PLC-based bean curd cutting machine and control method thereof

Abstract

The invention discloses a PLC-based bean curd cutting machine and a control method thereof, and relates to the technical field of food industrial processing and intelligent manufacturing equipment. The device mainly comprises a cutting device, a supporting device, a bearing rotating device, a sliding rack device and a movable knife rest device, the supporting device is composed of a support stand pipe and a bottom plate, and the four corners of the support stand pipe are fixedly connected with the bottom plate through angle steel; the load-bearing rotating device is composed of a load-bearing disc, a rotating shaft, a bottom bearing seat and a chassis stepping motor from top to bottom. The bearing disc is rotationally arranged in the middle of the bottom plate; wallboards of the sliding rack device are fixedly connected to the two sides of the bottom plate. The movable tool rest device is connected to the sliding rack device in a sliding mode. The cutting device is connected to the movable tool rest device in a sliding mode through a ball screw. The bean curd cutting machine can quickly and accurately cut bean curd blocks into required shapes and sizes through a control system, can greatly improve the production efficiency and reduce the labor cost, and is urgently needed equipment in the field.

Description

Technical Field

[0001] The present invention relates to the technical field of food industrial processing and intelligent manufacturing equipment, and in particular to a PLC-based tofu cutting machine and a control method thereof. Background Art

[0002] As a traditional healthy food, tofu has a long history and wide market demand. With the growing demand for tofu, tofu manufacturers are facing the challenge of improving production efficiency and product quality. In this context, automated tofu cutting equipment has gradually become the focus of industry attention. In order to improve production efficiency and ensure product quality, tofu production lines have gradually been mechanized and automated. However, the existing tofu cutting equipment still has many shortcomings in terms of precision, efficiency and ease of operation. The tofu cutting machines currently on the market mainly rely on fixed knives for cutting. These devices can meet the needs of small and medium-sized tofu processing plants to a certain extent, but their performance is relatively lacking in large-scale production environments. The cutting accuracy of existing equipment is insufficient, and it is difficult to meet the high requirements of the shape and size of tofu blocks; the cutting speed and continuous working capacity are limited, and cannot adapt to large-scale production; the operation is complicated and requires frequent manual adjustment and maintenance, which increases the cost of use and the difficulty of maintenance; the safety design of some equipment is not perfect, and there are certain operational safety hazards. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the existing tofu cutting equipment still has many deficiencies in terms of accuracy, efficiency and convenience of operation, and the safety design is not perfect. Therefore, the present invention aims to develop a tofu cutting machine, which is controlled by PLC, aims to improve the cutting efficiency and accuracy, simplify the operation process, enhance the safety of the equipment, and meet the needs of large-scale tofu production.

[0004] In order to solve the above technical problems, the present invention adopts the following technical scheme: it includes a cutting device, a supporting device, a load-bearing rotating device, a sliding frame device, and a movable tool holder device, wherein the supporting device is composed of a bracket vertical pipe and a base plate, and the four corners of the bracket vertical pipe are solidly connected to the base plate through angle steel; the load-bearing rotating device is composed of a load-bearing disc, a rotating shaft, a bottom bearing seat, and a chassis stepping motor from top to bottom; the load-bearing disc is rotatably arranged in the middle of the base plate; the wall panels of the sliding frame device are fixedly connected to both sides of the base plate; the movable tool holder device is slidably connected to the sliding frame device; and the cutting device is slidably connected to the movable tool holder device.

[0005] Preferably, the support riser is in the form of a quadrangular column and is fixedly connected to the base plate by screws through angle steel, and has a rectangular table-shaped structure; the base plate surface is also rectangular and has a circular hollow structure in the middle, and the two support risers under the long side of the base plate are fixedly connected by the support risers in a crossbeam type.

[0006] Preferably, the load-bearing rotating device is arranged and installed in the middle of the base plate, and the chassis stepper motor is fixedly connected to the middle and lower part of the base plate through the motor mounting plate; the bottom bearing seat is fixedly connected to the middle of the base plate through the circular hollow structure of the base plate, and the ball bearing is embedded in the bottom bearing seat; the load-bearing disc is rotatably connected to the ball bearing through a rotating shaft and is located at the upper part of the base plate. The load-bearing disc adopts four fan-shaped hollow structures, which are evenly distributed around the load-bearing disc, so that the inner side of the load-bearing disc is a cross structure, and the top of the cross structure of the load-bearing disc is connected to an L-shaped baffle; the clamping plate is connected to the L-shaped baffle in a pressing and tightening manner through a spring.

