutter (1203) is connected to the skin cutter fixing plate (1204), a non-contact gripper is arranged inside the skin cutter (1203), a cutting edge (1102) is arranged at the bottom of the skin cutter (1203), the non-contact gripper is communicated with a ventilation pipe (1107), and the ventilation pipe (1107) is connected with an air compressor; the breather pipe (1107) transmits negative pressure to the non-contact gripper, so that the non-contact gripper can adsorb the dough sheet after the dough sheet is cut;
the non-contact gripper comprises a gripper body (1101), wherein an annular groove (1103) is formed in the bottom of the gripper body (1101), and an air outlet (1104) is formed in the side edge of the annular groove (1103);
the bottom of the gripper body (1101) is also provided with a plurality of small holes (1105), and needles (1106) are arranged in the small holes (1105);
the needle (1106) in the aperture (1105) is reciprocally movable up and down relative to the surface of the aperture (1105);
the needle (1106) pierces the upper surface of the dough cover to provide an upward pulling force, so that the adsorption force of the dough cover is enough, and when the dough cover falls, the needle (1106) is lifted upwards for a certain distance, so that the needle (1106) can be pulled out of the upper surface of the dough cover, and the falling of the dough cover is not influenced.
2. The non-contact gripper knife cutting device of claim 1, wherein: the air outlet (1104) is obliquely arranged, and the inclination direction of the air outlet (1104) is the same as the circumferential direction of the annular groove (1103).
3. The non-contact gripper knife cutting device of claim 2, wherein: the number of the air outlets (1104) is at least two.
4. The non-contact gripper knife cutting device of claim 1, wherein: the top of gripper body (1101) is connected with breather pipe (1107), breather pipe (1107) one end links to each other with a plurality of air outlets (1104), and the other end is connected with the air compressor machine.
5. The non-contact gripper cutting device of any one of claims 1-4, wherein: the lifting guide rod (1202) is connected with a connecting block (1205), and the connecting block (1205) is fixedly connected with the cutter assembly.
6. The non-contact gripper knife cutting device of claim 5, wherein: the first servo motor (1201) is connected with one end of a first ball screw (1207) through a transmission belt (1206), a push block (1208) is fixed on the first ball screw (1207), and a lifting guide rod (1202) is connected on the push block (1208).
7. The non-contact gripper knife blade apparatus of claim 6, wherein: two ends of the pushing block (1208) are respectively connected with a lifting guide rod (1202).
8. The non-contact gripper knife blade apparatus of claim 7, wherein: the outside of lift guide bar (1202) has cup jointed uide bushing (1209), uide bushing (1209) are fixed in tangent plane support (1500) inboard.
9. The non-contact gripper knife cutting device of claim 1, wherein: the horizontal movement mechanism (1300) comprises a box body (1301), a second servo motor (1302) is arranged on the box body (1301), and the second servo motor (1302) is connected with a fixing plate (1303) for installing the vertical skin cutting mechanism (1200).
10. The non-contact gripper knife blade apparatus of claim 9, wherein: the second servo motor (1302) is connected with a second ball screw (1304), one end of the second ball screw (1304) is provided with a screw nut (1305), and the screw nut (1305) is connected with the fixed plate (1303).
11. The non-contact gripper knife cutting device of claim 1, wherein: the synchronous conveying mechanism (1400) comprises a synchronous support (1401), a synchronous conveying belt (1402) is arranged on the synchronous support (1401), and a cutter assembly is arranged at the tail end of the synchronous support (1401) and above the synchronous conveying belt (1402).
12. The non-contact gripper knife blade apparatus of claim 11, wherein: the synchronous conveyer belt (1402) is provided with a dough sheet hole (1403), a blade (1404) is arranged at the position right below the synchronous conveyer belt (1402) for cutting the dough sheet, and the blade (1404) and the dough sheet are formed into a cutter pair.
13. The non-contact gripper knife blade apparatus of claim 11, wherein: a backing plate (1405) for supporting the synchronous conveyer belt (1402) is arranged below the synchronous conveyer belt (1402).
14. The non-contact gripper cutting device of claim 12 or 13, wherein: the automatic dough making machine is characterized in that a discharging plate (1406) is arranged at the tail end of the synchronous support (1401) and above the synchronous conveying belt (1402), and a dough sheet modeling opening is formed in the discharging plate (1406).
15. The non-contact gripper knife blade apparatus of claim 11, wherein: a scraper (1407) is arranged at the bottom of the synchronous support (1401).
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| CN201710625475.3A CN109303089B (en) | 2017-07-27 | 2017-07-27 | Non-contact gripper section cutting device |
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| CN201710625475.3A CN109303089B (en) | 2017-07-27 | 2017-07-27 | Non-contact gripper section cutting device |
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| CN109303089A (en) | 2019-02-05 |
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