Flexible contact grabbing type object packaging equipment and packaging method thereof

Abstract

The invention discloses flexible contact grabbing type object packaging equipment. The equipment is characterized by comprising a packaging supporting box feeding device, a packaging supporting box conveying device, an object conveying device, a visual assembly and a grabbing device. The packaging supporting box feeding device is used for feeding packaging supporting boxes one by one, the packaging supporting box conveying device is used for conveying the packaging supporting boxes, the object conveying device is used for conveying objects and provided with an image collection area and a grabbing area, the visual assembly is used for collecting object images to obtain object information and obtain object tracking and positioning information initial positions, and the grabbing device is used for positioning the objects according to tracking and positioning information and grabbing the objects in a flexible contact mode. The equipment can achieve automatic feeding and object loading, manpower resources can be saved, the labor intensity of workers is reduced, production efficiency is improved, and the flexible contact grabbing type object packaging equipment is applicable to packagingobjects which are likely to deform or fragile, and also applicable to packaging other objects. The invention further provides a packaging method of the flexible contact grabbing type object packagingequipment.

Description

technical field [0001] The invention relates to the technical field of article packaging, and more specifically, relates to a soft-touch grabbing article packaging device and a packaging method thereof. Background technique [0002] In the processing and packaging industry, manual methods are traditionally used; however, manual operations require a large number of workers, and the labor intensity of the workers is high, which is not conducive to saving human resources and improving production efficiency; for industries with high hygiene requirements, such as the food industry, food is easy to When in contact with the human body, human bacteria will contaminate food and cause the number of food bacteria to exceed the standard, resulting in food that cannot meet the hygienic and safety requirements. At the same time, intensive labor will increase the difficulty of maintaining the cleanliness of the environment, causing the production environment to pollute food. With the devel...

AI Technical Summary

Problems solved by technology

[0004] However, the existing equipment does not perform well in the process of loading items into packaging trays

Existing equipment uses hard fixtures to clamp items, which is easy to cause scratches or pinches on the items; affects the quality of the items, and even causes the products to be unqualified and unable to leave the factory, increasing material loss and production costs; especially for moon cakes and shortbread , cakes and other items that are soft and easily deformed or easily broken, the grasping method of the existing equipment cannot realize the packaging of such items

[0005] There is also a lot of room for improvement in the drop-off device used to load the packaging trays in the existing equipment: first, the packaging trays behind are easy to move when the existing drop-down device takes out the front-end packaging trays, resulting in multiple The packaging trays are stacked and taken out; secondly, the feeding end of the existing drop-down device adopts a vertical stacking method to store the packaging trays, and the packaging trays move downwards by gravity, and the lower packaging trays bear the gravity of the upper packaging trays. Therefore, the pressure on the lower packaging tray is related to the number of stacked packaging trays: if there are too many stacked packaging trays, it may cause the lower packaging tray to be under too much pressure and the packaging trays will be pressed together tightly. The gap between the packaging trays becomes smaller, which increases the difficulty of separating the packaging trays; if the number of stacked packaging trays is too small, the pressure on the lower packaging trays may be too small, and the packaging trays are not absorbed when the suction cup mechanism absorbs the packaging trays. The upward movement of the suction cup mechanism under appropriate pressure causes the failure of the suction cup; in addition, the feeding end of the existing drop-off device adopts a vertical stacking method to store the packaging trays. The entrance of the storage space of the packaging trays is generally high, and workers need to climb up to Adding packaging trays to the storage space is not easy to operate and increases the labor intensity of workers

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