Double-sided automatic hank yarn dipping device for double hank and method for controlling uniform yarn distribution

Abstract

The application discloses a double-face automatic sesame sticking device for double sesame cakes and a uniform sesame distribution control method thereof. The device comprises a rack, a conveying mechanism, a first sesame sticking station, a turning station and a second sesame sticking station arranged in sequence along the conveying direction. The first sesame sticking station is provided with a first execution mechanism for sticking sesame on the first surface of a cake embryo. The turning station is provided with a turning execution mechanism for turning over the cake embryo. The second sesame sticking station is provided with a second execution mechanism for sticking sesame on the second surface of the cake embryo. The device further comprises a detection unit for obtaining the first surface coverage C1 of the cake embryo after the first surface is finished with sesame sticking. A control system is used to realize symmetrical compensation control. The control system is pre-set with a single surface standard target value C0, an upper limit C max of allowable deviation and a lower limit C min of allowable deviation. A control instruction is generated according to the amplitude-limited C 2_target , and the running parameters of the second execution mechanism are adjusted to make the actual coverage C2 of the second surface of the cake embryo approach C 2_target . The application balances the sesame coverage of the double sesame cakes.

Description

Technical Field

[0001] This application relates to an automatic double-sided ramie coating device for double ramie cakes and a method for controlling the uniform application of ramie, belonging to the field of ramie application control technology. Background Technology

[0002] The double-sided sesame coating process for sesame cakes is a crucial step that determines the final product's appearance and taste. Currently available automatic double-sided sesame coating equipment operates with each coating station functioning independently, with pre-set, unrelated process parameters. This control method lacks a coordinated control logic for the coating effect. Influenced by factors such as the sesame material's condition, the cake's surface moisture, and fluctuations in the conveyor's operation, the actual sesame coverage on both sides of the cake can easily deviate significantly, making it difficult to maintain a balanced coating effect. Furthermore, the system cannot adaptively adjust the second-side parameters based on the real-time coating results of the first side, lacking a constraint mechanism and early warning capability for exceeding coverage limits. Ultimately, this results in poor product appearance consistency and a low yield rate. Summary of the Invention

[0003] According to one aspect of this application, an automatic double-sided sesame coating device for double sesame cakes is provided, which evenly distributes the sesame seeds on both sides of the double sesame cakes.

[0004] An automatic double-sided sesame coating device for making sesame cakes includes a frame, a conveying mechanism mounted on the frame, and a first sesame coating station, a flipping station, and a second sesame coating station arranged sequentially along the conveying direction. The first sesame coating station is equipped with a first actuator for coating the first side of the cake with sesame; the flipping station is equipped with a flipping actuator for flipping the cake; and the second sesame coating station is equipped with a second actuator for coating the second side of the cake with sesame. The device further includes: The detection unit is used to obtain the coverage rate C1 of the first surface of the dough after it has been coated with hemp seeds; The control system is connected to the detection unit, the first actuator, and the second actuator via signals, respectively, to achieve symmetrical compensation control. The control system has preset single-plane standard target value C0 and an upper limit of allowable deviation C. max and the lower limit of allowable deviation C min ; The symmetric compensation control includes: Calculate the target value C of the second surface coverage based on the first surface coverage C1. 2_target =2×C0-C1; And for C 2_target Amplitude limiting is applied: If C 2_target >C max Then let C 2_target =C max And simultaneously reduce the conveying speed of the conveying mechanism; If C 2_target <C min Then let C 2_target =C min And issue an abnormality warning for the first hemp-coating station; The control system is based on the C after amplitude limiting. 2_target Generate control commands to adjust the operating parameters of the second actuator so that the actual coverage C2 of the second side of the dough approaches C. 2_target .

[0005] Furthermore, the hemp-coating speed V1 of the first actuator is greater than the conveying speed V0 of the conveying mechanism, and the hemp-coating speed V2 of the second actuator is less than the conveying speed V0 of the conveying mechanism, so that the first actuator generates a forward rubbing friction tendency on the first surface of the dough, and the second actuator generates a backward dragging friction tendency on the second surface of the dough. V1=V0×(1+α), V2=V0×(1-β); Wherein, α is the first velocity coefficient, β is the second velocity coefficient, and the initial values ​​of α and β are both in the range of 0.01~0.15; The adjustment of the operating parameters of the second actuator includes at least adjusting the value of β, increasing β to further reduce V2 to increase the backward dragging force, and decreasing β to increase V2 to reduce the backward dragging force.

[0006] Furthermore, before controlling the flipping actuator to perform the flipping action, a flipping pre-determination is performed, including: Obtain the coverage C1 of the first surface; If C1 is lower than the preset minimum threshold C for flipping, min_turn If the triggering of the flipping actuator is not enabled, a rejection signal will be issued. Only if C1≥C min_turn When the flipping actuator is triggered, it is allowed to perform the flipping action; Among them, C min_turn The value of is less than C min .

[0007] Furthermore, the flipping actuator is a drop-type flipping mechanism, including a high-level conveying section and a low-level receiving section arranged sequentially along the conveying direction. The high-level conveying section is located on the outlet side of the first hemp-coating station (3), and the low-level receiving section is located on the inlet side of the second hemp-coating station (5). The discharge end of the high-level conveying section is vertically higher than the receiving end of the low-level receiving section, with a vertical drop of H and a horizontal misalignment distance of L between them. The conveying speed V of the high-level conveying section p satisfy: Where g is the acceleration due to gravity; The dough moves at a speed of V p After being thrown from the discharge end of the high-level conveying section, it flies along a parabolic trajectory and completes a 180° flip during flight due to inertia, and then falls into the low-level receiving section to enter the second hemp-coating station. During the flipping action, the second actuator is locked into a standby idling state, and the lock is released after receiving the dough placement signal.

[0008] Furthermore, adjusting the operating parameters of the second actuator and setting the priority order for execution includes: First priority: Adjust the value of β, and adjust C2 by changing the speed deviation between V2 and V0; If C2 still cannot approach C after β is adjusted to the preset upper limit value 2_target If so, the second priority is executed: reduce the hemp-coating gap of the second actuator and simultaneously increase its hemp-coating working air pressure; If the hemp-coating gap decreases to a preset lower limit and the hemp-coating working air pressure increases to a preset upper limit, and C2 still cannot approach C... 2_target If so, the third priority is executed: reduce the conveying speed V0 of the conveying mechanism; Furthermore, when the C 2_target Exceeding C before the limit max When the magnitude exceeds the preset threshold, the control system directly executes the action of reducing the conveying speed of the conveying mechanism, regardless of the order restriction of the third priority.

[0009] Furthermore, the detection unit is also used to obtain the actual coverage rate C of the second side of the dough after it has been coated with hemp seeds. 2_actual ; The control system calculates the batch average deviation value ΔC. batch =|C 1_avg -C 2_avg |; Among them, C 1_avg C is the statistical average of the first-side coverage of a preset number of dough pieces. 2_avg This represents the statistical average of the coverage rate of the second side of the dough in the same batch. If ΔC batch Exceeding the preset batch deviation threshold ΔC batch_max Then, the operating parameters of both the first and second actuators are simultaneously modified, with the modification direction being to make ΔC... batch The direction of decrease, the correction includes: Adjust the value of α to change the velocity deviation between V1 and V0; And / or, adjust the value of β to change the velocity deviation between V2 and V0; And / or, adjust the hemp-coating gap and working air pressure of the first actuator and / or the second actuator.

[0010] Furthermore, the first actuator and the second actuator are respectively provided with a first storage device and a second storage device; The material level and sesame moisture content of the first and second storage devices are independently monitored, and the discharge of each storage device is independently controlled. This independent control of the discharge of each storage device includes: If the material level of any storage device is lower than the preset material level threshold, only the discharge action of the storage device on that side will be locked, while the other storage device will continue to operate normally. If the moisture content of sesame seeds in either storage device exceeds the preset moisture content threshold, the dehumidification action of that storage device will be activated independently until the moisture content drops below the preset moisture content threshold.

[0011] Furthermore, a curing mechanism is also provided on the outlet side of the second hemp-coating station to cure and shape the adhesive after the dough is coated with hemp on both sides. The final total double-sided coverage C of the cake dough after being processed by the curing mechanism is obtained. total_actual ; C total_actual Compared with the preset final pass threshold C final Compare; If C total_actual ≥C final Mark it as a qualified product; if C total_actual <C final These are marked as defective products.

