Material taking and stacking device based on PLC control

Abstract

The invention discloses a material taking and stacking device based on PLC control, relates to the field of food processing, and aims to solve the problems that in the process of transferring semi-finished fried dough twists to a frying machine, the labor intensity is large, and the product quality is affected. The material taking and stacking device comprises a fried dough twist machine, a rack is arranged on the side edge of the fried dough twist machine, and a material conveying frame is connected to the rack and located below the discharging end of the fried dough twist machine; a fixed-length cutter is arranged on the material conveying frame in a matched mode, a pneumatic clamping jaw is arranged above the material conveying frame in a matched mode, a three-coordinate system workbench is installed between the pneumatic clamping jaw and the machine frame, the material conveying frame is fixedly connected with a material distributing table, a storage basket is arranged on the material distributing table, a six-axis mechanical arm is arranged on the side edge of the storage basket, and a connecting frame is installed between the six-axis mechanical arm and the storage basket. The automatic material taking and stacking device has the advantages that material taking and stacking operations are automatically and efficiently completed, the discharging speed of the fried dough twist machine is matched, stacking and deformation of semi-finished products are reduced, the labor intensity of operators is reduced, hand contact is avoided, and food safety is improved.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, and in particular to a PLC-controlled material handling and stacking device. Background Technology

[0002] As a traditional fried dough food, the production process of twisted dough sticks typically involves kneading dough, pressing into sheets, cutting into strips, twisting and shaping, frying, cooling, and packaging. With the deepening development of food processing mechanization, automatic twisted dough stick processing machines can efficiently complete the continuous shaping process from dough to semi-finished twisted dough sticks, significantly improving the efficiency of basic processes. However, the semi-finished twisted dough sticks after shaping need to be transferred to frying equipment for cooking, and this connection process still relies heavily on manual operation in the current technology. Operators must collect the scattered semi-finished twisted dough sticks at the discharge end of the processing machine in real time and neatly stack them on trays or conveyor belts according to specific arrangement rules before sending them into the frying machine. This manual method has significant drawbacks: the speed of manual operation is difficult to match the discharge rhythm of high-speed twisted dough stick processing machines. When the discharge rate increases, it is very easy to cause the semi-finished products to pile up, stick together, or deform, resulting in a decline in product quality. At the same time, operators need to repeat bending, grabbing, and stacking actions for a long time, which is labor-intensive and easy to get tired, requiring frequent interruptions for rest, causing fluctuations in production efficiency. Furthermore, direct human contact with unfried dough twists can cause softening, deformation, and oil penetration due to body temperature or improper handling, affecting the final product's appearance and taste. It also poses a risk of introducing microbial contamination, potentially threatening food safety. More importantly, the dough twist processing machine and frying equipment are often independent single-machine systems, lacking a dedicated automated connection. Semi-finished products often require intermediate storage during transport, increasing production complexity and prolonging their exposure to air, leading to surface drying and cracking, thus weakening the puffing effect and crispness after frying. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, this invention provides a material handling and stacking device based on PLC control. This design effectively solves the problem that in the existing production of twisted dough sticks, the process of transferring the semi-finished twisted dough sticks after forming by the twisted dough stick processing machine to the frying equipment is labor-intensive, has low transfer efficiency, and is prone to causing the semi-finished products to pile up, stick together or deform. In addition, there is a risk of secondary microbial contamination, which affects the appearance and taste of the final product.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The present invention includes a twisted dough stick machine, a frame is provided on the side of the twisted dough stick machine, a material conveying frame is connected to the frame, one end of the material conveying frame is located below the discharge end of the twisted dough stick machine, a fixed-length cutter is fitted on the material conveying frame, a pneumatic gripper is fitted above the other end of the material conveying frame, a three-coordinate system worktable is installed between the pneumatic gripper and the frame, a material sorting platform is fixedly connected below the other end of the material conveying frame, a storage basket is provided on the material sorting platform, a six-axis robotic arm is provided on the side of the storage basket, a connecting frame is installed between the six-axis robotic arm and the storage basket, and a fryer is fitted on the side of the six-axis robotic arm; The pneumatic gripper includes a left gripper and a right gripper. An inclined support plate is fixedly connected to the lower part of the left gripper and the right gripper. The support plate is inclined at 45 degrees and has a storage groove. A slider is fixedly connected to the upper part of the left gripper and the right gripper. The slider is slidably connected to a fixed shell. The two sets of sliders move synchronously relative to each other on the fixed shell.

[0005] Preferably, a support plate is fixedly connected to the frame, a fixing groove is provided below the support plate, the material conveying rack is fixedly installed in the fixing groove, a V-shaped limiting groove is provided on the support plate above the material conveying rack, a first sensing block is fixedly connected to the material conveying rack, the first sensing block is located on the side away from the limiting groove, and the first sensing block cooperates with the pneumatic gripper.

[0006] Preferably, the fixed-length cutter includes a control box, the control box is provided with a through groove, the through groove is located directly above the limiting groove, the through groove and the limiting groove are provided with grooves on both sides, cutting blocks are slidably connected in both sets of grooves, and a first telescopic rod is fixedly connected to the outside of both sets of cutting blocks, and a second sensing block that cooperates with the first telescopic rod is provided outside the control box.

[0007] Preferably, the three-coordinate system worktable includes two sets of longitudinal guide rails, which are fixedly connected to both sides of the frame. A transverse guide rail is slidably connected above the two sets of longitudinal guide rails. A vertical guide rail is slidably connected to the transverse guide rail, and a slide table is slidably connected to the vertical guide rail. The slide table is fixedly connected to the fixed shell.

[0008] Preferably, a second telescopic rod is fixedly connected to the fixed shell, and a connecting block is fixedly connected below the second telescopic rod. Connecting rods are hinged to both sides of the connecting block, and the two sets of connecting rods are hinged to the two sets of sliders. The fixed shell is provided with a sliding groove for the sliders to slide.

[0009] Preferably, the connecting frame includes connecting grippers, which are fixedly connected to the six-axis robotic arm. Both sides of the storage basket are provided with pressure blocks for the connecting grippers to grasp, and the pressure blocks are higher than the top surface of the storage basket.

[0010] Preferably, the six-axis robotic arm is provided with a guide roller assembly on its side, the guide roller assembly is rotatably connected to the frame, and a feeding rack is fixedly connected below the frame. The feeding rack is located below the sorting table, and the sorting table has a through hole for the storage basket to pass through. Multiple one-way limiters are provided on the through hole and the feeding rack.

[0011] Preferably, the feeding rack includes a horizontal conveyor belt and a vertical lifting platform. There are two sets of conveyor belts, which are located on both sides of the lifting platform. The lifting platform is located directly below the through hole.

[0012] Preferably, a limiting rod is provided above the conveyor belt, the limiting rod is fixedly connected to the feeding frame, the one-way limiter includes a support rod, the support rod is rotatably connected to an L-shaped support plate, a limiting plate is fitted below the support plate, a torsion spring is installed between the support plate and the support rod, and the distance between the two sets of support plates is equal to the width of the storage basket.

[0013] Preferably, a wedge-shaped inclined surface is provided below the limiting plate, a guide plate is fixedly connected to the feeding frame, the guide plate is located on the outside of the conveyor belt, a positioning block is provided on the rear side of the guide plate, a third telescopic rod is installed between the positioning block and the feeding frame, two sets of symmetrically distributed push rods are slidably connected to the positioning block, and a connecting hole connecting the two push rods is provided on the positioning block, with a ball bearing rolled in the connecting hole.

[0014] Compared with the prior art, the outstanding advantages of this invention are: This application automates the cutting, clamping, transfer, and stacking of semi-finished twisted dough sticks output by the twisted dough stick machine through the cooperation of a material conveyor, a fixed-length cutter, a pneumatic gripper, and a three-coordinate system worktable. This effectively solves the problems of slow speed, low efficiency, and easy accumulation, sticking, or deformation of semi-finished products caused by traditional manual operation.

[0015] This application utilizes a combination of a storage basket and a six-axis robotic arm to directly transfer semi-finished twisted dough sticks to a frying machine for deep-frying, avoiding the risk of secondary microbial contamination from manual contact and ensuring product hygiene and quality. Simultaneously, it achieves automated integration between the twisted dough stick processing machine and the frying equipment, simplifying the production process, reducing the exposure time of semi-finished products, and contributing to improved overall production efficiency and product quality. This invention uses PLC control to automate the processes of material picking, cutting, fixing, moving, and stacking, thereby solving the problems of low efficiency, high labor intensity, and food safety risks associated with manual operation. It has the advantages of automating and efficiently completing material picking and stacking operations, matching the output speed of the twisted dough stick machine, reducing the accumulation and deformation of semi-finished products, reducing the labor intensity of operators, avoiding human contact, and improving food safety. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the connection structure between the three-coordinate system worktable and the frame of the present invention.

