A fully automatic wrapping and boxing wonton machine

Abstract

The present invention provides a fully automatic wrapping and boxing wonton machine, which can solve the technical problems of high cost and difficult line arrangement of existing wonton automated production equipment. A fully automatic wrapping and boxing wonton machine, which includes a manipulator, a manipulator transmission mechanism and a clamping drive, characterized in that: the manipulator and the clamping drive are arranged separately, and the manipulator is connected to the manipulator transmission mechanism; when the manipulator passes through the clamping drive under the drive of the manipulator transmission mechanism, the clamping drive acts on the manipulator, and the clamping claw of the manipulator opens; when the manipulator transmission mechanism drives the manipulator to leave the clamping claw drive, the clamping claw drive does not act on the manipulator, and the clamping claw of the manipulator closes. The present invention can reduce the number of clamping claw drives required and simplify the manipulator structure to reduce the cost of the whole machine by coordinating a plurality of manipulators with a clamping claw drive.

Description

Technical Field

[0002] The invention relates to the technical field of wonton automated production machinery and equipment, and in particular to a fully automatic wonton wrapping and boxing machine. Technical Field

[0003] The invention provides a fully automatic wrapping and boxing wonton machine, which can solve the technical problems of high cost and difficult line arrangement of existing wonton automatic production equipment.

[0004] The technical solution is as follows: a fully automatic wrapping and boxing wonton machine, which includes a manipulator, a manipulator transmission mechanism and a gripper drive, characterized in that: the manipulator and the gripper drive are separately arranged, and the manipulator is connected to the manipulator transmission mechanism;

[0005] When the manipulator is driven by the manipulator transmission mechanism through the clamping jaw, the clamping jaw drives the manipulator, and the clamping jaw of the manipulator opens;

[0006] After the manipulator transmission mechanism drives the manipulator to leave the clamping jaw drive, the clamping jaw drive does not act on the manipulator, and the clamping jaws of the manipulator are closed.

[0007] Furthermore, the fully automatic wrapping and boxing wonton machine includes a wonton blank guide trough, a top flanging mechanism, a left and right folding and kneading mechanism, a blanking mechanism, a boxing mechanism and a frame. The manipulator is driven by the manipulator transmission mechanism to perform a rotary motion and passes through the wonton blank guide trough, the top flanging mechanism, the left and right folding and kneading mechanism and the blanking mechanism in sequence; the frame is provided with clamping claws drives at the guide trough and the blanking mechanism respectively.

[0008] Furthermore, the manipulator includes a clamp base, a clamp and a torsion spring, the clamp base is connected to the manipulator transmission mechanism, a pair of clamps are arranged on both sides of the clamp base, the clamp includes a fixed clamp and a movable clamp, the fixed clamp is installed on the clamp base, the movable clamp includes a clamping part, a rotating part and a driving part connected in sequence, the clamping part of the movable clamp cooperates with the clamping part of the fixed clamp to clamp the left edge / right edge of the filling part of the wonton blank, the rotating part is supported on the clamp base through a rotating shaft, the driving part extends out of the clamp base, the torsion spring is sleeved on the rotating shaft and two spring feet are respectively connected to the clamp base and the rotating part, when the clamp drive does not act on the manipulator, the clamping part of the movable clamp is pressed toward the side of the fixed clamp under the action of the torsion spring to close the clamp.

[0009] Furthermore, the clamping jaw drive is a clamping jaw cam, the clamping jaw cam is mounted on a panel, and the panel is mounted on the frame.

[0010] Furthermore, the clamping portion of the fixed clamp and the clamping portion of the movable clamp are both perpendicular to the bottom plate of the clamp base.

[0011] Furthermore, the manipulator transmission mechanism is a double-chain manipulator transmission mechanism, and the two side parts of the clamping claw base are connected to the chain of the double-chain manipulator transmission mechanism through connecting parts.

[0012] Furthermore, the wonton blank material guiding trough, the top flanging mechanism and the left and right folding and kneading mechanism are located above the manipulator transmission mechanism, the blanking mechanism is located below the manipulator transmission mechanism, and the boxing mechanism is located below the blanking mechanism.

