A grabbing system for alum-free vermicelli

Abstract

The present invention relates to the technical field of manipulators, and specifically to a grabbing system for alum-free vermicelli, comprising a conveying plate and a lifting plate, a plurality of placing cylinders are arranged on the conveying plate, a plurality of clamping mechanisms are arranged on the lifting plate, each clamping mechanism corresponds to each placing cylinder, the clamping mechanism comprises at least two clamping fingers, both sides of the clamping fingers are respectively hinged with flip plates, the two flipping plates are connected by a connecting plate, a first guide groove is arranged on the placing cylinder, a limited position mechanism is arranged on the clamping finger, a trigger mechanism is arranged between the first guide groove and the clamping finger, and the side of the connecting plate close to the first guide groove is an inclined surface; avoid using the traditional cross-rod insertion grabbing method, which is easy to cause the alum-free vermicelli to break during the extraction process. This will not only reduce the integrity of the product, but also increase the dust and debris problems in the subsequent conveying and packaging process, affecting the production efficiency and product quality.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a grabbing system for alum-free vermicelli. Background Art

[0002] The grabbing device for vermicelli is the core equipment on the powder product packaging line. Its main function is to take out the dried and formed vermicelli cake material from the storage container and evenly and continuously put it on the downstream conveyor belt, and finally send it to the packaging machine for packaging. The automated packaging process for powder products will first put the wet raw materials into the storage container, and the raw materials in the storage container will be heated and dried by the dryer to form hard blocks or cakes. The grabbing device grabs the dried and formed cake-shaped vermicelli and puts it on the conveyor, which then transports it to the packaging machine for packaging.

[0003] The grabbing device in the prior art uses two crossed rods inserted into the pancake-shaped vermicelli, so that it can fork the vermicelli and move it to the conveyor. However, since the alum-free vermicelli does not contain any coagulant or reinforcing agent, its structure will be looser during the drying process, so it will be more fragile than the vermicelli with alum. If the traditional cross-rod insertion grabbing method is adopted, it is easy to cause the alum-free vermicelli to break during the extraction process. This will not only reduce the integrity of the product, but also increase the dust and debris problems in the subsequent transportation and packaging process, affecting production efficiency and product quality. Summary of the invention

[0004] The present invention aims to provide a grabbing system for alum-free vermicelli to solve the above-mentioned problems.

[0005] The present invention is achieved through the following technical solutions:

[0006] A grabbing system for alum-free vermicelli, comprising a conveying plate and a lifting plate, wherein a plurality of placing cylinders are arranged on the conveying plate, and a plurality of clamping mechanisms are arranged on the lifting plate, wherein each clamping mechanism corresponds to each placing cylinder, and the clamping mechanism comprises at least two clamping fingers, and flip plates are respectively hinged on both sides of the clamping fingers, and the two flip plates are connected by a connecting plate, a first guide groove is arranged on the placing cylinder, a limit mechanism is arranged on the clamping finger, a trigger mechanism is arranged between the first guide groove and the clamping finger, and a side of the connecting plate close to the first guide groove is an inclined surface;

[0007] In the initial state, the connecting plate and the clamping fingers are limited by the limiting mechanism, so that the clamping fingers are at a right angle or an obtuse angle to the connecting plate, and the clamping fingers move downward along the position of the first guide groove with the connecting plate. During the downward movement, the trigger mechanism releases the limiting state of the connecting plate and the clamping fingers, so that the connecting plate and the clamping fingers are located in the same vertical direction. After the connecting plate contacts the bottom wall of the first guide groove, the connecting plate flips over to be limited again by the limiting mechanism.

[0008] Furthermore, the limiting mechanism includes two shells arranged on the clamping fingers, a through hole is opened on the shell, an elastic part is arranged in the shell, the elastic part is connected to the limiting cylinder, the limiting cylinder moves in the through hole, and a limiting hole cooperating with the limiting cylinder is arranged on the flip plate, and an unlocking component is also arranged in the shell. When the connecting plate moves downward along the position of the first guide groove, the trigger mechanism triggers the unlocking component to drive the limiting cylinder to move toward the direction of the elastic part.

