CN210456116U

CN210456116U - Continuous block-shaped cuttable material storing and taking system

Info

Publication number: CN210456116U
Application number: CN201920752080.4U
Authority: CN
Inventors: 杨兴; 李海; 夏澎; 杨琪文; 盛成俊; 闫秀成; 邹娜; 王卫华; 宫晶; 钱烨; 吴美焕
Original assignee: Shenzhen Allove Intelligent Catering Technology Co ltd
Current assignee: Shenzhen Allove Intelligent Catering Technology Co ltd
Priority date: 2019-05-23
Filing date: 2019-05-23
Publication date: 2020-05-05
Anticipated expiration: 2029-05-23

Abstract

The utility model discloses a material access system, the system includes: the supporting box is connected with the manipulator and the cutter assembly on the supporting box, and is used for storing a storage assembly of materials and a tray for storing the materials into the storage assembly according to units; when the materials on the corresponding trays need to be taken out, the manipulator acts to pull the trays out of the storage assembly, and the cutter assembly cuts the materials as required. The utility model discloses a material access system, its material storage subassembly and the meshing actuating mechanism's that adopts newly-designed manipulator and automatic rising cooperation, realized the storage of face base to and the automatic process that takes out as required according to the volume, and entire system compact structure, occupation space is little, moves reliable and stable, and degree of automation is high.

Description

Continuous block-shaped cuttable material storing and taking system

Technical Field

The utility model belongs to the technical field of the access of continuous cubic material, especially, relate to a simple structure is reliable continuous cubic can cut material access system.

Background

In the prior art, various material storage devices are arranged, and the material storage devices are specially designed according to the shapes, the volumes, the characteristics and the like of materials. For example, dough (dough) is kneaded, and the dough (dough) is kneaded by flour, salt and water, and has certain viscosity and humidity, and the storage method of the dough at present is to place the dough in a basin or a panel. The storage mode has the advantages of small storage amount, unsanitary storage and inconvenient access. Particularly, in the automatic production process, not only the safe and sanitary storage of dough blanks is realized, but also the problem of automatic storage and taking of materials according to the requirement and the quantity is solved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a material access system can be cut to cubic in succession, it has solved the technical problem that current material storage can't realize high automatic safety and sanitation access.

In order to achieve the above purpose, the utility model provides a technical scheme does:

the utility model discloses a continuous cubic material access system that can cut, it includes: the supporting box is connected with a manipulator and a knife switch assembly on the supporting box, the storage assembly and at least one supporting plate; the continuous blocky cuttable material is manufactured into a single piece of standard long-strip-shaped section and then is stored in a supporting plate, and the supporting plate can be placed in the storage assembly in a sliding mode;

when continuous blocky cuttable materials on the corresponding support plate need to be taken out, the manipulator acts to pull the support plate out of the storage assembly, and the switch knife assembly cuts the continuous blocky cuttable materials as required. The cutting material is separated from the storage material, so that the low-temperature storage of the material is facilitated.

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

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

For the manipulator, can adopt any kind of manipulator that has the translation and snatch of prior art, can have certain clearance between layer board and the layer board, the manipulator can go deep into the clearance of layer board both sides and grasp the layer board then drag out the border of face embryo strorage device, and continue to drag out specific distance, finally, the floodgate is gone down to the plug-in strip of vertical direction, the face embryo floodgate under the plug-in strip is disconnected, finally, send back the layer board storage rack according to former way, from this, obtain the face embryo monomer, through dialling the material mechanism (can be the push pedal) with the face embryo monomer dial next station use can, above, it can be integrated in the manipulator to dial material mechanism and plug-in strip. The manipulator realizes the translation action of materials in a compact space.

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

when the continuous blocky cuttable materials need to be stored, pushing the supporting plate loaded with the continuous blocky cuttable materials into a storage position from the front opening; when continuous blocky cuttable materials need to be cut, the supporting box drives the mechanical arm and the knife switch component to move to the tail part of the corresponding supporting plate, and the mechanical arm grabs the supporting plate from the rear opening and drags the supporting plate out of the edge of the rear end of the storage frame for a specific distance so that the knife switch component cuts the materials.

This kind of material storage and material taking divide the material storage rack that both sides go on, make full use of material storage rack's three-dimensional space, make material storage position and material taking position separately set up, material storage and material taking mutually noninterfere are efficient.

Wherein, the bottom of layer board is equipped with the spacing groove, be equipped with on the stock level with the spacing subassembly that the spacing groove corresponds, spacing subassembly include: the elastic part is embedded in the storage position, and the ball body is connected to the top of the elastic part;

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

The limiting groove with the structure has the following effects: the bottom of each supporting plate is also provided with an open groove with a trapezoidal section, and the bottom of each supporting plate is an inverted V-shaped groove, so that when the supporting plates slide in, the balls can be gradually pressed to enter the limiting grooves, and when the supporting plates slide out, the balls can be gradually pressed to slide out; when the ball bearing is used, the supporting plate is pushed in the lifting frame after being placed on the upper surface of the supporting plate position through the front opening, the ball is pressed at the bottom of the supporting plate, after the supporting plate reaches a preset position, the groove at the bottom of the supporting plate is right opposite to the ball, the ball sinks into the groove, the pressed ball emits out of the hole, the ball is abutted to the side wall of the groove, the positioning effect is achieved, therefore, an operator can know that the supporting plate pushes the preset position, the supporting plate is pulled out when needed, the cross section of the groove is trapezoidal, the side wall of the groove is an inclined plane, the inclined plane can gradually press the ball into the mounting hole easily, the ball is prevented from blocking the movement of the supporting plate, the groove penetrates through the whole side wall of the supporting plate, when the supporting plate is pushed towards the lifting frame, the ball is met as long as the line where the groove is located. Obviously, this technical point is used for the utility model discloses in the automatic positioning of the in-process that pushes away of the layer board of being convenient for of one side, on the other hand does benefit to the manipulator again and pulls out the layer board automatically, can be to the location of layer board, can the level pull out again, it has born the weight of the effect that the automatic positioning layer board of being convenient for and automatic pulling the layer board and get the material

Wherein, the layer board includes: the conveying belt conveyor comprises two rotating shafts which are distributed in parallel and a conveying belt sleeved on the rotating shafts, wherein one rotating shaft is also provided with a driven gear and a supporting plate for supporting the rotating shaft, and the driven gear is driven to drive the conveying belt to rotate for feeding. The supporting plate has the function of storing standard dough blanks and also has the function of passively rotating under the action of an external driving mechanism so as to move the dough blanks forwards or backwards.

