CN110092126B

CN110092126B - Continuous block-shaped cuttable material storing and taking system and storing and taking method thereof

Info

Publication number: CN110092126B
Application number: CN201910435751.9A
Authority: CN
Inventors: 杨兴; 李海; 夏澎; 杨琪文; 盛成俊; 闫秀成; 邹娜; 王卫华; 宫晶; 钱烨; 吴美焕
Original assignee: Shenzhen Allove Intelligent Catering Technology Co ltd
Current assignee: Shenzhen Allove Intelligent Catering Technology Co ltd
Priority date: 2019-05-23
Filing date: 2019-05-23
Publication date: 2023-11-24
Anticipated expiration: 2039-05-23
Also published as: CN110092126A

Abstract

The invention discloses a material access system and an access method thereof, wherein the system comprises: the support box is connected with the manipulator and the cutter assembly on the support box, and is used for storing the storage assembly of the materials and storing the materials into the tray of the storage assembly according to the units; when the material on the corresponding tray needs to be taken out, the tray is pulled out of the storage assembly by the action of the manipulator, and the cutter assembly cuts the material according to the requirement. The material storing and taking system and the material storing and taking method adopt the matching of the newly designed mechanical arm, the automatic lifting material storing component and the meshing driving mechanism, realize the automatic technological process of storing dough and taking out according to the requirement, and have the advantages of compact structure, small occupied space, stable and reliable operation and high automation degree.

Description

Continuous block-shaped cuttable material storing and taking system and storing and taking method thereof

Technical Field

The invention belongs to the technical field of continuous block material storage and taking, and particularly relates to a continuous block material storage and taking system and a continuous block material storage and taking method with simple and reliable structures.

Background

In the prior art, various material storage devices exist, and a specially designed material storage device is required according to the shape, the volume, the characteristics and the like of materials. For example, dough (dough) is kneaded by adding salt and water to flour, and has certain viscosity and humidity, and the dough is stored in a basin or a panel in the current method. The storage mode has the advantages of small storage amount, unhygienic storage and inconvenient access. In particular, in the automatic production process, not only the safe and sanitary storage of dough is realized, but also the automatic storage and the taking of materials according to the requirement are needed to be solved.

Disclosure of Invention

The invention aims to provide a continuous block-shaped cuttable material storing and taking system which solves the technical problem that the existing material storage cannot realize high-automation safe and sanitary storing and taking.

In order to achieve the above purpose, the technical scheme provided by the invention is as follows:

the invention provides a continuous block-shaped cuttable material storing and taking system, which comprises: a support box, a manipulator and knife assembly connected to the support box, a storage assembly and at least one pallet; the continuous blocky cuttable material is manufactured into a single standard section strip shape and then stored in a supporting plate, and the supporting plate can be slidably arranged in a storage component;

when the continuous block-shaped cuttable materials on the corresponding supporting plates need to be taken out, the supporting plates are pulled out of the storage assembly by the action of the manipulator, and the continuous block-shaped cuttable materials are cut by the knife switch assembly according to the requirements. The cutting material is separated from the storage material, so that the material can be stored at a low temperature conveniently.

The continuous blocky cuttable material is a dough, the dough is manufactured into a single standard dough with a specific cross section and a long strip shape, the single standard dough is stored in the supporting plate, and the width of the knife switch assembly is larger than or equal to that of the standard dough, so that the knife switch can cut off the standard dough on the whole cross section each time. The standardized dough monomer is convenient for automatic cutting, and the dough with required quality can be accurately cut only by controlling the length of the dough, and the quantitative mode is simple and reliable.

Wherein, the manipulator includes: a first link, a second link hinged to the first link; the upper end part of the first connecting rod is hinged with a sliding block, the sliding block is in sliding connection with a guide rail, the guide rail is fixedly connected with the support box, the middle part of the second connecting rod is provided with a positioning rotating shaft, the second connecting rod can swing around the positioning rotating shaft, and the rear end part of the second connecting rod is hinged with the middle part of the first connecting rod; the distance from the hinge point of the sliding block to the hinge points of the first connecting rod and the second connecting rod is equal to the distance from the hinge points of the first connecting rod and the second connecting rod to the lower end part of the first connecting rod and the distance from the hinge points of the first connecting rod and the second connecting rod to the positioning rotating shaft, the points of the positioning rotating shaft are overlapped with the straight line where the guide of the guide rail is positioned, and when the front end part of the second connecting rod is controlled to swing along the positioning rotating shaft, the sliding block is synchronously driven to move along the guide rail, so that the lower end part of the first connecting rod transversely translates; the front end of the second connecting rod is further provided with a second telescopic driving device, the telescopic end of the second telescopic driving device is hinged to the second connecting rod, the lower end of the first connecting rod is further provided with a grabbing rod, the middle of the grabbing rod is hinged to the lower end of the first connecting rod, the front end of the grabbing rod is further provided with a third telescopic driving device, and the third telescopic driving device drives the grabbing rod to rotate along a hinge point with the first connecting rod, so that the front end of the grabbing rod is hooked or separated from the supporting plate.

For the manipulator, can adopt any manipulator that has translation and snatch of prior art, can have certain clearance between layer board and the layer board, the manipulator can go deep into the clearance of layer board both sides and grasp the layer board then drag out face embryo strorage device's border, and continue to drag out specific distance, finally, the brake blade of vertical direction is the brake down, break the face embryo brake under the brake blade, finally, send back the layer board to the storage frame according to the original way, thereby obtain face embryo monomer, dial face embryo monomer through the kickoff mechanism (can be the push pedal) and use can to next station, above, kickoff mechanism and brake blade can be integrated in the manipulator. The manipulator realizes the translation action of materials in a compact space.

Wherein the storage component comprises: the material storage rack is provided with a plurality of material storage layers, each material storage layer is provided with a plurality of material storage positions for placing supporting plates, the front end of the material storage rack is provided with a front opening, the rear end of the material storage rack is provided with a rear opening, and the supporting box is positioned at the rear end of the material storage rack;

when the continuous block-shaped cuttable materials need to be stored, pushing the supporting plate loaded with the continuous block-shaped cuttable materials into a storage position from the front opening; when continuous blocky cuttable materials need to be cut, the supporting box drives the manipulator and the knife switch assembly to move to the tail part of the corresponding supporting plate, and the manipulator grabs the supporting plate from the rear opening and pulls out the knife switch assembly to cut the materials at a specific distance from the rear end edge of the stock frame.

The material storage rack for storing and taking materials is arranged on two sides, the three-dimensional space of the material storage rack is fully utilized, the material storage position and the material taking position are separately arranged, the material storage and the material taking are not interfered with each other, and the efficiency is high.

Wherein, the bottom of layer board is equipped with the spacing groove, deposit be equipped with on the material level with spacing subassembly that the spacing groove corresponds, spacing subassembly include: an elastic piece embedded in the storage position and connected with a sphere at the top of the elastic piece;

the front side wall and the rear side wall of the limiting groove are inclined surfaces from top to bottom, the inclined direction of the front side wall is the direction of the supporting plate sliding into the storage position, and the inclined direction of the rear side wall is the direction of the supporting plate sliding out of the storage position.