[0009] Furthermore, the unlocking component includes a guide cylinder with open ends arranged in the shell body, the limiting cylinder is partially slidably arranged in the guide cylinder, an outer sleeve is fixedly arranged on the shell body, an inner sleeve is sleeved in the outer sleeve, the guide cylinder is located in the outer sleeve, the elastic member is arranged on the inner wall of the inner sleeve, and the inner wall of the guide cylinder is relatively provided with a first mounting hole, and second mounting holes are respectively opened on both sides of the limiting cylinder, and the center lines of the two second mounting holes are not on the same straight line, and the two ends of the moving rod are respectively movable through the two second mounting holes and the first mounting hole and then extend outward, and fixing blocks are arranged on the opposite side walls of the inner sleeve, and each fixing block is arranged with a sloped surface on one side facing the first mounting hole, and a connecting piece matching the sloped surface is arranged at the extending end of the moving rod, and when the trigger mechanism triggers the inner sleeve to move in the direction of the through hole, the extrusion between the connecting piece and the slope causes the limiting cylinder to move in the direction of the elastic member.

[0010] Furthermore, the trigger mechanism includes a groove connected to the outside world on one side of the clamping finger close to the inner wall of the first guide groove, and two trigger components are also arranged in the clamping finger, and the two trigger components are respectively located on both sides of the groove. The trigger component includes a cavity opened in the clamping finger, a first through hole connected to the groove is opened on the inner wall of the cavity, a second through hole is opened on the shell, and a third through hole connected to the second through hole is also opened on the inner wall of the cavity. A first connecting rod is arranged in the cavity, one end of the first connecting rod is connected to the first wedge block, and the other end of the first connecting rod is connected to the second connecting rod. The second connecting rod is movable through the second through hole and the third through hole in turn and then connected to the inner sleeve, the second connecting rod is connected to the inner wall of the cavity through a first spring, and a part of the first wedge block is outside the first through hole, and a trigger block matching the two first wedge blocks is arranged in the first guide groove.

[0011] Furthermore, the bottom of the placing tube is provided with first guide grooves whose number is equal to the second guide grooves, and the first guide grooves are connected to the second guide grooves.

[0012] Furthermore, the connecting plate is an arc-shaped plate.

[0013] Furthermore, a telescopic plate is slidably arranged in the second guide groove.

[0014] Furthermore, the connecting member may be a second wedge block matched with the inclined surface or a sphere in contact with the inclined surface.

[0015] Furthermore, a limiting plate is provided on the limiting cylinder, and the limiting plate is located outside the guide cylinder.

[0016] Furthermore, the trigger block is arranged at the upper end of the guide groove.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] The present application causes the clamping finger to enter the first guide groove of the placing tube, so that the connecting plate on the clamping finger is flipped into the second guide groove. The contact between the inclined surface on the connecting plate and the bottom wall of the first guide groove presents a guiding flipping effect. The limiting hole on the flipping plate is flipped to cooperate with the limiting tube on the shell, so that the flipping plate can be limited, and the angle between the connecting plate and the clamping finger is a right angle or an obtuse angle. After the lifting plate rises, the connecting plate on the clamping finger can lift the powder cake, avoiding the use of two crossed rods in the prior art to insert into the cake-shaped vermicelli, which causes the breakage rate in the process of making vermicelli without alum. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the assembly structure of the clamping finger and the connecting plate of the present invention;

[0022] Figure 3 is a structural schematic diagram of the first guide groove of the present invention;

[0023] Figure 4 It is a schematic diagram of the internal structure of the clamping finger of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the groove of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the cooperation between the two first wedge-shaped blocks and the trigger block of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the trigger block of the present invention being located in the first guide groove;

[0027] Figure 8 It is a schematic diagram of the specific internal structure of the housing of the present invention.

