CN110786353B - Automatic cutting robot and automatic cutting method for rolled dough sheets - Google Patents
Automatic cutting robot and automatic cutting method for rolled dough sheets Download PDFInfo
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- CN110786353B CN110786353B CN201911091513.7A CN201911091513A CN110786353B CN 110786353 B CN110786353 B CN 110786353B CN 201911091513 A CN201911091513 A CN 201911091513A CN 110786353 B CN110786353 B CN 110786353B
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- dough
- roll
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- dough sheet
- sheet
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C3/00—Machines or apparatus for shaping batches of dough before subdivision
- A21C3/06—Machines for coiling sheets of dough, e.g. for producing rolls
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C3/00—Machines or apparatus for shaping batches of dough before subdivision
- A21C3/10—Machines or apparatus for shaping batches of dough before subdivision combined with dough-dividing apparatus
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C5/00—Dough-dividing machines
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/08—Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention discloses an automatic cutting robot and an automatic cutting method for flour-rolled flour slices, wherein the automatic cutting robot comprises the following steps: the device comprises a supporting device, a grabbing winding rod, a rotating device, a first sensor and a cutter; the support device is used for erecting the flour roll; a grabbing winding rod provided with an opening F with an opening/closing function and used for clamping the starting edge A of the diaphragm of the surface winding and rotating to collect the diaphragm; the rotating device is used for driving the flour roll to rotate; the first sensor is used for sensing the direction of the starting edge A opposite to the opening F; a cutter for cutting the dough sheet pulled out from the dough roll; the supporting device and the grabbing winding rod can move relatively.
Description
Technical Field
The invention relates to an automatic dough sheet cutting robot and an automatic dough sheet cutting method.
Background
The common automatic noodle manufacturing and forming technology comprises two types, wherein one type is that dough put into a noodle pressing cylinder is extruded through a noodle pressing cylinder with sieve holes arranged at the bottom, the dough is extruded out through the sieve holes to form noodles, and the other type is that after the noodles are extruded into dough sheets, the dough sheets are sent into a noodle press, the core parts of the noodle press are a main roller and an auxiliary roller, the outer side walls of the main roller and the auxiliary roller are encircled to form a noodle section cavity, the dough sheets are rolled between the main roller and the auxiliary roller, the dough sheets are extruded into noodles, then the noodles fall into a pot to be cooked, and the specific noodle pressing technology can refer to China patent: CN201520689552.8, CN95116941, CN98214549, CN200580017850.1, etc.
The above Chinese patent: the CN200580017850.1 technology makes dough into rolls, when the dough needs to be made, the dough of the rolls is pulled out and sent into a dough pressing machine to be pressed into noodles, however, when the rolls are used for the first time, the initial head of the dough needs to be pulled out from the rolls manually, and the dough needs to be sent into the dough pressing machine to enable the main roller and the auxiliary roller to clamp the dough, which is not beneficial to automation and intellectualization of the dough pressing technology of the type.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic dough sheet cutting robot and an automatic dough sheet cutting method.
The automatic dough sheet cutting robot of the invention comprises: the device comprises a supporting device, a grabbing winding rod, a rotating device, a first sensor and a cutter; the support device is used for erecting the flour roll; a grabbing winding rod provided with an opening F with an opening/closing function and used for clamping the starting edge A of the diaphragm of the surface winding and rotating to collect the diaphragm; the rotating device is used for driving the flour roll to rotate; the first sensor is used for sensing the direction of the starting edge A opposite to the opening F; a cutter for cutting the dough sheet pulled out from the dough roll; the supporting device and the grabbing winding rod can move relatively.
When the automatic flour-mixing machine is used, flour is added with water and mixed with flour, the flour is made into a sheet-shaped structure (flour sheet) with a specific standard width (the specific width is set in practical condition), then the flour sheet is rolled up, and a diaphragm is mixed with the flour sheet in the rolling process to roll up the flour sheet together so as to play a role of separating the flour sheet from the flour sheet, and the automatic operation of taking the flour sheet to make the flour is also convenient, wherein when the flour sheet is rolled up, the diaphragm leaves a convex initial edge A along with the tail end of the flour sheet, and the initial edge A is preferably coplanar with the center line of the flour sheet for the subsequent automatic sensing and grabbing operation.
The method comprises the steps that a dough roll is erected on a supporting device, a rotating device drives the dough roll to rotate, after an initial edge A of a diaphragm of the dough roll rotates to follow the sensing position of a first sensor, the initial edge A blocks the sensing area of the first sensor, so that the first sensor receives signals to control the dough roll to stop rotating, meanwhile, the supporting device and a grabbing roll rod move towards directions close to each other until the initial edge A stretches into an opening F, the opening F clamps the initial edge A, when the dough is needed to be cooked, the grabbing roll rod rotates, the rotating device drives the dough roll to rotate, the diaphragm is wound on the grabbing roll rod to be recovered, in the process, dough pieces between the diaphragms are released and pulled out under the self gravity, after the dough pieces drop to a certain length and enter (or are guided by other guide wheels) a dough pressing machine, a cutter cuts off the dough pieces pulled out of the dough roll, so that noodles with specific components are obtained, the grabbing roll rod and the dough roll continues to rotate, and next noodle making can be carried out.
The working process can automatically pull out the dough sheet initial head of the dough roll from the dough roll when the dough roll is used for the first time, and manual intervention is omitted, so that automation and intellectualization of the dough pressing technology are facilitated, and development of automatic catering and vending industries is finally promoted.
In some embodiments, the support device comprises: a left chain and a right chain which are synchronously driven; the left chain and the right chain are vertically provided with a plurality of baffle plates, an upward gap D with an opening is formed between every two adjacent baffle plates, the gap D of the left chain corresponds to the gap D of the right chain, and two ends of the winding shaft of the dough roll can be simultaneously rotatably erected at the gap D with the left chain and the right chain aligned.
In some embodiments, the grabbing roller includes an upper hinge half and a lower hinge half, and an opening F in a normally open state is formed between the upper hinge half and the lower hinge half: the push block is right opposite to the upper half hinge or the lower half hinge, and when the push block moves towards the upper half hinge or the lower half hinge, the opening F in a normally open state between the upper half hinge and the lower half hinge is pushed to be closed.
