Automatic method and device for collecting semi-dried pasta

Abstract

The application discloses a kind of automatic collection method and equipment of half-dry noodles, belong to half-dry noodles automation production technical field, comprising: pedestal, pedestal is equipped with robot, and gripper assembly for clamping and carrying half-dry noodles is installed on robot;Pick-up table, a plurality of rollers are installed on pick-up table, and roller is used to pick up half-dry noodles conveyed from outside, for robot to grab;Turnover box replacement component, turnover box replacement component is used to convey turnover box, and empty load turnover box is conveyed to the side of robot, to hold half-dry noodles;Wherein, pick-up table is installed with folding component, for folding half-dry noodles for robot to grab.The application can realize the centralized support and flexible clamping of half-dry noodles, improve the reliability of half-dry noodles and roller separation simultaneously, so as to reduce the probability of half-dry noodles scattering, sliding and breaking caused by rigid clamping.

Description

Technical Field

[0001] This invention relates to the field of automated semi-dried noodle production technology, specifically to an automated semi-dried noodle collection method and equipment. Background Technology

[0002] After semi-dried noodles are cut into strips, pre-dried, or conveyed to a fixed length, they usually need to be removed from the front-end conveying equipment and transferred to turnover boxes in certain quantities for subsequent cooking, packaging, or transportation. In the current semi-dried noodle collection process, some are handled manually, while some production lines use mechanical grippers or industrial robots for grasping.

[0003] Semi-dried noodles, after being dried in an oven, are very brittle and easily broken. When placed on the conveyor rollers and supporting components, the noodles adhere tightly to the table surface. When ordinary mechanical grippers lift them upwards, the reverse pull generated at the point of contact will stretch the brittle noodles, causing them to stretch, bend, and break. In addition, the noodles are prone to deviation during conveying, and the placement of each batch is irregular, making it impossible for the robot to stably grasp them along a fixed trajectory.

[0004] To address the aforementioned problems, this invention provides an automated method and apparatus for collecting semi-dry noodles. Summary of the Invention

[0005] To address the aforementioned technical shortcomings, the purpose of this invention is to provide an automated semi-dry noodle collection method and device that can achieve centralized support and flexible clamping of semi-dry noodles, while improving the reliability of separation between semi-dry noodles and rollers, thereby reducing the probability of semi-dry noodles scattering, slipping, and breaking due to rigid clamping.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an automated semi-dry noodle collection device, comprising: A base on which a robot is mounted, the robot being equipped with a gripper assembly for picking up and transporting semi-dry noodles; A receiving platform is provided, on which multiple rollers are installed. These rollers are used to receive semi-dried noodles delivered from the outside for the robot to grasp. A turnover box changing component is used to transport turnover boxes and transport empty turnover boxes to one side of the robot to hold semi-dried noodles. The receiving platform is equipped with a gathering component for gathering semi-dry noodles for the robot to grasp.

[0007] Preferably, the gripper assembly includes: Mounting base, which is interconnected with the robot; Two sets of clamping parts are located on both sides of the lower side of the mounting base and slide opposite or towards each other along the short side of the mounting base. Each clamping part includes multiple flexible clamping fingers, which are spaced apart along the long side of the mounting base.

[0008] Preferably, the turnover box replacement assembly includes: A base frame, located on one side of a base; An empty box conveyor belt, which is installed on a base frame, is used to transport empty turnover boxes; A full-box conveyor belt, which is installed on a base frame and located below the empty-box conveyor belt; The lifting unit is located at the end of the empty box conveyor belt and the full box conveyor belt near the robot, and is used to transfer the fully loaded turnover box onto the full box conveyor belt.

[0009] Preferably, the lifting unit includes: A conveyor roller mechanism is located at the end of the empty box conveyor belt and the full box conveyor belt closer to the robot, and the conveyor roller mechanism is mounted on the base frame by multiple transfer push rods; The empty box conveyor belt transports empty boxes to the conveyor roller mechanism. When the turnover boxes on the conveyor roller mechanism are fully loaded, the transfer push rod drives the conveyor roller mechanism to descend, and the conveyor roller mechanism transports the fully loaded turnover boxes to the full box conveyor belt.

[0010] Preferably, positioning plates are fixedly installed on the base frame at positions on both sides of the empty box conveyor belt, and the positioning plates are used to guide the turnover boxes.

