Force control method for profiling chuck of automatic ham sausage picking machine

Abstract

The invention relates to the field of food detection equipment, in particular to a force control method for a profiling chuck of an automatic ham sausage picking machine, which comprises a ham sausage profiling chuck mechanism, a pressure detection system, a PLC (programmable logic controller) control system and a man-machine interaction system. The ham sausage profiling chuck mechanism comprises an electric control clamping head which is used for clamping one end of a ham sausage and conveying the ham sausage to a detection station; the pressure detection system comprises a film pressure sensor and a signal converter, is located on the inner side of the profiling chuck and is used for detecting the pressure value of the profiling chuck on the ham sausage and transmitting collected signals to the PLC through the signal converter. The PLC control system controls the servo motor, the opening and closing angle of the profiling chuck is adjusted through the servo motor, the pressure value of the profiling chuck is related to the opening and closing angle, the smaller the opening and closing angle is, the larger the pressure value of the profiling chuck is, and otherwise, the smaller the pressure value is; and the man-machine interaction system is used for inputting control parameters and displaying state information.

Description

Technical Field

[0001] The invention relates to the field of food testing equipment, in particular to a method for controlling the force of a profiling clamp of an automatic ham sausage picking machine. Background Art

[0002] High-temperature ham products will produce a variety of defects during the production process, most of which appearance defects such as: over-length, over-short, bending, blistering, pinching, tendon head, etc. can be detected by visual inspection; casing damage defects such as puncture, scratching, biting, etc. can be detected by electrode detection. The sorting of ham has a great influence on the detection accuracy. Improving the accuracy of the sorting position can greatly improve the detection rate of ham and reduce the false rejection rate.

[0003] Traditional ham sausage sorting often uses a centrifugal turntable or tank chain. After passing through the centrifugal turntable or tank chain, the ham sausage falls onto the rubber roller belt and passes through the electrode detection device and image detection device. The position accuracy of the ham sausage on the rubber roller belt in the traditional sorting method is not high, and the speed of the ham sausage's rotation on the rubber roller belt is uncontrollable, which has a great impact on the detection effect. The use of a profiling clamp mechanism to clamp the ham sausage for detection can achieve precise control of the position and rotation speed of the ham sausage, greatly improving the detection effect. The strength of the profiling chuck needs to be precisely controlled. If the strength of the profiling chuck is too great, the ham sausage will be squeezed and damaged. If the strength of the profiling chuck is too small, it cannot clamp the ham, and the ham sausage may fall when the clamping head rotates. Summary of the invention

[0004] The purpose of the present invention is to provide a highly automated and efficient ham sausage profiling chuck force control system and method through the cooperation of high-precision sensors, machinery and control, so as to overcome the defects of the above-mentioned equipment in the industry.

[0005] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a control system for the force of the profiling chuck of an automatic ham sausage picking machine, comprising:

[0006] The profiling jaw mechanism includes a profiling chuck, which is used to control the opening and closing angle of the profiling chuck through a servo motor to clamp the ham sausage and transport the ham sausage to the inspection station;

[0007] The pressure detection system includes a pressure sensor and a signal converter. The pressure sensor is arranged in the profiling chuck and is used to detect the pressure value of the profiling chuck on the ham sausage. The pressure sensor converts the pressure received into an electrical signal through the signal converter and transmits it to the PLC control system.

[0008] A PLC control system includes a PLC controller and a servo system; the PLC controller controls the servo motor to adjust the opening and closing angle of the profiling chuck through the servo system according to the pressure value corresponding to the collected electrical signal;

[0009] The human-computer interaction system is used to set control parameters including target pressure value and servo motor speed value, and display status information including collected pressure value.

[0010] The PLC control system includes a PLC controller and a servo system;

[0011] The PLC controller is used to obtain a servo motor position instruction according to the collected ham sausage pressure value and the target pressure value set by the human-computer interaction system, and transmit the instruction to the servo system;

[0012] The servo system is used to control the rotation of the servo motor according to the position instruction sent by the PLC controller, thereby adjusting the opening and closing angle of the contoured chuck.

[0013] The human-computer interaction system comprises: a touch screen and an emergency stop button;

[0014] The touch screen is connected to the PLC controller;

[0015] The emergency stop button is connected to the PLC controller.

