CN110074155A - A kind of automatic noodle machine device people and noodles methods - Google Patents

Abstract

The invention discloses an automatic noodle-making robot and a noodle-making method. The noodle-making robot: a dough storage device, a noodle grabbing device, a noodle shaping device, and a noodle pressing and forming device arranged sequentially according to functions; a noodle storage device , used to store the dough; the noodle grabbing device, used to grab the noodle body from the noodle storage device; the noodle shaping device, to shape the noodle body into a cylindrical shape; the noodle pressing and forming device, Shaped into a cylindrical shape, the dough is pressed into noodles. Noodle making method: S10, store the standard dough embryos on the tray, and the tray is slid and placed on the tray rack; S20, grab the dough embryos, and the dough grasping device pulls out the tray containing the dough embryos, and removes the dough embryos from the tray. Cutting out the individual dough embryos; S30, shaping the dough embryos into a cylindrical shape; S40, pressing the shaped dough embryos into noodles.

Description

An automatic noodle-making robot and noodle-making method

technical field

The invention relates to an automatic noodle making robot and a noodle making method.

Background technique

The production of noodles needs to knead flour with water to form a dough, and then beat and pull against the water to form noodles. This production method is time-consuming and laborious. With the development of society, fewer and fewer young people are engaged in this kind of work. With the development and development, automatic noodle production lines are gradually appearing on the market.

However, most of the automatic noodle production lines that appear on the market start from the step of flour until the noodle is formed. This technology needs to consider details such as the storage of flour, the daily cleaning of the equipment after the flour is stuck to it, and the supporting utensils involved. , it is feasible in situations where there is no space limitation (such as a workshop). In the case of automatic noodle vending, since automatic vending points are often set in commercial centers with relatively large flow of people, this kind of equipment often takes up a relatively large space.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides an automatic noodle-making robot and a noodle-making method. The system is suitable for the scene of automatic sales in stores with limited space, and the automatic noodle-making process is smooth and the failure rate is low.

An automatic noodle making robot according to the present invention, comprising: a dough storage device, a dough grabbing device, a dough shaping device and a noodle pressing and forming device arranged sequentially according to functions;

The dough storage device is used to store the dough;

The dough grabbing device is used to grab the dough monomer from the dough storage device;

The dough shaping device can shape the dough into a cylindrical shape;

The noodle pressing and forming device is used to press the noodle embryo unit shaped into a cylindrical shape into noodles.

As mentioned above, the dough storage device, the dough grabbing device, the dough shaping device and the noodle pressing and forming device are integrated in the noodle vending machine, and the dough of any shape is made into a standard dough, and then the dough is stored in advance. The dough storage device, when the customer places an order, sends a signal to the dough grabbing device, and the dough grabbing device grabs the dough from the dough stored in the dough storage device, and then puts the dough into the The dough shaping device (or another transmission mechanism is set up to transport the dough monomer to the dough shaping device), the dough monomer is shaped into a cylindrical shape (or a cylindrical shape) by the dough shaping device, and then the cylindrical dough sheet The body falls into the noodle pressing and forming device to make noodles. After the noodles fall into the noodle colander immersed in the soup pot and cook, the cooked noodles are poured into a bowl through the noodle device.

In some embodiments, the dough storage device includes a storage rack and a tray, the storage rack includes multiple storage layers, each storage layer is provided with a plurality of storage positions, and the tray is slidably placed on the storage positions; The shape of the dough is strip-shaped, and after the strip-shaped dough is placed on the tray, the tray is pushed into the storage position for storage. The tray should be understood in a broad sense. It can be a flat plate structure without fences, which is convenient for the subsequent knife to cut the dough from top to bottom.

When it is necessary to store the dough in the storage device, the dough (dough) of any shape is first made into a strip-shaped dough with a standard shape adapted to the shape of the tray-each strip-shaped dough can cut more than one One portion is used to make dough alone; each standard dough is placed on a tray, each storage position can be placed on a tray, and multiple storage positions can be placed on multiple trays. In this way, the storage rack can not only store multiple standard dough, and standard dough of different tastes or colors can be placed, and there will be no adhesion, extrusion and deformation between the standard dough and the standard dough, so that the dough grabbing device can grab the dough.

In some embodiments, the dough grabbing device includes a grabbing mechanism, a material shifting mechanism, and a knife; after the dough grabbing device moves to the tail of the tray, the grabbing mechanism grabs the tray and drags the tray out, The dough on the tray is dragged out along with the tray, and then cut off by the knife gate to obtain the single dough, and the material pushing mechanism will drop the single dough to the dough shaping device.

When it is necessary to take a single piece of dough on a standard dough on a tray, the entire dough grabbing device moves, or the dough storage device (storage rack) moves, so that the grabbing mechanism is located at the appropriate position of the tray, Then the grabbing mechanism grabs the tray and pulls the tray out from the storage rack for a certain distance, and the standard dough on the tray is also pulled out for a certain distance, that is, the standard dough moves a certain distance under the knife edge of the knife, and the knife moves Cut off the dough to get the individual dough, and finally, the feeding mechanism will drop the individual dough to the dough shaping device for shaping.

