WO2019153694A1 - Intelligent robot rotary noodle cutting mechanism and noodle cutting method therefor - Google Patents

Intelligent robot rotary noodle cutting mechanism and noodle cutting method therefor Download PDF

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Publication number
WO2019153694A1
WO2019153694A1 PCT/CN2018/100452 CN2018100452W WO2019153694A1 WO 2019153694 A1 WO2019153694 A1 WO 2019153694A1 CN 2018100452 W CN2018100452 W CN 2018100452W WO 2019153694 A1 WO2019153694 A1 WO 2019153694A1
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WO
WIPO (PCT)
Prior art keywords
intelligent robot
noodle cutting
face frame
noodle
shaving
Prior art date
Application number
PCT/CN2018/100452
Other languages
French (fr)
Chinese (zh)
Inventor
宫晶
钱烨
李海
吴美焕
杨兴
黄正明
肖业平
李震
刘震
Original Assignee
深圳爱她他智能餐饮技术有限公司
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Publication date
Application filed by 深圳爱她他智能餐饮技术有限公司 filed Critical 深圳爱她他智能餐饮技术有限公司
Publication of WO2019153694A1 publication Critical patent/WO2019153694A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A21BAKING; EDIBLE DOUGHS
    • A21CMACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C11/00Other machines for forming the dough into its final shape before cooking or baking
    • A21C11/10Other machines for forming the dough into its final shape before cooking or baking combined with cutting apparatus
    • AHUMAN NECESSITIES
    • A21BAKING; EDIBLE DOUGHS
    • A21CMACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C11/00Other machines for forming the dough into its final shape before cooking or baking
    • A21C11/22Apparatus with rollers and cutting discs or blades for shaping noodles
    • AHUMAN NECESSITIES
    • A21BAKING; EDIBLE DOUGHS
    • A21CMACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C11/00Other machines for forming the dough into its final shape before cooking or baking
    • A21C11/24Apparatus for cutting out noodles from a sheet or ribbon of dough by an engaging pair of grooved rollers

Definitions

  • the present application relates to the field of automatic shaving equipment, and in particular, to a rotary automatic fast shaving mechanism.
  • Pasta is an important part of the staple food, but the pasta itself has the characteristics of complicated production process. For occasions where the demand for restaurants, canteens, etc. is large, there are defects such as long time of artificially making pasta, high labor intensity, and unstable mouthfeel. At present, there are many automatic noodle making equipments on the market, such as pressing machine, noodle cutting machine, etc. For the noodle cutting surface, the current noodle cutting machine adopts the blade reciprocating cutting method to cut the surface. The reciprocating noodle cutting surface has low efficiency, large mechanical wear and is not suitable for control. And other defects.
  • An object of the present application is to provide an intelligent robot rotary shaving mechanism that solves the technical problem of low efficiency of the existing shaving mechanism.
  • An intelligent robot rotary shaving mechanism of the present application includes: a cabinet, a certain shaft is disposed in the cabinet, a rotating wheel is disposed on the fixed shaft, and at least one arm is connected to the rotating plate, the knife The arm is provided with at least one facet blade assembly; wherein the cabinet is further provided with a driving device and a transmission belt for transmitting the rotational power of the driving device to the rotating plate, and the fixed shaft is further connected with the same Corresponding face frame assembly; the driving device drives the blade arm to rotate synchronously to rotate the face knife assembly to rotate the face blank on the face frame assembly.
  • the facet knife assembly comprises: a throwing panel, and a faceting knife connected to the throwing panel.
  • the rotating disc is further provided with an inductive piece corresponding to the arm, and the fixed shaft is provided with a sensor for detecting the passage of the sensing piece.
  • the face frame assembly comprises: a face frame for holding the dough blank, and a driving mechanism for driving the face frame to move axially along the fixed axis.
  • a connecting member is disposed between the face frame and the fixed shaft, a bottom rail of the surface frame is provided with a sliding rail, and the connecting member is provided with a guide rail corresponding to the sliding rail.
  • the cabinet is further provided with a hood, and the hood is provided with an exit port.
  • the number of the cutter arms connected to the turntable is three, and the number of the face cutter assemblies on each of the cutter arms is one.
  • the senor is a photoelectric sensor.
  • a method of shaving a surface of an intelligent robot rotary shaving mechanism comprising the steps of:
  • the first step is to insert the formed dough into the face frame of the face frame assembly
  • the second step starting the driving device, driving the shaving cutter assembly to rotate around the fixed axis;
  • the driving surface frame moves along the axial direction of the fixed axis, and when the surface frame moves to the left or right edge of the shaving cutter, the radial direction of the driving surface frame along the fixed axis Start to rise once; ;
  • the repeated driving surface frame is moved to the left or right direction along the axial direction of the fixed axis, and then moved up one layer in the radial direction until the surface is finished.