[0016] A method for controlling the force of a contoured chuck of an automatic ham sausage picking machine comprises the following steps:

[0017] Calibrate pressure sensors;

[0018] The pressure sensor converts the collected pressure into an electrical signal through a signal converter and transmits it to the PLC control system;

[0019] The PLC control system will receive the pressure value BF corresponding to the electrical signal, and subtract it from the target pressure value SF set by the human-computer interaction system to determine the servo motor position command to control the opening and closing angle of the contour chuck.

[0020] The calibration pressure sensor is specifically as follows:

[0021] The pressure value F and the resistance value of the pressure sensor under force By formula The parameters a, b, and c are obtained by measuring the resistance value of the pressure sensor after inputting different pressures into the pressure sensor.

[0022] Determining the servo motor position command according to the difference to control the opening and closing angle of the profiling chuck comprises the following steps:

[0023] Difference E = BF-SF, where BF is the pressure value and SF is the set target pressure value SF, then:

[0024] If E<0, the ham sausage pressure value is less than the set pressure value, and the profiling chuck angle is reduced to increase the ham sausage pressure value;

[0025] If E=0, the pressure value of the ham sausage is equal to the set pressure value, and the angle of the contour chuck remains unchanged;

[0026] If E>0, the ham pressure value is greater than the set pressure value, increase the angle of the contoured chuck to reduce the ham pressure value

[0027] A method for controlling the force of a profiling chuck of an automatic ham sausage picking machine is applied to a profiling clamping detection device, wherein the profiling clamping detection device comprises a profiling jaw conveying line body mounting frame and a profiling jaw conveying line body, a profiling jaw rotation mechanism, a jaw guiding mechanism and a product defect detection mechanism arranged on the profiling jaw conveying line body mounting frame, wherein a plurality of profiling jaw mechanisms are arranged on the profiling jaw conveying line body along the conveying direction, the jaw guiding mechanism is arranged above the profiling jaw conveying line body along the conveying direction, the profiling jaw mechanism is guided by the jaw guiding mechanism and is retracted and opened and closed at a set position; the profiling jaw mechanism is used to clamp the product, and after entering the rotation station, it starts to rotate under the action of the profiling jaw rotation mechanism, and the product defect detection mechanism performs defect detection on the product.

[0028] The profiling jaw mechanism comprises a jaw mounting plate, a jaw guide rail slider, a jaw telescopic guide wheel, a telescopic spring, a jaw opening and closing guide wheel, a self-rotating driving wheel, a jaw reset tension spring, a self-rotating bearing seat, an opening and closing cone sleeve, a stretching shaft, a rotating mandrel and a jaw, wherein the jaw mounting plate is connected to the profiling jaw conveying line body, the jaw guide rail slider is arranged on the jaw mounting plate along a conveying direction perpendicular to the profiling jaw conveying line body, the self-rotating bearing seat is connected to the jaw guide rail slider, and the self-rotating bearing seat is connected to the jaw mounting plate through the jaw reset tension spring; a jaw telescopic guide wheel is arranged on the top of the self-rotating bearing seat;

[0029] The rotating mandrel is a hollow structure and is rotatably connected to the rotating bearing seat. The front end of the rotating mandrel is connected to the clamping claw, and the rear end is connected to the rotating driving wheel. The stretching shaft passes through the rotating driving wheel and the rotating mandrel and the front end is connected to the opening and closing cone sleeve, and the rear end of the stretching shaft is connected to the clamping claw opening and closing guide wheel. The opening and closing cone sleeve is located in the clamping claw and is used to push the clamping claw to open. The telescopic spring sleeve is arranged on the stretching shaft, and the two ends are respectively abutted against the rotating driving wheel and the clamping claw opening and closing guide wheel, which is used to reset the opening and closing cone sleeve.

[0030] The clamping jaw includes a contoured chuck, a clamping jaw lever, a clamping jaw mounting seat and a clamping jaw opening and closing tension spring, wherein the clamping jaw mounting seat is connected to the rotating mandrel, and the opposite sides of the clamping jaw mounting seat are respectively rotatably connected to the two clamping jaw levers, and the opposite surfaces of the front ends of the two clamping jaw levers are provided with contoured chucks; the rear ends of the two clamping jaw levers are connected by a clamping jaw opening and closing tension spring, and the opening and closing cone sleeve pushes the two contoured chucks to close through the cone surface to achieve the clamping of the product.