[0013] Furthermore, the top flanging mechanism includes a pre-folding unit and a flanging pressing unit which are sequentially arranged along the transmission direction, the pre-folding unit includes an air blowing joint and an air source, the air blowing joint is arranged below the wonton blank material guide groove, the air blowing joint is provided with air blowing holes arranged along the width direction of the wonton blank, the air blowing holes are facing the top dough of the wonton blank and are arranged in the same direction as the transmission direction, the air source is connected to the air blowing joint through a pipeline, the flanging pressing unit includes a top flipping plate and a top flanging motor, the top flipping plate is transmission-connected to the top flanging motor via a connecting shaft, the connecting shaft and the top flipping plate are both arranged along the width direction of the wonton blank, the air blowing joint and the top flanging motor are respectively mounted on the frame through brackets.

[0014] Furthermore, the left and right folding and kneading mechanism includes a kneading block and a first folding unit and a second folding unit arranged in sequence along the transmission direction, the kneading block is vertically installed on the clamping jaw base and is located between a pair of clamping jaws, the first folding unit includes a pair of spaced-apart forming guide rails, the main bodies of the pair of forming guide rails are arranged parallel to the transmission direction, and the feeding ends form a flaring structure that gradually shrinks from the outside to the inside, the second folding unit includes a left page turning plate and a right page turning plate, both of which are vertically arranged, the left page turning plate and the right page turning plate are respectively connected to a folding motor, a protrusion is provided at the lower end of the side of the left page turning plate, and a notch is provided at the lower end of the side of the right page turning plate, the left page turning plate and the right page turning plate are initially arranged parallel to the transmission direction, and are arranged perpendicular to the transmission direction after being rotated by the page turning drive, and the protrusion is spliced ​​with the notch, a pair of the forming guide rails and the folding motor are respectively installed on the frame through brackets.

[0015] Furthermore, the material dropping mechanism includes a lower wonton clamp and a lower cylinder, the lower wonton clamp is connected to the piston rod of the lower cylinder, the kneading block includes a supporting portion that cooperates with the filling part of the wonton blank, the supporting portion is higher than the bottom plate of the clamp base and is spaced apart from the clamps on both sides, the lower wonton clamp is provided with a pair of spaced apart levers, and when the manipulator moves to the material dropping mechanism, the pair of levers respectively extend into the gaps between the supporting portion and the clamps on both sides.

[0016] Furthermore, the material dropping mechanism also includes a material dropping bucket, which is arranged vertically and installed on the frame through a bracket.

[0017] Furthermore, the box loading mechanism includes a tray and a tray transmission mechanism, and the movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the robot transmission mechanism.

[0018] In the fully automatic wrapping and boxing wonton machine of the present invention, a manipulator and a clamping drive are separately arranged, and the manipulator is driven by the manipulator transmission mechanism to open the clamping drive. On the one hand, by cooperating with multiple manipulators through one clamping drive, the number of clamping drives required can be reduced, the manipulator structure can be simplified, and the cost can be reduced. On the other hand, when the clamping drive is set as a cam, the line arrangement can be eliminated and the cost can be further reduced. In addition, the manipulator, driven by the manipulator transmission mechanism, passes through the wonton blank guide trough, the top flanging mechanism, the left and right folding and kneading mechanism and the blanking mechanism in sequence to realize the original blanking, top dough folding, left and right side skin kneading and blanking continuous operations, and the top flanging mechanism and the left and right folding and kneading mechanisms are independently arranged from the manipulator. On the one hand, the number of the top flanging mechanism and the left and right folding and kneading mechanism is reduced, the structure can be simplified, and the equipment cost can be reduced. On the other hand, the relevant drive is separately arranged from the manipulator, and the line arrangement is easy. Background Art

[0019] Wontons and dumplings are the most traditional Chinese food, which are deeply loved by consumers and occupy an important position in quick-frozen foods. The steps of wrapping dumplings are simple, and automatic wrapping has been fully realized. There are still a series of technical problems in the automated production of wontons. For example, the wonton production equipment disclosed in patent CN107836483A, its forming mold (equivalent to the robot) clamps the wonton blank with clamps one and two, and each forming mold needs to be equipped with an independent clamp drive, which is not only costly, but also difficult to arrange the lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the top structure of an embodiment of the present invention, wherein the box loading mechanism and part of the bracket are not shown.

