Dumpling wrapper folding device

Abstract

The invention provides a dumpling wrapper folding device and a control system thereof. Comprising a support frame; the folding platform is arranged on the supporting frame and provided with at least one conveying channel. The driving part is connected with the driven part and drives the driven part to enable the dumpling wrappers to perform reciprocating motion in the conveying channel; the feeding mechanism is arranged in the first direction and / or the second direction of the conveying channel and is used for conveying dumpling wrappers and dumpling fillings to the folding platform; the folding mechanism comprises a plurality of groups of push rods, and a linkage rod is arranged between each group of push rods; the sensor network comprises a first sensor group arranged on the feeding mechanism, a second sensor group arranged on the folding mechanism and a third sensor group arranged on the folding platform; electrical components provide transmission and response of signals. According to the dumpling wrapper folding device, consistency and reprocessability in the dumpling wrapper folding process are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of food processing equipment, and in particular relates to a dumpling wrapper folding device. Background Art

[0002] In the traditional dumpling making process, the folding of dumpling skins mainly relies on manual operation. Although manual folding of dumpling skins can guarantee a certain quality, there are many problems. First, manual operation is inefficient, especially in scenarios where dumplings are made in large quantities, such as restaurants, food processing plants, etc., which consumes a lot of manpower and time. Secondly, the quality of manual folding is greatly affected by the skills and experience of the operator. The shape and sealing quality of the dumplings folded by different operators are uneven, which is a significant defect for the food industry that pursues standardized production. Moreover, long-term manual folding work can easily cause operator fatigue, further affecting production efficiency and product quality.

[0003] With the development of food processing technology, some dumpling wrapper folding devices have emerged, but these existing devices still have many problems. The folding mechanism of some devices is simply designed, and usually can only achieve a single mode of folding, which cannot meet the diverse needs of dumpling making. For example, some devices can only fold from fixed folding points or in a fixed order, and cannot flexibly adapt to dumplings of different shapes or filling amounts. Moreover, these devices are often insufficient in folding accuracy, resulting in loose sealing or irregular shapes of dumplings. In addition, the push rod structure in the existing devices is usually not flexible enough, and jamming may occur during movement. This is because the connection joints between the push rods are not designed reasonably, the friction is large, or the joint freedom is limited, which affects the working efficiency and reliability of the entire folding mechanism.

[0004] In view of this, the present invention provides a dumpling wrapper folding device and a control system thereof. Summary of the invention

[0005] To this end, the present invention provides a dumpling wrapper folding device.

[0006] A first aspect of the present invention provides a dumpling wrapper folding device, comprising:

[0007] A support frame, wherein the support frame provides an installation space for the device;

[0008] A folding platform, disposed on the support frame, the folding platform having at least one conveying channel, wherein the conveying channel defines a transmission from a first direction to a second direction;

[0009] A driving mechanism, comprising a driving member and a driven member, wherein the driven member is arranged in the conveying channel, and the driving member is connected to and drives the driven member to make the dumpling wrapper perform reciprocating motion in the conveying channel;

[0010] A feeding mechanism, arranged in the first direction and / or the second direction of the conveying channel, for conveying the dumpling wrappers and dumpling fillings to the folding platform;

[0011] A folding mechanism, comprising a plurality of push rods, wherein a linkage rod is arranged between each push rod group, each push rod group corresponds to one of the folding points for folding, and the linkage rod is suitable for connecting any two push rod groups to perform folding from a plurality of the folding points simultaneously;

[0012] A sensor network, the sensor network comprising a first sensor group disposed on the feeding mechanism, a second sensor group disposed on the folding mechanism, and a third sensor group disposed on the folding platform;

[0013] The first sensor group is configured to obtain dumpling wrapper feeding data and dumpling stuffing feeding data of the feeding mechanism;

[0014] The second sensor group is configured to obtain first folding data, second folding data and third folding data from before, during and after folding during a folding process performed by the folding mechanism;

[0015] The third sensor group is configured to acquire folded graphic data;

[0016] An electrical component is electrically connected to the driving mechanism, the feeding mechanism, the folding mechanism, and the sensor network respectively to provide signal transmission and response.

[0017] As a preferred embodiment, the folding mechanism comprises a base, and the top opening of the base faces the conveying channel;

[0018] One side of the base is provided with a detachable mold;

[0019] The other side of the base is connected to the push rods, and each of the push rods is driven by a first motor or is connected via a linkage rod and driven together by a motor;

[0020] The bottom of the base is provided with sliding grooves corresponding to the number of the linkage rods, and each of the sliding grooves is provided with a second motor sliding along the sliding groove, and the output end of the second motor is connected to the linkage rod, so that the linkage rod moves from the base of the base to the push rod.

[0021] As a preferred embodiment, a plurality of connection holes are arranged at intervals on the push rod, and clamping parts are arranged at both ends of the linkage rod, and the clamping parts are suitable for clamping and fitting with the connection holes.

[0022] As a preferred embodiment, each push rod is sleeved with a spring, one end of the spring is fixedly connected to the push rod, and the other end of the spring is fixedly connected to the output end of the first motor or fixedly connected to the base.

[0023] As a preferred embodiment, the base is further provided with bottom rods on both sides of the push rod, the ends of the bottom rods are configured to be shovel-shaped, and the bottom rods are connected to the base via a third motor drive and move from the top opening of the base to its bottom.

[0024] As a preferred embodiment, a folding piece is provided at the end of the push rod;

[0025] The folding piece is arranged in an arc shape, and the folding piece is connected to the end of the push rod through a detachable clamping groove and a clamping block, and a sealing gasket is arranged at the connection between the two.