In some embodiments, the grabbing roller bar further comprises a motor, an elastic component and a friction plate; the rotating shaft of the motor is connected to one end of the elastic component, the other end of the elastic component is connected with the friction plate, and the friction plate is in friction connection with the rotating central shaft of the upper half hinge or the lower half hinge.
In some embodiments, the rotating means comprises: the first motor, the air cylinder and the matching sleeve; the matching sleeve is slidably arranged on the rotating shaft of the first motor, and the matching sleeve rotates along with the rotating shaft of the first motor; after the end part of the winding shaft of the flour roll is matched with the matching sleeve, the winding shaft rotates along with the matching sleeve; the cylinder pushes the matching sleeve to extend or shorten in parallel to the rotating shaft direction of the motor, and drives the matching sleeve to extend or shorten, so that the matching sleeve is driven to be matched with or separated from the end part of the scroll; the rotating device is arranged on any side edge of the left chain and any side edge of the right chain in a sliding mode, and the sliding direction of the rotating device is parallel to the direction of the left chain and the direction of the right chain conveying surface coil.
In some embodiments, the rotating device further comprises: a push plate and a guide sleeve;
the outer section of the guide sleeve is polygonal, and the guide sleeve is sleeved on the rotating shaft of the first motor; the matched sleeve is provided with a through groove, the cross section of the through groove is polygonal matched with the outer cross section of the guide sleeve, the matched sleeve is arranged on the guide sleeve in a sliding nested manner, and the matched sleeve is rotatably arranged on the push plate; the end part of the scroll is provided with a polygonal clamping block matched with the through groove; the cylinder pushes the push plate to extend or shorten in a direction parallel to the rotating shaft of the motor, and drives the matching sleeve to extend or shorten, so that the matching sleeve and the clamping block are driven to be matched or separated.
In some embodiments, the opening F is in the direction of synchronous advancement of the rolls for the left and right chain and belt; the sensing area of the first sensor is located directly in front of the opening F.
In some embodiments, the surface of the movable guiding wheel is provided with scraping teeth, after the starting edge A of the diaphragm of the surface roll is gripped by the grabbing roller rod, the guiding wheel moves to be below the starting edge A of the diaphragm and close to the outer surface of the surface roll, and the guiding wheel rotates in the same direction as the rotation direction of the surface roll; when the dough sheet starting head B is separated and guided out by the guide wheel, the guide wheel moves so as to leave the outer surface of the roll.
In some embodiments, the dough sheet conveying device further comprises a guide roller, wherein the guide roller is arranged at an outlet of the dough sheet to guide the dough sheet to be conveyed out, and when the dough sheet passes through a specific distance between the cutter and the guide roller, the cutter rotates to enable the blade of the cutter and the surface of the guide roller to jointly squeeze and cut the dough sheet.
In some embodiments, the end edges of the left and right chains are further provided with a collection track; when the dough sheet of the dough roll is used up, the scroll shaft of the dough roll and the grabbing scroll bar rotate reversely, so that after the scroll shaft winds the diaphragm on the grabbing scroll bar onto the scroll shaft, the left chain and the right chain continue to convey the scroll shaft forwards, and the scroll shaft wound with the diaphragm falls into the collecting track.
In some embodiments, the beginning of the diaphragm of the roll is wound around or secured to the outer side wall of the spool, the tail of the diaphragm envelopes the outermost sheet of the roll, and the tail of the diaphragm is provided with a starting edge a that protrudes beyond the roll.
In addition, the invention also provides an automatic cutting method of the rolled dough sheet, which comprises the following steps:
s10, flour is made into dough sheets, the dough sheets are wound on a reel to form a dough roll, a diaphragm is arranged between each two layers of the dough roll, and a raised initial edge A is arranged on the diaphragm at the outermost layer of the dough roll;
s20, supporting the dough roll through a scroll, and driving the dough roll to rotate so that the initial edge A is positioned at a preset position;
s30, clamping the initial edge A, pulling out and recovering the diaphragm, and simultaneously driving the dough roll to rotate so that the dough sheet extends out;
s40, cutting out the stretched dough sheet for making noodles.
In some embodiments, the method comprises the steps of grabbing a winding rod, wherein the grabbing winding rod is provided with an opening F with an opening/closing function;
in step S30, the opening F of the grabbing roller clamps the starting edge a and pulls out the diaphragm, the grabbing roller rotates forward to recover the diaphragm, the dough roll is driven to rotate, the dough sheet stretches out, when the dough roll is used up, the winding shaft of the dough roll and the grabbing roller rotate reversely to rewind the diaphragm to the winding shaft, and the winding shaft around which the diaphragm is wound is taken away.
Drawings
FIG. 1 is a schematic view of an automatic dough sheet cutting robot according to an embodiment of the present invention;
FIG. 2 is a schematic side view of the automatic dough sheet cutting robot of FIG. 1;
FIG. 3 is an enlarged schematic view of a portion of the automatic dough sheet cutting robot of FIG. 1 at E;
FIG. 4 is a schematic view of a grabbing roller bar according to an embodiment of the present invention;
FIG. 5 is a schematic view of a rotating device according to an embodiment of the present invention;
FIG. 6 is an exploded view of the turning device of FIG. 5;
fig. 7 and 8 are schematic diagrams illustrating the operation of the rotating device in fig. 6;
FIGS. 9 and 10 are schematic diagrams illustrating the working principle of the automatic dough-roll dough-sheet cutting robot in FIG. 1;
FIG. 11 is a schematic view of a roll according to an embodiment of the present invention;
fig. 12 is a schematic view of the membrane recovery principle according to an embodiment of the present invention.
Detailed Description
The invention is further elaborated with reference to the drawings.
