CN112205439A - System and method for brushing egg liquid on moon cakes - Google Patents
System and method for brushing egg liquid on moon cakes Download PDFInfo
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- CN112205439A CN112205439A CN202011090937.4A CN202011090937A CN112205439A CN 112205439 A CN112205439 A CN 112205439A CN 202011090937 A CN202011090937 A CN 202011090937A CN 112205439 A CN112205439 A CN 112205439A
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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
- A21C9/04—Apparatus for spreading granular material on, or sweeping or coating the surfaces of, pieces or sheets of dough
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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Abstract
The application discloses a system and a method for brushing egg liquid on moon cakes, wherein the system comprises: the transmission module is used for transmitting the tray filled with the moon cakes to the position right below the manipulator for brushing the egg liquid by adopting a conveyor belt with an encoder; the monitoring module is used for monitoring whether the moon cakes enter an egg brushing liquid preset working area or not, and triggering the egg brushing liquid module to brush egg liquid when the moon cakes enter the preset working area; the egg liquid storage module is used for storing and cooling egg liquid through the egg liquid groove and keeping the freshness of the egg liquid; and the egg brushing liquid module is used for brushing egg liquid in the egg liquid groove through a manipulator hung on the portal frame to brush the egg liquid for moon cakes in a preset working area, and the brushing times are preset times. The application can solve the technical problems that the existing moon cake egg brushing liquid process is manually executed, the cost is high, the efficiency is low, and the existing egg sweeping equipment is poor in egg sweeping effect.
Description
Technical Field
The application relates to the technical field of moon cake processing, in particular to a system and a method for brushing egg liquid on moon cakes.
Background
The moon cake is eaten in mid-autumn festival, which is a tradition of China for hundreds of thousands of years, and the surface of the moon cake needs to be coated with a layer of egg liquid in the middle baking period, so that the baked moon cake is golden in color. Because the traditional Cantonese moon cake has a well-defined angle and a waist-drum-shaped expanded cake body, the baked moon cake is required to have golden color, consistent depth and clear patterns. Therefore, the egg liquid is not simply smeared on the surface of the moon cake, but the skill is required, the egg liquid needs to be evenly brushed on the patterns on the surface of the moon cake in a light and thin manner, the conventional egg liquid brushing process is still mostly manually completed, but the working section for brushing the egg liquid needs to be arranged in the middle section of a tunnel oven, the room temperature is above 40 ℃, and the working environment is hard; and the efficiency of manually brushing the egg liquid is low.
However, with the continuous increase of the quantity of moon cakes in recent years, the production efficiency of the moon cakes also needs to be improved, and a plurality of devices for quickly brushing egg liquid appear. However, the egg brushing device in the prior art only focuses on solving the problem of production efficiency, and neglects many detailed problems in production, such as uneven trays, errors in automatic tray arrangement or small differences among moon cake individuals. The egg is quickly swept mechanically, so that the egg liquid can be coated on the surface of each pattern of the moon cake uniformly, the baked moon cake is uneven in color, the pattern is not clear, or the outer surface of the pattern is not colored too deeply. The prior art solves the problem of production efficiency, but is difficult to meet the requirements of the traditional Cantonese moon cake. Therefore, the prior art lacks a system for brushing egg liquid on moon cakes, which is full-automatic, high in efficiency and high in quality.
Disclosure of Invention
The application provides a system and a method for brushing egg liquid on moon cakes, which are used for solving the technical problems that the existing moon cake egg liquid brushing process is manually executed, the cost is high, the efficiency is low, and the effect of the existing egg sweeping equipment is not good enough.
In view of the above, the present application provides, in a first aspect, a system for brushing egg liquid on moon cakes, comprising: the egg brushing device comprises a transmission module, a monitoring module, an egg liquid storage module and an egg brushing module;
the transmission module is used for transmitting the tray filled with the moon cakes to the position right below the manipulator for brushing the egg liquid by adopting a conveyor belt with an encoder;
the monitoring module is used for monitoring whether the moon cakes enter an egg brushing liquid preset working area or not, and triggering the egg brushing liquid module to brush egg liquid when the moon cakes enter the preset working area;
the egg liquid storage module is used for storing and cooling egg liquid through the egg liquid groove and keeping the freshness of the egg liquid;
the egg brushing liquid module is used for brushing egg liquid in the egg liquid groove through a manipulator hung on the portal frame to brush the egg liquid for the moon cakes in the preset working area, and the number of brushing is preset.