The limit groove adopting the structure has the following effects: the bottom of each supporting plate is also provided with an open groove with a trapezoid cross section, and the eight-shaped groove can gradually press the sphere into the limit groove when the supporting plate slides in and gradually press the sphere to slide out when the supporting plate slides out; when the tray is used, the tray is put on the upper surface of the tray position from the front opening and then pushed inwards to the lifting frame, the ball is pressed by the bottom of the tray, after the tray reaches a preset position, the groove at the bottom of the tray is opposite to the ball, the ball is sunk into the groove, and the pressed ball is ejected out of the hole and is propped against the side wall of the groove, so that the tray is pushed to the preset position, when the tray needs to be pulled out, the side wall of the groove is trapezoid, the inclined surface is an inclined surface, the ball can be easily pressed into the mounting hole gradually to prevent the ball from blocking the movement of the tray, the groove penetrates through the whole side wall of the tray, and when the tray is pushed to the lifting frame, the pressed ball automatically stretches out of the mounting hole to enter the groove as long as the line where the groove is positioned meets the ball, so that the tray works reliably. Obviously, the technical point is used for facilitating the automatic positioning of the supporting plate in the pushing process in the invention, and is beneficial to the automatic dragging of the supporting plate by the mechanical arm, so that the supporting plate can be positioned and horizontally pulled out, and the automatic positioning and dragging effects of the supporting plate and the automatic dragging of the supporting plate for taking materials are carried

Wherein, the layer board includes: two parallel rotating shafts, a conveyer belt sleeved on the rotating shafts, a driven gear and a supporting plate for supporting the rotating shafts are further arranged on one rotating shaft, and the driven gear is driven to rotate and feed the conveyer belt. The supporting plate has the function of storing standard dough and also has the function of passively rotating under the action of an external driving mechanism so as to move the dough forwards or backwards.

The device also comprises a driving gear and a motor for driving the driving gear to rotate, wherein the driving gear and the motor are arranged in the supporting box; when the supporting plate is pulled into the supporting box by the manipulator, the driven gear on the supporting plate is meshed with the driving gear, and the motor drives the driven gear to rotate so as to drive the continuous block-shaped cuttable materials on the conveying belt to move forward. The pulling-out action of the supporting plates on all the storage racks can be realized by only one set of driving mechanism, the structure is compact, and the cost is lower.

The tooth-shaped tooth tops of the driving gear and/or the driven gear are sharp, so that random collision between the driving gear and the driven gear on any supporting plate is ensured, and the driving gear and the driven gear on any supporting plate are automatically guided to mutually slide into gear clearance for meshing. Namely: the tooth-shaped tooth tops of at least one gear of the driving gear and the driven gear are sharp, and the effect achieved by the tooth-shaped tooth tops is better than that achieved by adopting a common gear, and most preferably, the tooth-shaped tooth tops of the two gears are sharp.

The supporting box is also provided with a sensor for sensing continuous materials which can be cut, and the motor is provided with an encoder; the sensor is used for carrying out initial cutting and positioning on the end part of the continuous block-shaped cuttable material on the supporting plate, the encoder is used for counting the rotation number of turns of a rotating shaft of the motor, and accurate quantitative cutting of the dough component is realized through the rotation number of turns.

The invention also discloses a continuous block-shaped cuttable material storing and taking method, which comprises a storage assembly, a supporting plate, a manipulator and a knife switch assembly, wherein the supporting plate, the manipulator and the knife switch assembly are slidably arranged on the storage assembly; the method comprises the following steps:

step S10, shaping the continuous block-shaped cuttable material into a standard material with a strip shape and a specific section;

step S20, storing a single standard material on a single supporting plate, wherein the length direction of the standard material is consistent with the sliding direction of the supporting plate, and the supporting plate is pushed into the storage assembly for storage;

step S30, when continuous block-shaped cuttable materials are required to be taken, the manipulator moves to the corresponding position of the supporting plate carrying the standard materials, and the supporting plate is pulled out of the edge of the storage component;

step S40, the knife switch assembly switches off the standard material to obtain a standard material block with a specific length;

And S50, the manipulator pushes the supporting plate back to the storage assembly in the original way so as to cut the material for the next time.

Wherein the continuous block-shaped cuttable material is a dough; the pallet surface of the pallet is a conveying belt for containing the dough, and a driven gear is arranged on a rotating shaft of the conveying belt; the manipulator is provided with a driving gear meshed with the driven gear and a motor for driving the driving gear to rotate; in step S30, when the dough needs to be taken, the manipulator moves to the corresponding position of the pallet carrying the dough, and the driven gear moves along with the pallet and meshes with the driving gear after dragging the pallet out of a specific distance. According to the design, the single power driving gear is meshed with and separated from the driven gear on each supporting plate, so that the independent power distribution of the conveying belt on each supporting plate is avoided, the design is simplified, and the cost is saved.

The rotary shaft of the motor is provided with an encoder for detecting the number of turns of the motor, and the manipulator is provided with a sensor for sensing the dough;

in step S30, the manipulator pulls out the pallet, and the driven gear moves along with the pallet and is meshed with the driving gear, then the motor rotates reversely, so that the conveyor belt conveys the dough backward, when the end face of the dough is flush with the sensing part of the sensor, the motor rotates forward, the conveyor belt conveys the dough forward through the gate edge, the encoder calculates the number of turns rotated by the motor in real time, and the knife gate breaks the dough after the motor rotates the set number of turns to obtain dough monomers with specific length.

In step S10, the dough is shaped into a standard dough having a long shape with a specific cross section;

in step S20, a single standard dough is stored on a single supporting plate, the length direction of the standard dough is consistent with the sliding direction of the supporting plate, and the supporting plate is pushed into the storage assembly for storage; wherein,

the standard dough comprises at least two kinds of dough according to different lengths, wherein each standard dough pair is used for a specific quantity of noodles, and each standard dough is stored on a single supporting plate in the form of a single dough.

Considering that the standard dough possibly leaves the tail after being cut, a section of tail with less than one noodle is left, the condition is troublesome to collect and clean the tail, and the automation degree is not high; in actual use, the required noodle components are determined according to the customer demand, and can be 200 g or 300 g, if the lengths of all standard dough on the stock frame are the same, 200 g and 300 g dough monomers are randomly cut on the same supporting plate, and finally, less than one part of noodle tails can be left on the supporting plate; for example: the standard dough which needs 200 g of noodle components and the standard dough which needs 300 g of noodle components are placed separately, namely, all the conditions which need 200 g of noodle components need to be cut off on a supporting plate, the standard dough placed on the supporting plate is supplied for cutting off 200 g of noodles, so that the length of the standard dough on the supporting plate can be preset, the total length is just an integral multiple of the corresponding length of 200 g of noodles in a single part, and no tailing exists; the same is true for 300 g of noodles, 400 g of noodles, etc.

A dough piece is independently placed on a single supporting plate so as to ensure that the dough piece is cut off from the whole cross section of the dough piece in the width direction when being cut off each time, wherein the dough piece obtained by cutting off corresponds to the quantity of a single noodle; the single dough is placed on the supporting plate, the length of the dough is parallel to the sliding direction of the supporting plate, the width of the knife can be designed to be larger than or equal to the width of the supporting plate, the knife is parallel to the section direction of the dough to cut the dough, the knife can be cut off on the section of the dough once, the purpose of taking the dough can be achieved by only cutting once, the line is simple and convenient, automatic operation is facilitated, and next dough taking is not affected.

Compared with the prior art, the continuous block-shaped cuttable material storing and taking system and the storing and taking method thereof adopt the matching of the newly designed mechanical arm, the automatic lifting material storing assembly and the meshing driving mechanism, so that the storage of dough blanks and the automatic technological process of taking out according to the requirement are realized, and the whole system has the advantages of compact structure, small occupied space, stable and reliable operation and high degree of automation.

Drawings

FIG. 1 is a schematic overall side view of a continuous block-type cuttable material access system according to the present invention.

Fig. 2 is a schematic view of a part of a material taking mechanism of the continuous block-shaped cuttable material storing and taking system according to the present invention.

Fig. 3 is a schematic side elevational view of the reclaimer mechanism portion of the continuous block-like cuttable material access system of the present invention.

FIG. 4 is a schematic view of the storage assembly and the manipulator portion of the continuous block-type cuttable material access system according to the present invention.

Fig. 5 is a schematic diagram of a pallet portion of the continuous block-type cuttable material access system of the present invention.