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, so to speak, the two elements are communicated internally. It will be understood by those of ordinary skill in the art that the terms described above are in the specific meaning of the invention as the case may be. The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 and 2, an automatic dough sheet cutting robot includes: the device comprises a supporting device 50, a grabbing winding rod 301, a rotating device 60, a first sensor and a cutter 304; a support device 50 for mounting the roll 40; a gripping winding bar 301 provided with an opening F having an opening/closing function for gripping a starting edge a of the separator 2 of the facer roll, and the gripping winding bar 301 rotates to collect the separator 2; a rotating device 60 for driving the roll 40 to rotate; the first sensor is used for sensing the direction of the starting edge A opposite to the opening F; a cutter 304 for cutting the dough sheet pulled out from the dough roll; the support device 50 and the grabbing roller bar 301 may be relatively movable, and the rotating device 60 (which may use a motor) may follow the movement of the support device 50.
When the flour dough is used, water is added into flour dough, the flour dough is made into a sheet-shaped structure (dough sheet) with a specific standard width (the specific width is set in actual condition), then the flour dough is rolled, a diaphragm (food-grade waxed paper, plastic soft tape, paper tape with certain strength and other materials can be adopted) is mixed in the rolling process of the dough, the flour dough is rolled up together, so that the effect of separating the flour dough from the dough is achieved, the automatic operation of taking the dough later to make noodles is also facilitated, when the diaphragm is finished along with the dough, a convex initial edge A is reserved at the tail end of the diaphragm of the dough covered on the outermost layer of the dough, and the initial edge A is preferably coplanar with the center line of the dough for the automatic sensing and grabbing operation later. More preferably, the end of the diaphragm 2 of the roll 40 opposite the starting edge a is wound around or secured to the outer side wall of the spool 52, the tail of the diaphragm 2 enveloping the outermost sheet of the roll 40, and the tail of the diaphragm 2 being provided with a starting edge a protruding beyond the roll 40.
Erecting the dough roll 40 on the supporting device 50 through the reel 52, driving the dough roll 40 to rotate by the rotating device, blocking the sensing area of the first sensor by the starting edge A of the diaphragm 2 of the dough roll 40 after the starting edge A follows the rotation of the dough roll 40 to the sensing position of the first sensor, so that the first sensor (a photoelectric sensor can be used) receives a signal to control the dough roll to stop rotating, and simultaneously, moving the supporting device and the grabbing rolling bar towards the direction of approaching each other (the supporting device is not moved and the grabbing rolling bar moves in the process; according to the technical scheme, the design scheme that the supporting device moves, the grabbing winding rods move or the supporting device and the grabbing winding rods move simultaneously is taken as a specific implementation mode, in the scheme, the rotating device 60 can also move along with the supporting device, the base of the rotating device 60 is slidably arranged on the side edge of the supporting device and can be pushed to rotate by an air cylinder), until the starting edge A stretches into the opening F, the opening F clamps the starting edge A, when noodles need to be cooked, the grabbing winding rods rotate, the rotating device drives the noodle rolls to rotate, the diaphragm is wound on the grabbing winding rods to be recovered, the dough sheets between the diaphragms are released and pulled out under the self gravity, the dough sheets pulled out from the noodle rolls are cut off after being guided and drooped to a certain length and entering (or being guided by other guide wheels) a specific distance, the grabbing winding rods and the noodle rolls continue to rotate, and the next noodle making process can be carried out.
The working process can automatically pull out the dough sheet initial head of the dough roll from the dough roll when the dough roll is used for the first time, and manual intervention is omitted, so that automation and intellectualization of the dough pressing technology are facilitated, and development of automatic catering and vending industries is finally promoted.
More specifically, the supporting device 50 includes: a left chain 501 and a right chain 502 which are synchronously driven (a gap is arranged between the left chain and the right chain to accommodate the dough roll); the left chain 501 and the right chain 502 are vertically provided with a plurality of baffle plates 5 (the specific number is determined by actual needs), an upward gap D (refer to fig. 1 and 3) is formed between every two adjacent baffle plates 5, wherein the gap D of the left chain 501 corresponds to the gap D of the right chain 502 (the left chain 501 and the right chain 502 are horizontally aligned and are in paired appearance), two ends of the winding shaft 52 of the dough roll 40 can be rotatably erected at the same time at the aligned gap D of the left chain 501 and the right chain 502 (the diameter of the winding shaft 52 is smaller than the gap D, so that the winding shaft 52 of the dough roll 40 can flexibly rotate in the gap D), and a conveying belt can be adopted by the left chain 501 and the right chain 502.
The left chain 501 and the right chain 502 designed above can play a role of supporting the surface roll 40, and also play a role of conveying the surface roll 40, the reel 52 at two ends of the surface roll 40 is simultaneously erected on the clearance D of the left chain 501 and the right chain 502, the surface roll 40 can be conveyed forwards by the left chain 501 and the right chain 502 at the same time, referring to the direction indicated by an arrow tt in fig. 2, the surface roll 40 is conveyed forwards to be close to the opening F of the grabbing roll rod 301, after reaching a preset position in front of the opening F (the grabbing roll rod 301 can be arranged at the edges of the left chain 501 and the right chain 502 across the left chain 501), the rotating device 60 drives the reel 52 of the surface roll 40 to rotate, and after the initial edge A of the diaphragm 2 of the surface roll follows the sensing position of the first sensor, the initial edge A stops the sensing area of the first sensor, so that the first sensor receives signals to control the rotating device to stop rotating, and simultaneously, the left chain 501 and the right chain 502 continue to move forwards, and the surface roll is driven to be close to the opening F (the grabbing roll rod 301 can move towards the initial edge A to the opening F and the opening F) continuously, and the starting edge A can be controlled to move towards the opening F and the opening F is controlled to be close to the opening F, or the opening F can be controlled to move towards the initial edge A and the opening F is controlled to be controlled to move towards the opening F and the opening F. The multi-roll dough roll 40 can be erected on the left chain 501 and the right chain 502 to sequentially cut dough sheets to be sequentially cut on the dough roll 40, and therefore, the technical scheme of dough roll storage and automatic dough sheet cutting is also provided.
The above satisfies the support and transfer functions of the rolls, and also allows the relative position of each roll on the support means 50 to be determined without slipping, so as to ensure automatic and orderly subsequent cutting of the sheets.
