A peeling robot applied to a standardized yuba intelligent production line and a peeling operation method

Abstract

The application discloses a peeling robot applied to a standardized dried beancurd stick intelligent production line and a peeling operation method, a mobile walking assembly is used for carrying a multi-joint operation execution assembly, a liquid surface position detection assembly, a peeling manipulator and a vehicle-mounted motion cooperative controller, and the mobile walking assembly moves according to a preset stroke track and a time rhythm; the vehicle-mounted motion cooperative controller receives detection data information, calculates and converts control information, and cooperatively controls the operation actions of the components; the liquid surface position sensing detection assembly is used for detecting the real-time height position of the soybean milk liquid surface; the peeling manipulator is arranged at the tail end of the multi-joint operation execution assembly, and the multi-joint operation execution assembly drives the peeling manipulator to execute the actions of grabbing and peeling and releasing and hanging; the peeling robot can adapt to the peeling grabbing use requirements of multiple soybean milk liquid peeling tanks of the standardized dried beancurd stick intelligent production line, improve the production efficiency and the plant space utilization rate, and reduce the manual workload and the equipment investment cost.

Description

Technical Field

[0001] This invention belongs to the technical field of intelligent food production and processing equipment, and specifically discloses a peeling robot and peeling operation method applied to a standardized intelligent production line for dried bean curd sticks. Background Technology

[0002] During the production of dried bean curd sticks, a thin layer of soybean oil naturally forms on the surface of hot soy milk. This oil skin needs to be completely peeled off and hung on drying racks to dry. Traditionally, this involves manual labor to grab the wet bean curd stick skin from the surface of the hot soy milk and hang it to dry. This method is labor-intensive and poses a risk of burns from the hot soy milk. Current automated bean curd stick production equipment primarily uses rollers and rods to continuously lift the thin film from the surface of the soy milk. However, the film cannot form completely continuously and requires manual re-lifting and splicing, resulting in a high frequency of re-lifting and manual labor. Large-scale production lines have low automation levels. A patented automated production line for dried bean curd sticks, published in CN115736295B, uses a circulating production line with grippers to perform gripping, smoothing, and hanging functions. However, it does not disclose the specific structural design of the grippers. Their installation position is fixed, and the operating coverage is limited. They can only be used with single-group forming pots and cannot be used for batch gripping and peeling applications in multi-group forming pots. The efficiency is low. Large-scale production lines require multiple grippers and circulating production lines, resulting in high equipment investment costs and large factory space requirements. Summary of the Invention

[0003] In order to solve the above-mentioned problems in the existing technology, the present invention aims to provide a peeling robot and peeling operation method for use in a standardized intelligent production line for dried bean curd sticks. It can adapt to the peeling and gripping needs of multiple sets of soybean milk forming tanks in the standardized intelligent production line for dried bean curd sticks, improve production efficiency and factory space utilization, and reduce manual workload and equipment investment costs.

[0004] The technical solution adopted in this invention is as follows: The first technical solution provides a peeling robot for a standardized intelligent production line for dried bean curd sticks, which includes a mobile walking component, a multi-joint operation execution component, a liquid level detection component, a peeling manipulator, and an on-board motion coordination controller. The mobile walking component is used to carry the multi-joint operation execution component, the liquid level detection component, the peeling manipulator and the vehicle-mounted motion coordination controller, and moves according to the preset travel trajectory and time rhythm; The peeling robot is located at the end of the multi-joint operation execution component, and the multi-joint operation execution component is used to drive the peeling robot to perform the actions of grasping and peeling, and releasing the suspension. The liquid level detection component is used to sense and detect the real-time height and position of the soybean milk liquid level. The vehicle-mounted motion coordination controller is used to receive detection data, calculate and convert control information, and coordinate the operation of each component.

[0005] In some embodiments, the mobile walking assembly includes a support box and a moving mechanism, the moving mechanism being connected to the lower part of the support box; the moving mechanism includes a bottom main walking mechanism and a guide auxiliary moving mechanism; The vehicle-mounted motion coordination controller is located inside the support box, and the bottom end of the multi-joint operation execution component is fixedly connected to the top of the support box via a base.

[0006] In some embodiments, the arm frame, joint connection bracket, and end effector of the multi-joint operation actuator are all machined from sheet metal and / or tubing made of 304 stainless steel.

[0007] In some embodiments, the liquid level detection component includes an ultrasonic sensor and a laser rangefinder. The ultrasonic sensor is used to sense and detect the real-time distance from the surface of the soy milk to a reference height position, and the laser rangefinder is used to sense and detect the real-time distance between the edge of the soy milk tray holding the soy milk on the standardized tofu skin intelligent production line and the reference height position. The ultrasonic sensor and the laser rangefinder are communicatively connected to the vehicle-mounted motion coordination controller.

[0008] In some embodiments, the peeling robot includes a pair of peeling grippers, a gripper power mechanism, and a gripper transmission mechanism. The pair of peeling grippers are connected to the gripper power mechanism through the gripper transmission mechanism, and the gripper power mechanism can drive the pair of peeling grippers to move towards each other to close or move away from each other to open, thereby completing the action of gripping, peeling, releasing, and suspending.

[0009] In some embodiments, the bottom main walking mechanism consists of four walking wheels, which are evenly distributed and connected to the four corners of the bottom surface of the support box. The guiding auxiliary movement mechanism includes side pulleys and side guide rails, thereby enabling the moving and walking components to form a rail-guided vehicle.

