Forming device for imitating manual kneading of salix leaf dumplings

Abstract

The utility model relates to a forming device simulating manual kneading of willow leaf dumplings in the field of forming devices, which comprises a workbench, an X-axis module and a Z-axis module mounted on the X-axis module are arranged on the workbench, a sliding seat capable of sliding along an X axis is arranged on the X-axis module, the Z-axis module is mounted on the sliding seat, and the Z-axis module is mounted on the Z-axis module. A Z-axis module is arranged on the workbench, a connecting seat capable of lifting and sliding along the Z axis is connected to the Z-axis module, a mechanical arm is connected to the connecting seat, a kneading clamping jaw used for kneading dumpling wrappers is connected to the mechanical arm, and a jig used for placing the dumpling wrappers is arranged at one end, close to the mechanical arm, of the workbench. The kneading clamping jaw can be driven by the mechanical arm, the X-axis module and the Z-axis module to knead the dumpling wrappers on the jig, so that the forming device can simulate the process of manually kneading the willow leaf dumplings, the kneading forming effect of the dumpling wrappers and the kneading product effect of the dumplings are improved, and the kneading attractiveness of the willow leaf dumplings is improved by simulating manual kneading of the forming device.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of forming device, concretely relates to a kind of imitating hand knead willow leaf dumpling's forming device. BACKGROUND

[0002] Forming device is a kind of equipment that material is processed into specific shape and specification, in food machinery field, forming device plays an important role as well.Especially for the production of dumplings, such as flour products, the use of forming device not only improves production speed, but also guarantees the specification consistency of product.Whether it is small workshop or large-scale frozen food production plant, forming device is indispensable equipment.

[0003] Existing dumpling forming device is various, but basic principle and structure are similar.Taking full-automatic dumpling forming machine as an example, it usually includes skin making and skin conveying mechanism, filling supplying mechanism, kneading and forming mechanism, dumpling green body conveying mechanism, transmission system and rack and so on.

[0004] Chinese patent with publication number CN 202232844 U discloses an automatic dumpling machine, including rack, skin making mechanism installed on rack, feeding mechanism, wrapping mechanism, push mechanism, conveying mechanism, rotary workbench, forming mechanism and transmission mechanism.The production and processing of dumpling of the automatic dumpling machine are all automatic control, so that it is convenient to operate and high in efficiency.

[0005] However, although existing dumpling forming device is excellent in improving efficiency and guaranteeing product specification consistency, there are still some defects, especially in imitating hand knead willow leaf dumpling, firstly, when the above-mentioned automatic dumpling machine extrudes the cross section of columnar dough wrapper by two half-cylindrical hollow mold bases, due to the excessive viscosity of dough wrapper, dough wrapper is not easy to separate from hollow mold base, which affects the production and efficiency of dumpling, secondly, the effect profile of dumpling finished product by extrusion forming is relatively flat, and the skin wrinkle stereoscopic sense is not obvious, compared with hand-made willow leaf dumpling product, the gap is obvious, and the overall aesthetic property is insufficient, cannot produce high-end willow leaf dumpling closer to handwork, therefore, consumers more choose hand-made willow leaf dumpling. UTILITY MODEL CONTENTS

[0006] The utility model aims at solving above-mentioned defects, provides a kind of imitating hand knead willow leaf dumpling's forming device, to solve the technical problem that the effect profile of willow leaf dumpling finished product by knead of existing forming mechanism is relatively flat in above-mentioned background art, and the skin wrinkle stereoscopic sense is not obvious, leading to the aesthetic property effect of willow leaf dumpling knead compared with artificial hand knead is poor, affects aesthetic property and consumer experience.

[0007] The utility model aims at solving above-mentioned defects, provides a kind of imitating hand knead willow leaf dumpling's forming device, to solve the technical problem that the effect profile of willow leaf dumpling finished product by knead of existing forming mechanism is relatively flat in above-mentioned background art, and the skin wrinkle stereoscopic sense is not obvious, leading to the aesthetic property effect of willow leaf dumpling knead compared with artificial hand knead is poor, affects aesthetic property and consumer experience.

[0008] The forming device for imitating hand kneading of the willow leaf dumpling comprises a workbench, wherein an X-axis module and a Z-axis module installed on the X-axis module are arranged on the workbench, a sliding seat capable of sliding along the X-axis is arranged on the X-axis module, the Z-axis module is installed on the sliding seat, a connecting seat capable of lifting and sliding along the Z-axis is connected to the Z-axis module, a mechanical hand is connected to the connecting seat, a kneading clamp for kneading dumpling wrappers is connected to the mechanical hand, a jig for placing the dumpling wrappers is arranged on one end of the workbench close to the mechanical hand, and the kneading clamp can be driven by the mechanical hand, the X-axis module and the Z-axis module to knead the dumpling wrappers on the jig.