[0012] According to another aspect of this application, a method for controlling the uniform distribution of sesame cakes in a double-layer sesame cake system is provided, comprising the following steps: S1. Control the first actuator of the first sesame-coating station to perform a sesame-coating action on the first surface of the dough; S2, obtain the coverage rate C1 of the first side of the dough after it has been coated with sesame seeds; S3. Calculate the target value C of the second surface coverage rate based on the first surface coverage rate C1. 2_target The calculation formula is: C 2_target =2×C0-C1, where C0 is the preset single-sided standard target value; S4, C 2_target Amplitude limiting is applied; If C 2_target >C max Then let C 2_target =C max And simultaneously reduce the conveying speed of the conveying mechanism; If C 2_target<C min Then let C 2_target =C min And issue an abnormality warning for the first hemp-coating station; Among them, C max To preset the upper limit of the allowable deviation, C min The lower limit of the preset allowable deviation; When C 2_target Exceeding C before the limit max When the magnitude exceeds the preset threshold, the deceleration action is not restricted by priority order and is executed directly; S5, based on the C after the amplitude limiting process 2_target Generate control commands to adjust the operating parameters of the second actuator at the second hemp-coating station; S6. Control the second actuator to apply sesame seeds to the second side of the flipped dough according to the adjusted operating parameters, so that the actual coverage of the second side C2 approaches C. 2_target .

[0013] The beneficial effects that this application can produce include: This application provides an automatic double-sided sesame coating device for sesame cakes and its uniform sesame distribution control method. By obtaining the actual sesame coating coverage rate of the first side of the cake, a symmetrical compensation algorithm is used to dynamically solve the target value of the second side coverage rate, and a limiting logic is used for regulation. This allows for adaptive adjustment of the operating parameters of the second actuator based on the actual processing status of the preceding station, effectively reducing the difference in sesame coverage rate between the two sides of the sesame cake and ensuring a balanced and uniform double-sided sesame coating effect. Simultaneously, a conveyor speed adjustment mechanism and a station anomaly alert function are provided to avoid runaway problems caused by the target value exceeding the reasonable range, promptly report abnormalities in the front-end sesame coating process, improve the consistency of the finished product appearance, stabilize the product yield, and enhance the equipment's adaptability to fluctuations in materials and operating conditions. Attached Figure Description

[0014] Figure 1 This is a logic block diagram of an automatic double-sided sesame-coating device for double sesame cakes according to one embodiment of this application; Figure 2 This is a schematic diagram of the structure of an automatic double-sided sesame-coating device for double sesame cakes according to one embodiment of this application; Figure 3 This is a flowchart of a method for controlling the uniform distribution of double sesame cakes according to one embodiment of this application; List of components and figures: 1-Frame; 2-Conveying mechanism; 3-First hemp-coating station; 4-Turning station; 5-Second hemp-coating station; 6-First actuator; 7-Second actuator; 8-Detection unit; 9-Control system. Detailed Implementation

[0015] The present application is described in detail below with reference to the embodiments, but the present application is not limited to these embodiments.

[0016] See Figure 1-2 An automatic double-sided sesame coating device for making double sesame cakes includes a frame 1, a conveying mechanism 2 disposed on the frame 1, and a first sesame coating station 3, a flipping station 4, and a second sesame coating station 5 arranged sequentially along the conveying direction. The first sesame coating station 3 is provided with a first execution mechanism 6 for coating the first side of the cake with sesame, the flipping station 4 is provided with a flipping execution mechanism for flipping the cake, and the second sesame coating station 5 is provided with a second execution mechanism 7 for coating the second side of the cake with sesame. In this embodiment, both the first actuator 6 and the second actuator 7 adopt conventional rotary roller sesame coating components in the food processing field. Taking the first actuator as an example, its basic structure includes: a sesame hopper set above the conveying mechanism, a rotary sesame coating roller located below the hopper outlet, and a lifting adjustment mechanism for adjusting the vertical gap between the sesame coating roller and the conveyor belt bearing surface. Sesame seeds fall from the hopper onto the surface of the rotary sesame coating roller and are carried to the surface of the cake as the sesame coating roller rotates. The sesame seeds are coated under the contact and squeezing action of the sesame coating roller and the cake. The structure of the second actuator is the same as that of the first actuator. The two are independent of each other only in terms of installation position and control parameters.

[0017] The device also includes: Detection unit 8 is used to obtain the coverage rate C1 of the first side of the dough after the first side is coated with hemp; The control system 9 is connected to the detection unit 8, the first actuator 6, and the second actuator 7 via signals, respectively, to achieve symmetrical compensation control. The control system 9 is preset with a single-plane standard target value C0 and an upper limit of allowable deviation C. max and the lower limit of allowable deviation C min ; The symmetric compensation control includes: Calculate the target value C of the second surface coverage based on the first surface coverage C1. 2_target =2×C0-C1; And for C 2_target Amplitude limiting is applied: If C 2_target >C max Then let C 2_target =C max And simultaneously reduce the conveying speed of the conveying mechanism 2; If C 2_target <C min Then let C 2_target =C min And issue an abnormality warning for the first hemp-coating station 3; The control system 9 is based on the C after the amplitude limiting processing.2_target Generate control commands to adjust the operating parameters of the second actuator 7 so that the actual coverage C2 of the second side of the dough approaches C. 2_target .

[0018] It should be noted that the specific internal structure of the sesame-coating roller assembly itself, such as the roller material, bearing housing type, sealing structure, and drive motor installation method, are all common knowledge in the food machinery field and are not the focus of this application's improvement. This application will not elaborate on or limit its specific mechanical structure. The design of this application is to dynamically adjust the sesame-coating linear speed V1 of the first actuator and the sesame-coating linear speed V2 of the second actuator through the control system 9, so that they form a specific magnitude relationship with the conveying speed V0, and to achieve symmetrical compensation control by combining the real-time feedback of the detection unit 8. The speed regulation of the sesame-coating roller is a control of the speed of its drive motor, and this control method does not depend on the specific mechanical structure of the sesame-coating roller.

[0019] Specifically, the frame is the equipment support structure, adopting a rigid frame design to ensure the operational stability of each workstation and avoid vibration deviations during high-speed operation. It provides the basic working conditions for sesame coating, visual inspection, and flipping. The conveying mechanism is a power conveying component, generally using a food-grade conveyor belt and a servo speed-regulating conveying structure. It is responsible for uniformly driving the sesame cake dough along a fixed direction continuously, passing through all subsequent functional workstations. At the same time, the conveying mechanism supports stepless speed regulation, and the conveying speed can be dynamically adjusted according to production conditions and sesame coating requirements. The speed directly affects the sesame coating time and thickness of the dough. In this application, the detection unit includes an industrial camera and a ring light source. The industrial camera is fixedly installed above the conveying mechanism via a camera bracket, with the camera optical axis perpendicular to the bearing surface of the conveying mechanism. The camera's field of view covers the entire width direction of the conveying mechanism. The ring light source is coaxially mounted on the outer periphery of the camera lens, providing uniform low-angle illumination to avoid interference from sesame surface reflections on image recognition. The camera bracket is also equipped with a protective cover to prevent sesame splatter from contaminating the lens. The equipment is sequentially configured with a first sesame-coating station, a flipping station, and a second sesame-coating station along the dough conveying direction to complete double-sided sesame coating. The first sesame-coating station is equipped with a first actuator to automatically coat the dough with sesame on the initial contact surface. The actuator can employ food-compatible structures such as roller coating, spray coating, or pressure coating. By controlling parameters such as coating pressure, coating time, sesame supply, and vibration frequency, the sesame coverage rate on the front side is determined. In one embodiment of this application, roller coating is used to perform the coating action, and the flipping station is equipped with a dedicated flipping actuator. The machine grasps, adsorbs, or lifts the dough after the front side has been coated with hemp, achieving a 180° flip without deviation, hemp falling off, or dough breakage. After flipping, the uncoated side of the dough faces upwards, connecting to the next workstation. This ensures a consistent baseline posture for the reverse side coating operation, eliminating uneven coating caused by posture deviations. The second coating station is equipped with a second actuator to perform the hemp coating operation on the reverse side of the flipped dough. This mechanism is an adjustable intelligent actuator that can receive commands from the control system and dynamically adjust operating parameters to compensate for the amount of hemp coated on the reverse side, achieving symmetrical and balanced coating on both sides.