[0010] In some embodiments, the end of the multi-joint operation execution component is connected to a double-sided synchronous tooling support frame, and the laser ranging sensor is fixedly installed on the middle of the front side of the double-sided synchronous tooling support frame. The laser ranging sensor is used to sense and detect the real-time distance between the edge of the pan at the junction of two adjacent soybean milk pans on the standardized tofu skin intelligent production line and the reference height position. A pair of peeling robots are symmetrically arranged at both ends of the double-sided synchronous tooling support frame. A pair of ultrasonic sensors are symmetrically arranged on the double-sided synchronous tooling support frame at the inner side of the peeling robots at both ends. The pair of ultrasonic sensors are used to sense and detect the real-time distance between the surface of the soy milk in two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position.

[0011] In some embodiments, rotary motors are respectively provided at both ends of the dual-sided synchronous tooling support frame, and each of the peeling manipulators is connected to a rotary motor.

[0012] In some embodiments, a current collector is provided on the outer surface of the mobile walking component, and the vehicle-mounted motion coordination controller is electrically connected to the sliding rail of the modular peeling module on the standardized tofu skin intelligent production line through the current collector, and is connected to all rotary motors and peeling manipulators through cables laid by the multi-joint operation execution component. The base of the multi-joint operation actuator is supported by suspension rods on both sides via a traveling support mechanism.

[0013] The second technical solution provides a peeling operation method for a standardized intelligent production line of dried bean curd sticks, using the peeling robot described above for the standardized intelligent production line of dried bean curd sticks, including the following operation steps: S1, based on the layout scheme of the soy milk tray in the standardized intelligent tofu skin production line, plans the travel trajectory and time rhythm of the movement, and presets the reference height position; S2, start, move in a straight line along the side guide rail to the starting position; S3, the multi-joint operation execution component drives the peeling robot to rise to the safe avoidance height, and the peeling gripper of the peeling robot returns to the zero position of the open state; it moves linearly along the side guide rail to the first peeling station; S4, the multi-joint operation actuator drives a pair of peeling robotic arms to descend to the reference height position; S5, the multi-joint operation execution component rotates and extends to align a pair of peeling robotic arms with the center of two adjacent soy milk pans on the standardized tofu skin intelligent production line; S6 uses a laser rangefinder to detect the real-time distance between the edge of two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position; uses a pair of ultrasonic sensors to detect the real-time distance between the soy milk surface in two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position; and uses the difference between the two real-time distances to calculate and determine the height of the peeling position and the descent height parameter of the peeling claw. S7, the multi-joint operation execution component drives a pair of peeling robotic arms to descend to the peeling position height; S8, the gripper power mechanism of each peeling robot drives a pair of peeling grippers to move towards each other and close through the gripper transmission mechanism to complete the operation of grabbing the oil skin of wet bean curd sticks. S9, a multi-joint operation actuator drives a pair of peeling robotic arms to rise to the suspension position height; S10, the multi-joint operation execution component rotates and retracts until the wet tofu skin gripped by a pair of peeling robotic arms touches the suspension rod position, and then continues to retract until the peeling claws are located inside the suspension rod; S11, the gripper power mechanism of each peeling robot drives a pair of peeling grippers to open in opposite directions through the gripper transmission mechanism, releasing the wet tofu skin to fall and hang on the suspension rod; S12, the multi-joint operation execution component drives the peeling robot to rise to the safe avoidance height, and the peeling gripper of the peeling robot returns to the zero position of the open state; it moves linearly along the side guide rail to the next peeling station; S13, Repeat steps S4 to S12 until all wet tofu skins in the soy milk pans of the current modular peeling module on the standardized tofu skin intelligent production line are completely grabbed, and return to the starting position. S14, the multi-joint operation execution component drives a pair of peeling robots to grab the suspension rod fully loaded with the wet tofu skin and transfer it to the transfer tooling; S15, execute the next round of grabbing, peeling, releasing, and transferring actions.

[0014] The beneficial effects of this invention are as follows: A peeling robot and peeling operation method for a standardized intelligent production line for dried bean curd sticks are disclosed. The robot comprises a mobile walking component carrying a multi-joint operation execution component, a liquid level detection component, a peeling manipulator, and an onboard motion coordination controller, moving according to a preset trajectory and time rhythm. The onboard motion coordination controller receives detection data, processes and converts control information, and coordinates the operation of each component. The real-time height of the soybean milk level is detected by the liquid level sensing component. The peeling manipulator is located at the end of the multi-joint operation execution component, driving it to perform gripping, peeling, and releasing actions. This system can adapt to the peeling and gripping needs of multiple soybean milk forming tanks in a standardized intelligent production line for dried bean curd sticks, improving production efficiency and factory space utilization, while reducing manual labor and equipment investment costs. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the modular peeling module of the intelligent production line adapted to the peeling robot of the standardized intelligent production line of the present invention. Figure 2 yes Figure 1 A magnified schematic diagram of a local structure; Figure 3 This is a schematic diagram of the planar structure of the modular peeling module of the intelligent production line adapted to the peeling robot of the standardized intelligent production line of the present invention. Figures 4-6 This is a three-dimensional structural diagram of the peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to Embodiment 1 of the present invention; Figure 7 This is a three-dimensional structural diagram of the peeling robot arm of the peeling robot applied to the standardized intelligent production line of dried bean curd sticks according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the peeling robot after the front shell is removed in the peeling robot of the standardized intelligent production line of dried bean curd sticks according to Embodiment 1 of the present invention. Figures 9-10 This is a schematic diagram of the three-dimensional structure of the peeling robot arm after dispersion in the peeling robot of the standardized intelligent production line for dried bean curd sticks, which is applied in Embodiment 1 of the present invention. Detailed Implementation

[0016] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only. In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or implying the number of indicated technical features. Thus, unless otherwise stated, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more. The term "comprising" and any variations thereof mean non-exclusive inclusion, where one or more other features, integers, steps, operations, units, components, and / or combinations thereof may be present or added.