[0026] A second aspect of the present invention provides a dumpling wrapper folding control system, comprising:

[0027] A control unit, the control unit is in communication connection with the electrical components of the dumpling wrapper folding device, and is used to receive external instructions and send control signals to the electrical components based on a preset control program to coordinate and control the operation of various mechanisms of the dumpling wrapper folding device;

[0028] A human-machine interaction module, the human-machine interaction module is electrically connected to the control unit and is used to realize information interaction between the operator and the control system. The human-machine interaction module includes an input unit, the input unit is used to receive dumpling folding style parameters, production quantity parameters and operation mode parameters input by the operator, and also includes a display unit, the display unit is used to display the operation status information of the dumpling wrapper folding device, the data information collected by each sensor and the fault alarm information in real time;

[0029] A data storage module, the data storage module is electrically connected to the control unit, and is used to store standard process parameters corresponding to different dumpling folding styles, historical operation data of the dumpling wrapper folding device, and various types of data collected by the sensor network. The data storage module uses a non-volatile storage medium to ensure that data is not lost in the event of a power outage;

[0030] A data analysis module, the data analysis module is electrically connected to the control unit and the data storage module, and is used to perform real-time analysis and processing on the data collected by the sensor network, compare the current actual operation data with the stored standard process parameters, determine whether the operation of each mechanism of the dumpling wrapper folding device meets the preset requirements, and feed back the analysis results to the control unit;

[0031] A fault diagnosis module, which is electrically connected to the control unit, the data storage module and the electrical component, and is used to monitor the electrical signals and mechanical operating status of various parts of the dumpling wrapper folding device in real time, and based on preset fault diagnosis rules and historical fault data, when an abnormal situation is detected, determine the fault type and the location of the fault, and issue corresponding fault alarm information and provide troubleshooting suggestions through the display unit of the human-computer interaction module;

[0032] A communication module, which is electrically connected to the control unit and is used to realize remote communication between the dumpling wrapper folding control system and external equipment. The communication module supports wired communication and wireless communication. The operation data of the dumpling wrapper folding device can be uploaded to a remote monitoring platform through the communication module, and control instructions or process parameter update instructions issued by the remote monitoring platform can also be received.

[0033] A third aspect of the present invention provides a dumpling wrapper folding control method, comprising the following steps:

[0034] Parameter initialization: retrieve the standard process parameters of dumpling folding style corresponding to this production task from the data storage module. The standard process parameters include the standard data range of each link of feeding and folding collected by each sensor in the sensor network, as well as the ideal folding angle, folding time, and push rod movement range corresponding to different folding stages, and transmit them to the control unit as a control benchmark; input the specific quantity and operation mode parameters of this production through the human-computer interaction module, which are received and recorded by the control unit;

[0035] Equipment self-check and calibration: The control unit sends a self-check instruction to the fault diagnosis module, which performs a comprehensive electrical and mechanical status check on the driving mechanism, feeding mechanism, folding mechanism and sensors of the dumpling wrapper folding device. If an abnormality is detected, the human-computer interaction module displays the fault information and solutions based on the preset fault diagnosis rules and the troubleshooting suggestions provided by the built-in expert system, so that the operator can repair and adjust. If the equipment is in normal condition, the formal production process will be entered.

[0036] The feeding mechanism starts working, and the control unit sends a control signal to the motor driving the dumpling wrapper feeding conveyor belt, so that it runs at a preset speed to convey the dumpling wrappers; at the same time, the first sensor group of the feeding mechanism collects the dumpling wrapper feeding data in real time, including the dumpling wrapper position, thickness, and conveying speed information, and feeds it back to the control unit; the data analysis module compares the actual feeding data with the standard process parameters. If the deviation exceeds the allowable range, the control unit adjusts the motor speed of the feeding mechanism or other related parameters to make the dumpling wrapper feeding meet the requirements;

[0037] The control unit sends a control signal to the component that drives the dumpling filling feeding funnel to discharge the dumpling filling, so that the dumpling filling enters the folding platform according to the preset flow rate; the weight sensor in the first sensor group collects the dumpling filling feeding weight data in real time and feeds it back to the control unit, and the data analysis module compares the actual weight with the standard weight range. If they do not match, the control unit adjusts the dumpling filling discharge flow control component to ensure the dumpling filling feeding amount is accurate;

[0038] Initial position adjustment: before folding, the second sensor group of the folding mechanism detects the actual position information of each folding point and feeds it back to the control unit; the control unit calculates the displacement required for each push rod based on the actual position information and the preset standard folding point position parameters, and then controls the first motor that drives each push rod to operate, accurately adjusts the initial position of each push rod, so that each push rod corresponds to the accurate folding point, and prepares for synchronous folding; at the same time, the control unit drives the second motor in the slide groove at the bottom of the base to move the linkage rod to a position for clamping with the corresponding push rod. The clamping process is based on the connection hole on the push rod and the clamping part at the end of the linkage rod. After the connection is completed, each component is in a state where the folding operation can be performed;

[0039] Synchronous folding start: The control unit sends a control signal to the first motor driving the push rod according to the preset folding process parameters, so that each push rod moves according to the set movement stroke, speed and other parameters, and at the same time drives other push rods connected to it through the linkage rod, so as to realize folding operation from multiple folding points at the same time;