[0011] Preferably, the folding component includes: A base plate, wherein the base plate is connected to the output rod of the lifting push rod, and the lifting push rod is mounted on the receiving platform; The concentrator is fixedly mounted on the base plate. When the output rod of the lifting push rod extends, the concentrator moves to the top of the roller through the gap between multiple rollers, concentrating the semi-dry surfaces on the roller to the middle of the roller.

[0012] Preferably, the concentration section includes: Multiple slide plates are spaced apart on the upper side of the substrate along the conveying direction of the receiving platform. The thickness of each slide plate is greater than the distance between two adjacent rollers. Both ends of each slide plate are slidably connected to fixed rods fixedly mounted on the substrate. A first spring is sleeved on the outer side of each fixed rod. One end of the first spring is fixedly connected to the corresponding slide plate, and the other end is fixedly connected to the substrate. The upper ends of two corresponding fixed rods extend through the slide plate to the outside of the slide plate, and an elastic band is installed between the two corresponding fixed rods. A counterweight is fixedly installed in the middle of the lower side of the elastic band, and the lower end of the counterweight is slidably connected to a groove provided on the slide plate.

[0013] Preferably, a limiting plate for blocking semi-dry noodles is installed on the end face of the receiving platform at the end of the roller conveying direction.

[0014] Preferably, the limiting plate is slidably connected to a plurality of base rods fixedly installed on the receiving platform. The end of the base rod away from the receiving platform is folded in all directions to form a flange. A second spring is installed between the folded end of the base rod and the limiting plate. The second spring has a clamping force to press the limiting plate against the receiving platform. A wedge-shaped block adapted to the substrate is fixedly installed on the limiting plate. When the substrate rises and touches the wedge-shaped block, the limiting plate overcomes the clamping force of the second spring and slides away from the receiving platform.

[0015] A method for automatically collecting semi-dry noodles, using the automated semi-dry noodle collecting device as described in any one of claims 1-9; comprising the following steps: S1: The external conveying equipment conveys the semi-dry noodles to the receiving platform, where multiple roller bearings on the receiving platform receive the semi-dry noodles; S2: The gathering component moves to the top of the roller and gathers the semi-dry surfaces scattered on the receiving table to the predetermined gripping position. S3: The robot moves the gripper assembly to the semi-dry noodle area after it has been gathered. The gripper assembly holds the semi-dry noodle, and the robot removes the semi-dry noodle from the receiving table. S4: The turnover box replacement component transports the empty turnover box to one side of the robot, and the robot picks up the semi-dried noodles and places them into the turnover box. S5: Determine whether the current turnover box is full based on the cumulative number of times the robot has placed semi-dried noodles into the current turnover box; S6: When the turnover box is full, the turnover box replacement component will move the full turnover box out of the semi-dry surface receiving station and move the empty turnover box into the semi-dry surface receiving station. S7: After the empty turnover box enters the semi-dry noodle receiving station, repeat steps S1 to S5; after the turnover box is full, execute step S6 to realize the continuous automated collection of semi-dry noodles.

[0016] The beneficial effects of this invention are as follows: This invention utilizes a combination of rollers, elastic belts, elastically floating slides, and linked clearance plates to concentrate dispersed semi-dry noodles into a predetermined gripping position under flexible contact and elastic clearance conditions. This reduces collisions, compression, and bending of the semi-dry noodles during the gathering process, thereby reducing the breakage rate and improving the accuracy and stability of the robot's gripping.

[0017] This invention, through the cooperation of a turnover box replacement component, a conveying roller mechanism, a transfer push rod, and a limiting plate, keeps semi-dried noodles under control during the receiving, gathering, and packing process. It also automatically removes full boxes and replenishes empty boxes after the turnover boxes are full, thereby shortening the operation interval caused by turnover box replacement and realizing continuous automated collection of semi-dried noodles. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention (first view).

[0020] Figure 2 This is a structural schematic diagram (second view) of an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram showing the connection between the substrate and the lifting push rod of the present invention.

[0022] Figure 4 This is a schematic diagram of the installation of the limiting plate of the present invention.

[0023] Figure 5 This is a cross-sectional view of the receiving platform of the present invention.

[0024] Figure 6 This is a cross-sectional view of the skateboard of the present invention.

[0025] Figure 7 This is an exploded view of the skateboard, fixing rod, and counterweight rod of the present invention.

[0026] Figure 8 This is an exploded view of the limiting plate and base rod of the present invention.

