CN118977889B - A grabbing system for alum-free vermicelli - Google Patents

Abstract

The invention relates to the technical field of manipulators, in particular to a grabbing system for alum-free vermicelli, which comprises a conveying plate and a lifting plate, wherein a plurality of placing cylinders are arranged on the conveying plate, a plurality of clamping jaw mechanisms are arranged on the lifting plate, each clamping jaw mechanism corresponds to each placing cylinder, each clamping jaw mechanism comprises at least two clamping fingers, two sides of each clamping finger are respectively hinged with a turnover plate, the two turnover plates are connected through a connecting plate, a first guide groove is arranged on each placing cylinder, a limiting mechanism is arranged on each clamping finger, a triggering mechanism is arranged between the first guide groove and each clamping finger, one side of each connecting plate, which is close to the first guide groove, is an inclined plane, and the phenomenon that alum-free vermicelli is broken in the extraction process easily caused by adopting a traditional cross rod body inserting grabbing mode is avoided. This not only reduces product integrity, but also increases dust and debris problems during subsequent transportation and packaging, affecting production efficiency and product quality.

Description

Grabbing system for alum-free vermicelli

Technical Field

The invention relates to the technical field of manipulators, in particular to a grabbing system for alum-free vermicelli.

Background

The main function of the grabbing device of the vermicelli is to take the dried and formed vermicelli cake material out of a stock container, evenly and continuously put the vermicelli cake material on a downstream conveyer belt, and finally send the vermicelli cake material into a packaging machine for packaging. The automatic packaging process of the powdery product comprises the steps of firstly placing wet raw materials into a storage container, heating and drying the raw materials in the storage container through a dryer to form hard forming blocks or cake-shaped vermicelli, grabbing the dried and formed cake-shaped vermicelli onto a conveyor by a grabbing device, and conveying the dried and formed cake-shaped vermicelli into a packaging machine by the conveyor for packaging.

The grabbing device in the prior art adopts two crossed rod bodies to be inserted into the cake-shaped vermicelli, so that the vermicelli can be forked and moved into the conveyor. However, the alum-free vermicelli does not contain any coagulant or enhancer, and the structure is more loose in the drying process, so that the alum-free vermicelli is more fragile than alum-free vermicelli. If the traditional cross rod body inserting type grabbing mode is adopted, the alum-free vermicelli is easy to break in the extraction process. This not only reduces product integrity, but also increases dust and debris problems during subsequent transportation and packaging, affecting production efficiency and product quality.

Disclosure of Invention

The invention aims to provide a grabbing system for alum-free vermicelli, which is used for solving the problems.

The invention is realized by the following technical scheme:

The grabbing system for alum-free vermicelli comprises a conveying plate and a lifting plate, wherein a plurality of placing cylinders are arranged on the conveying plate, a plurality of clamping jaw mechanisms are arranged on the lifting plate, each clamping jaw mechanism corresponds to each placing cylinder, each clamping jaw mechanism comprises at least two clamping fingers, two sides of each clamping finger are respectively hinged with a turnover plate, the two turnover plates are connected through a connecting plate, a first guide groove is arranged on each placing cylinder, a limiting mechanism is arranged on each clamping finger, a triggering mechanism is arranged between each first guide groove and each clamping finger, and one side of each connecting plate, which is close to each first guide groove, is an inclined surface;

The connecting plate and the clamping finger in the initial state are limited through the limiting mechanism, so that the clamping finger is at a right angle or an obtuse angle with the connecting plate, the clamping finger moves downwards along the position of the first guide groove along the connecting plate, the triggering mechanism releases the limiting state of the connecting plate and the clamping finger in the downward moving process, the connecting plate and the clamping finger are positioned in the same vertical direction, and after the connecting plate is in contact with the bottom wall of the first guide groove, the connecting plate is turned over to limit with the limiting mechanism again.

Further, the limiting mechanism comprises two shells arranged on the clamping fingers, a through hole is formed in each shell, an elastic piece is arranged in each shell and connected with a limiting cylinder, each limiting cylinder moves in the through hole, limiting holes matched with the limiting cylinders are formed in the overturning plates, unlocking components are further arranged in the shells, and in the process that the connecting plates move downwards along the positions of the first guide grooves, the triggering mechanism triggers the unlocking components to drive the limiting cylinders to move towards the elastic pieces.