[0020] The detection unit is located at the exit side of the first sesame-coating station and the entrance side of the flipping station, collecting real-time data on the sesame-coating effect on the front side. The equipment typically uses a high-definition industrial vision camera and image recognition system, along with a dedicated image processing algorithm, to perform a full-area scan of the surface of the dough after the first sesame-coating process, calculating the actual sesame coverage rate C1 on the first side—the percentage of the dough surface effectively covered with sesame seeds. This data is real-time and dynamic; the C1 value for each dough piece is collected and calculated independently, avoiding individual deviations caused by slight equipment fluctuations, minor differences in dough size, or uneven sesame supply during mass production. The control system communicates with the detection unit, the first actuator, the second actuator, and the conveying mechanism, possessing functions such as data reception, logical operation, parameter control, anomaly warning, and speed matching. The system internally stores benchmark parameters, including: single-sided standard target value C0: the enterprise's preset single-sided sesame-coating standard coverage rate (industry standard / product process standard), which is the core benchmark for product qualification and represents the optimal sesame-coating effect; and the upper limit of allowable deviation C... max The maximum acceptable threshold for single-sided hemp coverage is as follows: exceeding this value indicates excessive hemp or sesame seed coverage, classifying it as a defective product exceeding the standard; the lower limit of allowable deviation is C. min The minimum acceptable threshold for single-sided hemp coverage is as follows: if the coverage is below this value, the hemp is too thin and the substrate is severely exposed, resulting in a substandard product. This application uses the actual hemp adhesion effect on the front side as a benchmark, dynamically adjusts the hemp adhesion target on the back side, and calculates the target value C for the second-side coverage. 2_target =2×C0-C1, the product process requires the total coverage of both sides to be close to twice the standard value, ensuring symmetry and balance on both sides. Ideally, if the front side accurately reaches the standard value (C1=C0), then the target value C on the back side is... 2_target =C0, both sides are completely identical; if the front side deviates (too large or too small) due to equipment fluctuations or operating conditions, the reverse side will compensate to offset the deviation, ensuring that the overall effect of both sides meets the standard; for example, if the process standard single-side coverage C0=90%, and the actual front side coverage C1=85% (too small), then the target value C on the reverse side... 2_target =95%, compensate for the lack of front side by applying more hemp on the reverse side; when front side C1=92% (too large), then the target value C on the reverse side is... 2_target =88%, by using less hemp on the reverse side to offset the excessive amount on the front, the final visual effect and coverage of both sides are highly symmetrical.

[0021] To avoid overcompensation leading to the negative coverage rate exceeding the acceptable range, the calculated C... 2_target Forced amplitude limiting is implemented to prevent secondary defects, while simultaneously enabling equipment fault self-diagnosis. The two judgment rules are as follows: Rule 1: Compensation target value exceeds the upper limit (C) 2_target >C max ) If the hemp coating coverage C1 on the front side is too small, the calculated target value for compensation on the back side will be too high, exceeding the maximum acceptable upper limit C allowed by the process. max If you force the sesame seeds to be applied according to the calculated value at this time, it will cause problems such as the sesame seeds on the reverse side being too thick, piling up, falling off, and the taste being worse.

[0022] Corrective action: Forced amplitude limiting, locking the negative target value to the acceptable upper limit C. 2_target =C max Ensure that the hemp coating on the reverse side is applied in compliance with regulations; Alternatively, the conveying speed of the conveying mechanism can be reduced simultaneously. Reducing the speed can extend the dwell time of the dough at the second sesame coating station, maximizing the amount of sesame coating on the reverse side within the compliant range, compensating for deviations on the front side to the greatest extent, and avoiding insufficient sesame coating caused by high-speed operation. This operating condition is a fluctuation deviation, not an equipment failure, and does not require shutdown; only dynamic speed adjustment and adaptation are needed.

[0023] Rule 2: Compensation target value exceeds the lower limit (C) 2_target <C min ) When the hemp coating coverage rate C1 on the front side is significantly too high, the calculated target value for compensation on the back side will be too low, falling below the lower limit of the process qualification C. min Even if the reverse side is slightly contaminated, it cannot offset the serious deviation on the front side, which is an abnormal fault of the first station, such as excessive sesame supply, abnormal pressure, or parameter failure of the first actuator.

[0024] System correction action: Forced amplitude limiting, locking the negative target value to the acceptable lower limit C. 2_target =C min Ensure the reverse side is qualified; Alternatively, immediately issue an abnormality alert for the first hemp-coating station, reminding operators to check for equipment malfunctions at the first station, address the issue of excessive hemp coating tolerances at the source, and prevent the generation of batches of defective products.

[0025] After the system completes all limit corrections, the final compliant C will be... 2_target As the target for sesame coating on the reverse side, corresponding control commands are generated to adjust various operating parameters of the second actuator in real time, including sesame coating pressure, sesame conveying flow rate, sesame coating time, roller speed, vibration frequency, etc., to control the amount of sesame adhering on the reverse side, so that the actual coverage rate C2 of the reverse side of the cake infinitely approaches the preset compensation target value, and finally achieves symmetrical, uniform and qualified double-sided sesame coating.

[0026] The hemp-coating speed V1 of the first actuator 6 is greater than the conveying speed V0 of the conveying mechanism 2, and the hemp-coating speed V2 of the second actuator 7 is less than the conveying speed V0 of the conveying mechanism, so that the first actuator 6 generates a forward rubbing friction tendency on the first surface of the dough, and the second actuator 7 generates a backward dragging friction tendency on the second surface of the dough. In this application, the hemp-coating linear velocity is defined as the circumferential tangential velocity at the contact point between the actuator and the surface of the dough, and its value is determined by the rotational angular velocity and effective radius of the actuator. The conveying speed is defined as the horizontal linear forward speed of the conveying mechanism's bearing surface. The two are used to characterize the intensity of the hemp-coating action and the conveying rhythm of the dough, respectively. V1=V0×(1+α), V2=V0×(1-β); Wherein, α is the first velocity coefficient, β is the second velocity coefficient, and the initial values ​​of α and β are both in the range of 0.01~0.15; The adjustment of the operating parameters of the second actuator 7 includes at least adjusting the value of β, increasing β to further reduce V2 to increase the backward dragging force, and decreasing β to increase V2 to reduce the backward dragging force.

[0027] It should be noted that when β increases, causing V2 to decrease, the amount of sesame seeds carried by the second actuator may decrease as the rotational speed decreases. To counteract this effect, while adjusting β, the control system simultaneously monitors the discharge flow rate of the second storage device and compensates for the change in V2 in the following manner: Discharge flow rate compensation ΔQ2=Q0×(V 2_initial -V 2_adjusted ) / V 2_initial ; Where Q0 is the current discharge flow rate baseline value; when V2 decreases, the discharge flow rate is increased synchronously to compensate for the reduction in material carrying capacity caused by the decrease in rotational speed, ensuring that the total amount of sesame seeds in contact with the surface of the cake per unit area is not affected by the speed change; V 2_initial To adjust the hemp-coated line speed of the second actuator before β, i.e., the V2 value before adjustment; V 2_adjusted To adjust the speed of the second actuator after β, i.e., the adjusted V2 value.

[0028] Specifically, the conveying mechanism, the first actuator, and the second actuator adopt differentiated linear speed settings. The linear speed V1 of the first actuator for applying hemp is greater than the conveying speed V0 of the conveying mechanism, and the linear speed V2 of the second actuator for applying hemp is less than the conveying speed V0 of the conveying mechanism. Through the two sets of speed differences, mechanical friction trends in opposite directions are formed, and the front and back sides of the dough are respectively subjected to differentiated physical hemp application and shaping.

[0029] Wherein, the speed of the first actuator is: V1 = V0 × (1 + α); Second actuator speed: V2 = V0 × (1-β); In the formula: V0 is the reference conveying speed of the conveying mechanism; α is the first speed coefficient and β is the second speed coefficient. The initial value range of the two coefficients is uniformly limited to the range of 0.01~0.15. This small coefficient range can ensure that the speed difference is gentle and controllable, which can produce an effective friction and sesame sticking effect, and will not cause adverse problems such as dough deviation, deformation, skin breakage, and sesame squeezing and clumping due to excessive speed difference, thus adapting to the food processing characteristics of soft dough.