[0027] Explanation of reference numerals in the attached figures: 1. Base, 2. Robot, 3. Receiving platform, 4. Roller, 5. Mounting base, 6. Flexible gripper, 7. Base frame, 8. Empty box conveyor belt, 9. Full box conveyor belt, 10. Conveying roller mechanism, 11. Transfer push rod, 12. Base plate, 13. Slide plate, 14. Lifting push rod, 15. Fixing rod, 16. First spring, 17. Elastic belt, 18. Positioning plate, 19. Slide groove, 20. Limiting plate, 21. Base rod, 22. Second spring, 23. Wedge block, 24. Counterweight rod. Detailed Implementation

[0028] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] This invention provides an automated method and device for collecting semi-dry noodles, such as... Figures 1 to 8 As shown.

[0030] Example 1: An automated semi-dried noodle collection device includes a base 1 on which a robot 2 is mounted. The robot 2 can be an existing six-axis robot and is used to perform multi-degree-of-freedom movements within its working range. The actuator of the robot 2 is equipped with a gripper assembly for grasping and transporting the semi-dried noodles. The gripper assembly changes position and posture as the robot 2 moves, realizing the grasping, transferring, and placing of the semi-dried noodles.

[0031] The gripper assembly includes a mounting base 5, which is connected to the actuator of the robot 2. The robot 2 drives the entire gripper assembly through the mounting base 5. Two sets of gripping parts are respectively provided on both sides of the lower side of the mounting base 5. The two sets of gripping parts slide back-to-back or towards each other along the short side of the mounting base 5: when sliding back-to-back, the gripper assembly is in an open state, making it easy to straddle the semi-dry surface to be gripped; when sliding towards each other, the two sets of gripping parts move closer together, clamping the semi-dry surface. Each set of gripping parts includes multiple flexible gripping fingers 6, which are spaced apart along the long side of the mounting base 5. This spaced arrangement disperses the gripping force across different locations on the semi-dry surface, preventing concentrated force at a single point and potential breakage. Simultaneously, the flexible gripping fingers 6 possess a certain degree of deformation capability, allowing them to conform to the irregular contours of the semi-dry surface and reduce compression damage during gripping.

[0032] The sliding of the clamping parts on the mounting base 5 in opposite directions or towards each other is existing technology and is now widely used in various automatic clamping devices, so this invention will not elaborate on it.

[0033] The part of the flexible clip finger 6 that contacts the semi-dry surface can be made of food-grade silicone material.

[0034] A receiving platform 3 is provided on one side of the base 1, and the receiving platform 3 is located within the working range of the robot 2. Multiple rollers 4 are installed on the receiving platform 3. The multiple rollers 4 are arranged in parallel and spaced apart from each other, and are used to receive semi-dried noodles conveyed by external conveying equipment: the semi-dried noodles are placed on the multiple rollers 4, and the rollers 4 support them to keep the semi-dried noodles in a relatively flat state, so that the robot 2 can drive the gripper assembly to grasp them above the receiving platform 3.

[0035] A turnover box replacement component is also provided on one side of the base 1. The turnover box replacement component is used to transport turnover boxes and transport empty turnover boxes to one side of the robot 2. The robot 2 drives the gripper component to put the semi-dried noodles it has grabbed into the empty turnover box. When the semi-dried noodles in the turnover box reach the preset quantity, the turnover box replacement component removes the full turnover box and replenishes it with a new empty turnover box. This is done in conjunction with the gripping rhythm of the robot 2 to achieve continuous box packing.

[0036] In addition, a gathering component is installed on the receiving platform 3. The gathering component is located between multiple rollers 4 and is used to gather the semi-dry surface distributed above the rollers 4 into the center before the robot 2 grasps it. This makes the semi-dry surface separate from the contact state with the rollers 4 and change from a scattered arrangement to a relatively concentrated state. This makes it easier for the multiple flexible gripping fingers 6 in the gripper assembly to accurately insert under the semi-dry surface to complete the gripping and reduce the probability of grasping failure due to positional deviation. When not in operation, the gathering component is located below the rollers 4 and does not affect the continued conveying of the semi-dry surface along the rollers 4.

[0037] During operation, the external conveying equipment delivers semi-dried noodles to multiple rollers 4 on the receiving platform 3. After the gathering component gathers the semi-dried noodles, the robot 2 drives the gripper component to move above the gathering component. The two sets of gripping parts open and descend to span above the semi-dried noodles, then slide towards each other so that multiple flexible gripping fingers 6 insert under the semi-dried noodles to complete the gripping. The robot 2 drives the gripper component to transfer the semi-dried noodles to an empty turnover box delivered by the turnover box replacement component. The above actions are repeated until the turnover box is full. The turnover box replacement component then completes the replacement, realizing the continuous and automated collection of semi-dried noodles.

