CN112970799A

CN112970799A - Intelligent steamed bun placement machine and intelligent steamed bun baking machine

Info

Publication number: CN112970799A
Application number: CN202110380931.9A
Authority: CN
Inventors: 黄奕
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-06-18

Abstract

An intelligent steamed bun placement machine comprises a camera, a control computer, a sensor, a data connecting line, a workbench, a mechanical arm, a finished product barrel and a waste material barrel. Intelligence bun baking machine, including dough extrusion device, pressure face device, conveyer, heating device, control computer, power device, air-dry device, characterized by: the dough extrusion device is connected with a variable stroke piston cylinder structure, dough is firstly extruded into the cylinder, the cylinder is filled with the dough, a dough inlet of the cylinder is closed, a dough outlet is opened, the dough is pushed out of the cylinder, the volume in the cylinder is changed by changing the stroke of the piston, the volume of the dough entering the cylinder is controlled, and the intelligent baking machine for baking buns is further included.

Description

Intelligent steamed bun placement machine and intelligent steamed bun baking machine

Technical Field

The invention belongs to the field of food machinery, and particularly relates to an intelligent steamed bun placement machine and an intelligent steamed bun baking machine.

Background

The market mainly comprises two types of bun baking machines, one is a drum type, such as a full-automatic bun baking machine in a Chinese patent 2010205267711, and the other is a conveyor belt type, such as a multifunctional full-automatic numerical control bun baking machine in a Chinese patent 2017211635816. The two types of baked bun machines have higher working efficiency, but after the baked buns are produced, the quality detection and the placement are finished by a special person. Therefore, one set of baked bun production line needs at least 2 persons, the labor cost is high, and the existing baked bun production line needs to be intelligently transformed, so that the labor is saved, and the production efficiency is improved.

Disclosure of Invention

The invention aims to provide an intelligent steamed bun placement machine and an intelligent steamed bun baking machine. The automatic detection and placement of the baked buns are realized by adding a mechanical arm and a computer control system.

The invention provides an intelligent baked bun placement machine, which comprises a camera, a control computer, a sensor, a data connecting wire, a workbench, a mechanical arm, a finished product barrel and a waste material barrel, wherein the camera is used for collecting the shape, the size and the movement track of baked buns, the control computer is used for analyzing the quality, the size and the movement track of the baked buns, the mechanical arm moves under the control of the control computer, the workbench is provided with a guide plate, one side of the workbench is provided with the finished product barrel, the other side of the workbench is provided with the waste material barrel, the mechanical arm comprises a linear motor and a guide rail, a rotary control motor is connected above the linear motor and drives a connecting rod to rotate, the other end of the connecting rod is provided with a steel needle controller which controls a steel needle to stretch, when the baked buns reach the workbench, the steel needle on the mechanical arm is inserted into the baked buns, and meanwhile, the computer is controlled to intelligently analyze images of the baked buns transmitted by the camera, according to the judgment of a control computer on the baked bun, the waste baked bun is thrown into a waste barrel, the waste is directly put into the waste barrel, when the baked bun is a finished product, a linear motor is started, a mechanical arm drives the baked bun to move, in the moving process of the baked bun, if the geometric center of the baked bun is not on the moving direction line of the baked bun, the friction force generated by two parts of the baked bun and a working table surface on two sides of the moving direction line of the baked bun is unbalanced, the unbalanced friction force can generate torque, the torque generated by the friction force can force the geometric center of the baked bun to rotate to the moving direction line of a steel needle by taking the steel needle as a rotating shaft, when the baked bun moves in an accelerating mode, the inertial force can also force the geometric center of the baked bun to rotate to the moving direction line of the steel needle by taking the steel needle as a rotating shaft, in addition, a lateral thrust is generated by a guide plate on the baked bun in contact with the guide plate, and the geometric center of the baked bun can also force the geometric center of the steel needle to rotate to the moving direction line of the, when the baked buns reach the set position above the finished product barrel, the position sensor transmits signals to the control computer, and the control computer controls the steel needle to be pulled out of the baked buns, so that the baked buns fall into the finished product barrel. The alignment device forces the geometric center of the baked bread to move to the line of the moving direction of the steel needle (the line of the moving direction of the steel needle is a set central line) by utilizing the friction force, the inertia force and the lateral thrust of the guide plate to finish the alignment of the baked bread in one direction, and then positions the edge part of the baked bread by utilizing the position sensor to finish the alignment of the baked bread in the other direction, thereby finishing the alignment and the arrangement of the baked bread. The detection system utilizes the camera to complete the information acquisition of the image and the motion trail of the baked buns, and analyzes and judges the information of the image and the motion trail of the baked buns by controlling the artificial intelligent software in the computer, so as to realize the detection of the quality, the size and the motion trail of the baked buns.