[0030] The first actuator's sesame-coating speed V1 is higher than the conveyor belt's reference speed V0. When the cake moves forward at a constant speed with the conveyor belt, the high-speed sesame-coating actuators (sesame-coating rollers, sesame rollers, sesame-brushing components, etc.) create a forward rubbing tendency relative to the first surface of the cake. This forward rubbing motion can evenly knead, spread, and press the scattered sesame particles onto the surface of the cake, effectively filling the fine pores on the cake surface, eliminating local blank areas, and making the sesame-coated layer on the front surface smoother, denser, and more uniform. It also improves the adhesion between the sesame and the cake, reducing the probability of later detachment. The second actuator... When the linear speed V2 is lower than the conveyor belt's base speed V0, the sesame seed cake moves forward with the conveyor belt after being flipped. The low-speed running sesame seed-coated parts create a relative dragging trend towards the second side of the cake. The friction effect of the reverse drag is gentler and will not excessively push the sesame seeds. It can precisely adjust the sesame seed adhesion density on the reverse side to meet the symmetrical compensation requirements of the control system. At the same time, the reverse drag can sort out the sesame seed arrangement texture on the reverse side and correct the problems of floating sesame seeds, displacement, and local accumulation that may occur during the flipping process. This ensures that the sesame seed adhesion texture and density on both sides are consistent, improving the uniformity of the finished product's appearance.

[0031] In the equipment symmetrical compensation control system, the adjustable operating parameter of the second actuator is the second speed coefficient β. By fine-tuning the value of β in real time, the speed difference between V2 and V0 is changed, thereby achieving dynamic adjustment of the hemp coating intensity and coverage rate on the reverse side, matching the target coverage rate C under different working conditions. 2_target When β increases, the calculated result of V2=V0×(1-β) decreases further, the speed difference between the second actuator and the conveying mechanism increases, and the backward dragging friction force on the second side of the cake is significantly enhanced. The stronger dragging effect can drive more sesame particles to adhere to the surface of the cake, increasing the sesame coverage rate on the reverse side. This is suitable for situations where the sesame coverage rate on the front side is low and a large amount of sesame on the reverse side needs to be compensated. When β decreases, the value of V2 increases and approaches the conveying speed V0 infinitely. The speed difference between the second actuator and the conveyor belt decreases, and the backward dragging friction force weakens. The weakened dragging effect will reduce the amount of sesame adhering and reduce the sesame density. This is suitable for situations where the sesame coverage rate on the front side is high and the amount of sesame on the reverse side needs to be reduced to achieve a balance between the two sides.

[0032] Furthermore, the initial values ​​of α and β are in the range of 0.01 to 0.15. The lower limit of the range of 0.01 can ensure the minimum speed difference, ensuring that there is still a basic rubbing and dragging friction effect when the equipment is producing at low speed, and avoiding the loosening of sesame due to the lack of relative motion. The upper limit of the range of 0.15 can limit the maximum speed difference, eliminating problems such as cake deviation, extrusion deformation, sesame crushing, and batch defects caused by high speed difference. At the same time, the narrow range control has higher precision, and with the electronic control compensation algorithm, it can achieve precise fine-tuning of the coverage, adapting to the high-end standardized sesame cake mass production process requirements.

[0033] It is worth noting that the control system is based on the C after amplitude limiting. 2_target Control commands are generated in the following manner: Calculate the coverage deviation ΔC2=C 2_target -C0, this deviation represents the difference in coverage that the second surface needs to compensate for relative to the standard value; Based on the numerical range of ΔC2, the adjustment amount Δβ of β is determined according to the following rules: If |ΔC2|≤2%, then Δβ=0, and the current value of β remains unchanged; If 2% < |ΔC2| ≤ 5%, then Δβ = 0.01 × sign(ΔC2), meaning that for every 1% increase in deviation, β is adjusted by 0.01 in the corresponding direction. If |ΔC2|>5%, then Δβ=0.03×sign(ΔC2), and the second priority of the hemp-coating gap and air pressure regulation is triggered simultaneously; The adjusted β value is limited to the range [0.005, 0.20], and the boundary value is taken when it exceeds the range.

[0034] Here, sign(ΔC2) is the sign function. When ΔC2 > 0 (needs to increase the back cover rate), β increases; when ΔC2 < 0 (needs to decrease the back cover rate), β decreases.

[0035] Before controlling the flipping actuator to perform the flipping action, a flipping pre-determination is performed, including: Obtain the coverage C1 of the first surface; If C1 is lower than the preset minimum threshold C for flipping, min_turn If the triggering of the flipping actuator is not enabled, a rejection signal will be issued. Only if C1≥C min_turn When the flipping actuator is triggered, it is allowed to perform the flipping action; Among them, C min_turn The value of is less than C min .

[0036] Specifically, before the flipping actuator initiates the flipping action, the equipment collects the first-side coverage rate C1 of each dough piece in real time based on the detection unit at the exit side of the first hemp-coating station, and compares C1 with the minimum threshold C before the flipping action. min_turn A comparison is performed, and the results are used to determine whether the product is allowed to proceed to the flipping process or whether the defective product rejection action is triggered.

[0037] After the dough is coated with sesame seeds on the first side, the detection unit immediately performs image acquisition and algorithm calculation, outputting the actual sesame seed coverage rate C1 on the first side of the dough. This data is uploaded to the control system in real time. This data is independent detection data for a single dough, enabling accurate judgment of individual products and avoiding the error and missed detection problems caused by batch judgment. When the detected first-side coverage rate C1 is less than the preset minimum threshold C before flipping, the system will detect the sesame seed coverage rate. min_turn When the control system determines that the first side of the dough is severely contaminated with hemp and the defect is irreparable, it immediately locks the trigger signal of the flipping actuator, prohibits the equipment from performing the flipping action, and at the same time, the system outputs a rejection signal in real time, which is linked to the back-end rejection mechanism, diversion mechanism or shutdown warning mechanism to automatically remove the defective dough from the production line.

[0038] Furthermore, this type of defect in the sesame seed coating on the surface of the dough constitutes a fundamental process failure. Even with maximum symmetrical compensation and speed coefficient β limit adjustment at the second station, it is impossible to remedy the quality problems of severe sesame seed deficiency, exposed base, and large areas of blank space on the surface. The final product on both sides will still be unqualified. Early interception can avoid secondary sesame seed coating processing for defective dough, effectively saving sesame raw materials, reducing ineffective power consumption of equipment, and increasing the effective capacity of the production line. Only when the actual coverage rate C1 of the first side is greater than or equal to the minimum threshold C before flipping... min_turn When the control system determines that the quality of the sesame coating on the front of the dough meets the standard or there is a compensable deviation, it unlocks the interlock of the flipping actuator, allowing the equipment to perform a 180° flipping action, so that the dough enters the next second sesame coating station. The second sesame coating is completed through symmetrical compensation control algorithm and speed difference rubbing technology, and finally the quality of both sides is balanced and meets the standard.

[0039] It is worth noting that this application sets a minimum threshold C before the flip-over. min_turn Less than the lower limit of process tolerance C min C min This is the final acceptance threshold for single-sided hemp coating of finished products; products below this value are considered defective. min_turn This serves as a pre-process interception line to identify severely defective products that are completely beyond repair; for C... min_turn ≤C1<C minAlthough the bread dough within the range does not meet the optimal process standard in terms of front-side coverage and has slight deviations, it is not completely ineffective and belongs to the category of products with compensable defects. The equipment does not reject such bread dough and allows it to enter the flipping and secondary hemp coating process. Through the symmetrical compensation algorithm mentioned above, the target coverage of the second side is increased and the β coefficient is increased to strengthen the dragging and hemp coating force, making up for the front-side defects. Ultimately, the overall coverage of both sides and the appearance and texture reach the qualified standard, minimizing the production scrap rate and reducing unnecessary material losses.

[0040] Preferably, the minimum threshold C for flipping is... min_turn The value of C satisfies the following constraints: min_turn ≥2×C0-C max This ensures that even if the first side has the lowest possible coverage, the second side will be within the allowable deviation limit C. max After compensation within the limited range, the total double-sided coverage can still reach the process standard of 2×C0; for example, when C0=90%, C max When C = 96%, min_turn ≥180%-96%=84%, that is, C min_turn It should be no less than 84%.

[0041] The flipping actuator is a drop-type flipping mechanism, which includes a high-level conveying section and a low-level receiving section arranged sequentially along the conveying direction. The high-level conveying section is located on the outlet side of the first hemp-coating station (3), and the low-level receiving section is located on the inlet side of the second hemp-coating station (5). The discharge end of the high-level conveying section is vertically higher than the receiving end of the low-level receiving section, with a vertical drop of H and a horizontal misalignment distance of L between them. The conveying speed V of the high-level conveying section p satisfy: Where g is the acceleration due to gravity; The dough moves at a speed of V p After being thrown from the discharge end of the high-level conveying section, it flies along a parabolic trajectory and completes a 180° flip during flight due to inertia, and then falls into the low-level receiving section to enter the second hemp-coating station. During the flipping action, the second actuator is locked into a standby idling state, and the lock is released after receiving the dough placement signal.