  • the intelligent robot rotary shaving mechanism and the shaving method thereof of the present application adopt a rotary shaving method. Since the shaving cutter runs at the same speed in the same direction, it is easy to control, the operation is stable, and the shaving efficiency is greatly improved. At the same time, mechanical noise and mechanical wear are also reduced, and the quality of the noodles is stable and uniform.
  • FIG. 1 is a schematic view showing the overall structure of an intelligent robot rotary shaving mechanism of the present application.
  • FIG. 2 is a schematic diagram of the internal structure of the intelligent robot rotary shaving mechanism of the present application.
  • FIG. 3 is a schematic diagram of a facet cutter assembly and a face frame of the intelligent robot rotary shaving mechanism of the present application.
  • FIG. 4 is a partially enlarged schematic structural view of a turntable portion of the intelligent robot rotary shaving mechanism of the present application.
  • FIG. 5 is a side cross-sectional view of the intelligent robot rotary shaving mechanism of the present application.
  • FIG. 6 is a partially enlarged structural view showing the side of the intelligent robot rotary shaving mechanism of the present application.
  • the intelligent robot rotary shaving mechanism includes at least The housing 1 is provided with a certain shaft 5, and the fixed shaft 5 is provided with a turntable 61.
  • a bearing 41 is further disposed between the fixed shaft 5 and the turntable 61, and at least one knife is connected to the turntable 61.
  • An arm, at least one face knife assembly 7 is disposed on the arm.
  • the cabinet 1 includes a supporting bottom plate 11 and a pair of supporting side walls 12 extending perpendicularly from the supporting bottom plate 11, the fixed shaft 5 being laterally connected to the support On the side wall 12.
  • the cabinet 1 is further provided with a driving device 3 and a driving belt 4 for transmitting the rotational power of the driving device 3 to the turntable 61.
  • the fixed shaft 5 is further connected with a surface corresponding to the shaving cutter assembly 7.
  • the frame assembly 8 is driven by the driving device 3 to rotate the blade arm to rotate the facet blade assembly 7 to rotate the face blank 10 on the face frame assembly 8.
  • the arm includes: a connecting arm 62 connected to the turntable 61, and a cutter bar 63 extending laterally from the end of the connecting arm 62.
  • the facet knife assembly 7 is fixedly connected.
  • the razor blade assembly 7 is provided with one set. In other embodiments, a plurality of sets of razor blade assemblies 7 may be provided on the arbor 63 to cut a plurality of noodles at a time, further improving effectiveness.
  • the facet knife assembly 7 includes: a throwing panel 71, and a shaving cutter 72 coupled to the throwing plate 71.
  • the blade of the facet blade 72 has a groove-like shape.
  • the facet blade 72 includes a main blade, a first blade edge and a second blade edge, and the first blade edge and the second blade edge are respectively connected obliquely.
  • the first side cutting edge and the second side cutting edge and the main cutting edge respectively form an obtuse angle of the same angle.
  • the rotation speed of the turntable 61 can be controlled by adjusting the angles of the throwing panel 71 and the face frame 81 and adjusting the driving device 3 to realize the control of the throwing height, the distance and the falling point of the strip.
  • the turntable 61 is further provided with a detecting mechanism 9 for rotating counting and positioning, and the detecting mechanism 9 includes an inductive piece 91 corresponding to the connecting arm 62 of the arm, also That is, an inductive piece 91 is disposed under each connecting arm 62, and the fixed shaft 5 is provided with a sensor 92 for detecting the passage of the sensing piece 91.
  • the sensor 92 is a photoelectric sensor.
  • the detection mechanism 9 can employ other sensors for rotational counting and position detection. The detecting mechanism is used for detecting the positioning and positioning of the initial shaving position by the shaving cutter assembly 7 and controlling the stopping and starting positions.
  • the face frame assembly 8 includes: a face frame 81 for holding a dough blank, and a driving mechanism for driving the face frame 81 to move axially and radially along the fixed axis 5.
  • the drive mechanism includes a lateral drive and a longitudinal drive to effect lateral reciprocation of the drive face frame 81, respectively
  • the bottom wall of the face frame 81 is vertically moved up and down, and the axial and radial movement of the face frame 81 cooperates with the rotating facet blade assembly to effect the face-to-face cutting of the face blanks.
  • a connecting member 84 is disposed between the face frame 81 and the fixed shaft 5.
  • the bottom wall of the face frame 81 is provided with a sliding rail 82.
  • the connecting member 84 is provided with the sliding rail.
  • the corresponding guide rail 83 of the 82 by the cooperation of the slide rail 82 and the guide rail 83, can realize the axially stable and reliable reciprocating movement of the face frame 81.
  • the cabinet 1 is further provided with a hood 2, and the hood 2 is provided with an exit opening 21, and the noodles are cut from the shaving cutter 72, and are thrown by the throwing panel 71.
  • the exit port 21 is thrown.
  • the number of the cutter arms connected to the turntable 61 is three, and the number of the face cutter assemblies 7 on each of the cutter arms is one.