More specifically, referring to fig. 4, the grabbing roller 301 includes an upper half of a closed sheet 3011 and a lower half of a closed sheet 3012, and an opening F in a normally open state is formed between the upper half of the closed sheet 3011 and the lower half of the closed sheet 3012: the push block 3018 (which may be a roller) is being made to the upper half-closing sheet 3011 or the lower half-closing sheet 3012 (in the technique of the present invention, the push block 3018 is being made to the upper half-closing sheet 3011), and when the push block 3018 moves to the upper half-closing sheet 3011 or the lower half-closing sheet 3012 (in the technique of the present invention, the push block 3018 moves to the upper half-closing sheet 3011), the normally open opening F between the upper half-closing sheet 3011 and the lower half-closing sheet 3012 is pushed to close.
In fig. 4, the upper half-closing sheet 3011 and the lower half-closing sheet 3012 can rotate around a rotating shaft (after the openings F of the upper half-closing sheet 3011 and the lower half-closing sheet 3012 are closed, a cylindrical winding rod can be assembled by the cylinders 3016), a spring (a rotating shaft spring) is arranged on the rotating shaft, the upper half-closing sheet 3011 and the lower half-closing sheet 3012 are supported by the spring force, the openings F of the upper half-closing sheet 3011 and the lower half-closing sheet 3012 (the openings F are positioned on the other side opposite to the rotating shaft, the openings F are surrounded by the upper half-closing sheet 3011 and the lower half-closing sheet 3012 together) are kept in a normally open state (refer to fig. 9), wherein the pushing block 3018 is controlled by a remote rod 3017 and a cylinder 3016, the remote rod 3017 drives the pushing block 3018 to be close to or far away from the upper half-closing sheet 3011, the pushing block 3018 continuously presses the upper half-closing sheet 3011, the upper half-closing sheet 3011 overcomes the spring force, and the lower half-closing sheet 3012 is closed around the rotating shaft, so that the opening F in the normally open state (as shown in fig. 4, the opening F is closed state, the opening F is surrounded by the opening F is closed state), and at least one of the upper half-closing sheet 3012 can be snapped into the opening edge 340, and the opening is opened by the opening 3012, and the edge is opened by the edge can be conveniently and snapped into at least one of the edge of the opening 3012.
When in use, when the roll 40 is conveyed to the working position of the grabbing roll rod 301 by the left chain 501 and the right chain 502 which are synchronously driven (the grabbing roll rod 301 is preset to cross the end edges of the left chain 501 and the right chain 502, refer to fig. 2), and the sensor senses that the roll has reached the working position, specifically, a forming switch can be arranged, the left chain 501 and the right chain 502 drive the roll 40 to move forwards, as indicated by an arrow tt in fig. 2, when the roll 40 reaches the preset working position, the reel 52 of the roll 40 touches the travel switch, a signal is acquired, so as to control the left chain 501 and the right chain 502 to stop driving the roll to advance, simultaneously, the rotating shaft of the rotating device 60 is matched with the reel of the roll 40 and drive the roll 40 to rotate, the starting edge A of the diaphragm 2 of the roll 40 follows the rotation, when the starting edge A of the diaphragm 2 of the roll 40 rotates to the opening F in the normally open state, the starting edge A just covers the sensing area of the first sensor, the first sensor sends a signal, controls the roll 40 to rotate the roll to stop the roll 3016, the left chain 3011 is further driven by the left chain 3011 and the right chain 3011, the half-side 3016 is further driven to rotate, the half-turn the roll 3011 is further driven by the left chain 3011 and the half-side 3016 is matched with the front end of the drive rod 3011, the front end 3016 is further driven to rotate, and the half-side of the front end 3011 is continuously, and the front end of the front end 3011 is driven by the front end of the front roll 3016 is continuously pushes the front roll 3016, and the front end 3011, and the front end is further down drive roll is far opposite to rotate, and the front end 3011 and the front end of the front end 3011 is made to rotate, the lower hinge 3012 is closed around the rotation shaft, so that the opening F in the normally open state is closed, and the clamping tooth 340 bites the starting edge a (refer to fig. 10) of the diaphragm 2, which is a process of aligning the starting position of the diaphragm 2 of the dough roll 40, then, when the sheet needs to be cut, the upper hinge 3011 and the lower hinge 3012 rotate together, the rotation device also rotates along with the driving dough roll 40, the upper hinge 3011 and the lower hinge 3012 rotate together as a rotation shaft to pull and wind the diaphragm 2 from the dough roll 40, meanwhile, the sheet 1 between the diaphragms 2 is pulled out into the sheet output device 10 or the dough pressing machine, the pulled out diaphragm 2 is recovered on the reel formed by the upper hinge 3011 and the lower hinge 3012, the pulled out sheet enters the sheet output device 10 and is sent out to be made into noodles, and the component of the noodles is determined by the length of the pulled out sheet.
In addition, the grabbing roller bar 301 further includes a motor 3013, an elastic member 3014 (a spring may be used), and a friction plate 3015; the rotating shaft of the motor 3013 is connected to one end of the elastic component 3014, the other end of the elastic component 3014 is connected to the friction plate 3015, and the friction plate 3015 is in friction connection with the rotation central shaft of the upper half hinge 3011 and the lower half hinge 3012.
The motor 3013 drives the spring and the friction plate 3015 to rotate, the friction plate 3015 presses and is in friction connection with the end face of the rotary central shaft of the upper half-closing sheet 3011 and the end face of the rotary central shaft of the lower half-closing sheet 3012, friction force is generated between the end face of the rotary central shaft and the friction plate 3015, and the friction force is determined according to the actual design and by the factors of materials, roughness of a contact surface, spring force and the like; in this way, the grabbing roller 301 can rotate, the grabbing roller 301 is used for grabbing the diaphragm 2 and recovering the diaphragm 2, if the rotating speed of the grabbing roller 301 is far greater than that of the dough roll 40, the diaphragm 2 is dragged too fast, the dough sheet is pulled too fast, which is unfavorable for rhythm control (even tearing the diaphragm 2), at this time, the friction force of the grabbing roller 301, which is folded into a rotation center shaft, is greater than the preset friction force between the end face of the rotation center shaft and the friction plate 3015, so the rotation center shaft of the grabbing roller 301 can slip relative to the friction plate without following the rotating speed of the first motor 3013, thereby the self-protection purpose can be achieved.