[0028] Marks and corresponding parts names in the attached drawings:

[0029] 1-placing cylinder; 2-gripping mechanism; 3-gripping finger; 4-flipping plate; 5-connecting plate; 6-first guide groove; 7-housing; 8-through hole; 9-compression spring; 10-limiting cylinder; 11-guide cylinder; 12-inner sleeve; 13-outer sleeve; 14-moving rod; 15-fixed block; 16-connecting piece; 17-groove; 18-cavity; 19-first through hole; 20-first connecting rod; 21-first wedge block; 22-second connecting rod; 23-trigger block; 24-second guide groove; 25-limiting plate; 26-first mounting hole; 27-second mounting hole. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0031] Embodiment 1:

[0032] like Figures 1 to 8 As shown, a grabbing system for alum-free vermicelli includes a conveying plate and a lifting plate, a plurality of placing cylinders 1 are arranged on the conveying plate, a plurality of clamping mechanisms 2 are arranged on the lifting plate, each clamping mechanism 2 corresponds to each placing cylinder 1, the clamping mechanism 2 includes at least two clamping fingers 3, both sides of the clamping fingers 3 are respectively hinged with flip plates 4, the two flip plates 4 are connected by a connecting plate 5, a first guide groove 6 is arranged on the placing cylinder 1, a limiting mechanism is arranged on the clamping fingers 3, a trigger mechanism is arranged in the first guide groove 6, and a side of the connecting plate 5 close to the first guide groove 6 is an inclined surface;

[0033] In the initial state, the connecting plate 5 and the clamping finger 3 are limited by the limiting mechanism, so that the clamping finger 3 and the connecting plate 5 are at a right angle or an obtuse angle, and the clamping finger 3 moves downward along the position of the first guide groove 6 with the connecting plate 5. During the downward movement, the trigger mechanism releases the limiting state of the connecting plate 5 and the clamping finger 3, so that the connecting plate 5 and the clamping finger 3 are located in the same vertical direction. After the connecting plate 5 contacts the bottom wall of the first guide groove 6, the connecting plate 5 flips over to be limited again by the limiting mechanism.

[0034] In the prior art, a plurality of placing tubes 1 are arranged on the conveying plate, and the plurality of placing tubes 1 are connected to each other. The dried powder cakes are placed in the placing tubes 1. The clamping fingers 3 in the present application are preferably selected to be four clamping fingers 3. The reason for selecting four clamping fingers 3 is that the powder cakes can be lifted in all directions. Four corresponding first guide grooves 6 are arranged in the placing tube 1. The clamping fingers 3 and the connecting plate 5 in the initial state are limited by the limiting mechanism, so that there is a right angle or an obtuse angle between them. When the lifting plate drives the clamping fingers 3 to move from top to bottom along the first guide groove 6, the lifting plate mentioned here is lifted and lowered by the cylinder driving the lifting plate, and the cylinder and the lifting plate are also moved by the horizontally moving object. This is the prior art and will not be described in detail. The trigger mechanism of the first guide groove 6 unlocks the limiting mechanism of the clamping fingers 3 during the downward movement of the clamping fingers 3. At this time, the connecting plate 5 is flipped due to the action of gravity and flipped to the same vertical direction as the clamping fingers 3. Please refer to the following figure. Figure 2 As shown, the clamping finger 3 continues to move downward with the connecting plate 5 until the inclined surface of the connecting plate 5 contacts the bottom of the first guide groove 6. After the inclined surface is squeezed, the connecting plate 5 begins to flip until it is flipped to be limited by the limiting mechanism. The front section of the connecting plate 5 that contacts the powder cake can be set to a thinner plate body. Since the specific position of the powder cake is unclear, a part of it may be close to the inner wall of the placement tube 1, so a thinner plate body is set. When it flips, it can be pried up from the bottom of the powder cake. If the plate body is set to have thickness, it may contact the side of the powder cake when flipping, rather than contacting from the bottom of the powder cake. Such contact will cause the powder cake to be squeezed and there is a certain risk of breaking. When the connecting plate 5 contacts the powder cake and is located below the powder cake, the powder cake can be lifted and then lifted by the lifting plate to move the powder cake to the conveyor belt of the packaging equipment for the next step. When the powder cake is moved to the conveyor belt, the four clamping fingers 3 on the manipulator here can move horizontally outward, that is, move away from each other. The four-finger linear clamp in the prior art can be referred to to place the powder cake on the conveyor belt. This arrangement lifts the powder cake and moves it to the conveyor belt of the packaging equipment. Compared with the prior art which uses two crossed rods to insert into the cake-shaped vermicelli, it can fork the vermicelli and move it to the conveyor, thus reducing the breakage rate of the vermicelli without alum.

