Special bionic rolling manipulator
By combining a bionic dough-rolling robotic arm with near-infrared spectroscopy detection and a precise adjustment mechanism, the problem of insufficient precision in traditional dough-rolling equipment has been solved. This enables real-time evaluation and precise rolling of dough, improving the quality and production efficiency of noodle products.
Patent Information
- Application Number
- CN202511337547.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-18
- Publication Date
- 2026-01-02
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional dough rolling equipment lacks precision and cannot simulate the delicate feel of hand-rolled dough. The uniformity and thickness of the dough are not precisely controlled, resulting in inconsistent quality of pasta products and an inability to adapt to the adjustment needs of different doughs.
It employs a biomimetic robotic hand for rolling dough, combined with near-infrared spectroscopy to detect the dough's moisture content and gluten strength. The dough's moisture content is adjusted through guide rollers and heating elements, and the pressure and movement distance of the rolling board are precisely controlled using a height adjustment mechanism and a crank adjustment mechanism. It mimics the bending motion of a human hand to knead the dough, and combines a visual sensor and a powder spraying system to achieve precise rolling of the noodles.
It enables real-time assessment and precise rolling of dough, improving the quality stability and production efficiency of noodle products, meeting diverse production needs, and mimicking the flexibility and efficiency of human hand-rolling of dough.
Smart Images
Figure CN121242064A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of noodle processing technology, and in particular to a bionic robotic hand specifically designed for rolling out noodles. Background Technology
[0002] In the traditional dough rolling process, manual operation often faces problems such as high labor intensity, inaccurate operation, and uneven dough processing. Especially in high-volume production or large-scale catering, low efficiency and inconsistent quality are important factors restricting production. To solve this problem, mechanized and intelligent dough rolling equipment has emerged.
[0003] Most common dough rolling equipment currently operates mechanically, lacking sufficient precision and failing to simulate the delicate feel of hand-rolled dough. The uniformity and thickness of the dough are not precisely controlled, resulting in inconsistent quality of the finished products. Furthermore, existing dough rolling equipment is mostly single-function and cannot intelligently sense and adjust the operating force and speed, making it impossible to adapt to different doughs. This can easily lead to unstable operation during the rolling process and even damage to the dough. Therefore, the present invention solves the shortcomings of the above-mentioned technical problems. Summary of the Invention
[0004] Based on the aforementioned technical problems, this invention proposes a bionic robotic hand specifically for rolling dough.
[0005] The present invention proposes a biomimetic noodle-rolling robot, which includes a conveyor belt for conveying noodles, a support frame on one side of the conveyor belt, a crank adjustment mechanism on one side of the support frame, height adjustment mechanisms on both sides of the conveyor belt, and a pre-treatment mechanism at the conveyor inlet end of the conveyor belt via a fixed frame plate.
[0006] The pretreatment mechanism includes a rotating guide roller, and the contact surface between the guide roller and the noodles is a near-infrared spectral lamp, so that the moisture content and elasticity of the noodles can be evaluated when the guide roller rotates.
[0007] The height adjustment mechanism includes a rolling board and a lead screw sleeve. The lower surface of the rolling board is pressed onto the surface of the noodles after the pressure is adjusted by the height adjustment mechanism, and the noodles are kneaded as the rolling board moves back and forth.
[0008] The crank adjustment mechanism controls the reciprocating movement of the rolling pin and adjusts the distance of its reciprocating movement.
[0009] Preferably, the pretreatment mechanism further includes a support base fixedly connected to one side surface of the conveyor belt bracket, a support shaft rotatably connected to the surface of the support base, a guide roller fixedly sleeved on the outer surface of the support shaft, a treatment block fixedly connected to the inner surface of the conveyor belt bracket via a support beam plate, and a guide cylinder rotatably connected to one end surface of the treatment block.
[0010] Through the above technical solution, the dough is pre-treated into a disc-shaped oval. In order to roll out the oval noodles thinner, one end of the oval noodles passes through the surface of the guide roller and is pushed forward as the guide roller rotates. The contact surface between the guide roller and the noodles is a near-infrared spectral lamp. Near-infrared light irradiates the surface of the dough. By detecting the absorption characteristics of the reflected light, the moisture content and gluten of the noodles are evaluated. When the moisture content of the noodles is too high, the noodles pass through the guide cylinder and drive the heating element inside the guide cylinder. The guide cylinder rotates at a uniform speed, thereby drying the noodles and reducing the moisture content.
[0011] Preferably, the pretreatment mechanism further includes a servo motor installed inside the other end of the processing block, wherein a synchronous wheel assembly is provided on the outer surface of the output shaft of the servo motor and the outer surface of the guide cylinder, and a linkage housing is provided on the outer surface of the output shaft of the servo motor and the support shaft.
[0012] Through the above technical solution, in order to drive the guide rollers on the outer surface of the support shaft to rotate synchronously with the guide cylinder, thereby increasing the guiding properties of the noodles, the synchronous wheel assembly includes a synchronous wheel on the outer surface of the guide cylinder, a synchronous wheel on the outer surface of the servo motor output shaft, and a synchronous belt on the outer surfaces of the two synchronous wheels. The linkage housing is provided with bevel gears sleeved on the outer surfaces of the servo motor output shaft and the support shaft, and the two bevel gears mesh. Thus, the servo motor can drive the guide cylinder to rotate through the synchronous belt assembly, and the bevel gear set in the linkage housing can drive the support shaft to rotate. Therefore, the guiding and conveying of noodles and pre-processing can be realized, and the moisture content of the noodles can be controlled.