The rotating device 60 according to an embodiment of the present invention includes: a first motor 601, a cylinder 605 and a mating sleeve 603; the matching sleeve 603 is slidably mounted on the rotating shaft of the first motor 601, and the matching sleeve 603 rotates along with the rotating shaft of the first motor 601; after the end of the winding shaft 52 of the dough roll 40 is matched with the matching sleeve 603, the winding shaft 52 rotates along with the matching sleeve 603; the cylinder 605 pushes the matching sleeve 603 to extend or shorten in a direction parallel to the rotating shaft of the first motor 601, so as to drive the matching sleeve 603 to extend or shorten, and accordingly drive the matching sleeve 603 to be matched with or separated from the end part of the reel 52; the rotating device 60 is slidably disposed on any side of the left chain and the right chain, and the sliding direction of the rotating device 60 is parallel to the displacement direction of the left chain and the right chain conveying surface roll.
More specifically, referring to fig. 5 and 6, the turning device 60 of the present invention includes: a first motor 601, a cylinder 605, a push plate 604, a mating sleeve 603 and a guide sleeve 602; the outer section of the guide sleeve 602 is polygonal (quadrilateral, hexagonal, etc.), and the guide sleeve 602 is sleeved on the rotating shaft of the first motor 601 (the guide sleeve 602 can be connected to the rotating shaft of the first motor 601 through a key, or the rotating shaft of the motor can be directly processed into a polygonal outer interface); the matching sleeve 603 is provided with a through groove 6031, the cross section of the through groove 6031 is a polygon matched with the outer cross section of the guide sleeve 602, the matching sleeve 603 is installed on the guide sleeve 602 in a sliding nested manner, and the matching sleeve 603 is installed on the push plate 604 in a rotating manner; the end of the winding shaft 52 of the dough roll 40 is provided with a polygonal clamping block 512 matched with the through groove 6031; the air cylinder 605 pushes the push plate 604 to extend or shorten in a direction parallel to the center of the rotation shaft of the first motor 601, and drives the engagement sleeve 603 to extend or shorten, thereby driving the engagement sleeve 603 and the clamping block 512 to engage or disengage.
The rotating device 60 of the present invention is slidably mounted (which can be slidably driven by an air cylinder) on either side of the left chain 501 and the right chain 502, and when the roll 40 is placed on the left chain 501 and the right chain 502, the left chain 501 and the right chain 502 drive the roll 40 to move so that the block 512 at the end of the spool 52 follows the movement, thereby causing the block 512 of the spool 52 to face one side of the rotating device 60, and based on this principle, when the left chain 501 and the right chain 502 convey the roll 40 forward, the forward-most roll 40 reaches the working position of the gripping roll bar 301, referring to fig. 7, the forward-most roll 40 is conveyed to the position where the block 512 at the end of the spool 52 is opposite to the through groove 6031 of the mating sleeve 603 of the rotating device 60, in which the spool 52 is stopped by touching a travel switch, referring to the direction indicated by the st arrow in fig. 8, and then the air cylinder 605 pushes the push plate 604 to elongate, the matching sleeve 603 is driven to extend outwards, the through groove 6031 of the matching sleeve 603 is sleeved into the clamping block 512 at the end part of the scroll 52 of the dough roll 40, then the first motor 601 rotates to drive the guide sleeve 602 to rotate, the polygonal outer section of the guide sleeve 602 can drive the matching sleeve 603 to rotate, the matching sleeve 603 can drive the scroll 52 of the dough roll 40 to rotate, the initial edge A of the dough roll 40 follows the rotation until the matching sleeve rotates to be opposite to the position of the opening F, the matching sleeve enters the sensing area of the first sensor to control the dough roll 40 to stop rotating, then the left chain 501 and the right chain 502 continue to convey the dough roll 40 forwards, the initial edge A of the dough roll 40 enters the opening F, at the moment, the scroll 52 or the rotating device touches another travel switch to stop moving forwards, the opening F is closed, the initial edge A is gripped for the subsequent dough sheet taking work, after the dough roll 40 is used up, the cylinder 605 is retracted (the amount of dough sheets in the dough roll 40 can correspond to a specific number of noodle sheets, and the dough sheets are accumulated and counted every time the dough sheets are cut, until the total number of times of cutting the dough sheets reaches a preset specific number of noodle sheets, the dough roll is used up, the cylinder 605 is controlled to retract by sending a signal), the matching sleeve 603 is driven to disengage the reel 52 of the used dough roll 40, or when the dough roll 40 is used up, the first motor reversely drives the reel 52 of the used dough roll 40 to rotate, the diaphragm wound on the grabbing roll rod is wound back on the reel 52, the cylinder 605 is retracted again, the matching sleeve 603 is driven to disengage the reel 52 of the used dough roll 40, so that the reel 52 of the dough roll 40 is taken out, and the dough sheets can be cut on the conveying device by circulating the above operations.
More specifically, referring to fig. 1 and 2, the gripping bar rotates so that the opening F is opposite to the direction in which the left chain 501 and the right chain 502 advance synchronously with the roll 40; the sensing area of the first sensor is located directly in front of the opening F. The left chain 501 and the right chain 502 advance synchronously to the position of the rotating device 60 with the surface roll 40, the clamping block 512 at the end of the scroll 52 of the surface roll 40 at the forefront is opposite to the through groove 6031 (refer to fig. 7) of the matching sleeve 603 of the rotating device 60, the air cylinder 605 pushes the push plate 604 to stretch, the matching sleeve 603 is driven to stretch, the through groove 6031 of the matching sleeve 603 is sleeved into the clamping block 512 at the end of the scroll 52 of the surface roll 40, then the first motor 601 can rotate, then the guiding sleeve 602 is driven to rotate, the polygonal outer section of the guiding sleeve 602 can drive the matching sleeve 603 to rotate, the matching sleeve 603 can drive the scroll 52 of the surface roll 40 to rotate, the raised starting edge A of the diaphragm 2 of the surface roll 40 rotates along with the rotation until the starting edge A shields the sensing area of the first sensor, then the left chain 501 and the right chain 502 continue to advance synchronously with the surface roll 40 for a distance, and simultaneously the rotating device 60 also follows synchronously the same distance, so that the surface roll 40 and the rotating device 60 simultaneously moves forward to approach the scroll rod 301 to the starting edge A of the surface roll 40 to enter the opening of the scroll 40, and the scroll 301 continues to wait for the state of the scroll 52 to rotate, and the scroll rod 301 continues to wait for the starting edge of the scroll 40 to rotate.