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

The tooth-shaped tooth tops of the driving gear and/or the driven gear are pointed so as to ensure that the driving gear and the driven gear on any supporting plate are randomly impacted and automatically guided to mutually slide into the gear clearance for meshing. Namely: the tooth crest of at least one of the driving gear and the driven gear is pointed, so that the effect is better than that of a common gear, and the optimum tooth crest of both the teeth is pointed.

Wherein, the supporting box is also provided with a sensor for sensing the continuously cuttable materials, and the motor is provided with an encoder; the sensor is used for carrying out initial cutting positioning on the end part of the continuous blocky cuttable material on the supporting plate, the encoder is used for counting the rotating turns of the rotating shaft of the motor, and accurate quantitative cutting of the dough component is realized through the rotating turns.

The utility model also discloses a continuous block-shaped cuttable material storing and taking method, which comprises a storage component, a supporting plate arranged on the storage component in a sliding way, a manipulator and a knife switch component; the method comprises the following steps:

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

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

step S30, when continuous blocky cuttable materials need to be taken, the manipulator moves to the corresponding position of the supporting plate loaded with the standard materials and drags the supporting plate out of the edge of the storage assembly;

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

and step S50, the manipulator pushes the original path of the supporting plate back to the storage assembly to wait for next material cutting.

Wherein the continuous blocky cuttable material is a dough; the surface of the supporting plate is a conveying belt for containing dough blanks, and a rotating shaft of the conveying belt is provided with a driven gear; the manipulator is provided with a driving gear meshed with the driven gear and a motor driving the driving gear to rotate; in step S30, when a dough needs to be taken, the robot moves to a position corresponding to the pallet carrying the dough, and the driven gear moves along with the pallet and engages with the driving gear after the pallet is pulled out by a specific distance. Above design, through the meshing of single power driving gear and the driven gear on every layer board and separately, avoided the conveyer belt on every layer board to join in marriage power alone to simplify the design, practice thrift the cost.

The manipulator is provided with a sensor for sensing the dough;

in step S30, the manipulator pulls out the support plate, and after the driven gear moves along with the support plate and engages with the driving gear, the motor rotates in reverse direction to make the conveyer belt convey the dough backward, when the end surface of the dough is flush with the sensor sensing portion, the motor rotates forward to make the conveyer belt convey the dough forward through the gate knife edge, the encoder calculates the number of turns of the motor in real time, and the gate knife cuts off the dough after the motor rotates the set number of turns to obtain dough monomers with specific length.

In step S10, shaping the dough into a strip-shaped standard dough with a specific cross section;

in step S20, a single standard dough blank is stored on a single pallet, the length direction of the standard dough blank is the same as the sliding direction of the pallet, and the pallet is pushed into the storage assembly for storage; wherein,

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

Considering that the standard dough blank may leave a tailing after being cut, and a part of tailing with a noodle quantity less than a certain part is left, the tailing is required to be collected and cleaned, and the method is troublesome and has low automation degree; in actual use, the required noodle amount is determined according to the customer demand for ordering, and can be 200 g or 300 g, and the like, if the lengths of all standard noodle blanks on the storage rack are the same, 200 g and 300 g of noodle blank monomers are randomly cut on the same supporting plate, and finally, a small amount of noodle tailing is possibly left on the supporting plate; for example: the method comprises the following steps of placing standard dough blanks corresponding to noodle weights of 200 g and standard dough blanks corresponding to noodle weights of 300 g separately, namely cutting the standard dough blanks on a supporting plate under the condition that all the noodle weights of 200 g are needed, wherein the standard dough blanks placed on the supporting plate are used for cutting noodles of 200 g, so that the length of the standard dough blanks on the supporting plate can be preset by self, the total length is just integral multiple of the corresponding length of a single noodle of 200 g, and no tailing exists; similarly, the same applies to 300 g of noodles, 400 g of noodles, and the like.

Placing a dough piece on a single supporting plate independently so as to ensure that the dough piece is cut off from the whole section of the dough piece in the width direction every time the dough piece is cut off, wherein the amount of the dough piece obtained by cutting off corresponds to the amount of a single noodle; the single dough blank is placed on the supporting plate, the length of the dough blank is parallel to the sliding direction of the supporting plate, the knife switch can be designed to be wider than or equal to the width of the supporting plate, the knife switch is parallel to the cross section direction of the dough blank to cut the dough blank, and the cut-off can be carried out on the cross section of the dough blank once.

Compared with the prior art, the utility model discloses a continuous cubic material access system that can cut, its manipulator that adopts the new design and the material storage subassembly and the meshing actuating mechanism's of automatic rising cooperation have realized the storage of face blank to and the automatic process that takes out according to the volume as required, and entire system compact structure, occupation space is little, and the operation is reliable and stable, and degree of automation is high.

Drawings

Fig. 1 is a schematic view of the overall side structure of the continuous block-shaped cuttable material storing and taking system of the present invention.

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

Fig. 3 is a schematic side view of the material fetching mechanism of the continuous block-shaped cuttable material storing and taking system according to the present invention.

Fig. 4 is a schematic structural view of the material storage assembly and the manipulator portion of the continuous block-shaped cuttable material storage and retrieval system of the present invention.

Fig. 5 is a schematic structural view of a part of the supporting plate of the continuous block-shaped cuttable material storing and taking system of the present invention.

Fig. 6 is a schematic structural view of a part of the engaging driving mechanism of the continuous block-shaped cuttable material storing and taking system of the present invention.

Fig. 7 is another angle structure diagram of the material fetching mechanism of the continuous block-shaped cuttable material storing and taking system of the present invention.

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

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

Fig. 10 is a schematic structural view of a supporting box portion of the continuous block-shaped cuttable material storing and taking system of the present invention.

Fig. 11 is a schematic structural view of the first rod, the second rod and the grabbing rod of the continuous block-shaped cuttable material storing and taking system of the present invention.