As mentioned above, the specific dough storage device and the dough grabbing device are adopted to store the dough in a standardized manner. On the one hand, it can ensure that the storage of the dough is sufficient and reliable, and on the other hand, it also ensures the reliability of the dough cutting. In this way of storage, as long as the width of the knife is wide enough, the standard dough cross section can be used as a unit to cut the width.

In some embodiments, the tray surface of the tray is a conveyor belt for holding the dough, and a driven gear is installed on the rotating shaft of the conveyor belt; A driving gear and a motor driving the driving gear to rotate; when the grabbing mechanism pulls the tray out, the driven gear moves with the tray and meshes with the driving gear.

The rotating shaft of the conveyor belt on each pallet is equipped with a driven gear, which can move with the pallet. When the grabbing mechanism pulls the pallet out, the driven gear moves with the pallet and approaches and hits the driving gear and the pallet. Drive gear meshes. After the knife cuts the dough monomer, the motor drives the driving gear to rotate, which drives the driven gear to rotate, thereby driving the conveyor belt forward, and the cut dough monomer is transported to the edge and then falls to the dough shaping device Shaping, in this way, the conveyor belt can be considered as a material-pushing mechanism, which pushes the single dough blank to the dough shaping device. In addition, the conveyor belt can also have the effect of forwarding the unfinished dough blank so as to fill the cut surface. The space for the subsequent dough monomers is waiting for the next cutting. In order to facilitate harvesting, the pallet here can be flat without fence.

In some embodiments, an encoder and a sensor are also included, the encoder is connected to the rotating shaft of the motor, and the sensor is used for sensing the dough. The encoder can sense the number of revolutions of the motor, so that the length of the dough can be cut more accurately, and finally a specific weight of noodles can be obtained.

In some embodiments, the dough shaping device includes a first roller provided with a first shaping half-groove, a second roller provided with a second shaping half-groove, and a bracket; the first roller and the second roller are installed On the bracket, the first shaping half groove and the second shaping half groove are combined to form a shaping groove; the area of the shaping groove gradually changes with the relative rotation of the first roller and the second roller.

When in use, the first roller and the second roller can be rotated synchronously in opposite directions. Before the dough monomer falls into the noodle pressing device, it will be shaped by the shaping groove of the dough shaping device, and the shaped dough monomer The regular cross-section shape (round is the best) can greatly reduce the chance of it getting stuck on the edge of the noodle pressing cylinder opening on the noodle pressing device, increase the probability of accurately falling into the noodle pressing cylinder, and improve the smoothness and failure rate of the automatic noodle making process. Low. In addition, since the area of the shaping groove changes with the relative rotation cycle of the first roller and the second roller, the dough monomer is easier to squeeze out of the shaping groove during the extrusion process. For the processing of the shaping and half groove of the roller, it can be processed by numerical control programming, or it can be processed by ordinary numerical control lathe. While the workpiece is rolling, it uses an arc to cut the edge of the workpiece, and the cutting depth changes gradually according to the needs.

In some embodiments, the noodle pressing and forming device includes a noodle-pressing cylinder, a moving device, and a noodle-pressing rod; Cyclic movement between slots directly below.

The moving device drives the noodle pressing cylinder to move directly below the shaping tank. After the dough is shaped and falls into the noodle pressing cylinder, the moving device drives the noodle pressing cylinder to move to the right below the noodle pressing rod of the noodle pressing device. Press, and the dough emerges through the sieve to form noodles. This noodle pressing system can increase the probability of the dough monomer falling into the noodle pressing cylinder accurately, reduce the congestion rate of the noodle making process, and improve the stability of the equipment.

In some embodiments, the moving device is provided with an installation hole for installing the noodle pressing cylinder, at least two card tables are distributed circumferentially on the side wall of the installation hole, and a first gap is reserved between the card tables; Bosses corresponding to the clamping platforms are distributed circumferentially on the outer side wall of the noodle-pressing cylinder, and a second gap is reserved between the bosses; the outer side wall of the noodle-pressing cylinder is in clearance fit with the installation hole.

Since the dough shaping device is designed on the mobile device to take up space, when installing the noodle pressing cylinder, it can be installed from the bottom of the mobile device.

The present invention also provides a kind of noodle making method, comprises the following steps:

S10, storing the standard dough embryos on the tray, and the tray is slidably placed on the tray rack;

S20, grasping the single dough embryo, the dough grasping device pulls out the tray carrying the dough embryo, and intercepts the dough embryo monomer from the dough embryo;

S30, shaping the dough body into a cylindrical shape;

S40, pressing the shaped dough embryo into noodles.