In addition, the technology of the invention further comprises a movable guiding wheel 302, wherein the surface of the guiding wheel 302 is provided with scraping teeth, when the starting edge A of the diaphragm 2 of the surface coil 40 is gripped by the grabbing roller 301, the guiding wheel 302 moves to be below the starting edge A of the diaphragm 2 and close to the outer surface of the surface coil 40, and the guiding wheel 302 rotates in the same direction as the rotating direction of the surface coil 40; after the start head B of the dough sheet 1 is separated (refer to fig. 9 and 11) and guided out by the guide wheel 302 (refer to fig. 10), the guide wheel 302 moves so as to be away from the outer surface of the roll 40.
Referring to fig. 9 and 10, the rotation direction of the roll 40 is indicated by arrow M, the rotation direction of the guiding wheel 302 is indicated by arrow N (also referred to as counterclockwise direction), when the grasping rod 301 grasps the starting edge a of the diaphragm 2 of the roll 40 and then rotates along the direction of arrow T, the sheet 1 under the diaphragm 2 may still adhere to the roll 40 (the end of the sheet is indicated by B in fig. 11 and the state of the sheet 1 is shown in fig. 9), the guiding wheel 302 abuts against the roll and rotates, so that the scraping teeth scrape the starting end B of the sheet 1 attached to the roll (refer to fig. 11, the initial state of the roll), thereby separating the sheet from the roll (fig. 10), and the scraped sheet is guided by the guiding wheel 302 as the diaphragm 2 is collected and the roll rotates.
When the dough sheet is separated, the guiding wheel 302 moves to leave the outer surface of the dough roll 40, and when the starting end of the dough sheet has been scraped and guided out, the guiding wheel 302 leaves the outer surface of the dough roll 40 and does not scratch the outer surface of the dough roll any more so as to avoid affecting the stretching of the dough sheet, and the guiding wheel 302 leaving the outer surface of the dough roll 40 plays a guiding role at the moment and guides the pulled dough sheet to the dough sheet output device 10 or the dough pressing machine. The above guiding wheel 302 may be used as such, when the roll is used for the first time, after the start end B of the dough sheet of the roll is scraped, the guiding wheel 302 leaves the surface of the roll, so that the scraped dough sheet passes through the gap between the guiding wheel 302 and the surface of the roll, the usage depends on the humidity of the dough sheet and the viscosity attached to the diaphragm, the viscosity attached to the diaphragm is low, the diaphragm is pulled out, and the dough sheet attached to the diaphragm is easily sagged and separated under the gravity of the diaphragm, and the usage may be adopted.
The guide wheel 302 may be translated or oscillated, and when the oscillation mode is designed, the specific structure is as follows:
more specifically, referring to fig. 2, the guide wheel 302 may be mounted at one end of the swing rod 315, the other end of the swing rod 315 is provided with a rotating shaft C and mounted on the bracket, the swing rod 315 may swing left and right around the rotating shaft C under the driving of the cylinder, and when swinging left, the guide wheel 302 is driven to leave the surface of the dough roll, and when swinging right, the guide wheel 302 is driven to approach the surface of the dough roll.
The swing of the guide wheel 302 can be pulled by a cylinder pull rod, and the air flow of the cylinder is controlled to control the pull force of the pull rod by setting a pressure reducing valve so as to adjust the swing amplitude of the guide wheel 302 and the force attached to the surface of the dough roll to adapt to the excircle conditions of different dough rolls (the excircle may have errors, not a standard excircle, but an ellipse).
Further, a guiding roller 303 may be further provided, where the guiding roller 303 is disposed at the outlet of the dough sheet (specifically, on the track through which the dough sheet is pulled out and needs to fall into the dough sheet output device 10), when the dough sheet passes through a specific distance (a specific distance is the dough sheet length required by a person and represents the component of the final dough sheet) between the cutter 304 and the guiding roller 303, the cutter 304 rotates, so that the blade edge of the cutter 304 and the surface of the guiding roller 303 jointly cut the dough sheet.
For the problem of collecting the diaphragm 2 after the use of the roll 40, the technology of the present invention can be designed such that, referring to fig. 12, when the roll 40 is used up (the sensing of the height of the roll 40 can be detected by a sensor, or the component is calculated in advance, and the number of times of cutting the cut-out pieces is accumulated), the diaphragm 2 on the roll 40 is wound around the grasping rod 301, at this time, the other end of the diaphragm 2 opposite to the starting edge a is wound around or fixed to the outer side wall of the spool 52, the rotating device 60 drives the spool 52 to rotate reversely, as shown in M1, and the motor 3013 drives the grasping rod 301 to rotate reversely (the motor 3013 can also stop, allowing the grasping rod 301 to rotate reversely following the pulled diaphragm), as shown in T1, the diaphragm 2 originally wound around the grasping rod 301 is unwound and wound around by the spool 52, after the spool 52 winds the diaphragm 2 on the grasping rod 301, the starting edge a of the grabbing roller 301 that is snapped by the opening F is dragged by the reel 52, or, at this time, the grabbing roller 301 cannot rotate, is detected by the sensor, or, by detecting a signal of the decrease in the height of the diaphragm on the grabbing roller 301, it is known that the diaphragm on the grabbing roller 301 has been completely turned by the reel, then, the opening F of the grabbing roller 301 is opened to unwind the starting edge a of the diaphragm 2 for the reel 52 to completely wind up the diaphragm 2, then, the mating sleeve 603 of the rotating device 60 is released from the reel 52, the rotating device 60 is reset to take the next dough roll, finally, the reel 52 wound with the diaphragm 2 (defining the reel 52 wound with the diaphragm 2 as the diaphragm recovery shaft 402) is taken away, and then the left chain 501 and the right chain 502 continue to convey the next dough roll for cutting the dough sheet. For collection of the reels 52 around which the membrane 2 is wound, the invention also provides a more specific embodiment, as follows:
referring to fig. 1 and 2, the edge of the supporting device 50 is further provided with a collecting rail 305 (two collecting rails are used for supporting two ends of the reel 52), and the collecting rail 305 is disposed at the end position of the supporting device 50 where the supporting device 50 moves forward along with the surface roll 40; in the figure, the collecting track 305 of an embodiment may be two left and right guide pieces, the initial sections of the two left and right guide pieces are disposed at the edge of the supporting device 50, so that the top end of the baffle 5 and the initial sections of the two left and right guide pieces are in clearance fit, the two left and right guide pieces may be bent downwards from the initial sections and extend in the direction opposite to the direction of conveying the rolls of the left chain 501 and the right chain 502, when the rolls 40 are used, and after the reel 52 finishes winding the separator reversely into the separator recovery shaft 402, the fitting sleeve 603 of the rotating device 60 is disengaged from the reel 52, the left chain 501 and the right chain 502 continue to be conveyed forwards, and the separator recovery shaft 402 slides into the collecting track 305 under the gravity of the left and right chains to realize the automatic collection of the reel 40, as shown by arrow S in fig. 2.