[0009] Further in the above description, the mechanical hand comprises a kneading driving part and a rotating driving part for driving the kneading driving part to rotate, the rotating driving part is installed on the connecting seat through a support frame, and one end of the rotating driving part passes through the support frame and is connected to the kneading driving part through a connecting piece.

[0010] The kneading driving part can be used to knead the dumpling wrappers on the jig from both sides, so that the stuffing can be wrapped in the dumpling wrappers, and the kneading driving part can be driven by the rotating driving part to perform arc-shaped kneading on the dumpling wrappers, thereby improving the finished product effect of kneading.

[0011] Further in the above description, the connecting piece comprises a shaft coupling and a connecting block, one end of the shaft coupling is coaxially connected to the driving end of the rotating driving part, the other end of the shaft coupling is connected to the connecting block, and the kneading driving part is installed on the connecting block.

[0012] The shaft coupling enables the rotating driving part to drive the kneading driving part to rotate along the edge of the dumpling wrappers, so that the kneading driving part can perform arc-shaped kneading on the edge of the dumpling wrappers, thereby reducing the sticking phenomenon between the wrapper and the kneading driving part compared to directly extruding the willow leaf dumpling, and improving the effect of forming the willow leaf shape on the dumpling.

[0013] Further in the above description, the clamping end of the kneading driving part extends to the top of the jig, the kneading clamp is provided with two and installed on the clamping end of the kneading driving part, so that the kneading driving part can drive the two kneading clamps to perform opening and closing clamping actions.

[0014] The kneading driving part can drive the two kneading clamps to knead along the edge of the dumpling wrappers, the kneading effect of the dumpling wrappers is further improved by the kneading driving part and the rotating driving part, and the forming effect of the willow leaf dumpling is further improved by the two kneading clamps.

[0015] Further in the above description, the tool comprises a supporting seat and a forming seat for placing dumpling wrappers, the supporting seat is installed on a workbench, the forming seat is installed on the supporting seat, and one end of the forming seat is provided with a pull pattern groove in communication with the outside, a rotatable rotary pressing block is connected in the pull pattern groove through a rotating shaft, the forming seat is provided with an arc-shaped sliding groove in communication with the pull pattern groove, the supporting seat is provided with a pull pattern driving element for driving the rotary pressing block to rotate and expose on the forming seat, and the driving end of the pull pattern driving element is connected with the rotary pressing block through a connecting rod penetrating through the sliding groove, so that the pull pattern driving element can drive the rotary pressing block to rotate through the connecting rod along the arc-shaped sliding groove.

[0016] The rotary pressing block can be driven to rotate by the pull pattern driving element and press the dumpling wrapper on the supporting seat, so that the rotary pressing block can further improve the effect of kneading and forming the dumpling wrapper.

[0017] One end of the dumpling wrapper extends to the pull pattern groove, the rotary pressing block can be driven to rotate along the rotating shaft by the pull pattern driving element, so that it is exposed outside the pull pattern groove and presses one end of the dumpling wrapper on the supporting seat, so that the dumpling wrapper performs a pre-pull pattern action, and the two kneading clamps driven by the kneading driving element perform a knead pattern action on the two side edges of the dumpling wrapper from the end close to the rotary block, so as to achieve the effect of kneading the dumpling wrapper.

[0018] Further in the above description, the forming seat is connected with two auxiliary clamps for providing clamping and folding force to the two sides of the dumpling wrapper, the two auxiliary clamps are rotatably installed on the two sides of the forming seat through rotating elements, and the two auxiliary clamps can be relatively rotated to expand or fold.

[0019] Alternatively, the two auxiliary clamps are connected with an external driving mechanism, so that the two auxiliary clamps can be rotated, when the two auxiliary clamps are turned to be perpendicular to the supporting seat, the two auxiliary clamps drive the two side edges of the dumpling wrapper to approach each other, so as to simulate manual kneading, and compared with manual kneading, the efficiency and knead pattern effect of kneading the dumpling wrapper by the mechanical hand are improved.

[0020] Alternatively, the two auxiliary clamps can fix the stuffing in the dumpling wrapper through turning, so as to improve the forming effect of kneading the dumpling wrapper.