[0035] It should be noted that the limiting mechanism includes two shells 7 arranged on the clamping fingers 3, a through hole 8 is opened on the shell 7, an elastic member is arranged in the shell 7, the elastic member is connected to the limiting cylinder 10, the limiting cylinder 10 moves in the through hole 8, and a limiting hole cooperating with the limiting cylinder 10 is arranged on the flip plate 4, and an unlocking component is also arranged in the shell 7. When the connecting plate 5 moves downward along the first guide groove 6, the trigger mechanism triggers the unlocking component to drive the limiting cylinder 10 to move toward the elastic member.

[0036] In the present application, during the downward movement of the connecting plate 5, it touches the trigger mechanism, and the trigger mechanism triggers the unlocking component to drive the limiting cylinder 10 to move toward the elastic member. At this time, the limiting cylinder 10 is released from the cooperation with the limiting hole, that is, the cooperation between the limiting cylinder 10 and the limiting hole between the shell 7 and the flip plate 4 is released, and the flip plate 4 is not limited by the limiting cylinder 10 itself. Due to the connection between the flip plate 4 and the connecting plate 5, the flip plate 4 and the connecting plate 5 are flipped downward by their own gravity, so that the connecting plate 5 can contact the bottom of the first guide groove 6 to produce another flip.

[0037] It should be noted that the unlocking component includes a guide cylinder 11 with open ends arranged in the shell 7, the limiting cylinder 10 is partially slidably arranged in the guide cylinder 11, an outer sleeve 13 is fixedly arranged on the shell 7, an inner sleeve 12 is sleeved in the outer sleeve 13, the guide cylinder 11 is located in the outer sleeve 13, the elastic member is arranged on the inner wall of the inner sleeve 12, and the inner wall of the guide cylinder 11 is relatively provided with a first mounting hole 26, and second mounting holes 27 are respectively opened on both sides of the limiting cylinder 10, and the center lines of the two second mounting holes 27 are not on the same straight line, and the two first mounting holes 26 are aligned, which means that the two first mounting holes The center lines of the two second mounting holes 26 are on the same straight line, but the center lines of the two second mounting holes 27 are not on the same straight line. The two ends of the moving rod 14 are respectively movable through the two second mounting holes 27 and the first mounting hole 26 and then extend outward. Fixed blocks 15 are provided on the opposite side walls of the inner sleeve 12. The side of each fixed block 15 facing the first mounting hole 26 is set as an inclined surface. The extending end of the moving rod 14 is provided with a connecting piece 16 matching the inclined surface. When the trigger mechanism triggers the inner sleeve 12 to move toward the through hole 8, the extrusion between the connecting piece 16 and the inclined surface causes the limiting cylinder 10 to move toward the elastic member.