[0040] Point detection and judgment: During the folding process, the second sensor group continuously collects the real-time status data of each folding point, including the movement angle of each push rod, the force of the connecting rod and the position information of the actual folding point, and feeds it back to the control unit; the data analysis module compares the collected real-time status data of each folding point with the standard process parameters to determine whether there is a folding point that does not meet the preset instructions;

[0041] Individual folding correction: If it is detected that a folding point does not meet the preset instruction, the control unit controls the clamping part at the end of the linkage rod to loosen the connection with the connecting hole on the corresponding push rod, so that the push rod is separated from the linkage of the linkage rod; then, the control unit sends a correction control signal to the push rod corresponding to the point that does not meet the requirements to drive the first motor, adjust the motion parameters of the push rod, and perform an individual folding operation on the non-compliant point until the folding state of the point meets the preset instruction requirements; after all the non-compliant points are corrected, the control unit controls the linkage rod to restore the connection with each push rod again, and continues the subsequent synchronous folding process;

[0042] After folding is completed, the third sensor group of the folding platform collects the folded graphic data, including the shape, size and other information of the dumplings, and feeds it back to the control unit; the data analysis module compares the graphic data with the standard folded dumpling shape and size parameters to determine whether the dumpling folding meets the requirements; if not, the control unit records the corresponding problem information and selects an alarm to prompt the operator to intervene in the inspection and adjustment or automatically adjust the subsequent production parameters according to the severity of the problem to avoid batches of unqualified products;

[0043] If it is determined that a secondary folding is required, the control unit controls the first motors other than the selected folding motor for driving the push rods to stop working, and controls the linkage rod to release the connection with each push rod, so that only the selected folding motor and the corresponding push rod of the entire folding mechanism are kept in a drivable state, and the other push rods are in a free state, ready for a secondary folding operation;

[0044] The control unit sends a control signal to the selected folding motor according to the preset secondary folding process parameters, drives the corresponding push rod to perform secondary folding, folds the specific part of the dumpling again, and further optimizes the folding shape of the dumpling; during the secondary folding process, the second sensor group continuously monitors the relevant folding point data and feeds it back to the control unit, and the data analysis module compares the data with the preset secondary folding process parameters in real time. If there is a deviation, the control unit promptly adjusts the driving parameters of the folding motor to ensure that the secondary folding process is carried out accurately;

[0045] After the second folding is completed, the control unit controls the driving mechanism to reset the components on the conveying channel to the initial state, and at the same time drives the bottom rods on both sides of the base to move from the top opening of the base to the bottom through the third motor to clean up the remaining debris in the base to ensure that the device is ready for the next round of production; the control unit also stores the data collected by sensors at each stage of this production process, equipment operation status data, etc. in the data storage module for subsequent data analysis, quality traceability and process optimization.

[0046] As a preferred method, it also includes three foldings,

[0047] After the secondary folding is completed, the control unit controls the first motor corresponding to each push rod to stop working, and then controls the linkage rod to restore the connection with all the push rods, so that the push rods are reconnected through the linkage rod; at this time, the spring sleeved on each push rod is in a natural or pre-compressed state, and the elastic force of each spring acts on the entire folding mechanism together;

[0048] The control unit sends a weak control signal to the first motor driving the push rod according to the preset three-fold verification process parameters, drives each push rod to move slowly, and drives all the push rods to fold synchronously through the linkage rod. The folding speed is slow, and its main purpose is to verify whether each push rod can accurately reach the specified position under the previously set initial point; during the three-fold process, the second sensor group collects data of each folding point in real time, including the push rod movement angle, position information of each point, etc., and feeds back to the control unit; the data analysis module compares the collected data with the preset three-fold verification standard parameters. If each push rod can reach the specified position and the data meets the requirements, it is confirmed that the folding operation is qualified as a whole. If there is a deviation, the control unit records the relevant problem information for subsequent further debugging of the device or optimization of process parameters.

[0049] The above technical solution of the present invention has the following advantages compared with the prior art:

[0050] The present invention realizes the automation of a series of processes in the process of making dumplings, from feeding the dumpling skin, transmitting in the transmission channel, adding the fillings to folding and forming, through the coordinated cooperation of various components. Compared with traditional manual dumpling making or some simple semi-automatic dumpling making equipment, the production efficiency is greatly improved, more dumplings can be produced per unit time, meeting the needs of large-scale production or batch production of dumplings, and effectively saving labor costs and time costs.

[0051] 1. The folding mechanism uses multiple push rods, and any two push rods are connected by linkage rods, which can perform folding operations from multiple folding points at the same time. This design allows the dumpling wrappers to be quickly and accurately folded into a preset shape and style, imitating the multi-directional and simultaneous folding action when making dumplings by hand, effectively improving the folding efficiency, and ensuring the regularity and uniformity of the folded shape of the dumplings, producing beautiful-looking, standard-compliant dumpling products.

[0052] 2. A detachable mold is provided on one side of the base of the folding mechanism, which is convenient for replacing the corresponding mold according to different dumpling style requirements, realizing diversified dumpling folding shapes, and enhancing the versatility and applicability of the device. In addition, a slide groove corresponding to the number of linkage rods is provided at the bottom of the base, and a slidable second motor is configured in the slide groove to drive the linkage rod, which is convenient for flexible adjustment of the position of the linkage rod, and is conducive to the debugging, maintenance and troubleshooting of the device, reducing the difficulty and cost of equipment operation and maintenance.