[0021] The utility model discloses a beneficial effect: through accurate control mechanical hand, X axle module and Z axle module's drive and the kneading intensity of kneading clamping jaw, make it the forming device can simulate the process of manual kneading willow leaf dumpling, improve the kneading product effect of dumpling skin kneading and dumpling, the design of jig makes the dumpling skin place on the workbench, be convenient for mechanical hand and carry out kneading operation, ensure the position stability of dumpling skin in the kneading process, thereby improve the product quality of kneading, ensure the accuracy and consistency of kneading operation, and the kneading action of kneading clamping jaw to dumpling skin, can closely fit the edge of dumpling skin, and through the kneading of proper intensity, thereby with the similar appearance and taste of manual kneading, improve the effect of willow leaf dumpling forming, reduce the phenomenon of sticking difficult demolding of direct extrusion kneading to dumpling skin, make the forming device manufacture the beautiful appearance of willow leaf dumpling outer skin wrinkle three -dimensional sense obvious, be favorable to the experience of consumer, simultaneously, the forming device imitates manual kneading relative to pure manual kneading operation and improves efficiency, reduces the artificial cost. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the whole structure schematic view of this embodiment;

[0023] Figure 2 It is the side view of this embodiment;

[0024] Figure 3 It is the partial explosion structure schematic view of this embodiment;

[0025] Figure 4 It is the structure schematic view of support seat in this embodiment;

[0026] Figure 5 It is the installation schematic view of auxiliary clamping jaw in this embodiment;

[0027] Figure 6 It is the installation schematic view of kneading clamping jaw in this embodiment;

[0028] The reference signs in the drawing are as follows: 1-workbench, 2-X axle module, 3-Z axle module, 4-sliding seat, 5-connection seat, 6-mechanical hand, 61-kneading driving part, 62-rotary driving part, 63-kneading clamping jaw, 7-support frame, 8-coupling, 9-connection block, 10-support seat, 11-forming seat, 12-lacquered groove, 13-rotary pressing block, 14-arc-shaped sliding slot, 15-lacquered driving part, 16-connecting rod, 17-rotary shaft, 18-auxiliary clamping jaw. DETAILED DESCRIPTION

[0029] The utility model will be further described in detail below in combination with the drawings and specific embodiment.

[0030] In this embodiment, refer to Figures 1-6The device specifically implements a forming device that imitates the hand-kneading of willow leaf dumplings, including a worktable 1. The worktable 1 is provided with an X-axis module 2 and a Z-axis module 3 installed on the X-axis module 2. The X-axis module 2 is provided with a sliding seat 4 that can slide along the X-axis. The Z-axis module 3 is installed on the sliding seat 4 and is connected to a connecting seat 5 that can slide up and down along the Z-axis. A robot arm 6 is connected to the connecting seat 5. The robot arm 6 is connected to a kneading gripper 63 for kneading dumpling skins. A fixture for placing dumpling skins is provided at one end of the worktable 1 near the robot arm 6. The kneading gripper 63 can knead the dumpling skins on the fixture by being driven by the robot arm 6, the X-axis module 2 and the Z-axis module 3.

[0031] Specifically, in this embodiment, the X-axis module 2 and Z-axis module 3 are composed of lead screw drive modules, and drive motors for driving the sliding seat 4 and connecting seat 5 to slide along the X-axis and Z-axis are respectively connected to the X-axis module 2 and Z-axis module 3.

[0032] In this embodiment, refer to Figure 1 The robotic arm 6 includes a pinching drive 61 and a rotary drive 62 for driving the pinching drive 61 to rotate. The rotary drive 62 is mounted on the connecting seat 5 via a support frame 7, and one end of the rotary drive 62 passes through the support frame 7 and is connected to the pinching drive 61 via a connector. The pinching drive 61 can pinch the dumpling wrapper on both sides of the fixture, thereby enclosing the filling inside the wrapper. The rotary drive 62 can drive the pinching drive 61 to perform an arc-shaped pinching of the dumpling wrapper, improving the finished product's pinching effect.

[0033] Specifically, the rotary drive component 62 is a rotary drive motor, and the drive shaft of the rotary drive motor is coaxially connected to the coupling 8. The pinching drive component 61 is composed of a servo electric gripper, which can drive two pinching grippers 63 to open and close, thereby rotating and pinching the edge of the dumpling skin.