[0038] Example 2: The turnover box replacement assembly includes a base frame 7, which is located on one side of the base 1 and is used to support and install the other components of the turnover box replacement assembly.

[0039] An empty box conveyor belt 8 is installed on the base frame 7. The empty box conveyor belt 8 is used to transport empty turnover boxes. The empty turnover boxes are placed on it and driven by it to move along the set direction, gradually approaching the side where the robot 2 is located.

[0040] A full-box conveyor belt 9 is also installed on the base frame 7. The full-box conveyor belt 9 is located below the empty-box conveyor belt 8. The two are distributed vertically, corresponding to the input path of the empty turnover box and the output path of the full-load turnover box, respectively. This ensures that the input and output are carried out on two independent and non-intersecting paths, avoiding interference between empty and full boxes on the same path.

[0041] Lifting units are provided at the ends of the empty box conveyor belt 8 and the full box conveyor belt 9 near the robot 2 to transfer fully loaded toy boxes onto the full box conveyor belt 9. The lifting unit includes a conveyor roller mechanism 10, which is located at the ends of the empty box conveyor belt 8 and the full box conveyor belt 9 near the robot 2, and is mounted on the base frame 7 via multiple transfer push rods 11. The multiple transfer push rods 11 drive the conveyor roller mechanism 10 to move up and down in the vertical direction. During the packing process, the empty box conveyor belt 8 transports empty boxes to the conveyor roller mechanism 10, which is maintained at a height corresponding to the empty box conveyor belt 8. The robot 2 continuously puts semi-dried noodles into the turnover boxes on it. When the turnover boxes are full, multiple transfer push rods 11 drive the conveyor roller mechanism 10, along with the full turnover boxes, to descend to a height corresponding to the full box conveyor belt 9. The conveyor roller mechanism 10 then transports the full turnover boxes to the full box conveyor belt 9 for output. After output, the conveyor roller mechanism 10 rises again under the drive of the transfer push rods 11 to receive the next empty turnover box. This cycle is repeated to achieve continuous replenishment of empty boxes and continuous removal of full boxes.

[0042] Positioning plates 18 are fixedly installed on the base frame 7 and on both sides of the empty box conveyor belt 8. The positioning plates 18 are used to guide the turnover box and assist its positioning: when the empty turnover box moves on the empty box conveyor belt 8, the positioning plates 18 limit the turnover box on both sides, restricting its lateral displacement, so that the turnover box moves accurately along the set path to the conveyor roller mechanism 10, avoiding the problem of inaccurate matching between the conveyor roller mechanism 10 and the turnover box due to position displacement, which affects the packing efficiency.

[0043] Example 3: The gathering assembly includes a lifting push rod 14, which is mounted on the receiving platform 3, with its output rod extending vertically toward the location of the roller 4. The lifting push rod 14 provides overall lifting power to the gathering assembly, enabling the gathering assembly to move between a clearance position below the roller 4 and a gathering position above the roller 4.

[0044] The output rod of the lifting push rod 14 is connected to a base plate 12, which is located below the plurality of rollers 4 and extends along the distribution area of ​​the rollers 4. When the output rod of the lifting push rod 14 extends, the base plate 12 moves upward; when the output rod of the lifting push rod 14 retracts, the base plate 12 returns to its downward position.

[0045] A concentrator is fixedly mounted on the substrate 12. The concentrator is used to directly contact and push the semi-dry surface. As the concentrator moves upward with the substrate 12, it passes through the gap between adjacent rollers 4 and gradually moves above the rollers 4, so that the concentrator can flexibly guide the semi-dry surface from below and both sides.

[0046] The concentrator includes multiple slide plates 13, which are spaced apart on the upper side of the substrate 12 along the conveying direction of the receiving table 3. Each slide plate 13 is respectively positioned at the gap of the corresponding roller 4, so that the multiple slide plates 13 can be simultaneously gathered at multiple positions along the length of the semi-dry surface, avoiding excessive bending of the semi-dry surface caused by pushing it at only a single position.