Fig. 12 is a schematic structural view of a grabbing rod part of the continuous block cuttable material storing and taking system of the present invention.

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

Fig. 14 is a schematic structural view of a storage module and a supporting plate of the continuous block-shaped cuttable material access system of the present invention.

Fig. 15 is a schematic structural diagram of a part of the storage module of the continuous block-shaped cuttable material access system of the present invention.

Fig. 16 is a schematic view of the material storage part of the continuous block-shaped cuttable material storing and taking system of the present invention.

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

Fig. 18 is an enlarged schematic structural view of a part of the limiting component of the continuous block-shaped cuttable material storing and taking system of the present invention.

Fig. 19 is a schematic diagram of a partially enlarged structure of a supporting plate of the continuous block-shaped cuttable material storing and taking system of the present invention.

Fig. 20 is a schematic view of the access process of the continuous block-shaped cuttable material access system of the present invention.

Fig. 21 is a flowchart of a material storing and taking method according to the present invention.

Detailed Description

The invention will be further elucidated with reference to the drawing.

It should be noted that the "continuous block-shaped cuttable material" mentioned in the present invention refers to a material, which is connected to each other in terms of volume, and has the following properties: the interconnected materials can be separated at desired locations by cutting with a knife, and specifically, can be a dough (otherwise known as a dough slab), formed into an elongated loaf, formed into a one-piece elongated rice cake, and the like.

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

In this embodiment, the continuous block-shaped cuttable material is a dough, the dough is made into a single standard dough with a long strip-shaped section and then stored in the supporting plate 400, and the width of the knife assembly 300 is greater than or equal to that of the standard dough, so that the knife can cut the standard dough on the whole section at a time.

The above-mentioned "metered withdrawal" is understood to mean: the blades of the blade assembly 300 are vertically fixed at a specific position of the supporting box 100, the distance of the support plate 400 pulled out and passing below the blade opening represents the length distance of the material to be cut, and the required material is obtained below the blade opening. It can also be understood that: the knife assembly 300 can be moved, and after the pallet 400 is pulled out, the knife automatically moves to a distance corresponding to a specific material, and the material with a required length is cut. The support magazine 100 moves with the robot arm 200 and the knife assembly 300, runs along the sidewall of the storage assembly 600, can grab any one of the trays 400, and then cuts the standard material on the tray 400.

The utility model provides a be fit for continuous cubic access system that can cut material, when using, the continuous cubic that will random shape can cut the material whole form and be fit for placing rectangular form on layer board 400 and have the standard material of specific cross-section (square, trapezoidal etc.), it is convenient to get the material in the later stage to deposit the standardized purpose of material before, especially in order to realize the purpose of later stage ration material of getting, consider that the material probably can have the characteristics of adhesion each other, can each standard material drag out with certain layer board 400 that carries standard material when placing later stage cutting on a layer board 400 alone for the unit certain layer board 400 of standard material cut off can on the whole cross-section of standard material, the measurement of the standard material length of also being convenient for, the adhesion between material and the material has been avoided, do benefit to automatic operation.

For the mechanical arm 200, any mechanical arm with a translational grabbing function in the prior art can be adopted, the supporting plate position can have a certain gap, so that the supporting plates 400 have a certain gap, the mechanical arm 200 can go deep into the gap at the two sides of the supporting plate 400 to grab the supporting plate 400 and then drag out the edge of the storage assembly 600, and continue to drag out a specific distance, the specific distance is obtained by controlling the movement of the mechanical arm by a control system through manual setting, then a gate knife in the vertical direction is switched off to cut off the continuous block-shaped cuttable materials right below the gate knife, finally, the mechanical arm 200 sends the supporting plate 400 back to the storage assembly 600 according to the original route, and the cut single materials can be pulled down or taken down by hands through an external material pulling mechanism.

The utility model provides a concrete implementation of manipulator, its scheme as follows

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

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

The lower end of the first connecting rod 23 is further provided with a grabbing rod 24, the middle of the grabbing rod 24 is hinged to the lower end of the first connecting rod 23, the front end of the grabbing rod 24 is further provided with a third telescopic driving device 26, and the third telescopic driving device 26 drives the grabbing rod 24 to rotate along a hinge point E with the first connecting rod 23, so that the front end of the grabbing rod 24 is hooked or separated from a grabbed piece. Specifically, referring to fig. 6, the grabbing bar 24 includes: the rod body 241 has a rotating shaft hole 242 in the middle of the rod body 241, the front end of the rotating shaft hole 242 is a hook 244, the rear end is provided with another rotating shaft hole 243, and the rotating shaft hole 243 is hinged to the third telescopic driving device 26. The hook 244 is a pair of protruding jaws that are driven to rotate, using the lever principle, to raise the jaws to hook the object being grasped. The robot 200, through the cooperation of the first link 23 and the second link 22, and other components, realizes a robot arm motion in a compact space, and rapidly pulls out or pushes back the pallet 400 in a horizontal direction.

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

More specifically, referring again to fig. 10, the support box 100 includes: the top plate 11, the left side plate 13 and the right side plate 12 vertically extending downwards from the opposite side edges of the top plate 11, and the bottom edges of the left side plate 13 and the right side plate 12 are respectively provided with a

notch

131 and 121. The

notches

131 and 121 are provided to facilitate the ability of the blade assembly 300 to be pulled beneath the blade assembly for cutting. The method specifically comprises the following steps: a space is reserved for swinging of the grabbing rod 24 (after the grabbing rod 24 grabs the supporting plate 400 and pulls the supporting plate 400 into the supporting box 100, the knife gate cuts off the dough 500 on the supporting plate 400), after the manipulator 200 grabs the supporting plate 400, the manipulator can swing in the boundary areas of two sides with AC as the center without impacting the supporting box 100, and a necessary condition for realizing horizontal movement of the point E is that the point C is required to be right below the point A, a right-angle notch is arranged right below the point A, the point C cannot be fixed, at the moment, the supporting arm 21 is designed, one end of the supporting arm 21 is a fixed end fixed on the supporting box 100, the other end of the supporting arm is a free end extending to the right-angle notch, the point C can be fixed on the free end of the supporting arm 21, the first connecting rod 23 and the second connecting rod 22 can be rotatably fixed on the point C, the point C can be ensured to be located right below the point A, namely, the, ensure that point C is positioned directly below point a.