[0013] Preferably, the height adjustment mechanism further includes a trapezoidal groove on the lower surface of the rolling board, a clamping cylinder is installed on the inner top surface of the groove, an arc-shaped kneading board is fixedly connected to the inner side surface of the two jaws of the clamping cylinder, the contact surface between the kneading board and the jaws is made of polyurethane, a silicone kneading pad is provided on the surface of the polyurethane, and a force sensor is provided inside the rigid material of the kneading board.
[0014] Through the above technical solution, in order to roll out and round the conveyed oval noodles, the rolling panel can achieve the reciprocating movement of the kneading board during the reciprocating movement. Due to the curvature of the kneading board surface, the noodles can be shaped. In order to adapt to the adjustment of the reciprocating movement distance of the rolling panel and maintain the kneading of the noodles, the two grippers of the clamping cylinder move away from or closer to each other, so as to pull the kneading board to deform, making the curvature of its surface more in line with the noodles. At the same time, it is also convenient to adjust the height and precisely adjust the pressure between the kneading board and the noodles. The silicone kneading pad side of the kneading board has a smooth surface, which can be prevented from sticking by sprinkling a small amount of dry powder, and can be bent at will. The polyurethane material side provides mechanical strength for the kneading board, making it easy to connect with the grippers and adjust the curvature. At the same time, in order to control the pressure during kneading and rolling and monitor the stickiness of the noodles, the force sensor monitors and provides feedback in real time after the kneading board contacts the noodles.
[0015] Preferably, a first buffer telescopic rod is fixedly connected to the upper surface of the kneading board, and the upper surface of the first buffer telescopic rod is fixedly connected to the connecting block surface of the clamping cylinder. Slide cylinders are symmetrically distributed and fixedly connected to both sides of the rolling board. Visual sensors are fixedly connected to the surfaces of the two slide cylinders on opposite sides. Evenly distributed powder spray nozzles are symmetrically installed on the lower surface of the rolling board. The powder spray amount decision model for the powder spray nozzles is as follows:
[0016] ,in, To achieve the target amount of powder, The viscosity coefficient of the noodles For the volume of the noodles, This refers to the current rolling area, that is, the real-time contact area between the kneading board and the noodles. This refers to the actual moisture content of the noodles. The baseline moisture content is set at 32%. This is the process scaling factor. Moisture is an influencing factor. Base powdering offset amount The term is an exponential term that describes the nonlinear effect of moisture content deviation on the amount of powder applied.
[0017] Through the above technical solution, in order to support the stretching and deformation of the kneading board, the upper middle surface of the kneading board is supported by a first buffer telescopic rod, so that the kneading board drives the first buffer telescopic rod to stretch and deform when it stretches and deforms. At the same time, in order to identify the position and shape of the pre-treated elliptical noodles and the shape of the noodles after rolling, the shape of the noodles is identified by visual sensors on both sides of the rolling board, thereby controlling the distance of the rolling board to roll back and forth. In order to control the stickiness of the noodles to achieve a better rolling effect, the powder spraying nozzle is controlled to spray dry powder at irregular intervals, and the amount of dry powder sprayed is controlled by a parameter model.
[0018] Preferably, the height adjustment mechanism further includes a support rod slidably inserted into the inner surface of the slide cylinder. Both ends of the support rod are fixedly sleeved with linkage bevel gears. An L-shaped adjustment base is rotatably sleeved on the outer surface of the support rod. A transmission housing is provided on the outer surface of one end of the two support rods. A drive motor is mounted on the surface of one of the adjustment bases. A transmission gear set is provided on the outer surface of the output shaft of the drive motor. The driven gear in the transmission gear set is fixedly sleeved on the outer surface of the corresponding support rod.
[0019] The above technical solution supports the rolling board and enables its reciprocating movement. A sliding cylinder slides back and forth on the outer surface of the support rod, thereby supporting the reciprocating linear movement of the rolling board. To adjust the height of the rolling board, the height is controlled by the synchronous rotation of the two support rods. When the support rods need to rotate, the drive motor controls the transmission gear set to rotate, thereby enabling one of the support rods to rotate. At the same time, another synchronous belt assembly is set inside the transmission housing to achieve the synchronous rotation of the two support rods.
[0020] Preferably, the height adjustment mechanism further includes support columns disposed on both sides of the conveyor belt, an adjustment screw is fixedly connected to the upper surface of the support column, the screw sleeve is rotatably connected to the surface of the adjustment base, the screw sleeve is threaded onto the outer surface of the adjustment screw, and a drive bevel gear is fixedly sleeved on the outer surface of the screw sleeve, the drive bevel gear meshing with the linkage bevel gear.
[0021] Through the above technical solution, in order to adjust the height of the rolling board to adapt to the adjustment of pressure and the deformation of the kneading board when the supporting rod rotates, the rotation of the supporting rod causes the linkage bevel gear to drive the meshing drive bevel gear to rotate, which in turn causes the lead screw sleeve to rotate, thereby driving the adjustment base to adjust the height on the outer surface of the adjustment lead screw, and realizing the reciprocating movement and height displacement change of the rolling board.
[0022] Preferably, the height adjustment mechanism further includes a limiting groove formed on the lower surface of the middle part of the rolling panel, and a second buffer telescopic rod is fixedly connected to one side surface of the two side supports of the conveyor belt through a connecting plate. A support roller is mounted on the upper surface of the second buffer telescopic rod through a mounting block, and the outer surface of the support roller is slidably connected to the inner wall of the limiting groove.