In some embodiments, the tray surface of the tray is a conveyor belt for holding the dough, and a driven gear is installed on the rotating shaft of the conveyor belt; The driving gear and the motor that drives the driving gear to rotate; when the grabbing mechanism pulls the tray out, the driven gear moves to a predetermined position following the tray (the predetermined position can be set according to the actual situation, and the tray can be set according to the actual situation After being pulled out for a specific distance, the driven gear just hits into the driving gear to mesh) and then meshes with the driving gear;

The shaft of the motor is installed with an encoder for detecting the number of rotations of the motor, and the dough grabbing device is provided with a sensor for inducting the dough;

When the dough moves, the sensing part of the sensor starts to sense the existence of the dough before passing through the gate. The tray is pulled out, and after the driven gear and the driving gear are meshed, as the tray is blocked by the dough blank of the tray from the sensing part of the sensor of the dough grabbing device, at this moment, the sensing part of the sensor begins to sense the existence of the dough dough. At this time, the drive motor rotates to make the gear rotate, and the conveyor belt drives the dough back. When the end of the dough retreats to be just flush with the sensing part of the sensor, the sensor just cannot sense the dough, and the sensor sends a signal. Control the motor to stop. At this time, the dough blank is the starting length calculation position. This process is the alignment process of the dough blank length calculation. Then the motor reverses, and the conveyor belt re-drives the dough to move forward. At the same time, the encoder calculates the motor in real time. The number of turns of rotation, when the number of turns of the motor reaches the predetermined number of turns, the control system will send a signal to the motor to stop rotating, and at the same time control the action of the switch knife to cut off the dough to obtain a single dough embryo; the number of turns of the motor can be converted into The length of the dough moving forward, so that the dough monomer of a specific length can be obtained, and the cross-sectional area of the dough monomer can be converted into a specific quality of the dough monomer, that is, noodles of a specific weight.

In some embodiments, the grabbing mechanism pulls out the tray, and after the driven gear moves with the tray and meshes with the driving gear, the motor rotates in reverse to make the conveyor belt transport the dough backwards, when the end surface of the dough and the The sensing part of the sensor is flush, and the motor rotates forward. At the same time, the encoder calculates the number of turns of the motor in real time. Embryo cutting to obtain a specific length of embryo monomer.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the automatic noodle making robot of one embodiment of the present invention;

Fig. 2 is the side schematic diagram of the automatic noodle making robot among Fig. 1;

Fig. 3, Fig. 4, Fig. 5 are schematic diagrams of a dough grasping device according to an embodiment of the present invention;

6 to 12 are schematic diagrams of a dough shaping device according to an embodiment of the present invention;

Fig. 13 and Fig. 14 are schematic diagrams of a noodle press-forming device according to an embodiment of the present invention.

Detailed ways

The present invention will be further elaborated below with reference to the accompanying drawings.

The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings.

In the description of the invention, it should be noted that unless otherwise specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated Connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary. It can be said that the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the invention in specific situations. The technical solution of the invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1 and Fig. 2, an automatic noodle-making robot provided by the present invention includes: a dough storage device 63, a dough grabbing device 5, a dough shaping device 2 and a noodle pressing and forming device 1 arranged in sequence according to functions; Wherein, the dough storage device 63 is used to store the dough; the dough grabbing device 5 is used to grab the dough monomer from the dough storage device; the dough shaping device 2 is used to shape the dough monomer into a cylindrical shape; The press forming device 1 presses the cylindrical dough base unit into noodles.

The "arrangement according to function" here can be understood in this way. The noodle making process of this technical solution is: storing noodle-taking noodle-shaping-noodle pressing, and each functional part required to realize this process is arranged according to the flow direction.

Above, for the consideration of the layout of the space, other mechanisms can be arranged between each device as a material delivery mechanism. The dough unit 6011 cut by the embryo grasping device 5 does not directly fall into the dough shaping device 2 but first falls on the dough monomer conveyor belt 4 and then falls into the dough shaping device 2, or no other The transmission part, that is, the noodle monomer grabbed by the noodle grabbing device is directly pushed into the noodle shaping device 2. The reshaped noodle monomer directly falls into the noodle pressing and forming device under the action of gravity.

The noodle forming device 1 mentioned in the present technology can adopt the noodle forming device of the prior art, that is, the noodle cylinder that the top is set as the noodle inlet and the bottom is provided with a face sieve, and is driven by power (hydraulic system, electric push Rod, etc.) to push the noodle pressing rod, the dough unit falls into the noodle pressing cylinder through the noodle inlet, the noodle pressing rod enters the noodle pressing cylinder through the noodle inlet to extrude the noodle unit, and the noodle unit is extruded through the outlet sieve out forming noodles. As mentioned above, if the shape of the dough unit is irregular, even if it falls into the cylinder, the irregular unit of dough may form a gap with the inner arm of the cylinder at some places. When the dough is pressed, the gap The length of the sieve hole corresponding to the space may be shorter. Even if the gap is quickly filled by the dough body around the gap during the extrusion process of the noodle bar, the noodles that come out of the corresponding sieve hole directly below the filled gap are relatively short. Easy to break or insufficient toughness, it can be seen that it has a certain impact on the quality of the appearance.

According to the technology of the present invention, before the dough is pressed into dough, one purpose of the shaping is to compact and shape the dough of any shape into a solid cylinder. Through design adjustment, the cylindrical cross section and The cross-section of the noodle pressing cylinder is equivalent, so that the dough unit after shaping can basically cover the cross-section of the noodle pressing cylinder, reducing the gap between the noodle unit and the inner wall of the noodle pressing cylinder, so that the quality of the dough can be improved.