[0007] Preferably, the sliding frame device is composed of a wall panel, a guide rail, and a ball screw; the lower part of the wall panel is fixedly connected to the two sides of the short side of the base plate by a nut; the top of the wall panel is convex, and the lower part adopts a semicircular hollow design; the two guide rails are symmetrically fixedly installed on the concave parts on both sides of the top of the wall panel, and a screw support bearing seat is installed on the convex part of the top of the wall panel; a Z-shaped motor support frame is fixedly installed on the outer side of one wall panel; the ball screw is supported by the two screw bearing seats and is rotatably connected to the inner side thereof, one end of the ball screw is rotatably connected to the coupling through the end cover and the bearing, and the coupling is rotatably connected to stepper motor No. 2 through the Z-shaped motor support frame.

[0008] Preferably, a stepper motor No. 1 is fixedly installed in the middle of the upper baffle plate of the movable tool holder device, and pulley devices are installed on both sides, so that the movable tool holder device can slide left and right on the guide rail, and cylindrical slots are drilled at the same position on both sides of the lower baffle plate of the movable tool holder device and the upper baffle plates parallel to it, and the middle parts of the upper baffle plate and the lower baffle plate are connected by a rotation screw, and one end of the screw is rotationally connected to the stepper motor No. 1 through a coupling.

[0009] Preferably, the cutting device consists of a tool fixing frame and a tool, the two round legs at the top of the tool fixing frame are slidably connected through the lower baffle and the upper baffle in turn, the round legs are fixed by a support baffle, a lead screw nut is provided in the middle of the support baffle, the lead screw nut is slidably connected to the lead screw, and the tool is fixed by a pin at the tail of the tool fixing frame.

[0010] Preferably, the device is also equipped with an electric control system, including a power management system, a safety system, a sensor system, a human-machine interface (HMI), a main control (PLC), and a motor control unit. The power management system provides the power required by the entire electric control system; the safety system, the sensor system, and the human-machine interface (HMI) are connected to the main control (PLC), and the motor control unit is connected to the main control (PLC), and the main control (PLC) causes the chassis stepper motor, stepper motor No. 1, and stepper motor No. 2 to rotate through the motor control unit.

[0011] Based on the above technical concept, the present invention proposes a specific control process method for a tofu cutting machine, which is characterized by defining a variable is the ratio of the total displacement of the tool in the horizontal direction to the unit distance; D%d is defined as the remainder of the total displacement of the tool in the horizontal direction to its unit distance; n is defined as the number of cutting times of the tool; the specific control process method includes the following: S1, determine whether the tool is in the initial position, if not, control stepper motors 1 and 2 at the same time to restore the tool to the initial position; if yes, complete the input on the human-machine interface (HIM) and enter S2; S2, judging whether the algorithm D%d==0, if not, the process returns to the machine interface (HIM) to re-enter the total displacement D and the unit distance d; if so, the stepper motor No. 2 is controlled alone for the first time to complete the horizontal movement of the tool, and the stepper motor No. 1 is further controlled alone for the first time to complete the vertical movement of the tool, and then enter S3; S3, determine whether the algorithm cuts the number of times or and If yes, the process returns to the first independent control of stepper motor No. 2; if no, the chassis stepper motor is independently controlled for the first time to rotate the load-bearing disc 90 degrees clockwise, and the stepper motor No. 2 is independently controlled for the second time to restore the tool to the initial position, and enter S4; S4, determine whether to cut the number of times If not, the process returns to the first time of controlling stepper motor No. 2 alone; if so, the process ends.