[0023] Through the above technical solution, in order to provide force support to both ends of the reciprocating rolling board and keep it moving smoothly, when the rolling board reciprocates, its two ends move on the outer surface of the support rollers. At the same time, when the height of the rolling board is adjusted, the support rollers are extended and retracted in height by the extension and retraction of the second buffer telescopic rod.
[0024] Preferably, the crank adjustment mechanism includes a hinge seat fixedly connected to the upper surface of one end of the rolling plate, a traction rod hinged to the surface of the hinge seat, a support tube rotatably connected to the surface of the support frame via a bearing, a drive disc fixedly connected to one side surface of the support tube, a groove seat fixedly connected to one side surface of the drive disc, a threaded sleeve slidably engaged on the inner surface of the groove seat, and one side surface of the threaded sleeve hinged to the free end of the traction rod via a connecting shaft.
[0025] Through the above technical solution, in order to realize the reciprocating movement of the rolling panel, the traction rod connects the hinge seat on the upper surface of the rolling panel and the threaded sleeve on the surface of the drive disk to form a crank mechanism. When the drive disk rotates circumferentially, the traction rod reciprocates to push and pull the sliding cylinders on both sides of the rolling panel to reciprocate on the outer surface of the supporting round rod. In order to control the distance of the reciprocating movement of the rolling panel, the threaded sleeve is controlled to move linearly on the inner surface of the groove seat, thereby adjusting the distance between the free end of the traction rod and the center of the drive disk. Then, by rotating the drive disk, the distance of the traction rod reciprocating to push and pull the rolling panel can be changed.
[0026] Preferably, the crank adjustment mechanism further includes a rotating bevel gear rotatably connected to the central surface of the drive disc, an adjusting screw rotatably connected to the inner surface of the groove seat, a threaded sleeve threaded onto the outer surface of the adjusting screw, an adjusting bevel gear fixedly sleeved on one end of the adjusting screw, the adjusting bevel gear meshing with the rotating bevel gear, a linkage gear set provided on the outer surface of the support tube, and a first motor and a second motor fixedly connected to one end surface of the support frame, the outer surface of the output shaft of the first motor being fixedly connected to the surface of the driving gear of the linkage gear set via a coupling, and the outer surface of the output shaft of the second motor being fixedly connected to the surface of the rotating bevel gear via a coupling.
[0027] Through the above technical solution, in order to adjust the position of the threaded sleeve, the bevel gear is rotated, which drives the adjusting bevel gear to rotate, thereby realizing the rotation of the adjusting screw. This allows the threaded sleeve to move linearly on the inner surface of the groove seat. At the same time, in order to realize the rotation of the drive disc, the first motor controls the rotation of the linkage gear set, thereby enabling the support tube to drive the drive disc to rotate on the surface of the support frame. Meanwhile, the outer surface of the connecting shaft of the rotating bevel gear is movably sleeved with the inner surface of the support tube, so that the rotation of the drive disc does not interfere with the rotation of the rotating bevel gear.
[0028] The beneficial effects of this invention are as follows:
[0029] 1. By setting up a pre-treatment mechanism, the moisture content and gluten strength of the dough can be evaluated in real time. During the adjustment process, near-infrared spectral lamps are placed on the contact surface between the guide rollers and the noodles. Near-infrared light irradiates the surface of the dough. By detecting the absorption characteristics of the reflected light, the moisture content and gluten strength of the noodles are evaluated. When the moisture content of the noodles is too high, the noodles pass through the guide cylinder and drive the heating element inside the guide cylinder. The guide cylinder rotates at a constant speed, thereby drying the noodles and reducing the moisture content, thus providing real-time data support for the subsequent rolling process.
[0030] 2. By setting a height adjustment mechanism, the pressure of the rolling board can be precisely adjusted, thereby achieving the kneading and shaping of noodles. During the adjustment process, the two grippers of the clamping cylinder move away from or closer to each other, causing them to pull the kneading board to deform, making its surface curvature more conform to the noodles. This also facilitates precise adjustment of the pressure between the kneading board and the noodles after height adjustment. The deformed kneading board mimics the bending motion of a human hand, achieving a more flexible and efficient rolling effect. When the supporting rod rotates, the linkage bevel gear drives the meshing drive bevel gear to rotate, which in turn causes the lead screw sleeve to rotate, thereby driving the adjustment base to adjust the height on the outer surface of the adjustment lead screw. This enables the reciprocating movement and height displacement of the rolling board, allowing for adjustments in pressure, kneading, rolling, and other aspects according to the characteristics of different doughs, meeting diverse production needs.
[0031] 3. By setting up a crank adjustment mechanism, the reciprocating movement distance of the rolling board can be adjusted through the cooperation of the traction rod and the drive disc, achieving efficient rolling of noodles. During the adjustment process, the circumferential rotation of the drive disc causes the traction rod to reciprocate by pushing and pulling the sliding cylinders on both sides of the rolling board back and forth on the outer surface of the supporting round rod. In order to control the reciprocating movement distance of the rolling board, the threaded tube sleeve is controlled to move linearly on the inner surface of the groove seat, thereby adjusting the distance between the free end of the traction rod and the center of the drive disc. By rotating the drive disc, the distance of the traction rod's reciprocating pushing and pulling of the rolling board can be changed, making the precise adjustment of the rolling board more convenient and meeting the operational needs of different doughs. Attached Figure Description
[0032] Figure 1 This is a schematic diagram of a bionic robotic hand for rolling dough proposed in this invention;
[0033] Figure 2 This is a three-dimensional view of the groove seat structure of a bionic dough-rolling robotic arm proposed in this invention;
[0034] Figure 3 A three-dimensional view of the guide roller structure of a biomimetic dough-rolling robotic arm proposed in this invention;
[0035] Figure 4This is a three-dimensional view of the powder spraying nozzle structure of a bionic dough-rolling robotic arm proposed in this invention;
[0036] Figure 5 This is a three-dimensional view of the sliding cylinder structure of a bionic dough-rolling robotic arm proposed in this invention;
[0037] Figure 6 This is a three-dimensional view of the kneading board structure of a bionic dough-rolling robotic arm proposed in this invention;
[0038] Figure 7 This is a three-dimensional view of the adjustment base structure of a bionic dough-rolling robotic arm proposed in this invention;
[0039] Figure 8 This is a three-dimensional view of the support roller structure of a biomimetic dough-rolling robotic arm proposed in this invention.