[0031] An electrode guide seat is installed at the front end of the rotating bearing seat through an insulating flange to achieve conduction between the electrical signal and the contoured chuck.

[0032] The jaw guiding mechanism includes a jaw telescopic guide plate and a jaw opening and closing guide plate which are arranged above the contoured jaw conveying line body along the conveying direction. Both ends of the jaw telescopic guide plate and the jaw opening and closing guide plate are inclined toward the backward direction of the contoured jaw mechanism. The jaw telescopic guide plate is used to guide the jaw telescopic guide wheel to realize the telescopic movement of the contoured jaw mechanism; the jaw opening and closing guide plate is used to guide the jaw opening and closing guide wheel to realize the clamping and opening of the contoured jaw mechanism.

[0033] The claw extension and retraction guide plate and the clamping claw opening and closing guide plate are respectively located on both sides of the contour clamping claw self-rotation mechanism.

[0034] The self-rotating mechanism of the profiling clamping claw comprises a self-rotating belt driving motor, a synchronous belt transmission assembly, a tensioning wheel mounting seat, a tensioning wheel, a self-rotating driven wheel, a self-rotating driving wheel and a belt, wherein the self-rotating driven wheel and the self-rotating driving wheel are arranged on the profiling clamping claw conveying line body mounting frame along the conveying direction and are connected by belt transmission, a group of tensioning wheels are installed on the profiling clamping claw conveying line body mounting frame through the tensioning wheel mounting seat, and are used to tighten the belt on the inner side of the belt; the self-rotating belt driving motor is arranged on the profiling clamping claw conveying line body mounting frame, and the output end is connected to the self-rotating driving wheel through the synchronous belt transmission assembly, the self-rotating belt driving motor drives the belt to rotate, and the belt is in friction contact with the self-rotating driving wheel, thereby driving the self-rotating driving wheel to rotate.

[0035] The contoured jaw conveyor line body comprises a contoured jaw conveyor line body drive shaft, a conveyor belt side plate, a conveyor belt mounting seat, a conveyor belt support plate, a conveyor belt pressure plate, a contoured jaw conveyor line body driven shaft and a conveyor belt chain, wherein the conveyor belt mounting seat is arranged on the contoured jaw conveyor line body mounting frame, and conveyor belt side plates are arranged on the left and right sides of the conveyor belt mounting seat. The contoured jaw conveyor line body drive shaft and the contoured jaw conveyor line body driven shaft are arranged at both ends of the conveyor belt side plates and are connected through a conveyor belt chain transmission; the conveyor belt support plate is arranged at the bottom of the conveyor belt chain for support, and the contoured jaw mechanism is arranged on the conveyor belt chain, and is pressed down from the top by a conveyor belt pressure plate.

[0036] The product defect detection mechanism includes an electrode detection device and an image detection device; the electrode detection device and the image detection device are both located above the contoured gripper conveyor line body, the electrode detection device is used for product electrode detection, and the image detection device is used for collecting product image information.

[0037] The present invention has the following beneficial effects and advantages:

[0038] 1. The present invention obtains the pressure value of the contoured chuck on the ham sausage through a thin film pressure sensor. The thin film sensor has the advantages of high detection accuracy and small size, which is suitable for this application scenario.

[0039] 2. The present invention can automatically adjust the force of the profiling chuck on the ham sausage through the cooperation of high-precision sensors, machinery and control, thereby improving the degree of automation.

[0040] 3. The present invention automatically adjusts the force of the contoured clamp on the ham to avoid damaging the ham or failing to clamp the ham, thereby solving the problem of equipment application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is one of the isometric views of a contour clamping detection device of the present invention;

[0042] Figure 2 This is the second isometric view of a contour clamping detection device of the present invention;

[0043] Figure 3 It is an axonometric view of the contour clamping jaw mechanism of the present invention;

[0044] Figure 4 is a cross-sectional view of the contoured clamping jaw mechanism of the present invention;

[0045] Figure 5 It is an axonometric view of the conveying line body of the contoured gripper in the present invention;

[0046] Figure 6 It is an axonometric view of the self-rotation mechanism of the contoured clamping jaw in the present invention;