Further, the unlocking part comprises a guide cylinder which is arranged in the shell and is opened at two ends, the part of the limiting cylinder is arranged in the guide cylinder in a sliding manner, an outer sleeve is fixedly arranged on the shell, an inner sleeve is sleeved in the outer sleeve, the guide cylinder is arranged in the outer sleeve, an elastic piece is arranged on the inner wall of the inner sleeve, a first mounting hole is oppositely formed in the inner wall of the guide cylinder, second mounting holes are respectively formed in two sides of the limiting cylinder, the central lines of the two second mounting holes are not in the same straight line, two ends of the moving rod respectively penetrate through the two second mounting holes and the first mounting holes in a movable manner and then extend outwards, fixing blocks are arranged on the opposite side walls of the inner sleeve, one side, facing the direction of the first mounting holes, of each fixing block is provided with an inclined surface, a connecting piece matched with the inclined surface is arranged at the extending end of the moving rod, and when the triggering mechanism triggers the inner sleeve to move towards the direction of the through hole, the connecting piece and the extrusion between the inclined surface is enabled to move towards the elastic piece.

Further, the triggering mechanism comprises a groove communicated with the outside and arranged on one side, close to the inner wall of the first guide groove, of the clamping finger, two triggering parts are further arranged in the clamping finger, the two triggering parts are respectively located on two sides of the groove, each triggering part comprises a cavity arranged in the clamping finger, a first through hole communicated with the groove is formed in the inner wall of each cavity, a second through hole is formed in the shell, a third through hole communicated with the second through hole is further formed in the inner wall of each cavity, a first connecting rod is arranged in each cavity, one end of each first connecting rod is connected with a first wedge block, the other end of each first connecting rod is connected with a second connecting rod, the second connecting rods sequentially and movably penetrate through the second through holes and the third through holes and then are connected with the inner sleeve, the second connecting rods are connected with the inner wall of each cavity through first springs, and triggering blocks matched with the two first wedge blocks are arranged in the first guide grooves outside the first through holes.

Further, first guide grooves with the same number as the second guide grooves are formed in the bottom of the placement barrel, and the first guide grooves are communicated with the second guide grooves.

Further, the connecting plate is an arc plate.

Further, a telescopic plate is slidably arranged in the second guide groove.

Further, the connection member may be a second wedge engaged with the inclined surface or a sphere in contact with the inclined surface.

Further, a limiting plate is arranged on the limiting cylinder and is positioned outside the guide cylinder.

Further, the trigger block is arranged at the upper end of the guide groove.

Compared with the prior art, the invention has the following advantages and beneficial effects:

According to the application, the clamping fingers are inserted into the first guide groove of the placement barrel, so that the connecting plate on the clamping fingers is overturned into the second guide groove, the contact between the inclined surface on the connecting plate and the bottom wall of the first guide groove shows a guiding and overturned effect, and the limiting hole on the overturning plate is overturned to be matched with the limiting barrel on the shell, so that the overturning plate can be limited, the included angle between the connecting plate and the clamping fingers is right angle or obtuse angle, after the lifting plate is lifted, the connecting plate on the clamping fingers can lift and lift a cake, and the phenomenon that two crossed rod bodies are inserted into cake-shaped vermicelli in the prior art is avoided, so that the breakage rate generated in the alum-free vermicelli process is caused.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of an assembled structure of a finger and a connecting plate of the present invention;

FIG. 3 is a schematic view of the structure of the first guide groove of the present invention;

FIG. 4 is a schematic view of the internal structure of the finger of the present invention;

FIG. 5 is a schematic diagram of a groove structure according to the present invention;

FIG. 6 is a schematic view of the two first wedge blocks and trigger block of the present invention mated;

FIG. 7 is a schematic view of the trigger block of the present invention in a first guide slot;

fig. 8 is a schematic view showing the internal structure of the housing of the present invention.