[0022] Figure 3 It is a schematic diagram of the main structure of an embodiment of the present invention, wherein the box loading mechanism and part of the bracket are not shown.

[0023] Figure 4 It is a schematic structural diagram of the coordination of the manipulator, the wonton blank guide trough and the top flanging mechanism according to an embodiment of the present invention.

[0024] Figure 5 It is a schematic structural diagram of the cooperation among the manipulator, the flanging and pressing unit and the left and right folding and kneading mechanism according to an embodiment of the present invention.

[0025] Figure 6 It is a schematic structural diagram of the wonton blank guide chute according to an embodiment of the present invention.

[0026] Figure 7 It is a schematic structural diagram of a pre-folding unit according to an embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the structure of the robot from the first perspective according to an embodiment of the present invention, wherein the gripper drive is not shown.

[0028] Fig. 9 It is a schematic diagram of the structure of the manipulator from a second perspective according to an embodiment of the present invention, wherein the gripper drive is not shown.

[0029] Fig.10 It is a schematic diagram of the structure of the manipulator from the third perspective of an embodiment of the present invention, wherein the gripper drive is not shown.

[0030] Fig.11 Schematic diagram of the structure of the clamping jaw drive according to an embodiment of the present invention.

[0031] Fig.12 It is a schematic structural diagram of a flanging and pressing unit according to an embodiment of the present invention.

[0032] Fig.13 Schematic diagram of the structure of the first folding unit according to an embodiment of the present invention.

[0033] Fig.14 4 is a schematic structural diagram of a second folding unit at a first viewing angle according to an embodiment of the present invention.

[0034] Fig.15 4 is a schematic structural diagram of a second folding unit at a second viewing angle according to an embodiment of the present invention.

[0035] Fig.16 It is a schematic diagram of the top view of the structure of the cooperation between the manipulator and the filling bending unit according to an embodiment of the present invention.

[0036] Fig.17 It is a schematic structural diagram of a balancing guide rail and an inward folding guide rail according to an embodiment of the present invention.

[0037] Fig.18 It is a schematic structural diagram of the cooperation between the manipulator and the transmission mechanism according to an embodiment of the present invention.

[0038] Fig.19 It is a structural schematic diagram of the blanking mechanism according to an embodiment of the present invention.

[0039] Fig. 20 It is a structural schematic diagram of a box loading mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] like Figure 1 to Figure 20 As shown, a fully automatic wrapping and boxing wonton machine includes a manipulator 100, a manipulator transmission mechanism 200, a wonton blank guide trough 300, a top flanging mechanism, a left and right folding and kneading mechanism, a blanking mechanism 600, a boxing mechanism 700 and a frame. The manipulator 100 is driven by the manipulator transmission mechanism 200 to perform a rotary motion in a vertical plane and passes through the wonton blank guide trough 300, the top flanging mechanism, the left and right folding and kneading mechanism and the blanking mechanism 600 in sequence; the wonton blank guide trough 300, the top flanging mechanism and the left and right folding and kneading mechanism are located above the manipulator transmission mechanism 200, the blanking mechanism 600 is located below the manipulator transmission mechanism 200, and the boxing mechanism 700 is located below the blanking mechanism 600, so that the manipulator 100 is in an inverted state when it is below the rotary track, and the wontons clamped by it are in an upright state;

[0041] The frame is provided with a clamping drive at the guide trough 300 and the blanking mechanism 600. When the manipulator 100 passes through the wonton blank guide trough 300 and the blanking mechanism 600, the clamping drive acts on the manipulator 100, and the clamping claw of the manipulator 100 opens. When the manipulator 100 leaves the wonton blank guide trough 300 and the blanking mechanism 600, the clamping drive does not act on the manipulator 100, and the clamping claw of the manipulator 100 closes. The guide trough includes a shell 301, a first guide plate 302 and a second guide plate 303. The shell 301 is provided with a blanking port matching the wonton blank. A pair of first guide plates 302 are provided at the middle part of the shell 301 below the blanking port, and a pair of second guide plates 303 are provided at both sides. The first guide plate 302 and the second guide plate 303 are arranged at intervals, which can reduce the contact area with the wonton blank and prevent the wonton blank from sticking.