Optionally, the method further includes: an image processing module;
the image processing module is used for acquiring a three-dimensional image of the moon cake through the three-dimensional image acquisition device, calculating a preset key point of the moon cake according to the three-dimensional image of the moon cake, and drawing a brush coating track of a manipulator according to the preset key point, wherein the three-dimensional image of the moon cake comprises a gray level image and a depth image;
correspondingly, the egg brushing liquid module is specifically used for:
brushing egg liquid in an egg liquid groove through a manipulator hung on the portal frame, and brushing the egg liquid on the moon cakes in the preset working area according to the brushing track of the manipulator.
Optionally, the transmission module is further configured to:
whether the tray on the conveying belt is inclined or not is detected according to a preset sensor, if yes, the tray is pushed to the center line of the conveying belt through the air cylinder pushing mechanisms on the two sides of the conveying belt.
Optionally, the egg liquid storage module is specifically configured to:
a circulating water refrigerating chamber is arranged below the groove for storing the egg liquid, the egg liquid stored in the egg liquid groove is cooled through circulating water, and the freshness of the egg liquid is kept.
Optionally, the egg liquid storage module is specifically configured to:
an electric control cooling system is arranged below the groove for storing the egg liquid, and the egg liquid stored in the egg liquid groove is cooled by the electric control cooling system to keep the freshness of the egg liquid.
In a second aspect, the present application provides a method for brushing egg liquid on moon cakes, comprising:
placing the tray containing the moon cakes on a conveyor belt with an encoder for conveying;
detecting whether the moon cakes enter a preset working area in real time, if so, brushing egg liquid in an egg liquid tank by a manipulator hung on a portal frame to brush the egg liquid for the moon cakes in the preset working area, wherein the brushing times are preset times, and the egg liquid in the egg liquid tank is kept fresh through cooling treatment.
Optionally, the method further includes:
acquiring a three-dimensional image of the moon cake through a three-dimensional image acquisition device;
calculating a preset key point of the moon cake according to the three-dimensional image of the moon cake;
drawing a brushing track of a manipulator according to the preset key points, wherein the three-dimensional image of the moon cake comprises a gray level image and a depth image;
correspondingly, the manipulator hung on the portal frame brushes egg liquid in the egg liquid groove as the moon cake brushing egg liquid of the preset working area, and the method specifically comprises the following steps:
brushing egg liquid in an egg liquid groove through a manipulator hung on the portal frame, and brushing the egg liquid on the moon cakes in the preset working area according to the brushing track of the manipulator.
Optionally, the tray containing the moon cakes is placed on a conveyer belt with an encoder for conveying, and the moon cake making machine further comprises:
and detecting whether the tray on the conveyor belt is inclined or not according to a preset sensor, and if so, pushing the tray to the central line of the conveyor belt.
Optionally, the specific process of the cooling treatment is as follows:
the temperature of the egg liquid in the egg liquid groove is reduced by a circulating water cooling technology, and the freshness of the egg liquid is kept.
Optionally, the specific process of the cooling treatment is as follows:
the egg liquid in the egg liquid groove is cooled by an electric control cooling technology, so that the freshness of the egg liquid is kept.
According to the technical scheme, the embodiment of the application has the following advantages:
in this application, a system for moon cake brushing egg liquid is provided, includes: the transmission module is used for transmitting the tray filled with the moon cakes to the position right below the manipulator for brushing the egg liquid by adopting a conveyor belt with an encoder; the monitoring module is used for monitoring whether the moon cakes enter an egg brushing liquid preset working area or not, and triggering the egg brushing liquid module to brush egg liquid when the moon cakes enter the preset working area; the egg liquid storage module is used for storing and cooling egg liquid through the egg liquid groove and keeping the freshness of the egg liquid; and the egg brushing liquid module is used for brushing egg liquid in the egg liquid groove through a manipulator hung on the portal frame to brush the egg liquid for moon cakes in a preset working area, and the brushing times are preset times.