[0017] Furthermore, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections via an intermediate medium, or internal communication between two components. All technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0018] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0019] Please refer to Figures 1-10 As shown, this invention provides a peeling robot and peeling operation method applied to a standardized intelligent production line for dried bean curd sticks. The technical solutions of the prior art are analyzed as follows: As a traditional soybean product, dried bean curd sticks are currently produced in two industrialized modes: manual production and semi-automated production lines.

[0020] Traditional manual production: After the bean curd skin forms on the surface of the bean curd skin forming tank, the skin is lifted, wrapped, and transported to the drying area by hand using a pole. This method has the following drawbacks: 1. Long hours of manual work in a high-temperature and humid environment result in high labor intensity, difficulty in recruiting workers, and rising labor costs year by year; 2. The force of manual peeling and the uniformity of wrapping cannot be standardized, resulting in poor consistency in the thickness and appearance of the bean curd skin and low product standardization; 3. Frequent contact with semi-finished products by personnel can easily introduce impurities such as hair and dust, making food hygiene control difficult; 4. A single production line requires multiple workers to work in shifts, making continuous unmanned production impossible, and the upper limit of production capacity is limited by manpower.

[0021] Existing semi-automated tofu skin equipment can only achieve simple conveying of pulp in the forming tank or on the drying rack. The core process of peeling still relies on manual assistance and has not achieved full automation of peeling, hanging, transfer, and empty rod return. A small number of simple robotic arms are installed on fixed bases, with short working strokes, and are only suitable for single small forming tanks, not for large-scale layouts with multiple tanks. At the same time, there is a lack of integrated supporting mechanisms for online detection of the skin forming status, synchronous conveying of the accompanying drying rods, automatic unloading of full rods, and cyclic replenishment of empty rods. The robot's grasping accuracy is low, and problems such as missed peeling, skin breakage, and rod misalignment occur frequently. Long-distance track moving mechanisms generally use drag chain wiring, which is prone to cable wear and communication interruption failures due to long-term reciprocating motion, and cannot meet the requirements of continuous and stable operation in long tunnels and multiple workstations.

[0022] In summary: During the production of dried bean curd sticks, after a thin layer of soybean oil naturally forms on the surface of hot soy milk, it needs to be completely peeled off and hung on drying racks to dry. Traditional methods involve manually grabbing the wet bean curd stick skin from the surface of the hot soy milk and hanging it to dry. This is labor-intensive and poses a risk of burns from the hot soy milk. Current automated bean curd stick production equipment primarily uses rollers and rods to continuously lift the thin film from the surface of the soy milk. However, the film cannot form completely continuously and requires manual re-lifting and splicing, which is frequent and labor-intensive. The process is labor-intensive and has a low degree of automation. The invention patent for an automated production line for dried bean curd sticks, published in CN115736295B, uses a circulating production line in conjunction with a gripper to complete the functions of gripping, smoothing, and hanging. However, the specific structural scheme of the gripper is not disclosed. Its installation position is fixed, and the operating coverage is limited. It can only be used with single-group forming pots and cannot be used for batch gripping and peeling applications in multi-group forming pots. The efficiency is low. Large-scale production lines require multiple grippers and circulating production lines, resulting in high equipment investment costs and large factory space requirements.

[0023] Example 1: As Figures 1-10 As shown, Embodiment 1 of the present invention implements a peeling robot applied to a standardized intelligent production line for dried bean curd sticks, according to the first technical solution. The specific structure consists of a mobile walking component 21, a multi-joint operation execution component 22, a peeling manipulator 23, a liquid level detection component 24, and an onboard motion coordination controller. The mobile walking component 21 carries the multi-joint operation execution component 22, the peeling manipulator 23, the liquid level detection component 24, and the onboard motion coordination controller, and moves according to a preset travel trajectory and time rhythm. The peeling manipulator 23 is connected to the end of the multi-joint operation execution component 22, which drives the peeling manipulator 23 to perform grasping, peeling, and releasing suspension actions. The liquid level detection component 24 senses and detects the real-time height of the soy milk surface. The onboard motion coordination controller receives the detected data, calculates and converts control information, and coordinates the operation of each component.

[0024] The specific structural technical solutions for each functional component are as follows: The mobile walking component 21 is composed of a support box 211 and a moving mechanism. The moving mechanism is connected to the lower part of the support box 211 and consists of a bottom main walking mechanism 212 and a guide auxiliary walking mechanism 213. The bottom main walking mechanism 212 is fixedly installed at the bottom of the support box 211 and consists of four wheels evenly distributed at the four corners of the bottom surface of the support box. The bottom main walking mechanism can drive the mobile walking component to walk along the ground. The guide auxiliary walking mechanism 213 is fixedly installed on one side wall of the support box 211 and extends outward. The guide auxiliary walking mechanism 213 consists of side pulleys, side brackets, and side guide rails 214. The guide auxiliary walking mechanism 213 can provide balanced guidance along the preset side guide rails 214, thereby making the mobile walking component a rail-guided vehicle. The vehicle-mounted motion coordination controller is installed inside the support box 211, and the bottom end of the multi-joint operation execution component 22 is fixedly connected to the middle of the top plate of the support box 211 through a base 221.