[0053] 3. Multiple connection holes are arranged at intervals on the push rod, which are engaged with the engaging part at the end of the linkage rod. This connection method is not only simple and reliable, and easy to install and disassemble, but also can ensure the stability of the connection between the linkage rod and the push rod, ensuring that there will be no loosening, disconnection and other problems during frequent folding actions. At the same time, the spring set on each push rod is fixedly connected to the push rod at one end and fixedly connected to the output end of the first motor or the base at the other end, which plays a buffering role during the movement of the push rod, reduces the wear between the components caused by rigid collision, prolongs the service life of the device, and helps to complete the folding action more smoothly, further improving the quality of dumpling folding.

[0054] 4. The sensor network covers three key parts: the feeding mechanism, the folding mechanism and the folding platform. The first, second and third sensor groups can obtain real-time multi-dimensional information such as dumpling skin feeding data, dumpling filling feeding data, folding data before, during and after folding, and graphic data after folding. Based on these comprehensive data monitoring, the entire dumpling making process can be accurately controlled, feeding anomalies, folding deviations and other problems can be discovered in time, and feedback can be given to the electrical components for corresponding adjustments, thereby ensuring that each dumpling can be made according to standard process requirements, effectively improving the product's pass rate and quality stability.

[0055] 5. The arc-shaped folding piece set at the end of the push rod fits the actual needs of folding the dumpling skin, can guide the dumpling skin to fold more smoothly, make the folding process more natural and smooth, and help improve the final folding quality and appearance of the dumplings. In addition, the folding piece is connected to the end of the push rod through a detachable card slot and card block, and a sealing gasket is set at the connection. On the one hand, it is convenient to replace the folding piece due to wear or according to the needs of different dumpling styles. On the other hand, the sealing gasket can prevent the fillings from penetrating into the connection to affect the normal use and cleaning of the device, thereby enhancing the practicality and durability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic cross-sectional structural diagram of a base provided in an embodiment of the present invention.

[0057] Figure 2 It is a block diagram of a system provided by an embodiment of the present invention.

[0058] Among them, 1. base; 2. first motor; 3. electric motor; 4. bottom plate; 5. detachable mold; 6. push rod; 7. linkage rod; 8. arc folding sheet; 9. slide groove; 10. connecting hole; 11. second motor; 12. spring. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] In a first aspect of the present invention, a dumpling wrapper folding device is provided. Figure 1 and Figure 2 As shown, including:

[0061] A support frame, wherein the support frame provides an installation space for the device;

[0062] A folding platform, disposed on the support frame, the folding platform having at least one conveying channel, wherein the conveying channel defines a transmission from a first direction to a second direction;

[0063] A driving mechanism, comprising a driving member and a driven member, wherein the driven member is arranged in the conveying channel, and the driving member is connected to and drives the driven member to make the dumpling wrapper perform reciprocating motion in the conveying channel;

[0064] A feeding mechanism, arranged in the first direction and / or the second direction of the conveying channel, for conveying the dumpling wrappers and dumpling fillings to the folding platform;

[0065] A folding mechanism, comprising a plurality of push rods, wherein a linkage rod is arranged between each push rod group, each push rod group corresponds to one of the folding points for folding, and the linkage rod is suitable for connecting any two push rod groups to perform folding from a plurality of the folding points simultaneously;

[0066] A sensor network, the sensor network comprising a first sensor group disposed on the feeding mechanism, a second sensor group disposed on the folding mechanism, and a third sensor group disposed on the folding platform;

[0067] The first sensor group is configured to obtain dumpling wrapper feeding data and dumpling stuffing feeding data of the feeding mechanism;

[0068] The second sensor group is configured to obtain first folding data, second folding data and third folding data from before, during and after folding during a folding process performed by the folding mechanism;

[0069] The third sensor group is configured to acquire folded graphic data;

[0070] An electrical component is electrically connected to the driving mechanism, the feeding mechanism, the folding mechanism, and the sensor network respectively to provide signal transmission and response.

[0071] In this embodiment, the driving member is one of a motor, a hydraulic mechanism, and a pneumatic mechanism, and the driven member is a belt driven mechanism. The driving mechanism and the feeding mechanism are both common production equipment in the field, such as a conveyor belt mechanism. The structures of the driving member and the driven member will not be described in detail here.

[0072] As a preferred embodiment, the folding mechanism comprises a base, and the top opening of the base faces the conveying channel;

[0073] One side of the base is provided with a detachable mold;

[0074] The other side of the base is connected to the push rods, and each of the push rods is driven by a first motor or is connected via a linkage rod and driven together by a motor;

[0075] The bottom of the base is provided with sliding grooves corresponding to the number of the linkage rods, and each of the sliding grooves is provided with a second motor sliding along the sliding groove, and the output end of the second motor is connected to the linkage rod, so that the linkage rod moves from the base of the base to the push rod.

[0076] As a preferred embodiment, a plurality of connecting holes are arranged at intervals on the push rod, and clamping parts are arranged at both ends of the linkage rod, and the clamping parts are suitable for clamping and connecting the connecting holes. It should be noted that in the embodiment disclosed in the present invention, the push rod is not located at the bottom of the base, so the base has a plurality of spaces for setting slide grooves to facilitate the position setting of the second motor, and the positions of the linkage rods relative to the base are arranged sequentially to avoid interference between the linkage rods during movement, and the height of the clamping part formed at the end of the linkage rod is greater than the diameter of the push rod to avoid the area of ​​the linkage rod other than the clamping part contacting the push rod when the linkage rod is clamped.

[0077] As a preferred embodiment, each push rod is sleeved with a spring, one end of the spring is fixedly connected to the push rod, and the other end of the spring is fixedly connected to the output end of the first motor or fixedly connected to the base.