[0042] The manipulator transmission mechanism 200 is a double-chain manipulator transmission mechanism 200 , the chain 201 is a plate chain, and a balance guide rail 202 parallel to the chain is provided on the outer side of the chain 201 .

[0043] The manipulator 100 includes a gripper base, a gripper and a torsion spring. The gripper base includes a bottom plate 101 and a base plate 102. The base plate 101 is fixed to the top of the base plate 102 through a connecting column 103. Both sides of the bottom surface of the base plate 102 are fixedly connected to the connecting plates of the chain. Guide rollers 122 are provided on the sides of the base plate 102. The guide rollers 122 move along the groove body of the balance guide rail 202. A pair of grippers are provided on both sides of the gripper base. The gripper includes a fixed clip 104 and a movable clip 105. The fixed clip 104 is installed on the gripper base. The movable clip 105 includes a fixed clip 104 and a movable clip 105. The clamping part 106, the rotating part 107 and the driving part 108 are connected in this way. The clamping part 106 of the movable clamping hand and the clamping part 106 of the fixed clip 104 are both perpendicular to the clamping claw base (to prevent the filling on the left and right sides of the wonton blank from leaking out) and cooperate with each other to clamp the left edge / right edge of the filling part of the wonton blank. The rotating part 107 is supported on the clamping claw base by the clamping claw shaft 115. The driving part 108 extends out of the clamping claw base. The torsion spring is sleeved on the clamping claw shaft 115 and the two spring feet are respectively connected to the clamping claw base and the rotating part 107. The clamping claw drive 117 does not act on the manipulator. When the clamping part 106 is pressed toward the fixed clip 104 under the action of the torsion spring to close the clamping jaw; specifically, the clamping jaw drive 117 is a clamping jaw cam, and a clamping jaw cam is provided below the guide groove and above each blanking mechanism. A universal ball 124 cooperating with the clamping jaw cam is installed below the end of the driving part. The clamping jaw cam is installed on the panel 116, and a groove cooperating with the universal ball guide can be opened on the panel. The panel 116 is installed on the frame. The torsion spring is used to press the clamping part 106 toward the fixed clip 104 when the clamping jaw drive 117 is not working. The side is pressed tightly to close the clamping jaws. When the manipulator 100 passes through the wonton blank guide groove 300 and the blanking mechanism 600, the driving part 108 of the movable clamping jaw moves along the front end lifting part 118 of the cam, forcing the movable clamping jaw to rotate around the rotating shaft, and the clamping part 106 moves to the side away from the fixed clamping piece 104 to open the clamping jaw. When the clamping jaw reaches the vertex 119 of the cam, the clamping jaw is opened to the maximum. The driving part 108 of the movable clamping jaw moves along the rear end descending part 120 of the cam. The movable clamping jaw rotates in the opposite direction around the clamping jaw rotating shaft 115 under the action of the torsion spring, and the clamping jaw is gradually closed. The two sides of the bottom plate 101 of the clamping jaw base are respectively connected to the inner folding connecting plate 110 through the inner folding rotating shaft 109. The clamping piece seat body 114 is fixed on the inner folding connecting plate 110. The fixed clamping piece 104 and the movable clamping piece 105 are both installed on the clamping piece seat body 114. The ends of the two clamping piece seats are connected to the inner folding reset springs 123.