[0018] Figure 3 This is a schematic diagram of the upper part of the frame structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the limiting groove structure of the present invention.

[0020] Figure 5 This is a schematic diagram of the overall structure of the three-coordinate system worktable of the present invention.

[0021] Figure 6 This is a schematic diagram of the slide connection structure of the present invention.

[0022] Figure 7 This is a schematic diagram of the connection structure of the material distribution platform of the present invention.

[0023] Figure 8 This is a schematic diagram of the pneumatic gripper structure of the present invention.

[0024] Figure 9 This is a schematic diagram of the guide roller assembly structure of the present invention.

[0025] Figure 10 This is a schematic diagram of the connection structure of the feeding rack of the present invention.

[0026] Figure 11 This is a schematic diagram of the cross-sectional structure of the material distribution platform of the present invention.

[0027] Figure 12 This is a schematic diagram of the positioning block mating structure of the present invention.

[0028] Figure 13 This is a top view of the feeding rack structure of the present invention.

[0029] Figure 14 For the present invention Figure 11 A magnified structural diagram of A in the middle.

[0030] Labels in the diagram: 1. Twist machine; 2. Frame; 3. Material conveyor; 4. Fixed-length cutter; 401. Control box; 402. Through slot; 403. Groove; 404. Cutting block; 405. First telescopic rod; 406. Second sensing block; 5. Pneumatic gripper; 501. Left gripper; 502. Right gripper; 503. Pallet; 504. Storage trough; 505. Slider; 506. Fixed shell; 507. Second telescopic rod; 508. Connecting block; 509. Connecting rod; 510. Slide; 6. Three-coordinate system worktable; 601. Longitudinal guide rail; 602. Transverse guide rail; 603. Vertical guide rail; 604. Slide table; 7. 1. Feeding platform; 8. Storage basket; 9. Six-axis robotic arm; 10. Connecting frame; 1001. Connecting gripper; 1002. Pressure block; 11. Fryer; 12. Support plate; 13. Fixing groove; 14. Limiting groove; 15. First sensing block; 16. Guide roller assembly; 17. Feeding rack; 18. Through hole; 19. One-way limiter; 1901. Support rod; 1902. Support plate; 1903. Limiting plate; 1904. Torsion spring; 20. Conveyor belt; 21. Lifting platform; 22. Limiting rod; 23. Guide plate; 24. Positioning block; 25. Third telescopic rod; 26. Push rod; 27. Connecting hole; 28. Ball bearing. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] Please see the appendix Figure 1-6 This embodiment describes a PLC-controlled material handling and stacking device, including a twisted dough stick machine 1, a frame 2 on the side of the twisted dough stick machine 1, a material conveying frame 3 connected to the frame 2, one end of the material conveying frame 3 located below the discharge end of the twisted dough stick machine 1, a fixed-length cutter 4 on the material conveying frame 3, a pneumatic gripper 5 above the other end of the material conveying frame 3, a three-coordinate system worktable 6 installed between the pneumatic gripper 5 and the frame 2, a material distribution table 7 fixedly connected below the other end of the material conveying frame 3, a storage basket 8 on the material distribution table 7, a six-axis robotic arm 9 on the side of the storage basket 8, a connecting frame 10 installed between the six-axis robotic arm 9 and the storage basket 8, and a fryer 11 on the side of the six-axis robotic arm 9. The pneumatic gripper 5 includes a left gripper 501 and a right gripper 502. An inclined support plate 503 is fixedly connected to the lower part of both the left gripper 501 and the right gripper 502. The support plate 503 is inclined at a 45-degree angle and has a storage groove 504. A slider 505 is fixedly connected to the upper part of both the left gripper 501 and the right gripper 502. The slider 505 is slidably connected to a fixed shell 506. The two sets of sliders 505 move synchronously relative to each other on the fixed shell 506.

[0033] For ease of understanding, the following explains some key terms in this embodiment: PLC control, or Programmable Logic Controller control, is a digital electronic system designed for industrial applications. The system executes logical operations, sequential control, timing, counting, and arithmetic operations through programmable instructions stored in memory, and controls various types of machinery or production processes through digital or analog inputs / outputs.

[0034] A twisted dough machine is an automated device used to process dough into twisted dough shapes. It typically includes functional modules such as dough mixing, sheet pressing, cutting, twisting and shaping, and has a discharge end for outputting shaped semi-finished twisted dough.

[0035] The frame 2 serves as the support structure for the device, used to install and fix the various components of the device, ensuring the stability and integrity of the device.

[0036] A material handling rack is a structure used to carry and transport materials. It is usually long and narrow and can smoothly transport materials from one location to another.

[0037] The fixed-length cutter 4 is a device used to cut a continuous flow of material to a preset length, ensuring the consistency of the material dimensions.

[0038] The pneumatic gripper 5 is a gripping device driven by a pneumatic system, which can stably and reliably grip and position materials.

[0039] The three-coordinate system worktable 6 is a platform that can move precisely in the X, Y, and Z coordinate axes, and is used to realize spatial positioning and motion control of the components mounted on it.

[0040] The material sorting station 7 is a platform or structure used to classify, distribute, or guide materials to different paths.

[0041] Storage basket 8 is a container used for collecting, holding or temporarily storing materials.

[0042] The six-axis robotic arm 9 is an industrial robot with four degrees of freedom, capable of performing various operations such as grasping, handling, and stacking, and has a high degree of flexibility and automation.

[0043] The connecting bracket 10 is a structure used to connect two or more components, ensuring the fixation and force transmission between the components.

[0044] A deep fryer 11 is a device used to deep-fry and cook food, and typically includes a heating system, an oil tank, and a conveying system.

[0045] The left gripper 501 and the right gripper 502, as the main gripping components of the pneumatic gripper 5, achieve the gripping and release of materials through relative motion.

[0046] The tray 503, which serves as a support component below the grippers, provides an additional support surface for the bottom of the object when gripping materials, while reducing the clamping force of the left gripper 501 and the right gripper 502, thus preventing the twist from deforming due to excessive force.

[0047] The storage trough 504 is a semi-enclosed structure formed by the cooperation of the pallet 503 and the left and right grippers. The pallet has an inclination angle of 45 degrees. After clamping the twisted dough stick, the storage troughs 504 on the two pallets 503 cooperate to ensure that the bottom of the twisted dough stick is stably supported. The height of the storage trough 504 is greater than the height of the twisted dough stick, so that the upper end of the twisted dough stick will not be squeezed and deformed during the clamping process. At the same time, the length of the left and right grippers is greater than the sum of the widths of three semi-finished twisted dough sticks, so that three twisted dough sticks can be grabbed at once. The left and right grippers and the pallet are all made of food-grade materials, preferably PC material.

[0048] The slider 505 is a moving part inside the pneumatic gripper 5, and the opening and closing motion of the gripper is achieved by sliding within the fixed shell 506.

[0049] The fixed housing 506 is the outer frame of the pneumatic gripper 5, which is used to accommodate and guide the movement of the slider 505.

[0050] This embodiment provides a PLC-controlled material handling and stacking device. Specifically, a twisted dough stick machine 1 is used to produce semi-finished twisted dough sticks, and a frame 2 is installed on its side, serving as the supporting skeleton of the entire device. A conveyor rack 3 is connected to the frame 2, with one end positioned below the discharge end of the twisted dough stick machine 1 to receive the semi-finished twisted dough sticks output by the machine. A fixed-length cutter 4 is fitted on the conveyor rack 3 to cut the conveyed twisted dough sticks to the required length. A pneumatic gripper 5 is fitted above the other end of the conveyor rack 3 to hold the cut twisted dough sticks. A three-coordinate system worktable 6 is installed between the pneumatic gripper 5 and the frame 2, allowing for precise movement of the pneumatic gripper 5 in space. A sorting table 7 is fixedly connected below the other end of the conveyor rack 3 for initial sorting of the twisted dough sticks. A collection basket 8 is provided on the sorting table 7 for collecting the twisted dough sticks. A six-axis robotic arm 9 is mounted on the side of the storage basket 8. The robotic arm is connected to the storage basket 8 via a connecting frame 10 and is used for gripping and moving the storage basket 8. A fryer 11 is attached to the side of the six-axis robotic arm 9 for subsequent frying of the twisted dough sticks. As an optional implementation, the frame 2 uses a welded steel structure or aluminum alloy profile structure to provide sufficient strength and stability. The conveyor rack 3 uses a simple belt conveyor driven by a motor. The fixed-length cutter 4 uses a mechanical blade or laser cutting head to cut according to a preset program. The pneumatic gripper 5 uses a pneumatic or electric clamp, which uses sensors to detect the position of the twisted dough sticks for clamping. The three-coordinate system worktable 6 uses a lead screw drive or electromagnetic guide rail drive, driven by a stepper motor or servo motor. The sorting table 7 uses a flat surface to support the storage basket and conveyor rack. The storage basket 8 is a perforated metal basket, the size and shape of which are adjusted according to the frying chamber of the fryer 11. The six-axis robotic arm 9 is an articulated robot, and its end effector can be changed according to the object being grasped. The connecting frame 10 is bolted or welded to ensure the stability between the robotic arm and the storage basket 8.