[0078] As a preferred embodiment, the base is further provided with bottom rods on both sides of the push rod, the ends of the bottom rods are configured to be shovel-shaped, and the bottom rods are connected to the base via a third motor drive and move from the top opening of the base to its bottom.

[0079] As a preferred embodiment, a folding piece is provided at the end of the push rod;

[0080] The folding piece is arranged in an arc shape, and the folding piece is connected to the end of the push rod through a detachable clamping groove and a clamping block, and a sealing gasket is arranged at the connection between the two.

[0081] A second aspect of the present invention provides a dumpling wrapper folding control system, such as Figure 2 As shown, including:

[0082] A control unit, the control unit is in communication connection with the electrical components of the dumpling wrapper folding device, and is used to receive external instructions and send control signals to the electrical components based on a preset control program to coordinate and control the operation of various mechanisms of the dumpling wrapper folding device;

[0083] A human-machine interaction module, the human-machine interaction module is electrically connected to the control unit and is used to realize information interaction between the operator and the control system. The human-machine interaction module includes an input unit, the input unit is used to receive dumpling folding style parameters, production quantity parameters and operation mode parameters input by the operator, and also includes a display unit, the display unit is used to display the operation status information of the dumpling wrapper folding device, the data information collected by each sensor and the fault alarm information in real time;

[0084] A data storage module, the data storage module is electrically connected to the control unit, and is used to store standard process parameters corresponding to different dumpling folding styles, historical operation data of the dumpling wrapper folding device, and various types of data collected by the sensor network. The data storage module uses a non-volatile storage medium to ensure that data is not lost in the event of a power outage;

[0085] A data analysis module, the data analysis module is electrically connected to the control unit and the data storage module, and is used to perform real-time analysis and processing on the data collected by the sensor network, compare the current actual operation data with the stored standard process parameters, determine whether the operation of each mechanism of the dumpling wrapper folding device meets the preset requirements, and feed back the analysis results to the control unit;

[0086] A fault diagnosis module, which is electrically connected to the control unit, the data storage module and the electrical component, and is used to monitor the electrical signals and mechanical operating status of various parts of the dumpling wrapper folding device in real time, and based on preset fault diagnosis rules and historical fault data, when an abnormal situation is detected, determine the fault type and the location of the fault, and issue corresponding fault alarm information and provide troubleshooting suggestions through the display unit of the human-computer interaction module;

[0087] A communication module, which is electrically connected to the control unit and is used to realize remote communication between the dumpling wrapper folding control system and external equipment. The communication module supports wired communication and wireless communication. The operation data of the dumpling wrapper folding device can be uploaded to a remote monitoring platform through the communication module, and control instructions or process parameter update instructions issued by the remote monitoring platform can also be received.

[0088] A third aspect of the present invention provides a dumpling wrapper folding control method, comprising the following steps:

[0089] Parameter initialization: retrieve the standard process parameters of dumpling folding style corresponding to this production task from the data storage module. The standard process parameters include the standard data range of each link of feeding and folding collected by each sensor in the sensor network, as well as the ideal folding angle, folding time, and push rod movement range corresponding to different folding stages, and transmit them to the control unit as a control benchmark; input the specific quantity and operation mode parameters of this production through the human-computer interaction module, which are received and recorded by the control unit;

[0090] Equipment self-check and calibration: The control unit sends a self-check instruction to the fault diagnosis module, which performs a comprehensive electrical and mechanical status check on the driving mechanism, feeding mechanism, folding mechanism and sensors of the dumpling wrapper folding device. If an abnormality is detected, the human-computer interaction module displays the fault information and solutions based on the preset fault diagnosis rules and the troubleshooting suggestions provided by the built-in expert system, so that the operator can repair and adjust. If the equipment is in normal condition, the formal production process will be entered.

[0091] The feeding mechanism starts working, and the control unit sends a control signal to the motor driving the dumpling wrapper feeding conveyor belt, so that it runs at a preset speed to convey the dumpling wrappers; at the same time, the first sensor group of the feeding mechanism collects the dumpling wrapper feeding data in real time, including the dumpling wrapper position, thickness, and conveying speed information, and feeds it back to the control unit; the data analysis module compares the actual feeding data with the standard process parameters. If the deviation exceeds the allowable range, the control unit adjusts the motor speed of the feeding mechanism or other related parameters to make the dumpling wrapper feeding meet the requirements;

[0092] The control unit sends a control signal to the component that drives the dumpling filling feeding funnel to discharge the dumpling filling, so that the dumpling filling enters the folding platform according to the preset flow rate; the weight sensor in the first sensor group collects the dumpling filling feeding weight data in real time and feeds it back to the control unit, and the data analysis module compares the actual weight with the standard weight range. If they do not match, the control unit adjusts the dumpling filling discharge flow control component to ensure the dumpling filling feeding amount is accurate;

[0093] Initial position adjustment: before folding, the second sensor group of the folding mechanism detects the actual position information of each folding point and feeds it back to the control unit; the control unit calculates the displacement required for each push rod based on the actual position information and the preset standard folding point position parameters, and then controls the first motor that drives each push rod to operate, accurately adjusts the initial position of each push rod, so that each push rod corresponds to the accurate folding point, and prepares for synchronous folding; at the same time, the control unit drives the second motor in the slide groove at the bottom of the base to move the linkage rod to a position for clamping with the corresponding push rod. The clamping process is based on the connection hole on the push rod and the clamping part at the end of the linkage rod. After the connection is completed, each component is in a state where the folding operation can be performed;