According to the system for brushing the egg liquid on the moon cakes, the moon cakes are automatically conveyed to the position below a manipulator for brushing the egg liquid through the matching of the transmission module and the monitoring module, the manipulator is controlled to automatically brush the egg liquid under a proper condition by a method for setting a preset working area, the egg liquid is stored in an egg liquid groove, and the temperature of the egg liquid is ensured not to rise through a cooling mechanism, so that the freshness of the egg liquid is kept; the whole egg liquid brushing process does not need manual intervention, so that the labor consumption is avoided, the manipulator can be controlled and designed according to the requirement, and the egg liquid brushing effect is better; in addition, the manipulator is fast to brush, makes to brush the efficiency higher. Therefore, the technical problems that the existing moon cake egg brushing process is manually executed, the cost is high, the efficiency is low, and the egg sweeping effect of the existing egg sweeping equipment is not good enough can be solved.
Drawings
Fig. 1 is a schematic structural diagram of a system for brushing egg liquid on moon cakes according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for brushing egg liquid on moon cakes according to an embodiment of the present application;
fig. 3 is a schematic structural view of a device for brushing egg liquid on moon cakes according to an embodiment of the application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For easy understanding, referring to fig. 1, the present application provides an embodiment of a system for brushing egg liquid on moon cakes, comprising: a transmission module 101, a monitoring module 102, an egg liquid storage module 103 and an egg liquid brushing module 104.
And the transmission module 101 is used for transmitting the tray filled with the moon cakes to the position right below the manipulator brushing the egg liquid by adopting a conveyor belt with an encoder.
It should be noted that, the transmission part mainly is that the conveyer belt constitutes with the tray that contains the moon cake, for preventing that the belt drive from skidding, pastes an encoder on the conveyer belt, helps the smoothness nature of transmission process, and the gyro wheel of encoder can link to each other with the conveyer belt transmission shaft, compares in the form that the gyro wheel is direct and the belt contacts, and the connected mode in this embodiment can not receive the influence of skidding, and the accuracy of acquireing conveyer belt velocity of motion data is guaranteed to the lug connection transmission shaft. The transmission module transmits the tray filled with the moon cakes to the egg liquid brushing area from the feeding area, so that the automatic execution process of brushing the moon cakes and the egg liquid is realized.
As a further step, the transmission module is further configured to:
whether the tray on the conveying belt is inclined or not is detected according to a preset sensor, if yes, the tray is pushed to the center line of the conveying belt through the air cylinder pushing mechanisms on the two sides of the conveying belt.
It should be noted that, a push-right mechanism is arranged at the initial position of the transmission module, that is, on the conveyor belt in the feeding area, and a preset sensor is arranged 10mm behind the push-right mechanism, when the front edge of the tray triggers the sensor, the push-right mechanism is triggered to act, the cylinders at two sides of the conveyor belt extend out and push the short edge of the tray and then the rear cylinder retracts, the inclined tray is pushed right, that is, the tray is pushed right to the central line of the conveyor belt, and subsequent egg liquid painting and other painting works are facilitated.
And the monitoring module 102 is used for monitoring whether the moon cakes enter an egg brushing liquid preset working area or not, and triggering the egg brushing liquid module to brush the egg liquid when the moon cakes enter the preset working area.
The preset working area refers to an area where a manipulator for brushing the egg liquid moves to work, and the specific range can be set according to actual conditions, which is not limited herein. The method for monitoring whether the moon cakes enter the preset working area for brushing the egg liquid can be real-time image monitoring, namely, images of the preset working area are obtained in real time, whether the moon cakes enter the area is observed, and if yes, a mechanical arm is triggered to act. The specific monitoring process may also be implemented in other manners, which are not limited herein as long as the actual conditions are met.
And the egg liquid storage module 103 is used for storing and cooling the egg liquid through the egg liquid groove and keeping the freshness of the egg liquid.