[0051] The pneumatic gripper 5 is designed to include a left gripper 501 and a right gripper 502. A support plate 503 is fixedly connected to the lower part of both the left and right grippers 501 and 502 to support the bottom of the twisted dough during gripping. Both support plates 503 are equipped with storage grooves 504 to increase gripping stability. A slider 505 is fixedly connected to the upper part of both the left and right grippers 501 and 502. The slider 505 is slidably connected to a fixed housing 506, allowing the grippers to open and close. The two sliders 505 move synchronously relative to each other on the fixed housing 506, thereby achieving precise gripping and release of the twisted dough. As an optional implementation, the left and right grippers 501 and 502 can use gripping surfaces with rubber or silicone pads to avoid damage to the twisted dough. The storage grooves 504 on the support plates 503 are designed as V-shaped grooves, and the sliders 505 slide using linear guides to ensure smooth movement. The fixed housing 506 is manufactured using a modular assembly method, and its material is aluminum alloy or engineering plastic. The synchronous relative movement of the slider 505 is achieved through the linkage 509 mechanism to ensure coordinated clamping actions.

[0052] This application automates the cutting, clamping, transferring, and stacking of semi-finished twisted dough sticks output from the twisted dough stick machine 1, effectively solving the problems of slow speed, low efficiency, and easy accumulation, sticking, or deformation of semi-finished products caused by traditional manual operation. The device avoids the risk of secondary microbial contamination from manual contact, ensuring product hygiene and quality. At the same time, it realizes the automated connection between the twisted dough stick processing machine and the frying equipment, simplifies the production process, reduces the exposure time of semi-finished products, and helps to improve overall production efficiency and product quality.

[0053] In some embodiments described above, a PLC-controlled material handling and stacking device is proposed, which uses a conveyor rack 3 to transport twisted dough sticks from the twisted dough stick machine 1 to a pneumatic gripper 5 for gripping. However, after the twisted dough sticks exit the twisted dough stick machine 1, their stability and positioning accuracy on the conveyor rack 3 are crucial for subsequent fixed-length cutting and accurate gripping by the pneumatic gripper 5. If the twisted dough sticks shake or deviate from the preset position on the conveyor rack 3, it may lead to inaccurate cutting, gripping failure, or low efficiency, affecting the automation and production quality of the entire device.

[0054] In this regard, this application further proposes that a support plate 1902 is fixedly connected to the frame 2, a fixing groove 13 is provided below the support plate 1902, the material conveying rack 3 is fixedly installed in the fixing groove 13, a V-shaped limiting groove 14 is provided on the support plate 1902 above the material conveying rack 3, a first sensing block 15 is fixedly connected to the material conveying rack 3, the first sensing block 15 is located on the side away from the limiting groove 14, and the first sensing block 15 cooperates with the pneumatic gripper 5.

[0055] Specifically, the support plate 1902 is a planar structure used to provide structural support and install other components. In this embodiment, it is fixedly connected to the frame 2, providing a stable mounting base for the material conveyor 3 and supporting functional components such as the limiting groove 14. Its material can be high-strength metal sheet, such as stainless steel or aluminum alloy, to ensure sufficient rigidity and durability.

[0056] The fixing groove 13 is a recessed structure 403 below the support plate 1902, used to accommodate and fix the material conveying rack 3. The fixing groove 13 is designed to ensure that the material conveying rack 3 can be accurately positioned and firmly fixed after installation, preventing displacement or shaking during use, thereby ensuring the stability of material conveying. The size and shape of the fixing groove 13 should match the external contour of the material conveying rack 3.

[0057] The material conveying rack 3 is installed by embedding and fixing it in the fixing groove 13. This fixing method uses various mechanical fixing methods such as bolt connection, welding or buckle to ensure that the material conveying rack 3 and the support plate 1902 form a stable whole. The purpose of the fixed installation is to eliminate the uncertain movement of the material conveying rack 3 during operation and provide a stable reference for subsequent precise operation.

[0058] The V-shaped limiting groove 14 is a V-shaped groove 403 located above the support plate 1902. Its function is to guide and limit the lateral position of the twisted dough on the conveyor frame 3. When the twisted dough is discharged from the twisted dough machine 1 and falls onto the conveyor frame 3, it moves forward with the conveyor frame 3. At the same time, the V-shaped limiting groove 14 can automatically guide the twisted dough to the center position, preventing it from deviating from the preset path on the conveyor frame 3, thereby improving the accuracy of subsequent cutting and gripping. The opening angle and depth of the V-shaped groove can be optimized according to the size and shape of the twisted dough.

[0059] The first sensing block 15 is a physical marker or component used to trigger a sensing signal. It is fixedly connected to the conveyor rack 3 and serves as a trigger point for interaction with external sensors (such as photoelectric sensors, proximity sensors, etc.). Its material is typically metal or a material with specific optical reflective properties so that the sensor can reliably detect its presence or location.

[0060] The first sensing block 15 is located in front of the fixed-length cutter 4 (on the side away from the limiting groove 14) to ensure that it is detected under specific conditions, such as when the twisted dough has stably entered the limiting groove 14 and been cut by the fixed-length cutter 4. This arrangement ensures that the semi-finished twisted dough gripped by the pneumatic gripper 5 is cut to a fixed length, thus ensuring product consistency.

[0061] The interaction between the first sensing block 15 and the pneumatic gripper 5 means that the signal output of the first sensing block 15 is associated with the operating logic of the pneumatic gripper 5. For example, when the first sensing block 15 is detected, the PLC controller receives the signal and determines that the twist has reached the gripping area of ​​the pneumatic gripper 5, thereby triggering the pneumatic gripper 5 to perform a gripping action. This interaction mechanism ensures the accuracy of the gripping operation timing and avoids empty gripping or mis-gripping.

[0062] Through the above technical solution, the support plate 1902 fixedly connected to the frame 2 provides a stable installation foundation for the conveyor rack 3, and the conveyor rack 3 is precisely and firmly fixed by the fixing groove 13 below the support plate 1902, effectively preventing the conveyor rack 3 from shaking or shifting during operation, thus ensuring the stability of the twist conveying. The V-shaped limiting groove 14 set on the support plate 1902 above the conveyor rack 3 can guide and position the twist laterally, ensuring that the twist is always in the preset center position on the conveyor rack 3, which greatly improves the positioning accuracy of the twist before cutting and gripping. In addition, the first sensing block 15 fixedly connected to the conveyor rack 3 is located on the side away from the limiting groove 14 and cooperates with the pneumatic gripper 5, so that the PLC controller can accurately determine whether the twist has stably reached the gripping position, and thus trigger the pneumatic gripper 5 to grip at the best time. This not only improves the gripping success rate and reduces the scrap rate, but also optimizes the automation level and production efficiency of the entire material picking and stacking process through precise positioning and sensing.

[0063] In some embodiments described above, a fixed-length cutter 4 is proposed to be used on the material conveyor 3 for fixed-length cutting of materials. However, in actual operation, ensuring precise positioning and stable cutting of materials, as well as achieving automated control and status feedback of the cutting process, are key issues for improving cutting efficiency and accuracy. A lack of a refined cutting structure and an effective status monitoring mechanism may lead to inaccurate cutting lengths, unstable cutting, or failure to promptly detect the completion status of the cutting, thereby affecting the overall automation level of the production line and product quality.

[0064] In this regard, this application further proposes that the fixed-length cutter 4 includes a control box 401, the control box 401 is provided with a through groove 402, the through groove 402 is located directly above the limiting groove 14, the through groove 402 and the limiting groove 14 are provided with grooves 403 on both sides, the cutting blocks 404 are slidably connected in both sets of grooves 403, the outer sides of the two sets of cutting blocks 404 are fixedly connected with a first telescopic rod 405, and the control box 401 is provided with a second sensing block 406 that cooperates with the first telescopic rod 405.