[0040] Figure 9 This is a three-dimensional view of the drive disc structure of a bionic dough-rolling robotic arm proposed in this invention;
[0041] Figure 10 This is a three-dimensional view of the adjusting screw structure of a bionic dough-rolling robotic arm proposed in this invention;
[0042] Figure 11 This is a three-dimensional view of the linkage gear group structure of a bionic dough-rolling robotic arm proposed in this invention.
[0043] In the diagram: 1. Conveyor belt; 11. Support frame; 2. Pre-treatment mechanism; 21. Guide roller; 22. Support base; 23. Support shaft; 24. Processing block; 25. Guide cylinder; 26. Servo motor; 27. Synchronous pulley assembly; 28. Linkage housing; 3. Height adjustment mechanism; 31. Rolling board; 32. Lead screw sleeve; 33. Groove surface; 34. Clamping cylinder; 35. Kneading board; 36. First buffer telescopic rod; 37. Slide cylinder; 38. Vision sensor; 39. Powder spray nozzle; 40. Support rod; 41. Linkage bevel gear; 42. 43. Adjustable base; 44. Transmission housing; 45. Drive motor; 46. Transmission gear set; 47. Support column; 48. Adjusting screw; 49. Drive bevel gear; 50. Limiting slide groove; 51. Second buffer telescopic rod; 62. Support roller; 63. Crank adjustment mechanism; 64. Hinge seat; 65. Traction rod; 66. Support tube; 67. Drive disc; 68. Groove seat; 69. Threaded sleeve; 60. Rotating bevel gear; 61. Adjusting screw; 72. Adjusting bevel gear; 73. Linkage gear set; 74. First motor; 75. Second motor. Detailed Implementation
[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0045] Reference Figures 1-11 A biomimetic noodle-rolling robot includes a conveyor belt 1 for conveying noodles, a support frame 11 on one side of the conveyor belt 1, a crank adjustment mechanism 6 on one side of the support frame 11, height adjustment mechanisms 3 on both sides of the conveyor belt 1, and a pre-treatment mechanism 2 at the conveyor inlet end of the conveyor belt 1 via a fixed frame plate.
[0046] The pretreatment mechanism 2 includes a rotating guide roller 21. The contact surface between the guide roller 21 and the noodles is a near-infrared spectral lamp, so that the moisture content and elasticity of the noodles can be evaluated when the guide roller 21 rotates.
[0047] After pretreatment, the dough takes the shape of a disc-shaped oval. In order to roll out the oval noodles, the pretreatment mechanism 2 also includes a support seat 22 fixedly connected to one side surface of the conveyor belt 1 support. The surface of the support seat 22 is rotatably connected to a support shaft 23. The guide roller 21 is fixedly sleeved on the outer surface of the support shaft 23. The inner surface of the conveyor belt 1 support is fixedly connected to a processing block 24 through a support beam plate. One end of the processing block 24 is rotatably connected to a guide cylinder 25. One end of the oval noodles passes through the surface of the guide roller 21 and moves forward as the guide roller 21 rotates. The contact surface between the guide roller 21 and the noodles is a near-infrared spectral lamp. Near-infrared light irradiates the surface of the dough. By detecting the absorption characteristics of the reflected light, the moisture content and gluten of the noodles are evaluated. When the moisture content of the noodles is too high, the noodles pass through the guide cylinder 25 and drive the heating element inside the guide cylinder 25. The guide cylinder 25 rotates at a uniform speed, thereby drying the noodles and reducing the moisture content.
[0048] To drive the guide rollers 21 on the outer surface of the support shaft 23 to rotate synchronously with the guide cylinder 25, thereby increasing the guiding properties of the noodles, the pretreatment mechanism 2 also includes a servo motor 26 installed inside the other end of the processing block 24. The outer surface of the output shaft of the servo motor 26 and the outer surface of the guide cylinder 25 are provided with a synchronous wheel assembly 27. The output shaft of the servo motor 26 and the outer surface of the support shaft 23 are provided with a linkage housing 28. The synchronous wheel assembly 27 includes a synchronous wheel on the outer surface of the guide cylinder 25, a synchronous wheel on the outer surface of the output shaft of the servo motor 26, and a synchronous belt on the outer surfaces of the two synchronous wheels. The linkage housing 28 is provided with bevel gears sleeved on the outer surface of the output shaft of the servo motor 26 and the outer surface of the support shaft 23, and the two bevel gears mesh. Thus, the servo motor 26 can drive the guide cylinder 25 to rotate through the synchronous belt assembly, and the bevel gear set in the linkage housing 28 can drive the support shaft 23 to rotate. Therefore, the guiding and conveying of the noodles and the pretreatment can be realized, and the moisture content of the noodles can be controlled.