To achieve the above function, when the roll 40 is manufactured, the other end of the diaphragm 2 of the roll 40 opposite to the starting edge a is wound around or fixed to the outer side wall of the reel 52, the tail of the diaphragm 2 envelopes the outermost sheet of the roll 40, and the tail of the diaphragm 2 is provided with the starting edge a protruding from the roll, which can be understood as an outwardly turned sheet optimally coplanar with the center of the roll 40.
It should be noted that, the above actions, and the steps formed by the turning or linking between the actions are sensed by the related sensors and implemented by the sensing technology and the control technology (such as PLC or single chip microcomputer technology), and the person in the prior art may set the sensors and the controller according to the requirements of the mechanism, which will not be described here.
In addition, the invention also provides an automatic cutting method of the rolled dough sheet, which comprises the following steps:
s10, making flour into flour sheets and making the flour sheets into flour rolls, wherein a diaphragm is arranged between each two layers of the flour rolls, and the diaphragm at the outermost layer of the flour rolls is provided with a raised initial edge A;
s20, supporting the dough roll, and driving the dough roll to rotate so that the initial edge A is positioned at a preset position;
s30, clamping the initial edge A, pulling out and recovering the diaphragm, and simultaneously driving the dough roll to rotate so that the dough sheet extends out;
s40, cutting out the stretched dough sheet for making noodles.
More preferably, the automatic cutting method of the dough sheet further comprises a grabbing winding rod, wherein the grabbing winding rod is provided with an opening F with an opening/closing function;
in step S30, the opening F of the grabbing roller clamps the starting edge a and pulls out the diaphragm, the grabbing roller rotates forward to recover the diaphragm, the dough roll is driven to rotate, the dough sheet stretches out, when the dough roll is used up, the winding shaft of the dough roll and the grabbing roller rotate reversely to rewind the diaphragm to the winding shaft, and the winding shaft around which the diaphragm is wound is taken away. The above provides a membrane recovery method.
It will be appreciated that any of the embodiments of the automatic dough sheet cutting robot described above may be used to perform the method of the present invention.
In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. that comes within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An automatic dough roll dough sheet cutting robot, comprising: the device comprises a supporting device (50), a grabbing winding rod (301), a rotating device (60), a first sensor and a cutter (304); a support device (50) for mounting the roll (40); a gripping winding bar (301) provided with an opening F having an opening/closing function for gripping a starting edge a of a diaphragm (2) of the facer roll, and the gripping winding bar (301) rotates to collect the diaphragm (2); a rotating device (60) for driving the dough roll (40) to rotate; the first sensor is used for sensing the direction of the starting edge A opposite to the opening F; a cutter (304) for cutting the dough sheet pulled out from the dough roll; the supporting device (50) and the grabbing winding rod (301) can move relatively.
2. The automatic dough sheet cutting robot according to claim 1, wherein the supporting means (50) comprises: a left chain (501) and a right chain (502) which are synchronously driven; a plurality of baffle plates (5) are vertically arranged on the left chain (501) and the right chain (502), an upward gap D is formed between every two adjacent baffle plates (5), the gap D of the left chain (501) corresponds to the gap D of the right chain (502), and two ends of a scroll (52) of the dough roll (40) can be simultaneously rotatably erected on the gap D of the left chain (501) and the right chain (502) which are aligned.
3. The automatic dough sheet cutting robot according to claim 1, wherein the grabbing roller bar (301) comprises an upper half hinge (3011) and a lower half hinge (3012), and an opening F in a normally open state is formed between the upper half hinge (3011) and the lower half hinge (3012): the pushing block (3018) is opposite to the upper half hinge (3011) or the lower half hinge (3012), and when the pushing block (3018) moves towards the upper half hinge (3011) or the lower half hinge (3012), the opening F in a normally open state between the upper half hinge (3011) and the lower half hinge (3012) is pushed to be closed.
4. The automatic dough sheet cutting robot according to claim 3, wherein the gripping bar (301) further comprises a motor (3013), an elastic member (3014), and a friction plate (3015); the rotating shaft of the motor (3013) is connected to one end of the elastic component (3014), the other end of the elastic component (3014) is connected with the friction plate (3015), and the friction plate (3015) is in friction connection with the rotation center shaft (3501) of the upper half hinge (3011) and the lower half hinge (3012).