  • a control circuit board is also included for controlling the driving mechanism to complete the fully automated chamfering process.
  • the embodiment further discloses a shaving method using the intelligent robot rotating shaving mechanism as described above, which comprises the following steps:
  • the first step is to insert the formed dough into the face frame of the face frame assembly
  • the second step starting the driving device, driving the shaving cutter assembly to rotate around the fixed axis;
  • the driving surface frame moves along the axial direction of the fixed axis, and when the surface frame moves to the left or right edge of the shaving cutter, the radial direction of the driving surface frame along the fixed axis Rise once;
  • the repeated driving surface frame is moved in the axial direction of the fixed axis to the left or right edge, and then runs in a mode of increasing the radial direction until the surface is finished. That is, the face frame driving face blank is first moved laterally to the other end of the dough blank, and then the face blank is driven up a certain distance, once again laterally, and so on, until the face is finished.
  • the intelligent robot rotary shaving mechanism and the shaving method thereof of the embodiment adopt a rotary shaving method, and the reciprocating robot shaving method is easy to control because the shaving cutter runs at a constant speed in the same direction.
  • the adjustment is stable and reliable, and the cutting efficiency is greatly improved.
  • the mechanical noise and mechanical wear such as the reciprocating robot face are reduced, and the quality of the noodles is stable and uniform.

Abstract

Disclosed are an intelligent robot rotary noodle cutting mechanism and a noodle cutting method therefor. The mechanism comprises: a machine cabinet. A rotating shaft is provided within the machine cabinet, a rotating disk is provided on the rotating shaft, at least one blade arm is connected to the rotating disk, and at least one noodle cutting blade component is provided on the blade arm. Also provided on the machine cabinet are a driving apparatus and a transmission belt for transmitting rotary power of the driving apparatus to the rotating disk. The rotating shaft also is connected to a noodle frame component corresponding to the noodle cutting blade component. The driving apparatus drives the rotation of the blade arm and simultaneously drives the rotation of the noodle cutting component so as to perform rotary noodle cutting with respect to a noodle dough on the noodle frame component. Compared with the prior art, the intelligent robot rotary noodle cutting mechanism and the noodle cutting method therefor employ a rotary-type noodle cutting scheme, and because noodle cutting blades run at a uniform velocity in a same direction, control is easy, operation is stable, the efficiency of noodle cutting is greatly increased, mechanical noise and mechanical wear also are reduced, and the cut noodles are stable in terms of quality and evenly cut.

Description

发明名称:一种智能机器人旋转削面机构及其削面方法  Inventive name: an intelligent robot rotary shaving mechanism and its shaving method
[0001] 本申请是以申请号为 201810139643.2、 申请日为 2018年 2月 11日的中国专利申请 为基础, 并主张其优先权, 该申请的全部内容在此作为整体引入本申请中。  [0001] The present application is based on a Chinese patent application filed on Jan. 31, the entire disclosure of which is hereby incorporated by reference.
[0002] 技术领域  Technical Field
[0003] 本申请涉及自动削面设备技术领域, 尤其涉及一种旋转式自动快速削面机构。  [0003] The present application relates to the field of automatic shaving equipment, and in particular, to a rotary automatic fast shaving mechanism.
[0004] 背景技术  BACKGROUND OF THE INVENTION
[0005] 面食是主食的重要组成部分, 但是面食本身具有制作工艺复杂等特点, 对于餐 馆、 食堂等需求量较大的场合, 存在人工制作面食耗时长, 劳动强度大, 口感 不稳定等缺陷。 目前市面有有诸多自动制面设备, 如压面机、 削面机等, 对于 刀削面而言, 目前的削面机都是采用刀片往复切削方式削面, 往复式削面存在 效率低、 机械磨损大、 不宜控制等缺陷。  [0005] Pasta is an important part of the staple food, but the pasta itself has the characteristics of complicated production process. For occasions where the demand for restaurants, canteens, etc. is large, there are defects such as long time of artificially making pasta, high labor intensity, and unstable mouthfeel. At present, there are many automatic noodle making equipments on the market, such as pressing machine, noodle cutting machine, etc. For the noodle cutting surface, the current noodle cutting machine adopts the blade reciprocating cutting method to cut the surface. The reciprocating noodle cutting surface has low efficiency, large mechanical wear and is not suitable for control. And other defects.
[0006] 申请内容  [0006] Application Content
[0007] 本申请的目的在于提供一种智能机器人旋转削面机构, 其解决了现有的削面机 构效率低的技术问题。  [0007] An object of the present application is to provide an intelligent robot rotary shaving mechanism that solves the technical problem of low efficiency of the existing shaving mechanism.