[0038] When the trigger mechanism in the present application drives the inner sleeve 12 to move toward the through hole 8, the elastic member here is preferably set as a compression spring 9. Since the two second mounting holes 27 are not on the same center line, it can be seen that the two second mounting holes 27 are staggered. The two ends of the moving rod 14 are respectively located in the two second mounting holes 27. Therefore, the moving rod 14 is in an inclined state instead of a horizontal state, just like a tilted lever, which means that there is a higher end and a lower end on the moving rod 14. The higher end is the end with a longer straight-line distance from the through hole 8, and the lower end is the end with a longer straight-line distance from the through hole 8. The end with a shorter straight-line distance, as mentioned above, the inclined surfaces set on the two fixed blocks 15, the fixed blocks 15 can be preferably set as right-angle trapezoidal blocks, as shown in the figure, wherein the cross-sectional area of ​​the fixed block 15 increases from top to bottom, and the other fixed block 15 decreases from top to bottom. Such a setting can be when the inner sleeve 12 moves toward the through hole 8, the cross-sectional area of ​​one of the fixed blocks 15 of the inner sleeve 12 increases from top to bottom, and the moving rod 14 will be moved toward the direction of the other fixed block 15 through the extrusion connector 16, and the cross-sectional area of ​​the other fixed block 15 decreases from top to bottom, which can give the moving rod 14 space to move. That is to say, when the inner sleeve 12 moves toward the through hole 8, one fixed block 15 applies pressure to the moving rod 14, and the other fixed block 15 makes room for the moving rod 14 to move, and the cooperation between the inclined surfaces of the two fixed blocks 15 can allow the moving rod 14 to move. The movement of the moving rod 14 can drive the limiting cylinder 10 to move in the guide cylinder 11. As mentioned above, the elastic member is the compression spring 9. Therefore, when the inner sleeve 12 moves toward the compression spring 9, the end of the limiting cylinder 10 retracts from the outside of the through hole 8 to the inside of the through hole 8. After the higher end of the moving rod 14 gradually enters the second mounting hole 27, the moving rod 14 drives the limiting cylinder 10 to move toward the compression spring 9. Therefore, when the inner sleeve 12 moves toward the through hole 8, the limiting cylinder 10 will be driven by the moving rod 14 to move toward the compression spring 9, so that the limiting cylinder 10 and the limiting hole on the flip plate 4 are disengaged. The second through hole 8 on the limiting cylinder 10 can be preferably set to be inclined, inclined toward the lower end of the moving rod 14.

[0039] It should be noted that the trigger mechanism includes a groove 17 connected to the outside world on one side of the clamping finger 3 close to the inner wall of the first guide groove 6, and two trigger components are also arranged in the clamping finger 3, and the two trigger components are respectively located on both sides of the groove 17. The trigger component includes a cavity 18 opened in the clamping finger 3, and a first through hole 19 connected to the groove 17 is opened on the inner wall of the cavity 18. A second through hole is opened on the shell 7, and a third through hole connected to the second through hole is also opened on the inner wall of the cavity 18. A first connecting rod 20 is arranged in the cavity 18, and one end of the first connecting rod 20 is connected to a first wedge block 21, and the other end of the first connecting rod 20 is connected to a second connecting rod 22. The second connecting rod 22 is connected to the inner sleeve 12 after movably passing through the second through hole and the third through hole in turn, and the second connecting rod 22 is connected to the inner sleeve 12. The second connecting rod 22 is connected to the inner wall of the cavity 18 through a first spring, and a part of the first wedge block 21 is outside the first through hole 19. A trigger block 23 cooperating with the two first wedge blocks 21 is arranged in the first guide groove 6.

[0040] The present application sets a trigger block 23, and the trigger block 23 is not limited to a specific shape. It is preferably set to an isosceles trapezoidal block. The inclined surfaces on both sides of the isosceles trapezoidal block cooperate with the inclined surfaces of the first wedge block 21. When the horizontally moving object drives the lifting plate to move to a specific position above the placement tube 1, the cylinder drives the lifting plate to descend, and the clamping finger 3 moves downward to align with the first guide groove 6, so that the trigger block 23 in the first guide groove 6 is located in the groove 17. When the trigger block 23 triggers the first wedge blocks 21 on both sides, the two first wedge blocks 21 are squeezed and drive the first connecting rod 20 to move. The first connecting rod 20 and the second connecting rod 22 are vertically connected, so it will also drive the second connecting rod 22 to move. The second connecting rod 22 drives the inner sleeve 12 to move toward the through hole 8, so that the limit between the shell 7 and the flip plate 4 is released.

[0041] It should be noted that the bottom of the placement tube 1 is provided with first guide grooves 6 equal in number to the second guide grooves 24, and the first guide grooves 6 are connected to the second guide grooves 24. In the present application, by providing the second guide grooves 24, when the connecting plate 5 contacts the bottom wall of the first guide grooves 6, the connecting plate 5 begins to flip, and during the flipping process, a part of the connecting plate 5 has entered the second guide grooves 24 instead of contacting the powder cake, thereby reducing the damage to the powder cake caused by contact with the powder cake during flipping. When the connecting plate 5 is completely flipped, it is limited by the limiting mechanism. At this time, the connecting plate 5 is also located below the powder cake, and is driven to rise by the lifting plate, and the powder cake is also lifted up and taken out of the placement tube 1.