FIG. 6 is a schematic view of a portion of the engagement drive mechanism of the continuous block-type cuttable material access system of the present invention.

Fig. 7 is a schematic view of another angular configuration of the take-off mechanism of the continuous block-shaped cuttable material access system of the present invention.

Fig. 8 is a schematic side view of fig. 7.

Fig. 9 is an exploded view of fig. 7.

FIG. 10 is a schematic view of a portion of a support box of the continuous block-shaped cuttable material access system according to the present invention.

Fig. 11 is a schematic structural view of a first rod, a second rod and a gripper rod of the continuous block-shaped cleavable material access system according to the present invention.

Fig. 12 is a schematic view of the structure of the gripper bar portion of the continuous block-type cuttable material access system of the present invention.

Fig. 13 is a schematic diagram of the motion principle of the manipulator of the continuous block-shaped cuttable material storing and taking system of the present invention.

FIG. 14 is a schematic view of a storage assembly and pallet portion of the continuous block-type cuttable material access system of the present invention.

FIG. 15 is a schematic view of a portion of a storage assembly of the continuous block-type cuttable material access system of the present invention.

FIG. 16 is a schematic view of a portion of a storage rack of the continuous block-type cuttable material access system according to the present invention.

Fig. 17 is a schematic side view of fig. 14.

Fig. 18 is an enlarged view of a portion of a spacing assembly of the continuous block-shaped cuttable material access system of the present invention.

Fig. 19 is a schematic view showing a partial enlarged structure of a pallet of the continuous block-type cuttable material access system of the present invention.

FIG. 20 is a schematic view showing the state of the accessing process of the continuous block-shaped cleavable material accessing system according to the present invention.

FIG. 21 is a flow chart of a material handling method of the present invention.

Detailed Description

The invention is further elaborated with reference to the drawings.

It should be noted that, the "continuous block-shaped cuttable material" mentioned in the present invention refers to a material, which is connected to each other in volume, and the material has the following properties: the interconnected materials may be separated where desired by knife cutting, and may be dough (otherwise known as dough), loaf, monolithic loaf, or the like.

Referring to fig. 1 to 20, in the present embodiment, the continuous block-shaped cuttable material access system is used for storing materials such as dough, and cutting according to need. It mainly comprises: the automatic feeding and discharging device comprises a support box 100, a manipulator 200 connected to the support box 100, a knife switch assembly 300 fixed on the support box 100, a supporting plate 400 for conveying materials and a storage assembly 600 for storing a plurality of supporting plates 400, wherein the support box 100 is further provided with an engagement driving mechanism 700 and a guide rail assembly 800 for driving the manipulator 200 to transversely move for feeding and discharging according to the requirement.

In this embodiment, the continuous block-shaped cuttable material is a dough, the dough is manufactured into a single standard dough with a specific cross section and is stored in the supporting plate 400, and the width of the knife assembly 300 is greater than or equal to the width of the standard dough, so that the knife cuts the standard dough in the whole cross section each time.

The above-mentioned "metering" is understood to be: the blade of blade assembly 300 is vertically fixed in a particular position on the support box 100, and the extent to which the blade 400 is pulled and the distance below the blade opening characterizes the length of material that needs to be cut, and the desired material is obtained below the blade. It can also be understood that: the knife assembly 300 can be moved, and after the pallet 400 is pulled out, the knife automatically moves to a distance corresponding to the particular material, and the material of the desired length is obtained after cutting. The supporting magazine 100 moves with the robot 200 and the knife assembly 300, and moves along the side wall of the storage assembly 600, and can grasp any one of the pallets 400, and then cut the standard materials on the pallet 400.

The invention provides a storage and taking system suitable for continuous block-shaped cuttable materials, when in use, the continuous block-shaped cuttable materials with random shapes are shaped into strip-shaped standard materials with specific cross sections (square, trapezoid and the like) suitable for being placed on a supporting plate 400, the purpose of normalizing the materials before storage is to facilitate later material taking, especially to realize the purpose of later quantitative material taking, and considering the characteristic that the materials possibly adhere to each other, each standard material can be independently placed on one supporting plate 400 as a unit, when later cutting is carried out, a certain supporting plate 400 carrying the standard materials is pulled out, the whole cross section of the standard materials is cut at one time, the measurement of the length of the standard materials is also facilitated, the adhesion between the materials is avoided, and the automatic operation is facilitated.

For the manipulator 200, any manipulator with translational grabbing in the prior art may be adopted, the pallet positions may have a certain gap, so that the pallets 400 have a certain gap between each other, the manipulator 200 may go deep into the gaps on both sides of the pallets 400 to grab the pallets 400 and then drag out the edges of the storage assembly 600, and continue dragging out a specific distance, where the specific distance is set by people and given to the control system to control the manipulator to move, then the knife in the vertical direction is used to brake off the continuous block-shaped cuttable material under the knife, finally, the manipulator 200 returns the pallets 400 to the storage assembly 600 according to the original path, and the cut material monomers can be pulled down or taken down by an external material pulling mechanism.

The invention provides a specific implementation mode of a manipulator, which adopts the following scheme that

Referring again to fig. 7-12, the robot 200 of the continuous block-shaped cuttable material access system comprises: a first link 23, a second link 22 hinged to the first link 23; the upper end part of the first connecting rod 23 is hinged with a sliding block 20, the sliding block 20 is connected with a guide rail in a sliding way, the middle part of the second connecting rod 22 is provided with a positioning rotating shaft 27, the second connecting rod 22 can swing around the positioning rotating shaft 27, the rear end part of the second connecting rod 22 is hinged with the middle part of the first connecting rod 23, and the second connecting rod 22 is hinged through the rotating shaft; the distance from the hinge point a of the slider 20 to the hinge point B of the first link 23 and the second link 22 is equal to the distance from the hinge point B of the first link 23 and the second link 22 to the lower end E of the first link 23 and the distance from the hinge point B of the first link 23 and the second link 22 to the positioning rotating shaft 27, where the point of the positioning rotating shaft 27 coincides with the straight line where the guide of the guide rail is located, that is, the slider 20 moves in the direction of the positioning rotating shaft 27 when sliding, and when the front end of the second link 22 is controlled to swing along the positioning rotating shaft 27, the slider 20 is synchronously driven to move along the guide rail, so that the lower end of the first link 23 is horizontally translated. Wherein, the guide rail and the positioning rotating shaft 27 are all fixed on the supporting body in the application scene.

Referring to fig. 8 again, a second telescopic driving device 25 is further disposed at the front end of the second connecting rod 22, and a telescopic end of the second telescopic driving device 25 is hinged to the second connecting rod 22. The second telescopic driving device 25 is rotatably connected to the supporting box 100, and a free end of the second telescopic driving device 25 is hinged to a front end portion of the second connecting rod 22. In the present embodiment, since the positioning shaft 27 is fixed, the second link 22 swings around the positioning shaft 27 when the second telescopic driving device 25 is telescopic, the rear end portion of the second link 22 is hinged to the middle portion of the first link 23, and the upper end portion of the first link 23 is movable only in the vertical direction, so the lower end portion of the first link 23 is movable only in the horizontal direction.

The lower end of the first link 23 is further provided with a grabbing rod 24, the middle of the grabbing rod 24 is hinged to the lower end of the first link 23, the front end of the grabbing rod 24 is further provided with a third telescopic driving device 26, and the third telescopic driving device 26 drives the grabbing rod 24 to rotate along a hinge point E with the first link 23, so that the front end of the grabbing rod 24 is hooked or separated from a grabbed piece. Specifically, referring to fig. 6, the grasping rod 24 includes: the lever body 241, the middle part of lever body 241 is equipped with pivot hole 242, and pivot hole 242's front end portion is couple portion 244, and the rear end portion is equipped with another pivot hole 243, and pivot hole 243 articulates in third flexible drive arrangement 26. The hook 244 is a pair of protruding clamping jaws, and when driven to rotate, the clamping jaws are lifted up by utilizing the lever principle to hang the gripped workpiece. The robot 200 realizes a robot arm motion in a compact space by the cooperation of the first link 23 and the second link 22 and other components, and rapidly pulls out or pushes back the pallet 400 in the horizontal direction.