Referring to fig. 9 again, the knife assembly 300 is disposed above the grabbing bar 24, and when the grabbing bar 24 is controlled to grab a grabbed object, the knife assembly 300 descends to cut the grabbed object. The blade assembly 300 includes: the first telescopic driving device 31 is connected to the knife switch 32 at the telescopic end of the first telescopic driving device 31, the first telescopic driving device 31 is fixed on the top plate 11 of the support box 100, and further, guide grooves for limiting the lifting route of the knife switch 32 are further arranged on the left side plate 13 and the right side plate 12.

In the present embodiment, the first telescopic driving device 31, the second telescopic driving device 25 and the third telescopic driving device 26 are air cylinders or electric push rods. In other embodiments, other mechanisms that provide power for the extension and retraction operations may be used. The second link 22 is of a V-shaped configuration, preferably a right-angle rod.

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

With reference to fig. 7 to 12 and the schematic diagram fig. 13, the operation principle and process of the continuous block-shaped cuttable material storing and taking system of the present embodiment will be described:

in the schematic diagram of fig. 13, AE corresponds to the first link 23, rod BCD corresponds to the second link 22, and the point a is provided with the slider 20, wherein: a, B, C, D, E in fig. 7 and A, B, C, D, E in fig. 1 to 6 are all corresponding relationships, and are mainly used to express that the two have corresponding positional relationships. The sliding block 20 is slidably connected to the top of the left side wall 13 of the supporting box 100, and in order to realize the horizontal movement of the point E, the lengths of the above sections are required to be satisfied: in the present embodiment, the point E is horizontally shifted, and the point C needs to BE located right above the point a. In other embodiments, the length of the first connecting rod 23 and the second connecting rod 22 divided by the position of the hinge point only needs to satisfy the above relationship, and the translation motion in any direction can still be realized.

The telescopic link of the second telescopic driving device 25 is connected to point D, the driving rod DC drives the rod BC to rotate around point C, the rod BC is pivoted to the midpoint B of the rod AE at point B (the BC rod and the DC rod are an integral right-angle rod member, and the rotating shaft is connected to the supporting arm at point C), and the rod AE is made to swing at the same time, so that the horizontal movement of point E is realized.

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

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

Under the combined action of the first connecting rod 23, the second connecting rod 22, the second telescopic driving device 25 and the third telescopic driving device 26, the pallet is grabbed as follows:

the middle part of the grabbing rod 24 is rotatably connected to a point E of the first connecting rod 23, a slot 231 is arranged at the tail end of the first connecting rod 23 (the point E is located in an area covered by the side surface of the slot), the width of the slot 231 is consistent with the width of the grabbing rod 24, the grabbing rod 24 is installed in the slot, a through hole of the grabbing rod 24 is rotatably connected to the point E, the tail end of a cylinder of the third telescopic driving device 26 is hinged to the side wall of the supporting box 100, the tail end of a telescopic rod of the third telescopic driving device 26 is hinged to a through hole 243 of the grabbing rod 24, the extension or shortening movement of the telescopic rod of the third telescopic driving device 26 drives the front end of the grabbing rod 24, the rear end of the grabbing rod 24 rotates around the point E, the hooking part 244 realizes the grabbing action during the upward movement and the releasing action during the downward movement, specifically, the hooking part 244 clamps the upper, when the grabbing rod 24 moves downwards, the hook part 244 moves upwards to form a semicircular concave part, and the cross rod at the bottom of the supporting plate is far away from the supporting plate to complete the releasing action.

In summary, the process of the translation and grabbing actions of the manipulator of the continuous block cuttable material storing and taking system of the embodiment is as follows:

the telescopic rod of the second telescopic driving device 25 is shortened to drive the point D of the second connecting rod 22, the second connecting rod 22 rotates around the point C, the point B of the second connecting rod 22 drives the first connecting rod 23 to swing, so that the point E of the first connecting rod 23 translates forward to make the grabbing rod 24 installed at the point E translate forward, the hook part 244 of the grabbing rod 24 moves to the position right below the cross rod of the supporting plate 400 of the object to be taken (action of realizing horizontal movement), the telescopic rod of the second telescopic driving device 25 stops the shortening action, the telescopic rod of the third telescopic driving device 26 extends, one end of the grabbing rod 24 is pushed to sink, the other end rotates and rises around the through hole (point E), so that the clamping jaw is clamped into the cross rod at the bottom of the supporting plate 400, and then the extending action of the third telescopic driving device 26 stops; then, the telescopic rod of the second telescopic driving device 25 extends to drive the point D of the second connecting rod 22, and the second connecting rod 22 reversely rotates around the point C, so that the point B of the second connecting rod drives the point E of the first connecting rod 23 to translate backwards (in the direction close to the supporting box), thereby realizing the function of dragging the bottom of the supporting plate to translate backwards, driving the material (dough embryo) to enter the supporting box from the supporting box opening 14 of the supporting box 100, and finally, the first telescopic driving device 31 drives the switch blade 32 to sink down, so as to break the material dough embryo right below the switch blade 32, thereby realizing the material cutting action; then the knife switch 31 is reset, the telescopic rod of the second telescopic driving device 25 is shortened to drive the point D of the second connecting rod 22, the second connecting rod 22 rotates around the point C, so that the point B of the second connecting rod 22 drives the point E of the first connecting rod 23 to translate forwards, the grabbing rod 24 pushes the supporting plate to translate forwards, the supporting plate is sent back with the part of the materials which are not braked, then the clamping jaw of the grabbing rod 24 sinks to release, and finally, the point E is reset to wait for the next cutting action.

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

Referring again to fig. 14, the memory device 600 comprises: the material storage rack comprises a support 61, a lifting mechanism 62 fixed on the support 61, and a material storage rack 63 driven by the lifting mechanism 62, wherein a plurality of material storage positions 633 for placing a supporting plate are arranged on the material storage rack 63, and when the material needs to be stored, the lifting mechanism 62 drives the material storage rack 63 to ascend to a set height so as to feed the material to the material storage positions 633 of the corresponding layer from the outside.