[0044] The top flanging mechanism includes a pre-folding unit 400a and a flanging pressing unit 400b which are sequentially arranged along the transmission direction. The pre-folding unit 400a includes a blowing joint and an air source. The blowing joint is arranged below the wonton blank material guide trough 300 and is supported on the frame through a blowing bracket. The blowing joint is T-shaped, and its transverse portion 411 is provided with blowing holes 413 arranged along the width direction of the wonton blank, and the longitudinal portion 412 is connected to the air source through a pipeline. The blowing holes face the top dough of the wonton blank and are arranged in the same direction as the transmission direction. The air source is connected to the blowing joint through a pipeline. The flanging pressing unit 400b includes a top flip plate 421 and a top The flanging motor 422 and the top flanging motor 422 are connected to the right-angle shaft dual-axis output reducer 423, and the right-angle shaft dual-axis output reducer 423 is supported on the frame through the top flanging bracket 428. The two output ends of the right-angle shaft dual-axis output reducer 423 are respectively connected by the first coupling 424, the first connecting shaft 425 and the top flip plate 421, wherein the connecting shaft 425 is supported on the top flanging bracket 428 through the right-angle bearing seat 426, and the connecting shaft and the top flip plate 421 are both arranged along the width direction of the wonton blank, and the lower part of the right-angle shaft dual-axis output reducer is covered by a sealing cover 427 to ensure the cleanliness requirements of food processing. The wonton blank that has just been fed from the wonton blank guide trough 300 to the clamp of the corresponding manipulator 100 has its top dough skin immediately pre-folded toward one side of the transmission direction under the blowing action of the folding unit, which can prevent the top dough skin from collapsing toward the side opposite to the transmission direction. Under the rotation of the flip plate of the flanging and pressing unit 400b, the pre-folded top dough skin of the wonton blank is further turned down and pressed against the dough skin of the filling part. The fixed block is replaced by the rotating top flip plate 421, and the process of flipping and pressing the top dough skin is gentler and the shape is more accurate.

[0045] The left-right folding and kneading mechanism includes a kneading block 111 and a first folding unit 500a and a second folding unit 500b arranged in sequence along the transmission direction. The kneading block 111 is installed on the clamping jaw base and is located between a pair of clamping jaws. The kneading block 111 includes a vertical kneading portion 113 and a horizontal supporting portion 112. The first folding unit 500a includes a pair of spaced-apart forming guide rails 510, and the pair of forming guide rails 510 are supported on the frame through a first folding bracket. The main body 511 of the pair of forming guide rails 510 is arranged parallel to the transmission direction, and the feed end 512 forms a flaring structure that gradually shrinks from the outside to the inside. The second folding unit 500b includes left-side flipping plates that are both vertically arranged 521 and the right page turning plate 522, the left page turning plate 521 and the right page turning plate 522 are connected to the folding motor 525 through the second connecting shaft 523 and the second coupling 524 respectively, the folding motor 525 is supported on the frame through the second folding bracket 526, the lower end of the side of the left page turning plate 521 is provided with a protrusion 528, the lower end of the side of the right page turning plate 522 is provided with a notch, the left page turning plate 521 and the right page turning plate 522 are initially arranged parallel to the transmission direction, and are arranged perpendicular to the transmission direction after being rotated by the page turning drive, and the protrusion 528 is spliced ​​with the notch, and the left page turning plate 521 and the right page turning plate 522 are provided with a sealing box 527 to ensure the cleanliness requirements of food processing. The wonton blank clamped on the manipulator 100 passes through the first folding unit 500a and the second folding unit 500b in sequence, and its left and right side skins are first folded 90° under the squeezing action of the forming guide rail 510, and then folded again 90° under the flipping action of the left side flipping plate 521 and the right side flipping plate 522 and contact the end face of the kneading portion 113 of the kneading block, wherein, during the kneading process of the left and right side skins, the left side skin needs to be partially overlapped outside the right side skin, and after the right side flipping plate 522 is flipped into place, the overlapping portion of the right side skin and the left side skin is exposed to the notch, so that the right side flipping plate 522 does not need to be reset during the kneading process of the left and right side skins to maintain the corresponding folding state of the right side skin, and when the left side skin is folded into place, it is overlapped with the right side skin at the notch, and the overlapping portion of the left and right side skins is squeezed and kneaded by the protrusion 528 spliced ​​with the notch, so that the left and right side skins of the wonton blank are firmly kneaded and not easy to separate later.