Referring to fig. 9 again, a supporting arm 21 is disposed in the supporting box 100, the upper end of the supporting arm 21 is fixed to the supporting box 100, the lower end is hinged to the positioning rotating shaft 27, the second telescopic driving device 25 and the third telescopic driving device 26 are both rotatably connected to the supporting box 100, and the guide rail and the positioning rotating shaft 27 are both fixed to the supporting box. Since the manipulator 200 needs to ensure a certain degree of freedom in the second telescopic driving device 25 and the third telescopic driving device 26 during operation, both are rotatably connected to the support box 100.

More specifically, referring again to fig. 10, the support box 100 includes: the top plate 11, a left side plate 13 and a right side plate 12 extending vertically downwards from opposite sides of the top plate 11, and bottom edges of the left side plate 13 and the right side plate 12 are respectively provided with a notch 131 and a notch 121. The notches 131 and 121 are provided to facilitate the pulling of the blade 400 into the underside of the blade assembly 300 for blanking. The method comprises the following steps: the swinging of the grabbing rod 24 (the grabbing rod 24 grabs the pallet 400, after the pallet 400 is pulled into the supporting box 100, the knife switch breaks the surface blank 500 on the pallet 400) to leave a space, after the manipulator 200 grabs the pallet 400, the manipulator can swing in the boundary area on two sides with the AC as the center, but does not strike the supporting box 100, and one necessary condition for realizing the horizontal movement of the E point is that the C point is required to be right below the A point, a right-angle notch is arranged right below the A point, the C point cannot be fixed, at this time, the supporting arm 21 is designed, one end of the supporting arm 21 is fixed at the fixed end of the supporting box 100, the other end of the supporting arm 21 is a free end extending to the right-angle notch, the C point can be fixed at the free end of the supporting arm 21, the first connecting rod 23 and the second connecting rod 22 can be rotatably fixed at the C point, and the C point can be guaranteed to be right below the A point, namely the supporting arm 21 is used for connecting the C point, and the C point is guaranteed to be placed right below the A point.

Referring again to fig. 9, the knife assembly 300 is disposed above the grabbing rod 24, and after the grabbing rod 24 is controlled to grab the workpiece, the knife assembly 300 descends to cut the workpiece. The blade assembly 300 includes: the first telescopic driving device 31 is connected to the knife 32 at the telescopic end of the first telescopic driving device 31, the first telescopic driving device 31 is fixed on the top plate 11 of the supporting box 100, and further, the left side plate 13 and the right side plate 12 are further provided with guide grooves for limiting the lifting route of the knife 32.

In this embodiment, the first telescopic driving device 31, the second telescopic driving device 25 and the third telescopic driving device 26 are air cylinders or electric push rods. In other embodiments, other mechanisms that provide power for the telescopic motion may be employed. The second connecting rod 22 has a V-shaped structure, preferably a right-angle rod body.

Specifically, the support arm 21 is L-shaped, one end of the support arm is fixed on the support box 100, the other end of the support arm is suspended, and the free end of the support arm is located at the notches 131 and 141 and is used for rotationally fixing the point C of the second connecting rod 22, so that the point C is located right below the point a.

Referring to fig. 7 to 12 again, and schematic diagram 13, the operation principle and process of the continuous block-shaped cuttable material access system of the present embodiment are described as follows:

In the schematic diagram of fig. 13, AE corresponds to the first link 23, and the rod BCD corresponds to the second link 22, and the point a is provided with the slider 20, wherein it is to be noted that: a, B, C, D, E in fig. 13 corresponds to A, B, C, D, E in fig. 1 to 6, and is mainly used for expressing that the two have a corresponding positional relationship. The slider 20 is slidably connected to the top of the left side wall 13 of the supporting case 100, and the length requirements of the above sections are satisfied in order to achieve the horizontal movement of the point E: ab=be=bc, and point a is directly above point C, i.e. a, C are collinear, in this embodiment, taking the horizontal traversing of point E as an example, point C needs to BE directly above point a. In other embodiments, the hinge points of the first link 23 and the second link 22 are located at positions that divide the positions into lengths that only satisfy the above relationship, and still achieve any translational motion in any direction.

The telescopic rod of the second telescopic driving device 25 is connected to the point D, the driving rod DC rotates around the point C with the rod BC, the rod BC is pivotally connected to the midpoint B of the rod AE at the point B (the BC rod and the DC rod are integrally right-angle rod pieces and are pivotally connected to the support arm at the point C), and the rod AE is swung to realize the horizontal movement of the point E.

The specific principle is mapped to the specific structure of the continuous block-shaped cuttable material access system as shown in the following figure:

The cylinder barrel of the second telescopic driving device 25 is hinged to the left side wall 13 of the supporting box 100, the tail end of the telescopic rod of the second telescopic driving device 25 is connected with the second connecting rod 22, based on the principle, the telescopic rod of the second telescopic driving device 25 drives the point D of the second connecting rod 22, the second connecting rod 22 (with a vertical structure) rotates around the point C, so that the point B drives the swinging of the first connecting rod, and the point E is positioned at the tail end of the first connecting rod and can horizontally move along with the swinging of the first connecting rod.

Under the combined action of the first connecting rod 23, the second connecting rod 22, the second telescopic driving device 25 and the third telescopic driving device 26, the grabbing supporting plate is realized as follows:

the middle part of the grabbing rod 24 is rotatably connected to the point E of the first connecting rod 23, the tail end of the first connecting rod 23 is provided with a groove 231 (the point E is located in an area covered by the side surface of the groove), the width of the groove 231 is consistent with that of the grabbing rod 24, the grabbing rod 24 is installed in the groove, a through hole of the grabbing rod 24 is rotatably connected to the point E, the tail end of a cylinder barrel of the third telescopic driving device 26 is hinged to the side wall of the supporting box 100, the tail end of the telescopic rod of the third telescopic driving device 26 is hinged to a through hole 243 of the grabbing rod 24, the stretching or shortening movement of the telescopic rod of the third telescopic driving device 26 drives the front end of the grabbing rod 24, the rear end of the grabbing rod 24 rotates around the point E, the hook 244 achieves grabbing action during upward movement and releasing action during downward movement, specifically, the hook 244 is clamped into a cross bar at the bottom of a supporting plate during upward movement of the grabbing rod 24, and the releasing action is achieved when the hook 244 is separated from the cross bar at the bottom of the supporting plate.

In summary, the translation and grabbing actions of the manipulator of the continuous block-shaped cuttable material access system of the present embodiment are as follows:

the telescopic rod of the second telescopic driving device 25 shortens, drives the point D of the second connecting rod 22, the second connecting rod 22 rotates around the point C, the point B of the second connecting rod 22 drives the first connecting rod 23 to swing, thus, the point E of the first connecting rod 23 translates forward, the grabbing rod 24 installed at the point E translates forward, the hook 244 of the grabbing rod 24 moves to the position right below the cross rod of the pallet 400 of the article to be fetched (the action of horizontal movement is realized), the telescopic rod of the second telescopic driving device 25 stops shortening action, the telescopic rod of the third telescopic driving device 26 stretches, one end of the grabbing rod 24 is pushed to sink, the other end of the grabbing rod rotates around the through hole (the point E) to rise, the clamping jaw is clamped into the cross rod at the bottom of the pallet 400, and then the stretching action of the third telescopic driving device 26 stops; then, the telescopic rod of the second telescopic driving device 25 stretches to drive the point D of the second connecting rod 22, and the second connecting rod 22 reversely rotates around the point C, so that the point B of the second connecting rod drives the point E of the first connecting rod 23 to translate backwards (in the direction close to the supporting box), the function of dragging the bottom of the supporting plate to translate backwards is realized, a material (dough blank) is driven to enter the inside of the supporting box from the supporting box opening 14 of the supporting box 100, and finally, the first telescopic driving device 31 drives the knife 32 to sink, and the dough blank of the material right below the knife 32 is cut off, so that the cutting action is realized; then the knife 31 is reset, the telescopic rod of the second telescopic driving device 25 is shortened, the point D of the second connecting rod 22 is driven, the second connecting rod 22 rotates around the point C, accordingly, the point B of the second connecting rod 22 drives the point E of the first connecting rod 23 to translate forward, the grabbing rod 24 pushes the supporting plate to translate forward, the supporting plate carries the materials which are not broken, then the clamping jaw of the grabbing rod 24 is sunk and released, and finally, the point E is reset and waits for the next cutting action.