[0042] It should be noted that the connecting plate 5 is an arc-shaped plate, which can better fit the bottom curved surface of the powder, reduce obvious corners, and avoid the corners from causing local squeezing or scratching of the fragile powder, thereby increasing the risk of breakage.

[0043] It should be noted that a telescopic plate is slidably arranged in the second guide groove 24. The telescopic plate is composed of a first plate body and a second plate body, both of which are hollow, and the second plate body is sleeved inside the first plate body, and the second plate body is connected to the inner wall of the first plate body through a second spring. During the turning process of the connecting plate 5, a part of the connecting plate 5 has entered the second guide groove 24, and pushed the second plate body to move toward the first plate body. There is a gap between the first plate body and the second plate body and the powder cake, and they do not directly contact the powder cake. Therefore, when the connecting plate 5 is completely limited, the lifting plate drives the clamping finger 3 to lift the powder cake. The purpose of setting the first plate body and the second plate body is to prevent the powder cake from entering the second guide groove 24. If there are too many powder cake crumbs in the second guide groove 24, it may affect the subsequent turning of the connecting plate 5.

[0044] It should be noted that the connecting member 16 may be a second wedge-shaped block matched with the inclined surface or a sphere in contact with the inclined surface.

[0045] It should be noted that a limiting plate 25 is provided on the limiting cylinder 10, and the limiting plate 25 is located outside the guide cylinder 11. When the inner sleeve 12 moves toward the through hole 8 with the compression spring 9, it is ensured that the movement amplitude of the limiting cylinder 10 is just enough to make it disengage from the limiting hole of the flip plate 4, and it will not move excessively to cause unnecessary mechanical load.

[0046] It should be noted that the trigger block 23 is arranged at the upper end of the guide groove, so as to avoid the trigger block 23 being arranged at the lower end of the guide groove, so that after the limit is released, there is no time to turn over again.

[0047] Embodiment 2:

[0048] On the basis of Example 1, another implementation method of Example 1 is also provided:

[0049] S1: receiving an instruction for grasping a target, driving the gripper finger 3 to move vertically downward;

[0050] S2: setting a threshold and determining the bending degree of the clamping finger 3;

[0051] S3: A first path and a second path are preset between the clamping finger 3 and the placing tube 1;

[0052] S4: when the clamping finger 3 moves on the first path, determining whether the bending degree of the clamping finger 3 at this time is a first threshold; when the clamping finger 3 moves on the second path, determining whether the bending degree of the clamping finger 3 at this time is a second threshold;

[0053] S5: If the bending degree of the clamping finger 3 on the first path is the second threshold, an alarm is issued; if the bending degree of the clamping finger 3 on the second path is the first threshold, an alarm is issued;

[0054] S6: Displaying the gripping finger 3 corresponding to the alarm information through a visual interface, and displaying a current bending degree state diagram of the gripping finger 3 that generates the alarm information on the visual interface.

[0055] The specific steps in step S1 are:

[0056] S1.1: planning a first moving trajectory and a second moving trajectory of the conveyor plate, the first moving trajectory is a trajectory that makes the clamping mechanism 2 located above the placing cylinder 1, and the second moving trajectory is a trajectory that makes the clamping mechanism 2 located above the conveyor belt of the packaging equipment;

[0057] S1.2: When the conveyor plate moves to the destination according to the first moving trajectory, an instruction to grab the target is received through the control system interface;

[0058] S1.4 sends a vertical downward movement instruction to the lifting plate;

[0059] The specific steps in step S2 are:

[0060] S2.1: Preset a first threshold (horizontal state) and a second threshold (tilted or vertical state) in the system;

[0061] S2.2: Use a high-precision angle sensor to measure the angle between the clamping finger 3 and the first guide groove 6 in real time;

[0062] S2.3: Establish a real-time data processing module to continuously compare the measured angle with the preset threshold.

[0063] S2.4: When the measured angle is equal to or close to the first threshold, the system determines that it is in a horizontal state;

[0064] S2.5: When the measured angle is equal to or close to the second threshold, the system determines that it is in a tilted or vertical state.