[0042] Specifically, the flipping actuator includes a high-level conveying section and a low-level receiving section arranged sequentially along the conveying direction. The high-level conveying section is located at the outlet side of the first hemp-coating station 3 and receives the cake blanks after the front side has been coated with hemp. The low-level receiving section is located at the inlet side of the second hemp-coating station 5 and is used to receive the flipped cake blanks. The discharge end of the high-level conveying section is higher than the receiving end of the low-level receiving section in the vertical direction. The vertical drop between the two is H, and the horizontal misalignment distance is L. The conveying speed V of the high-level conveying section p The relationship between H and L is that they satisfy the projectile motion relationship: The dough moves at a speed of V p After being ejected from the discharge end of the high-level conveyor section, it detaches from all supporting components and flies freely in the air along a parabolic trajectory.

[0043] It should be noted that at the instant the dough leaves the discharge end of the high-level conveyor section, because the front end of the dough loses support first while the rear end is still dragged by the friction of the conveyor belt, a tumbling torque is generated around the width of the dough, that is, in a direction perpendicular to the conveying direction and parallel to the surface of the dough. Under the combined action of this torque and the gravitational torque, the dough continues to tumble during its flight. By reasonably configuring the speed V of the high-level conveyor section... p The drop height H and horizontal misalignment L ensure that the flight time of the dough is exactly equal to the time required for it to flip 180°, thus guaranteeing that when the dough falls into the lower receiving section, the first side that has been coated with hemp is facing down and the second side that is to be coated with hemp is facing up.

[0044] The speed V p The optimal values ​​are calibrated through a finite number of tests or dynamic simulations based on the moment of inertia of the dough. The calibration target is to ensure that the second side of the dough faces upward when it falls into the lower receiving section, and the placement deviation does not exceed ±5mm. Under normal operating conditions, when the dough diameter is 80mm~120mm and the thickness is 10mm~20mm, the preferred drop H is 200mm~400mm, the preferred horizontal misalignment L is 150mm~300mm, and the corresponding upper conveying section speed V... p The preferred value is 1.5 m / s to 3.5 m / s.

[0045] During the flipping action, that is, the entire flight cycle from when the dough is thrown from the high-level conveying section to when it falls into the low-level receiving section, the control system locks the second actuator, keeping it in a standby idling state and not performing any hemp-coating action. The control system monitors in real time whether the dough is accurately positioned by the positioning sensor set at the receiving end of the low-level receiving section, such as a through-beam photoelectric sensor or a pressure sensor. Only after receiving the positioning signal will the control system release the lock on the second actuator and start the second hemp-coating operation.

[0046] Adjusting the operating parameters of the second actuator 7 and setting the priority order for execution includes: First priority: Adjust the value of β, and adjust C2 by changing the speed deviation between V2 and V0; If C2 still cannot approach C after β is adjusted to the preset upper limit value 2_target If so, the second priority is executed: reduce the hemp-coating gap of the second actuator and simultaneously increase its hemp-coating working air pressure; If the hemp-coating gap decreases to a preset lower limit and the hemp-coating working air pressure increases to a preset upper limit, and C2 still cannot approach C... 2_target If so, the third priority is executed: reduce the conveying speed V0 of the conveying mechanism; Furthermore, when the C 2_target Exceeding C before the limit max When the magnitude exceeds the preset threshold, the control system directly executes the action of reducing the conveying speed of the conveying mechanism, regardless of the order restriction of the third priority.

[0047] Specifically, the first priority adjustment target is the second speed coefficient β, which is suitable for compensating for slight coverage deviations under most normal working conditions. According to the aforementioned speed difference formula V2=V0×(1-β), the value of β directly determines the degree of deviation between the second actuator's sesame-coating line speed V2 and the conveying reference speed V0, thereby changing the reverse dragging friction force of the second surface on the dough. Increasing β can reduce V2, strengthen the backward dragging effect, and improve the sesame adhesion coverage on the reverse side; decreasing β can raise V2, weaken the dragging force, and reduce the sesame adhesion coverage on the reverse side. This priority only corrects the local motion parameters of the actuator, without changing the overall conveying rhythm of the equipment, adjusting the mechanical structure clearance, or changing the air pressure parameters. It has a fast response speed, high adjustment accuracy, and extremely strong stability. It is also suitable for addressing the slight fluctuations in C1 on the front side that cause C... 2_target Small deviations can be balanced by dynamic fine-tuning of β to achieve symmetrical coverage on both sides, which is the adjustment method for daily steady-state production of the equipment. The system sets preset upper and lower limits for β to limit the reasonable process range of speed difference, so as to avoid the disc shift, shedding, and deformation caused by excessive speed difference, or the adjustment failure caused by excessive speed difference. When β does not reach the limit threshold, the system always prioritizes fine-tuning at this level to ensure the stability of production cycle to the greatest extent.

[0048] When the first priority adjustment reaches its limit and the compensation capacity is exhausted, the second priority composite adjustment is automatically initiated. β has been adjusted to the preset upper limit, but the actual coverage C2 of the second surface still cannot approach C. 2_targetIn other words, relying solely on the fine-tuning ability of speed-driven friction is insufficient to compensate for the deviation between the front and back sides. It is necessary to combine mechanical structure and pneumatic pressure to strengthen the sesame coating compensation at the physical level, reduce the sesame coating gap of the second actuator, and simultaneously increase the working air pressure for sesame coating. Furthermore, reducing the sesame coating gap can shorten the interaction distance between the sesame particles and the surface of the cake, increase the effective contact density of sesame, and increase the amount of sesame adhering per unit area. Simultaneously increasing the working air pressure can strengthen the impact force and adhesion pressure of sesame supply, allowing the sesame particles to be more fully and densely embedded in the pores of the cake surface, and significantly increase the upper limit of the sesame coating coverage rate of a single station. The two parameters work together to significantly improve the sesame coating compensation capability of the second station without reducing production line speed or affecting capacity, solving the technical problem of insufficient range of single speed adjustment. This level is a medium-amplitude compensation adjustment, which is suitable for medium-defect working conditions where the front sesame coating deviation is large and cannot be corrected by speed drag alone. While ensuring that production efficiency is not reduced, the system compensation range is greatly widened. At the same time, the system sets an adjustment lower limit for the sesame coating gap and an adjustment upper limit for the working air pressure to avoid the gap being too small and squeezing the cake, or the air pressure being too large and dispersing the sesame layer or damaging the cake.

[0049] The third priority is a fallback steady-state control strategy under extreme deviation conditions. The hemp-coating gap has been reduced to the preset lower limit, the working air pressure has been increased to the preset upper limit, and both mechanical and pneumatic parameters have reached their process limits. Even so, C2 still cannot fit C. 2_target This indicates that the current working time at the workstation is insufficient, and simply relying on adjusting the sesame coating intensity and speed difference is no longer enough to meet the compensation requirements. Therefore, the overall conveying speed V0 of the conveying mechanism is reduced. The reduced conveying speed can directly extend the effective working time of the dough at the second sesame coating workstation, allowing the effects of gaps, air pressure, and speed differences under extreme conditions to be fully released. This gives the sesame seeds sufficient time to adhere, spread, and compact, maximizing the sesame coating coverage on the second side, forcibly offsetting the large deviation on the front side, and achieving a balanced result on both sides. This adjustment method is suitable for extreme working conditions where the sesame coating on the front side is severely insufficient and requires an extremely large amount of compensation on the back side.

[0050] The detection unit 8 is also used to obtain the actual coverage rate C of the second side of the dough after it has been coated with hemp. 2_actual It is worth noting that the detection unit includes a first detection subunit and a second detection subunit. The first detection subunit is located at the exit side of the first hemp-coating station and the entrance side of the flipping station, and is used to obtain the first-side coverage rate C1 of the dough after hemp coating. The second detection subunit is located at the exit side of the second hemp-coating station and the entrance side of the curing mechanism, and is used to obtain the second-side coverage rate C of the dough after hemp coating. 2_actual .

