CN-121974002-A - Automatic and efficient sub-packaging integrated system for rice dumpling packaging driven by Internet of things

CN121974002ACN 121974002 ACN121974002 ACN 121974002ACN-121974002-A

Abstract

The invention discloses an integrated system for automatic packaging and efficient sub-packaging of rice dumplings driven by the Internet of things, and relates to the technical field of rice dumpling processing. The intelligent automatic rice dumpling wrapping device comprises an automatic rice dumpling wrapping module, a cooked rice dumpling posture self-adaptive correction and dynamic split charging module, a finished product packaging module and an Internet of things cloud platform cooperative control module, wherein the Internet of things cloud platform cooperative control module is respectively in bidirectional communication connection with the automatic rice dumpling wrapping module, the cooked rice dumpling posture self-adaptive correction and dynamic split charging module and the finished product packaging module and is used for receiving real-time operation data of all modules and issuing cooperative control instructions to all modules. According to the invention, through cooperation of accurate sensing, intelligent prediction, flexible correction and dynamic grabbing and combination of an intelligent layer of a cloud, the problem of the gesture of automatic split charging of cooked rice dumplings is solved, and the effective improvement of production efficiency is realized.

Inventors

Shen Chunwei
WU HAIJUN
ZHOU XIA

Assignees

成都五芳斋食品有限公司

Dates

Publication Date: 20260505
Application Date: 20260331

Claims (6)

1. Automated and high-efficient partial shipment integrated system of zongzi packing of thing networking driven, its characterized in that includes: The system comprises an automatic rice dumpling wrapping module, a cooked rice dumpling posture self-adaptive correction and dynamic split charging module, a finished product packaging module and an Internet of things cloud platform cooperative control module; wherein the Internet of things cloud platform cooperative control module is respectively connected with the automatic rice dumpling wrapping module, the cooked rice dumpling posture self-adaptive correction and dynamic split charging module and the finished product packaging module in a two-way communication way, the system is used for receiving real-time operation data of each module and issuing cooperative control instructions to each module; The self-adaptive correction and dynamic sub-packaging module for the cooked rice dumpling posture comprises a multidimensional sensing unit, an active posture correction unit and a high-speed dynamic grabbing sub-packaging unit which are sequentially arranged along the conveying direction, and the multi-dimensional sensing unit, the active posture correction unit and the high-speed dynamic grabbing sub-packaging unit are used for sensing the cooked rice dumpling in real time, actively correcting and dynamically grabbing sub-packaging in the conveying process.
2. The automated and efficient sub-packaging integrated system for the rice dumplings driven by the internet of things according to claim 1, wherein the multi-dimensional sensing unit comprises a high-speed 3D line laser profiler and an industrial RGB camera, and is used for collecting three-dimensional point cloud data and two-dimensional texture data of the cooked rice dumplings in a motion state and outputting six-degree-of-freedom real-time pose data of the cooked rice dumplings through fusion calculation, wherein the six-degree-of-freedom real-time pose data comprises a spatial coordinate X, Y, Z value and rotation angle Rx, ry and Rz values around three axes.
3. The automated and efficient sub-packaging integrated system for rice dumpling packaging driven by the internet of things according to claim 2, wherein the active posture correction unit comprises: the multiple groups of high-speed miniature flexible correction arms are symmetrically arranged at two sides of the conveying line, and flexible tentacles with pressure feedback are arranged at the tail ends of the high-speed miniature flexible correction arms; the posture correction controller is in communication connection with the multidimensional sensing unit, predicts the posture deviation of the cooked rice dumplings reaching the correction zone according to the six-degree-of-freedom real-time posture data based on a model prediction control algorithm, and calculates and generates driving parameters of the flexible correction arm; the driving parameters comprise correction time, correction force and correction displacement; And the flexible correction arm carries out dynamic pushing correction on the cooked rice dumplings in the motion process of the cooked rice dumplings along with the conveying line according to the driving parameters, and adjusts the initial random posture of the cooked rice dumplings to a preset target posture range.
4. The automated and efficient sub-packaging integrated system for the internet of things-driven rice dumplings as set forth in claim 1, wherein said high-speed dynamic grabbing sub-packaging unit comprises: the high-speed split charging robot is in communication connection with the multidimensional sensing unit and receives the final pose data of the corrected after-ripening rice dumplings; The dynamic track planner is connected with the conveyor line encoder and plans to dynamically follow the grabbing track according to the final pose data and the real-time speed of the conveyor line; The high-speed split charging robot follows the grabbing track according to the dynamic state, and grabs and split charges to the appointed position in the moving process of the cooked rice dumplings along with the conveying line.
5. The automated and efficient sub-packaging integrated system for the internet of things-driven rice dumplings as defined in claim 1, wherein the internet of things cloud platform cooperative control module comprises: The digital twin unit is used for constructing and updating a virtual mirror model of the whole packaging production line in real time according to the real-time operation data; And the cross-module cooperative scheduling unit is used for dynamically adjusting the production beats among the automatic rice dumpling wrapping module, the cooked rice dumpling posture self-adaptive correction and dynamic split charging module and the finished product packaging module according to the simulation result of the digital twin unit, so that the process bottleneck is eliminated.
6. The automated and efficient sub-packaging integrated system for the internet of things-driven rice dumplings of claim 5, wherein the internet of things cloud platform cooperative control module further comprises: The self-optimizing knowledge base stores the association mapping of the historical gesture data, the historical correction parameters and the historical grabbing result data; the reinforcement learning engine is connected with the self-optimization knowledge base and is used for performing iterative optimization on the control strategy of the active posture correction unit based on the historical split charging data and issuing the optimized control strategy to the posture correction controller.