In the drawings, the reference numerals and corresponding part names:

1-placing cylinder, 2-clamping jaw mechanism, 3-clamping finger, 4-turnover plate, 5-connecting plate, 6-first guide groove, 7-shell, 8-through hole, 9-compression spring, 10-limit cylinder, 11-guide cylinder, 12-inner sleeve, 13-outer sleeve, 14-moving rod, 15-fixed block, 16-connecting piece, 17-groove, 18-cavity, 19-first through hole, 20-first connecting rod, 21-first wedge block, 22-second connecting rod, 23-trigger block, 24-second guide groove, 25-limit plate, 26-first mounting hole and 27-second mounting hole.

Detailed Description

For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.

Example 1:

as shown in fig. 1 to 8, a grabbing system for alum-free vermicelli comprises a conveying plate and a lifting plate, wherein a plurality of placement barrels 1 are arranged on the conveying plate, a plurality of clamping jaw mechanisms 2 are arranged on the lifting plate, each clamping jaw mechanism 2 corresponds to each placement barrel 1, each clamping jaw mechanism 2 comprises at least two clamping fingers 3, two sides of each clamping finger 3 are respectively hinged with a turnover plate 4, the two turnover plates 4 are connected through a connecting plate 5, a first guide groove 6 is arranged on the placement barrel 1, a limiting mechanism is arranged on each clamping finger 3, a triggering mechanism is arranged in each first guide groove 6, and one side, close to the first guide groove 6, of each connecting plate 5 is an inclined surface;

The connecting plate 5 and the clamping finger 3 in the initial state are limited through the limiting mechanism, so that the clamping finger 3 and the connecting plate 5 form a right angle or an obtuse angle, the clamping finger 3 moves downwards along the position of the first guide groove 6 with the connecting plate 5, the triggering mechanism releases the limiting state of the connecting plate 5 and the clamping finger 3 in the downward movement process, the connecting plate 5 and the clamping finger 3 are positioned in the same vertical direction, and after the connecting plate 5 contacts with the bottom wall of the first guide groove 6, the connecting plate 5 is turned over to limit the limiting mechanism again.

In the prior art, a plurality of placing cylinders 1 are arranged on a conveying plate, the placing cylinders 1 are connected with each other, dried powder cakes are placed in the placing cylinders 1, the clamping fingers 3 in the application are preferably selected to be four clamping fingers 3, the reason for selecting the four clamping fingers 3 is that the powder cakes can be lifted in all directions, four corresponding first guide grooves 6 are arranged in the placing cylinders 1, the clamping fingers 3 and the connecting plates 5 in the initial state form right angles or obtuse angles due to the limiting reason of a limiting mechanism, when the lifting plates drive the clamping fingers 3 to move along the first guide grooves 6 from top to bottom, the lifting plates are driven to lift through air cylinders, and the air cylinders and the lifting plates also move through horizontally moving objects, which is excessive in the prior art; the triggering mechanism of the first guide groove 6 unlocks the limiting mechanism of the first guide groove during the downward movement of the clamping finger 3, at this time, the connecting plate 5 is overturned under the action of gravity and is overturned to be positioned in the same vertical direction as the clamping finger 3, as shown in fig. 2, the clamping finger 3 continuously moves downwards with the connecting plate 5 until the inclined plane of the connecting plate 5 contacts with the bottom of the first guide groove 6, after the inclined plane is extruded, the connecting plate 5 starts to overturned until the inclined plane is overturned to be limited by the limiting mechanism, the front section of the connecting plate 5, which contacts with the cake, can be set as a thinner plate body, because the specific position of the cake is not clear, a part of the front section possibly contacts with the inner wall of the placing cylinder 1, therefore, a thinner plate body can be pried from the bottom of the cake when the front section is overturned, if the plate body is provided with thickness, the front section contacts with the side face of the cake instead of the bottom of the cake, the cake can be extruded when the cake is arranged, there is a risk of crushing, when the connection plate 5 is in contact with the cake and is located below the cake, the cake can be lifted, then lifted by the lifting plate, the cake is moved to the conveyor belt of the packaging device for the next operation, and when the cake is moved to the conveyor belt, the four clamping fingers 3 on the manipulator can horizontally move outwards, namely move back to back, and the cake can be placed on the conveyor belt by referring to the four-finger straight line clamp in the prior art. By means of the arrangement, the cake is lifted and moved onto the conveying belt of the packaging equipment, compared with the prior art, two crossed rod bodies are inserted into the cake-shaped vermicelli, so that the vermicelli can be forked and moved into the conveyor, and the damage rate to the alum-free vermicelli is reduced.