[0047] The slide plate 13 is connected to two fixed rods 15 at its two ends. The lower end of the fixed rod 15 is fixedly mounted on the base plate 12, and the upper end of the fixed rod 15 extends vertically through the slide plate 13 and above the slide plate 13. The slide plate 13 is slidably connected to the fixed rod 15, so that the slide plate 13 can float up and down relative to the base plate 12 along the axial direction of the fixed rod 15.

[0048] A first spring 16 is sleeved on the outer side of the fixing rod 15. One end of the first spring 16 is fixedly connected to the corresponding slide plate 13, and the other end is fixedly connected to the base plate 12. The first spring 16 forms an elastic support relationship between the slide plate 13 and the base plate 12, and keeps the slide plate 13 at a predetermined height when it is not subjected to external pressure.

[0049] The upper ends of the two corresponding fixed rods 15 extend through the slide plate 13 to the outer upper end of the slide plate 13, and an elastic band 17 is fixedly installed between the upper ends of the two corresponding fixed rods 15. A counterweight rod 24 is fixedly installed in the middle of the lower side of the elastic band 17. Under its own weight, the counterweight rod 24 pulls the middle of the elastic band 17 downward, so that the elastic band 17 forms a flexible converging profile with the middle relatively sinking and the sides relatively rising when it does not contact the semi-dry surface. The lower end of the counterweight rod 24 extends into the middle of the slide plate 13 and is provided with a sliding groove 19, and is slidably connected with the sliding groove 19. The sliding groove 19 restricts the movement direction of the counterweight rod 24, so that the counterweight rod 24 can slide in a predetermined direction with the rise and fall of the middle of the elastic band 17, and prevents the counterweight rod 24 from swinging significantly to both sides during the deformation of the elastic band 17.

[0050] The width of the slide plate 13 is greater than the distance between two adjacent rollers 4. When the semi-dry surface is gathered, the output rod of the lifting push rod 14 extends, driving the base plate 12 and the slide plate 13 on it to move upward. The slide plate 13 will press against the rollers 4 located on both sides above it, keeping the rollers 4 fixed and preventing them from rotating during the gathering process, which would increase the stress on the semi-dry surface and cause damage. At this time, the base plate 12 drives the fixing rod 15 to continue to rise. The elastic band 17 first contacts the semi-dry surface from below and uses its own elastic deformation to reduce the contact impact. As the base plate 12 continues to rise, the semi-dry surface located on both sides of the elastic band 17 moves towards the center along the inclined guide surface formed by the elastic band 17, so that the semi-dry surface that was originally dispersed in the left and right direction gradually concentrates into the predetermined gripping area.

[0051] During the movement of the semi-dry surface towards the center, each slide plate 13 compresses the first spring 16 according to the pressure received at its corresponding position, thereby preventing the elastic band 17 from lifting the semi-dry surface at a completely rigid height. The elastic yielding of the first spring 16 and the flexible deformation of the elastic band 17 work together to enable the semi-dry surface to complete its position adjustment under relatively small contact pressure, reducing the possibility of breakage due to localized pressure, mutual compression, or excessive bending.

[0052] A limiting plate 20 is installed at the end of the receiving platform 3 in the conveying direction of the roller 4. The limiting plate 20 extends along the width direction of the receiving platform 3 and is used to block the semi-dry noodles conveyed along the roller 4 to prevent the semi-dry noodles from crossing the predetermined gripping area under the action of inertia.

[0053] The limiting plate 20 is slidably connected to a plurality of base rods 21, which are fixedly installed on the end face of the receiving platform 3 and extend in a direction away from the receiving platform 3. The limiting plate 20 is provided with sliding positions that are adapted to the base rods 21, so that the limiting plate 20 can move closer to or away from the receiving platform 3 along the axial direction of the base rods 21.

[0054] The end of the base rod 21 furthest from the receiving platform 3 is folded outwards to form a flange. A second spring 22 is installed between the folded end of the base rod 21 and the limiting plate 20. The second spring 22 is sleeved on the outer side of the corresponding base rod 21. One end of the second spring 22 is fixedly connected to the flange formed by the folding of the base rod 21, and the other end is fixedly connected to the limiting plate 20, so that the second spring 22 continuously applies a pressing force towards the receiving platform 3 to the limiting plate 20.

[0055] When the semi-dried noodles normally enter the receiving platform 3, the limiting plate 20 remains in the blocking position at the end of the conveying direction of the roller 4. After the semi-dried noodles move to the end of the receiving platform 3, they come into contact with the limiting plate 20 and stop moving forward, thereby initially limiting the front end position of each batch of semi-dried noodles.