[0065] The specific steps in step S4 are:

[0066] S4.1: Start the path tracking module to record the position of the gripping finger 3 in real time;

[0067] S4.2: During the movement of the gripper finger 3, the data of the angle sensor is continuously acquired;

[0068] S4.3: when it is detected that the gripping finger 3 moves on the first path, the first threshold judgment logic is started;

[0069] S4.4: when it is detected that the gripping finger 3 moves on the second path, the second threshold judgment logic is started;

[0070] S4.5: Compare the current angle with the corresponding threshold using the real-time data processing module.

[0071] The specific steps in step S5 are:

[0072] S5.1: On the first path, if it is detected that the angle reaches the second threshold, the movement of the gripping finger 3 is stopped immediately, the sound and light alarm system is triggered, and abnormal status information is sent to the control center.

[0073] S5.2: On the second path, if it is detected that the angle reaches the first threshold, the same alarm process as S5.1 is executed.

[0074] S5.3: Set alarm buffer to avoid false alarms due to minor fluctuations.

[0075] The specific steps in step S6 are:

[0076] S6.1: Develop a graphical user interface (GUI) that updates in real time;

[0077] S6.2: Create a finger 3 status display area on the user interface;

[0078] S6.3 Design a dynamic graph that can reflect the bending degree of the clamping finger 3 in real time;

[0079] S6.4 When the alarm is triggered, the abnormal clamp finger 3 is highlighted on the interface;

[0080] S6.5 Use different colors or animation effects to distinguish between normal status and alarm status;

[0081] S6.6 Display the precise angle value and the corresponding status description on the interface, such as "horizontal" or "tilted" mentioned above;

[0082] S 6.7 Added history function, allowing operators to review previous status changes.

[0083] Through the above steps, the present application effectively improves the accuracy and safety of the operation of the clamping finger 3. The system can detect abnormalities in time when the clamping finger 3 is not bent normally, avoiding the situation where the clamping finger 3 bends in advance and may crush the alum-free vermicelli. By automatically judging the bending degree and movement path of the clamping finger 3, combined with the preset threshold and real-time data processing, the system realizes intelligent state monitoring without manual continuous supervision. At the same time, the application of the graphical user interface (GUI) enables the state of the clamping finger 3 to be intuitively displayed to the operator, and the dynamic graphics and real-time data display provide clear visual feedback. The interface uses different colors and animation effects, which not only improves the readability and intuitiveness of the information, but also helps the operator to quickly identify and deal with problems. This method of combining intelligent monitoring with visual display not only ensures the safety and efficiency of the production process, but also greatly improves the operability and user-friendliness of the system, and provides reliable technical guarantee for the production and processing of alum-free vermicelli. Compared with the same industry, this application has significantly improved in many aspects such as accuracy, reliability, intelligence and safety, and its comprehensive performance exceeds the existing technical level, providing a more efficient and safer solution for refined industrial production.