[0047] In the figure: 1 is a profiling clamping mechanism, 101 is a clamping clamp mounting plate, 102 is a clamping clamp guide slider, 103 is a profiling clamp, 104 is a clamping clamp lever, 105 is a clamping clamp mounting seat, 106 is an electrode guide seat, 107 is a clamping clamp telescopic guide wheel, 108 is a telescopic spring, 109 is a clamping clamp opening and closing guide wheel, 110 is a self-rotating driving wheel, 111 is a clamping clamp reset spring, 112 is a self-rotating bearing seat, 113 is an insulating flange, 114 is a clamping clamp opening and closing spring, 115 is an opening and closing cone sleeve, 116 is a stretching shaft, 117 is a rotating bearing, 118 is a rotating mandrel, 119 is a conductive copper column I, 120 is a compression spring, 121 is a conductive copper column II, 2 is a profiling clamping conveyor line body, 20 1 is a driving shaft of the profiling jaw conveyor line body, 202 is a conveyor belt side plate, 203 is a conveyor belt mounting seat, 204 is a conveyor belt support plate, 205 is a conveyor belt pressure plate, 206 is a driven shaft of the profiling jaw conveyor line body, 207 is a conveyor belt chain, 3 is a profiling jaw self-rotation mechanism, 301 is a self-rotation belt driving motor, 302 is a synchronous pulley, 303 is a synchronous belt, 304 is a tensioning wheel mounting seat, 305 is a tensioning wheel, 306 is a self-rotating driven wheel, 307 is a self-rotating driven wheel mounting seat, 308 is a self-rotating driving wheel, 309 is a belt, 4 is a jaw telescopic guide plate, 5 is a profiling jaw conveyor line body mounting frame, 6 is an electrode detection device, 8 is an image detection device, and 9 is a jaw opening and closing guide plate;

[0048] Figure 7 It is a general schematic diagram of the structure of a contoured chuck of an automatic ham sausage picking machine of the present invention;

[0049] Wherein, 1 is a contoured clamping mechanism, 10 is a pressure detection system, and 1001 is a thin film pressure sensor;

[0050] Figure 8 It is a schematic diagram of the structure of the PLC system of the present invention;

[0051] Among them, 11 is a PLC control system, 1101 is a PLC, and 1102 is a servo controller;

[0052] Fig. 9 It is a schematic diagram of the human-computer interaction system of the present invention;

[0053] Among them, 12 is a human-computer interaction system, 1201 is a touch screen, and 1202 is an emergency stop button;

[0054] Fig.10 It is the overall flow chart of the control method of the present invention;

[0055] Fig.11 The present invention is a flow chart of the method for adjusting the force of the profiling chuck. DETAILED DESCRIPTION

[0056] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0057] like Figure 1 , Figure 2 As shown, the present invention is applied to a profiling clamping detection device, which includes a profiling jaw conveying line body mounting frame 5 and a profiling jaw conveying line body 2, a profiling jaw rotation mechanism 3, a jaw guiding mechanism and a product defect detection mechanism arranged on the profiling jaw conveying line body mounting frame 5, wherein a plurality of profiling jaw mechanisms 1 are arranged on the profiling jaw conveying line body 2 along the conveying direction, the jaw guiding mechanism is arranged above the profiling jaw conveying line body 2 along the conveying direction, the profiling jaw mechanism 1 is guided by the jaw guiding mechanism and is extended and opened and closed at a set position; the profiling jaw mechanism 1 is used to clamp the product, and after entering the rotation station, it starts to rotate under the action of the profiling jaw rotation mechanism 3, and the product defect detection mechanism performs defect detection on the product.

[0058] like Figure 1 As shown, in an embodiment of the present invention, the product defect detection mechanism includes an electrode detection device 6 and an image detection device 8; the electrode detection device 6 and the image detection device 8 are both located above the contoured gripper conveyor line 2, the electrode detection device 6 is used for electrode detection of the product, and the image detection device 8 is used for collecting image information of the product.