The egg liquid groove can be drawer-shaped, so that management is facilitated; because the egg liquid coating system is generally required to be arranged in the middle section of a tunnel oven, the room temperature is above 40 ℃, the temperature of the egg liquid is easy to rise, the temperature rise is unfavorable for the preservation of the egg liquid, the egg liquid needs to be cooled, the egg liquid is kept in a low constant temperature state, the freshness of the egg liquid is kept, and the egg liquid is generally kept at about 20 ℃. The specific cooling method is more, and can be selected according to the actual structural characteristics of the egg liquid tank.
In addition, the freshness of the egg liquid can be ensured by replacing the egg liquid at regular time, which is not described herein. In order to avoid the problem that the egg liquid brushing amount of the brush under the manipulator is large, the egg liquid can not only drip, but also cause the egg liquid to be brushed unevenly, a beam can be arranged above the egg liquid groove, and the egg liquid can be uniformly dripped without scraping for several times by making a round trip on the beam after the egg liquid is dipped by the brush at each time. An egg liquid level height sensor can be arranged in the egg liquid groove, so that the egg liquid storage capacity can be monitored in real time, and workers can be reminded of adding egg liquid conveniently.
As a further step, the egg liquid storage module 103 is specifically configured to:
a circulating water refrigerating chamber is arranged below the groove for storing the egg liquid, the egg liquid stored in the egg liquid groove is cooled through circulating water, and the freshness of the egg liquid is kept.
The circulating water cooling method is one of egg liquid cooling methods, an aluminum plate can be arranged below the circulating water refrigerating chamber, the aluminum plate is provided with a plurality of water flow pore channels, each water flow pore channel comprises a water inlet and a water outlet, the water inlets are connected with the water-cooling refrigerating machines, and the egg liquid in the egg liquid grooves is cooled and refrigerated through continuous cold water, so that the egg liquid is kept in a low constant temperature state.
As a further step, the egg liquid storage module 103 is specifically configured to:
an electric control cooling system is arranged below the groove for storing the egg liquid, and the egg liquid stored in the egg liquid groove is cooled through the electric control cooling system, so that the freshness of the egg liquid is kept.
It should be noted that the electric control cooling system, that is, the cooling of the egg liquid is realized by the power-on refrigerating device, which is different from a water cooling mode, but the main purpose is to keep the egg liquid in the egg liquid tank at a low constant temperature state, and the detailed process is not repeated.
And the egg brushing liquid module 104 is used for brushing egg liquid in the egg liquid groove by a manipulator hung on the portal frame for brushing the egg liquid on the moon cakes in the preset working area, wherein the brushing times are preset times.
It should be noted that the egg brushing device is mainly composed of a portal frame, a mechanical arm or a robot and a brush clamped on the mechanical arm, in the embodiment, the mechanical arm clamped with the brush is hung upside down on the portal frame for egg brushing, in order to improve the efficiency in the actual production process, a plurality of portal frames can be arranged in parallel to form a plurality of brushing modules, so that parallel control is realized, and the egg brushing device is suitable for processing of large-batch moon cakes; the corresponding relation of the specific moon cake and moon brush can be set according to the actual situation, and is not described in detail herein.
The part of manipulator centre gripping brush is provided with the cell type pad of POM material, increases frictional force, and the centre gripping is more stable. Because the brush scrapes back and forth on the beam after dipping egg liquid, the amount of the egg liquid possibly coated on the moon cake is not large, therefore, the coating is not finished at one time, but is carried out by repeatedly coating back and forth, or dipping the egg liquid again and coating; the specific preset times are set according to actual conditions, and are not described herein. Referring to fig. 3, the moon cakes are all arranged in rows and columns in the tray, so that the egg liquid coating is performed in a single row and multiple rows.
As a further step, the method further comprises: an image processing module 105;
the image processing module 105 is used for acquiring a three-dimensional image of the moon cake through the three-dimensional image acquisition device, calculating a preset key point of the moon cake according to the three-dimensional image of the moon cake, and drawing a brush track of a manipulator according to the preset key point, wherein the three-dimensional image of the moon cake comprises a gray level image and a depth image;
correspondingly, the egg brushing liquid module 104 is specifically configured to:
brushing egg liquid in the egg liquid groove through a manipulator hung on the portal frame, and brushing the egg liquid on the moon cakes in the preset working area according to the brushing track of the manipulator.