[0046] The left and right folding and kneading mechanism also includes a filling bending unit, which includes a pair of parallel U-shaped guide rails 530. The self-forming guide rails of the U-shaped guide rails extend to the blanking mechanism. After the clamps clamp the wonton blank, the inward folding connecting plates 110 on both sides of the manipulator overcome the action of the inward folding reset spring 123 through the inward folding roller 121 and the inward folding guide rail 530, and rotate towards each other, driving the filling part of the wonton blank to bend into a semicircular arc shape. Then, when the dough skin is small in size and the dough skins on the left and right sides cannot be overlapped, the filling part is bent to reduce its width, so that the dough skins on the left and right sides can be smoothly overlapped, and the state of the filling part being bent into a semicircular arc shape is maintained until the blanking mechanism to ensure shaping.

[0047] The material-dropping mechanism 600 includes a lower wonton clamp 601 and a lower cylinder. The lower wonton clamp 601 is connected to the piston rod of the lower cylinder. The kneading block includes a support portion that cooperates with the filling part of the wonton blank. The support portion is higher than the bottom plate of the clamp base and is spaced apart from the clamps on both sides. The lower wonton clamp 601 includes a pair of spaced apart levers 602. The lever 602 is mounted on a connecting rod 603. The connecting rod 603 is connected to the piston rod of the lower cylinder. When the manipulator 100 moves to the material-dropping machine When the mechanism 600 is in operation, a pair of levers 602 are respectively extended into the gap between the support part and the clamping claws on both sides (the wonton blank is supported on the support part 112 of the kneading block, and the support part is installed on the bottom plate, that is, there is a gap between the wonton blank and the bottom plate), and the lower cylinder acts to drive the lower wonton clamp 601 to move downward, and the wontons are separated from the manipulator 100 and fall into the tray; the material dropping mechanism 600 also includes a material dropping barrel 604, which is arranged vertically and installed on the frame through a material dropping bracket. The setting of the material dropping mechanism 600 can prevent the wontons from adhering to the clamping part, ensuring that each wonton can be smoothly separated from the manipulator 100.

[0048] The box loading mechanism 700 includes a tray 701, a tray transmission mechanism 702 and an adjustment mechanism. The moving rotation surface of the tray transmission mechanism is perpendicular to the moving rotation surface of the manipulator transmission mechanism 200. The adjustment mechanism includes a linear slide pair 704, a synchronous belt 703, etc. The middle part below the tray transmission mechanism 702 is connected to the synchronous belt 703 through the installation accessories, and the two sides are guided by the box loading bracket through the linear slide pair 704. The motor of the tray transmission mechanism 702 drives the conveyor belt to move to realize the transportation and positioning of the tray. When there are two or more stations, the position of the discharge port of the blanking mechanism is different, so the placement position of the tray is also different. The synchronous belt drives the tray transmission mechanism to move along the linear slide pair to adjust the relative position.

Claims

1. A fully automatic wrapping and boxing wonton machine, comprising a manipulator, a manipulator transmission mechanism and a gripper drive, characterized in that: The manipulator is separately arranged from the gripper drive, and the manipulator is connected to the manipulator transmission mechanism; When the manipulator is driven by the manipulator transmission mechanism through the clamping jaw, the clamping jaw drives the manipulator, and the clamping jaw of the manipulator opens; After the manipulator transmission mechanism drives the manipulator to leave the gripper drive, the gripper drive does not act on the manipulator, and the gripper of the manipulator is closed; The manipulator comprises a clamping jaw base, a clamping jaw and a torsion spring, the clamping jaw base is connected to the manipulator transmission mechanism, a pair of the clamping jaws are respectively arranged on both sides of the clamping jaw base, the clamping jaw comprises a fixed clamping piece and a movable clamping piece, the fixed clamping piece is installed on the clamping jaw base, the movable clamping piece comprises a clamping part, a rotating part and a driving part connected in sequence, the clamping part of the movable clamping piece cooperates with the clamping part of the fixed clamping piece to clamp the left edge / right edge of the filling part of the wonton blank, the rotating part is supported on the clamping jaw base through a rotating shaft, the driving part extends out of the clamping jaw base, the torsion spring is sleeved on the rotating shaft and two spring feet are respectively connected to the clamping jaw base and the rotating part, when the clamping jaw drive does not act on the manipulator, the clamping part of the movable clamping piece is pressed toward one side of the fixed clamping piece under the action of the torsion spring to close the clamping jaw; The clamping jaw drive is a clamping jaw cam, the clamping jaw cam is mounted on a panel, and the panel is mounted on the frame of the fully automatic wrapping and boxing wonton machine; The clamping portion of the fixed clamping piece and the clamping portion of the movable clamping piece are both perpendicular to the bottom plate of the clamping claw base; The fully automatic wrapping and boxing wonton machine includes a wonton blank material guide chute, a top flanging mechanism, a left and right folding and kneading mechanism, a blanking mechanism, a boxing mechanism and a frame. The manipulator is driven by the manipulator transmission mechanism to perform a rotary motion and passes through the wonton blank material guide chute, the top flanging mechanism, the left and right folding and kneading mechanism and the blanking mechanism in sequence; the frame is respectively equipped with clamping claws at the material guide chute and the blanking mechanism.