[0059] like Figure 3 , Figure 4 As shown, in an embodiment of the present invention, the contoured clamping jaw mechanism 1 includes a clamping jaw mounting plate 101, a clamping jaw guide slider 102, a clamping jaw telescopic guide wheel 107, a telescopic spring 108, a clamping jaw opening and closing guide wheel 109, a self-rotating driving wheel 110, a clamping jaw reset spring 111, a self-rotating bearing seat 112, an opening and closing cone sleeve 115, a stretching shaft 116, a rotating mandrel 118 and a clamping jaw, wherein the clamping jaw mounting plate 101 is connected to the contoured clamping jaw conveying line body 2, the clamping jaw guide slider 102 is arranged on the clamping jaw mounting plate 101 along a conveying direction perpendicular to the contoured clamping jaw conveying line body 2, the self-rotating bearing seat 112 is connected to the clamping jaw guide slider 102, and the self-rotating bearing seat 112 is connected to the clamping jaw mounting plate 101 through the clamping jaw reset spring 111; and a clamping jaw telescopic guide wheel 107 is provided on the top of the self-rotating bearing seat 112. The rotating core shaft 118 is a hollow structure and is rotatably connected to the rotating bearing seat 112. The front end of the rotating core shaft 118 is connected to the clamping claw, and the rear end is connected to the rotating driving wheel 110; the stretching shaft 116 passes through the rotating driving wheel 110 and the rotating core shaft 118 and the front end is connected to the opening and closing cone sleeve 115, and the rear end of the stretching shaft 116 is connected to the clamping claw opening and closing guide wheel 109. The opening and closing cone sleeve 115 is located in the clamping claw and is used to push the clamping claw to open; the telescopic spring 108 is sleeved on the stretching shaft 116, and the two ends are respectively abutted against the rotating driving wheel 110 and the clamping claw opening and closing guide wheel 109, which is used to reset the opening and closing cone sleeve 115.

[0060] In the embodiment of the present invention, the clamp includes a profiling chuck 103, a clamp lever 104, a clamp mounting seat 105 and a clamp opening and closing tension spring 114, wherein the clamp mounting seat 105 is connected to a rotating mandrel 118, and the two opposite sides of the clamp mounting seat 105 are respectively rotatably connected to two clamp levers 104, and the front end opposite surfaces of the two clamp levers 104 are provided with a profiling chuck 103; the rear ends of the two clamp levers 104 are connected by the clamp opening and closing tension spring 114, and the opening and closing cone sleeve 115 pushes the two profiling chucks 103 to close through the cone surface to achieve the clamping of the product. When the opening and closing cone sleeve 115 retreats, the two clamp levers 104 are reset under the action of the clamp opening and closing tension spring 114 at the rear end. The telescopic spring 108 provides a supporting force for the profiling clamp 103; the jaw telescopic guide wheel 107 realizes the telescopic motion of the profiling jaw mechanism 1 under the guidance of the jaw guide mechanism; the jaw reset tension spring 111 ensures that the profiling jaw mechanism 1 is in a retracted state when there is no jaw guide mechanism limiting it.

[0061] Furthermore, if Figure 3 As shown, the front end of the rotation bearing seat 112 is installed with an electrode guide seat 106 through an insulating flange 113. Figure 4As shown, the electrode guide seat 106 is provided with a conductive copper column I 119, a compression spring 120 and a conductive copper column II 121 from top to bottom, and the conductive copper column I 119 extends from the top of the electrode guide seat 106. The electrode guide seat 106 is used to guide the electrode detection device 6, and the conductive copper column I 119 and the conductive copper column II 121 are used to realize the conduction of the electrical signal and the contoured clamp 103, and the insulating flange 113 insulates the electrical signal.

[0062] like Figure 1 , Figure 2 As shown, in the embodiment of the present invention, the clamping jaw guide mechanism includes a clamping jaw telescopic guide plate 4 and a clamping jaw opening and closing guide plate 9 arranged above the profiling clamping jaw conveying line body 2 along the conveying direction, and both ends of the clamping jaw telescopic guide plate 4 and the clamping jaw opening and closing guide plate 9 are inclined in the backward direction of the profiling clamping jaw mechanism 1, and the clamping jaw telescopic guide plate 4 is used to guide the clamping jaw telescopic guide wheel 107 to achieve the telescopic movement of the profiling clamping jaw mechanism 1. Specifically, the profiling clamping jaw mechanism 1 is conveyed forward by the profiling clamping jaw conveying line body 2, and when the clamping jaw telescopic guide wheel 107 contacts the inclined portion of the clamping jaw telescopic guide plate 4, the rotating bearing seat 112 drives the clamping jaw to gradually extend forward under the push of the inclined portion. When the clamping jaw telescopic guide wheel 107 rolls onto the main body of the clamping jaw telescopic guide plate 4, it moves horizontally along the clamping jaw telescopic guide plate 4. The clamping jaw opening and closing guide plate 9 is used to guide the clamping jaw opening and closing guide wheel 109 to achieve the clamping and opening of the profiling clamping jaw mechanism 1. Specifically, the contoured jaw mechanism 1 is transported forward by the contoured jaw conveying line 2. When the jaw opening and closing guide wheel 109 contacts the inclined end of the jaw opening and closing guide plate 9, it is gradually pushed forward to the horizontal body of the jaw opening and closing guide plate 9. At this time, the opening and closing cone sleeve 115 pushes the two contoured clamps 103 to close through the cone surface, thereby realizing the closure of the jaw.