[0065] The fixed-length cutter 4 is used to precisely cut the material on the conveyor rack 3. Its core function is to cut continuous or semi-continuous material flows into segments of specified lengths according to preset length parameters. The control box 401 is the core control unit of the fixed-length cutter 4, which typically integrates electronic components such as a PLC controller, driver, and sensor interface. It is used to receive external commands, process sensor signals, control the action of actuators (such as telescopic rods), and realize the automated management of the cutting process. The through slot 402 is a channel set inside the control box 401. Its size and shape are usually matched with the cross-section of the material to be cut, allowing the material to pass smoothly through the cutting area. The channel ensures that the material can be accurately guided and positioned during cutting. The limiting slot 14 (from the above embodiment) is a V-shaped structure set on the support plate 1902 above the conveyor rack 3, used for lateral positioning and guidance of the material on the conveyor rack 3. The through groove 402 is located directly above the limiting groove 14, meaning that the material enters the through groove 402 for cutting under the guidance of the limiting groove 14, ensuring the accuracy of the cutting position. Grooves 403 are located on both sides of the through groove 402 and the limiting groove 14, serving as sliding guides for the cutting blocks 404. These grooves 403 typically have smooth inner walls and precise dimensions to ensure that the cutting blocks 404 can reciprocate smoothly and accurately during the cutting process, reducing friction and jamming. The cutting blocks 404 are the components that directly contact the material and perform the cutting action. They are usually made of high-hardness, wear-resistant materials, and their cutting edges are precision-machined to ensure the sharpness and accuracy of the cut. The two sets of cutting blocks 404 achieve shearing or punching of the material through relative motion. The first telescopic rod 405 is the actuator that drives the cutting blocks 404 to move. It is a cylinder or electric push rod, etc., which drives the cutting blocks 404 to slide within the grooves 403 through telescopic motion, thereby completing the cutting. Its stroke and speed can be precisely controlled by the control box 401. The second sensing block 406 is a sensor installed outside the control box 401 to detect the movement state or position of the first telescopic rod 405. For example, when the first telescopic rod 405 extends or retracts to a specific position, the second sensing block 406 sends a signal to indicate the start, end, or completion of the cutting action, providing real-time status feedback to the PLC system.

[0066] Through the above technical solutions, the fixed-length cutter 4 is endowed with more precise and reliable cutting capabilities. The control box 401, as the intelligent core of the cutting unit, can precisely control the cutting action. The cooperation between the through groove 402 and the limiting groove 14 ensures accurate positioning of the material before cutting, avoiding cutting errors caused by material deviation. The two sets of grooves 403 provide a stable sliding path for the cutting block 404, enabling the cutting block 404 to complete the cutting smoothly and efficiently under the drive of the first telescopic rod 405. More importantly, the second sensing block 406 can monitor the movement of the first telescopic rod 405 in real time, feeding back the cutting status to the PLC control system, thereby achieving closed-loop control of the cutting process. This not only significantly improves the cutting accuracy and stability and reduces the scrap rate, but also makes the entire material handling and stacking device more automated, safer, and more reliable to operate, effectively solving the problems of inaccurate positioning, imprecise control, and lack of status feedback during material cutting.

[0067] In some embodiments described above in this application, a three-coordinate system worktable 6 is proposed as part of the material handling and stacking device, used to cooperate with the pneumatic gripper 5 for material handling operations. However, during its implementation, if the structural design of the three-coordinate system worktable 6 is unclear or lacks a precise guiding and positioning mechanism, it may cause problems such as shaking, insufficient accuracy, or limited range of motion of the pneumatic gripper 5 during movement and positioning, thereby affecting the efficiency and accuracy of material handling and stacking.

[0068] To address this, this application further proposes an improved structure for the three-coordinate system worktable 6 to ensure the precise and stable movement of the pneumatic gripper 5. Specifically, the three-coordinate system worktable 6 includes two sets of longitudinal guide rails 601. These two sets of longitudinal guide rails 601 are guiding components used to provide a linear motion trajectory in the X-axis direction. They are typically made of high-strength materials, with precision-machined surfaces to reduce friction and improve motion accuracy, such as linear guide pairs or ball screw guides. The two sets of longitudinal guide rails 601 are fixedly connected to both sides of the frame 2. This fixing method ensures the basic stability of the entire three-coordinate system worktable 6 and provides robust support for subsequent moving parts.

[0069] Based on this, a transverse guide rail 602 is slidably connected above the two sets of longitudinal guide rails 601. The transverse guide rail 602 is a key component for realizing movement in the Y-axis direction. Through its cooperation with the longitudinal guide rails 601, it enables the entire transverse moving unit to move smoothly in the X-axis direction. The transverse guide rail 602 adopts a linear guide rail structure similar to that of the longitudinal guide rails 601, and achieves precise transverse positioning through a drive mechanism (such as a synchronous belt, gear rack, or ball screw).

[0070] Furthermore, a vertical guide rail 603 is slidably connected to the transverse guide rail 602. The vertical guide rail 603 is a component that enables movement in the Z-axis direction. It is mounted on the transverse guide rail 602, allowing the pneumatic gripper 5 to perform vertical lifting and lowering. The vertical guide rail 603 typically uses a single or double linear guide rail, and is used in conjunction with a ball screw or cylinder or other drive device to achieve precise vertical positioning and movement.

[0071] Meanwhile, a slide table 604 is slidably connected to the vertical guide rail 603. The slide table 604 is a platform or support that can move along the vertical guide rail 603, and its function is to serve as a direct mounting base for the pneumatic gripper 5. The design of the slide table 604 needs to consider its load-bearing capacity and the matching accuracy with the vertical guide rail 603 to ensure the stability of the pneumatic gripper 5 during vertical movement. The slide table 604 is fixedly connected to the fixed shell 506. This connection method ensures that the fixed shell 506 of the pneumatic gripper 5 can be accurately vertically positioned as the slide table 604 moves, thereby achieving accurate gripping and placement of materials.

[0072] Through the above technical solution, the three-coordinate system worktable 6 is specifically designed as a structure consisting of two sets of longitudinal guide rails 601, transverse guide rails 602, vertical guide rails 603, and a slide 604. The longitudinal guide rails 601 are fixedly connected to both sides of the frame 2, the transverse guide rails 602 slide above the longitudinal guide rails 601, the vertical guide rails 603 slide on the transverse guide rails 602, and the slide 604 slides on the vertical guide rails 603 and is fixedly connected to the fixed shell 506. This application can provide a highly stable and highly accurate three-dimensional positioning platform for the pneumatic gripper 5. This layered, step-by-step guiding structure design effectively avoids problems such as shaking, inaccurate positioning, or limited range of motion that may occur with traditional or simple worktables. The pneumatic gripper 5 can be moved accurately and smoothly to the predetermined position, thereby significantly improving the accuracy, efficiency, and reliability of material picking and stacking operations, and ensuring the stable gripping and placement of materials such as twisted dough sticks.

[0073] To address this, this application further proposes a PLC-controlled material handling and stacking device. In this device, the left gripper 501 and right gripper 502 of the pneumatic gripper 5 move synchronously relative to each other within a fixed housing 506 via a slider 505 above them, thereby clamping or releasing materials. However, to ensure the synchronous, stable, and efficient relative movement of the slider 505 within the fixed housing 506, and thus achieve reliable clamping and precise release of materials, a compact, reliable, and easily controllable drive mechanism is required.

[0074] The pneumatic gripper 5 of this application has a second telescopic rod 507 fixedly connected to its fixed shell 506. A connecting block 508 is fixedly connected below the second telescopic rod 507. Connecting rods 509 are hinged to both sides of the connecting block 508. The two sets of connecting rods 509 are hinged to the two sets of sliders 505. The fixed shell is provided with a sliding groove 510 for the sliders 505 to slide.

[0075] Specifically, the fixed housing 506 is the main structure of the pneumatic gripper 5, used to house and guide the slider 505, and to support the entire gripping mechanism. The second telescopic rod 507 serves as a driving component, providing linear reciprocating motion. This can be achieved, but is not limited to, by a cylinder or an electric actuator. For example, when a cylinder is used, the telescopic rod is extended or retracted by controlling the on / off state and direction of the air pressure, thereby driving the movement of subsequent mechanisms. The connecting block 508 serves as an intermediate transmission component, transmitting the linear motion of the second telescopic rod 507 to the connecting rod 509 mechanism. The connecting block 508 is typically designed with appropriate connection points for hinged connection with the second telescopic rod 507 and the connecting rod 509. The connecting rod 509 is a key component in the connecting rod 509 mechanism, converting the motion of the connecting block 508 into the relative motion of the slider 505 through hinged connection. The two sets of connecting rods 509 are symmetrically arranged to ensure that the sliders 505 on both sides can move synchronously and equidistantly relative to each other. The length and hinge point position of the connecting rod 509 are precisely designed to achieve the required clamping stroke and clamping force. A groove 510 is provided on the fixed housing (i.e., fixed housing 506) to precisely guide the movement of the slider 505. The shape and size of the groove 510 match the slider 505, ensuring that the slider 505 remains stable during movement, preventing swaying or jamming, thereby guaranteeing the smoothness and accuracy of the clamping action.