[0049] By setting up the pretreatment mechanism 2, the moisture content and gluten strength of the dough can be evaluated in real time. During the adjustment process, the near-infrared spectral lamp is placed on the contact surface between the guide roller 21 and the dough. The near-infrared light irradiates the surface of the dough. By detecting the absorption characteristics of the reflected light, the moisture content and gluten strength of the dough are evaluated. When the moisture content of the dough is too high, the dough passes through the guide cylinder 25 and drives the heating element inside the guide cylinder 25. The guide cylinder 25 rotates at a constant speed, thereby drying the dough and reducing the moisture content, thus providing real-time data support for the subsequent rolling process.
[0050] The height adjustment mechanism 3 includes a rolling board 31 and a lead screw sleeve 32. The lower surface of the rolling board 31 is pressed onto the surface of the noodles after the pressure is adjusted by the height adjustment mechanism 3, and the noodles are kneaded when the rolling board 31 moves back and forth.
[0051] To roll out and round the conveyed oval noodles, the rolling panel 31 reciprocates, and the kneading plate 35 reciprocates as well. Due to the curvature of the kneading plate 35 surface, the noodles can be shaped. To accommodate adjustments in the reciprocating distance of the rolling panel 31 and maintain kneading of the noodles, the height adjustment mechanism 3 also includes a trapezoidal groove 33 on the lower surface of the rolling panel 31. A clamping cylinder 34 is mounted on the inner top surface of the groove 33. The inner surfaces of the two grippers of the clamping cylinder 34 are fixedly connected to the arc-shaped kneading plate 35. The contact surface between the kneading plate 35 and the grippers is made of polyurethane, and a silicone kneading pad is provided on the surface of the polyurethane. The rigid material contains a force sensor. By moving the two grippers of the clamping cylinder 34 away from or towards each other, it pulls the kneading plate 35 to deform, making its surface curvature more suitable for the noodles. This also facilitates precise adjustment of the pressure between the kneading plate 35 and the noodles after height adjustment. The silicone kneading pad side of the kneading plate 35 has a smooth surface, which can be prevented from sticking by sprinkling a small amount of dry powder, and can be bent at will. The polyurethane side provides mechanical strength to the kneading plate 35, making it easy to connect with the grippers and adjust the curvature. At the same time, in order to control the pressure during kneading and rolling and to monitor the stickiness of the noodles, the force sensor monitors and provides feedback in real time after the kneading plate 35 contacts the noodles.
[0052] To support the stretching and deformation of the kneading board 35, a first buffer telescopic rod 36 is fixedly connected to the upper surface of the kneading board 35. The upper surface of the first buffer telescopic rod 36 is fixedly connected to the connecting block surface of the clamping cylinder 34. The first buffer telescopic rod 36 supports the middle upper surface of the kneading board 35, so that the kneading board 35 drives the first buffer telescopic rod 36 to stretch and deform during the stretching and deformation process. At the same time, in order to identify the position and shape of the pre-treated elliptical noodles and the shape of the noodles after rolling, slide cylinders 37 are fixedly connected to the two sides of the rolling board 31 in a symmetrical manner. Visual sensors 38 are fixedly connected to the surfaces of the two slide cylinders 37 that are far apart from each other. The shape of the noodles is identified by the visual sensors 38 on both sides of the rolling board 31, thereby controlling the distance of the rolling board 31 to roll back and forth. In order to control the stickiness of the noodles to achieve a better rolling effect, powder spraying nozzles 39 are evenly distributed and installed in a symmetrical manner on the lower surface of the rolling board 31. The powder spraying amount decision model of the powder spraying nozzles 39 is as follows:
[0053] ,in, To achieve the target amount of powder, The viscosity coefficient of the noodles For the volume of the noodles, This refers to the current rolling and pressing area, i.e., the real-time contact area between the kneading board 35 and the noodles. This refers to the actual moisture content of the noodles. The baseline moisture content is set at 32%. This is the process scaling factor. Moisture is an influencing factor. Base powdering offset amount The term is an exponential term describing the nonlinear effect of moisture content deviation on the amount of powder applied. The powder spraying nozzle 39 is controlled intermittently to spray dry powder, and the amount of dry powder sprayed is controlled by a parametric model.
[0054] To support the rolling board 31 and enable its reciprocating movement, the height adjustment mechanism 3 further includes a support rod 40 slidably inserted into the inner surface of the slide cylinder 37. The slide cylinder 37 slides back and forth on the outer surface of the support rod 40, thereby supporting the reciprocating linear movement of the rolling board 31. To achieve height adjustment of the rolling board 31, both ends of the support rod 40 are fixedly fitted with linkage bevel gears 41. An L-shaped adjusting base 42 is rotatably fitted onto the outer surface of the support rod 40. A transmission housing 43 is provided on the outer surface of one end of each of the two support rods 40. One of the adjustment bases 42 has a drive motor 44 mounted on its surface. The outer surface of the output shaft of the drive motor 44 is provided with a transmission gear set 45. The driven gear in the transmission gear set 45 is fixedly sleeved on the outer surface of the corresponding support rod 40. The height of the two support rods 40 is adjusted by rotating synchronously. When the support rod 40 needs to rotate, the drive motor 44 controls the transmission gear set 45 to rotate, thereby realizing the rotation of one of the support rods 40. At the same time, another synchronous belt assembly is provided inside the transmission housing 43, thereby realizing the synchronous rotation of the two support rods 40.