The image processing module is mainly used for acquiring an image and calculating key points of the moon cake according to the image; the three-dimensional image of the moon cake acquired by the three-dimensional image acquisition device can reflect coordinate information of the moon cake, the plane coordinate of the moon cake can be obtained from gray scale information, the height coordinate of the moon cake can be obtained from depth information, the three-dimensional coordinate of the moon cake is obtained by combining the plane coordinate and the height coordinate of the moon cake, a representative preset key point on the moon cake is obtained according to the three-dimensional coordinate, a motion curve is drawn by a row of key points to be brushed with the moon cake, and a manipulator is controlled to brush the moon cake according to a brushing track; the brushing accuracy of the manipulator is improved.
According to the system for brushing the moon cakes with the egg liquid, the moon cakes are automatically conveyed to the position below a manipulator for brushing the egg liquid through the matching of the transmission module and the monitoring module, the manipulator is controlled to automatically brush the egg liquid under a proper condition by a method for setting a preset working area, the egg liquid is stored in an egg liquid groove, and the temperature of the egg liquid is ensured not to rise through a cooling mechanism, so that the freshness of the egg liquid is kept; the whole egg liquid brushing process does not need manual intervention, so that the labor consumption is avoided, the manipulator can be controlled and designed according to the requirement, and the egg liquid brushing effect is better; in addition, the manipulator is fast to brush, makes to brush the efficiency higher. Therefore, the technical problems that the existing moon cake egg brushing process is manually executed, the cost is high, the efficiency is low, and the egg sweeping effect of the existing egg sweeping equipment is poor can be solved.
To facilitate understanding, referring to fig. 2, the present application provides an embodiment of a method for brushing an egg liquid on moon cakes, comprising:
As a further step, the method further comprises:
acquiring a three-dimensional image of the moon cake through a three-dimensional image acquisition device;
calculating a preset key point of the moon cake according to the three-dimensional image of the moon cake;
drawing a brushing track of the manipulator according to preset key points, wherein the three-dimensional image of the moon cake comprises a gray level image and a depth image;
correspondingly, brush in egg liquid groove through the manipulator of hanging on the portal frame and get egg liquid and brush egg liquid for the moon cake of presetting work area, specifically include:
brushing egg liquid in the egg liquid groove through a manipulator hung on the portal frame, and brushing the egg liquid on the moon cakes in the preset working area according to the brushing track of the manipulator.
As a further step, the tray containing the moon cakes is placed on a conveyer belt with an encoder for conveying, and the method further comprises the following steps:
and detecting whether the tray on the conveyor belt is inclined or not according to a preset sensor, and if so, pushing the tray to the central line of the conveyor belt.
As a further specific process of the cooling treatment, there are:
the temperature of the egg liquid in the egg liquid groove is reduced by a circulating water cooling technology, and the freshness of the egg liquid is kept.
As a further specific process of the cooling treatment, there are:
the egg liquid in the egg liquid groove is cooled by an electric control cooling technology, so that the freshness of the egg liquid is kept.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A system for brushing egg liquid on moon cakes is characterized by comprising: the egg brushing device comprises a transmission module, a monitoring module, an egg liquid storage module and an egg brushing module;
the transmission module is used for transmitting the tray filled with the moon cakes to the position right below the manipulator for brushing the egg liquid by adopting a conveyor belt with an encoder;
the monitoring module is used for monitoring whether the moon cakes enter an egg brushing liquid preset working area or not, and triggering the egg brushing liquid module to brush egg liquid when the moon cakes enter the preset working area;
the egg liquid storage module is used for storing and cooling egg liquid through the egg liquid groove and keeping the freshness of the egg liquid;
the egg brushing liquid module is used for brushing egg liquid in the egg liquid groove through a manipulator hung on the portal frame to brush the egg liquid for the moon cakes in the preset working area, and the number of brushing is preset.