Specifically, referring to fig. 16 again, the stocker 63 includes: the supporting frame body 631 is connected to a plurality of layers of storage bins 632 on the supporting frame body 631, and the storage bins 632 include a plurality of the storage levels 633. The number of the storage bins 632 and the storage levels 633 can be increased or decreased according to actual needs. The material storage unit 633 is a groove formed by enclosing limiting walls and bottom walls on two sides, and the supporting plate 400 can be pushed from the front end to the rear end of the groove. The front end of the material storage rack 63 is provided with a front opening, the rear end of the material storage rack is provided with a rear opening, and the support box is positioned at the rear end of the material storage rack; when continuous blocky cuttable materials need to be stored, the supporting plate 400 loaded with the continuous blocky cuttable materials is pushed into a storage position 633 from the front opening; when the continuous blocky cuttable materials need to be cut, the supporting box 100 drives the robot arm 200 and the knife switch assembly 300 to move to the tail of the specific supporting plate 400, and the robot arm 200 grabs the supporting plate 400 from the rear opening and drags the supporting plate 400 out of the rear end edge of the storage rack 63 for a specific distance, so that the knife switch assembly 300 cuts the materials. This kind of material storage and material taking divide the material storage rack that both sides go on, make full use of material storage rack's three-dimensional space, make material storage position and material taking position separately set up, material storage and material taking mutually noninterfere are efficient.

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

The lifting mechanism 62 further includes a second lead screw assembly 626, the second lead screw assembly 626 is driven by a synchronous belt 623 with the first lead screw assembly 622, so that the driving motor 621 drives the first lead screw assembly 622 and the second lead screw assembly 626 to rotate synchronously, and the first lead screw assembly 622 and the second lead screw assembly 626 are respectively and fixedly connected to the support 61 on one opposite side of the storage rack 63. Specifically, the first lead screw assembly 622 and the second lead screw assembly 626 have the same structure and both include: the screw 6261 is connected to a nut pair 6262 of the screw 6261, the nut pair 6262 is fixedly connected to the storage rack 63, and the first screw assembly 622 and the second screw assembly 626 are symmetrically distributed to improve the lifting stability of the storage rack 63. The screw rods of the first screw rod assembly 622 and the second screw rod assembly 626 are respectively provided with driving

wheels

624 and 625, and the driving belt 623 is sleeved on the driving

wheels

624 and 625, so that the two screw rod assemblies are synchronously driven by one driving motor 621.

Referring to fig. 14 again, the bracket 61 is further provided with a guide rail 65, the storage rack 63 is provided with a sliding block 66 corresponding to the guide rail 65, and the guide rail 65 and the sliding block 66 cooperate to guide the storage rack 63 to move up and down longitudinally. The guide rail 65 and the slider 66 are designed to improve the stability of the elevating operation of the stocker 63.

As described above, in the material taking process, the magazine 63 may be lifted and lowered to align the pallet 400 of a certain layer with the robot 200, the robot 200 may be lifted and lowered, or they may be lifted and lowered simultaneously to align the pallet 400 with the robot 200. The embodiment adopts the lifting motion of the lifting frame 63, and simultaneously considers the convenience of storing and taking materials, namely, on one hand, the lifting frame can be convenient for storing the supporting plate and storing the supporting plate at a specific position; on the other hand, the standard material is convenient to take, and a layer of supporting plate is lifted to be flush with the manipulator; the lifting motion of the same material storage rack 63 meets the moving requirements of the material storage and taking positions, and the mechanism is simplified.

Referring to fig. 19, the position accuracy of the supporting plate 400 has an important influence on the automation operation, the positions are different, the probability of the mechanical arm 200 grabbing empty is high, and the stability of the system material fetching is not favorable, so the technology of the present invention further designs a positioning function, that is, the bottom of the supporting plate 400 is provided with a limiting groove 411, the specific limiting groove 411 is located on the supporting plate side wall 41, the storage position 633 is provided with a limiting component 6331 corresponding to the limiting groove 411, and when the supporting plate 400 is pushed to a set position, the limiting component 6331 extends into the limiting groove 411 to perform positioning and limiting.

Referring again to fig. 18, the limiting element 6331 includes: the elastic member 6333 embedded in the storage position 633, and the spherical body 6332 connected to the top of the elastic member 6333. The storage position 633 is provided with a mounting hole 63311, specifically, the elastic member 6333 is a spring, one end of the spring is fixed at the bottom of the mounting hole 63311, the other end of the spring is connected to the sphere 6332, the upper half of the sphere 6332 protrudes out of the upper top surface of the storage position 633, when the tray 400 is pushed in, the elastic member 6333 is firstly pressed, the sphere 6332 descends, and then the sphere 6332 ascends under the elastic action of the elastic member 6333 and is inserted into the limiting groove 411.

Preferably, the limiting groove 411 is a trapezoidal groove with a wider opening. That is, the cross-section of the limiting groove 411 is in an inverted trapezoid shape, and the purpose of the limiting groove is to enable the ball 6332 of the limiting assembly 6331 to enter more smoothly and adapt to the discharge of the subsequent supporting plate 400, so that the supporting plate can be conveniently and more easily dragged out of the limiting assembly. In other embodiments, the retaining slot 411 may be any curved groove to facilitate the entry and exit of the ball 6332. Specifically, the front side wall and the rear side wall of the limiting groove 411 are inclined surfaces from top to bottom, the inclined direction of the front side wall is the direction in which the supporting plate 400 slides into the storage position 633, and the inclined direction of the rear side wall is the direction in which the supporting plate 400 slides out of the storage position 633.