[0055] In order to adjust the height of the rolling board 31 to accommodate pressure adjustment and the deformation adjustment of the kneading board 35 when the support rod 40 rotates, the height adjustment mechanism 3 also includes support columns 46 on both sides of the conveyor belt 1. An adjusting screw 47 is fixedly connected to the upper surface of the support column 46. The screw sleeve 32 is rotatably connected to the surface of the adjusting base 42. The screw sleeve 32 is threaded onto the outer surface of the adjusting screw 47. A drive bevel gear 48 is fixedly sleeved on the outer surface of the screw sleeve 32. The drive bevel gear 48 meshes with the linkage bevel gear 41. When the support rod 40 rotates, the linkage bevel gear 41 drives the meshing drive bevel gear 48 to rotate, which in turn causes the screw sleeve 32 to rotate, thereby driving the adjusting base 42 to adjust the height on the outer surface of the adjusting screw 47, and realizing the reciprocating movement and height displacement change of the rolling board 31.
[0056] In order to provide force support to both ends of the reciprocating rolling panel 31 and keep it moving smoothly, the height adjustment mechanism 3 also includes a limiting groove 49 opened on the lower surface of the middle part of the rolling panel 31. A second buffer telescopic rod 50 is fixedly connected to one side surface of the two side supports of the conveyor belt 1 through a connecting plate. A support roller 51 is installed on the upper surface of the second buffer telescopic rod 50 through a mounting block. The outer surface of the support roller 51 is slidably connected to the inner wall of the limiting groove 49. When the rolling panel 31 reciprocates, its two ends move on the outer surface of the support roller 51. At the same time, when the height of the rolling panel 31 is adjusted, the extension and retraction of the second buffer telescopic rod 50 drives the support roller 51 to extend and retract in height.
[0057] By setting the height adjustment mechanism 3, the pressure of the rolling board 31 can be precisely adjusted, thereby realizing the kneading and shaping of the noodles. During the adjustment process, the two grippers of the clamping cylinder 34 move away from or closer to each other, causing them to pull the kneading board 35 to deform, making its surface curvature more in line with the noodles. This also facilitates precise adjustment of the pressure between the kneading board 35 and the noodles after height adjustment. The deformed kneading board 35 mimics the bending motion of a human hand, achieving a more flexible and efficient rolling effect. When the supporting rod 40 rotates, the linkage bevel gear 41 drives the meshing drive bevel gear 48 to rotate, which in turn causes the lead screw sleeve 32 to rotate, thereby driving the adjustment base 42 to adjust the height on the outer surface of the adjustment lead screw 47, and realizing the reciprocating movement and height displacement change of the rolling board 31. Thus, pressure, kneading, rolling and other aspects can be adjusted according to the characteristics of different doughs to meet diverse production needs.
[0058] The crank adjustment mechanism 6 controls the reciprocating movement of the rolling panel 31 and adjusts the distance of its reciprocating movement.
[0059] To achieve the reciprocating movement of the rolling panel 31, the crank adjustment mechanism 6 includes a hinge seat 61 fixedly connected to the upper surface of one end of the rolling panel 31. A traction rod 62 is hinged to the surface of the hinge seat 61. A support tube 63 is rotatably connected to the surface of the support frame 11 via a bearing. A drive disc 64 is fixedly connected to one side surface of the support tube 63. The traction rod 62 connects the hinge seat 61 on the upper surface of the rolling panel 31 and the threaded sleeve 66 on the surface of the drive disc 64 to form a crank mechanism. Thus, when the drive disc 64 rotates circumferentially, the traction rod 62 reciprocates by pushing and pulling the slide cylinders 37 on both sides of the rolling panel 31. The outer surface of the support rod 40 moves back and forth. In order to adjust the distance of the reciprocating movement of the rolling board 31, a groove seat 65 is fixedly connected to one side surface of the drive disk 64. A threaded tube sleeve 66 is slidably engaged on the inner surface of the groove seat 65. One side surface of the threaded tube sleeve 66 is hinged to the free end of the traction rod 62 through a connecting shaft. The threaded tube sleeve 66 is controlled to move linearly on the inner surface of the groove seat 65, thereby adjusting the distance between the free end of the traction rod 62 and the center of the drive disk 64. By rotating the drive disk 64, the distance of the reciprocating push and pull of the rolling board 31 by the traction rod 62 can be changed.
[0060] To adjust the position of the threaded sleeve 66, the crank adjustment mechanism 6 further includes a rotating bevel gear 67 rotatably connected to the central surface of the drive disc 64. An adjusting screw 68 is rotatably connected to the inner surface of the groove seat 65. The threaded sleeve 66 is threaded onto the outer surface of the adjusting screw 68. An adjusting bevel gear 69 is fixedly fitted onto the outer surface of one end of the adjusting screw 68. The adjusting bevel gear 69 meshes with the rotating bevel gear 67. A linkage gear set 70 is provided on the outer surface of the support tube 63. By rotating the bevel gear 67, it drives the adjusting bevel gear 69 to rotate, thereby rotating the adjusting screw 68, and thus enabling the threaded sleeve 66 to move linearly within the inner surface of the groove seat 65. Meanwhile, in order to realize the rotation of the drive disc 64, a first motor 71 and a second motor 72 are fixedly connected to one end surface of the support frame 11. The outer surface of the output shaft of the first motor 71 is fixedly connected to the surface of the driving gear of the linkage gear set 70 through a coupling. The outer surface of the output shaft of the second motor 72 is fixedly connected to the surface of the rotating bevel gear 67 through a coupling. The first motor 71 controls the rotation of the linkage gear set 70, thereby enabling the support tube 63 to drive the drive disc 64 to rotate on the surface of the support frame 11. At the same time, the outer surface of the connecting shaft of the rotating bevel gear 67 is movably sleeved with the inner surface of the support tube 63, so that the rotation of the drive disc 64 does not interfere with the rotation of the rotating bevel gear 67.