[0008] 为达到上述目的, 本申请所提出的技术方案为:  [0008] In order to achieve the above object, the technical solution proposed by the present application is:
[0009] 本申请的一种智能机器人旋转削面机构, 其包括: 机柜, 所述机柜内设有一定 轴, 所述定轴上设有转盘, 所述转盘上连接有至少一刀臂, 所述刀臂上设有至 少一削面刀组件; 其中, 所述的机柜上还设有驱动装置以及将所述驱动装置旋 转动力传送至转盘的传动带, 所述定轴上还连接有一与所述削面刀组件对应的 面框组件; 所述驱动装置带动刀臂旋转同步带动削面刀组件转动以对面框组件 上的面坯进行旋转削面。  [0009] An intelligent robot rotary shaving mechanism of the present application includes: a cabinet, a certain shaft is disposed in the cabinet, a rotating wheel is disposed on the fixed shaft, and at least one arm is connected to the rotating plate, the knife The arm is provided with at least one facet blade assembly; wherein the cabinet is further provided with a driving device and a transmission belt for transmitting the rotational power of the driving device to the rotating plate, and the fixed shaft is further connected with the same Corresponding face frame assembly; the driving device drives the blade arm to rotate synchronously to rotate the face knife assembly to rotate the face blank on the face frame assembly.
[0010] 其中, 所述的削面刀组件包括: 抛面板, 以及连接于所述抛面板的削面刀。  [0010] wherein the facet knife assembly comprises: a throwing panel, and a faceting knife connected to the throwing panel.
[0011] 其中, 所述的转盘上还设有与所述刀臂对应的感应片, 所述定轴设有用于检测 所述感应片通过的传感器。  [0011] wherein the rotating disc is further provided with an inductive piece corresponding to the arm, and the fixed shaft is provided with a sensor for detecting the passage of the sensing piece.
[0012] 其中, 所述的面框组件包括: 用于盛装面坯的面框, 以及用于驱动面框沿定轴 轴向、 径向移动的驱动机构。 [0013] 其中, 所述的面框与定轴之间设有一连接件, 面框的底壁设有一滑轨, 所述连 接件上设有与所述滑轨对应的导轨。 [0012] wherein, the face frame assembly comprises: a face frame for holding the dough blank, and a driving mechanism for driving the face frame to move axially along the fixed axis. [0013] wherein a connecting member is disposed between the face frame and the fixed shaft, a bottom rail of the surface frame is provided with a sliding rail, and the connecting member is provided with a guide rail corresponding to the sliding rail.
[0014] 其中, 所述的机柜上还设有一机罩, 所述机罩上设有一出面口。  [0014] wherein the cabinet is further provided with a hood, and the hood is provided with an exit port.
[0015] 优选的, 所述转盘上连接的刀臂的数目为三, 每个刀臂上的削面刀组件的数目 为一。  [0015] Preferably, the number of the cutter arms connected to the turntable is three, and the number of the face cutter assemblies on each of the cutter arms is one.
[0016] 优选的, 所述的传感器为光电传感器。  [0016] Preferably, the sensor is a photoelectric sensor.
[0017] 其中, 所述的削面刀的刀口呈类似凹槽型。  [0017] wherein the blade of the facet knife has a groove-like shape.
[0018] 一种采用如上任意一项所述的智能机器人旋转削面机构的削面方法, 其包括以 下步骤:  [0018] A method of shaving a surface of an intelligent robot rotary shaving mechanism according to any of the preceding claims, comprising the steps of:
[0019] 第一步、 将成型的面坯放入面框组件的面框中;  [0019] The first step is to insert the formed dough into the face frame of the face frame assembly;
[0020] 第二步、 启动驱动装置, 驱动削面刀组件沿定轴为中心旋转;  [0020] The second step, starting the driving device, driving the shaving cutter assembly to rotate around the fixed axis;
[0021] 第三步、 待削面刀旋转至匀速后, 驱动面框沿定轴的轴向移动, 当面框移动到 削面刀的左侧或右侧边缘时, 驱动面框沿定轴的径向开始上升一次; ;  [0021] In the third step, after the surface cutter is rotated to a constant speed, the driving surface frame moves along the axial direction of the fixed axis, and when the surface frame moves to the left or right edge of the shaving cutter, the radial direction of the driving surface frame along the fixed axis Start to rise once; ;
[0022] 第四步、 重复驱动面框按照, 沿定轴的轴向向左或向右移动一层后, 再径向上 升一层的模式运行, 直至削面完成。  [0022] In the fourth step, the repeated driving surface frame is moved to the left or right direction along the axial direction of the fixed axis, and then moved up one layer in the radial direction until the surface is finished.
[0023] 与现有技术相比, 本申请的智能机器人旋转削面机构及其削面方法, 其采用旋 转式削面方式, 由于削面刀同一方向匀速运行, 易于控制, 运行稳定, 且削面 效率大大提高, 同时也降低了机械噪声和机械磨损, 削面品质稳定, 均匀。  Compared with the prior art, the intelligent robot rotary shaving mechanism and the shaving method thereof of the present application adopt a rotary shaving method. Since the shaving cutter runs at the same speed in the same direction, it is easy to control, the operation is stable, and the shaving efficiency is greatly improved. At the same time, mechanical noise and mechanical wear are also reduced, and the quality of the noodles is stable and uniform.