2. The fully automatic wonton wrapping and boxing machine according to claim 1, characterized in that: The wonton blank material guiding trough, the top flanging mechanism and the left and right folding and kneading mechanism are located above the manipulator transmission mechanism, the blanking mechanism is located below the manipulator transmission mechanism, and the boxing mechanism is located below the blanking mechanism.

3. The fully automatic wrapping and boxing wonton machine according to claim 1, characterized in that: The manipulator transmission mechanism is a double-chain manipulator transmission mechanism, and the two side parts of the clamping claw base are connected to the chain of the double-chain manipulator transmission mechanism through connecting parts.

4. The fully automatic wonton wrapping and boxing machine according to claim 3, characterized in that: The top flanging mechanism includes a pre-folding unit and a flanging pressing unit which are sequentially arranged along the transmission direction, the pre-folding unit includes an air blowing joint and an air source, the air blowing joint is arranged below the wonton blank material guide groove, the air blowing joint is provided with air blowing holes arranged along the width direction of the wonton blank, the air blowing holes face the top dough of the wonton blank and are arranged in the same direction as the transmission direction, the air source is connected to the air blowing joint through a pipeline, the flanging pressing unit includes a top page turning plate and a top flanging motor, the top page turning plate is transmission-connected to the top flanging motor through a connecting shaft, the connecting shaft and the top page turning plate are both arranged along the width direction of the wonton blank, the air blowing joint and the top flanging motor are respectively mounted on the frame through brackets.

5. The fully automatic wonton wrapping and boxing machine according to claim 3, characterized in that: The left and right folding and kneading mechanism includes a kneading block and a first folding unit and a second folding unit arranged in sequence along the transmission direction, the kneading block is vertically installed on the clamping jaw base and is located between a pair of clamping jaws, the first folding unit includes a pair of spaced-apart forming guide rails, the main bodies of the pair of forming guide rails are arranged parallel to the transmission direction, and the feeding ends form a flaring structure that gradually shrinks from the outside to the inside, the second folding unit includes a left page turning plate and a right page turning plate, both of which are vertically arranged, the left page turning plate and the right page turning plate are respectively connected to a folding motor, a convex block is provided at the lower end of the side of the left page turning plate, and a notch is provided at the lower end of the side of the right page turning plate, the left page turning plate and the right page turning plate are initially arranged parallel to the transmission direction, and are arranged perpendicular to the transmission direction after being rotated by the page turning drive, and the convex block is spliced ​​with the notch, a pair of the forming guide rails and the folding motor are respectively installed on the frame through brackets.

6. The fully automatic wonton wrapping and boxing machine according to claim 5, characterized in that: The material dropping mechanism comprises a wonton clip, a cylinder and a material dropping barrel, the wonton clip is connected to the piston rod of the cylinder, the kneading block comprises a support part matched with the filling part of the wonton blank, the support part is higher than the bottom plate of the clamping claw base and is spaced apart from the clamping claws on both sides, the wonton clip is provided with a pair of spaced apart levers, when the manipulator moves to the material dropping mechanism, the pair of levers respectively extend into the gap between the support part and the clamping claws on both sides, the material dropping barrel is arranged vertically and is mounted on the frame through a bracket; The box loading mechanism comprises a tray and a tray transmission mechanism, and the movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the robot transmission mechanism.

Images