2. The system for brushing egg liquid on moon cakes according to claim 1, further comprising: an image processing module;
the image processing module is used for acquiring a three-dimensional image of the moon cake through the three-dimensional image acquisition device, calculating a preset key point of the moon cake according to the three-dimensional image of the moon cake, and drawing a brush coating track of a manipulator according to the preset key point, wherein the three-dimensional image of the moon cake comprises a gray level image and a depth image;
correspondingly, the egg brushing liquid module is specifically used for:
brushing egg liquid in an egg liquid groove through a manipulator hung on the portal frame, and brushing the egg liquid on the moon cakes in the preset working area according to the brushing track of the manipulator.
3. The system for brushing egg liquid on moon cakes according to claim 1, wherein the transmission module is further used for:
whether the tray on the conveying belt is inclined or not is detected according to a preset sensor, if yes, the tray is pushed to the center line of the conveying belt through the air cylinder pushing mechanisms on the two sides of the conveying belt.
4. The system for brushing egg liquid on moon cakes according to claim 1, wherein the egg liquid storage module is specifically configured to:
a circulating water refrigerating chamber is arranged below the groove for storing the egg liquid, the egg liquid stored in the egg liquid groove is cooled through circulating water, and the freshness of the egg liquid is kept.
5. The system for brushing egg liquid on moon cakes according to claim 1, wherein the egg liquid storage module is specifically configured to:
an electric control cooling system is arranged below the groove for storing the egg liquid, and the egg liquid stored in the egg liquid groove is cooled by the electric control cooling system to keep the freshness of the egg liquid.
6. A method for brushing egg liquid on moon cakes is characterized by comprising the following steps:
placing the tray containing the moon cakes on a conveyor belt with an encoder for conveying;
detecting whether the moon cakes enter a preset working area in real time, if so, brushing egg liquid in an egg liquid tank by a manipulator hung on a portal frame to brush the egg liquid for the moon cakes in the preset working area, wherein the brushing times are preset times, and the egg liquid in the egg liquid tank is kept fresh through cooling treatment.
7. The method for brushing egg liquid on moon cakes according to claim 5, further comprising:
acquiring a three-dimensional image of the moon cake through a three-dimensional image acquisition device;
calculating a preset key point of the moon cake according to the three-dimensional image of the moon cake;
drawing a brushing track of a manipulator according to the preset key points, wherein the three-dimensional image of the moon cake comprises a gray level image and a depth image;
correspondingly, the manipulator hung on the portal frame brushes egg liquid in the egg liquid groove as the moon cake brushing egg liquid of the preset working area, and the method specifically comprises the following steps:
brushing egg liquid in an egg liquid groove through a manipulator hung on the portal frame, and brushing the egg liquid on the moon cakes in the preset working area according to the brushing track of the manipulator.
8. A method for brushing egg liquid on moon cakes according to claim 5, wherein the tray containing the moon cakes is placed on a conveyor belt with an encoder for conveying, and the method further comprises the following steps:
and detecting whether the tray on the conveyor belt is inclined or not according to a preset sensor, and if so, pushing the tray to the central line of the conveyor belt.
9. The method for brushing egg liquid on moon cakes according to claim 5, wherein the specific process of the cooling treatment is as follows:
the temperature of the egg liquid in the egg liquid groove is reduced by a circulating water cooling technology, and the freshness of the egg liquid is kept.
10. The method for brushing egg liquid on moon cakes according to claim 5, wherein the specific process of the cooling treatment is as follows:
the egg liquid in the egg liquid groove is cooled by an electric control cooling technology, so that the freshness of the egg liquid is kept.
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| CN202011090937.4A CN112205439B (en) | 2020-10-13 | 2020-10-13 | System and method for brushing egg liquid on moon cakes |
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| CN202011090937.4A CN112205439B (en) | 2020-10-13 | 2020-10-13 | System and method for brushing egg liquid on moon cakes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115486469A (en) * | 2022-07-25 | 2022-12-20 | 武汉轻工大学 | Baked food processing is with brushing egg liquid device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115486469A (en) * | 2022-07-25 | 2022-12-20 | 武汉轻工大学 | Baked food processing is with brushing egg liquid device |
| CN115486469B (en) * | 2022-07-25 | 2023-03-31 | 武汉轻工大学 | Baked food processing is with brushing egg liquid device |
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