[0056] A wedge block 23 is fixedly installed on the limiting plate 20, and the wedge block 23 is located on the lifting path of the base plate 12. The wedge block 23 forms an inclined mating surface on the side facing the base plate 12, so that the vertical movement of the base plate 12 can be converted into the horizontal movement of the limiting plate 20 along the axis of the base rod 21.

[0057] After the limiting plate 20 slides outward, it forms a corresponding clearance space at the end of the semi-dry noodle conveying process, preventing the semi-dry noodle from being clamped between the concentrator and the limiting plate 20 when the concentrator lifts and gathers the semi-dry noodle. After the substrate 12 rises to the set height, the limiting plate 20 remains in the clearance state, allowing the semi-dry noodle to be concentrated towards the predetermined gripping position under the guidance of the elastic band 17.

[0058] Through the linkage between the lifting push rod 14, elastic belt 17, first spring 16 and wedge block 23, the concentrator can fix the roller shaft 4 when it rises and flexibly lift and gather the semi-dry noodles, and the limiting plate 20 can move outward synchronously. After the concentrator descends, the limiting plate 20 and each sliding plate 13 can automatically reset under the action of the second spring 22 and the first spring 16 respectively, so that the conveying, blocking, gathering and grabbing process of semi-dry noodles is carried out in a cycle according to the set sequence.

[0059] Example 4: S1: Base 1 is set on one side of the semi-dried noodle conveying production line, robot 2 is installed on base 1, and receiving platform 3 is set at the output end of external conveying equipment. External conveying equipment conveys semi-dried noodles that have been cut into strips, pre-dried or processed to a fixed length to receiving platform 3, where they are received by multiple rollers 4 installed on receiving platform 3.

[0060] Multiple rollers 4 are spaced apart and rotate synchronously along the conveying direction of the semi-dry noodle, causing the semi-dry noodle to continue moving towards the predetermined gripping position on the receiving platform 3. The rollers 4 form line contact supports that are spaced apart along the length of the semi-dry noodle, which can reduce the contact area between the semi-dry noodle and the receiving platform 3, and reduce the frictional resistance and reverse tension experienced by the semi-dry noodle during subsequent extraction.

[0061] When the semi-dried noodles move along the rollers 4 to the end of the conveying platform 3, they come into contact with the limiting plate 20 located at the end of the conveying platform. The limiting plate 20 prevents the semi-dried noodles from moving forward, keeping different batches of semi-dried noodles in a relatively fixed longitudinal position. After the semi-dried noodles reach the predetermined position, the multiple rollers 4 stop rotating, allowing the semi-dried noodles to temporarily stop on the receiving platform 3 and enter the gathering step.

[0062] S2: After the roller 4 stops rotating and the semi-dry noodle delivery stops, the lifting push rod 14 installed on the receiving platform 3 is activated. The output rod of the lifting push rod 14 extends upward and pushes the base plate 12, which is fixedly connected to its output rod, closer to the multiple rollers 4.

[0063] During the ascent, the slide plate 13 presses against the two corresponding rollers 4, keeping the rollers 4 in a fixed and locked state. Multiple elastic bands 17 pass through the gaps between adjacent rollers 4 and gradually come into contact with the semi-dry surface from below. The elastic bands 17 undergo corresponding elastic deformation under the pressure of the semi-dry surface, forming a flexible contact between the semi-dry surface and the concentrator, reducing the instantaneous collision of the concentrator with the semi-dry surface when it rises.

[0064] As the elastic band 17 continues to rise, the semi-dry surfaces on both sides of the elastic band 17 move towards the center along the inclined guide surface formed by the elastic band 17, causing the horizontally irregular semi-dry surfaces to gradually concentrate at the predetermined gripping position.

[0065] As the substrate 12 rises, it comes into contact with the wedge block 23 fixedly mounted on the limiting plate 20. The wedge block 23 causes the limiting plate 20 to overcome the clamping force of the second spring 22 and slide along the base rod 21 away from the receiving stage 3. After the limiting plate 20 moves outward, a clearance space is formed at the end of the semi-dry surface conveying process.