The limiting groove 411 adopting the structure has the following effects: the bottom of each supporting plate 400 is also provided with an open limiting groove 411 with a trapezoidal section, and the limiting groove 411 is shaped like a Chinese character 'ba', so that when the supporting plate 400 slides in, a ball can be gradually pressed to enter the limiting groove 411, and when the supporting plate 400 slides out, the ball 6332 can be gradually pressed to slide out; when the ball type positioning device is used, the supporting plate 400 is pushed into the storage frame from the upper surface of the storage position, which is covered with the front opening, the ball 6332 is pressed by the bottom of the supporting plate 400, after the supporting plate 400 reaches a preset position, the limiting groove 411 at the bottom of the supporting plate 400 is right opposite to the ball 6332, and after the ball sinks into the limiting groove 411, the pressed ball 6332 is ejected out of the hole and abuts against the side wall of the limiting groove 411, so that the positioning effect is achieved. So, operating personnel just knows that layer board 400 has pushed away established position, drag out layer board 400 as required, because the cross-section of spacing groove 411 is trapezoidal, its lateral wall is the inclined plane, the inclined plane just can be gradually impressed the spheroid into the mounting hole very easily, prevent that the spheroid from hindering the removal of layer board, spacing groove 411 is run through in the whole lateral wall of layer board 400, when layer board 400 is to stock shelf propelling movement, as long as the line at spacing groove 411 place meets spheroid 6332, the spheroid 6332 that is being pressed is automatic stretches out the mounting hole and gets into in the groove, the reliable operation. Obviously, the spacing groove of this kind of structure is convenient for the automatic positioning of the in-process that pushes away of layer board 400 on the one hand, and on the other hand does benefit to manipulator 200 again and drags layer board 400 automatically and comes out, can be to the location of layer board 400, can pull out by the level again, and it has born the dual technological effect of being convenient for automatic positioning layer board 400 and automatic pulling layer board 400 and getting the material.

Referring to fig. 15 again, the bracket 61 is further provided with a sensor 67, and the sensor 67 is used for detecting whether the front end of the pallet 400 exceeds a set position when being pushed to the stock level 633. The bracket 61 is further provided with an opening/closing door 611 having an ergonomic height, the bottom of the opening/closing door 611 is connected to the bracket 61 through a hinge 613, and the upper portion of the opening/closing door 611 is provided with a driving device 612, so that the opening and closing of the door can be automatically performed. When the material is fed into the storage rack 63 from the support plate 400 or the support plate 400 is pulled out of the storage rack, the idle storage position 633 is required to be adjusted to the height of the opening and closing door 611, and the material is stored and the support plate is taken out from the opening and closing door 611 in a unified manner.

Since the pallets 400 are fed in from the opening/closing door 611 at a uniform rate, it is only necessary to provide the sensor 67 on the bracket 61 at the same height of the opening/closing door 611 to detect whether the feeding positions of all the pallets 400 exceed a predetermined depth.

Above, the positioning system of machinery and electric constitution, dual assurance layer board are taken standard material accuracy to place in storage position 633, reduce the probability that the manipulator "grabs empty" layer board, improve the operating stability of access system.

Referring again to fig. 5, the supporting plate 400 includes: two rotating shafts (not shown in the figure) which are distributed in parallel, and a conveyor belt 42 which is sleeved on the rotating shafts, wherein a driven gear 43 and a supporting plate (namely, a side wall 41) which supports the rotating shafts are also arranged on one rotating shaft, and the driven gear 43 is driven so that the conveyor belt 42 rotates for feeding. A hanging rod 44 connected to the side wall 41 is further provided below the rotating shaft of the driven gear 43, as shown in fig. 3, the hanging rod 44 is engaged with the grabbing rod 24, so that the manipulator can hang the hanging rod 44 from the bottom to the top after driving the grabbing rod 24, thereby horizontally pulling the pallet 400.

After the standard material is cut, the cut single standard material can be sent forward through the conveyor belt 42 so as to fall into the next process, and meanwhile, the uncut material is sent forward so as to fill the cut gap so as to facilitate the next cutting.

When the driving gear 76 is engaged with the driven gear 43, in order to prevent the tooth tips and the tooth tips of the driving gear 76 from colliding with each other and becoming unable to engage with each other, the tooth tips of the driven gear 43 and/or the driving gear 76 are smooth and pointed, and the engagement between the two is smoother.

The smooth tip structure of the pointed top is as follows: the profile of the gear edge gradually reduces from the tooth root to the tooth top when seen from the cross section of the single gear, the tooth top can be reduced to a point or can be transited through a small arc, and the tooth root and the tooth top can be transited in a straight line or a curve.

As is apparent from the above-mentioned design effects of the driving gear 76 and the driven gear 43, the tooth tops of the driving gear 76 and the driven gear 43 are randomly oriented, and when the driven gear 43 needs to be bumped into the driving gear 76 for meshing, if the gear structure in the prior art is adopted, the tooth tops are flat or cambered surfaces, the flat or cambered surfaces of the tooth tops of the driving gear 76 and the driven gear 43 may directly bump into each other and be difficult to mesh, or the impact force is relatively large or the shock impact is relatively large.

In the gear designed in the embodiment, when the driving gear 76 and the driven gear 43 with randomly oriented tooth tips collide with each other, if the tooth tips and the tooth tips collide with each other, the contact surface between the tooth tips of the driving gear 76 and the tooth tips of the driven gear 43 is relatively small, the tooth tips of the driven gear 43 and the tooth tips of the driving gear 76 are relatively easy to slip and shift from each other, and as the driven gear 43 continues to approach the driving gear 76, the driven gear 43 can be smoothly inserted into the driving gear 76 to complete meshing; if the tooth tops of the driving gear 76 and the driven gear 43 do not collide with each other, the teeth can be directly engaged; adopt the scheme of this technique, the conveying speed of conveyer belt can be according to following the power device rotational speed adjustment that driven gear 43 is connected on the one hand, also so design: that is, the meshing ratio between the drive gear 76 and the driven gear 43 may be 1, or may be determined according to the speed requirement of the conveyor belt.

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

Specifically, in order to realize accurate quality cutting of the material 500, an encoder 72 for counting is further arranged on an output shaft of the motor 71, it can be known that the encoder is used for measuring the rotating speed of the motor, a signal can be fed back to the control system when the preset rotating speed is reached, so that the control system can control starting and stopping of the motor, and other implementation modes (other sensors with measuring turns, the control system automatically presets a signal to control the number of turns of the motor according to needs, and the like) with the same functions are all required to be equivalent replacing behaviors.