[0012] A tofu cutting machine based on PLC and a control method thereof, characterized in that: applied to the above-mentioned tofu cutting machine device, the cutting steps performed by the machine are specifically as follows:

[0013] (i) The square tofu plate filled with tofu is fixed by the clamping plate through the spring in a pressing and tightening manner, and is placed on the load-bearing disc. The cutting parameters of the unit movement distance d of the corresponding tool and the total movement distance D of the tool are input into the human-machine interface (HMI). The safety system detects the position of the tool. When the tool is not in the initial position, the safety system sends a signal to the main control (PLC) through the sensor system to control stepper motor No. 1 and stepper motor No. 2 to restore the tool to the initial position, turn on the switch control button, and determine whether the machine can run according to the specified algorithm.

[0014] (ii) The main control (PLC) sends a signal to the motor control unit to control the tool to move from one end. The tool stops after each unit distance d according to the specified cutting parameters, and controls the tool to move in the vertical direction. The main control (PLC) sends a signal to the motor control unit according to the specified algorithm, so that the tool moves in the vertical direction as follows: first accelerate at a certain acceleration, then move at a constant speed, then decelerate at the same acceleration as above until the tool stops, and then the tool rises at a constant speed until it stops.

[0015] (iii) Determine whether the tool can be controlled to repeat the movement in step (ii) above according to a specified algorithm; if not, the main control (PLC) sends a signal to the chassis stepper motor through the sensor system to control the load-bearing disc to rotate 90 degrees clockwise; then stepper motor No. 2 controls the tool to return to its initial position; determine whether the tool can repeat the movement in step (ii) above according to a specified algorithm; if so, end the process to complete the cutting of a portion of tofu.

[0016] Beneficial effects of the present invention: The PLC-based tofu cutting machine and the control method thereof of the present invention have been significantly improved in cutting accuracy, production efficiency, safety and ease of operation, and have broad application prospects and market value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the whole machine structure of the patent of this invention

[0018] Figure 2 This is another schematic diagram of the visual whole machine structure of the present invention

[0019] Figure 3 This is a schematic diagram of the partial explosion structure of the patent of this invention

[0020] Figure 4 This is a side view of the structure of the whole machine of the invention patent

[0021] Figure 5 This is a schematic diagram of the top view of the entire machine of the patent of this invention

[0022] Figure 6 Schematic diagram of the explosion structure of the load-bearing rotating device of the present invention

[0023] Figure 7 Schematic diagram of the explosion structure of the sliding rack device of the present invention

[0024] Figure 8 This is a schematic diagram of the cutting device and movable tool holder device of the present invention.

[0025] Fig. 9 Schematic diagram of the cutting display effect of the patent of this invention

[0026] Fig.10 This is the system block diagram of the patented electronic control system of this invention

[0027] Fig.11 Schematic diagram of the simulation of the vertical moving speed and acceleration of the tool in the patented invention

[0028] Fig.12 Flow chart of the patented control method of this invention

[0029] Description of Figure Numbers:

[0030] 1-cutting device, 2-support device, 3-tool holder device, 4-sliding frame device, 5-load-bearing rotating device, 11-tool fixing frame, 12-tool, 21-base plate, 22-bracket riser, 23-angle steel, 31-pulley device, 32-upper baffle, 33-stepping motor No. 1, 34-cylindrical slot, 35-lower baffle, 36-screw, 41-wall panel, 42-guide rail, 43-ball screw, 51-load-bearing disc, 5 2-shaft, 53-bottom bearing seat, 54-chassis stepper motor, 55-ball bearing, 56-motor mounting plate, 111-round leg, 112-support baffle, 113-screw nut, 114-pin, 431-support bearing seat, 432-end cover, 433-bearing, 434-coupling, 435-Z-shaped motor support frame, 436-stepper motor No. 2, 511-clip plate, 512-spring, 513-L-shaped baffle. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. However, this does not serve as any basis for limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative operations are within the scope of protection of the present invention.