It should be noted that, stop gear includes being provided with two casings 7 on pressing from both sides finger 3, has offered through-hole 8 on the casing 7, is provided with the elastic component in casing 7, and spacing section of thick bamboo 10 is connected to the elastic component, and spacing section of thick bamboo 10 moves in through-hole 8, and is provided with the spacing hole with spacing section of thick bamboo 10 complex on upset board 4, still is provided with unlocking part in the casing 7, and unlocking part moves down the in-process along the position of first guide way 6 at connecting plate 5, and triggering mechanism triggers unlocking part and drives spacing section of thick bamboo 10 and move towards the elastic component direction.

In the downward moving process of the connecting plate 5, the triggering mechanism is touched, the unlocking component is triggered by the triggering mechanism to drive the limiting cylinder 10 to move towards the direction of the elastic component, at the moment, the limiting cylinder 10 is released from being matched with the limiting hole, namely the limiting cylinder 10 between the shell 7 and the turnover plate 4 is released from being matched with the limiting hole, the turnover plate 4 is not limited by the limiting cylinder 10, and the turnover plate 4 and the connecting plate 5 are downwards turned under the action of gravity of the turnover plate 4 and the connecting plate 5, so that the connecting plate 5 can be contacted with the bottom of the first guide groove 6 to turn again.

It should be noted that, the unlocking component includes a guiding cylinder 11 that is disposed in a housing 7 and has two open ends, a limiting cylinder 10 is partially slidably disposed in the guiding cylinder 11, an outer sleeve 13 is fixedly disposed on the housing 7, an inner sleeve 12 is disposed in the outer sleeve 13, the guiding cylinder 11 is disposed in the outer sleeve 13, an elastic member is disposed in an inner wall of the inner sleeve 12, first mounting holes 26 are relatively disposed on the inner wall of the guiding cylinder 11, second mounting holes 27 are respectively disposed on two sides of the limiting cylinder 10, and center lines of the two second mounting holes 27 are not on the same straight line, the two first mounting holes 26 are centered, that is, center lines of the two first mounting holes 26 are not on the same straight line, but center lines of the two second mounting holes 27 are not on the same straight line, two ends of the moving rod 14 respectively movably penetrate through the two second mounting holes 27 and the first mounting holes 26 and then extend outwards, a fixing block 15 is disposed on opposite side walls of the inner sleeve 12, one side of each fixing block 15 facing the first mounting hole 26 is set as an inclined plane, the extending end of the moving rod 14 is disposed on the opposite side of the inner sleeve 12, and the extending end of the moving rod 14 is matched with the inclined plane 16 in the direction of the inner sleeve 16, and the moving rod 16 is connected with the elastic member 16 in the direction of the triggering cylinder, and the moving rod 16 is made to move in the direction of the triggering cylinder 16.