[0025] The liquid level detection component 24 is composed of an ultrasonic sensor 241 and a laser rangefinder 242. The ultrasonic sensor can sense and detect the real-time distance from the surface of the soy milk to the reference height position, and the laser rangefinder can sense and detect the real-time distance between the edge of the soy milk tray on the standardized tofu skin intelligent production line and the reference height position. The ultrasonic sensor and the laser rangefinder are communicatively connected to the vehicle motion coordination controller inside the support box. Because the surface of the soy milk changes continuously with the peeling action, the height of the peeling position also changes continuously. During system operation, the multi-joint operation component drives the peeling robot to move up and down to the preset reference height position. Then, the ultrasonic sensor senses and detects the real-time distance between the soy milk surface and the reference height position, and the laser rangefinder senses and detects the distance between the edge of the soy milk tray on the standardized tofu skin intelligent production line and the reference height position. The system determines the height of the peeling position and the robot's descent height parameters by the difference between the distance between the reference height position and the edge of the soy milk tray and the distance between the soy milk surface and the reference height position. The measurement of purely physical numerical parameters makes the system highly efficient and avoids high-energy-consuming complex data calculations and high-cost software and hardware investment.

[0026] The arm frame, joint connecting brackets, and end-effector of the multi-joint operating actuator 22 are all machined from 304 stainless steel plates and / or pipes. Because the tofu skin production environment is a harsh, slightly corrosive environment with high temperature, high humidity, and high moisture content, conventionally made multi-joint operating actuators cannot meet the requirements of this environment. A transverse, double-sided synchronous tooling support frame 222 is connected to the end of the multi-joint operating actuator 22. A laser rangefinder is fixedly installed on the middle of the front side of the double-sided synchronous tooling support frame 222. The laser rangefinder can sense and detect the real-time distance between the edge of two adjacent soy milk pans at the junction of the two pans on the standardized tofu skin intelligent production line and the reference height position. Suspension rods 6 are installed on both sides of the base of the multi-joint operating actuator via accompanying support frames.

[0027] A pair of peeling robots 23 are symmetrically arranged at both ends of the double-sided synchronous tooling support frame 222. A pair of ultrasonic sensors 241 are symmetrically arranged on the double-sided synchronous tooling support frame 222 at the inner side of the peeling robots 23 at both ends. The pair of ultrasonic sensors can synchronously sense and detect the real-time distance from the surface of the soy milk in two adjacent soy milk pans to the reference height position on the standardized tofu skin intelligent production line.

[0028] Rotary motors 231 are respectively installed at both ends of the double-sided synchronous tooling support frame 222, and each peeling robot 23 is connected to a rotary motor 231. The main structure of the peeling robot 23 consists of a pair of peeling grippers 25, a gripper power mechanism, and a gripper transmission mechanism. The pair of peeling grippers are connected to the gripper power mechanism through the gripper transmission mechanism, and the gripper power mechanism can drive the pair of peeling grippers to move towards each other to close or move away from each other to open, thereby completing the action of gripping, peeling, releasing, and suspending.

[0029] Specifically, the peeling robot 23 is composed of a housing 230, a rotary motor 231, a screw drive assembly 232, a four-bar linkage 233, and a pair of peeling grippers 25. The gripper power mechanism is realized by the screw drive assembly 232, and the gripper transmission mechanism is realized by the four-bar linkage 233. The rotary motor can drive the peeling robot to rotate as a whole to twist and tighten the wet bean curd skin. The screw drive assembly can drive the pair of peeling grippers to open or close via the four-bar linkage to complete the clamping, extraction, peeling, and releasing suspension actions of the wet bean curd skin.

[0030] The linkage 2334 and follower swing arm 2333 of the four-bar linkage 233 are connected to the outer end of the main swing arm 2332. The upper ends of the auxiliary linkage 2335 and auxiliary swing arm 2336 are both connected to the linkage 2334. The upper end of the gripper seat 2337 is simultaneously connected to the lower ends of the follower swing arm 2333, auxiliary linkage 2335, and auxiliary swing arm 2336. The lead screw nut 2323 is fixedly nested in the middle of the lead screw nut slide 2324 of the four-bar linkage 233. The servo motor drives the lead screw to rotate in the forward direction. 23 drives the lead screw nut slide 2324 to feed upwards in a straight line along the vertical lead screw; when the lead screw nut slide moves upwards, it pulls the upper ends of the two main swing arms 2332 to converge towards the center simultaneously; the main swing arms rotate inwards around the central hinge point, and synchronously pull the outer follower swing arms inwards through the linkage rod; the lower ends of the two swing arms drive the bottom gripper seats to converge towards the center simultaneously, completing the gripper closure; when the lead screw nut slide reaches the preset upper limit position, the control system identifies the reference origin of the gripper closure, locks the current lead screw stroke coordinates, and calibrates the gripping zero position. Protective pads 2331 are respectively set on the inner walls of a pair of robot arm housings 230 to ensure the linkage operation space of the four-bar linkage mechanism.