Another purpose of shaping the dough unit before it is pressed into the dough is to remove the edges and corners of the random-shaped dough unit to prevent the dough unit from being stuck on the pressing surface when it falls into the noodle cylinder Since it is an automatic operation, as long as a certain dough unit fails to fall into the noodle pressing tank smoothly, the process will be blocked, and subsequent dough units cannot be made into noodles, that is, , it does not need to make the cross-sectional area of the noodle-pressing cylinder too large (under the same amount of dough monomer, the cross-sectional area of the noodle-pressing cylinder is too large, and eventually the length of the noodle produced will be too short), so it can have automatic The noodle making process is smooth and the failure rate is low.

As mentioned above, the dough is made into a standard dough in advance (that is, a long strip of dough with a certain cross section), and then stored in the dough storage device, and equipped with a dough grabbing device. When noodles need to be made, the dough storage device Grab the noodle embryo monomer; save the flour making process, it is more suitable for automatic vending of noodles, which is beneficial to the fact that automatic vending points are often set up in commercial centers with a relatively large flow of people, with a simple space. The coordinated work of the dough storage device, the dough grabbing device, the dough shaping device, and the noodle pressing and forming device can meet the requirements of automatic noodle making, and the failure rate is low, avoiding the influence of maintenance caused by the blockage of the noodle making process Noodle shop business.

For the dough storage device 63, in order to achieve storage and facilitate the effect of automatically taking the dough, the present invention provides a specific embodiment: the dough storage device 63 includes a storage rack 3 and a tray 6, and the storage rack 3 includes a three-dimensional direction The multi-layer storage layer provided on the top, each storage layer is provided with a plurality of storage positions, and the tray 6 is slidably placed on the storage positions; After being placed on the tray 6, the tray 6 is pushed into the storage position for storage. Storage rack 3 front end and rear end opening, when depositing tray 6, store in the MN direction in the front end of storage rack 3 as shown in the figure, set dough grabbing device 5 at storage rack 3 rear end, be used for from dough storage device Grab the dough monomer 6011 in 63. Different flavors or colors of dough can be placed on multiple trays to meet different customer requirements.

The dough grabbing device 5 includes a grabbing mechanism, a material shifting mechanism and a knife; after the dough grabbing device 5 moves to the tail of the tray, the grabbing mechanism grabs the tray 6 and drags the tray 6 out, and the tray 6 The dough 601 on the tray is dragged out following the tray 6 and then cut by the gate knife to obtain the dough monomer 6011. In order to facilitate the gate breaking, there is no fence around the tray, and the gate knife is vertically set. Monomer 6011 is pulled down to face embryo shaping device 2.

For the dough grabbing device 5, any manipulator with translational grabbing in the prior art can be used, and the pallet position can have a certain gap, so that the pallets 6 have a certain gap between each other, and the manipulator can go deep into the gap on both sides of the pallet to grab Hold the tray and then drag out the edge of the dough storage device 63, and continue to drag out a specific distance. Finally, the vertical knife is lowered to break the dough 601 directly below the knife. Finally, the tray is moved according to the original path. Send back storage shelf 3, thereby, obtain dough base monomer 6011, the dough base monomer 6011 is dialed down to dough shaping device 2 through the feeding mechanism (which can be a push plate), above, the feeding mechanism and the switch knife can be Integrated in the dough grabbing device 5.

The present invention provides a specific embodiment of a dough grabbing device 5, the scheme of which is as follows, referring to Fig. 3, Fig. 4 and Fig. 5, comprising a support box 56, the support box 56 consists of a top plate and side plates fixed to the two edges of the top plate Enclosed, and the top plate and the side plates fixed on the two edges of the top plate enclose the entrance opening 562, the top plate is provided with a knife cylinder 51, and a knife 58 that can slide along the vertical direction is installed between the two side plates, and the knife cylinder 51 The telescopic rod is fixed on the top of the switch knife 58, and the switch knife cylinder 51 can drive the switch knife 58 to move up and down. Notches 561 (preferably right-angled notches) are provided at the bottom of both side walls of the opening 562; in order to realize the actions of translating and grabbing the tray, it also includes a first connecting rod 52, a second connecting rod 54 and a support rod 563, the second connecting rod Rod 54 is V-shaped (preferably right-angled), and the corner of second connecting rod 54 is provided with rotating shaft 565, and one end of second connecting rod 54 is rotationally connected (joint point is B point) in the middle part of first connecting rod 52, and second connecting rod 54 The other end of the rod 54 is connected to the telescopic rod of the first air cylinder 53, the cylinder body of the first air cylinder 53 is installed on the support box 56, and the head of the first connecting rod 52 is rotatably connected (the connection point is A) to a slide block. The slide block can be vertically slidably installed on the support box 56, and point E1 is taken on the extension line of AB, so that AB=BE1; one end of the support rod 563 is fixed on the support box 56, and the other end is a free end, and the free end extends to the gap 561, The rotating shaft 565 is rotatably fixed at the free end. Wherein, the rotating shaft 565 is located on the straight line where the slider slides, and the distance from the rotating shaft 565 of the second connecting rod 54 to the connecting point B is equal to the distance AB. When the telescopic rod of the first cylinder 53 is extended or shortened, the second connecting rod can be driven 54 swings around the rotating shaft 565, so that the second connecting rod 54 drives the slider at the head of the first connecting rod 52 to slide up and down at the connection point B and the horizontal movement of point E1 (or any point on the horizontal line where point E1 is located, so, In order to increase the swing range, point E can be set so that point E is located on the horizontal line of point E1, so that the first connecting rod 52 is a rod ABE, and the following grabbing rod 55 is connected to point E), thereby realizing the horizontal movement of the manipulator. A grab bar is set at point E1. The middle part of grab bar 55 is rotatably connected to point E1. The tail of grab bar 55 is connected to the telescopic link of the second cylinder 551. The head is provided with a grappling hook facing toward the opening, and the second cylinder 551 drives the tail of the grabbing rod 55, and the grabbing rod 55 rotates around E1, and the grabbing hook swings up and down.