The triggering mechanism in the present application drives the inner sleeve 12 to move towards the through hole 8, and meanwhile, the elastic member is preferably arranged as the compression spring 9, because the two second mounting holes 27 are not located on a central line, it can be known that the two second mounting holes 27 are arranged in a staggered manner, and two ends of the moving rod 14 are respectively located in the two second mounting holes 27, so that the moving rod 14 is in an inclined state rather than a horizontal state, just like a tilted lever, that is, the upper end of the moving rod 14 and the lower end of the tilted rod are provided, the upper end of the tilted rod is the end with a longer straight distance from the through hole 8, the lower end of the tilted rod is the end with a shorter straight distance from the through hole 8, the inclined surfaces arranged on the two fixed blocks 15 are preferably arranged, as right trapezoid blocks, as shown in the figure, the cross section area of the fixed block 15 increases from top to bottom, the other fixed block 15 increases from top to bottom, when the inner sleeve 12 moves towards the through hole 8, the cross section area of the other fixed block 15 decreases from top to bottom, and the cross section area of the fixed block 15 can decrease from top to bottom, when the inner sleeve 12 moves towards the inner sleeve 8, the other fixed block 12 moves from top to bottom, and the fixed block 15 can move from top to bottom to the fixed block 15 can move in a decreasing direction, and the space can move from the fixed block 15 to top to 14. That is, when the inner sleeve 12 moves toward the through hole 8, one of the fixing blocks 15 applies pressure to the moving rod 14, and the other fixing block 15 gives a space for the moving rod 14 to move, and the moving rod 14 can be moved only by the cooperation between the inclined surfaces of the two fixing blocks 15. The movement of the moving rod 14 can drive the limiting cylinder 10 to move in the guide cylinder 11, and the elastic piece is the compression spring 9, so that when the inner sleeve 12 moves towards the direction of the compression spring 9, the end of the limiting cylinder 10 is retracted into the through hole 8 from the outside of the through hole 8, and after the higher end of the moving rod 14 is gradually moved into the second mounting hole 27, the moving rod 14 drives the limiting cylinder 10 to move towards the direction of the compression spring 9. Therefore, when the inner sleeve 12 moves towards the through hole 8, the limiting cylinder 10 is driven by the moving rod 14 to move towards the compression spring 9, so that the limiting cylinder 10 is separated from the limiting hole on the turnover plate 4. The second through hole 8 on the limiting cylinder 10 can be preferentially arranged in an inclined manner, and is inclined towards the lower end direction of the moving rod 14.

It should be noted that, the triggering mechanism includes a groove 17 that is close to the inner wall of the first guide groove 6 and is communicated with the outside, two triggering components are further disposed in the finger 3, the two triggering components are located at two sides of the groove 17, the triggering components include a cavity 18 that is formed in the finger 3, a first through hole 19 that is communicated with the groove 17 is formed in the inner wall of the cavity 18, a second through hole is formed in the housing 7, a third through hole that is communicated with the second through hole is further formed in the inner wall of the cavity 18, a first connecting rod 20 is disposed in the cavity 18, one end of the first connecting rod 20 is connected with a first wedge block 21, the other end of the first connecting rod 20 is connected with a second connecting rod 22, the second connecting rod 22 is connected with the inner sleeve 12 after sequentially penetrating through the second through hole and the third through hole, the second connecting rod 22 is connected with the inner wall of the cavity 18 through a first spring, and a part of the first wedge block 21 is arranged outside the first through hole 19, and a triggering block 23 that is matched with the two first wedge blocks 21 is disposed in the first guide groove 6.

According to the application, through the arranged trigger block 23, the trigger block 23 is not limited in specific shape, and is preferably arranged as an isosceles trapezoid block, the inclined planes at two sides of the isosceles trapezoid block are matched with the inclined planes of the first wedge block 21, when a horizontally moving object drives the lifting plate to move to a specific position above the placement cylinder 1, the cylinder drives the lifting plate to descend, the clamping finger 3 is aligned with the first guide groove 6 to move downwards, so that the trigger block 23 in the first guide groove 6 is positioned in the groove 17, when the trigger block 23 triggers the first wedge block 21 at two sides, the two first wedge blocks 21 are extruded and then drive the first connecting rod 20 to move, and the first connecting rod 20 and the second connecting rod 22 are vertically connected, so that the second connecting rod 22 is also driven to move, and the second connecting rod 22 drives the inner sleeve 12 to move towards the direction of the through hole 8, so that the limit between the shell 7 and the turnover plate 4 is released.