Referring again to fig. 14 to 19, the storage assembly 600 of the continuous block-shaped cuttable material access system of the present embodiment includes: mainly comprises the following steps: a bracket 61, a lifting mechanism 62 and a stock rack 63.

Referring again to fig. 14, the storage module 600 at least includes: the support 61, the elevating system 62 that is fixed in on the support 61, by elevating system 62 driven stock frame 63, be equipped with a plurality of stock positions 633 that are used for placing the layer board on the stock frame 63, when the material needs to be deposited, elevating system 62 drives stock frame 63 to set for the height to send into the material to stock position 633 of corresponding layer from outside.

Specifically, referring to fig. 16 again, the stock rack 63 includes: the support frame 631, a plurality of storage bins 632 connected to the support frame 631, wherein the storage bins 632 include a plurality of storage levels 633. The number of storage bins 632 and storage locations 633 can be increased or decreased as needed. Wherein, the stock position 633 is a groove formed by enclosing the limiting walls and the bottom wall at two sides, and the supporting plate 400 can be pushed from the front end to the rear end of the groove. The front end of the stock rack 63 is provided with a front opening, the rear end of the stock rack is provided with a rear opening, and the support box is positioned at the rear end of the stock rack; when a continuous block-shaped cuttable material needs to be stored, pushing the pallet 400 carrying the continuous block-shaped cuttable material into the storage position 633 from the front opening; when the continuous block-shaped cuttable material needs to be cut, the supporting box 100 drives the manipulator 200 and the knife assembly 300 to move to the tail of the specific pallet 400, and the manipulator 200 grabs the pallet 400 from the rear opening and pulls out the rear knife assembly 300 of the specific distance along the rear edge of the stock rack 63 to cut the material. The material storage rack for storing and taking materials is arranged on two sides, the three-dimensional space of the material storage rack is fully utilized, the material storage position and the material taking position are separately arranged, the material storage and the material taking are not interfered with each other, and the efficiency is high.

Referring again to fig. 15, the lifting mechanism 62 includes: and a driving motor 621, a first screw rod assembly 622 driven by the driving motor, wherein a nut pair of the first screw rod assembly 622 is connected to the stock frame 63.

The lifting mechanism 62 further includes a second screw assembly 626, and a timing belt 623 is adopted between the second screw assembly 626 and the first screw assembly 622 to drive the first screw assembly 622 and the second screw assembly 626 to rotate synchronously by the driving motor 621, and the first screw assembly 622 and the second screw assembly 626 are respectively and fixedly connected to the brackets 61 on opposite sides of the stock frame 63. Specifically, the first lead screw assembly 622 and the second lead screw assembly 626 are identical in structure, and each include: the screw rod 6261 is connected to the nut pair 6262 of the screw rod 6261, the nut pair 6262 is fixedly connected to the stock frame 63, and the first screw rod assembly 622 and the second screw rod assembly 626 which are symmetrically distributed are provided to improve the lifting stability of the stock frame 63. The screws of the first screw rod assembly 622 and the second screw rod assembly 626 are respectively provided with a driving wheel 624 and a driving wheel 625, and a driving belt 623 is sleeved on the driving wheels 624 and 625, so that the two screw rod assemblies are synchronously driven by one driving motor 621.

Referring to fig. 14 again, the rack 61 is further provided with a guide rail 65, the stock rack 63 is provided with a slide block 66 corresponding to the guide rail 65, and the cooperation of the guide rail 65 and the slide block 66 guides the stock rack 63 to longitudinally lift. The guide rail 65 and the slider 66 are designed to improve the stability of the lifting operation of the stock rack 63.

In the above, in the material taking process, the material storage rack 63 may be lifted to align the pallet 400 and the robot 200 on a certain layer, or the robot 200 may be lifted, or they may be lifted at the same time to align the pallet 400 and the robot 200. The lifting movement of the lifting frame 63 is adopted, and meanwhile, convenience in storage and material taking is considered, namely, on one hand, the lifting frame can be convenient for storage of the supporting plate and high storage at a specific position; on the other hand, the standard materials are convenient to take, and a certain layer of supporting plate is lifted to be in a position flush with the manipulator; the lifting movement of the same stock rack 63 takes into account the movement requirements of the storage and take-out positions, simplifying the mechanism.

Referring to fig. 19, the position accuracy of the pallet 400 has an important effect on the automation operation, the position is uneven, the probability of the manipulator 200 grabbing the empty is high, and the system material taking stability is not facilitated, so the technology of the present invention further designs a positioning function, that is, the bottom of the pallet 400 is provided with a limiting slot 411, and the specific limiting slot 411 is located on the pallet side wall 41, the stock position 633 is provided with a limiting component 6331 corresponding to the limiting slot 411, and when the pallet 400 is pushed to the set position, the limiting component 6331 stretches into the limiting slot 411 to perform positioning and limiting.

Referring again to fig. 18, the limiting component 6331 includes: an elastic member 6333 embedded in the storage material 633, and a ball 6332 connected to the top of the elastic member 6333. The storage level 633 is provided with a mounting hole 63311, specifically, the elastic member 6333 is a spring, one end of the spring is fixed at the bottom of the mounting hole 63311, the other end of the spring is connected to the ball 6332, the upper half part of the ball 6332 protrudes out of the upper top surface of the storage level 633, after the tray 400 is pushed in, the elastic member 6333 is extruded first, the ball 6332 descends, then the ball 6332 ascends under the elastic action of the elastic member 6333, and is inserted into the limiting slot 411.

Preferably, the limiting slot 411 is a trapezoid slot with a wider opening. That is, the cross section of the limiting slot 411 is in an inverted trapezoid shape, so that the ball 6332 of the limiting component 6331 can smoothly enter and adapt to the discharging of the subsequent supporting plate 400, and the supporting plate can be conveniently pulled out of the limiting component in a labor-saving manner. In other embodiments, the limiting slot 411 may be any curved recess to facilitate the entry and exit of the ball 6332. Specifically, the front side wall and the rear side wall of the limiting slot 411 are inclined surfaces from top to bottom, the inclination direction of the front side wall is the direction in which the pallet 400 slides into the storage level 633, and the inclination direction of the rear side wall is the direction in which the pallet 400 slides out of the storage level 633.