When in use, a cross bar 62 can be set on the bottom surface of the tail of the tray 6. After the tray 6 is placed on the storage rack 3, its cross bar 62 is suspended in the air, that is, the end of the tray 6 has a section extending out from the edge L of the tray rack. When it is necessary to grab a certain When the face embryo on the tray 6 is placed, the manipulator moves to the tail of the tray 6, and the first cylinder 53 drives the second connecting rod 54 to rotate around the rotating shaft 565, so that the point E1 of the first connecting rod 52 faces the direction of the tray 6. translation, thereby driving the grabbing hook of the grab bar 55 to move to the bottom of the crossbar of the tray 6, and then the second cylinder 551 drives the grab bar 55 to rotate, so that the grabbing hook is upturned, and the first cylinder 53 reverses after the grabbing hook is embedded in the cross bar 62 To drive the second connecting rod 54, point E1 drives the grabbing rod 55 to move horizontally in the opposite direction, that is, the grabbing hook drags the tray 6 to move, and the tray is dragged horizontally from the storage rack 3 with the dough blank 601, and then the tray 6 takes the dough After the blank 601 enters the distance from one end of the support box through the face opening 562, the knife 58 moves downward to break the gate, thereby obtaining a specific length of the dough monomer 6011, and the material pushing mechanism (which can be a push rod arranged in the support box) The dough unit 6011 is pulled off and enters the dough shaping device. Finally, the manipulator sends the tray back to the tray in the original direction to wait for the next noodle pickup.

The tray surface of the tray 6 is a conveyor belt for holding the dough 601, the rotating shaft of the conveyor belt is equipped with a driven gear 72; Gear 73 and the motor that drives the driving gear to rotate (the power between the motor and the driving gear can be transmitted through the belt); when the grabbing mechanism pulls the tray out, the driven gear 72 moves with the tray 6 and meshes with the driving gear 73 .

The tail side wall of each tray 6 on the tray position is equipped with driven gear 72. After the tray 6 is placed on the storage rack 3, each tray 6 has reached a predetermined position, and a limit assembly can be set, one of which is a limit The specific implementation of the assembly can be that a magnet is placed on the bottom of the tray 6, and a second magnet that is attracted to the magnet is placed on the bottom surface of the tray. When the tray is pushed into a specific position, the magnet and the second magnet are attracted and need to be pulled out When the tray is placed, the manipulator can overcome the attraction force of the magnet. Each tray has a specific position, which can ensure that the manipulator can accurately grasp the horizontal bar at the bottom of the tray; when the tray 6 is placed in a specific position, the driven gear 72 is suspended, That is, the tail of the tray protrudes from the edge L of the tray rack 3. When the manipulator grabs the tray 6 and drags it out from the storage rack 3, after the tray 6 enters the interior of the support box 56 for a certain distance through the bottom plate of the switch knife 58, the driven gear 72 bumps into the drive. The gear 73 meshes, and then, if the motor rotates, it can drive the driving gear 73 to rotate, and the driven gear 72 rotates to drive the conveyor belt to move, so that the dough follows the movement. It can be understood that this conveyor belt can be considered as a dial mechanism, which will The single dough is dropped to the dough shaping device. In addition, the conveyor belt can also have the effect of conveying the unfinished dough forward so as to fill the space of the cut dough for the next cutting. In the above design, the single power driving gear is meshed and separated from the driven gear on each pallet 6, which avoids the separate power distribution of the conveyor belt on each pallet, thereby simplifying the design and saving costs.