[0032] Embodiment 1, refer to Figure 1 and Figure 2 and Figure 4It includes a cutting device 1, a supporting device 2, a load-bearing rotating device 5, a sliding frame device 4, and a movable tool holder device 3. The supporting device 2 is composed of a support vertical pipe 22 and a base plate 21. The four corners of the support vertical pipe 22 are solidly connected to the base plate 21 through angle steels 23; the load-bearing rotating device 5 is composed of a load-bearing disc 51, a rotating shaft 52, a bottom bearing seat 53, and a chassis stepping motor 54 from top to bottom; the load-bearing disc 51 is rotatably arranged in the middle of the base plate 21; the wall panel 41 of the sliding frame device 4 is fixedly connected to both sides of the base plate 21; the movable tool holder device 3 is slidably connected to the sliding frame device 4; the cutting device 1 is slidably connected to the movable tool holder device 3. The support riser 22 is in the form of a quadrangular column and is fixedly connected to the base plate 21 by screws through an angle steel 23, and has a rectangular table-shaped structure; the base plate 21 also has a rectangular surface and a circular hollow structure in the middle, and the two support risers 22 under the long side of the base plate 21 are fixedly connected by the support risers 22 in a crossbeam type.

[0033] Reference Figure 3 and Figure 6 The entire load-bearing rotating device 5 is arranged and installed in the middle of the bottom plate 21. The chassis stepping motor 54 is fixedly connected to the middle and lower part of the bottom plate 21 through the motor mounting plate 56; the bottom bearing seat 53 is fixedly connected to the middle of the bottom plate 21 through the circular hollow structure of the bottom plate 21, and the ball bearing 55 is embedded in the bottom bearing seat 53; the load-bearing disc 51 is rotatably connected to the ball bearing 55 through the rotating shaft 52 and is located at the upper part of the bottom plate 21. The load-bearing disc 51 adopts four fan-shaped hollow structures, which are equidistantly distributed around the load-bearing disc 51, so that the inner side of the load-bearing disc 51 is a cross structure, and the top of the cross structure of the load-bearing disc 51 is connected to an L-shaped baffle 513; the clamping plate 511 is connected to the L-shaped baffle 513 in a pressing and tightening manner through a spring 512.

[0034] Reference Figure 5 and Figure 7The sliding frame device 4 is composed of a wall panel 41, a guide rail 42, and a ball screw 43; the lower part of the wall panel 41 is fixedly connected to the two sides of the short side of the bottom plate 21 by nuts; the top of the wall panel 41 is convex, and the lower part adopts a semicircular hollow design; the two guide rails 42 are symmetrically fixedly installed on the concave parts on both sides of the top of the wall panel 41, and a screw support bearing seat 431 is installed at the convex part of the top of the wall panel 41; a Z-shaped motor support frame 435 is fixedly installed on the outer side of the wall panel 41; the ball screw 43 passes through the two screw support bearing seats 431 and is rotatably connected to the inner side thereof, one end of the ball screw 43 is rotatably connected to the coupling 434 through the end cover 432 and the bearing 433, and the coupling 434 is rotatably connected to the stepper motor No. 2 436 through the Z-shaped motor support frame 435.

[0035] Reference Figure 8 A stepper motor No. 1 33 is fixedly installed in the middle of the upper baffle plate 32 of the movable tool holder device 3, and pulley devices 31 are installed on both sides, so that the movable tool holder device 3 can slide left and right on the guide rail 42. The upper baffle plate 32 parallel to the upper baffle plate 32 on both sides of the movable tool holder device 3 are drilled with cylindrical slots 34 at the same position. The middle part of the upper baffle plate 32 and the lower baffle plate 32 are connected by rotation through a lead screw 36, and one end of the lead screw 36 is rotationally connected to the stepper motor No. 1 33 through a coupling 434. The cutting device 1 is composed of a tool fixing frame 11 and a tool 12. The two round legs 111 at the top of the tool fixing frame 11 are slidably connected through the lower baffle 35 and the upper baffle 32 in turn. The round legs 111 are fixed by a supporting baffle 112. A screw nut 113 is provided in the middle of the supporting baffle 112. The screw nut 113 is slidably connected to the screw 36. The tail of the tool fixing frame 11 fixes the tool 12 through a pin 114.

[0036] Reference Fig.10 This device is also equipped with an electric control system, including a power management system, a safety system, a sensor system, a human-machine interface (HMI), a main control (PLC), and a motor control unit. The power management system provides the power required by the entire electric control system; the safety system, the sensor system, and the human-machine interface (HMI) are connected to the main control (PLC), and the motor control unit is connected to the main control (PLC), and the main control (PLC) causes the chassis stepper motor 51, stepper motor No. 1 33, and stepper motor No. 2 436 to rotate through the motor control unit.