The bottom of the placement cylinder 1 is provided with first guide grooves 6 equal to the second guide grooves 24 in number, and the first guide grooves 6 are communicated with the second guide grooves 24. According to the application, the second guide groove 24 is arranged, when the connecting plate 5 contacts with the bottom wall of the first guide groove 6, the connecting plate 5 starts to turn over, and part of the connecting plate 5 enters the second guide groove 24 in the turning process instead of contacting with the powder cake, so that the damage to the part of the powder cake caused by the contact with the powder cake in the turning process can be reduced, and the limiting mechanism is used for limiting after the whole turning of the connecting plate 5 is completed. The connecting plate 5 is also positioned under the powder cake at this time, and is driven to rise by the lifting plate, so that the powder cake is lifted and carried out of the placing cylinder 1.

The connecting plate 5 is an arc plate. The arc-shaped connecting plate 5 can be more attached to the bottom curved surface of the powder cake, obvious corners are reduced, the phenomenon that the corners possibly locally squeeze or scratch the fragile powder cake is avoided, and the crushing risk is increased.

The second guide groove 24 is slidably provided with a telescopic plate. The expansion plate comprises a first plate body and a second plate body, the first plate body and the second plate body are hollow, the second plate body is sleeved inside the first plate body, the second plate body is connected with the inner wall of the first plate body through a second spring, in the overturning process of the connecting plate 5, a local connecting plate 5 enters the second guide groove 24 and is pushed to move towards the first plate body, the first plate body and the second plate body are both in clearance with the powder cake and are not in direct contact with the powder cake, so that after the connecting plate 5 is completely limited, the lifting plate drives the clamping fingers 3 to lift the powder cake, the purpose of arranging the first plate body and the second plate body is to prevent the powder cake from entering the second guide groove 24, and if powder cake scraps are too much in the second guide groove 24, the overturning of the subsequent connecting plate 5 can be influenced.

It should be noted that the connecting member 16 may be a second wedge block engaged with the inclined surface or a sphere contacting with the inclined surface.

The stopper plate 25 is provided on the stopper tube 10, and the stopper plate 25 is located outside the guide tube 11. When the inner sleeve 12 moves towards the through hole 8 with the compression spring 9, the movement amplitude of the limiting cylinder 10 is ensured to be just enough to be separated from the limiting hole of the turnover plate 4, and unnecessary mechanical load caused by excessive movement is avoided.

The trigger block 23 is provided at the upper end of the guide groove. The trigger block 23 is prevented from being arranged at the lower end of the guide groove, so that the trigger block can not turn over again after the limit is released.

Example 2:

on the basis of the embodiment 1, another implementation method of the embodiment 1 is also matched:

S1, receiving an instruction for grabbing a target, and driving the clamping finger 3 to vertically move downwards;

s2, setting a threshold value and judging the bending degree of the clamping finger 3;

S3, a first path and a second path are preset between the clamping finger 3 and the placement barrel 1;

S4, judging whether the bending degree of the clamping finger 3 is a first threshold value when the clamping finger 3 moves on the first path, and judging whether the bending degree of the clamping finger 3 is a second threshold value when the clamping finger 3 moves on the second path;

s5, alarming when the bending degree of the clamping finger 3 is a second threshold value on the first path, and alarming when the bending degree of the clamping finger 3 is a first threshold value on the second path;

and S6, displaying the clamp finger 3 which correspondingly generates the alarm information through a visual interface, and displaying a state diagram showing the current bending degree of the clamp finger 3 with the alarm information on the visual interface.

The specific steps in the step S1 are as follows:

s1.1, planning a first moving track and a second moving track of a conveying plate, wherein the first moving track is a track for enabling a clamping jaw mechanism 2 to be positioned above a placing cylinder 1, and the second moving track is a track for enabling the clamping jaw mechanism 2 to be positioned above a conveying belt of packaging equipment;

S1.2, when the conveying plate moves to a destination according to a first moving track, receiving an instruction for grabbing a target through a control system interface;

S1.4, sending a vertical downward movement instruction to the lifting plate;

the specific steps in the step S2 are as follows:

s2.1, presetting a first threshold value (horizontal state) and a second threshold value (inclined or vertical state) in a system;

s2.2, measuring the angle between the clamping finger 3 and the first guide groove 6 in real time by using a high-precision angle sensor;

s2.3, establishing a real-time data processing module, and continuously comparing the measurement angle with a preset threshold value.