In addition, it also includes an encoder 74 (the encoder 74 is used to measure the motor speed, and other devices with equivalent functions can also be used) and a sensor 71, the encoder 74 is connected to the rotating shaft of the motor, and the sensor 71 can be installed The edge of the notch 561 on the side wall of the support box 56 is used to sense the dough 601; the encoder can measure the number of turns of the motor. When in use, the dough grabbing device 5 grabs the tray 6, and the dough 601 follows the tray 6 into the support box 56. When the dough 601 moves to the edge of the gap 561, it blocks the sensing part of the sensor 71, and the tray 6 continues to enter the support box 56 until the driven gear 72 hits the driving gear 73 to engage, the tray 6 stops moving, and then the motor reverses Rotate to make the conveyor belt move in reverse, that is, the dough base 601 is transported out of the support box 56 until the end edge of the dough base 601 is flush with the sensing part of the sensor, and the motor stops rotating again. This process is an alignment process. In order to obtain accurate The specific length of the dough monomer, accurately find the edge of the end face of the dough, and start to calculate the length from this edge, at this time, the motor is running forward, and the conveyor belt drives the dough 601 to enter the support box 56 again from the sensing part of the sensor. At the same time, the encoder 74 counts and calculates the number of turns of the motor. When the accumulated number of turns of the encoder 74 reaches the preset number of turns, the control system controls the motor to stop, and then controls the gate knife 58 to move downward, so that the gate section blank Obtaining the dough unit 6011, the number of rotations to be calculated by the encoder 74 is artificially preset, which finally represents the distance conveyed by the conveyor belt through gear transmission, that is, the length of the dough unit. Therefore, when the dough section is constant , it can be converted into the quality of the dough, that is to say, the dough grabbing device 5 of the present embodiment can realize the purpose of quantitatively grabbing the dough monomer. Above, a stepping motor can also be used, and the circle of the stepping motor The number is directly controlled by the signal from the control system, that is, the alignment process of the end face of the dough remains unchanged, and the number of motor turns does not use an encoder, but is directly controlled by the control system.

With reference to Fig. 6-Fig. 12, regarding an embodiment of the dough shaping device 2 of the present invention, it comprises, is provided with the first roller 10 of first shaping half groove 101, is provided with the second shaping half groove 201 Roller 20 and support; The first roller 10 and the second roller 20 are installed on the support, and the first shaping groove 101 and the second shaping half groove 201 are combined to form a shaping groove 1122; 10 and the relative rotation of the second roller 20 changes gradually. When in use, the first roller and the second roller can be rotated synchronously in opposite directions. Before the dough monomer falls into the noodle pressing device, it will be shaped by the shaping groove of the dough shaping device, and the shaped dough monomer The regular cross-sectional shape (circle is the best) can greatly reduce the chance of it being stuck on the edge of the opening of the noodle pressing cylinder, and increase the probability of accurately falling into the noodle pressing cylinder. In addition, since the area of the shaping groove 1122 changes with the relative rotation cycle of the first roller and the second roller, the dough monomer is easier to squeeze out of the shaping groove during the extrusion process.

Referring to FIGS. 7-9 , in order to make the shaping smoother, a flattening assembly 30 is also included, and the flattening assembly 30 is arranged directly above the shaping groove 1122 . More specifically, the clamping assembly 30 includes a first clamping plate 301, a second clamping plate 302, and a power device that drives the first clamping plate 301 and the second clamping plate 302 to snap together or move away from each other; the first clamping plate 301 and the second clamping plate 302 The gap between the second splint 302 is located directly above the first shaping half groove 101 and the second shaping half groove 201 . The power device described here can adopt the clamping cylinder 3032, and the first clamping plate 301 and the second clamping plate 302 are respectively fixed on the two telescopic shafts (3031, 3033) of the clamping cylinder 3032, and the clamping cylinder 3032 drives two telescopic The shafts (3031, 3033) stretch out or shorten in the opposite direction, so that the first splint 301 and the second splint 3032 are separated or clamped; further, a telescopic rod can also be set directly above the splint assembly, and the telescopic rod is used to further Push the dough unit into the shaping groove.

Before the dough unit a falls into the dough shaping device, the dough is flattened by the flattening assembly (the dough unit 6011 passes through the gap between the first splint 301 and the second splint 302 and then is flattened), and is The width (thickness) of the flattened dough (indicated by b in the figure) becomes smaller, and due to the shaping of the dough, it extends to all sides, and the dough in the width direction becomes soft; it falls into the shape of the dough During the installation, the edge c of the flattened dough monomer width lies (or contacts) on the first shaping half groove and the second shaping half groove, when the relative rotation of the first roller and the second roller (as shown in Fig. The direction of rotation shown in the middle arrow M), the flattened face embryo monomer is involved in the shaping of the shaping groove, and the face embryo (represented by d among the figures) after the shaping falls into the face pressing cylinder 401. After being flattened, the dough becomes softer, less thick, and less resistant, making it easier to enter the shaping tank for shaping.

Referring to FIG. 10 , FIG. 11 and FIG. 12 , the first clamping surface 3011 of the first clamping plate 301 is inclined from top to bottom toward the second clamping surface 3021 of the second clamping plate 302 , or the second clamping plate 302 The second clamping surface 3021 is inclined toward the first clamping surface 3011 of the first clamping plate 301 from top to bottom, or the first clamping surface 3011 and the second clamping surface 3021 are inclined at the same time. The edge of the flattened dough unit first contacting the first shaping half-groove and the second shaping half-groove is a double-sided pointed wedge shape, that is, the flattened dough monomer (bb in the figure) ) and the initial contact position of the first shaping half groove and the second shaping half groove are softer, and the first roller and the second roller that are more conducive to rolling will roll the dough monomer into the shaping groove for shaping.