[0066] S3: Robot 2 drives the gripper assembly to move and grasp the semi-dry surface located on the folding assembly. The two sets of gripping parts in the gripper assembly slide back to back along the short side of the mounting base 5 to the open state. Robot 2 drives the gripper assembly to descend, so that multiple flexible gripping fingers 6 on both sides of the mounting base 5 are inserted into the lower part of the folded semi-dry surface from between two adjacent elastic bands 17. Then the two sets of gripping parts slide towards each other, and the multiple flexible gripping fingers 6 form a grip on the semi-dry surface. The spaced flexible gripping fingers 6 distribute the gripping force to different positions of the semi-dry surface, avoiding local force concentration that could cause the semi-dry surface to break.

[0067] S4: Robot 2 drives the gripper assembly to move, transferring the gripped semi-dry noodles into the inside of the turnover box. Robot 2 drives the gripper assembly holding the semi-dry noodles to the turnover box replacement assembly above the empty turnover box on one side of Robot 2. The two sets of gripping parts slide back and forth, causing the gripper assembly to open. The semi-dry noodles then detach from the flexible gripper fingers 6 and fall into the turnover box, completing a single transfer.

[0068] S5: Robot 2 determines whether the current turnover box is full by the number of grabs. Each time Robot 2 completes the grabbing and transferring action in steps S3 to S4, it accumulates the number of grabs and compares the accumulated number of grabs with a preset full load threshold: if the accumulated number of grabs has not reached the preset threshold, it is determined that the current turnover box is not full, and steps S1 to S4 are repeated to continue transferring semi-dry noodles into the current turnover box; if the accumulated number of grabs has reached the preset threshold, it is determined that the current turnover box is full, and proceeds to step S6.

[0069] S6: When the turnover box is full, the turnover box replacement component moves the full-load turnover box out of the semi-dry noodle receiving station and moves the empty turnover box into the semi-dry noodle receiving station. Specifically, the conveyor roller mechanism 10 carrying the full-load turnover box is lowered to the height corresponding to the full-box conveyor belt 9 under the drive of multiple transfer push rods 11, and the full-load turnover box is transported onto the full-box conveyor belt 9. The full-box conveyor belt 9 drives the full-load turnover box to be output outward and moved out of the semi-dry noodle receiving station. After the conveyor roller mechanism 10 completes the output action, it is raised again to the height corresponding to the empty box conveyor belt 8 under the drive of the transfer push rods 11. The empty box conveyor belt 8 then transports the empty turnover box, which is limited and guided by the positioning plate 18, onto the conveyor roller mechanism 10, so that the empty turnover box enters the semi-dry noodle receiving station, completing the turnover box replacement.

[0070] S7: After an empty turnover box enters the semi-dried noodle receiving station, repeat steps S1 to S5 until the current turnover box is full. Then repeat step S6. This cycle repeats continuously, so that the external conveying equipment continuously supplies semi-dried noodles. Robot 2 continuously grabs, transfers, and packs the noodles. The turnover box replacement component continuously removes full turnover boxes and replenishes empty turnover boxes, thereby achieving continuous and uninterrupted semi-dried noodle collection operations.

[0071] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automated semi-dry noodle collection device, characterized in that, include: A base (1) on which a robot (2) is mounted, and a gripper assembly for gripping and transporting semi-dry noodles is mounted on the robot (2); The receiving platform (3) is equipped with multiple rollers (4), which are used to receive semi-dry noodles delivered from the outside for the robot (2) to grab. A turnover box replacement assembly is used to transport turnover boxes and transport empty turnover boxes to one side of the robot (2) to hold semi-dried noodles; The receiving platform (3) is equipped with a gathering component for gathering semi-dry noodles for the robot to grasp.

2. The semi-dry noodle automated collection device as described in claim 1, characterized in that, The gripper assembly includes: Mounting base (5), which is interconnected with robot (2); Two sets of clamping parts are located on both sides of the lower side of the mounting base (5) and slide opposite or towards each other along the short side of the mounting base (5); Each clamping part includes multiple flexible clamping fingers (6), which are spaced apart along the long side of the mounting base (5).

3. The semi-dry noodle automated collection device as described in claim 1, characterized in that, The turnover box replacement component includes: Base frame (7), the base frame (7) is located on one side of the base (1); Empty box conveyor belt (8), which is installed on the base frame (7) and is used to transport empty turnover boxes; A full-box conveyor belt (9) is installed on a base frame (7) and located below an empty-box conveyor belt (8); The lifting unit is located at one end of the empty box conveyor belt (8) and the full box conveyor belt (9) near the robot (2), and is used to transfer the fully loaded turnover box to the full box conveyor belt (9).