[0031] Servo motor 2321 drives lead screw 2322 to rotate in the opposite direction. Lead screw nut 2323 drives lead screw nut slide 2324 to feed downwards along the vertical lead screw. The lead screw nut slide pushes the upper ends of the left and right main swing arms downwards to separate to both sides. The main swing arms rotate outwards and push the follower swing arms to open outwards synchronously through the connecting rod. The claws at the bottom of both sides open outwards synchronously, loosening the wet tofu skin wrapped around the suspension rod. After the lead screw descends to the preset opening limit, the motor stops, maintaining the claws in an open and avoidance posture, waiting for the next station to grab. The servo lead screw transmission group outputs vertical linear displacement, driving the symmetrically arranged four-bar transmission mechanism to rotate synchronously, converting the axial linear motion of the lead screw into the synchronous opening and closing motion of the claws on both sides. The lead screw nut slide moves up and down with the lead screw, triggering the reference baffle. When the slide moves up to the fully closed position of the claws, the baffle triggers the zero-point sensor to calibrate the zero point of the claw clamping reference, realizing closed-loop precise control of the claw opening and closing stroke. Furthermore, a zeroing sensor 235 is installed inside the peeling robot. The zeroing sensor can detect when the peeling gripper opens and retracts to return to the zero position, ensuring stability, reliability, and ease of operation.

[0032] The linear power of the vertical lead screw is converted into a synchronous rotary clamping force on both sides via a four-bar linkage. A small lead screw stroke can achieve a large opening and closing range of the jaws, with uniform and stable clamping force, preventing unilateral tilting and tearing of thin soybean oil skin. This achieves power amplification and stroke balance. The completely symmetrical four-bar structure ensures that the lead screw, as a single power source, synchronously drives the jaws on both sides, guaranteeing that the opening and closing strokes and clamping forces of the left and right jaws are completely consistent and synchronous without deviation. The lead screw slide and trigger stop are rigidly connected, and the lead screw stroke corresponds one-to-one with the opening and closing position of the jaws. Each closure can be calibrated to the mechanical origin by a photoelectric sensor, eliminating the cumulative positioning error caused by lead screw thread backlash and connecting rod hinge wear, resulting in high positional accuracy. The flexible adaptive gripping method, with a small buffer reserved in the rod hinge and a silicone pad layer on the jaws, allows for adaptive gripping based on the thickness of the soybean oil skin, minimizing hard impacts and reducing the breakage rate of semi-finished products.

[0033] A current collector 42 is installed on the outer surface of the support box 211 of the mobile walking component 21. The vehicle-mounted motion coordination controller is electrically connected to the sliding rail 541 of the modular peeling module on the standardized tofu skin intelligent production line through the current collector 42. It is also connected to all rotating motors, liquid level detection components, and peeling robots through cables laid by the multi-joint operation execution component. The specific structure of the vehicle-mounted motion coordination controller is not shown in this example. It is fixedly installed inside the support box and connected to all electrical components, providing power to all electrical components and controlling the full-process linkage automatic operation of all execution mechanisms. Specifically, it can adopt existing technical solutions to integrate eight modules: main control computing, power distribution, bus communication, wireless vehicle-to-ground communication, signal acquisition I / O, motion drive, local storage, and safety protection. The hardware architecture, power distribution, bus interaction, wireless vehicle-to-ground communication, signal acquisition, and motion coordination logic of the vehicle-mounted motion coordination controller can all be implemented using existing mature industrial technologies in the fields of automated RGV mobile robots and composite multi-joint operation execution components. The core includes a small vehicle-mounted PLC / embedded MCU. The system includes standardized and mature industrial modules such as main control, sliding contact line isolated voltage distribution module, CANopen / EtherCAT real-time motion bus, 5.8G industrial wireless bridge-to-ground communication, opto-isolated digital I / O acquisition, differential encoder position acquisition, multi-axis synchronous motion control program library, local SD card fault log storage, and shockproof IP54 protective enclosure, eliminating the need for new development of underlying hardware and communication protocols.

[0034] For example, core main control operations can utilize small integrated vehicle-mounted PLCs, industrial-grade embedded MCU core boards, and small fanless industrial control computers. Power distribution via sliding contact line inputs to the vehicle-mounted power supply and control can employ EMC filtering and anti-interference power modules, graded fuses, and soft-start power distribution terminal blocks. Internal bus communication can utilize CANopen industrial fieldbus, EtherCAT real-time Ethernet bus, Modbus RTU RS485 bus, etc., for interaction between sub-control and multi-joint operation execution components and sensors. Vehicle-to-ground wireless communication can utilize industrial 5.8G wireless APs and wireless bridges, Wi-Fi 6 industrial wireless communication modules, and redundant spare sliding contact line carrier communication to achieve interaction between vehicle-mounted sub-control and the workshop main control cabinet. Digital and analog signal acquisition I / O can utilize opto-isolated digital DI / DO modules, differential encoder acquisition modules, and 4-20mA analog signal acquisition modules. Motion drive collaborative control can utilize pulse / bus type servo drive with matching control interfaces and multi-axis synchronous motion control algorithms. Local data storage and fault diagnosis can utilize industrial SD cards. The card includes a local log storage module and a fault code diagnostic program library. Vehicle-mounted shock resistance and safety protection can be achieved by using a whole-machine shock-absorbing mounting bracket, hardware safety circuit emergency stop interlock, and a wide-temperature industrial enclosure with IP54 protection structure.