[0024] 附图说明  BRIEF DESCRIPTION OF THE DRAWINGS
[0025] 图 1为本申请的智能机器人旋转削面机构的整体结构示意图。  1 is a schematic view showing the overall structure of an intelligent robot rotary shaving mechanism of the present application.
[0026] 图 2为本申请的智能机器人旋转削面机构的内部结构示意图。  2 is a schematic diagram of the internal structure of the intelligent robot rotary shaving mechanism of the present application.
[0027] 图 3为本申请的智能机器人旋转削面机构的削面刀组件与面框削面示意图。  [0027] FIG. 3 is a schematic diagram of a facet cutter assembly and a face frame of the intelligent robot rotary shaving mechanism of the present application.
[0028] 图 4为本申请的智能机器人旋转削面机构的转盘部分局部放大结构示意图。  4 is a partially enlarged schematic structural view of a turntable portion of the intelligent robot rotary shaving mechanism of the present application.
[0029] 图 5为本申请的智能机器人旋转削面机构的侧面剖视图。  5 is a side cross-sectional view of the intelligent robot rotary shaving mechanism of the present application.
[0030] 图 6为本申请的智能机器人旋转削面机构的侧面局部放大结构示意图。  6 is a partially enlarged structural view showing the side of the intelligent robot rotary shaving mechanism of the present application.
[0031] 具体实施方式  DETAILED DESCRIPTION
[0032] 以下参考附图, 对本申请予以进一步地详尽阐述。  [0032] The present application is further elaborated below with reference to the accompanying drawings.
[0033] 请参阅附图 1至附图 6 , 在本实施例中, 该智能机器人旋转削面机构, 其至少包 括: 机柜 1, 所述机柜 1内设有一定轴 5 , 所述定轴 5上设有转盘 61, 定轴 5与转盘 61之间还设有一轴承 41, 所述转盘 61上连接有至少一刀臂, 所述刀臂上设有至 少一削面刀组件 7。 请再次参阅附图 2, 更具体的, 所述机柜 1包括支撑底板 11, 以及由所述支撑底板 11上垂直延伸出的一对支撑侧壁 12, 所述定轴 5横向连接于 所述支撑侧壁 12上。 其中, 所述的机柜 1上还设有驱动装置 3以及将所述驱动装 置 3旋转动力传送至转盘 61的传动带 4, 所述定轴 5上还连接有一与所述削面刀组 件 7对应的面框组件 8 ; 所述驱动装置 3带动刀臂旋转同步带动削面刀组件 7转动 以对面框组件 8上的面坯 10进行旋转削面。 [0033] Referring to FIG. 1 to FIG. 6, in this embodiment, the intelligent robot rotary shaving mechanism includes at least The housing 1 is provided with a certain shaft 5, and the fixed shaft 5 is provided with a turntable 61. A bearing 41 is further disposed between the fixed shaft 5 and the turntable 61, and at least one knife is connected to the turntable 61. An arm, at least one face knife assembly 7 is disposed on the arm. Referring to FIG. 2 again, more specifically, the cabinet 1 includes a supporting bottom plate 11 and a pair of supporting side walls 12 extending perpendicularly from the supporting bottom plate 11, the fixed shaft 5 being laterally connected to the support On the side wall 12. The cabinet 1 is further provided with a driving device 3 and a driving belt 4 for transmitting the rotational power of the driving device 3 to the turntable 61. The fixed shaft 5 is further connected with a surface corresponding to the shaving cutter assembly 7. The frame assembly 8 is driven by the driving device 3 to rotate the blade arm to rotate the facet blade assembly 7 to rotate the face blank 10 on the face frame assembly 8.
[0034] 请再次参阅附图 2, 所述的刀臂包括: 连接于转盘 61上的连接臂 62, 以及由所 述连接臂 62端部横向延伸出的刀杆 63 , 削面刀组件 7固定连接于刀杆 63上, 在本 实施例中, 削面刀组件 7设有一组, 于其他实施例中, 可以设有多组削面刀组件 7于刀杆 63上, 以便一次切削多个面条, 进一步提高效率。  [0034] Referring again to FIG. 2, the arm includes: a connecting arm 62 connected to the turntable 61, and a cutter bar 63 extending laterally from the end of the connecting arm 62. The facet knife assembly 7 is fixedly connected. On the arbor 63, in the present embodiment, the razor blade assembly 7 is provided with one set. In other embodiments, a plurality of sets of razor blade assemblies 7 may be provided on the arbor 63 to cut a plurality of noodles at a time, further improving effectiveness.