The intelligent steamed bun baking and placing machine is characterized in that a piston cylinder mechanism can be used for replacing a linear motor and a rotating motor. The piston cylinder mechanism is used for equivalently replacing a linear motor and a rotary motor.

Above-mentioned intelligence is baked a bun and is put machine, characterized by, the clip can also be changed into to the steel needle, at first the clip is controlled to the clip and is opened and carry the steamed bun of baking, then control computer judges how far and near of the central line of baking the geometric centre of bun apart from the settlement, control computer commander rotating electrical machines rotates, drive the geometric centre of baking the bun and remove to the central line of settlement, then linear electric motor starts, take qualified baking the steamed bun to the finished product bucket top and set for the position, position sensor passes to control computer to the signal, control computer control clip is let out and is baked the steamed bun, baking the steamed bun falls into the finished product bucket. Compared with a steel needle, the control program of a control computer using the clamp is more complex, and the control precision requirement is higher.

The invention also provides an intelligent steamed bun baking machine, which comprises a dough extruding device, a dough pressing device, a conveying device, a heating device, a control computer, a power device and an air drying device, and is characterized in that: the dough extrusion device is connected with a variable stroke piston cylinder structure, dough is firstly extruded into the cylinder, the cylinder is filled with dough, the dough inlet of the cylinder is closed, the dough outlet is opened, the dough is pushed out from the cylinder, the volume in the cylinder is changed by changing the stroke of the piston, the volume control of the dough entering the cylinder is realized, and the intelligent baked bread placement machine is further included.

The intelligent pancake baking machine has the beneficial effects that the production efficiency is improved and the labor is saved by adding the intelligent pancake baking machine. One person can watch 2-3 steamed bun baking machines, so that the production cost is reduced.

Description of the drawings:

FIG. 1 is a schematic view of an intelligent pancake placement machine and an intelligent pancake baking machine according to the present invention

FIG. 2 is a top view of the manipulator of the intelligent pancake baking and placing machine

FIG. 3 is a schematic view of a variable stroke piston cylinder

FIG. 4 is a schematic view of a gripper robot

FIG. 5 is a schematic view of the movement of baked buns

1-dough extruding mechanism, 2-dough cutting controller, 3-dough cutting knife, 4-dough, 5-dough pressing device controller, 6-connecting column, 7-stroke adjustable piston cylinder, 8-piston, 9-lower pressing plate, 10-connecting frame, 11-upper heating plate, 12-upper conveying belt, 13-driving wheel, 14-lower heating plate, 15-cooked baked steamed bread, 16-air drying device, 17-right conveying belt, 18-driving wheel, 19-machine body support, 20-lower conveying belt, 21-valve controller, 22-camera, 23-control computer, 24-linear motor, 25-guide rail, 26-rotation control motor, 27-connecting rod, 28-steel needle controller, 29-steel needle, 30-workbench support, 31-workbench surface, 32-finished product barrel, 33-waste barrel, 34-position sensor, 35-surface pressing cylinder support, 36-upper clamping plate, 37-lower clamping plate, 38-finished product barrel lifting controller, 39-upper guide plate, 40-lower guide plate, 41-valve and 42-surface control cylinder.