[0051] The control system calculates the batch average deviation value ΔC. batch =|C 1_avg -C 2_avg |; Among them, C 1_avg C is the statistical average of the first-side coverage of a preset number of dough pieces. 2_avg This represents the statistical average of the coverage rate of the second side of the dough in the same batch. If ΔC batch Exceeding the preset batch deviation threshold ΔC batch_max Then, the operating parameters of the first actuator 6 and the second actuator 7 are simultaneously corrected, and the correction direction is to make ΔC batch The direction of decrease, the correction includes: Adjust the value of α to change the velocity deviation between V1 and V0; And / or, adjust the value of β to change the velocity deviation between V2 and V0; And / or, adjust the hemp-coating gap and working air pressure of the first actuator 6 and / or the second actuator 7.

[0052] Specifically, during continuous mass production, the detection unit not only performs pre-testing of the first side coverage rate, but also conducts a full-coverage re-inspection of the second side of the dough after processing at the second hemp-coating station, and collects the actual coverage rate C of the second side of each dough in real time. 2_actual The first-side coverage data of all dough pieces within the same batch were selected, and the average first-side coverage C of the batch was calculated. 1_avg Simultaneously select the actual coverage data of the second side of the corresponding batch of dough, and calculate the average coverage C of the second side of the batch. 2_avg By using batch average statistics, random fluctuations in individual cakes can be filtered out, and systematic and trend-based process deviations of the equipment can be extracted, avoiding misjudgments based on single-point data. To accurately characterize the symmetry and balance of double-sided hemp coating in the entire batch, a batch average deviation value ΔC is defined. batch =|C 1_avg -C 2_avg This system intuitively reflects the overall two-sided deviation magnitude of a batch. Whether the front side is thicker than the back side, or vice versa, batch asymmetry defects can be quantified. The equipment has a preset batch deviation threshold ΔC. batch_max As a criterion for determining the steady state of the batch process, when the calculated ΔC batch ≤ΔC batch_max When the current batch is determined to be in stable operating condition and the overall symmetry of both sides meets the standard, the equipment will continue production with its original operating parameters and no correction is required; when ΔC batch >ΔC batch_max When the system is found to be experiencing a systemic operating condition drift, and the independent compensation for a single cake is no longer sufficient to offset the cumulative deviation of the batch, the overall uniformity of the batch on both sides exceeds the standard, the dual-station collaborative calibration correction mechanism is activated.

[0053] Furthermore, this application adopts a two-way linkage correction mode between the first and second actuators to simultaneously optimize the operating conditions from the source and the end, and the correction direction strictly follows the principle of making ΔC batch Based on the principle of continuously reducing and returning to the steady-state range, single-parameter correction or multi-parameter combination correction can be adaptively selected according to the type of deviation. The correction method includes three types of adjustable parameter dimensions to adapt to batch deviation problems under all working conditions.

[0054] By adjusting the value of the first speed coefficient α, the speed deviation between the sesame-coating linear speed V1 of the first actuator and the conveying reference speed V0 is changed. According to the speed difference forming principle, α directly determines the frictional force of the forward rubbing at the first station: increasing α can increase V1, strengthen the sesame-coating spreading effect on the front, and improve the average coverage rate of the front of the batch; decreasing α can weaken the rubbing force on the front and reduce the sesame adhesion density on the front. This parameter corrects the basic sesame-coating reference on the first side from the source, solving the systematic deviation of the overall density or sparseness of the front of the batch.

[0055] By adjusting the value of the second speed coefficient β, the speed deviation between the hemp-coating linear speed V2 of the second actuator and the conveying reference speed V0 is changed. β directly controls the frictional force of the backward dragging at the second station: increasing β can enhance the hemp-coating effect of the reverse dragging and improve the average coverage rate of the reverse batch; decreasing β can weaken the dragging force and reduce the hemp-coating density on the reverse side. This parameter, as a final fine-tuning method, can quickly adapt to changes in the front reference and dynamically balance the average deviation of the double-sided batches.

[0056] For severe batch deviations that cannot be completely corrected by speed coefficient adjustment, the system can simultaneously adjust the coating gap and coating working air pressure of the first and / or second actuators. Reducing the coating gap and increasing the working air pressure can enhance the coating adhesion effect and improve the overall coverage; increasing the coating gap and decreasing the working air pressure can weaken the coating force and reduce the overall coverage. This composite adjustment method has a larger correction range and stronger adaptability to working conditions, and can completely solve the problems of structural, air pressure, and material characteristic drift caused by long-term equipment operation.

[0057] It is worth noting that for minor batch deviations, fine-tuning of the α and β velocity coefficients is prioritized, resulting in no production capacity loss, fast response, and high stability. For moderate deviations, a dual-velocity coefficient linkage adjustment is used to bidirectionally balance the average coverage of both sides. For severe systematic deviations, a composite correction of linkage gaps and air pressure parameters is applied to thoroughly calibrate operating condition drift. All correction actions are closed-loop adaptive adjustments, and batch ΔC is continuously monitored after correction. batch The value is adjusted until the deviation falls back to the acceptable threshold range.

[0058] The first actuator 6 and the second actuator 7 are respectively provided with a first storage device and a second storage device; The material level and sesame moisture content of the first and second storage devices are independently monitored, and the discharge of each storage device is independently controlled. This independent control of the discharge of each storage device includes: If the material level of any storage device is lower than the preset material level threshold, only the discharge action of the storage device on that side will be locked, while the other storage device will continue to operate normally. If the moisture content of sesame seeds in either storage device exceeds the preset moisture content threshold, the dehumidification action of that storage device will be activated independently until the moisture content drops below the preset moisture content threshold.

[0059] The outlet side of the second hemp-coating station 5 is also equipped with a curing mechanism, which is used to cure and shape the adhesive after the dough is coated with hemp on both sides. The final total double-sided coverage C of the cake dough after being processed by the curing mechanism is obtained. total_actual ; C total_actual Compared with the preset final pass threshold C final Compare; If C total_actual ≥C final Mark it as a qualified product; if C total_actual <C final These are marked as defective products.

[0060] Specifically, for the dual-station independent feeding system for double-sided sesame coating, the first actuator is matched with the first storage device to continuously supply sesame raw materials for the front sesame coating operation at the first sesame coating station; the second actuator is matched with the second storage device to supply sesame raw materials for the back sesame coating operation at the second sesame coating station. The independent storage on both sides ensures that the front and back feeding conditions do not interfere with each other. It can independently match the discharge flow rate for different speed differences, different coating intensities, and different compensation requirements on both sides, avoiding the problem of double-sided deviation superposition caused by abnormal material on one side. The system implements completely independent dual-dimensional status monitoring for the two sets of storage devices, and collects the material level status and sesame moisture content status of the storage device on one side in real time, realizing single-sided identification and single-sided control of single-sided abnormalities, and eliminating mutual interference between the two sides. The material level sensor monitors the sesame storage in the first and second storage devices in real time, accurately judging the conditions such as sufficient storage, low level warning, and material shortage abnormality. The moisture content detection module detects the moisture content of sesame in the storage chamber on one side in real time, accurately identifying material abnormalities such as dampness, clumping, and excessive humidity.

[0061] The system presets a standard material level threshold as the minimum baseline for normal material discharge from the storage device. When the real-time material level of any storage device falls below the preset threshold, the control system determines that there is a risk of insufficient material supply on that side. Continuous discharge will lead to defects such as sparse sesame adhesion, localized sesame breakage, and a sharp drop in coverage. In this case, the system only locks the discharge action of the storage device on the side with the abnormal material level, stopping the sesame supply on that side to avoid idling and producing defective products. The other storage device, the corresponding actuator, and the entire conveyor line maintain normal operation without requiring a complete machine shutdown. This control logic can effectively reduce the frequency of machine shutdowns, reduce capacity loss, and accurately avoid the continuous production of defective products on the side with insufficient material, achieving fault-tolerant continuous production. Excessive moisture content can cause sesame seeds to clump, stick together, and fail to spread evenly, resulting in problems such as localized sesame seed accumulation, localized blank areas, poor adhesion, and detachment after solidification. The equipment has a preset standard moisture content threshold as the benchmark for judging the quality of sesame materials. When either storage device detects that the moisture content of the sesame exceeds the preset threshold, the system immediately determines that the material on that side is abnormally damp and independently activates the dedicated dehumidification function of that storage device. The other storage device remains unaffected and continues normal feeding operations. The dehumidification module continues to work, monitoring the moisture content decline in real time, until the moisture content of the sesame on that side drops below the preset threshold. At this point, the system automatically dehumidifies and returns to normal discharge conditions. Through independent dehumidification control on one side, the problem of moisture on one side of the material can be specifically solved without replacing the entire batch of material, reducing raw material loss and continuously ensuring stable adhesion performance of sesame on both sides.