[0076] By fixing the second telescopic rod 507 to the fixed housing 506 and hinged it to the connecting rods 509 on both sides via the connecting block 508 below it, the two sets of connecting rods 509 hinged to the slider 505 are driven. Simultaneously, in conjunction with the sliding groove 510 provided on the fixed housing for the slider 505, this application constructs a highly efficient, synchronous, and stable connecting rod 509 drive mechanism. The mechanism can accurately convert the linear reciprocating motion of the second telescopic rod 507 into the synchronous relative movement of the left gripper 501 and right gripper 502 of the pneumatic gripper 5. This design effectively solves the potential asynchrony problem of traditional independent drive methods, ensuring the coordination and consistency of the grippers during opening and closing, thereby significantly improving the reliability and accuracy of material clamping. Furthermore, the introduction of the connecting rod 509 mechanism makes the entire drive system structure more compact, the transmission path clearer, reduces the failure rate, simplifies the control logic, and further improves the automation level and operating efficiency of the device.

[0077] In some embodiments described above in this application, a PLC-controlled material handling and stacking device is proposed, comprising a six-axis robotic arm 9 and a storage basket 8, connected by a connecting frame 10. However, in actual operation, if the storage basket 8 lacks a structure specifically designed for the robotic arm to grasp it, the six-axis robotic arm 9 may experience inaccurate positioning, unstable gripping, or even slippage when grasping, handling, and stacking the storage basket 8, thereby affecting the efficiency and stability of the entire material handling and stacking process, and may even cause damage to the materials.

[0078] In this regard, this application further proposes that the connecting frame 10 includes a connecting gripper 1001, the connecting gripper 1001 is fixedly connected to the six-axis robotic arm 9, and both sides of the storage basket 8 are provided with pressure blocks 1002 for the connecting gripper 1001 to grasp, and the pressure blocks 1002 are higher than the top surface of the storage basket 8.

[0079] Specifically, the connecting frame 10 is a structural bridge between the six-axis robotic arm 9 and the storage basket 8. Its function is to provide a stable mounting platform to bear and transmit the gripping force of the six-axis robotic arm 9 on the storage basket 8. The connecting frame 10 can be designed in various forms, such as a simple fixed bracket, an adjustable-length linkage 509 mechanism, or a smart interface integrated with sensors. Its core purpose is to ensure that the six-axis robotic arm 9 can reliably connect and operate with the storage basket 8. The connecting gripper 1001 is the actuating component on the connecting frame 10, directly responsible for gripping and fixing the storage basket 8. The connecting gripper 1001 is pneumatically, electrically, or hydraulically driven, and its structure is a parallel gripper. Its design should ensure that it can provide sufficient gripping force during the gripping process while avoiding damage to the storage basket 8. The connecting gripper 1001 is fixedly connected to the six-axis robotic arm 9, ensuring the accuracy and synchronization of the gripping action. Both sides of the storage basket 8 are equipped with pressure blocks 1002 for the connecting grippers 1001 to grasp. These pressure blocks 1002 are specific structures located on the exterior of the storage basket 8, designed specifically for the gripping action of the connecting grippers 1001. These pressure blocks 1002 may be raised reinforcing ribs, specially designed grooves 403, or additional components made of high-strength materials. Their function is to provide a clear, robust, and wear-resistant contact point for the connecting grippers 1001, thereby ensuring the stability and repeatability of the gripping action and preventing the connecting grippers 1001 from directly contacting weak points or internal materials of the storage basket 8. The upward extension of the pressure blocks 1002 above the top surface of the storage basket 8 is crucial. This means that the pressure blocks 1002 extend vertically beyond the highest point of the storage basket 8. This design allows the connecting grippers 1001 to easily grasp the pressure blocks 1002 from above or from the side without extending the grippers into the storage basket 8, thus avoiding interference with the materials inside the storage basket 8. This is especially important when the storage basket 8 is full of materials, as it greatly simplifies the gripping operation and improves gripping efficiency and safety.

[0080] Through the above technical solution, the six-axis robotic arm 9, via the connecting gripper 1001 on the connecting frame 10, can accurately and stably grasp the specially designed pressure blocks 1002 on both sides of the storage basket 8. Since the pressure blocks 1002 are higher than the top surface of the storage basket 8, the connecting gripper 1001 can grasp the basket from above or from the side without obstruction, effectively avoiding interference with the materials inside the storage basket 8. Even when the storage basket 8 is fully loaded, the grasping operation can still be carried out smoothly. This significantly improves the gripping stability, positioning accuracy, and operational efficiency of the six-axis robotic arm 9 on the storage basket 8, effectively solving the problems of unstable gripping, easy slippage, or interference with materials in traditional methods, thereby ensuring the continuous, efficient, and safe operation of the entire material handling and stacking device.

[0081] In some embodiments of this application, the device uses a six-axis robotic arm 9 in conjunction with a gripper 1001 to grasp the storage basket 8 and place the material inside. However, in actual production, when the material needs to be discharged after processing, or when a new storage basket 8 is needed to receive the material transported from the conveyor rack 3 during frying, the existing solution lacks an efficient and automated material discharge, return, or sorting mechanism, which may lead to production interruptions, material accumulation, or the need for additional manual intervention, thereby reducing production efficiency and automation.

[0082] In response, this application further proposes a material picking and stacking device based on PLC control, wherein the six-axis robotic arm 9 is provided with a discharge guide roller on its side, the discharge guide roller is rotatably connected to the frame 2, a feeding rack is fixedly connected below the frame 2, the feeding rack is located below the sorting platform 7, the sorting platform 7 has a through hole 18 for the storage basket 8 to pass through, and multiple one-way limiters 19 are provided on the through hole 18 and the feeding rack.

[0083] Specifically, the discharge guide roller is a roller-shaped structure used to guide materials or storage baskets 8 smoothly away from the side of the six-axis robotic arm 9. Its function is to ensure that after the materials or storage baskets 8 have been processed by the six-axis robotic arm 9, they can be discharged smoothly and orderly from the designated path, avoiding jamming or scattering. The discharge guide roller is designed as an actively driven roller, rotated by a motor, actively conveying materials. Its surface can be made of wear-resistant, low-friction materials to reduce damage to the materials. The discharge guide roller is rotatably connected to the frame 2. Furthermore, an oil collecting trough is provided on the frame 2 below the discharge guide roller. After frying, the oil adhering to the storage baskets 8 will drip into the oil collecting trough for collection. There is a manual unloading station at the end of the discharge guide roller, where the twisted dough sticks in the storage baskets 8 can be poured out. At the same time, the storage baskets 8 are placed on the trough rack, allowing them to be moved back to the sorting table 7 for receiving semi-finished twisted dough sticks.

[0084] The feeding rack is located below the dispensing platform 7 and is used to receive and temporarily store the storage baskets 8 that have been fried and are intended for reuse. Its main function is to provide a platform for the recycling, temporary storage, or reuse of the storage baskets 8, ensuring material recycling and guaranteeing that storage baskets 8 are still receiving materials from the feeding rack 3 while frying is in progress, thus ensuring the continuity of the overall process. The feeding rack is both a simple receiving platform and a complex system with a conveying mechanism (e.g., conveyor belt 20) to transport materials or storage baskets 8 to designated locations. Its structure should be robust and stable, capable of withstanding the weight and impact of the materials or storage baskets 8.

[0085] The dispensing platform 7 has a through hole 18 for the storage basket 8 to pass through. This refers to an opening at a specific location on the dispensing platform 7, the size and shape of which match the storage basket 8, allowing it to pass through. The function of the through hole 18 is to allow the storage basket 8 to move upwards from the lower feeding rack to the upper dispensing platform 7 under specific conditions (e.g., when the storage basket 8 on the dispensing platform 7 is grabbed into the fryer 11 for frying), achieving rapid connection of the storage basket 8. The edges of the through hole 18 should be smooth to avoid scratching the storage basket 8, and its position should be precise, aligned with the receiving position of the feeding rack.