[0094] Synchronous folding start: The control unit sends a control signal to the first motor driving the push rod according to the preset folding process parameters, so that each push rod moves according to the set movement stroke, speed and other parameters, and at the same time drives other push rods connected to it through the linkage rod, so as to realize folding operation from multiple folding points at the same time;

[0095] Point detection and judgment: During the folding process, the second sensor group continuously collects the real-time status data of each folding point, including the movement angle of each push rod, the force of the connecting rod and the position information of the actual folding point, and feeds it back to the control unit; the data analysis module compares the collected real-time status data of each folding point with the standard process parameters to determine whether there is a folding point that does not meet the preset instructions;

[0096] Individual folding correction: If it is detected that a folding point does not meet the preset instruction, the control unit controls the clamping part at the end of the linkage rod to loosen the connection with the connecting hole on the corresponding push rod, so that the push rod is separated from the linkage of the linkage rod; then, the control unit sends a correction control signal to the push rod corresponding to the point that does not meet the requirements to drive the first motor, adjust the motion parameters of the push rod, and perform an individual folding operation on the non-compliant point until the folding state of the point meets the preset instruction requirements; after all the non-compliant points are corrected, the control unit controls the linkage rod to restore the connection with each push rod again, and continues the subsequent synchronous folding process;

[0097] After folding is completed, the third sensor group of the folding platform collects the folded graphic data, including the shape, size and other information of the dumplings, and feeds it back to the control unit; the data analysis module compares the graphic data with the standard folded dumpling shape and size parameters to determine whether the dumpling folding meets the requirements; if not, the control unit records the corresponding problem information and selects an alarm to prompt the operator to intervene in the inspection and adjustment or automatically adjust the subsequent production parameters according to the severity of the problem to avoid batches of unqualified products;

[0098] If it is determined that a secondary folding is required, the control unit controls the first motors other than the selected folding motor for driving the push rods to stop working, and controls the linkage rod to release the connection with each push rod, so that only the selected folding motor and the corresponding push rod of the entire folding mechanism are kept in a drivable state, and the other push rods are in a free state, ready for a secondary folding operation;

[0099] The control unit sends a control signal to the selected folding motor according to the preset secondary folding process parameters, drives the corresponding push rod to perform secondary folding, folds the specific part of the dumpling again, and further optimizes the folding shape of the dumpling; during the secondary folding process, the second sensor group continuously monitors the relevant folding point data and feeds it back to the control unit, and the data analysis module compares the data with the preset secondary folding process parameters in real time. If there is a deviation, the control unit promptly adjusts the driving parameters of the folding motor to ensure that the secondary folding process is carried out accurately;

[0100] After the second folding is completed, the control unit controls the driving mechanism to reset the components on the conveying channel to the initial state, and at the same time drives the bottom rods on both sides of the base to move from the top opening of the base to the bottom through the third motor to clean up the remaining debris in the base to ensure that the device is ready for the next round of production; the control unit also stores the data collected by sensors at each stage of this production process, equipment operation status data, etc. in the data storage module for subsequent data analysis, quality traceability and process optimization.

[0101] As a preferred method, it also includes three foldings,

[0102] After the secondary folding is completed, the control unit controls the first motor corresponding to each push rod to stop working, and then controls the linkage rod to restore the connection with all the push rods, so that the push rods are reconnected through the linkage rod; at this time, the spring sleeved on each push rod is in a natural or pre-compressed state, and the elastic force of each spring acts on the entire folding mechanism together;

[0103] The control unit sends a weak control signal to the first motor driving the push rod according to the preset three-fold verification process parameters, drives each push rod to move slowly, and drives all the push rods to fold synchronously through the linkage rod. The folding speed is slow, and its main purpose is to verify whether each push rod can accurately reach the specified position under the previously set initial point; during the three-fold process, the second sensor group collects data of each folding point in real time, including the push rod movement angle, position information of each point, etc., and feeds back to the control unit; the data analysis module compares the collected data with the preset three-fold verification standard parameters. If each push rod can reach the specified position and the data meets the requirements, it is confirmed that the folding operation is qualified as a whole. If there is a deviation, the control unit records the relevant problem information for subsequent further debugging of the device or optimization of process parameters.

[0104] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these effects are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described effects, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, devices and units may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0105] The flowchart and block diagram in the accompanying drawings show the possible architecture, role and operation of the device, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical role. In some alternative implementations, the role marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed in parallel, and they can sometimes be executed in the opposite order, which can depend on the role involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed in parallel, and they can sometimes be executed in the opposite order, which can depend on the role involved. Each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based device that performs the specified role or action, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A dumpling wrapper folding device, characterized in that: include: A support frame, wherein the support frame provides an installation space for the device; A folding platform, disposed on the support frame, the folding platform having at least one conveying channel, wherein the conveying channel defines a transmission from a first direction to a second direction; A driving mechanism, comprising a driving member and a driven member, wherein the driven member is arranged in the conveying channel, and the driving member is connected to and drives the driven member to make the dumpling wrapper perform reciprocating motion in the conveying channel; A feeding mechanism, arranged in the first direction and / or the second direction of the conveying channel, for conveying the dumpling wrappers and dumpling fillings to the folding platform; A folding mechanism, comprising a plurality of push rods, wherein a linkage rod is arranged between each push rod group, each push rod group corresponds to one of the folding points for folding, and the linkage rod is suitable for connecting any two push rod groups to perform folding from a plurality of the folding points simultaneously; A sensor network, the sensor network comprising a first sensor group disposed on the feeding mechanism, a second sensor group disposed on the folding mechanism, and a third sensor group disposed on the folding platform; The first sensor group is configured to obtain dumpling wrapper feeding data and dumpling stuffing feeding data of the feeding mechanism; The second sensor group is configured to obtain first folding data, second folding data and third folding data from before, during and after folding during a folding process performed by the folding mechanism; The third sensor group is configured to acquire folded graphic data; An electrical component is electrically connected to the driving mechanism, the feeding mechanism, the folding mechanism, and the sensor network respectively to provide signal transmission and response.