[0037] Example 2, refer to Fig. 9 and Fig.11 and Fig.12, a tofu cutting machine based on PLC and its control method, characterized in that: applied to the above tofu cutting machine device, the vertical movement effect of the tool and the two-dimensional movement effect of the tool in the horizontal direction are simulated according to a certain acceleration and speed, and the cutting steps of the machine are as follows: Step 1: Fix the square tofu plate filled with tofu with the clamping plate 511 through the spring 512 in a pressing and tightening manner, and place it on the load-bearing disc 51. Input the cutting parameters of the unit movement distance d of the corresponding tool 12 and the total distance D of the tool movement in the human-machine interface HMI. The safety system detects the position of the tool 12. When the tool 12 is not in the initial position, the safety system sends a signal to the main control (PLC) through the sensor system to control stepper motor No. 1 33 and stepper motor No. 2 436 to restore the tool 12 to the initial position, turn on the switch control button, and determine whether the machine can run according to the specified algorithm. Step 2: The main control (PLC) sends a signal to the motor control unit to control the tool 12 to move from one end. The tool (12) stops after each unit distance d according to the specified cutting parameters, and controls the tool 12 to move in the vertical direction. The main control (PLC) sends a signal to the motor control unit according to the specified algorithm, so that the movement state of the tool 12 in the vertical direction is: first accelerate at a certain acceleration, then move at a constant speed, then decelerate at the same acceleration until the tool 12 is stationary, and then the tool 12 rises at a constant speed to a stationary state. Step 3: Determine whether the tool 12 can be controlled to repeat the movement method in the above step (ii) according to the specified algorithm. If not, the main control (PLC) sends a signal to the chassis stepper motor 51 through the sensor system to control the load-bearing disc 51 to rotate 90 degrees clockwise; then stepper motor No. 2 436 controls the tool 12 to return to its initial position; determine whether the tool 12 can repeat the movement method in the above step (ii) according to the specified algorithm. If so, end the process to complete the cutting of a portion of tofu.

[0038] refer to Fig.12 , a specific control flow of a tofu cutting machine based on PLC and a control method thereof, applying the cutting steps performed by the above machine, defining a variable D / d as the ratio of the total displacement of the tool (12) in the horizontal direction to the unit distance; defining D%d as the remainder of the total displacement of the tool 12 in the horizontal direction to its unit distance; defining n as the number of cutting times of the tool 12; the specific control flow method includes the following:

[0039] S1, determine whether the tool 12 is in the initial position, if not, control stepper motors 1 and 2 at the same time to restore the tool 12 to the initial position; if yes, complete the input on the human-machine interface (HIM) and enter S2; 1). S2, determine whether the algorithm D%d==0, if not, the process returns to the machine interface (HIM) to re-enter the total displacement D and the unit distance d; if so, the stepper motor No. 2 436 is controlled separately for the first time to complete the horizontal movement of the tool 12, and the stepper motor No. 1 33 is further controlled separately for the first time to complete the vertical movement of the tool 12, and enter S3; 2). S3, determine whether the algorithm cuts the number of times or and If yes, the process returns to the first independent control of stepper motor No. 2 436; if no, the chassis stepper motor 51 is independently controlled for the first time to rotate the load-bearing disc 90 degrees clockwise, and the stepper motor No. 2 436 is independently controlled for the second time to restore the tool 12 to the initial position, and enter S4; 3). S4, determine whether to cut the number of times If not, the process returns to the first time of controlling stepper motor No. 2 alone; if so, the process ends.