[0086] Multiple one-way limiters 19 are installed on the through-hole 18 and the feeding rack. Each one-way limiter 19 is a mechanical device that allows the storage basket 8 to pass through in one direction but prevents it from moving in the opposite direction. Its function is to ensure that the storage basket 8 can only enter the top surface of the distribution platform 7 from the feeding rack by passing upwards through the through-hole 18, and to prevent it from falling back due to gravity, thus ensuring the singleness and stability of the material flow. When the storage basket 8 passes upwards, the limiter is pushed open; when the storage basket 8 attempts to move downwards, the limiter will jam or block its movement. The multiple one-way limiters 19 provide stronger stability.

[0087] By employing the aforementioned technical solutions and installing discharge guide rollers, the materials processed by the six-axis robotic arm 9 or the storage baskets 8 are ensured to be discharged smoothly and orderly, preventing material accumulation or scattering. Simultaneously, a feeding rack is fixedly connected below the sorting platform 7, and through holes 18 are provided on the sorting platform 7 for the storage baskets 8 to pass through. This allows the removed storage baskets 8 to be reused after unloading, greatly improving the automation and efficiency of material handling. The installation of multiple one-way limiters 19 further ensures the unidirectional flow of the storage baskets 8 on the feeding rack, effectively preventing reverse movement of materials and ensuring the stability and reliability of the return process. This significantly enhances the continuity and intelligence of the production line when handling abnormal situations or sorting materials.

[0088] In some embodiments described above in this application, a feeding rack is provided below the sorting platform 7, and the sorting platform 7 has a through hole 18 for the storage basket 8 to pass through. However, relying solely on the simple configuration of the feeding rack and the through hole 18 may not be sufficient to achieve efficient, automated, and orderly recycling and transfer of the storage basket 8, especially when precise vertical receiving and continuous horizontal conveying of the storage basket 8 are required. The lack of a specific mechanical structure to support this process affects the automation level and operating efficiency of the entire device.

[0089] In this regard, this application further proposes that the loading rack includes a horizontal conveyor belt 20 and a vertical lifting platform 21. There are two sets of conveyor belts 20, which are located on both sides of the lifting platform 21. The lifting platform 21 is located directly below the through hole 18.

[0090] Specifically, the loading rack, as the core component for carrying and transferring the storage baskets 8, is internally designed to include a horizontal conveyor belt 20 and a vertical lifting platform 21. The horizontal conveyor belt 20 typically consists of a drive motor, transmission rollers, and the conveyor belt itself, used to achieve continuous horizontal movement of the storage baskets 8, such as transporting them from the receiving position to the stacking area or the next processing stage. The vertical lifting platform 21 typically consists of a lifting mechanism (such as a screw lift, hydraulic lift, or pneumatic lift), a guide mechanism, and a carrying platform, used to achieve precise vertical lifting of the storage baskets 8, such as raising them to a specific height for subsequent operations. This combined design gives the loading rack multi-dimensional movement capabilities, enabling flexible responses to the recycling needs of the storage baskets 8. To ensure stable carrying and efficient transfer of the storage baskets 8 on the loading rack, the conveyor belts 20 are configured in two sets and symmetrically arranged on both sides of the vertical lifting platform 21. This dual conveyor belt layout 20 provides a wider and more stable support surface for the storage basket 8, preventing it from tilting or falling during transport. Furthermore, it prevents interference between the lifting platform 21 and the conveyor belt 20 during lifting. This design helps improve the transfer efficiency of the storage basket 8 and the reliability of the system. The vertical lifting platform 21 is precisely positioned directly below the through-hole 18 on the sorting platform 7. The lifting platform 21 accurately moves the storage basket 8 through the through-hole 18 to the top of the sorting platform 7. This precise alignment design is key to automation, ensuring the storage basket 8 is stably captured and laying the foundation for subsequent vertical or horizontal transfer operations. It avoids potential deviation or jamming of the storage basket 8 during ascent, while also providing stability for the subsequent gripping by the connecting claw 1001.

[0091] Through the above technical solution, the feeding rack is endowed with the ability to transport horizontally and lift vertically, thereby significantly improving the conveying efficiency and automation level of the storage basket 8. Specifically, when the storage basket 8 is horizontally transported to the top of the lifting platform 21 via the conveyor belt 20, the storage basket 8 will accurately stop below the through hole 18 under the action of the limit rod 22, and then the lifting platform 21 will lift the storage basket 8 to the designated height. This integrated design enables the recycling process of the storage basket 8 to achieve seamless connection and automated operation from horizontal transfer to vertical reception, effectively solving the problems of low efficiency, inaccurate positioning, and excessive manual intervention that may exist when the traditional feeding rack handles the storage basket 8, and greatly improving the operating efficiency and intelligence level of the entire material picking and stacking device.

[0092] In some embodiments described above in this application, a plurality of one-way limiters 19 are provided on the feeding rack to limit the storage basket 8. However, in actual operation, relying solely on the general one-way limiters 19 may not be sufficient to ensure the stable and accurate positioning and transmission of the storage basket 8 on the conveyor belt 20. In particular, when the storage basket 8 enters or leaves the feeding rack, it is easy for it to tilt, jam, or deviate from the predetermined path, affecting the smoothness and efficiency of the entire return process.

[0093] In this application, a limiting rod 22 is provided above the conveyor belt 20, and the limiting rod 22 is fixedly connected to the loading rack. The limiting rod 22 is a rod-shaped structure set above the conveyor belt 20 and firmly connected to the loading rack. Its main function is to provide physical constraint and guidance for the storage basket 8 moving on the conveyor belt 20. When the storage basket 8 is running on the conveyor belt 20, the limiting rod 22 can effectively prevent the storage basket 8 from jumping or tilting upwards due to inertia, vibration or external interference, thereby maintaining its stable operation on the predetermined path. The limiting rod 22 is made of metal, plastic or composite materials, and its height and position can be adjusted according to the size of the storage basket 8 and the operating characteristics of the conveyor belt 20 to ensure that the storage basket 8 is always in a controlled state during the conveying process.

[0094] Meanwhile, the one-way limiter 19 includes a support rod 1901, which is rotatably connected to an L-shaped support plate 1902. A limit plate 1903 is fitted below the support plate 1902. A torsion spring 1904 is installed between the support plate 1902 and the support rod 1901. The distance between the two sets of support plates 1902 is equal to the width of the storage basket 8. The support rod 1901 is the main structure of the one-way limiter 19, typically cylindrical, with both ends fixedly connected to the loading rack or distribution table 7. The L-shaped support plate 1902 is rotatably connected to the support rod 1901 via a hinge. The L-shaped structure gives the support plate 1902 two mutually perpendicular planes. These perpendicular planes contact the storage basket 8 to provide bottom support and side limiting, such as... Figure 11As shown, the torsion spring 1904 tends to twist the support plate 1902 inward, and the limiting plate 1903 at the bottom of the support plate 1902 prevents it from rotating inward. This rotating connection allows the support plate 1902 to deflect outward under specific conditions, thereby achieving a one-way release or blocking function for the storage basket 8. The limiting plate 1903 is a plate-like structure used in conjunction with the lower part of the L-shaped support plate 1902. When the L-shaped support plate 1902 tends to deflect downward under the weight of the torsion spring 1904 and the storage basket 8, the limiting plate 1903 can limit its rotation range, ensuring that the support plate 1902 accurately switches between preset working and non-working positions. For example, when the storage basket 8 passes upward, the support plate 1902 is pushed open, and the limiting plate 1903 prevents it from rotating excessively; after the storage basket 8 passes, the support plate 1902 resets under the action of the torsion spring 1904, and the limiting plate 1903 ensures that it returns to the correct limiting position. The limiting plate 1903 is typically fixed to the structure of the loading rack or sorting table 7. Its position and shape are precisely designed to ensure the stable and reliable operation of the one-way limiter 19. The torsion spring 1904 is an elastic element that provides torsional torque and is installed here between the support plate 1902 and the support rod 1901. Its function is to provide a reset torque for the L-shaped support plate 1902, allowing it to automatically return to the preset limit position when there is no external force (such as the pushing force of the storage basket 8). When the storage basket 8 pushes the support plate 1902 to rotate, the torsion spring 1904 is compressed or torsioned, storing energy; after the storage basket 8 passes, the torsion spring 1904 releases energy, causing the support plate 1902 to quickly reset, thereby ensuring that the one-way limiter 19 can effectively limit the next storage basket 8 in a timely manner. The stiffness (elastic coefficient) of the torsion spring 1904 is selected and adjusted according to the weight of the storage basket 8, its movement speed, and the required reset torque. Furthermore, at the feeding rack or through-hole 18, the distance between the support plates 1902 of the two sets of one-way limiters 19 used to limit the storage basket 8 is precisely set to be equal to the width of the storage basket 8, in order to achieve tight and precise limiting and guidance of the storage basket 8. When the storage basket 8 enters this area, its two sides are tightly clamped by the two sets of support plates 1902, thereby effectively preventing the storage basket 8 from lateral swaying, deviating from the center line, or tilting during the conveying process.