4. The semi-dry noodle automated collection device as described in claim 3, characterized in that, The lifting unit includes: The conveyor roller mechanism (10) is located at one end of the empty box conveyor belt (8) and the full box conveyor belt (9) near the robot (2), and the conveyor roller mechanism (10) is mounted on the base frame (7) by a plurality of transfer push rods (11); The empty box conveyor belt (8) transports the empty boxes to the conveyor roller mechanism (10). When the turnover box on the conveyor roller mechanism (10) is fully loaded, the transfer push rod (11) drives the conveyor roller mechanism (10) to descend, and the conveyor roller mechanism (10) transports the fully loaded turnover box to the full box conveyor belt (9).

5. The semi-dry noodle automated collection device as described in claim 4, characterized in that, Positioning plates (18) are fixedly installed on the base frame (7) and on both sides of the empty box conveyor belt (8). The positioning plates (18) are used to guide the turnover boxes.

6. The automated semi-dry noodle collection device as described in claim 1, characterized in that, The collapsing component includes: The substrate (12) is connected to the output rod of the lifting push rod (14), which is mounted on the receiving platform (3). The concentrator is fixedly mounted on the base plate (12). When the output rod of the lifting push rod (14) extends, the concentrator moves through the gap between multiple rollers (4) to the top of the rollers (4) and concentrates the semi-dry surface on the rollers (4) to the middle of the rollers (4).

7. The automated semi-dry noodle collection device as described in claim 6, characterized in that, The concentration section includes: Multiple slide plates (13) are spaced apart on the upper side of the substrate (12) along the conveying direction of the receiving platform (3). The thickness of each slide plate (13) is greater than the distance between two adjacent rollers (4). Both ends of each slide plate (13) are slidably connected to fixed rods (15) fixedly mounted on the substrate (12). A first spring (16) is sleeved on the outside of each fixed rod (15). One end of the first spring (16) is fixedly connected to the corresponding slide plate (13), and the other end is fixedly connected to the substrate (12). The upper ends of the two corresponding fixed rods (15) extend through the slide plate (13) to the outside of the slide plate (13). An elastic band (17) is installed between the two corresponding fixed rods (15). A counterweight rod (24) is fixedly installed in the middle of the lower side of the elastic band (17). The lower end of the counterweight rod (24) is slidably connected to the groove (19) provided on the slide plate (13).

8. The automated semi-dry noodle collection device as described in claim 7, characterized in that, The receiving platform (3) is equipped with a limiting plate (20) for blocking semi-dry noodles on the end face of the roller (4) at the end of the conveying direction.

9. The automated semi-dry noodle collection device as described in claim 8, characterized in that, The limiting plate (20) is slidably connected to a plurality of base rods (21) fixedly installed on the receiving platform (3). The end of the base rod (21) away from the receiving platform (3) is folded in all directions to form a flange. A second spring (22) is installed between the folded end of the base rod (21) and the limiting plate (20). The second spring (22) has a clamping force that makes the limiting plate (20) press against the receiving platform (3). The limiting plate (20) is fixedly installed with a wedge block (23) that is compatible with the substrate (12). When the substrate (12) rises and touches the wedge block (23), the limiting plate (20) overcomes the clamping force of the second spring (22) and slides away from the receiving platform (3).

10. An automated method for collecting semi-dry noodles, characterized in that, The automated semi-dry noodle collection device according to any one of claims 1-9 includes the following steps: S1: The external conveying equipment conveys the semi-dried noodles to the receiving platform (3), where multiple rollers (4) on the receiving platform (3) receive the semi-dried noodles; S2: The gathering component moves to the top of the roller (4) and gathers the semi-dry surfaces scattered on the receiving table (3) to the predetermined gripping position; S3: The robot (2) moves the gripper assembly to the semi-dry noodle after it has been gathered. The gripper assembly holds the semi-dry noodle and the robot (2) takes the semi-dry noodle away from the receiving table (3). S4: The turnover box replacement component transports the empty turnover box to one side of the robot (2), and the robot (2) transports the semi-dried noodles it has picked up and places them in the turnover box; S5: Determine whether the current turnover box is full based on the cumulative number of times the robot (2) puts semi-dry noodles into the current turnover box; S6: When the turnover box is full, the turnover box replacement component will move the full turnover box out of the semi-dry surface receiving station and move the empty turnover box into the semi-dry surface receiving station. S7: After the empty turnover box enters the semi-dry noodle receiving station, repeat steps S1 to S5; after the turnover box is full, execute step S6 to realize the continuous automated collection of semi-dry noodles.

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