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

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

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

the drive pulley 74 and the driven pulley 75 have the same size (the same outer diameter); the driving gear 76 and the driven gear 43 have the same specification (the same reference circle outer diameter is set as D), namely the speed ratio of the driving gear 76 to the driven gear 43 is 1: 1;

the driven gear 43 rotates for a circle, and the indexing circumference is the distance for driving the dough single body to move by the conveyor belt on the supporting plate;

then: calculating the distance that each pulse of the encoder 72 to the motor can drive the dough single body to move as follows:

s＝πD/2000(mm)；

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

the number of pulses needed is calculated as: n-L/s-L (2000 · L)/(pi D);

in specific implementation, the value of n is calculated in advance according to the length of 500 materials such as dough and the like to be cut, and then n is stored in the memory of the PLC; when the free tip and the sensor of face embryo that the conveyer belt was carrying flush, sensor signals gives PLC, PLC is according to the numerical drive motor of n, because encoder 72 and motor 71's pivot is connected, the number of turns of the rotation of motor can be gathered in real time to encoder 72 to in real time will rotate the number of turns and feed back to PLC and add up the calculation, after the number of turns that n value sign has been rotated to the motor, PLC control motor shut down, then drive the cutting knife cutting, so, can obtain the face embryo unit of specific length.

Referring to fig. 20 and 21 again, the present embodiment further discloses an accessing method of the continuous block-shaped cuttable material accessing system, including a storage assembly, a supporting plate slidably mounted on the storage assembly, a manipulator and a knife assembly; the method comprises the following steps:

step S30, when continuous blocky cuttable materials need to be taken, the manipulator moves to the corresponding position of the supporting plate loaded with the standard materials (the corresponding position refers to the position suitable for the manipulator, the aim is to enable the manipulator to grab the supporting plate, and optimally, the manipulator is positioned at the tail end of the supporting plate), and the supporting plate is dragged out of the edge of the storage component;

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

The "corresponding position" in the above-mentioned steps is to be understood as: the manipulator moves to the same height direction with the supporting plate, and finally the manipulator is convenient to grasp the supporting plate to drag the supporting plate out.

Wherein the continuous blocky cuttable material is a dough; the surface of the supporting plate is a conveying belt for containing dough blanks, and a rotating shaft of the conveying belt is provided with a driven gear; the manipulator is provided with a driving gear meshed with the driven gear and a motor driving the driving gear to rotate; in step S30, when a dough needs to be taken, the robot moves to a position corresponding to the pallet carrying the dough (which may be the tail of the pallet), and after the pallet is pulled out by a certain distance, the driven gear moves along with the pallet and engages with the driving gear.

The side wall of the tail part of each supporting plate on the material storage position is provided with a driven gear, after the supporting plates are placed on the storage rack, each supporting plate reaches a preset position, and a limiting component can be arranged; after the layer board is laid in the specific location, driven gear is unsettled, the layer board afterbody stretches out the border of layer board frame promptly, snatch the layer board when the manipulator and drag out from the storage frame, the layer board is after the distance on deposit material frame border is removed out through the plug-in strip bottom plate, driven gear hits the driving gear meshing, then, if the motor rotates, then can drive the driving gear and rotate, driven gear rotates and drives the conveyer belt and remove, thereby the face embryo is followed and is removed, can understand like this, this conveyer belt can be thought to dial the material mechanism, it dials face embryo monomer and falls to face embryo shaping device, in addition, the conveyer belt can also have the effect of not being carried forward by the face embryo, so that fill the free space of face embryo after being cut, in order to treat next cutting. Above design, through the meshing of single power driving gear and the driven gear on every layer board and separately, avoided the conveyer belt on every layer board to join in marriage power alone to simplify the design, practice thrift the cost.

The manipulator is provided with a sensor for sensing the dough, and the position of the sensor is not limited to be arranged on the manipulator;

in step S30, the manipulator pulls out the support plate, and after the driven gear moves along with the support plate and engages with the driving gear, the motor rotates in reverse direction to make the conveyer belt convey the dough backward, when the end surface of the dough is flush with the sensor sensing portion, the motor rotates forward to make the conveyer belt convey the dough forward through the gate knife edge, the encoder calculates the number of turns of the motor in real time, and the gate knife cuts off the dough after the motor rotates the set number of turns to obtain dough monomers with specific length. The expression "enabling the conveyer belt to convey the dough rearward" means that the dough moves on the conveyer belt and faces away from the knife assembly.

The supporting plate is dragged out of the storage assembly, the dough blank moves out along with the supporting plate, and when the dough blank moves and passes through the knife switch opening, the sensing part of the sensor starts to sense the existence of the dough blank. The supporting plate is pulled out, the driven gear is meshed with the driving gear, and then the sensing part of the sensor of the dough embryo gripping device is blocked by the dough embryo of the supporting plate along with the supporting plate, and at the moment, the sensing part of the sensor starts to sense the existence of the dough embryo. The driving motor rotates (rotates reversely), the gear rotates, the conveying belt drives the dough to retreat, when the end part of the dough retreats to be just flush with the induction part of the inductor, the inductor can not sense the dough just, at the moment, the inductor controls the motor to stop by giving a signal, the dough at the moment is the initial length calculation position, the process is an alignment process of dough length calculation, then the motor moves forwards, the conveying belt drives the dough to move forwards newly, meanwhile, the encoder calculates the number of turns of the motor in real time, when the number of turns of the motor reaches the preset number of turns, the control system gives the signal to the motor to stop rotating, and meanwhile, the guillotine is controlled to act, and the dough is cut off, so that a dough monomer is obtained; the number of turns of the motor can be converted into the length of the dough embryo moving forward, so that a dough embryo monomer with a specific length can be obtained, and the sectional area of the dough embryo monomer can be converted into a dough embryo monomer with a specific mass, namely noodles with a specific weight.

Wherein: in step S10, shaping the dough into a strip-shaped standard dough with a specific cross section;

Taking the access of dough as an example, the technical process of the whole automatic material access method is described in detail as follows:

when noodles are to be taken, when the tray 400 with the dough blanks is grasped by the robot 200 and pulled into the support box 100 through the opening of the support box 100, the driven gear 43 of the side wall of the tray 400 approaches the driving gear 76 mounted on the support box 100, and after the tray 400 moves into the support box 100 to reach a predetermined position, the driven gear 43 of the side wall of the supporting plate 400 is engaged with the driving gear 76, and at this time, if the motor rotates, the driven gear 43 of the supporting plate 400 can be driven to rotate, thereby driving the conveyor belt 42 to move, driving the dough blank 500 placed on the conveyor belt 42 to move, the knife assembly 300 descends to cut the dough blank, after the dough blank is cut off, the conveyer belt can be driven to move forward continuously, the conveyer belt moves forward, the dough blanks cut by the brake are enabled to move forward continuously to reach the edge of the supporting plate 400, therefore, the blocked dough blanks can fall into the next working procedure conveniently, and meanwhile, the blocked dough blanks can be supplemented in time to wait for the next blocking work.