2. The dumpling wrapper folding device according to claim 1, characterized in that: The folding mechanism comprises a base, and the top opening of the base faces the conveying channel; One side of the base is provided with a detachable mold; The other side of the base is connected to the push rods, and each of the push rods is driven by a first motor or is connected via a linkage rod and driven together by a motor; The bottom of the base is provided with sliding grooves corresponding to the number of the linkage rods, and each of the sliding grooves is provided with a second motor sliding along the sliding groove, and the output end of the second motor is connected to the linkage rod, so that the linkage rod moves from the base of the base to the push rod.

3. The dumpling wrapper folding device according to claim 2, characterized in that: A plurality of connection holes are arranged at intervals on the push rod, and clamping parts are arranged at both ends of the linkage rod, and the clamping parts are suitable for clamping and fitting connection with the connection holes.

4. The dumpling wrapper folding device according to claim 3, characterized in that: A spring is sleeved on each push rod, one end of the spring is fixedly connected to the push rod, and the other end of the spring is fixedly connected to the output end of the first motor or fixedly connected to the base.

5. The dumpling wrapper folding device according to claim 1, characterized in that: The base is also provided with bottom rods on both sides of the push rod, the ends of the bottom rods are shovel-shaped, and the bottom rods are connected to the base via a third motor drive and move from the top opening of the base to its bottom.

6. The dumpling wrapper folding device according to claim 1, characterized in that: The end of the push rod is provided with a folding piece; The folding piece is arranged in an arc shape, and the folding piece is connected to the end of the push rod through a detachable clamping groove and a clamping block, and a sealing gasket is arranged at the connection between the two.

7. Dumpling wrapper folding control system, characterized in that: include: A control unit, the control unit is in communication connection with the electrical components of the dumpling wrapper folding device, and is used to receive external instructions and send control signals to the electrical components based on a preset control program to coordinate and control the operation of various mechanisms of the dumpling wrapper folding device; A human-machine interaction module, the human-machine interaction module is electrically connected to the control unit and is used to realize information interaction between the operator and the control system. The human-machine interaction module includes an input unit, the input unit is used to receive dumpling folding style parameters, production quantity parameters and operation mode parameters input by the operator, and also includes a display unit, the display unit is used to display the operation status information of the dumpling wrapper folding device, the data information collected by each sensor and the fault alarm information in real time; A data storage module, the data storage module is electrically connected to the control unit, and is used to store standard process parameters corresponding to different dumpling folding styles, historical operation data of the dumpling wrapper folding device, and various types of data collected by the sensor network. The data storage module uses a non-volatile storage medium to ensure that data is not lost in the event of a power outage; A data analysis module, the data analysis module is electrically connected to the control unit and the data storage module, and is used to perform real-time analysis and processing on the data collected by the sensor network, compare the current actual operation data with the stored standard process parameters, determine whether the operation of each mechanism of the dumpling wrapper folding device meets the preset requirements, and feed back the analysis results to the control unit; A fault diagnosis module, which is electrically connected to the control unit, the data storage module and the electrical component, and is used to monitor the electrical signals and mechanical operating status of various parts of the dumpling wrapper folding device in real time, and based on preset fault diagnosis rules and historical fault data, when an abnormal situation is detected, determine the fault type and the location of the fault, and issue corresponding fault alarm information and provide troubleshooting suggestions through the display unit of the human-computer interaction module; A communication module, which is electrically connected to the control unit and is used to realize remote communication between the dumpling wrapper folding control system and external equipment. The communication module supports wired communication and wireless communication. The operation data of the dumpling wrapper folding device can be uploaded to a remote monitoring platform through the communication module, and control instructions or process parameter update instructions issued by the remote monitoring platform can also be received.