[0095] Through the above technical solution, a limiting rod 22 is set above the conveyor belt 20, which can effectively stop the storage basket 8 at the designated position. At the same time, the one-way limiter 19 uses a support rod 1901 to rotately connect to the L-shaped support plate 1902, and with the design of the limiting plate 1903 and the torsion spring 1904, the storage basket 8 can pass smoothly in one direction, and the support plate 1902 can automatically reset after passing, ensuring the timeliness and reliability of the limiting function. Furthermore, the distance between the two sets of support plates 1902 is precisely set to the width of the storage basket 8, realizing tight lateral limiting and guidance of the storage basket 8, effectively avoiding lateral swaying, deviation or jamming of the storage basket 8 during the conveying process, thereby significantly improving the positioning accuracy of the storage basket 8 on the loading rack and the smoothness of the transmission, reducing the failure rate, and improving the automation and reliability of the entire material picking and stacking device.

[0096] In response, this application further proposes a PLC-controlled material handling and stacking device. In some of the above embodiments, the loading rack is equipped with a conveyor belt 20 and a one-way limiter 19 for conveying and limiting the storage basket 8. However, when the storage basket 8 is returned via the conveyor belt 20, the storage basket 8 may deviate from the preset path during the conveying process, or it may get stuck or impacted when it comes into contact with the limit plate 1903 in the one-way limiter 19, resulting in inaccurate positioning of the storage basket 8, which in turn affects the smooth return of materials and the operating efficiency of the equipment.

[0097] To address the aforementioned issues, this application proposes that a wedge-shaped inclined surface be provided below the limiting plate 1903, and a guide plate 23 be fixedly connected to the loading rack, with the guide plate 23 located on the outer side of the conveyor belt 20.

[0098] Specifically, the wedge-shaped ramp is positioned below the limiting plate 1903 in the aforementioned one-way limiter 19, serving to provide a smooth guiding transition for the storage basket 8. When the storage basket 8 moves upwards and approaches the support plate 1902, the wedge-shaped ramp at the bottom of the support plate 1902 contacts the top surface of the storage basket 8. This oblique contact exerts an oblique force on the support plate 1902, making it easier for the support plate 1902 to rotate outwards. This design helps reduce impact forces, prevents the storage basket 8 from getting stuck or damaged during the limiting process, and ensures that the storage basket 8 can be accurately and smoothly limited subsequently.

[0099] Meanwhile, the guide plate 23 is a structural component fixedly connected to the aforementioned loading rack, and its main function is to provide lateral guidance for the movement of the storage basket 8 on the conveyor belt 20. During the return flow of the storage basket 8 via the conveyor belt 20, the guide plate 23 can constrain the lateral movement range of the storage basket 8, preventing it from deviating from the preset conveying path. This is crucial for maintaining the stability and accuracy of the storage basket 8, especially when the conveyor belt 20 may experience slight swaying or the storage basket 8's center of gravity may be unstable. The guide plate 23 is typically made of a sheet material with a certain rigidity, such as a metal plate or a high-strength plastic plate, and is securely installed on the structure of the loading rack through welding, bolting, or other methods.

[0100] Furthermore, the guide plate 23 is located on the outside of the conveyor belt 20, meaning that the guide plate 23 is arranged on both sides or one side of the conveyor belt 20, parallel to the running direction of the conveyor belt 20. This arrangement allows the guide plate 23 to effectively form a channel, confining the storage basket 8 within the channel for movement. When the storage basket 8 runs on the conveyor belt 20, its side contacts the guide plate 23, thereby obtaining continuous lateral support and guidance. This outer arrangement ensures the stability and centering of the storage basket 8 throughout the return path, preventing the storage basket 8 from tilting, falling, or rubbing unnecessarily with other components during transport.

[0101] Meanwhile, to ensure that the storage basket 8 on the lifting platform 21 is aligned with the through hole 18, positioning blocks 24 are provided on both sides of the lifting platform 21. The positioning blocks 24 are pushed by the third telescopic rod 25, and the third telescopic rods 25 on both sides move synchronously. There are two push rods 26 on the inner side of the positioning blocks 24. The two push rods 26 are located on both sides of the pressure block 1002. The middle of the two push rods 26 is connected by a connecting hole 27 and a ball bearing 28. In this way, when the two positioning blocks 24 are close to each other, the four push rods 26 can play a role in calibrating and clamping the storage basket 8, so that the storage basket 8 can be better aligned with the through hole 18.

[0102] The following example will provide a more detailed explanation of the above technical solution: In an automated food production workshop, a twisted dough stick production machine is continuously extruding semi-finished twisted dough sticks. To achieve automated connection between the twisted dough stick production machine and the frying equipment, a material handling and stacking device has been deployed.

[0103] First, the frame 2 of the device is set on the discharge side of the twisted dough stick production equipment. A conveyor rack 3 is installed on the frame 2, with one end of the conveyor rack 3 precisely positioned below the discharge port of the twisted dough stick production equipment to receive the continuously extruded semi-finished twisted dough sticks. In this way, after the twisted dough stick production equipment discharges, the semi-finished twisted dough sticks directly enter the conveyor rack 3, avoiding the problems of accumulation, sticking, or deformation that may occur due to manual collection.

[0104] A fixed-length cutter 4 is mounted on the conveyor rack 3. When the semi-finished twisted dough sticks move to a preset position on the conveyor rack 3, the fixed-length cutter 4 is activated to precisely cut the twisted dough sticks to a uniform length. The fixed-length cutter 4 includes a control box 401, which contains a through slot 402 located above the conveyor rack 3. A V-shaped limiting slot 14 is provided on the support plate 1902 above the conveyor rack 3 to guide the twisted dough sticks. Grooves 403 are provided on both sides of the through slot 402 and the limiting slot 14. Two sets of cutting blocks 404 are slidably connected within the grooves 403 and driven by a first telescopic rod 405 to achieve precise fixed-length cutting of the twisted dough sticks. A first sensing block 15 is also fixedly connected to the conveyor rack 3 to cooperate with the subsequent pneumatic gripper 5 to ensure accurate positioning of the cut twisted dough sticks. This automated cutting replaces manual judgment and operation, ensuring the consistency of product dimensions.

[0105] Above the other end of the material handling rack 3, a pneumatic gripper 5 is installed. The pneumatic gripper 5 includes a left gripper 501 and a right gripper 502, each with a support plate 503 fixedly connected below it. The support plate 503 has a storage groove 504 to ensure stable gripping of the twisted dough without damaging its surface. Slider blocks 505 are fixedly connected above the left gripper 501 and the right gripper 502. These sliders 505 are slidably connected to a fixed housing 506 and can move synchronously relative to each other on the fixed housing 506. A second telescopic rod 507 is fixedly connected to the fixed housing 506, with a connecting block 508 connected below it. Connecting rods 509 hinged on both sides of the connecting block 508 are hinged to the sliders 505. When the second telescopic rod 507 moves, the connecting rod 509 mechanism drives the sliders 505 to move synchronously within the groove 510 of the fixed housing 506, thereby opening and closing the gripper and accurately gripping the cut twisted dough.

[0106] A three-coordinate system worktable 6 is installed between the pneumatic gripper 5 and the frame 2. The worktable includes two sets of longitudinal guide rails 601, which are fixedly connected to both sides of the frame 2; a transverse guide rail 602 is slidably connected above the two sets of longitudinal guide rails 601; a vertical guide rail 603 is slidably connected to the transverse guide rail 602; and a slide 604 is slidably connected to the vertical guide rail 603. The slide 604 is fixedly connected to the fixed housing 506 of the pneumatic gripper 5. Through the precise control of the three-coordinate system worktable 6, the pneumatic gripper 5 can accurately move the gripped twisted dough from above the conveyor rack 3 to a designated position. This automated gripping and positioning avoids problems such as twisted dough deformation, contamination, and low efficiency that may occur during manual operation.

[0107] Below the other end of the conveyor rack 3, a sorting platform 7 is fixedly connected, and a collection basket 8 is provided on the sorting platform 7. The three-coordinate system worktable 6 precisely places the gripped twisted dough sticks into the collection basket 8 and arranges them neatly according to a preset stacking pattern. This automated stacking method ensures that the twisted dough sticks have a uniform arrangement and density before entering the frying equipment, avoiding uneven stacking, sticking, or secondary contamination that may be caused by manual stacking.