The limit slot 411 adopting such a structure has the following effects: the bottom of each supporting plate 400 is also provided with an open limit slot 411 with a trapezoid cross section, and the eight-shaped limit slots 411 can gradually press the ball into the limit slots 411 when the supporting plate 400 slides in, and can gradually press the ball 6332 to slide out when the supporting plate 400 slides out; when the tray 400 is used, the tray 400 is put on the upper surface of the storage level from the front opening and then pushed inwards to the storage rack, the ball 6332 is pressed by the bottom of the tray 400, when the tray 400 reaches a preset position, the limit slot 411 at the bottom of the tray 400 is opposite to the ball 6332, after the ball falls into the limit slot 411, the pressed ball 6332 is ejected out of the hole and is propped against the side wall of the limit slot 411, so that the positioning function is realized. Thus, an operator knows that the supporting plate 400 is pushed to a predetermined position, when the supporting plate 400 needs to be pulled out, as the section of the limiting groove 411 is trapezoid, the side wall of the limiting groove is inclined, the ball can be easily pressed into the mounting hole by the inclined surface, the ball is prevented from obstructing the movement of the supporting plate, the limiting groove 411 penetrates through the whole side wall of the supporting plate 400, and when the supporting plate 400 is pushed to the storage rack, as long as the line where the limiting groove 411 is located meets the ball 6332, the pressed ball 6332 automatically stretches out of the mounting hole and enters the groove, so that the operation is reliable. Obviously, the spacing groove of this kind of structure is convenient for the automatic positioning of the push-in-process of layer board 400 on the one hand, and on the other hand does benefit to the manipulator 200 again and pulls out layer board 400 automatically, can be to the location of layer board 400, can pull out again horizontally, and it has born the dual technical effect of being convenient for automatic positioning layer board 400 and automatic pulling layer board 400 get the material.

Referring to fig. 15 again, the bracket 61 is further provided with a sensor 67, and the sensor 67 is configured to detect whether the front end of the pallet 400 exceeds the set position when being pushed to the stock position 633. The support 61 is further provided with an opening and closing door 611 having an ergonomic height, the bottom of the opening and closing door 611 is connected to the storage support 61 by a hinge 613, and a driving device 612 is provided at the upper portion thereof, thereby automatically opening and closing the door. When the material is fed into the storage rack 63 from the pallet 400 or the pallet 400 is pulled out of the storage rack, the empty storage bits 633 are required to be adjusted to the height of the opening and closing door 611, and the material is stored and taken out from the opening and closing door 611.

Since the pallets 400 are collectively fed from the open-close door 611, it is only necessary to provide the sensor 67 on the bracket 61 at the same height of the open-close door 611 to detect whether the feeding positions of all the pallets 400 exceed a defined depth.

Above, mechanical and electrical positioning system, dual assurance layer board carry the standard material to accurately place in deposit material level 633, reduce the probability that the manipulator "grabs empty" layer board, improve access system's operating stability.

Referring again to fig. 5, the pallet 400 includes: two parallel rotating shafts (not shown), a conveyor belt 42 sleeved on the rotating shafts, a driven gear 43 on one rotating shaft, and a supporting plate (i.e. a side wall 41) supporting the rotating shafts, wherein the driven gear 43 is driven to rotate and feed the conveyor belt 42. A hanging rod 44 connected to the side wall 41 is further provided below the rotating shaft at the driven gear 43, and as shown in fig. 3, the hanging rod 44 is matched with the grabbing rod 24, so that the manipulator drives the grabbing rod 24 to hang the hanging rod 44 from bottom to top, and the supporting plate 400 is pulled horizontally.

After the standard material is cut, the cut standard material monomer may be advanced by the conveyor belt 42 to drop down to the next process, while the uncut material is advanced to fill the cut void to facilitate the next cut.

When the driving gear 76 is engaged with the driven gear 43, in order to prevent the tooth tips of the driving gear 76 and the tooth tips from being able to be engaged by abutting against each other, the tooth tips of the driven gear 43 and/or the driving gear 76 are smoothly pointed, and the engagement of the two is smoother.

The smooth tip tooth top structure is as follows: the profile of the edge of the tooth of the single gear is gradually reduced from the tooth root to the tooth top, the tooth top can be reduced to a point or can be transited by a small circular arc, and the tooth root and the tooth top can be transited by a straight line or a curve.

As is apparent from the above-described design effects concerning the driving gear 76 and the driven gear 43, the tooth top orientations of the driving gear 76 and the driven gear 43 are random, and when the driven gear 43 needs to be meshed with the driving gear 76, if the gear structure in the prior art is adopted, the tooth top is flat or cambered, the tooth top flat or cambered surfaces of the driving gear 76 and the driven gear 43 may directly collide and be difficult to be meshed, or the impact force is larger or the shock impact is larger.

When the gear designed in this embodiment has the driving gear 76 and the driven gear 43 with their tooth tops facing randomly, if the tooth tops collide with the tooth tops, the contact surfaces of the driving gear 76 and the tooth tops of the driven gear 43 are relatively small, the tooth tops of the driven gear 43 and the driving gear 76 are relatively easy to slip and deviate from each other, and as the driven gear 43 continues to approach the driving gear 76, the driven gear 43 can be smoothly inserted into the driving gear 76 to complete engagement; if the tooth tops of the driving gear 76 and the driven gear 43 do not collide with each other in the front face, direct flush engagement is possible; by adopting the technical scheme, the conveying speed of the conveying belt can be adjusted according to the rotating speed of the power device connected with the follow-up gear 43 on one hand, and the conveying belt can be designed as follows: that is, the meshing ratio of the driving gear 76 and the driven gear 43 may be 1, or may be determined according to the speed requirement of the conveyor belt.

Referring again to fig. 2 and 6, the right side plate 12 of the supporting case 100 is further provided with an engagement driving mechanism 700, and the engagement driving mechanism 700 includes: the motor 71, the motor 71 is fixed on the right side plate 12, a driving pulley 74 is arranged on the output shaft of the motor 71, the driving pulley 74 is connected with a driven pulley 76 fixed on the supporting box 100 through a belt 73 in a transmission way, and a driving gear 75 is also fixed on the rotating shaft of the driven pulley 76; when the pallet 400 is pulled into the supporting box 100 by the manipulator 200, the driven gear on the pallet 400 is meshed with the driving gear 43, and the motor 71 drives the driven gear 43 to rotate, so as to drive the material 500 on the conveyor belt 42 to move forward. Meanwhile, a single driving gear 74 can be meshed with each driven gear 43 on the supporting plate 400, namely, the driving gears 76 are multiplexed by time sharing of the driven gears 43, so that power can be saved.

Specifically, in order to realize accurate quality cutting of the material 500, the output shaft of the motor 71 is further provided with an encoder 72 for counting, and it can be known that the encoder is used for measuring the rotation speed of the motor, and a signal can be fed back to the control system when the preset rotation speed is reached, so that the control system can control the start and stop of the motor, and other embodiments with the same function (other sensors with measuring number of turns, the control system automatically controls the number of turns of the motor according to the preset signal, etc.) should be in the same replacement behavior.

The encoder 72 counts and measures the conveying distance of the material 500, thereby determining the quality of the material, and the principle is as follows:

the encoder 72 is connected to the rotating shaft of the motor 71 and is used for measuring the number of turns of the motor 71, the encoder 72 feeds back the number of turns of the motor to a PLC (control system) in real time, so that the PLC calculates whether the rotation of the motor 71 reaches a preset number of turns, the number of turns of the motor 71 passes through a transmission part, the number of turns of the driven gear wheel 43 can be represented, then the distance of linear movement can be converted, and when the number of turns of the motor 71 can reach the requirement, the PLC controls the motor to stop rotating;

the specific algorithm is as follows: setting the specification of the selected encoder 72 to 2000 pulses/turn;

The driving pulley 74 and the driven pulley 75 are identical in specification (identical in outer diameter); the driving gear 76 and the driven gear 43 have the same specification (the same outside diameter of the reference circle is set as D), namely, the speed ratio of the driving gear and the driven gear is 1:1;

the driven gear 43 rotates for one circle, and the reference circle circumference is the distance that the conveyor belt on the supporting plate drives the dough monomer to move;

then: the distance that the encoder 72 can drive the dough monomer to move for each pulse of the motor is calculated as:

s＝πD/2000(mm)；

setting the length of a dough unit to be cut as L;

the number of pulses required is calculated as: n=l/s= (2000·l)/(pid);

in the specific implementation, the value of n is calculated in advance according to the length of the materials 500 such as dough and the like to be cut, and then n is stored into a memory of the PLC; when the end part of the dough monomer carried by the conveyor belt is flush with the sensor, the sensor sends a signal to the PLC, the PLC drives the motor according to the numerical value of n, and as the encoder 72 is connected with the rotating shaft of the motor 71, the encoder 72 can collect the rotating turns of the motor in real time and feed the rotating turns back to the PLC for accumulation calculation, after the motor rotates the turns represented by the n value, the PLC controls the motor to stop, and then drives the knife to cut, so that the dough unit with specific length can be obtained.