[0061] By setting up the crank adjustment mechanism 6, the reciprocating movement distance of the rolling board 31 can be adjusted through the cooperation of the traction rod 62 and the drive disc 64, so as to achieve efficient rolling of the noodles. During the adjustment process, the traction rod 62 is pushed and pulled by the circumferential rotation of the drive disc 64 to move the sliding cylinders 37 on both sides of the rolling board 31 back and forth on the outer surface of the supporting round rod 40. In order to control the reciprocating movement distance of the rolling board 31, the threaded sleeve 66 is controlled to move linearly on the inner surface of the groove seat 65, thereby adjusting the distance between the free end of the traction rod 62 and the center of the drive disc 64. Then, by rotating the drive disc 64, the distance of the reciprocating pushing and pulling of the rolling board 31 by the traction rod 62 can be changed, thus making the precise adjustment of the rolling board 31 more convenient and meeting the operation requirements of different doughs.
[0062] Working principle: In a specific embodiment of the present invention, one end of the dough is placed on the concave surface of the guide roller 21 for forward conveying. Near-infrared spectral lamps begin to detect the dough. The light emitted by these spectral lamps penetrates the dough and detects the moisture content and gluten strength of the dough through reflection and absorption. Since the moisture content of the dough directly affects its rolling effect and the quality of the final noodles, near-infrared technology can provide real-time feedback on this information. Based on the detection results of the near-infrared spectral lamps, if the moisture content of the dough is too high or too low, the system automatically adjusts the moisture balance of the dough through the heating element in the guide cylinder 25 to ensure that the dough is in an ideal state for subsequent rolling operations.
[0063] The pre-treated dough is conveyed on the conveyor belt 1. In order to identify the position and shape of the pre-treated oval noodles and the shape of the noodles after rolling, the shape of the noodles is identified by the vision sensors 38 on both sides of the rolling board 31, thereby controlling the distance of the rolling board 31 to roll back and forth.
[0064] When adjusting the reciprocating distance of the rolling board 31, the second motor 72 controls the rotation of the rotating bevel gear 67, which drives the adjustment bevel gear 69 to rotate, thereby rotating the adjustment screw 68. This allows the threaded sleeve 66 to move linearly on the inner surface of the groove seat 65, thus adjusting the distance between the free end of the traction rod 62 and the center of the drive disc 64. By rotating the drive disc 64, the distance that the traction rod 62 reciprocates in pushing and pulling the rolling board 31 can be changed.
[0065] When the reciprocating movement distance of the rolling board 31 changes, in order to make the surface of the kneading board 35 more closely fit the surface of the dough, the two grippers of the clamping cylinder 34 move away from or closer to each other, causing the kneading board 35 to be deformed, so that the curvature of its surface is more closely fit the noodles.
[0066] Under the monitoring of the force sensor, the contact force between the kneading board 35 and the dough is adjusted. During the adjustment process, the drive motor 44 controls the transmission gear set 45 to rotate, thereby realizing the rotation of one of the support rods 40. At the same time, another synchronous belt assembly is set inside the transmission housing 43, thereby realizing the synchronous rotation of the two support rods 40. When the support rod 40 rotates, it drives the linkage bevel gear 41 at both ends to drive the meshing drive bevel gear 48 to rotate, thereby causing the lead screw sleeve 32 to rotate, thereby driving the adjustment base 42 to make height adjustment on the outer surface of the adjustment lead screw 47, thereby adjusting the rolling pressure of the rolling board 31 in real time.
[0067] When the drive disc 64 rotates circumferentially, the shell realizes the traction rod 62 to reciprocate push and pull the sliding cylinders 37 on both sides of the rolling panel 31 to reciprocate on the outer surface of the supporting round rod 40, so that the kneading board 35 completes the kneading and rolling of the dough. During the rolling process, the powder spraying nozzle 39 is controlled in real time to spray dry powder according to the powder spraying amount decision model, so as to achieve a better rolling effect. The rolled noodles are monitored for quality by another vision sensor 38. If they are not qualified, a robot can be added to the next station for fine rolling again.
[0068] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A biomimetic robotic hand for rolling dough, comprising a conveyor belt (1) for conveying noodles, characterized in that: A support frame (11) is provided on one side of the conveyor belt (1), a crank adjustment mechanism (6) is provided on one side of the support frame (11), a height adjustment mechanism (3) is provided on both sides of the conveyor belt (1), and a pretreatment mechanism (2) is provided at the conveyor inlet end of the conveyor belt (1) through a fixed frame plate. The pretreatment mechanism (2) includes a rotating guide roller (21), and the contact surface between the guide roller (21) and the noodles is a near-infrared spectral lamp, so that the moisture content and elasticity of the noodles can be evaluated when the guide roller (21) rotates. The height adjustment mechanism (3) includes a rolling board (31) and a screw sleeve (32). The lower surface of the rolling board (31) is pressed onto the surface of the noodles after the pressure is adjusted by the height adjustment mechanism (3), and the noodles are kneaded when the rolling board (31) moves back and forth. The crank adjustment mechanism (6) controls the reciprocating movement of the rolling plate (31) and adjusts the distance of its reciprocating movement.
2. The bionic dough-rolling robotic arm according to claim 1, characterized in that: The pretreatment mechanism (2) further includes a support seat (22) fixedly connected to one side surface of the support of the conveyor belt (1). A support shaft (23) is rotatably connected to the surface of the support seat (22). The guide roller (21) is fixedly sleeved on the outer surface of the support shaft (23). A treatment block (24) is fixedly connected to the inner surface of the support of the conveyor belt (1) through a support beam plate. A guide cylinder (25) is rotatably connected to one end surface of the treatment block (24).