[0084] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A grabbing system for alum-free vermicelli, comprising a conveying plate and a lifting plate, wherein a plurality of placing cylinders (1) are arranged on the conveying plate, characterized in that: A plurality of clamping mechanisms (2) are arranged on the lifting plate, each clamping mechanism (2) corresponds to each placement cylinder (1), the clamping mechanism (2) comprises at least two clamping fingers (3), both sides of the clamping fingers (3) are respectively hinged with flip plates (4), the two flip plates (4) are connected by a connecting plate (5), a first guide groove (6) is arranged on the placement cylinder (1), a limiting mechanism is arranged on the clamping finger (3), a trigger mechanism is arranged between the first guide groove (6) and the clamping finger (3), and a side of the connecting plate (5) close to the first guide groove (6) is an inclined surface; in an initial state, the connecting plate (5) and the clamping finger (3) are limited by the limiting mechanism, so that the clamping finger (3) and the connecting plate (5) are at a right angle or an obtuse angle, and the clamping finger (3) is provided with a trigger mechanism between the first guide groove (6) and the clamping finger (3). The connecting plate (5) moves downward along the position of the first guide groove (6). During the downward movement, the trigger mechanism releases the limiting state of the connecting plate (5) and the clamping finger (3), so that the connecting plate (5) and the clamping finger (3) are located in the same vertical direction. After the connecting plate (5) contacts the bottom wall of the first guide groove (6), the connecting plate (5) flips over to limit the limit mechanism again, and the clamping finger (3) can move horizontally outward. The limiting mechanism includes two shells (7) arranged on the clamping finger (3), the shells (7) are provided with through holes (8), and an elastic member is arranged in the shell (7), the elastic member is connected to the limiting cylinder (10), the limiting cylinder (10) moves in the through hole (8), and a member matching the limiting cylinder (10) is arranged on the flip plate (4). The housing (7) is provided with an unlocking component. When the connecting plate (5) moves downward along the first guide groove (6), the trigger mechanism triggers the unlocking component to drive the limiting cylinder (10) to move in the direction of the elastic component. The unlocking component comprises a guide cylinder (11) with two ends open and arranged in the housing (7). A part of the limiting cylinder (10) is slidably arranged in the guide cylinder (11). An outer sleeve (13) is fixedly arranged on the housing (7). An inner sleeve (12) is sleeved in the outer sleeve (13). The guide cylinder (11) is located in the outer sleeve (13). The elastic component is arranged on the inner wall of the inner sleeve (12). The inner wall of the guide cylinder (11) is relatively provided with a first mounting hole (26). Second mounting holes (27) are respectively provided on both sides of the cylinder (10), and the center lines of the two second mounting holes (27) are not on the same straight line. The two ends of the moving rod (14) are respectively movable through the two second mounting holes (27) and the first mounting hole (26) and then extend outward. Fixed blocks (15) are provided on the opposite side walls of the inner sleeve (12), and a side of each fixed block (15) facing the first mounting hole (26) is provided with an inclined surface. The extended end of the moving rod (14) is provided with a connecting piece (16) matched with the inclined surface. When the trigger mechanism triggers the inner sleeve (12) to move in the direction of the through hole (8), the connecting piece (16) is squeezed with the inclined surface, so that the limiting cylinder (10) moves in the direction of the elastic member.The trigger mechanism comprises a groove (17) connected to the outside world on one side of the inner wall of the clamping finger (3) close to the first guide groove (6), and two trigger components are arranged in the clamping finger (3), and the two trigger components are respectively located on both sides of the groove (17). The trigger component comprises a cavity (18) opened in the clamping finger (3), a first through hole (19) connected to the groove (17) is opened on the inner wall of the cavity (18), a second through hole is opened on the shell (7), and a third through hole connected to the second through hole is opened on the inner wall of the cavity (18), and a first connecting rod (20) is arranged in the cavity (18), one end of the first connecting rod (20) is connected to the first wedge block (21), and the other end of the first connecting rod (20) is vertically connected to the first wedge block (21). A second connecting rod (22) is directly connected, and the second connecting rod (22) is movably passed through the second through hole and the third through hole in sequence and then connected to the inner sleeve (12). The second connecting rod (22) is connected to the inner wall of the cavity (18) through a first spring, and a part of the first wedge block (21) is outside the first through hole (19). A trigger block (23) matching with the two first wedge blocks (21) is arranged in the first guide groove (6); the bottom of the placement tube (1) is provided with first guide grooves (6) equal in number to the second guide grooves (24), and the first guide grooves (6) are connected with the second guide grooves (24); the connecting plate (5) is an arc-shaped plate; the connecting member (16) is arranged as a second wedge block matching with the inclined surface or a sphere contacting with the inclined surface. ; 2. A grabbing system for alum-free vermicelli according to claim 1, characterized in that: A telescopic plate is slidably arranged in the second guide groove (24).

3. A grabbing system for alum-free vermicelli according to claim 1, characterized in that: A limiting plate (25) is provided on the limiting cylinder (10), and the limiting plate (25) is located outside the guide cylinder (11).

4. A grabbing system for alum-free vermicelli according to claim 1, characterized in that: The trigger block (23) is arranged at the upper end of the guide groove.

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