[0035] 请再次参阅附图 3 , 所述的削面刀组件 7包括: 抛面板 71, 以及连接于所述抛面 板 71的削面刀 72。 其中, 所述的削面刀 72的刀口呈类似凹槽型, 具体的, 该削 面刀 72包括主刀刃, 第一侧刀刃和第二侧刀刃, 第一侧刀刃和第二侧刀刃分别 倾斜地连接于主刀刃的相对的两侧, 且呈相互对称, 第一侧刀刃和第二侧刀刃 与主刀刃之间分别形成角度相同的钝角。 其中, 需要说明的是, 可以通过调节 抛面板 71、 面框 81的角度和调整驱动装置 3驱动转盘 61的旋转速度, 以实现对面 条抛出高度、 距离和落点的控制。  Referring again to FIG. 3, the facet knife assembly 7 includes: a throwing panel 71, and a shaving cutter 72 coupled to the throwing plate 71. Wherein, the blade of the facet blade 72 has a groove-like shape. Specifically, the facet blade 72 includes a main blade, a first blade edge and a second blade edge, and the first blade edge and the second blade edge are respectively connected obliquely. On opposite sides of the main cutting edge, and symmetrical to each other, the first side cutting edge and the second side cutting edge and the main cutting edge respectively form an obtuse angle of the same angle. It should be noted that the rotation speed of the turntable 61 can be controlled by adjusting the angles of the throwing panel 71 and the face frame 81 and adjusting the driving device 3 to realize the control of the throwing height, the distance and the falling point of the strip.
[0036] 请再次参阅附图 4, 所述的转盘 61上还设有用于转动计数和定位的检测机构 9 , 该检测机构 9包括与所述刀臂的连接臂 62对应的感应片 91, 也即每个连接臂 62的 下方均设有一感应片 91, 所述定轴 5设有用于检测所述感应片 91通过的传感器 92 。 优选的, 所述的传感器 92为光电传感器。 于其他实施例中, 该检测机构 9可以 采用其他传感器用于旋转计数和定位检测。 该检测机构用于检测削面刀组件 7对 初始削面位置进行检测定位以及控制停、 启机位置。  [0036] Referring again to FIG. 4, the turntable 61 is further provided with a detecting mechanism 9 for rotating counting and positioning, and the detecting mechanism 9 includes an inductive piece 91 corresponding to the connecting arm 62 of the arm, also That is, an inductive piece 91 is disposed under each connecting arm 62, and the fixed shaft 5 is provided with a sensor 92 for detecting the passage of the sensing piece 91. Preferably, the sensor 92 is a photoelectric sensor. In other embodiments, the detection mechanism 9 can employ other sensors for rotational counting and position detection. The detecting mechanism is used for detecting the positioning and positioning of the initial shaving position by the shaving cutter assembly 7 and controlling the stopping and starting positions.
[0037] 请再次参阅附图 2, 所述的面框组件 8包括: 用于盛装面坯的面框 81, 以及用于 驱动面框 81沿定轴 5的轴向、 径向移动的驱动机构 (图中未示出) , 该驱动机构 包括横向驱动装置和纵向驱动装置, 以实现分别驱动面框 81横向往复移动以及 面框 81的底壁纵向升降移动, 面框 81的轴向和径向移动配合旋转的削面刀组件 实现对面坯的逐一削面。 [0037] Referring again to FIG. 2, the face frame assembly 8 includes: a face frame 81 for holding a dough blank, and a driving mechanism for driving the face frame 81 to move axially and radially along the fixed axis 5. (not shown), the drive mechanism includes a lateral drive and a longitudinal drive to effect lateral reciprocation of the drive face frame 81, respectively The bottom wall of the face frame 81 is vertically moved up and down, and the axial and radial movement of the face frame 81 cooperates with the rotating facet blade assembly to effect the face-to-face cutting of the face blanks.
[0038] 更具体的, 所述的面框 81与定轴 5之间设有一连接件 84, 面框 81的底壁设有一 滑轨 82, 所述连接件 84上设有与所述滑轨 82对应的导轨 83 , 通过滑轨 82和导轨 8 3的配合, 可以实现面框 81的轴向稳定可靠的往复移动。  [0038] More specifically, a connecting member 84 is disposed between the face frame 81 and the fixed shaft 5. The bottom wall of the face frame 81 is provided with a sliding rail 82. The connecting member 84 is provided with the sliding rail. The corresponding guide rail 83 of the 82, by the cooperation of the slide rail 82 and the guide rail 83, can realize the axially stable and reliable reciprocating movement of the face frame 81.
[0039] 请再次参阅附图 1, 所述的机柜 1上还设有一机罩 2, 所述机罩 2上设有一出面口 21, 面条从削面刀 72处切削, 由抛面板 71抛出经出面口 21抛出。  Referring to FIG. 1 again, the cabinet 1 is further provided with a hood 2, and the hood 2 is provided with an exit opening 21, and the noodles are cut from the shaving cutter 72, and are thrown by the throwing panel 71. The exit port 21 is thrown.