[0063] Furthermore, the claw extension guide plate 4 and the jaw opening and closing guide plate 9 are respectively located on both sides of the profiling jaw rotation mechanism 3 without interfering with each other. The profiling jaw mechanism 1 can extend and close the jaws at a specified position according to the shapes of the claw extension guide plate 4 and the jaw opening and closing guide plate 9 when working.

[0064] like Figure 5As shown, in the embodiment of the present invention, the profiling jaw conveyor line body 2 includes a profiling jaw conveyor line body drive shaft 201, a conveyor belt side plate 202, a conveyor belt mounting seat 203, a conveyor belt supporting plate 204, a conveyor belt pressing plate 205, a profiling jaw conveyor line body driven shaft 206 and a conveyor belt chain 207, wherein the conveyor belt mounting seat 203 is arranged on the profiling jaw conveyor line body mounting frame 5, and the conveyor belt mounting seat 203 is provided with a conveyor belt side plate 202 on the left and right sides, and the profiling jaw conveyor line body drive shaft 201 and the profiling jaw conveyor line body driven shaft 206 are arranged at the two ends of the conveyor belt side plate 202, and are connected by transmission through the conveyor belt chain 207; the conveyor belt supporting plate 204 is arranged at the bottom of the conveyor belt chain 207, dragging the conveyor belt chain 207 and the profiling jaw mechanism 1, and the profiling jaw mechanism 1 is installed on the conveyor belt chain 207 at equal intervals, and is pressed by the conveyor belt pressing plate 205 above.

[0065] During operation, the driving shaft 201 of the contoured gripper conveyor line body drives the conveyor belt chain 207 for conveying, and the contoured gripper mechanism 1 conveys at a certain speed on the conveyor belt chain 207. The conveyor belt support plate 204 and the conveyor belt pressure plate 205 ensure stable and continuous detection of the conveyor belt body during movement.

[0066] like Figure 6 As shown, in the embodiment of the present invention, the profiling clamping jaw self-rotation mechanism 3 includes a self-rotation belt drive motor 301, a synchronous belt transmission assembly, a tensioner wheel mounting seat 304, a tensioner wheel 305, a self-rotation driven wheel 306, a self-rotation driving wheel 308 and a belt 309, wherein the self-rotation driven wheel 306 and the self-rotation driving wheel 308 are arranged on the profiling clamping jaw conveying line body mounting frame 5 along the conveying direction, and are connected by the belt 309 transmission, a group of tensioners 305 are installed on the profiling clamping jaw conveying line body mounting frame 5 through the tensioner wheel mounting seat 304, and are used to tighten the belt 309 on the inner side of the belt 309; the self-rotation belt drive motor 301 is arranged on the profiling clamping jaw conveying line body mounting frame 5, and the output end is connected by the synchronous belt transmission assembly with the self-rotation driving wheel 308 transmission, the self-rotation belt drive motor 301 drives the belt 309 to rotate, and the belt 309 is in friction contact with the self-rotation driving wheel 110, thereby driving the self-rotation driving wheel 110 to rotate. When the profiling jaw mechanism 1 is working, the self-rotating driving wheel 308 will fully contact the belt 309 and generate a rotational motion; the self-rotating belt driving motor 301 can adjust the speed to achieve different rotation speeds of the profiling jaw mechanism 1. Driven by the belt 309, the rotating mandrel 118 drives the jaw to achieve overall centering rotation.

[0067] Specifically, the synchronous belt transmission assembly includes a synchronous pulley 302 and a synchronous belt 303. The synchronous pulley 302 is installed on the output shaft of the self-rotating belt drive motor 301; the self-rotating driving wheel 308 and the synchronous pulley 302 transmit power through the synchronous belt 303; the self-rotating driven wheel 306 is installed on the self-rotating driven wheel mounting seat 307 for fixed-axis rotation; the tensioning wheel 305 is installed on the tensioning wheel mounting seat 304 and can achieve compression within a certain range under the action of the compression spring. The tensioning wheel 305 ensures the tension of the belt 309.