Description

Automatic and efficient sub-packaging integrated system for rice dumpling packaging driven by Internet of things Technical Field The invention relates to the technical field of rice dumpling processing, in particular to an Internet of things-driven rice dumpling packaging automation and efficient split charging integrated system. Background The traditional festival food of Chinese nationality is made of the rice dumplings, the making process of the traditional festival food depends on manual operation for a long time, especially the step of wrapping the rice dumplings, and a worker with abundant experience is required to complete a series of complex actions such as crust breaking, rice filling, stuffing feeding, forming, wire binding and the like of the rice dumplings. In recent years, along with the intelligent transformation of the food industry and the continuous increase of market demands, the rice dumpling production field starts to explore in an automatic and mechanical direction. At present, mechanized production is realized in the links of rice dumpling leaf cleaning and disinfection, glutinous rice washing and stirring, filling in a fixed quantity, steaming and sterilizing, vacuum packaging and the like in the industry. For example, part of large enterprises introduce automatic weighing and filling devices, stuffing and glutinous rice are accurately filled into measuring cups through a quantitative discharging mechanism, the standardization degree of raw material treatment is remarkably improved, in a packaging link, a full-automatic sealing machine adopts a continuous rolling type vacuum packaging technology, sealing defects can be detected in real time by matching with a machine vision system, and the sealing qualification rate can reach 99.99%. In addition, some enterprises still wrap up in zongzi production line through man-machine cooperation's semi-automatization, will wrap up in zongzi process and disassemble into zongzi leaf crust breaking, quantitative unloading, shaping, a plurality of steps such as binding, and part links have realized mechanized auxiliary production. Although the automation level of rice dumpling production is improved to a certain extent, the prior art still has the following defects that in the process of entering a sub-packaging link after the cooked rice dumplings are steamed, the cooked rice dumplings are irregular in shape (triangular rice dumplings and pillow rice dumplings), soft in surface and unstable in gravity center, random rolling, skewing and stacking are easy to occur on a high-speed conveying belt, the existing conveying belt only depends on a passive limiting structure (such as a fixed baffle or a groove), the sensing capability and an active correction mechanism of the real-time movement posture of the rice dumplings are lacked, the failure rate is high when the rice dumplings are grabbed and sub-packaged later, frequent shutdown adjustment is needed, and the bottleneck link of line arrangement efficiency is formed. Therefore, the automatic and efficient sub-packaging integrated system driven by the Internet of things for packaging the rice dumplings is provided. Disclosure of Invention The invention aims to solve the problems in the background technology, and provides an Internet of things-driven rice dumpling packaging automation and high-efficiency split charging integrated system. The invention adopts the following technical scheme for realizing the purposes: automated and high-efficient partial shipment integrated system of zongzi packing of thing networking driven includes: The system comprises an automatic rice dumpling wrapping module, a cooked rice dumpling posture self-adaptive correction and dynamic split charging module, a finished product packaging module and an Internet of things cloud platform cooperative control module; wherein the Internet of things cloud platform cooperative control module is respectively connected with the automatic rice dumpling wrapping module, the cooked rice dumpling posture self-adaptive correction and dynamic split charging module and the finished product packaging module in a two-way communication way, the system is used for receiving real-time operation data of each module and issuing cooperative control instructions to each module; The self-adaptive correction and dynamic sub-packaging module for the cooked rice dumpling posture comprises a multidimensional sensing unit, an active posture correction unit and a high-speed dynamic grabbing sub-packaging unit which are sequentially arranged along the conveying direction, and the multi-dimensional sensing unit, the active posture correction unit and the high-speed dynamic grabbing sub-packaging unit are used for sensing the cooked rice dumpling in real time, actively correcting and dynamically grabbing sub-packaging in the conveying process. Further, the multidimensional sensing unit comprises a high-speed 3D line laser profiler and an industrial RGB camera, an