[0040] 优选的, 为了兼顾削面效率和削面品质, 本实施例中, 所述转盘 61上连接的刀 臂的数目为三, 每个刀臂上的削面刀组件 7的数目为一。  [0040] Preferably, in order to balance the shaving efficiency and the shaving quality, in the embodiment, the number of the cutter arms connected to the turntable 61 is three, and the number of the face cutter assemblies 7 on each of the cutter arms is one.
[0041] 当然, 为了实现该旋转式削面机构的自动化运行, 还包括一控制电路板, 用于 控制驱动机构动作, 以完成全自动化削面工艺。  [0041] Of course, in order to realize the automatic operation of the rotary shaving mechanism, a control circuit board is also included for controlling the driving mechanism to complete the fully automated chamfering process.
[0042] 本实施例还公开了一种采用如上所述的智能机器人旋转削面机构的削面方法, 其包括以下步骤:  [0042] The embodiment further discloses a shaving method using the intelligent robot rotating shaving mechanism as described above, which comprises the following steps:
[0043] 第一步、 将成型的面坯放入面框组件的面框中;  [0043] The first step is to insert the formed dough into the face frame of the face frame assembly;
[0044] 第二步、 启动驱动装置, 驱动削面刀组件沿定轴为中心旋转;  [0044] The second step, starting the driving device, driving the shaving cutter assembly to rotate around the fixed axis;
[0045] 第三步、 待削面刀旋转至匀速后, 驱动面框沿定轴的轴向移动, 当面框移动到 削面刀的左侧或右侧边缘时, 驱动面框沿定轴的径向上升一次;  [0045] In the third step, after the knife to be ground is rotated to a constant speed, the driving surface frame moves along the axial direction of the fixed axis, and when the surface frame moves to the left or right edge of the shaving cutter, the radial direction of the driving surface frame along the fixed axis Rise once;
[0046] 第四步、 重复驱动面框按照, 沿定轴的轴向移动至左侧或右侧边缘后, 再径向 上升一层的模式运行, 直至削面完成。 也即, 面框驱动面坯先横向移动至面坯 另一端, 然后, 驱动面坯上升一定距离, 再次横向切削一次, 以此类推, 直至 削面完成。  [0046] In the fourth step, the repeated driving surface frame is moved in the axial direction of the fixed axis to the left or right edge, and then runs in a mode of increasing the radial direction until the surface is finished. That is, the face frame driving face blank is first moved laterally to the other end of the dough blank, and then the face blank is driven up a certain distance, once again laterally, and so on, until the face is finished.
[0047] 与现有技术相比, 本实施例的智能机器人旋转削面机构及其削面方法, 其采用 旋转式削面方式, 相对于往复式机械手削面方式, 由于削面刀同一方向匀速运 行, 易于控制和调整, 运行稳定可靠, 且削面效率大大提高, 同时也降低了诸 如往复式机械手削面时的机械噪声和机械磨损, 削面品质稳定, 均匀。  Compared with the prior art, the intelligent robot rotary shaving mechanism and the shaving method thereof of the embodiment adopt a rotary shaving method, and the reciprocating robot shaving method is easy to control because the shaving cutter runs at a constant speed in the same direction. The adjustment is stable and reliable, and the cutting efficiency is greatly improved. At the same time, the mechanical noise and mechanical wear such as the reciprocating robot face are reduced, and the quality of the noodles is stable and uniform.
[0048] 上述内容, 仅为本申请的较佳实施例, 并非用于限制本申请的实施方案, 本领 域普通技术人员根据本申请的主要构思和精神, 可以十分方便地进行相应的变 通或修改, 故本申请的保护范围应以权利要求书所要求的保护范围为准。 发明概述 技术问题 问题的解决方案 发明的有益效果 The above content is only a preferred embodiment of the present application, and is not intended to limit the embodiments of the present application. Those skilled in the art can make corresponding modifications or modifications in accordance with the main concepts and spirit of the present application. Therefore, the scope of protection of this application shall be subject to the scope of protection required by the claims. SUMMARY OF THE INVENTION Technical Problem Solution Advantages of the Invention

Claims

权利要求书 Claim
[权利要求 1] 一种智能机器人旋转削面机构, 其特征在于, 包括: 机柜, 所述机柜 内设有一定轴, 所述定轴上设有转盘, 所述转盘上连接有至少一刀臂 , 所述刀臂上设有至少一削面刀组件; 其中, 所述的机柜上还设有驱 动装置以及将所述驱动装置旋转动力传送至转盘的传动带, 所述定轴 上还连接有一与所述削面刀组件对应的面框组件; 所述驱动装置带动 刀臂旋转同步带动削面刀组件转动以对面框组件上的面坯进行旋转削 面。  [Claim 1] An intelligent robot rotary shaving mechanism, comprising: a cabinet, a certain shaft is disposed in the cabinet, a rotating wheel is disposed on the fixed shaft, and at least one arm is connected to the rotating plate The blade arm is provided with at least one facet blade assembly; wherein the cabinet is further provided with a driving device and a transmission belt for transmitting the rotational power of the driving device to the turntable, and the fixed shaft is further connected with the noodle The face frame assembly corresponding to the knife assembly; the driving device drives the blade arm to rotate synchronously to rotate the face knife assembly to rotate the face blank on the face frame assembly.