3. The bionic dough-rolling robotic arm according to claim 2, characterized in that: The pretreatment mechanism (2) also includes a servo motor (26) installed inside the other end of the processing block (24). The outer surface of the output shaft of the servo motor (26) and the outer surface of the guide cylinder (25) are provided with a synchronous wheel assembly (27). The outer surface of the output shaft of the servo motor (26) and the outer surface of the support shaft (23) are provided with a linkage housing (28).
4. The bionic dough-rolling robotic arm according to claim 1, characterized in that: The height adjustment mechanism (3) further includes a trapezoidal groove (33) formed on the lower surface of the rolling board (31). A clamping cylinder (34) is installed on the inner top surface of the groove (33). An arc-shaped kneading board (35) is fixedly connected to the inner surface of the two jaws of the clamping cylinder (34). The contact surface between the kneading board (35) and the jaws is made of polyurethane. A silicone kneading pad is provided on the surface of the polyurethane. A force sensor is provided inside the rigid material of the kneading board (35).
5. The bionic dough-rolling robotic arm according to claim 4, characterized in that: The upper surface of the kneading board (35) is fixedly connected to a first buffer telescopic rod (36), the upper surface of the first buffer telescopic rod (36) is fixedly connected to the connecting block surface of the clamping cylinder (34), the two sides of the rolling board (31) are symmetrically distributed and fixedly connected to slide cylinders (37), and the two surfaces of the slide cylinders (37) that are far apart from each other are respectively fixedly connected to vision sensors (38). The lower surface of the rolling board (31) is symmetrically distributed and uniformly distributed with powder spraying nozzles (39). The powder spraying amount decision model of the powder spraying nozzles (39) is: ,in, To achieve the target amount of powder, The viscosity coefficient of the noodles For the volume of the noodles, This refers to the current rolling area, i.e., the real-time contact area between the kneading board (35) and the noodles. This refers to the actual moisture content of the noodles. The baseline moisture content is set at 32%. This is the process scaling factor. Moisture is an influencing factor. Base powdering offset amount The term is an exponential term that describes the nonlinear effect of moisture content deviation on the amount of powder applied.
6. The bionic dough-rolling robotic arm according to claim 5, characterized in that: The height adjustment mechanism (3) further includes a support rod (40) that is slidably inserted into the inner surface of the slide cylinder (37). Both ends of the support rod (40) are fixedly sleeved with a linkage bevel gear (41). An L-shaped adjustment base (42) is rotatably sleeved on the outer surface of the support rod (40). A transmission housing (43) is provided on the outer surface of one end of the two support rods (40). A drive motor (44) is installed on the surface of one of the adjustment bases (42). A transmission gear set (45) is provided on the outer surface of the output shaft of the drive motor (44). The driven gear in the transmission gear set (45) is fixedly sleeved on the outer surface of the corresponding support rod (40).
7. The bionic dough-rolling robotic arm according to claim 6, characterized in that: The height adjustment mechanism (3) further includes support columns (46) on both sides of the conveyor belt (1). An adjusting screw (47) is fixedly connected to the upper surface of the support column (46). The screw sleeve (32) is rotatably connected to the surface of the adjusting base (42). The screw sleeve (32) is threaded onto the outer surface of the adjusting screw (47). A drive bevel gear (48) is fixedly sleeved on the outer surface of the screw sleeve (32). The drive bevel gear (48) meshes with the linkage bevel gear (41).
8. The bionic dough-rolling robotic arm according to claim 7, characterized in that: The height adjustment mechanism (3) further includes a limiting groove (49) opened on the lower surface of the middle part of the rolling panel (31). A second buffer telescopic rod (50) is fixedly connected to one side surface of the two side supports of the conveyor belt (1) through a connecting plate. A support roller (51) is installed on the upper surface of the second buffer telescopic rod (50) through an mounting block. The outer surface of the support roller (51) is slidably connected to the inner wall of the limiting groove (49).
9. The bionic dough-rolling robotic arm according to claim 8, characterized in that: The crank adjustment mechanism (6) includes a hinge seat (61) fixedly connected to the upper surface of one end of the rolling plate (31). A traction rod (62) is hinged to the surface of the hinge seat (61). A support tube (63) is rotatably connected to the surface of the support frame (11) through a bearing. A drive disc (64) is fixedly connected to one side surface of the support tube (63). A groove seat (65) is fixedly connected to one side surface of the drive disc (64). A threaded sleeve (66) is slidably engaged on the inner surface of the groove seat (65). One side surface of the threaded sleeve (66) is hinged to the free end of the traction rod (62) through a connecting shaft.
10. The bionic dough-rolling robotic arm according to claim 9, characterized in that: The crank adjustment mechanism (6) further includes a rotating bevel gear (67) rotatably connected to the center surface of the drive disc (64). An adjusting screw (68) is rotatably connected to the inner surface of the groove seat (65). The threaded sleeve (66) is threaded onto the outer surface of the adjusting screw (68). An adjusting bevel gear (69) is fixedly sleeved on the outer surface of one end of the adjusting screw (68). The adjusting bevel gear (69) meshes with the rotating bevel gear (67). A linkage gear set (70) is provided on the outer surface of the support tube (63). A first motor (71) and a second motor (72) are fixedly connected to one end surface of the support frame (11). The outer surface of the output shaft of the first motor (71) is fixedly connected to the surface of the driving gear of the linkage gear set (70) through a coupling. The outer surface of the output shaft of the second motor (72) is fixedly connected to the surface of the rotating bevel gear (67) through a coupling.