[0108] A six-axis robotic arm 9 is mounted on the side of the storage basket 8, and a connecting frame 10 is installed between the six-axis robotic arm 9 and the storage basket 8. The connecting frame 10 has connecting grippers 1001, which are fixedly connected to the six-axis robotic arm 9. Pressure blocks 1002 are located on both sides of the storage basket 8, with the pressure blocks 1002 extending upwards above the top surface of the storage basket 8 to facilitate gripping by the connecting grippers 1001. When a storage basket 8 is filled with twisted dough sticks, the six-axis robotic arm 9 uses the connecting grippers 1001 to grasp the pressure blocks 1002 of the storage basket 8, lifting it from the dispensing table 7 and precisely moving it to the side of the fryer 11, thus feeding the basket 8 filled with twisted dough sticks into the feed inlet of the fryer 11. This achieves a seamless connection between the forming and frying of the twisted dough sticks, eliminating intermediate manual transfer and temporary storage steps, significantly shortening the exposure time of the twisted dough sticks to the air, reducing the risk of drying and cracking, and avoiding contamination from manual contact.

[0109] To achieve automatic recycling of empty baskets, a discharge guide roller is provided on the side of the six-axis robotic arm 9, which is rotatably connected to the frame 2. A feeding rack is fixedly connected to the bottom of the frame 2, located below the sorting platform 7. The sorting platform 7 has a through hole 18 for the storage basket 8 to pass through. The feeding rack includes two sets of horizontal conveyor belts 20 and a vertical lifting platform 21, which is located directly below the through hole 18. After the empty storage basket 8 is removed from the side of the fryer 11 after frying, it is guided by the discharge guide roller to a finished twisted dough stick placement station. The finished twisted dough sticks in the storage basket 8 are then poured out and placed on the feeding rack. Multiple one-way limiters 19 are installed on the loading rack and through-hole 18. Each set of one-way limiters 19 accommodates one storage basket 8. Each one-way limiter 19 includes a support rod 1901, which is rotatably connected to an L-shaped support plate 1902. A limit plate 1903 is fitted below the support plate 1902. A torsion spring 1904 is installed between the support plate 1902 and the support rod 1901. The distance between the two sets of support plates 1902 is equal to the width of the storage basket 8. A wedge-shaped inclined surface is provided below the limit plate 1903. A guide plate 23 is fixedly connected to the loading rack and located on the outside of the conveyor belt 20. These one-way limiters 19 ensure that the empty basket can only move in one direction on the conveyor belt 20. The empty basket moves on the conveyor belt 20 to the lifting platform 21, which lifts it and sends it back to the sorting platform 7 through the through-hole 18, waiting to be loaded with twisted dough sticks again. This automatic empty basket return mechanism further enhances the automation level and operating efficiency of the entire production line.

[0110] Through the coordinated operation of the aforementioned devices, the entire process of making twisted dough sticks—from discharging materials from the production equipment, cutting to a fixed length, precisely grasping, neatly stacking, to automatically feeding them into the fryer 11, and the automatic return of empty baskets—is highly automated. This completely replaces traditional manual operation, solving problems such as slow material handling and stacking speed, low efficiency, high labor intensity, and easy product contamination and deformation, significantly improving production efficiency, product quality, and food safety levels.

[0111] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A PLC-controlled material handling and stacking device, characterized in that: The device includes a twisted dough stick machine (1), a frame (2) on the side of the twisted dough stick machine (1), a material conveying frame (3) connected to the frame (2), one end of the material conveying frame (3) located below the discharge end of the twisted dough stick machine (1), a fixed-length cutter (4) on the material conveying frame (3), a pneumatic gripper (5) on the top of the other end of the material conveying frame (3), a three-coordinate system worktable (6) installed between the pneumatic gripper (5) and the frame (2), a material distribution table (7) fixedly connected to the bottom of the other end of the material conveying frame (3), a storage basket (8) on the material distribution table (7), a six-axis robotic arm (9) on the side of the storage basket (8), a connecting frame (10) installed between the six-axis robotic arm (9) and the storage basket (8), and a fryer (11) on the side of the six-axis robotic arm (9). The pneumatic gripper (5) includes a left gripper (501) and a right gripper (502). An inclined support plate (503) is fixedly connected to the lower part of both the left gripper (501) and the right gripper (502). The support plate (503) is inclined at a 45-degree angle and has a storage groove (504). A slider (505) is fixedly connected to the upper part of both the left gripper (501) and the right gripper (502). The slider (505) is slidably connected to a fixed shell (506). The two sets of sliders (505) move synchronously relative to each other on the fixed shell (506).

2. The material handling and stacking device based on PLC control according to claim 1, characterized in that: A support plate (1902) is fixedly connected to the frame (2). A fixing groove (13) is provided below the support plate (1902). The material conveying rack (3) is fixedly installed in the fixing groove (13). A V-shaped limiting groove (14) is provided on the support plate (1902) above the material conveying rack (3). A first sensing block (15) is fixedly connected to the material conveying rack (3). The first sensing block (15) is located on the side away from the limiting groove (14). The first sensing block (15) cooperates with the pneumatic gripper (5).

3. The material handling and stacking device based on PLC control according to claim 2, characterized in that: The fixed-length cutter (4) includes a control box (401), a through groove (402) is provided in the control box (401), the through groove (402) is located directly above the limiting groove (14), and grooves (403) are provided on both sides of the through groove and the limiting groove (14). Cutting blocks (404) are slidably connected in both sets of grooves (403), and a first telescopic rod (405) is fixedly connected to the outside of both sets of cutting blocks (404). A second sensing block (406) that cooperates with the first telescopic rod (405) is provided on the outside of the control box (401).

4. The material handling and stacking device based on PLC control according to claim 1, characterized in that: The three-coordinate system worktable (6) includes two sets of longitudinal guide rails (601). The two sets of longitudinal guide rails (601) are fixedly connected to both sides of the frame (2). A transverse guide rail (602) is slidably connected above the two sets of longitudinal guide rails (601). A vertical guide rail (603) is slidably connected on the transverse guide rail (602). A slide table (604) is slidably connected on the vertical guide rail (603). The slide table (604) is fixedly connected to the fixed shell (506).

5. A PLC-controlled material handling and stacking device according to claim 1 or 4, characterized in that: A second telescopic rod (507) is fixedly connected to the fixed shell (506), and a connecting block (508) is fixedly connected below the second telescopic rod (507). Connecting rods (509) are hinged on both sides of the connecting block (508). The two sets of connecting rods (509) are hinged to the two sets of sliders (505). The fixed shell is provided with a sliding groove (510) for the sliders (505) to slide.

6. The material handling and stacking device based on PLC control according to claim 1, characterized in that: The connecting frame (10) includes a connecting gripper (1001), which is fixedly connected to the six-axis robotic arm (9). Both sides of the storage basket (8) are provided with pressure blocks (1002) for the connecting gripper (1001) to grip, and the pressure blocks (1002) are higher than the top surface of the storage basket (8).

7. A material handling and stacking device based on PLC control according to claim 6, characterized in that: The six-axis robotic arm (9) is provided with a guide roller group (16) on its side. The guide roller group (16) is rotatably connected to the frame (2). A loading rack (17) is fixedly connected below the frame (2). The loading rack (17) is located below the sorting table (7). The sorting table (7) has a through hole (18) for the storage basket (8) to pass through. Multiple one-way limiters (19) are provided on the through hole (18) and the loading rack (17).

8. A material handling and stacking device based on PLC control according to claim 7, characterized in that: The loading rack (17) includes a horizontal conveyor belt (20) and a vertical lifting platform (21). There are two sets of conveyor belts (20), which are located on both sides of the lifting platform (21). The lifting platform (21) is located directly below the through hole (18).

9. A material handling and stacking device based on PLC control according to claim 8, characterized in that: A limiting rod (22) is provided above the conveyor belt (20). The limiting rod (22) is fixedly connected to the feeding rack (17). The one-way limiter (19) includes a support rod (1901). The support rod (1901) is rotatably connected to an L-shaped support plate (1902). A limiting plate (1903) is fitted below the support plate (1902). A torsion spring (1904) is installed between the support plate (1902) and the support rod (1901). The distance between the two sets of support plates (1902) is equal to the width of the storage basket (8).

10. A PLC-controlled material handling and stacking device according to claim 9, characterized in that: The limiting plate (1903) has a wedge-shaped inclined surface below it. The feeding rack (17) is fixedly connected to a guide plate (23). The guide plate (23) is located on the outside of the conveyor belt (20). The guide plate (23) has a positioning block (24) on the rear side. A third telescopic rod (25) is installed between the positioning block (24) and the feeding rack (17). Two sets of symmetrically distributed push rods (26) are slidably connected to the positioning block (24). The positioning block (24) has a connecting hole (27) connecting the two push rods (26). A ball bearing (28) is rolled in the connecting hole (27).

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