Detailed Description

As shown in fig. 1, the intelligent pancake placement machine and the intelligent pancake baking machine are shown in the figure. The intelligent baked bun placement machine is composed of a camera 22, a control computer 23, a linear motor 24, a rotary control motor 26, a connecting rod 27, a steel needle controller 28, a steel needle 29, a workbench bracket 30, a workbench surface 31, a finished product barrel 32, a waste material barrel 33, a position sensor 34, a finished product barrel upgrading controller 38, an upper guide plate 39 and a lower guide plate 40. The camera 22 firstly shoots the image and the motion track information of the cooked baked bun 15, then the image and the motion track information of the cooked baked bun 15 are transmitted to the control computer 23, the control computer 23 analyzes whether the cooked baked bun 15 is complete, if the cooked baked bun 15 is complete, the control computer 23 controls the steel needle controller 28 to insert the steel needle 29 into the cooked bun 15, then the control computer 23 controls the linear motor 24 to move rightwards to drive the cooked baked bun 15 to move rightwards, because of the friction force between the cooked baked bun 15 and the working table 31, the torque generated by the friction force forces the geometric center of the baked bun 15 to rotate to the moving direction line of the steel needle 29 by taking the steel needle 29 as the rotating shaft, when the baked bun moves in an accelerating way, the inertial force also forces the geometric center of the cooked baked bun 15 to rotate to the moving direction line of the steel needle 29 by taking the steel needle 29 as the rotating shaft, and in addition, the upper guide plate 39 and the lower guide plate 40 generate a lateral thrust force to the baked bun contacting with the baked bun, the lateral thrust force also forces the geometric center of the baked bread 15 to rotate to the line of the moving direction of the steel needle 29 by taking the steel needle 29 as a rotating shaft, when the baked bread reaches a set position above the finished product barrel 32, the position sensor 34 transmits a signal to the control computer 23, the control computer 23 controls the steel needle 29 to be pulled out of the baked bread 15, and the baked bread falls into the finished product barrel 32. The finished product barrel upgrading controller 38 is controlled by the control computer 23 to lift the finished product barrel 32 according to the number of the baked buns, so that the falling distance of the baked buns is convenient to control and the baked buns are not too long, and the baked buns are prevented from curling in the falling process. According to the judgment of the control computer on the baked buns and the waste baked buns, the control computer controls the rotating motor 26 to rotate, and the waste baked buns are directly placed into the waste barrel 33.

As shown in fig. 1 and 3. Dough is extruded into the dough control cylinder 42 through the valve 41, the volume of the dough control cylinder 42 between the piston 8 and the dough cutter 3 is the volume capable of being extruded into the dough, the volume of the dough contained in the dough control cylinder 42 is changed by controlling the top dead center position of the piston 8, and the stroke adjustable piston cylinder 7 is used for adjusting the up-and-down movement of the piston 8 and controlling the top dead center of the piston 8. The adjustable stroke piston cylinder 7 can also be replaced by a linear motor. When the dough fills the space in the dough control cylinder 42, the valve controller 21 closes the valve 41, the dough cutting knife 3 is opened, the piston 8 moves downwards to push the dough out of the dough control cylinder 42, when the piston 8 moves downwards to the bottom dead center, the dough cutting knife 3 is closed, and the dough is cut off by the dough cutting knife 3 and falls onto a conveying belt (such as the dough 4 in fig. 1). Then, the dough becomes mature baked steamed bread through the processes of tabletting, heating, air cooling and the like.

As shown in fig. 4, this is a schematic view of a gripper robot. The upper clamping plate 36 and the lower clamping plate 37 are matched to clamp the baked bread, the control computer 23 analyzes whether the cooked baked bread 15 is complete, if the cooked baked bread 15 is not complete, the control computer 23 controls the rotary control motor 26 to rotate, the cooked baked bread 15 is brought above the waste bucket 33, then the upper clamping plate 36 and the lower clamping plate 37 are separated, and the waste baked bread falls into the waste bucket 33. If the cooked baked bread 15 is complete, the control computer 23 controls the rotary control motor 26 to rotate, the geometric center of the cooked baked bread 15 is brought to a set central line, then when the baked bread reaches a set position above the finished product barrel 32, the position sensor 34 transmits a signal to the control computer 23, the control computer 23 controls the upper clamping plate 36 and the lower clamping plate 37 to be separated, and the baked bread falls into the finished product barrel 32.