S2.4, when the measured angle is equal to or close to a first threshold value, the system judges that the system is in a horizontal state;

S2.5, when the measured angle is equal to or close to the second threshold value, the system judges that the system is in a tilted or vertical state.

The specific steps in step S4 are:

s4.1, starting a path tracking module and recording the position of the clamping finger 3 in real time;

S4.2, continuously acquiring data of the angle sensor in the moving process of the clamping finger 3;

s4.3, when the movement of the clamping finger 3 on the first path is detected, starting a first threshold judgment logic;

s4.4, when the movement of the clamping finger 3 on the second path is detected, starting a second threshold judgment logic;

And S4.5, comparing the current angle with a corresponding threshold value by using a real-time data processing module.

The specific steps in step S5 are:

and S5.1, on the first path, if the detected angle reaches a second threshold value, immediately stopping the movement of the clamping finger 3, triggering an audible and visual alarm system, and sending abnormal state information to a control center.

And S5.2, on the second path, if the detected angle reaches the first threshold value, executing the same alarm flow as that of S5.1.

And S5.3, setting alarm buffer to avoid false alarm caused by tiny fluctuation.

The specific steps in step S6 are:

s6.1, developing a Graphical User Interface (GUI) updated in real time;

s6.2, creating a clamp finger 3 state display area on a user interface;

s6.3, designing a dynamic graph, and reflecting the bending degree of the clamping finger 3 in real time;

s6.4, when an alarm is triggered, highlighting an abnormal clamping finger 3 on the interface;

S6.5, distinguishing a normal state from an alarm state by using different colors or animation effects;

s6.6, displaying accurate angle values and corresponding state descriptions on the interface, such as 'horizontal' or 'inclined' and the like;

s6.7 adds a history function allowing the operator to look back to see previous state changes.

Through the steps, the accuracy and the safety of the operation of the clamping finger 3 are effectively improved. The system can timely detect abnormality when the clamping finger 3 is not bent normally, and avoids the situation that alum-free vermicelli is possibly crushed due to the fact that the clamping finger 3 is bent in advance. By automatically judging the bending degree and the movement path of the clamping finger 3 and combining a preset threshold value and real-time data processing, the system realizes intelligent state monitoring without manual continuous supervision. Meanwhile, the application of a Graphical User Interface (GUI) enables the state of the clamping finger 3 to be intuitively displayed to an operator, and the dynamic graph and the real-time data display provide clear visual feedback. The interface adopts different colors and animation effects, so that the readability and intuitiveness of information are improved, and the quick recognition and processing of the problems by operators are facilitated. The method combining intelligent monitoring and visual display ensures the safety and efficiency of the production process, greatly improves the operability and user friendliness of the system, and provides reliable technical guarantee for the production and processing of alum-free vermicelli. Compared with the same industry, the application has the advantages of obviously improving the precision, reliability, intellectualization, safety and other aspects, has the comprehensive performance exceeding the prior art level, and provides a more efficient and safer solution for refined industrial production.

The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.

Claims (4)