5. The automatic dough sheet cutting robot according to claim 2, wherein the rotating means (60) comprises: a first motor (601), a cylinder (605) and a mating sleeve (603); the matching sleeve (603) is slidably arranged on the rotating shaft of the first motor (601), and the matching sleeve (603) rotates along with the rotating shaft of the first motor (601); after the end part of the scroll (52) of the flour roll (40) is matched with the matching sleeve (603), the scroll (52) rotates along with the matching sleeve (603); the cylinder (605) pushes the matching sleeve (603) to extend or shorten in a direction parallel to the center of the rotating shaft of the motor (601), and drives the matching sleeve (603) to extend or shorten, so that the matching sleeve (603) is driven to be matched with or separated from the end part of the scroll (52); the rotating device (60) is slidably arranged on any side edge of the left chain (501) and the right chain (502), and the sliding direction of the rotating device (60) is parallel to the direction of the left chain (501) and the right chain (502) for conveying the surface roll (40).
6. The automatic dough sheet cutting robot according to claim 5, wherein the rotating means (60) further comprises: a push plate (604) and a guide sleeve (602); the outer section of the guide sleeve (602) is polygonal, and the guide sleeve (602) is sleeved on the rotating shaft of the first motor (601); the matching sleeve (603) is provided with a through groove (6031), the cross section of the through groove (6031) is polygonal matched with the outer cross section of the guide sleeve (602), the matching sleeve (603) is slidably nested and arranged on the guide sleeve (602), and the matching sleeve (603) is rotatably arranged on the push plate (604); a polygonal clamping block (512) matched with the through groove (6031) is arranged at the end part of the scroll (52); the air cylinder (605) pushes the push plate (604) to extend or shorten in a direction parallel to the central line of the rotating shaft of the first motor (601), and drives the matching sleeve (603) to extend or shorten, so that the matching sleeve (603) and the clamping block (512) are driven to be matched or separated.
7. The automatic dough sheet cutting robot according to claim 2, wherein the end edges of the left chain (501) and the right chain (502) are further provided with a collecting track (305); when the dough sheet of the dough roll (40) is used up, the winding shaft (52) of the dough roll (40) and the grabbing winding rod (301) rotate reversely, so that after the winding shaft (52) winds the membrane (2) on the grabbing winding rod (301) onto the winding shaft (52), the left chain (501) and the right chain (502) continue to convey the winding shaft (52) forwards, and the winding shaft (52) wound with the membrane (2) falls into the collecting track (305).
8. The automatic dough sheet cutting robot according to any one of claims 1-7, further comprising a movable guiding wheel (302), wherein the guiding wheel (302) is provided with scraping teeth on the surface, wherein after the gripping bar (301) grips the starting edge a of the diaphragm (2) of the dough roll (40), the guiding wheel (302) moves below the starting edge a of the diaphragm (2) and close to the outer surface of the dough roll (40), and the guiding wheel (302) rotates in the same direction as the rotation direction of the dough roll (40); when the sheet start head B is scraped off by the scraping teeth and guided out by the guide wheel (302), the guide wheel (302) moves so as to leave the outer surface of the roll (40).
9. The automatic dough sheet cutting robot according to any one of claims 1 to 7, further comprising a guide roller (303), wherein the guide roller (303) is provided at an outlet of the dough sheet to guide the dough sheet to be fed out, and when the dough sheet passes through a certain distance between the cutter (304) and the guide roller (303), the cutter (304) rotates so that the blade of the cutter (304) and the surface of the guide roller (303) jointly press-cut the dough sheet.
10. The automatic dough sheet cutting robot according to any one of claims 1 to 7, wherein the beginning of the diaphragm (2) of the dough sheet (40) is wound around or fixed to the outer side wall of the reel (52), the tail of the diaphragm (2) envelopes the outermost sheet of the dough sheet (40), and the tail of the diaphragm (2) is provided with a beginning edge a protruding outside the dough sheet.
11. The automatic cutting method of the rolled dough sheet is characterized by comprising the following steps of: s10, flour is made into dough sheets, the dough sheets are wound on a reel to form a dough roll, a diaphragm is arranged between each two layers of the dough roll, and a raised initial edge A is arranged on the diaphragm at the outermost layer of the dough roll; s20, supporting the dough roll through a scroll, and driving the dough roll to rotate so that the initial edge A is positioned at a preset position; s30, clamping the initial edge A, pulling out and recovering the diaphragm, and simultaneously driving the dough roll to rotate so that the dough sheet extends out; s40, cutting out the stretched dough sheet for making noodles.
12. The automatic dough sheet cutting method according to claim 11, comprising a grip bar provided with an opening F having an opening/closing function; in step S30, the opening F of the grabbing roller grips the starting edge a and pulls out the diaphragm, the grabbing roller rotates forward to recover the diaphragm, the dough roll is driven to rotate, the dough sheet stretches out, when the dough roll is used up, the winding shaft of the dough roll and the grabbing roller rotate reversely to rewind the diaphragm to the winding shaft, and the winding shaft around which the diaphragm is wound is taken away.
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| CN201911091513.7A CN110786353B (en) | 2019-11-10 | 2019-11-10 | Automatic cutting robot and automatic cutting method for rolled dough sheets |
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| CN201911091513.7A CN110786353B (en) | 2019-11-10 | 2019-11-10 | Automatic cutting robot and automatic cutting method for rolled dough sheets |
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| CN110786353B true CN110786353B (en) | 2023-08-08 |
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| CN211379422U (en) * | 2019-11-10 | 2020-09-01 | 深圳厨奇自胜智能装备技术有限公司 | Automatic cutting robot for dough rolling sheets |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6242165B2 (en) * | 2013-11-08 | 2017-12-06 | 日清食品株式会社 | Noodle strip cutting device |
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| CN103891807A (en) * | 2014-04-09 | 2014-07-02 | 杨明德 | Pull-type flattening and laminating machine for industrial automatic and continuous production of fried flour cakes |
| CN106006134A (en) * | 2016-06-30 | 2016-10-12 | 珠海华冠科技股份有限公司 | Automatic roll changing device for diaphragms |
| CN107572281A (en) * | 2017-08-25 | 2018-01-12 | 浙江汇锋塑胶科技有限公司 | Structure is sent in a kind of drawing of film cutting winder |
| CN109455546A (en) * | 2018-10-31 | 2019-03-12 | 广东仕诚塑料机械有限公司 | A kind of lithium battery diaphragm winder |
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