During the above process, the rotation of the motor 71 drives the encoder 72 to rotate, so that the encoder 72 can detect the number of rotation turns, and the moving displacement of the dough blank conveyor belt, namely the moving displacement of the dough blanks, can be converted by the number of rotation turns of the driven gear 43; after the supporting plate 400 with the dough blanks is sent into the supporting box 100 by the manipulator 200 to a preset position, the supporting plate is paused at the position, the motor 71 rotates reversely (the motor rotates reversely at a reduced speed) to drive the driven gear 43 on the supporting plate 400 to move reversely, the dough blanks on the conveying belt 42 are sent out, the original dough blanks are supported, the supporting plate 400 is brought into the supporting box 100, at the moment, the supporting plate 400 is temporarily not moved, the dough blanks are retreated out of the supporting box opening by the reverse movement of the conveying belt on the supporting plate 400, the supporting plate 400 with the dough blanks enters the supporting box 100, the dough blanks always block the sensing part of the sensor after entering the opening of the supporting box 100, the sensing part of the sensor is not blocked by the dough blanks along with the sending out of the end part of the conveying belt at the moment that the boundary of the head of the dough blanks is sent out, the sensor generates a signal to control the motor 71 to stop the reverse rotation, the current position is the, the method comprises the steps that initial positioning is required, namely, the starting point of the length of the cut dough blank is required to be calculated, then, a motor decelerates and rotates forwards, the dough blank is fed into a supporting box again under the driving of a conveying belt, the motor stops after rotating to a specific number of turns, at the moment, a PLC sends a signal to a first air cylinder to drive a knife switch to cut the dough blank, and the length of the cut dough blank is the required dough blank with the specific length; the conveyor belt continues to feed, and the cut dough falls into the next station; the dough space of the part which is already cut is filled for the next cutting cycle.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the embodiments of the present invention, and those skilled in the art can easily make various changes and modifications according to the main concept and spirit of the present invention, so that the protection scope of the present invention shall be subject to the protection scope claimed in the claims.

Claims

1. A continuous block cuttable material storage and retrieval system, comprising: the supporting box is connected with a manipulator and a knife switch assembly on the supporting box, the storage assembly and at least one supporting plate; the continuous blocky cuttable material is made into a single long strip shape and then is stored in a supporting plate, and the supporting plate can be placed in the storage assembly in a sliding mode;

when continuous blocky cuttable materials on the corresponding support plate need to be taken out, the manipulator acts to pull the support plate out of the storage assembly, and the switch knife assembly cuts the continuous blocky cuttable materials as required.

2. The system for accessing continuously block-shaped cuttable materials according to claim 1, wherein the continuously block-shaped cuttable materials are dough blanks, the dough blanks are manufactured into single long strip-shaped dough blanks and then stored in the supporting plate, and the width of the knife gate in the knife gate assembly is larger than or equal to that of the dough blanks, so that the knife gate cuts the dough blanks on the whole section at a time.

3. The continuous block cuttable material access system of claim 1, wherein the robot comprises: the first connecting rod is hinged to the second connecting rod of the first connecting rod; the upper end part of the first connecting rod is hinged with a sliding block, the sliding block is connected with a guide rail in a sliding manner, the guide rail is fixedly connected with the support box, the middle part of the second connecting rod is provided with a positioning rotating shaft, the second connecting rod can swing around the positioning rotating shaft, and the rear end part of the second connecting rod is hinged to the middle part of the first connecting rod; the distance from the hinged point of the sliding block to the hinged point of the first connecting rod and the second connecting rod is equal to the distance from the hinged point of the first connecting rod and the second connecting rod to the lower end part of the first connecting rod and the distance from the hinged point of the first connecting rod and the second connecting rod to the positioning rotating shaft, the point where the positioning rotating shaft is located is superposed on a straight line where the guide of the guide rail is located, and when the front end part of the second connecting rod is controlled to swing along the positioning rotating shaft, the sliding block is synchronously driven to move along the guide rail, so that the lower end part of the first connecting rod transversely translates; the front end of the second connecting rod is also provided with a second telescopic driving device, the telescopic end of the second telescopic driving device is hinged to the second connecting rod, the lower end of the first connecting rod is also provided with a grabbing rod, the middle of the grabbing rod is hinged to the lower end of the first connecting rod, the front end of the grabbing rod is also provided with a third telescopic driving device, and the third telescopic driving device drives the grabbing rod to rotate along a hinged point with the first connecting rod, so that the front end of the grabbing rod is hooked or separated from the supporting plate.

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

when the continuous blocky cuttable materials need to be stored, pushing the supporting plate loaded with the continuous blocky cuttable materials into a storage position from the front opening; when continuous blocky cuttable materials need to be cut, the supporting box drives the mechanical arm and the switch blade assembly to move to the tail portion of the supporting plate, the mechanical arm grabs the supporting plate from the rear opening and drags the supporting plate out of the edge of the rear end of the storage frame, and the switch blade assembly cuts the materials.

5. The continuous block-shaped cuttable material storing and taking system as claimed in claim 4, wherein the bottom of the supporting plate is provided with a limiting groove, the material storage position is provided with a limiting component corresponding to the limiting groove, and the limiting component comprises: the elastic part is embedded in the storage position, and the ball body is connected to the top of the elastic part.

6. A continuous block cuttable material access system as in any one of claims 1 to 5, wherein the pallet comprises: the conveying belt conveyor comprises two rotating shafts which are distributed in parallel and a conveying belt sleeved on the rotating shafts, wherein one rotating shaft is also provided with a driven gear and a supporting plate for supporting the rotating shaft, and the driven gear is driven to drive the conveying belt to rotate for feeding.

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

8. The continuous block cuttable material access system as claimed in claim 7, wherein the tooth tips of said driving gear and driven gear are pointed to ensure that they are automatically guided into sliding engagement with each other into the gear gap when the driving gear and driven gear on any pallet come into random contact.

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