1. A grabbing system for alum-free vermicelli comprises a conveying plate and a lifting plate, wherein a plurality of placement barrels (1) are arranged on the conveying plate, and the grabbing system is characterized in that a plurality of clamping jaw mechanisms (2) are arranged on the lifting plate, each clamping jaw mechanism (2) corresponds to each placement barrel (1), each clamping jaw mechanism (2) comprises at least two clamping fingers (3), two sides of each clamping finger (3) are respectively hinged with a turnover plate (4), the two turnover plates (4) are connected through a connecting plate (5), a first guide groove (6) is arranged on the placement barrel (1), a limiting mechanism is arranged on each clamping finger (3), a triggering mechanism is arranged between each first guide groove (6) and each clamping finger (3), one side, close to the corresponding first guide groove (6), of each connecting plate (5) and each clamping finger (3) in an initial state are limited through a limiting mechanism, so that the clamping fingers (3) and the connecting plate (5) are in right angles or obtuse angles, the clamping fingers (3) are in a downward position along the first guide groove (6), the connecting plate (5) is in a downward position along the connecting plate (5), the first guide groove (6) and the triggering mechanism is in a vertical state, the lower side of the connecting plate (5) is in contact with the first guide groove (5) and the lower side of the connecting plate (5) in a vertical state, the connecting plate (5) is turned over to limit the limiting mechanism again, the clamping finger (3) can horizontally move outwards, the limiting mechanism comprises two shells (7) arranged on the clamping finger (3), a through hole (8) is formed in each shell (7), an elastic piece is arranged in each shell (7) and connected with the limiting cylinder (10), the limiting cylinder (10) moves in the through hole (8), a limiting hole matched with the limiting cylinder (10) is formed in the turning plate (4), an unlocking part is further arranged in each shell (7), the unlocking part moves downwards along the position of the first guide groove (6) in the connecting plate (5) and triggers the unlocking part to drive the limiting cylinder (10) to move towards the direction of the elastic piece, the unlocking part comprises guide cylinders (11) with two open ends and arranged in the shells (7), local sliding of the limiting cylinders (10) are arranged in the guide cylinders (11), an outer sleeve (13) is fixedly arranged on the shells (7), an inner sleeve (12) is sleeved in the outer sleeve (13), the guide cylinders (11) are positioned in the outer sleeve (13), the inner sleeve (12) and are arranged on the inner walls (12) and are respectively provided with two side guide holes (27) arranged on the inner walls (26), the central lines of the two second mounting holes (27) are not on the same straight line, and the two ends of the moving rod (14) respectively pass through the two second mounting holes (27), The first mounting holes (26) extend outwards after the first mounting holes (26), fixing blocks (15) are arranged on the opposite side walls of the inner sleeve (12), one side of each fixing block (15) facing the direction of the first mounting holes (26) is provided with an inclined plane, the extending end of the moving rod (14) is provided with a connecting piece (16) matched with the inclined plane, when the triggering mechanism triggers the inner sleeve (12) to move towards the through hole (8), the connecting piece (16) and the inclined plane are extruded, the limiting cylinder (10) moves towards the direction of the elastic piece, the triggering mechanism comprises a groove (17) communicated with the outside is formed on one side of the clamping finger (3) close to the inner wall of the first guide groove (6), two triggering parts are further arranged in the clamping finger (3), the two triggering parts are respectively positioned on two sides of the groove (17), the triggering parts comprise a cavity (18) formed in the clamping finger (3), a first through hole (19) communicated with the groove (17) is formed in the inner wall of the cavity (18), a second through hole is formed in the shell (7), the inner wall of the cavity (18) is extruded, the limiting cylinder (10) moves towards the elastic piece, a second through hole is formed in the inner wall of the cavity (18), a first through hole (20) is further formed in the inner wall of the cavity (20), the second through hole is communicated with the first through hole (20), the first through hole is further connected with the first through hole (20) through hole is formed in the other end, the second through hole is vertically, and the other end is connected with the connecting rod (20 end is vertically, the second connecting rod (22) sequentially penetrates through the second through hole and the third through hole in a movable mode and then is connected with the inner sleeve (12), the second connecting rod (22) is connected with the inner wall of the cavity (18) through a first spring, parts of the first wedge-shaped blocks (21) are arranged outside the first through hole (19), trigger blocks (23) matched with the two first wedge-shaped blocks (21) are arranged in the first guide grooves (6), first guide grooves (6) with the same number as the second guide grooves (24) are formed in the bottom of the placing cylinder (1), the first guide grooves (6) are communicated with the second guide grooves (24), the connecting plate (5) is an arc-shaped plate, and the connecting piece (16) is arranged to be a second wedge-shaped block matched with an inclined plane or a sphere contacted with the inclined plane.

2. A gripping system for alum-free vermicelli according to claim 1, characterised in that a telescopic plate is slidingly arranged in the second guiding groove (24).

3. The grabbing system for alum-free vermicelli according to claim 1, wherein a limiting plate (25) is arranged on the limiting cylinder (10), and the limiting plate (25) is located outside the guiding cylinder (11).

4. A gripping system for alum-free vermicelli according to claim 1, characterised in that the trigger block (23) is arranged at the upper end of the guiding groove.