Referring to fig. 20 and 21 again, the present embodiment also discloses an access method of the continuous block-shaped cuttable material access system, which includes a storage assembly, a pallet slidably mounted on the storage assembly, a manipulator and a knife assembly; the method comprises the following steps:

step S30, when the continuous block-shaped cuttable materials need to be taken, the manipulator moves to the corresponding position of the supporting plate carrying the standard materials (the corresponding position refers to the position suitable for the manipulator, the purpose is that the manipulator can grasp the supporting plate, and the manipulator is optimally positioned at the tail end of the supporting plate), and the supporting plate is pulled out of the edge of the storage component;

step S40, the knife switch assembly switches off the standard material to obtain a standard material block with a specific length (the specific length of the standard material block is set according to the requirement);

The "corresponding position" in the above steps is understood as: the manipulator moves to the same height direction as the supporting plate, so that the manipulator can conveniently grasp the supporting plate and drag the supporting plate out.

Wherein the continuous block-shaped cuttable material is a dough; the pallet surface of the pallet is a conveying belt for containing the dough, and a driven gear is arranged on a rotating shaft of the conveying belt; the manipulator is provided with a driving gear meshed with the driven gear and a motor for driving the driving gear to rotate; in step S30, when the dough needs to be taken, the manipulator moves to a corresponding position (may be a tail of the pallet) of the pallet carrying the dough, and the driven gear moves along with the pallet and meshes with the driving gear after the pallet is pulled out by a specific distance.

The driven gears are arranged on the side walls of the tail parts of the supporting plates on the storage positions, after the supporting plates are placed on the storage frames, the supporting plates reach preset positions, and limit components can be arranged, wherein one of the limit components has the specific implementation mode that a magnet is placed at the bottom of the supporting plates, a second magnet attracted with the magnet is placed on the bottom surface of the supporting plates, when the supporting plates are pushed into the specific positions, the magnet is attracted with the second magnet, and when the supporting plates need to be pulled out, the mechanical arm overcomes the attraction force of the magnet, and each supporting plate has the specific position, so that the mechanical arm can be ensured to accurately grasp a cross rod at the bottom of the supporting plate; when the pallet is placed at a specific position, the driven gear is suspended, namely, the tail part of the pallet extends out of the edge of the pallet frame, when the manipulator grabs the pallet and drags the pallet out of the storage frame, the driven gear bumps into the driving gear to be meshed after the pallet moves out of the distance of the edge of the storage frame through the bottom plate of the knife switch, then, if the motor rotates, the driving gear can be driven to rotate, the driven gear rotates to drive the conveying belt to move, so that the dough moves along with the conveying belt. According to the design, the single power driving gear is meshed with and separated from the driven gear on each supporting plate, so that the independent power distribution of the conveying belt on each supporting plate is avoided, the design is simplified, and the cost is saved.

The rotary shaft of the motor is provided with an encoder for detecting the number of turns of the motor, the manipulator is provided with a sensor for sensing the dough, and the position of the sensor is not limited to be arranged on the manipulator;

in step S30, the manipulator pulls out the pallet, and the driven gear moves along with the pallet and is meshed with the driving gear, then the motor rotates reversely, so that the conveyor belt conveys the dough backward, when the end face of the dough is flush with the sensing part of the sensor, the motor rotates forward, the conveyor belt conveys the dough forward through the gate edge, the encoder calculates the number of turns rotated by the motor in real time, and the knife gate breaks the dough after the motor rotates the set number of turns to obtain dough monomers with specific length. By "causing the conveyor to convey the dough rearwardly" is meant that the dough moves on the conveyor and toward a direction away from the knife assemblies.

The pallet is pulled out of the storage assembly, the dough moves out along with the pallet, and the sensing part of the sensor starts to sense the existence of the dough before the dough moves to pass through the knife gate. After the supporting plate is dragged out and the driven gear is meshed with the driving gear, the sensing part of the sensor of the dough grabbing device is blocked by the dough of the supporting plate, and at the moment, the sensing part of the sensor begins to sense the existence of the dough. At the moment, the driving motor rotates (reverses), so that the gear rotates, the conveying belt drives the dough to retract, when the end part of the dough is retracted to be just flush with the sensing part of the sensor, the sensor just cannot sense the dough, at the moment, the sensor controls the motor to stop for a signal, the dough at the moment is a starting length calculation position, the process is a process of searching for the length calculation of the dough, then the motor moves forward, the conveying belt moves forward from the newly driven dough, meanwhile, the encoder calculates the number of rotation turns of the motor in real time, and when the number of rotation turns of the motor reaches a preset number of turns, the control system stops rotating for the signal motor, simultaneously controls the action of a knife, and cuts off the dough so as to obtain dough monomers; the number of turns of the motor can be converted into the forward moving length of the dough, so that dough monomers with specific length can be obtained, and the cross section area of the dough monomers can be converted into dough monomers with specific quality, namely the noodles with specific weight.

Wherein: in step S10, shaping the dough into a standard dough having a long shape with a specific cross section;

Taking the storage and taking of dough as an example, the technical process of the whole automatic material storage and taking method is described in detail:

when the dough is to be taken, when the pallet 400 with the dough is grasped by the manipulator 200 and dragged into the supporting box 100 through the opening of the supporting box 100, the driven gear 43 on the side wall of the pallet 400 approaches to the driving gear 76 arranged on the supporting box 100, after the pallet 400 moves into the supporting box 100 to reach a preset position, the driven gear 43 on the side wall of the pallet 400 is meshed with the driving gear 76, at the moment, if the motor rotates, the driven gear 43 of the pallet 400 can be driven to rotate, thereby driving the conveyor belt 42 to move, driving the dough 500 placed on the conveyor belt 42 to move, the knife assembly 300 descends to cut the dough, and after the dough is broken, the conveyor belt can be driven to move forward, so that the broken dough can move forward to the edge of the pallet 400, and the broken dough can fall down to the next procedure, and meanwhile, the broken dough can be supplemented in time for the next breaking work.

During the above process, the rotation of the motor 71 drives the encoder 72, so that the encoder 72 can detect the number of turns, and the movement displacement of the dough conveyor belt, that is, the movement displacement of the dough, can be calculated by the number of turns of the driven gear 43; after the pallet 400 with the dough is sent into the preset position inside the supporting box 100 through the manipulator 200, the pallet pauses at the preset position, the motor 71 reversely rotates (the motor is slowed down and reversely rotates) to drive the driven gear 43 on the pallet 400 to reversely move, the dough on the conveyor belt 42 is sent out, the original dough is supported, the pallet 400 is brought into the supporting box 100, at the moment, the pallet 400 temporarily does not move, the dough is withdrawn from the supporting box opening after the dough is carried out through the reverse movement of the conveyor belt on the pallet 400, the pallet 400 carries the dough into the supporting box 100, the sensing part of the sensor is always blocked by the dough after the dough enters the supporting box 100 opening, the sensing part of the sensor is not blocked by the dough at the boundary of the dough head, the sensor generates a signal, the motor 71 is controlled to stop reversely rotating, the current position is the boundary of the alignment of the sensor sensing part and the dough head, namely, initial positioning is required to calculate the starting point of the length of the cut dough, then the motor is rotated forward, the dough is driven by the conveyor belt to drive the motor to rotate to a specific length of the cut dough, the cut dough is cut into a specific required length, and the cut dough is cut by a knife cylinder, and the PLC is driven to cut the required length; the conveyor belt continues to feed, and the cut dough falls into the next station; the blank space of the already cut portion is filled up for the next cutting cycle.