As shown in fig. 5, which is a schematic diagram of the movement of the baked bread, the sizes of the baked bread parts are different at the upper side and the lower side in the movement direction of the baked bread, the upper side is large, the lower side is small, the geometric center of the baked bread is above the line of the movement direction of the baked bread, because friction force exists between the baked buns and the working table top, the area of the baked buns at the upper part is large, the generated friction force is large, the area of the baked buns at the lower part is small, the generated friction force is small, the torque generated by the friction force difference of the upper part and the lower part forces the geometric center of the baked buns to rotate to the moving direction line of the steel needle by taking the steel needle as a rotating shaft, when the baked bread moves in an accelerated way, the inertia force also forces the geometric center of the baked bread to rotate to the line of the moving direction of the steel needle by taking the steel needle as a rotating shaft in the same way, in addition, the upper guide plate generates a lateral thrust force for the baked bread contacted with the upper guide plate, and the lateral thrust force can also force the geometric center of the baked bread to rotate to the moving direction line of the steel needle by taking the steel needle as a rotating shaft. The right movement track of the steel needle is on the set central line.

Claims

1. An intelligent baked bun placement machine comprises a camera, a control computer, a sensor, a data connecting line, a workbench, a mechanical arm, a finished bun barrel and a waste bun barrel, wherein the camera is used for collecting the shape, the size and the motion trail of baked buns, the control computer is used for analyzing the quality, the size and the motion trail of the baked buns, the mechanical arm moves under the control of the control computer, a guide plate is arranged on the workbench, the finished bun barrel is arranged on one side of the workbench, the waste bun barrel is arranged on the other side of the workbench, the mechanical arm comprises a linear motor and a guide rail, a rotary control motor is connected above the linear motor and drives a connecting rod to rotate, a steel needle controller is arranged at the other end of the connecting rod and controls a steel needle to stretch, when the baked buns reach the workbench, the steel needle on the mechanical arm is inserted into the baked buns, and meanwhile, the intelligent analysis is carried out on images of the baked buns transmitted by the camera by the control, according to the judgment of a control computer on the baked bun, the waste baked bun is thrown into a waste barrel, the waste is directly put into the waste barrel, when the baked bun is a finished product, a linear motor is started, a mechanical arm drives the baked bun to move, in the moving process of the baked bun, if the geometric center of the baked bun is not on the moving direction line of the baked bun, the friction force generated by two parts of the baked bun and a working table surface on two sides of the moving direction line of the baked bun is unbalanced, the unbalanced friction force can generate torque, the torque generated by the friction force can force the geometric center of the baked bun to rotate to the moving direction line of a steel needle by taking the steel needle as a rotating shaft, when the baked bun moves in an accelerating mode, the inertial force can also force the geometric center of the baked bun to rotate to the moving direction line of the steel needle by taking the steel needle as a rotating shaft, in addition, a lateral thrust is generated by a guide plate on the baked bun in contact with the guide plate, and the geometric center of the baked bun can also force the geometric center of the steel needle to rotate to the moving direction line of the, when the baked buns reach the set position above the finished product barrel, the position sensor transmits signals to the control computer, and the control computer controls the steel needle to be pulled out of the baked buns, so that the baked buns fall into the finished product barrel.

2. The intelligent pancake placement machine according to claim 1, wherein a piston cylinder mechanism can be used to replace a linear motor and a rotary motor.

3. The intelligent baked bun placement machine as claimed in claim 1, wherein the steel pins can be replaced by clips, the clip controller controls the clips to open and clamp baked buns, the control computer determines the distance between the geometric center of the baked buns and the set center line, the control computer commands the rotating motor to rotate to drive the geometric center of the baked buns to move to the set center line, the linear motor is started to drive the qualified baked buns to the set position above the finished product barrel, the position sensor transmits a signal to the control computer, and the control computer controls the clips to release the baked buns and the baked buns fall into the finished product barrel.

4. The utility model provides an intelligence bun baking machine, includes dough extrusion device, presses face device, conveyer, heating device, control computer, power device, air-dries the device, characterized by: the dough extruding device is connected with a variable stroke piston cylinder structure, dough is firstly extruded into the cylinder, after the cylinder is filled with the dough, the dough inlet of the cylinder is closed, the dough outlet is opened, the dough is pushed out of the cylinder, the volume in the cylinder is changed by changing the stroke of the piston, the volume control of the dough entering the cylinder is realized, and the intelligent baked bun placement machine further comprises the intelligent baked bun placement machine as claimed in claim 1.