[0062] A curing mechanism is added to the outlet side of the second sesame-coating station. After the sesame seeds are attached to both sides of the cake, the surface adhesive is in an unformed, viscous, and floating state. At this time, the sesame particles are easily displaced, detached, or have changes in density due to external friction and airflow disturbance, resulting in a deviation between the detection coverage rate and the actual coverage rate of the final product.

[0063] The curing mechanism can quickly solidify and shape the adhesive on both sides of the dough using methods adapted to food processing, such as hot air curing, constant temperature shaping, and micro-wind drying. This allows the sesame particles to be stably embedded on the surface of the dough, locking in the double-sided sesame coating effect and eliminating secondary deformation and detachment during subsequent transportation and storage. This ensures that the test data completely matches the actual quality of the finished product. In this application, the curing mechanism is a hot air circulating curing box, including a box body, heating pipes and a circulating fan installed inside the box body. The box body spans above the conveying mechanism. When the dough passes through the inside of the box body with the conveying mechanism, the hot air generated by the heating pipes heats and cures both sides of the dough under the action of the circulating fan.

[0064] Furthermore, the system acquires the final total double-sided coverage C of the cured and shaped dough in real time. total_actual This data represents the actual molding coverage after double-sided curing, and can indicate the final appearance and quality of the finished product. The system has a built-in preset final pass threshold C.final As the minimum qualification standard for finished products leaving the factory, when C total_actual ≥C final When the curing effect of the hemp coating on both sides of the dough is deemed to be up to standard, and the overall coverage, uniformity, and adhesion meet the process requirements, it is automatically marked as a qualified product and proceeds normally to the next process; when C total_actual <C final If the curing process determines that the overall hemp coating effect of the cake dough is substandard after curing and shaping, and there are irreversible defects such as overall sparseness, local lack of hemp, and severe shedding, it will be automatically marked as a defective product and await subsequent rejection processing to prevent defective products from entering the finished product batch.

[0065] See Figure 3 A method for controlling the uniform distribution of sesame cakes in double sesame cakes includes the following steps: S1. Control the first actuator 6 of the first sesame-coating station 3 to perform the sesame-coating action on the first surface of the dough; S2, obtain the coverage rate C1 of the first side of the dough after it has been coated with sesame seeds; S3. Calculate the target value C of the second surface coverage rate based on the first surface coverage rate C1. 2_target The calculation formula is: C 2_target =2×C0-C1, where C0 is the preset single-sided standard target value; S4, C 2_target Amplitude limiting is applied; If C 2_target >C max Then let C 2_target =C max And simultaneously reduce the conveying speed of the conveying mechanism; If C 2_target <C min Then let C 2_target =C min And issue an abnormality warning for the first hemp-coating station 3; Among them, C max To preset the upper limit of the allowable deviation, C min The lower limit of the preset allowable deviation; When C 2_target Exceeding C before the limit max When the magnitude exceeds a preset threshold, the deceleration action is not restricted by priority order and is executed directly. The preset threshold is preferably 5%. S5, based on the C after the amplitude limiting process 2_target Generate control commands to adjust the operating parameters of the second actuator 7 at the second hemp-coating station 5; S6. Control the second actuator 7 to apply hemp seed coating to the second side of the flipped dough according to the adjusted operating parameters, so that the actual coverage rate C2 of the second side approaches C. 2_target .

[0066] Specifically, the equipment control conveyor mechanism drives the cake blank to be processed into the first sesame coating station at a uniform speed, and starts the first actuator to perform a standardized sesame coating operation on the first side (front) of the cake blank. The first side completes the sesame coating according to the basic standard process parameters of the equipment, forming a real and objective original state of single-sided sesame coating. This benchmark state includes the real process results brought about by the current equipment operating conditions, the state of sesame materials, and the characteristics of the cake blank.

[0067] After the first hemp-coating station is completed and before the dough enters the flipping station, the detection unit performs a full-area image scan and image algorithm analysis on the first side of the dough to obtain the actual coverage rate C1 of the first side of the current single dough in real time. This data is the independent measured data of a single dough, which is different from the batch average data. It can reflect the true hemp-coating effect on the front of a single dough, including slight white space, local sparseness, and excessive or insufficient adhesion, etc., and eliminates the problem of individual bias and missed judgment caused by batch average sampling.

[0068] Based on the measured first-surface coverage C1, the symmetric compensation formula C is used. 2_target =2×C0-C1 to calculate the optimal target coverage C on the second surface 2_target Wherein, C0 is the preset single-sided standard target value of the equipment, which is the optimal single-sided sesame coating coverage rate specified by the product process. It represents the best process state for the appearance and taste of the finished product. Ideally, the total double-sided coverage rate is maintained at 2×C0, which can ensure that the visual effect, sesame coating amount and molding texture of the front and back are completely symmetrical. When the measured coverage rate C1 of the front deviates from the standard value C0, the deviation of the front is offset by the reverse offset of the target value of the back: if the sesame coating of the front is too sparse (C1<C0), the target coverage rate of the back is automatically increased to make up the total amount by coating more sesame; if the sesame coating of the front is too dense (C1>C0), the target coverage rate of the back is automatically reduced to balance the total amount by coating less sesame, so as to achieve a balanced and unified overall effect of both sides.

[0069] To avoid the theoretical calculation of C 2_target If the process exceeds the acceptable range or a secondary defect occurs due to overcompensation, a preset upper limit threshold C is introduced. max Lower limit threshold C min The system performs forced amplitude limiting correction on the calculated target value, strictly locking the hemp coating effect on the reverse side within the acceptable range of the process, while also enabling self-diagnosis of abnormal operating conditions. Operating Condition 1: Compensation target value exceeds the upper limit (C) 2_target >C max ) This condition is mostly caused by a severely low coverage of sesame seeds on the first side, theoretically requiring an excessively large amount of sesame seeds on the reverse side for compensation. To avoid defects such as excessively thick sesame seed coating on the reverse side, sesame seed accumulation, granule clumping, shedding, and poor taste, the target value for the reverse side is forcibly locked at the upper limit of the acceptable range, i.e., C. 2_target =Cmax Simultaneously, the conveying speed of the conveyor mechanism is reduced, extending the working time of the dough at the second hemp-coating station. Within the compliant process range, the amount of hemp coating on the reverse side is maximized, compensating for defects on the front side to the greatest extent, balancing product quality and process compliance. This working condition involves slight fluctuations and does not require machine shutdown for maintenance. The equipment adaptively adjusts its speed to suit production.

[0070] Operating Condition 2: Compensation target value exceeds the lower limit (C) 2_target <C min ) The cause of this working condition is usually that the coverage of the first hemp coating is severely excessive, too dense and too thick, while the theoretical compensation amount required on the reverse side is extremely low, already below the lower limit of the process qualification. It is determined that there is a systemic process abnormality in the first hemp coating station, which is a predictable fault such as equipment parameter drift, abnormal material supply, or actuator failure. At this time, the target value of the reverse side is forcibly locked to the lower limit of qualification C. min To ensure the quality of the reverse side base meets the standards, an abnormality warning is immediately issued at the first hemp-coating station, reminding staff to check for equipment malfunctions and resolve the issue of excessive hemp coating on the front side from the source, thus preventing the generation of batches of defective products.

[0071] Complete the target value limit adjustment and determine the final compliance C 2_target Subsequently, based on the magnitude of the deviation between the target value and the conventional benchmark value, corresponding control commands are generated to adaptively adjust various operating parameters of the second actuator. Through fine-tuning of multi-dimensional parameters such as speed coefficient, hemp-coating gap, working air pressure, and conveying speed, the required reverse hemp-coating force of the current dough is matched, providing parameter support for differentiated hemp-coating operations.

[0072] After the dough is flipped 180° and positioned correctly at the turning station, the second actuator of the equipment controls the dough to perform a targeted compensation hemp coating operation on the second side according to the adjusted optimal operating parameters. Through adaptive matching of the hemp coating force and operating parameters, the actual coverage rate C2 of the second side is made infinitely close to the corrected target value C. 2_target This process aims to achieve symmetrical and balanced sesame coverage on both sides, uniform appearance and texture, and standardized finished product quality, while adaptively offsetting random deviations such as individual differences in cake blanks, fluctuations in sesame supply, and slight drifts in equipment operating conditions during the production process.