Referring to Fig. 13, the noodle pressing and forming device 1 includes a noodle pressing cylinder 401, a moving device 402, and a noodle pressing rod 405; Move circularly between the noodle-pressing rod 405 and directly under the shaping groove 1122. The noodle-pressing cylinder 401 here is a detachable structure, which is installed from the bottom. Specifically, the mobile device 402 is provided with a hole corresponding to the outer arm of the noodle-pressing cylinder 401. , the inner arm of the hole is evenly distributed on the deck, and the pressing cylinder 401 is provided with a boss that engages with the deck, and the deck and the engagement gap are distributed. Cylinder 401 is inserted into the hole, and then the noodle pressing cylinder 401 is rotated to press the boss on the card table. When it needs to be disassembled, rotate the noodle pressing cylinder 401 to align the gap between the boss and the card table, and take out the noodle pressing cylinder downward. 401. More preferably, after the boss and the card are superimposed, their total height is equal to the depth of the hole, so that after installation, the edge of the surface inlet 4011 of the noodle pressing cylinder 401 protrudes from the upper plane of the moving device 402 .

Referring to Fig. 13 and Fig. 14, when in use, the moving device 402 drives the noodle pressing cylinder 401 to move to just below the shaping tank, and when the dough monomer falls into the noodle pressing cylinder 401 after shaping, the moving device drives the noodle pressing cylinder to move to the pressing tank 401. Right below the noodle pressing rod 405 of the noodle device, the noodle pressing rod presses down, and the dough comes out through the sieve hole to form noodles. This cycle work can realize the effect of automatic noodle making. In addition, a guiding sleeve can also be set on the edge of the noodle inlet. , the height of the guide sleeve is between the bottom of the shaping groove and the edge of the noodle inlet, and it is enough not to touch the first roller and the second roller, and the further dough shaped from the bottom of the shaping groove can be "righted" and guided into the pressing machine. The noodle cylinder makes it fall into the noodle mouth more accurately. This noodle pressing system can increase the probability of the dough monomer falling into the noodle pressing cylinder accurately, reduce the congestion rate of the noodle making process, and improve the stability and reliability of the noodle making equipment.

The present invention also provides a kind of noodle making method, comprises the following steps:

S10, storing the standard dough embryos on the tray, and the tray is slidably placed on the tray rack;

S20, grasping the single dough embryo, the dough grasping device pulls out the tray carrying the dough embryo, and intercepts the dough embryo monomer from the dough embryo;

S30, shaping the dough body into a cylindrical shape;

S40, pressing the shaped dough embryo into noodles.

The standard dough base mentioned here refers to that the dough is made into a strip-shaped dough with a specific cross section (square, trapezoid, etc.); the dough monomer refers to the dough block cut from the standard dough; The cutting efficiency is already accurate, and the pallet here can also be a pallet without fences around it.

More preferably, the tray surface of the tray is a conveyor belt for holding the dough, the rotating shaft of the conveyor belt is equipped with a driven gear; the dough grabbing device is provided with a driving gear meshed with the driven gear And the motor that drives the driving gear to rotate; when the grabbing mechanism pulls the tray out, the driven gear moves to a predetermined position following the tray (the predetermined position can be set according to the actual situation, and the tray is pulled according to the actual situation) After a certain distance, the driven gear just hits into the driving gear and meshes with the driving gear; the motor shaft is installed with an encoder for detecting the number of rotations of the motor, and the dough grabbing device is configured to sense the movement of the dough sensor;

When the dough moves, the sensing part of the sensor starts to sense the existence of the dough before passing through the gate. The tray is pulled out, and after the driven gear and the driving gear are meshed, as the tray is blocked by the dough blank of the tray from the sensing part of the sensor of the dough grabbing device, at this moment, the sensing part of the sensor begins to sense the existence of the dough dough. At this time, the drive motor rotates to make the gear rotate, and the conveyor belt drives the dough back. When the end of the dough retreats to be just flush with the sensing part of the sensor, the sensor just cannot sense the dough, and the sensor sends a signal. Control the motor to stop. At this time, the dough blank is the starting length calculation position. This process is the alignment process of the dough blank length calculation. Then the motor reverses, and the conveyor belt re-drives the dough to move forward. At the same time, the encoder calculates the motor in real time. The number of turns of rotation, when the number of turns of the motor reaches the predetermined number of turns, the control system will send a signal to the motor to stop rotating, and at the same time control the action of the switch knife to cut off the dough to obtain a single dough embryo; the number of turns of the motor can be converted into The length of the dough moving forward, so that the dough monomer of a specific length can be obtained, and the cross-sectional area of the dough monomer can be converted into a specific quality of the dough monomer, that is, noodles of a specific weight.