[0035] The structural scheme of the modular peeling module of the intelligent tofu skin production line adapted to the peeling robot of the standardized intelligent tofu skin production line in Embodiment 1 of the present invention is as follows: The main structure consists of a bean curd skin forming tank unit 1, a peeling robot 2 of this invention, a following support mechanism 3, and a power supply intelligent control unit 4. The bean curd skin forming tank unit 1 is symmetrically arranged with two sets of soy milk tanks 11, and the space between the two sets of soy milk tanks 11 forms a robot walking channel 12. The peeling robot 2 walks back and forth in the walking channel 12 according to a preset travel trajectory, and starts and stops cyclically according to preset peeling positions and time parameters. It detects the position of the soy milk surface and rotates and moves to switch to a safe avoidance position, a peeling position, and a hanging drying rod position to complete the peeling and hanging drying rod actions. The following support mechanism 3 can carry the hanging rod and move with the peeling robot. The power supply intelligent control unit can supply power and coordinate the linkage of each unit.

[0036] The specific structure of the bean curd skin forming tank unit 1 is composed of several sections of soy milk tank 13. The sections of soy milk tank 13 are divided into two groups of soy milk tank 10. The two groups of soy milk tank 10 are arranged in a left-right symmetrical aisle pattern. A walking channel for the peeling robot 2 is reserved in the middle of the aisle. Several soy milk trays, constant temperature heating components, circulating soy milk replenishment mechanisms and liquid level maintenance components are respectively set on each section of soy milk tank. The soy milk trays 101, constant temperature heating components, circulating soy milk replenishment mechanisms and liquid level maintenance components can all adopt conventional products in the existing technology. An empty rod return mechanism and a full rod unloading mechanism are respectively set at both ends of the aisle.

[0037] In actual operation, the specific implementation method is as follows: the bean curd skin forming tank unit 1 is equipped with six sections of soy milk tanks. The six sections of soy milk tanks are arranged in a symmetrical aisle pattern, with three sections of soy milk tanks on the left and three on the right. A robot walking passage is reserved in the middle of the aisle. Each section of the bean curd skin forming tank unit includes six rectangular insulated soy milk pans, a bottom constant temperature heating component, a through-circulation soy milk replenishment mechanism, and a liquid level maintenance component. The constant temperature heating component adopts a deep-groove steam tank. The six soy milk pans 101 are arranged linearly and equidistantly in the opening of the steam tank along the longitudinal direction of the walking passage. They are then overlapped one after another to cover the opening of the steam tank. The high-temperature steam in the steam tank heats the soy milk in all the soy milk pans at a constant temperature, while preventing the leakage and waste of high-temperature steam and the corrosion of related functional components, resulting in a high safety factor.

[0038] The specific structure of the peeling robot 2 consists of a mobile walking component 21, a multi-joint operation execution component 22, a peeling manipulator 23, a liquid surface position detection component 24, and a peeling manipulator 25. The mobile walking component 21 can carry the multi-joint operation execution component 22, the peeling manipulator 23, and the liquid surface position detection component 24, and move back and forth within the walking channel 12 according to a preset travel trajectory, and cycle start and stop according to preset peeling positions and time parameters. The multi-joint operation execution component 22 can drive the peeling manipulator 23 to rotate, rise and fall, and move to switch positions to a safe avoidance position, peeling position, and hanging drying rod position. The peeling manipulator 23 can drive the peeling gripper 25 to open or close to complete the peeling and hanging drying rod actions. The liquid surface position detection component 24 can detect the position of the soy milk liquid surface, providing coordinate parameter guidance for the peeling manipulator 25 to descend and grab the wet bean curd skin.

[0039] The multi-joint manipulator receives motion commands from the controller, driving the servo axes of each joint to rotate and lift in tandem. This causes the end effector, equipped with a peeling gripper mechanism, to move along a preset spatial trajectory. The multi-joint manipulator then drives the end effector to move horizontally to a reference height above the wet tofu skin. After the positioning coordinates are matched by the liquid surface detection component, the gripper opens and closes synchronously, gripping the tofu skin. The multi-joint manipulator then raises the manipulator, lifting the peeling gripper mechanism above the soy milk pan and moving it laterally along the programmed trajectory to the corresponding workstation on the accompanying suspension rod. The multi-joint manipulator then fine-tunes the attitude and height of the end effector, evenly releasing the tofu skin onto the suspension rod, and then drives the peeling gripper to release and reset. After hanging the skin at a single workstation, the multi-joint manipulator retracts the end effector to a safe clearance position and moves synchronously with the moving component. Upon reaching the next soy milk pan workstation, the multi-joint manipulator lowers the manipulator back to the reference height for skin gripping, repeating the positioning, gripping, and hanging actions.