[0073] The above description is merely a few embodiments of this application and is not intended to limit this application in any way. Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. An automatic double-sided sesame coating device for double sesame cakes, characterized in that, The equipment includes a frame (1), a conveying mechanism (2) mounted on the frame (1), and a first hemp-coating station (3), a flipping station (4), and a second hemp-coating station (5) arranged sequentially along the conveying direction. The first hemp-coating station (3) is equipped with a first actuator (6) for coating the first side of the dough with hemp. The flipping station (4) is equipped with a flipping actuator for flipping the dough. The second hemp-coating station (5) is equipped with a second actuator (7) for coating the second side of the dough with hemp. The equipment also includes: The detection unit (8) is used to obtain the coverage rate C1 of the first surface of the dough after the first surface is coated with hemp; The control system (9) is connected to the detection unit (8), the first actuator (6), and the second actuator (7) respectively, and is used to realize symmetrical compensation control. The control system (9) is preset with a single-plane standard target value C0 and an upper limit of allowable deviation C. max and the lower limit of allowable deviation C min ; The symmetric compensation control includes: Calculate the target value C of the second surface coverage based on the first surface coverage C1. 2_target =2×C0-C1; And for C 2_target Amplitude limiting is applied: If C 2_target >C max Then let C 2_target =C max And simultaneously reduce the conveying speed of the conveying mechanism (2); If C 2_target <C min Then let C 2_target =C min And issue an abnormality warning for the first hemp-coating station (3); The control system (9) is based on the C after the amplitude limiting process. 2_target Generate control commands to adjust the operating parameters of the second actuator (7) so that the actual coverage C2 of the second side of the dough approaches C. 2_target .

2. The automatic double-sided sesame coating device for double sesame cakes according to claim 1, characterized in that, The hemp-coating speed V1 of the first actuator (6) is greater than the conveying speed V0 of the conveying mechanism (2), and the hemp-coating speed V2 of the second actuator (7) is less than the conveying speed V0 of the conveying mechanism, so that the first actuator (6) generates a forward rubbing friction tendency on the first surface of the dough, and the second actuator (7) generates a backward dragging friction tendency on the second surface of the dough. V1=V0×(1+α), V2=V0×(1-β); Wherein, α is the first velocity coefficient, β is the second velocity coefficient, and the initial values ​​of α and β are both in the range of 0.01~0.15; The adjustment of the operating parameters of the second actuator (7) includes at least adjusting the value of β, increasing β to further reduce V2 to increase the backward drag force, and decreasing β to increase V2 to reduce the backward drag force.

3. The automatic double-sided sesame coating device for double sesame cakes according to claim 1, characterized in that, Before controlling the flipping actuator to perform the flipping action, a flipping pre-determination is performed, including: Obtain the coverage C1 of the first surface; If C1 is lower than the preset minimum threshold C for flipping, min_turn If the triggering of the flipping actuator is not enabled, a rejection signal will be issued. Only if C1≥C min_turn When the flipping actuator is triggered, it is allowed to perform the flipping action; Among them, C min_turn The value of is less than C min .

4. The automatic double-sided sesame coating device for double sesame cakes according to claim 3, characterized in that, The flipping actuator is a drop-type flipping mechanism, which includes a high-level conveying section and a low-level receiving section arranged sequentially along the conveying direction. The high-level conveying section is located on the outlet side of the first hemp-coating station (3), and the low-level receiving section is located on the inlet side of the second hemp-coating station (5). The discharge end of the high-level conveying section is vertically higher than the receiving end of the low-level receiving section, with a vertical drop of H and a horizontal misalignment distance of L between them. The conveying speed V of the high-level conveying section p satisfy: Where g is the acceleration due to gravity; The dough moves at a speed of V p After being thrown from the discharge end of the high-level conveying section, it flies along a parabolic trajectory and completes a 180° flip during flight due to inertia, and then falls into the low-level receiving section to enter the second hemp-coating station. During the flipping action, the second actuator is locked into a standby idling state, and the lock is released after receiving the dough placement signal.

5. The automatic double-sided sesame coating device for double sesame cakes according to claim 2, characterized in that, Adjusting the operating parameters of the second actuator (7) and setting the priority order for execution includes: First priority: Adjust the value of β, and adjust C2 by changing the speed deviation between V2 and V0; If C2 still cannot approach C after β is adjusted to the preset upper limit value 2_target If so, the second priority is executed: reduce the hemp-coating gap of the second actuator and simultaneously increase its hemp-coating working air pressure; If the hemp-coating gap decreases to a preset lower limit and the hemp-coating working air pressure increases to a preset upper limit, and C2 still cannot approach C... 2_target If so, the third priority is executed: reduce the conveying speed V0 of the conveying mechanism; Furthermore, when the C 2_target Exceeding C before the limit max When the magnitude exceeds the preset threshold, the control system directly executes the action of reducing the conveying speed of the conveying mechanism, regardless of the order restriction of the third priority.

6. The automatic double-sided sesame coating device for double sesame cakes according to claim 1, characterized in that, The detection unit (8) is also used to obtain the actual coverage rate C of the second side of the dough after the second side has been coated with hemp. 2_actual ; The control system calculates the batch average deviation value ΔC. batch =|C 1_avg -C 2_avg |; Among them, C 1_avg C is the statistical average of the first-side coverage of a preset number of dough pieces. 2_avg This represents the statistical average of the coverage rate of the second side of the dough in the same batch. If ΔC batch Exceeding the preset batch deviation threshold ΔC batch_max Then, the operating parameters of the first actuator (6) and the second actuator (7) are simultaneously modified, and the modification direction is to make ΔC batch The direction of decrease, the correction includes: Adjust the value of α to change the velocity deviation between V1 and V0; And / or, adjust the value of β to change the velocity deviation between V2 and V0; And / or, adjust the hemp-coating gap and working air pressure of the first actuator (6) and / or the second actuator (7).

7. The automatic double-sided sesame coating device for double sesame cakes according to claim 1, characterized in that, The first actuator (6) and the second actuator (7) are respectively provided with a first storage device and a second storage device; The material level and sesame moisture content of the first and second storage devices are independently monitored, and the discharge of each storage device is independently controlled. This independent control of the discharge of each storage device includes: If the material level of any storage device is lower than the preset material level threshold, only the discharge action of the storage device on that side will be locked, while the other storage device will continue to operate normally. If the moisture content of sesame seeds in either storage device exceeds the preset moisture content threshold, the dehumidification action of that storage device will be activated independently until the moisture content drops below the preset moisture content threshold.

8. The automatic double-sided sesame coating device for double sesame cakes according to claim 1, characterized in that, The second hemp-coating station (5) is also equipped with a curing mechanism on the outlet side, which is used to cure and shape the adhesive after the dough is coated with hemp on both sides; The final total double-sided coverage C of the cake dough after being processed by the curing mechanism is obtained. total_actual ; C total_actual Compared with the preset final pass threshold C final Compare; If C total_actual ≥C final Mark it as a qualified product; if C total_actual <C final These are marked as defective products.

9. A method for controlling the uniform distribution of sesame in double-layer sesame cakes, characterized in that, Includes the following steps: S1. The first actuator (6) of the first sesame-coating station (3) performs the sesame-coating action on the first surface of the dough; S2, obtain the coverage rate C1 of the first side of the dough after it has been coated with sesame seeds; S3. Calculate the target value C of the second surface coverage rate based on the first surface coverage rate C1. 2_target The calculation formula is: C 2_target =2×C0-C1, where C0 is the preset single-sided standard target value; S4, C 2_target Amplitude limiting is applied; If C 2_target >C max Then let C 2_target =C max And simultaneously reduce the conveying speed of the conveying mechanism; If C 2_target <C min Then let C 2_target =C min And issue an abnormality warning for the first hemp-coating station (3); Among them, C max To preset the upper limit of the allowable deviation, C min The lower limit of the preset allowable deviation; When C 2_target Exceeding C before the limit max When the magnitude exceeds the preset threshold, the deceleration action is not restricted by priority order and is executed directly; S5, based on the C after the amplitude limiting process 2_target Generate control commands to adjust the operating parameters of the second actuator (7) of the second hemp-coating station (5); S6. Control the second actuator (7) to apply hemp seed coating to the second side of the flipped dough according to the adjusted operating parameters, so that the actual coverage rate C2 of the second side approaches C. 2_target .

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