[0034] In this embodiment, refer to Figure 2 The connecting components include a coupling 8 and a connecting block 9. One end of the coupling 8 is coaxially connected to the driving end of the rotary drive 62, and the other end of the coupling 8 is connected to the connecting block 9. The pinching drive 61 is mounted on the connecting block 9. Through the connection of the coupling 8, the rotary drive 62 can drive the pinching drive 61 to rotate along the edge of the dumpling wrapper, allowing the pinching drive 61 to perform an arc-shaped pinching of the dumpling wrapper's edge. Compared to directly extruded willow-leaf dumplings, this reduces the adhesion between the dough and the pinching drive 61, improving the willow-leaf shape of the dumpling.

[0035] The clamping end of the kneading driving member 61 extends to the top of the jig, and the kneading clamping jaw 63 is provided with two and is installed on the clamping end of the kneading driving member 61, so that the kneading driving member 61 can drive the two kneading clamping jaws 63 to perform opening and closing clamping actions. The two kneading clamping jaws 63 can be driven by the kneading driving member 61 to perform kneading along the edge of the dumpling wrapper. The setting of the kneading driving member 61 and the rotating driving member 62 further improves the effect of the willow leaf kneading of the dumpling wrapper. The setting of the two kneading clamping jaws 63 can further simulate manual kneading, improve the forming effect and aesthetics of the willow leaf dumpling, and be beneficial to the consumption experience of consumers. The kneading clamping jaw 63 can deform the two sides of the dumpling wrapper under the driving of the kneading driving member 61 to perform kneading, and can perform parabolic kneading action along the edge of the dumpling wrapper under the linkage of the mechanical hand 6, the X-axis module 2 and the Z-axis module 3.

[0036] Optionally, the surface of the kneading clamping jaw 63 is connected with an anti-sticking coating or a pad.

[0037] In this embodiment, referring to Figure 4 , the jig includes a support seat 10 and a forming seat 11 for placing the dumpling wrapper. The support seat 10 is installed on the workbench 1, and the forming seat 11 is installed on the support seat 10. One end of the forming seat 11 is provided with a pull pattern groove 12 which is in communication with the outside. A rotatable rotating pressing block 13 is connected in the pull pattern groove 12 through a rotating shaft 17. The forming seat 11 is provided with an arc-shaped sliding groove 14 which is in communication with the pull pattern groove 12. The support seat 10 is provided with a pull pattern driving member 15 for driving the rotating pressing block 13 to rotate and expose on the forming seat 11. The driving end of the pull pattern driving member 15 passes through the sliding groove and is connected with the rotating pressing block 13 through the connecting rod 16, so that the pull pattern driving member 15 can drive the rotating pressing block 13 to rotate through the connecting rod 16 along the arc-shaped sliding groove 14. The rotating pressing block 13 can be driven to rotate by the pull pattern driving member 15 and press the dumpling wrapper on the support seat 10, so that the setting of the rotating pressing block 13 can further improve the effect of kneading and forming of the dumpling wrapper.

[0038] One end of the dumpling wrapper extends to the pull pattern groove 12. The rotating pressing block 13 can be driven to rotate along the rotating shaft 17 by the pull pattern driving member 15, so as to expose outside the pull pattern groove 12 and press the one end of the dumpling wrapper on the support seat 10, so as to perform a pre-pull pattern action on the dumpling wrapper. The two kneading clamping jaws 63 driven by the kneading driving member 61 perform a parabolic kneading action on the two side edges of the dumpling wrapper from the end close to the rotating block, so as to achieve the effect of kneading the dumpling wrapper.

[0039] In this embodiment, referring to Figure 4 and Figure 5The forming seat 11 is connected with two auxiliary clamping jaws 18 for providing clamping force to the two sides of the dumpling skin. The two auxiliary clamping jaws 18 are rotatably installed on the two sides of the forming seat 11 through rotating members, and the two auxiliary clamping jaws 18 can be relatively rotated to be unfolded or closed.

[0040] Optionally, the two auxiliary clamping jaws 18 are connected with an external driving mechanism, so that the two auxiliary clamping jaws 18 can be rotated. When the two auxiliary clamping jaws 18 are turned to be perpendicular to the supporting seat 10, the two auxiliary clamping jaws 18 drive the two side edges of the dumpling skin to be close to each other, so as to improve the pinching effect of the mechanical hand 6 on the dumpling skin.

[0041] Optionally, the two auxiliary clamping jaws 18 can fix the stuffing in the dumpling skin, so as to improve the forming efficiency and effect of the dumpling skin.

[0042] The specific pinching action process of the dumpling skin in the embodiment is as follows:

[0043] The dumpling skin is placed on the top of the supporting seat 10 through the last process. The two side edges of the dumpling skin are in contact with the two auxiliary clamping jaws 18. The two auxiliary clamping jaws 18 are driven by the external driving mechanism to close the two sides of the dumpling skin to the middle, that is, the two auxiliary clamping jaws 18 are turned from the horizontal state to be perpendicular to the supporting seat 10.