[0068] During operation, the claw extension guide wheel 107 is acted on by the claw extension guide plate 4, and the profiling claw mechanism 1 extends forward a certain distance to prepare for grasping. The claw opening and closing guide wheel 109 is acted on by the claw opening and closing guide plate 9 to close the profiling chuck 103, and grasp the ham sausage for rotation detection.

[0069] The present invention provides a profiling clamping detection mechanism, and its working principle is as follows:

[0070] The ham sausage delivered by the feeding conveyor line is continuously and evenly spaced to the designated grabbing area. The profiling jaw mechanism 1 moves to the grabbing area to prepare for grabbing. The feeding conveyor line and the profiling jaw conveyor line 2 move at the same speed and spacing to ensure the stability of the ham sausage grabbing. The jaw telescopic guide plate 4 drives the profiling jaw mechanism 1 to extend a certain distance, and the profiling chuck 103 is closed under the action of the jaw opening and closing guide plate 9 to grab the ham sausage. When the profiling jaw mechanism 1 is transported to the profiling jaw rotation mechanism 3, the jaw will drive the ham sausage to rotate. The rotation speed of the profiling jaw can be adjusted within a certain range to adapt to different conveying speeds. The ham sausage grabbed by the jaw is sequentially inspected for defects through the electrode detection device 6 and the image detection device 8.

[0071] The contour clamp mechanism 1 of the present invention completes the telescopic opening and closing action under the drive of the conveyor belt chain 207, and the action is fast and accurate, which can improve the detection accuracy and stability compared with the previous conveying form; the contour clamp has a certain degree of adaptability and can be compatible with hams of a certain diameter range. The contour clamp rotation mechanism 3 can ensure that hams of different specifications and different conveying speeds can fully contact with the electrode detection device 6 to improve the detection accuracy.

[0072] like Figure 7 , Figure 8 and Fig. 9 As shown, a method for controlling the force of a profiling chuck of an automatic ham sausage picking machine of the present invention mainly comprises:

[0073] Servo drive, as an execution device, receives and executes position instructions sent by the PLC control system;

[0074] The thin film pressure sensor is located inside the profiling chuck and is used to detect the pressure value of the profiling chuck on the ham sausage. The resistance value of the sensor is converted by the signal converter and then fed back to the PLC control system. At the same time, the pressure value is sent to the human-computer interaction system through the bus for display.

[0075] like Figure 8 As shown, it is a schematic diagram of the structure of the PLC control system of the present invention. The PLC control system of the present invention comprises: a PLC and a servo driver;

[0076] PLC, used for receiving the pressure value fed back by the thin film pressure sensor and the target pressure value set by the human-computer interaction system, analyzing them, and transmitting the servo motor position command obtained by the analysis to the servo driver via the bus;

[0077] The servo driver is connected to the servo motor of the profiling chuck for clamping action, and the number of turns of the servo motor is adjusted according to the position command sent by the PLC, thereby adjusting the opening and closing angle of the profiling chuck;

[0078] like Fig. 9 As shown, the human-computer interaction system of the present invention includes a touch screen and an emergency stop button, and the touch screen and the button are embedded and installed on the cabinet panel.

[0079] The touch screen is connected to the PLC and is used to set the target pressure value, servo motor speed and other control parameters and pressure feedback value and other status information display, and is also used to start, stop or reset the equipment;

[0080] The emergency stop button is connected to the PLC;

[0081] Fig.10 The overall flow chart of the control method is as follows. The adjustment method of the force control method of the profiling chuck of the automatic ham sausage picking machine of the present invention specifically includes the following steps:

[0082] 1) Before starting the system, the thin film pressure sensor needs to be calibrated. The pressure value and resistance value can be calculated by the formula Calculate. Use a dedicated calibration instrument to give the thin film pressure sensor several sets of fixed pressure values, measure the resistance value, and reversely deduce the parameters a, b, and c. After the thin film pressure sensor is calibrated, set the target pressure value on the touch screen.

[0083] 2) Press the start button, and the contoured gripper mechanism and the sorting device will work together to grab one end of the ham sausage.

[0084] 3) When the contoured chuck is attached to the ham sausage, the resistance value of the film pressure sensor changes, and the signal converter converts the collected resistance value into a 4-20mA signal that can be received by the PLC. After receiving the signal, the PLC converts the 4-20mA signal into a pressure value.