Claims

1. A tofu cutting machine based on PLC and its control method, characterized in that: The invention comprises a cutting device (1), a supporting device (2), a movable tool holder device (3), a sliding frame device (4), and a load-bearing rotating device (5). The supporting device (2) is composed of a support vertical pipe (22) and a bottom plate (21). The four corners of the support vertical pipe (22) are solidly connected to the bottom plate (21) through angle steels (23); the load-bearing rotating device (5) is respectively composed of a load-bearing disc (51), a rotating shaft (52), a bottom bearing seat (53), and a chassis stepping motor (54) from top to bottom; the load-bearing disc (51) is rotatably arranged in the middle of the bottom plate (21); the wall plate (41) of the sliding frame device (4) is fixedly connected to both sides of the bottom plate (21); the movable tool holder device (3) is slidably connected to the sliding frame device (4); and the cutting device (1) is slidably connected to the movable tool holder device (3).

2. The tofu cutting machine based on PLC and the control method thereof according to claim 1, characterized in that: The support riser (22) is in the form of a quadrangular column and is screw-fixedly connected to the bottom plate (21) through an angle steel (23), and has a rectangular table-shaped structure; the bottom plate (21) also has a rectangular surface and a circular hollow structure in the middle, and the two support risers (22) under the long side of the bottom plate (21) are fixedly connected in a crossbeam-like manner through the support risers (22).

3. The tofu cutting machine based on PLC and the control method thereof according to claim 2, characterized in that: The entire load-bearing rotating device (5) is arranged and installed in the middle part of the base plate (21); the chassis stepping motor (54) is fixedly connected to the middle and lower part of the base plate (21) through a motor mounting plate (56); the bottom bearing seat (53) is fixedly connected to the middle part of the base plate (21) through a circular hollow structure of the base plate (21), and a ball bearing (55) is embedded in the bottom bearing seat (53); the load-bearing disc (51) is rotatably connected to the ball bearing (55) through a rotating shaft (52) and is located at the upper part of the base plate (21).

4. The tofu cutting machine based on PLC and the control method thereof according to claim 3, characterized in that: The load-bearing disc (51) adopts four fan-shaped hollow structures, which are equidistantly distributed around the load-bearing disc (51), so that the inner side of the load-bearing disc (51) is in a cross structure, and the top end of the cross structure of the load-bearing disc (51) is connected to an L-shaped baffle (513); the clamping plate (511) is connected to the L-shaped baffle (513) in a pressing and tightening manner through a spring (512).

5. The tofu cutting machine based on PLC and the control method thereof according to claim 4, characterized in that: The sliding rack device (4) is composed of a wall panel (41), a guide rail (42), and a ball screw (43); the lower part of the wall panel (41) is fixedly connected to the two sides of the short side of the bottom plate (21) through nuts; the top of the wall panel (41) is convex, and the lower part adopts a semicircular hollow design; the two guide rails (42) are symmetrically fixedly installed in the concave parts on both sides of the top of the wall panel (41), and the convex part of the top of the wall panel (41) is installed with a screw support bearing seat (431) ; A Z-shaped motor support frame (435) is fixedly installed on the outer side of the wall panel (41); the ball screw (43) is supported by the two screw bearing seats (431) and is rotatably connected to the inner side thereof; one end of the ball screw (43) is rotatably connected to the coupling (434) through the end cover (432) and the bearing (433); the coupling (434) is rotatably connected to stepper motor No. 2 (436) through the Z-shaped motor support frame (435).

6. The tofu cutting machine based on PLC and the control method thereof according to claim 5, characterized in that: A stepper motor No. 1 (33) is fixedly installed in the middle of the upper baffle plate (32) of the movable tool holder device (3), and pulley devices (31) are installed on both sides, so that the movable tool holder device (3) can slide left and right on the guide rail (42). The upper baffle plate (32) parallel to the lower baffle plate (35) of the movable tool holder device (3) is drilled with cylindrical slots (34) at the same position. The middle parts of the upper baffle plate (32) and the lower baffle plate (32) are connected by a screw (36) through rotation, and one end of the screw (36) is connected to the stepper motor No. 1 (33) through a coupling (434).

7. The tofu cutting machine based on PLC and the control method thereof according to claim 6, characterized in that: The cutting device (1) is composed of a tool fixing frame (11) and a tool (12); two round legs (111) at the top of the tool fixing frame (11) are slidably connected through the lower baffle (35) and the upper baffle (32) in sequence; the round legs (111) are fixed through a supporting baffle (112); a lead screw nut (113) is provided in the middle of the supporting baffle (112); the lead screw nut (113) is slidably connected to the lead screw (36); and the tail of the tool fixing frame (11) fixes the tool (12) through a pin (114).