[0044] The rotating block 13 is driven by the pull-out pattern driving member 15 to be exposed outside the pull-out pattern groove 12 through the connecting rod 16, and a pre-pressing and pull-out pattern action is performed on the dumpling skin, so as to facilitate the pinching of the pinching clamping jaw 63 on the dumpling skin. The pinching clamping jaw 63 is moved to one end of the dumpling skin through the control of the mechanical hand 6, the X-axis module 2 and the Z-axis module 3. The pinching clamping jaw 63 is driven by the pinching driving member 61 to pinch the two side edges of the dumpling skin. The pinching clamping jaw 63 is moved along the edge to be pinched of the dumpling skin and pinched under the linkage of the mechanical hand 6, the X-axis module 2 and the Z-axis module 3. Thus, the pinching and forming of the dumpling skin and the pinching product effect of the dumpling are improved by the pinching action of the two pinching clamping jaws 63 simulating two fingers. The adhesion and difficult demolding of the dumpling skin edge are reduced. The outer skin of the willow leaf dumpling manufactured by the forming device has obvious three-dimensional effect and improves the appearance. At the same time, the forming device simulates the manual pinching, which improves the efficiency and reduces the labor cost compared with the pure manual pinching operation.

[0045] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Although the present application is disclosed as above in the preferred embodiment, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the disclosed technical content without departing from the technical solution of the present application, and any equivalent embodiment with equivalent changes is equivalent to the above embodiment. Any simple modification, equivalent change and modification of the above embodiment according to the present application technical solution are within the scope of the present application technical solution.

Claims

1. A forming device that mimics the hand-pinching of willow leaf dumplings, comprising a workbench, characterized in that: The worktable is equipped with an X-axis module and a Z-axis module mounted on the X-axis module. The X-axis module has a sliding seat that can slide along the X-axis. The Z-axis module is mounted on the sliding seat and is connected to a connecting seat that can slide up and down along the Z-axis. A robot arm is connected to the connecting seat, and a pinching gripper for pinching dumpling wrappers is connected to the robot arm. A fixture for placing dumpling wrappers is provided at one end of the worktable near the robot arm. The pinching gripper can pinch the dumpling wrappers on the fixture by being driven by the robot arm, the X-axis module and the Z-axis module.

2. The forming device for imitating hand-kneaded willow leaf dumplings according to claim 1, characterized in that: The robotic arm includes a pinching drive and a rotary drive for driving the pinching drive to rotate. The rotary drive is mounted on a connecting seat via a support frame, and one end of the rotary drive passes through the support frame and is connected to the pinching drive via a connector.

3. The forming device for imitating hand-kneaded willow leaf dumplings according to claim 2, characterized in that: The connecting component includes a coupling and a connecting block. One end of the coupling is coaxially connected to the driving end of the rotary drive component, and the other end of the coupling is connected to the connecting block. The kneading drive component is mounted on the connecting block.

4. The forming device for imitating hand-kneaded willow leaf dumplings according to claim 3, characterized in that: The clamping end of the kneading drive extends toward the top of the fixture, and two kneading claws are provided and installed on the clamping end of the kneading drive, so that the kneading drive can drive the two kneading claws to perform opening and closing clamping actions.

5. A forming device for imitating hand-kneaded willow leaf dumplings according to any one of claims 1-4, characterized in that: The fixture includes a support base and a forming base for placing dumpling wrappers. The support base is mounted on a workbench, and the forming base is mounted on the support base. One end of the forming base has a groove for drawing patterns that communicates with the outside. A rotatable rotating pressure block is connected to the groove through a rotating shaft. The forming base has an arc-shaped sliding groove that communicates with the groove. The support base has a drawing pattern drive component exposed on the forming base for driving the rotating pressure block to rotate. The drive end of the drawing pattern drive component passes through the sliding groove through a connecting rod and is connected to the rotating pressure block, so that the drawing pattern drive component can drive the rotating pressure block to rotate by sliding along the arc-shaped sliding groove through the connecting rod.

6. The forming device for imitating hand-kneaded willow leaf dumplings according to claim 5, characterized in that: The forming base is connected to two auxiliary grippers for providing clamping and closing forces to both sides of the dumpling skin. The two auxiliary grippers are rotatably mounted on both sides of the forming base via a rotating component, and the two auxiliary grippers can rotate relative to each other to expand or close.

Images