The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments of the present invention, and those skilled in the art can easily make corresponding variations or modifications according to the main concept and spirit of the present invention, so the protection scope of the present invention shall be defined by the claims.

Claims

1. A continuous block-shaped cuttable material access system, comprising: a support box, a manipulator and knife assembly connected to the support box, a storage assembly and at least one pallet; the continuous blocky cuttable material is manufactured into a single standard section strip shape and then stored in a supporting plate, and the supporting plate can be slidably arranged in a storage component;

when the continuous block-shaped cuttable materials on the corresponding supporting plates need to be taken out, the supporting plates are pulled out of the storage assembly by the action of the manipulator, and the continuous block-shaped cuttable materials are cut by the knife switch assembly according to the requirements;

the manipulator includes: a first link, a second link hinged to the first link; the upper end part of the first connecting rod is hinged with a sliding block, the sliding block is in sliding connection with a guide rail, the guide rail is fixedly connected with the support box, the middle part of the second connecting rod is provided with a positioning rotating shaft, the second connecting rod can swing around the positioning rotating shaft, and the rear end part of the second connecting rod is hinged with the middle part of the first connecting rod; the distance from the hinge point of the sliding block to the hinge points of the first connecting rod and the second connecting rod is equal to the distance from the hinge points of the first connecting rod and the second connecting rod to the lower end part of the first connecting rod and the distance from the hinge points of the first connecting rod and the second connecting rod to the positioning rotating shaft, the points of the positioning rotating shaft are overlapped with the straight line where the guide of the guide rail is positioned, and when the front end part of the second connecting rod is controlled to swing along the positioning rotating shaft, the sliding block is synchronously driven to move along the guide rail, so that the lower end part of the first connecting rod transversely translates; the front end part of the second connecting rod is also provided with a second telescopic driving device, the telescopic end of the second telescopic driving device is hinged to the second connecting rod, the lower end part of the first connecting rod is also provided with a grabbing rod, the middle part of the grabbing rod is hinged to the lower end part of the first connecting rod, the front end part of the grabbing rod is also provided with a third telescopic driving device, and the third telescopic driving device drives the grabbing rod to rotate along the hinging point with the first connecting rod so that the front end of the grabbing rod is hooked or separated from the supporting plate; the support box is internally provided with a support arm, the upper end of the support arm is fixed in the support box, the lower end of the support arm is hinged to the positioning rotating shaft, and the second telescopic driving device and the third telescopic driving device are both rotatably connected in the support box.

2. The continuous block of cuttable material access system of claim 1 wherein the continuous block of cuttable material is a dough, the dough is formed into a single elongated standard dough and then stored in a pallet, and the width of the knife blade in the knife assembly is greater than or equal to the width of the standard dough so that the knife blade cuts the standard dough across the entire cross section at a time.

3. The continuous block-type cuttable material access system of claim 1, wherein said storage assembly comprises: the front end of the storage rack is provided with a front opening, the rear end of the storage rack is provided with a rear opening, and the support box is positioned at the rear end of the storage rack;

when the continuous block-shaped cuttable materials need to be stored, pushing the supporting plate loaded with the continuous block-shaped cuttable materials into a storage position from the front opening; when continuous blocky cuttable materials need to be cut, the supporting box drives the manipulator and the knife switch assembly to move to the tail of the supporting plate, and the manipulator grabs the supporting plate from the rear opening and pulls out the outside of the rear end edge of the stock frame, and the knife switch assembly cuts the materials.

4. The continuous block-shaped cuttable material access system according to claim 3, wherein the bottom of the pallet is provided with a limit groove, the storage level is provided with a limit component corresponding to the limit groove, and the limit component comprises: and the elastic piece is buried in the storage position and is connected with the sphere at the top of the elastic piece.

5. The continuous block-type cuttable material access system according to any one of claims 1 to 4, wherein the pallet comprises: two parallel rotating shafts, a conveyer belt sleeved on the rotating shafts, a driven gear and a supporting plate for supporting the rotating shafts are further arranged on one rotating shaft, and the driven gear is driven to rotate and feed the conveyer belt.

6. The continuous block-type cuttable material access system of claim 5, further comprising a driving gear and a motor for driving rotation of said driving gear, said driving gear and motor being mounted to said support box; when the supporting plate is pulled into the supporting box by the manipulator, the driven gear on the supporting plate is meshed with the driving gear, and the motor drives the driven gear to rotate so as to drive the continuous block-shaped cuttable materials on the conveying belt to move forward.

7. The continuous block-type cuttable material storage and retrieval system according to claim 6, wherein tooth-shaped tooth tops of the driving gear and the driven gear are pointed to ensure that the driving gear and the driven gear on any one of the pallets automatically guide each other to slide into gear gap engagement when they are in random contact.

8. The continuous block-shaped cuttable material access system of claim 7, further comprising a sensor for sensing the continuous cuttable material and a sensing member for measuring the number of turns of the motor or the driving gear or the driven gear; the sensor is used for carrying out initial cutting and positioning on the end part of the continuous block-shaped cuttable material on the supporting plate, the induction component is used for counting the rotation turns of the rotating shaft of the motor/driving gear/driven gear, and accurate quantitative cutting of the dough component is realized through the rotation turns.

9. A method of accessing a continuous block of cuttable material, the method being performed by a continuous block of cuttable material access system according to any one of claims 1 to 8, comprising a storage assembly, a pallet slidably mounted to the storage assembly, a robot arm, and a knife assembly; the method comprises the following steps:

step S10, shaping the continuous blocky cuttable material into a standard material with a long strip shape;

step S40, the knife switch assembly switches off the standard material to obtain a standard material block with a fixed length;

10. The method of claim 9, wherein the continuous block of cuttable material is dough; the pallet surface of the pallet is a conveying belt for containing the dough, and a driven gear is arranged on a rotating shaft of the conveying belt; the manipulator is provided with a driving gear meshed with the driven gear and a motor for driving the driving gear to rotate;

in step S30, when a dough needs to be taken, the manipulator moves to a corresponding position of a pallet carrying the dough, and the driven gear moves along with the pallet and is meshed with the driving gear after the pallet is dragged out of a certain distance;

in step S40, the knife switch assembly switches off the standard material, and after the standard material block with a fixed length is obtained, the motor rotates to drive the conveyer belt to convey the standard material block to the edge and then drop.

11. The method for accessing a continuous block of cuttable material according to claim 10, wherein,

the rotating shaft of the motor is provided with an encoder for detecting the rotation number of the motor/or the driving gear/or the driven gear, and the manipulator is provided with a sensor for sensing the dough;

in step S30, the manipulator pulls out the pallet, the sensor senses the dough, the driven gear moves along with the pallet and is meshed with the driving gear, the motor rotates reversely, the conveyor belt conveys the dough backward, when the end face of the dough is flush with the sensing part of the sensor, the motor rotates forward, the conveyor belt conveys the dough forward, the encoder calculates the number of turns rotated by the motor in real time, and the knife gate breaks the dough after the motor rotates for a set number of turns to obtain a dough monomer with a fixed length.

12. A method of accessing a continuous block of cuttable material according to claim 10 or claim 11, wherein:

in step S10, shaping the dough into a standard dough with a long shape;

The standard dough comprises at least two kinds of dough according to different lengths, wherein each standard dough pair is used for quantifying noodles, and each standard dough is stored on a single supporting plate in the form of a single dough.