[0040] The power supply intelligent control unit 4 is specifically composed of a track sliding contact line power supply system and an on-board motion coordination controller. The core structure of the track sliding contact line power supply system consists of a sliding rail 41 and a current collector 42. The sliding rail 41 and the current collector 42 can adopt conventional sliding contact line structures in existing technologies. The sliding rail is fixedly installed on the lower inner side of one set of soybean milk tank brackets in the bean curd skin forming tank unit. The current collector is installed on the side wall of the moving component corresponding to the sliding rail and connected to the on-board motion coordination controller inside the trolley body. The sliding rail moving component's walking trajectory is laid along its entire length, continuously supplying power to the reciprocating moving component, replacing traditional drag chain wiring. The main control cabinet is equipped with a PLC main controller, which is networked and coordinated with the on-board motion coordination controller of each automatic peeling composite robot through wireless communication. The system has a built-in logic control program to realize the automatic operation of the entire process, including the moving component's step positioning, liquid level detection, grasping trajectory planning, synchronous following conveying of drying rods, unloading of full rods, and return of empty rods.

[0041] Example 2:

[0042] Implementation Two: A peeling operation method applied to a standardized intelligent production line of dried bean curd sticks is implemented according to the second technical solution. This method uses the peeling robot for the standardized intelligent production line of dried bean curd sticks provided in Implementation One, and includes the following operation steps: S1, based on the layout of the soy milk tray in the standardized intelligent tofu skin production line and the time pattern of skin formation on the surface of high-temperature soy milk, plans the travel trajectory and time rhythm of the movement, and presets the reference height position. S2, start, move in a straight line along the side guide rail to the starting position; S3, the multi-joint operation execution component drives the peeling robot to rise to the safe avoidance height, and the peeling gripper of the peeling robot returns to the zero position of the open state; it moves linearly along the side guide rail to the first peeling station; S4, the multi-joint operation actuator drives a pair of peeling robotic arms to descend to the reference height position; S5, the multi-joint operation execution component rotates and extends to align a pair of peeling robotic arms with the center of two adjacent soy milk pans on the standardized tofu skin intelligent production line; S6 uses a laser rangefinder to detect the real-time distance between the edge of two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position; uses a pair of ultrasonic sensors to detect the real-time distance between the soy milk surface in two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position; and uses the difference between the two real-time distances to calculate and determine the height of the peeling position and the descent height parameter of the peeling claw. S7, the multi-joint operation execution component drives a pair of peeling robotic arms to descend to the peeling position height; S8, the gripper power mechanism of each peeling robot drives a pair of peeling grippers to move towards each other and close through the gripper transmission mechanism to complete the operation of grabbing the oil skin of wet bean curd sticks. S9, a multi-joint operation actuator drives a pair of peeling robotic arms to rise to the suspension position height; S10, the multi-joint operation execution component rotates and retracts until the wet tofu skin gripped by a pair of peeling robotic arms touches the suspension rod position, and then continues to retract until the peeling claws are located inside the suspension rod; S11, the gripper power mechanism of each peeling robot drives a pair of peeling grippers to open in opposite directions through the gripper transmission mechanism, releasing the wet tofu skin to fall and hang on the suspension rod; S12, the multi-joint operation execution component drives the peeling robot to rise to the safe avoidance height, and the peeling gripper of the peeling robot returns to the zero position of the open state; it moves linearly along the side guide rail to the next peeling station; S13, Repeat steps S4 to S12 until all wet tofu skins in the soy milk pans of the current modular peeling module on the standardized tofu skin intelligent production line are completely grabbed, and return to the starting position. S14, the multi-joint operation execution component drives a pair of peeling robots to grab the suspension rod fully loaded with the wet tofu skin and transfer it to the transfer tooling; S15, execute the next round of grabbing, peeling, releasing, and transferring actions.

[0043] This invention relates to a peeling robot and peeling operation method applied to a standardized intelligent production line for dried bean curd sticks. The robot utilizes a mobile walking component to carry a multi-joint operation execution component, a liquid level detection component, a peeling manipulator, and an onboard motion coordination controller, moving according to a preset travel trajectory and time rhythm. The onboard motion coordination controller receives detection data, processes and converts control information, and coordinates the operation of each component. The liquid level detection component detects the real-time height of the soy milk surface. A peeling manipulator is installed at the end of the multi-joint operation execution component, driving the manipulator to perform gripping, peeling, and releasing suspension actions. This system can adapt to the peeling and gripping needs of multiple soy milk forming tanks in a standardized intelligent production line for dried bean curd sticks, improving production efficiency and factory space utilization, while reducing manual labor and equipment investment costs.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A peeling robot applied to a standardized intelligent production line for dried bean curd sticks, characterized in that: It includes a mobile walking component, a multi-joint operation execution component, a liquid level position detection component, a peeling manipulator, and an on-board motion coordination controller; The mobile walking component is used to carry the multi-joint operation execution component, the liquid level detection component, the peeling manipulator and the vehicle-mounted motion coordination controller, and moves according to the preset travel trajectory and time rhythm; The peeling robot is located at the end of the multi-joint operation execution component, and the multi-joint operation execution component is used to drive the peeling robot to perform gripping, peeling, and releasing suspension actions; The liquid level detection component is used to sense and detect the real-time height and position of the soybean milk liquid level. The vehicle-mounted motion coordination controller is used to receive detection data, calculate and convert control information, and coordinate the operation of each component.

2. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 1, characterized in that: The mobile walking assembly includes a support box and a moving mechanism, the moving mechanism being connected to the lower part of the support box; the moving mechanism includes a bottom main walking mechanism and a guide auxiliary moving mechanism; The vehicle-mounted motion coordination controller is located inside the support box, and the bottom end of the multi-joint operation execution component is fixedly connected to the top of the support box via a base.

3. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 1, characterized in that: The arm frame, joint connection bracket, and end effector of the multi-joint operation actuator are all machined from 304 stainless steel sheet and / or tubing.

4. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 1, characterized in that: The liquid level detection component includes an ultrasonic sensor and a laser rangefinder. The ultrasonic sensor is used to sense and detect the real-time distance from the surface of the soy milk to the reference height position, and the laser rangefinder is used to sense and detect the real-time distance between the edge of the soy milk tray on the standardized tofu skin intelligent production line and the reference height position. The ultrasonic sensor and the laser rangefinder are communicatively connected to the vehicle-mounted motion coordination controller.

5. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 1, characterized in that: The peeling robot includes a pair of peeling grippers, a gripper power mechanism, and a gripper transmission mechanism. The pair of peeling grippers are connected to the gripper power mechanism through the gripper transmission mechanism, and the gripper power mechanism can drive the pair of peeling grippers to move towards each other to close or to move away from each other to open, thereby completing the actions of gripping, peeling, releasing, and suspending.

6. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 2, characterized in that: The bottom main walking mechanism consists of four walking wheels, which are evenly distributed and connected to the four corners of the bottom surface of the support box. The guiding auxiliary movement mechanism includes side pulleys and side guide rails, thereby enabling the moving and walking components to form a rail-guided vehicle.

7. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 4, characterized in that: The end of the multi-joint operation execution component is connected to a double-sided synchronous tooling support frame. The laser ranging sensor is fixedly installed in the middle of the front side of the double-sided synchronous tooling support frame. The laser ranging sensor is used to sense and detect the real-time distance between the edge of the pan at the junction of two adjacent soybean milk pans on the standardized tofu skin intelligent production line and the reference height position. A pair of peeling robots are symmetrically arranged at both ends of the double-sided synchronous tooling support frame. A pair of ultrasonic sensors are symmetrically arranged on the double-sided synchronous tooling support frame at the inner side of the peeling robots at both ends. The pair of ultrasonic sensors are used to sense and detect the real-time distance between the surface of the soy milk in two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position.

8. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 7, characterized in that: The two ends of the dual-sided synchronous tooling support frame are respectively equipped with rotary motors, and each of the peeling manipulators is connected to a rotary motor.

9. The peeling robot applied to a standardized intelligent production line for dried bean curd sticks according to claim 8, characterized in that: An electric current collector is provided on the outer surface of the mobile walking component. The vehicle-mounted motion coordination controller is electrically connected to the sliding rail of the modular peeling module on the standardized tofu skin intelligent production line through the electric current collector, and is connected to all rotary motors and peeling manipulators through the multi-joint operation execution component via cables. The base of the multi-joint operation actuator is supported by suspension rods on both sides via a traveling support mechanism.

10. A peeling operation method applied to a standardized intelligent production line for dried bean curd sticks, using the peeling robot described in any one of claims 1 to 9, characterized in that: The following steps are included: S1, based on the layout scheme of the soy milk tray in the standardized intelligent tofu skin production line, plans the travel trajectory and time rhythm of the movement, and presets the reference height position; S2, start, move in a straight line along the side guide rail to the starting position; S3, the multi-joint operation execution component drives the peeling robot to rise to the safe avoidance height, and the peeling gripper of the peeling robot returns to the zero position of the open state; it moves linearly along the side guide rail to the first peeling station; S4, the multi-joint operation actuator drives a pair of peeling robotic arms to descend to the reference height position; S5, the multi-joint operation execution component rotates and extends to align a pair of peeling robotic arms with the center of two adjacent soy milk pans on the standardized tofu skin intelligent production line; S6 uses a laser rangefinder to detect the real-time distance between the edge of two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position; uses a pair of ultrasonic sensors to detect the real-time distance between the soy milk surface in two adjacent soy milk pans on the standardized tofu skin intelligent production line and the reference height position; and uses the difference between the two real-time distances to calculate and determine the height of the peeling position and the descent height parameter of the peeling claw. S7, the multi-joint operation execution component drives a pair of peeling robotic arms to descend to the peeling position height; S8, the gripper power mechanism of each peeling robot drives a pair of peeling grippers to move towards each other and close through the gripper transmission mechanism to complete the operation of grabbing the oil skin of wet bean curd sticks. S9, a multi-joint operation actuator drives a pair of peeling robotic arms to rise to the suspension position height; S10, the multi-joint operation execution component rotates and retracts until the wet tofu skin gripped by a pair of peeling robotic arms touches the suspension rod position, and then continues to retract until the peeling claws are located inside the suspension rod; S11, the gripper power mechanism of each peeling robot drives a pair of peeling grippers to open in opposite directions through the gripper transmission mechanism, releasing the wet tofu skin to fall and hang on the suspension rod; S12, the multi-joint operation execution component drives the peeling robot to rise to the safe avoidance height, and the peeling gripper of the peeling robot returns to the zero position of the open state; it moves linearly along the side guide rail to the next peeling station; S13, Repeat steps S4 to S12 until all wet tofu skins in the soy milk pans of the current modular peeling module on the standardized tofu skin intelligent production line are completely grabbed, and return to the starting position. S14, the multi-joint operation execution component drives a pair of peeling robots to grab the suspension rod fully loaded with the wet tofu skin and transfer it to the transfer tooling; S15, execute the next round of grabbing, peeling, releasing, and transferring actions.

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