8. A dumpling wrapper folding control method, characterized in that: The steps include: Parameter initialization: retrieve the standard process parameters of dumpling folding style corresponding to this production task from the data storage module. The standard process parameters include the standard data range of each link of feeding and folding collected by each sensor in the sensor network, as well as the ideal folding angle, folding time, and push rod movement range corresponding to different folding stages, and transmit them to the control unit as a control benchmark; input the specific quantity and operation mode parameters of this production through the human-computer interaction module, which are received and recorded by the control unit; Equipment self-check and calibration: The control unit sends a self-check instruction to the fault diagnosis module, which performs a comprehensive electrical and mechanical status check on the driving mechanism, feeding mechanism, folding mechanism and sensors of the dumpling wrapper folding device. If an abnormality is detected, the human-computer interaction module displays the fault information and solutions based on the preset fault diagnosis rules and the troubleshooting suggestions provided by the built-in expert system, so that the operator can repair and adjust. If the equipment is in normal condition, the formal production process will be entered. The feeding mechanism starts working, and the control unit sends a control signal to the motor driving the dumpling wrapper feeding conveyor belt, so that it runs at a preset speed to convey the dumpling wrappers; at the same time, the first sensor group of the feeding mechanism collects the dumpling wrapper feeding data in real time, including the dumpling wrapper position, thickness, and conveying speed information, and feeds it back to the control unit; the data analysis module compares the actual feeding data with the standard process parameters. If the deviation exceeds the allowable range, the control unit adjusts the motor speed of the feeding mechanism or other related parameters to make the dumpling wrapper feeding meet the requirements; The control unit sends a control signal to the component that drives the dumpling filling feeding funnel to discharge the dumpling filling, so that the dumpling filling enters the folding platform according to the preset flow rate; the weight sensor in the first sensor group collects the dumpling filling feeding weight data in real time and feeds it back to the control unit, and the data analysis module compares the actual weight with the standard weight range. If they do not match, the control unit adjusts the dumpling filling discharge flow control component to ensure the dumpling filling feeding amount is accurate; Initial position adjustment: Before folding, the second sensor group of the folding mechanism detects the actual position information of each folding point and feeds it back to the control unit; The control unit calculates the displacement amount that needs to be adjusted for each push rod based on the actual position information and the preset standard folding point position parameters, and then controls the first motor that drives each push rod to operate, accurately adjusts the initial position of each push rod, so that each push rod corresponds to the accurate folding point, and prepares for synchronous folding; at the same time, the control unit drives the second motor in the slide groove at the bottom of the base to move the linkage rod to a position for clamping and matching with the corresponding push rod. The clamping process is based on the connection hole on the push rod and the clamping part at the end of the linkage rod. After the connection is completed, each component is in a state where the folding operation can be performed; Synchronous folding start: The control unit sends a control signal to the first motor driving the push rod according to the preset folding process parameters, so that each push rod moves according to the set movement stroke, speed and other parameters, and at the same time drives other push rods connected to it through the linkage rod, so as to realize folding operation from multiple folding points at the same time; Point detection and judgment: During the folding process, the second sensor group continuously collects the real-time status data of each folding point, including the movement angle of each push rod, the force of the connecting rod, and the position information of the actual folding point, and feeds it back to the control unit; the data analysis module compares the collected real-time status data of each folding point with the standard process parameters to determine whether there is a folding point that does not meet the preset instructions; Individual folding correction: If it is detected that a folding point does not meet the preset instruction, the control unit controls the clamping part at the end of the linkage rod to loosen the connection with the connecting hole on the corresponding push rod, so that the push rod is separated from the linkage of the linkage rod; then, the control unit sends a correction control signal to the push rod corresponding to the point that does not meet the requirements to drive the first motor, adjust the motion parameters of the push rod, and perform an individual folding operation on the non-compliant point until the folding state of the point meets the preset instruction requirements; after all the non-compliant points are corrected, the control unit controls the linkage rod to restore the connection with each push rod again, and continues the subsequent synchronous folding process; After folding is completed, the third sensor group of the folding platform collects the folded graphic data, including the shape and size of the dumplings, and feeds it back to the control unit; The data analysis module compares the graphic data with the standard dumpling shape and size parameters after folding to determine whether the dumpling folding meets the requirements; if not, the control unit records the corresponding problem information and selects an alarm to prompt the operator to intervene to check and adjust or automatically adjust the subsequent production parameters according to the severity of the problem to avoid batches of unqualified products; If it is determined that a secondary folding is required, the control unit controls the first motors other than the selected folding motor for driving the push rods to stop working, and controls the linkage rod to release the connection with each push rod, so that only the selected folding motor and the corresponding push rod of the entire folding mechanism are kept in a drivable state, and the other push rods are in a free state, ready for a secondary folding operation; The control unit sends a control signal to the selected folding motor according to the preset secondary folding process parameters, drives the corresponding push rod to perform secondary folding action, folds the specific part of the dumpling again, and further optimizes the folding shape of the dumpling; During the secondary folding process, the second sensor group continuously monitors the relevant folding point data and feeds it back to the control unit. The data analysis module compares the data with the preset secondary folding process parameters in real time. If there is a deviation, the control unit promptly adjusts the driving parameters of the folding motor to ensure that the secondary folding process is carried out accurately. After the second folding is completed, the control unit controls the driving mechanism to reset the components on the conveying channel to the initial state, and at the same time drives the bottom rods on both sides of the base to move from the top opening of the base to the bottom through the third motor to clean up the remaining debris in the base to ensure that the device is ready for the next round of production; the control unit also stores the data collected by sensors at each stage of this production process, equipment operation status data, etc. in the data storage module for subsequent data analysis, quality traceability and process optimization.

9. The dumpling wrapper folding control method according to claim 8, characterized in that: Also includes triple folding, After the secondary folding is completed, the control unit controls the first motor corresponding to each push rod to stop working, and then controls the linkage rod to restore the connection with all the push rods, so that the push rods are reconnected through the linkage rod; at this time, the spring sleeved on each push rod is in a natural or pre-compressed state, and the elastic force of each spring acts on the entire folding mechanism together; The control unit sends a weak control signal to the first motor driving the push rod according to the preset three-fold verification process parameters, drives each push rod to move slowly, and drives all the push rods to fold synchronously through the linkage rod. The folding speed is slow, and its main purpose is to verify whether each push rod can accurately reach the specified position under the previously set initial point; during the three-fold process, the second sensor group collects data of each folding point in real time, including the push rod movement angle, position information of each point, etc., and feeds back to the control unit; the data analysis module compares the collected data with the preset three-fold verification standard parameters. If each push rod can reach the specified position and the data meets the requirements, it is confirmed that the folding operation is qualified as a whole. If there is a deviation, the control unit records the relevant problem information for subsequent further debugging of the device or optimization of process parameters.

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