More preferably, the grabbing mechanism pulls out the tray, and after the driven gear moves with the tray and meshes with the driving gear, the motor rotates in the opposite direction, so that the conveyor belt transports the dough backwards, and when the end of the dough and the sensor sense At the same time, the encoder calculates the number of turns of the motor in real time, and the conveyor belt transports the dough forward to pass the knife edge, and the knife turns the dough to the gate after the motor rotates the set number of turns. Cut off to obtain a specific length of the embryo monomer.

As mentioned above, the improvement of the method of cutting dough quantitatively (or dough-like materials, such as bread, cakes, etc.) can also be that the strip-shaped dough is placed on the assembly line, and a cutter is arranged directly above the assembly line (conveyor belt). Sensors are installed on the edge of the assembly line to locate the end of the dough base, and then a distance sensor is installed to measure the distance of the dough base from the identified position to the conveying distance of the dough base driven by the conveyor belt. The required dough length only needs to cycle through the above operations.

In the figure, the description of the positional relationship is only for illustrative purposes, and should not be understood as a limitation to this patent; obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the invention, rather than limiting the implementation of the invention . For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the invention claims.

Claims (10)

1. An automatic noodle-making robot, characterized in that, comprising: a dough storage device, a dough grabbing device, a dough shaping device and a noodle pressing forming device arranged in sequence according to functions; The dough storage device is used to store the dough; The dough grabbing device is used to grab the dough monomer from the dough storage device; The dough shaping device can shape the dough into a cylindrical shape; The noodle pressing and forming device is used to press the noodle embryo unit shaped into a cylindrical shape into noodles. 2. The automatic noodle-making robot according to claim 1, wherein the dough storage device comprises a storage rack and a tray, the storage rack includes a multi-layer storage layer, and each storage layer is provided with a plurality of storage positions , the tray is slidably placed on the storage position; The shape of the dough is strip-shaped, and after the strip-shaped dough is placed on the tray, the tray is pushed into the storage position for storage. 3. automatic noodle-making robot according to claim 2, is characterized in that, described dough grasping device comprises grasping mechanism, feeding mechanism and switch knife; After the dough grabbing device moves to the tail of the tray, the grabbing mechanism grabs the tray and drags the tray out. The dough on the tray is dragged out following the tray and is broken by a knife to obtain a single dough. The feeding mechanism will drop the dough single body to the dough shaping device. 4. The automatic noodle-making robot according to claim 3, characterized in that, the tray surface of the tray is a conveyor belt for holding dough blanks, and a driven gear is installed on the rotating shaft of the conveyor belt; The grabbing device is provided with a driving gear meshed with the driven gear and a motor driving the driving gear to rotate; After the pallet is pulled out by the grabbing mechanism, the driven gear moves along with the pallet and meshes with the driving gear. 5. The automatic noodle making robot according to claim 4, further comprising an encoder and a sensor, the encoder is connected to the rotating shaft of the motor, and the sensor is used to sense the dough. 6. The automatic noodle-making robot according to claim 1, characterized in that, said dough shaping device comprises, a first roller (10) provided with a first shaping half groove (101), a second shaping half groove (101) The second roller (20) and support of the groove (201); The first roller (10) and the second roller (20) are installed on the support, and the first shaping half groove (101) and the second shaping half groove (201) are combined to form the shaping groove (1122); the shaping groove (1122) The size of the area gradually changes with the relative rotation of the first roller (10) and the second roller (20). 7. The automatic noodle-making robot according to claim 6, characterized in that, said noodle pressing and forming device comprises a noodle-pressing cylinder (401), a moving device (402) and a noodle-pressing rod (405); The moving device (402) drives the noodle pressing cylinder (401) to move, so that the noodle inlet (4011) of the noodle pressing cylinder (401) circulates between the noodle pressing rod (405) and the shaping tank (1122) directly below move. 8. The noodle making method is characterized in that, comprising the following steps: S10, storing the standard dough embryos on the tray, and the tray is slidably placed on the tray rack; S20, grasping the single dough embryo, the dough grasping device pulls out the tray carrying the dough embryo, and intercepts the dough embryo monomer from the dough embryo; S30, forming the dough monomer into a cylindrical shape; S40, pressing the shaped dough embryo into noodles. 9. The noodle making method according to claim 8, wherein the tray surface of the tray is a conveyor belt for holding dough embryos, and a driven gear is installed on the rotating shaft of the conveyor belt; The fetching device is provided with a driving gear meshing with the driven gear and a motor driving the driving gear to rotate; when the grabbing mechanism pulls the tray out, the driven gear moves to a predetermined position following the tray and meshes with the driving gear; The shaft of the motor is equipped with an encoder for detecting the number of rotations of the motor, and the dough grabbing device is provided with a sensor for inducting the dough. 10. The noodle making method according to claim 9, wherein the grabbing mechanism pulls out the tray, and after the driven gear moves with the tray and meshes with the driving gear, the motor rotates in the opposite direction so that the conveyor belt After the dough is conveyed, when the end face of the dough is flush with the sensing part of the sensor, the motor rotates forward, and at the same time, the encoder calculates the number of turns of the motor in real time, and the conveyor belt conveys the dough forward through the knife edge of the gate, and the motor rotates After the set number of turns, the knife cuts the dough to obtain a specific length of dough.