8. The tofu cutting machine based on PLC and the control method thereof according to claim 7, characterized in that: The device is also equipped with an electric control system, including a power management system, a safety system, a sensor system, a human-machine interface (HMI), a main control (PLC), and a motor control unit. The power management system provides the electric energy required by the entire electric control system; the safety system, the sensor system, and the human-machine interface (HMI) are connected to the main control (PLC), and the motor control unit is connected to the main control (PLC). The main control (PLC) causes the chassis stepper motor (51), stepper motor No. 1 (33), and stepper motor No. 2 (436) to rotate through the motor control unit.

9. The tofu cutting machine based on PLC and the control method thereof according to claim 8, characterized in that: The tofu cutting machine device is applied to the above-mentioned tofu cutting machine, and the cutting steps performed by the machine are specifically as follows: Step 1: The square tofu plate filled with tofu is fixed by the clamping plate (511) through the spring (512) in a pressing and tightening manner, and is placed on the load-bearing disc (51). The cutting parameters of the unit movement distance d of the corresponding tool (12) and the total movement distance D of the tool are input into the human-machine interface (HMI). The safety system detects the position of the tool (12). When the tool (12) is not in the initial position, the safety system sends a signal to the main control (PLC) through the sensor system, controls stepper motor No. 1 (33) and stepper motor No. 2 (436) to restore the tool (12) to the initial position, turns on the switch control button, and determines whether the machine can run according to the specified algorithm. Step 2: The main control (PLC) sends a signal to the motor control unit to control the tool (12) to move from one end. The tool (12) stops after each unit distance d according to the specified cutting parameters, and controls the tool (12) to move in the vertical direction. The main control (PLC) sends a signal to the motor control unit according to the specified algorithm, so that the movement state of the tool (12) in the vertical direction is: first accelerate at a certain acceleration, then move at a constant speed, then decelerate at the same acceleration until the tool (12) is stationary, and then the tool (12) rises at a constant speed to a stationary state. Step 3: Determine whether the tool (12) can be controlled to repeatedly execute the movement method in the above step (ii) according to the specified algorithm. If not, the main control (PLC) sends a signal to the chassis stepper motor (51) through the sensor system to control the load-bearing disc (51) to rotate 90 degrees clockwise; then stepper motor No. 2 (436) controls the tool (12) to return to the initial position; determine whether the tool (12) can repeatedly execute the movement method in the above step (ii) according to the specified algorithm. If so, end the process to complete the cutting of a portion of tofu.

10. The tofu cutting machine based on PLC and the control method thereof according to claim 9, characterized in that: Apply the above machine to run the cutting steps and define the variables is the ratio of the total displacement of the tool (12) in the horizontal direction to the unit distance; D%d is defined as the remainder of the total displacement of the tool (12) in the horizontal direction relative to its unit distance; n is defined as the number of cutting times of the tool (12); and the specific control process method includes the following: S1, judging whether the tool (12) is in the initial position, if not, controlling stepper motors 1 and 2 at the same time to restore the tool (12) to the initial position; if yes, completing the input on the human-machine interface (HIM) and entering S2; S2, judging whether the algorithm D%d==0, if not, the process returns to the machine interface (HIM) to re-enter the total displacement D and the unit distance d; if so, the stepper motor No. 2 (436) is controlled separately for the first time to complete the horizontal movement of the tool (12), and further the stepper motor No. 1 (33) is controlled separately for the first time to complete the vertical movement of the tool (12), and then enter S3; S3, determine whether the algorithm cuts the number of times or and If yes, the process returns to the first independent control of stepper motor No. 2 (436); if no, the chassis stepper motor (51) is independently controlled for the first time to rotate the load-bearing disc (51) 90 degrees clockwise, and the stepper motor No. 2 (436) is independently controlled for the second time to restore the tool (12) to the initial position, and enter S4; S4, determine whether to cut the number of times If not, the process returns to the first independent control of stepper motor No. 2 (436); if so, the process ends.

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