[权利要求 2] 如权利要求 1所述的智能机器人旋转削面机构, 其特征在于, 所述的 削面刀组件包括: 抛面板, 以及连接于所述抛面板的削面刀。  [Claim 2] The intelligent robot rotary shaving mechanism according to claim 1, wherein the shaving cutter assembly comprises: a polishing panel, and a shaving cutter coupled to the polishing panel.
[权利要求 3] 如权利要求 1所述的智能机器人旋转削面机构, 其特征在于, 所述的 转盘上还设有与所述刀臂对应的感应片, 所述定轴设有用于检测所述 感应片通过的传感器。 [Claim 3] The intelligent robot rotary shaving mechanism according to claim 1, wherein the turntable further has an inductive sheet corresponding to the arm, and the fixed shaft is provided for detecting the The sensor through which the sensor is passed.
[权利要求 4] 如权利要求 1所述的智能机器人旋转削面机构, 其特征在于, 所述的 面框组件包括: 用于盛装面坯的面框, 以及用于驱动面框沿定轴轴向 、 径向移动的驱动机构。  [Claim 4] The intelligent robot rotary shaving mechanism according to claim 1, wherein the face frame assembly comprises: a face frame for holding the dough blank, and for driving the face frame along the fixed axis axial direction Radial moving drive mechanism.
[权利要求 5] 如权利要求 4所述的智能机器人旋转削面机构, 其特征在于, 所述的 面框与定轴之间设有一连接件, 面框的底壁设有一滑轨, 所述连接件 上设有与所述滑轨对应的导轨。  [Claim 5] The intelligent robot rotary shaving mechanism according to claim 4, wherein a connecting member is disposed between the face frame and the fixed shaft, and a bottom rail of the surface frame is provided with a sliding rail, and the connecting A guide rail corresponding to the slide rail is provided on the piece.
[权利要求 6] 如权利要求 1所述的智能机器人旋转削面机构, 其特征在于, 所述的 机柜上还设有一机罩, 所述机罩上设有一出面口。  [Claim 6] The intelligent robot rotary shaving mechanism according to claim 1, wherein the cabinet is further provided with a hood, and the hood is provided with an exit port.
[权利要求 7] 如权利要求 1所述的智能机器人旋转削面机构, 其特征在于, 所述转 盘上连接的刀臂的数目为三, 每个刀臂上的削面刀组件的数目为一。 [Claim 7] The intelligent robot rotary shaving mechanism according to claim 1, wherein the number of the cutter arms connected to the rotary disk is three, and the number of the face cutter assemblies on each of the cutter arms is one.
[权利要求 8] 如权利要求 3所述的智能机器人旋转削面机构, 其特征在于, 所述的 传感器为光电传感器。 [Claim 8] The intelligent robot rotary shaving mechanism according to claim 3, wherein the sensor is a photoelectric sensor.
[权利要求 9] 一种采用如权利要求 1至 8任意一项所述的智能机器人旋转削面机构的 削面方法, 其特征在于, 包括以下步骤: [Claim 9] A method of shaving a surface of an intelligent robot rotary shaving mechanism according to any one of claims 1 to 8, comprising the steps of:
第一步、 将成型的面坯放入面框组件的面框中; 第二步、 启动驱动装置, 驱动削面刀组件沿定轴为中心旋转; 第三步、 待削面刀旋转至匀速后, 驱动面框沿定轴的轴向移动, 当面 框移动到削面刀的左侧或右侧边缘时, 驱动面框沿定轴的径向上升一 次; In the first step, the formed blank is placed in the face frame of the face frame assembly; The second step is to start the driving device, and the driving facet knife assembly rotates around the fixed axis; the third step, after the knife to be grounded rotates to a constant speed, the driving surface frame moves along the axial direction of the fixed axis, and when the face frame moves to the left of the shaving knife At the side or right edge, the drive face frame rises once in the radial direction of the fixed axis;
第四步、 重复驱动面框按照, 沿定轴的轴向移动一层后, 再径向上升 一次的模式运行, 直至削面完成。 In the fourth step, the repeated driving surface frame is moved in the axial direction of the fixed axis, and then the mode is run once in the radial direction until the cutting surface is completed.
PCT/CN2018/100452 2018-02-11 2018-08-14 Intelligent robot rotary noodle cutting mechanism and noodle cutting method therefor WO2019153694A1 (en)

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CN108184941B (en) * 2018-02-11 2020-04-17 深圳爱她他智能餐饮技术有限公司 Intelligent robot rotary noodle slicing mechanism and noodle slicing method thereof

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