[0085] 4) The PLC compares the collected pressure value with the set pressure value of the touch screen, calculates the position command of the servo motor, and controls the opening and closing angle of the contoured chuck.

[0086] Fig.11 The following is a flow chart of the force adjustment method of the profiling chuck. When the profiling chuck contacts the sausage, the PLC obtains the real-time pressure value BF of the profiling chuck on the ham sausage through the thin film pressure sensor, and the target pressure value set by the touch screen is SF. If the difference between BF and SF is defined as E = BF-SF, then:

[0087] (1) If E<0, the actual pressure of the ham sausage is less than the set pressure value, indicating that the clamping force of the profiling chuck is insufficient. The opening and closing angle of the profiling chuck should be reduced to increase the clamping force;

[0088] (2) If E = 0, it means that the actual pressure of the ham sausage is equal to the set value, and the opening and closing angle of the contoured chuck should be kept unchanged;

[0089] (3) If E>0, the actual pressure of the ham sausage is greater than the set value, which means that the force of the profiling chuck is too large. The opening and closing angle of the profiling chuck should be increased to reduce the clamping force.

Claims

1. A force control system for the profiling chuck of an automatic ham sausage picking machine. It is characterized in that include: The profiling jaw mechanism includes a profiling chuck, which is used to control the opening and closing angle of the profiling chuck through a servo motor to clamp the ham sausage and transport the ham sausage to the inspection station; The pressure detection system includes a pressure sensor and a signal converter. The pressure sensor is arranged in the profiling chuck and is used to detect the pressure value of the profiling chuck on the ham sausage. The pressure sensor converts the pressure received into an electrical signal through the signal converter and transmits it to the PLC control system. A PLC control system includes a PLC controller and a servo system; the PLC controller controls the servo motor to adjust the opening and closing angle of the profiling chuck through the servo system according to the pressure value corresponding to the collected electrical signal; The human-computer interaction system is used to set control parameters including target pressure value and servo motor speed value, and display status information including collected pressure value.

2. According to claim 1, a ham sausage automatic picking machine profiling chuck force control system, It is characterized in that The PLC control system includes a PLC controller and a servo system; The PLC controller is used to obtain a servo motor position instruction according to the collected ham sausage pressure value and the target pressure value set by the human-computer interaction system, and transmit the instruction to the servo system; The servo system is used to control the rotation of the servo motor according to the position instruction sent by the PLC controller, thereby adjusting the opening and closing angle of the contoured chuck.

3. According to claim 1, a ham sausage automatic picking machine profiling chuck force control system, It is characterized in that The human-computer interaction system comprises: a touch screen and an emergency stop button; The touch screen is connected to the PLC controller; The emergency stop button is connected to the PLC controller.

4. A method for controlling the force of the profiling chuck of an automatic ham sausage picking machine. It is characterized in that The following steps are involved: 1) Calibrate the pressure sensor; 2) The pressure sensor converts the collected pressure into an electrical signal through a signal converter and transmits it to the PLC control system; 3) The PLC control system will subtract the pressure value BF corresponding to the received electrical signal from the target pressure value SF set by the human-computer interaction system to determine the servo motor position command to control the opening and closing angle of the contour chuck.

5. According to the method for controlling the force of the profiling chuck of the automatic ham sausage sorting machine according to claim 4, It is characterized in that The calibration pressure sensor is specifically as follows: The pressure value F and the resistance value of the pressure sensor under force By formula The parameters a, b, and c are obtained by measuring the resistance value of the pressure sensor after inputting different pressures into the pressure sensor.

6. According to the method for controlling the force of the profiling chuck of the automatic ham sausage sorting machine according to claim 4, It is characterized in that Determining the servo motor position command according to the difference to control the opening and closing angle of the profiling chuck comprises the following steps: Difference E = BF-SF, where BF is the pressure value and SF is the set target pressure value SF, then: If E<0, the ham sausage pressure value is less than the set pressure value, and the profiling chuck angle is reduced to increase the ham sausage pressure value; If E=0, the pressure value of the ham sausage is equal to the set pressure value, and the angle of the contour chuck remains unchanged; If E>0, the ham sausage pressure value is greater than the set pressure value, and the profiling chuck angle is increased to reduce the ham sausage pressure value.

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