A twelve-channel pillow-type ice cream packaging system

Abstract

A twelve-channel pillow-type ice cream packaging system, which belongs to the technical field of food packaging, is used to solve the problems of low packaging and boxing efficiency and quality in the prior art. It includes a bagging and sealing machine, a diversion device, a buffer conveyor, a carton conveyor, and a boxing manipulator; the bagging and sealing machine includes twelve bagging and sealing lines, and each bagging and sealing line includes a unwinding device, a transfer device, a bag maker, an alignment device, a pallet dropping device, a side sealing device, a transverse sealing and cutting integrated device, and an exhaust device. The boxing manipulator includes a robotic arm and a picking device mounted on the robotic arm. The picking device includes a picking frame and a slider group. The slider group includes N sliders, where N is an odd number and not less than three. A sliding frame is provided on the picking frame, and the sliding frame is used for sliding connection with the slider group. Each extension member is equipped with a first negative pressure picking member. The beneficial effects are that the boxing is neat, the packaging efficiency is high, and the packaging is hygienic.

Description

Technical Field

[0001] The present invention relates to the technical field of food packaging, and specifically relates to a twelve-channel pillow-shaped ice cream packaging system. Background Art

[0002] The industrialized and streamlined processing of ice cream includes working processes such as mold forming, demolding, bagging and sealing, and boxing. Among them, the quality of bagging and sealing will affect the boxing effect. For example, if there is a phenomenon of bag swelling during the bagging process, it will affect the neatness of boxing and the quantity of boxing during the boxing process; thirdly, it will cause the risk of the packaging bag being squeezed and burst. During the process of boxing the bagged and sealed ice cream, the neatness of placement will affect the quantity of boxing and the overall quality of boxing.

[0003] Although manual placement can ensure the tightness of placement, the boxing efficiency is low and the labor cost is high, which is not suitable for batch boxing work.

[0004] The processing raw material of the ice cream packaging bag is in a strip shape, which is simply referred to as the raw material strip. When feeding, the raw material strip is in a coiled form and is fed through a unwinding device.

[0005] The Chinese invention patent with the application number 201820091595X and the name of "A Vertical Multi-channel Ice Cream Packing Machine" discloses a vertical bagging solution. Although this bagging solution can ensure processing hygiene, there is a problem of more air encapsulated in the packaging bag during the packaging process, which is not conducive to the subsequent neat boxing work. At the same time, the continuity of the equipment work is poor, which is not conducive to the improvement of the packaging and boxing efficiency.

[0006] The driving cylinder refers to one of an electric cylinder, a hydraulic cylinder and a pneumatic cylinder. The driving cylinder includes a cylinder body and a sliding rod member slidably connected in the cylinder body.

[0007] The air slip ring is a type of rotating connecting member used to keep the air circuit of relative rotation in packaging always connected. Summary of the Invention

[0008] The purpose of the present invention is to provide a twelve-channel pillow-shaped ice cream packaging system for solving the problems of low packaging and boxing efficiency and quality in the prior art.

[0009] The technical solution adopted by the present invention to solve its technical problems is:

[0010] A twelve-channel pillow-shaped ice cream packaging system includes a bagging and sealing machine, a diversion device, a buffer conveyor, a carton conveyor, and a boxing manipulator;

[0011] The bagging and packaging machine includes twelve bagging and packaging lines, and the bagging and packaging line includes a unwinding device, a transfer device, a bag maker, an aligning device, a supporting device, a side sealing device, a transverse sealing and shearing integrated device, and an exhaust device. The unwinding device is used to unwind the raw material belt, and the bag maker is used to pass the raw material belt and then flip up both sides of the raw material belt, and the aligning device and the supporting device are respectively arranged above the bag maker, and the aligning device can be raised and lowered, and the aligning device can reciprocate along the extension direction of the bag maker, and the supporting device is used to place the ice cream tray, and the side sealing device includes two rollers that cooperate with each other to squeeze the side edges of the raw material belt together, and one of the two rollers that cooperate with each other can actively rotate to provide power for the conveying of the raw material belt, and at least one of the two rollers that cooperate with each other is provided with a heating device, and the heating device is used to side-seal both sides of the raw material belt, and before the bag maker is provided with the side sealing device, the transverse sealing and shearing integrated device is provided after the side sealing device, and the transverse sealing and shearing integrated device is used to transversely seal and cut the packaging bag;

[0012] The exhaust device is arranged behind the transverse sealing and shearing integrated device, and the exhaust device includes a silicone sheet, which is folded in half, with the folded portion downwardly arranged. The silicone sheet can reciprocate up and down, and the folded portion is used to press and exhaust the packaging bag;

[0013] The diversion device is arranged after the bagging and packaging line, and includes a diversion channel, which is used to collect the ice creams packaged in multiple channels into a single channel for discharge one by one. A buffer conveyor is provided at the end of each diversion channel, and the conveyor belt of the buffer conveyor is provided with partitions distributed at equal intervals, and one ice cream is accommodated between two adjacent partitions;

[0014] The packing robot includes a robot arm and a picking device mounted on the robot arm, the picking device includes a picking frame and a slider group, the slider group includes N sliders, N is an odd number and not less than three, the picking frame is provided with a slide frame, the slide frame is used to slidably connect the slider group, a slider located in the middle number is relatively fixed between the slide frame, each of the sliders is provided with an extension piece, each extension piece is equipped with a first negative pressure picking piece, each of the sliders is hinged with two first connecting rods, the four first connecting rods between two adjacent sliders are hinged to form a diamond connecting rod mechanism, and the picking frame is equipped with a driving mechanism for driving the slider to slide;

[0015] The carton conveyor is used to convey cartons, and the packing robot is used to transfer the ice cream on the buffer conveyor to the cartons on the carton conveyor.

[0016] The beneficial effects are as follows: the present invention helps to ensure the cleanliness of the packaged ice cream; it helps to carry out a continuous twelve-channel packaging operation of the ice cream, which helps to improve the efficiency of the bagging and packaging operation, and can realize the fully automatic boxing of the bagged and packaged ice cream, which helps to ensure the packaging efficiency of the automatic bagging, packaging and boxing integrated operation. The present invention can place a tray on the upper side of the ice cream before the ice cream is bagged and packaged, and the tray placement efficiency is high and the placement position is accurate, which helps to complete the tray placement and packaging operation in a streamlined manner. After the tray is placed, it helps to neatly arrange the ice cream after boxing. The present invention can perform an exhaust action before the ice cream bag is sealed, and the exhaust action will not damage the entire ice cream. The picking device in the present invention can gather multiple scattered ice creams together, which is beneficial to the tightness of the packaging and boxing work. The ice cream packaging operation carried out by the present invention helps to improve the boxing efficiency, ensure the tightness of the boxing, and reduce the risk of the packaging bag bursting.

[0017] Furthermore, the transfer device includes a swing arm and a clamping cylinder connected to the swing arm, the clamping cylinder is used to clamp the ice cream stick, the swing arm is fixedly connected to the swing arm drive shaft, the swing arm drive shaft is mounted above the bag maker, and the swing arm drive shaft is used to drive the swing arm to swing.

[0018] The beneficial effect is that, while in the prior art, the ice cream bars removed from the molds are placed vertically on the demoulding conveyor line, the transfer device structure facilitates flipping the vertical ice cream bars horizontally by gripping the ice cream bars by their stems, and then placing them flat inside the continuously conveying raw material belt, which is equivalent to directly placing them in the packaging bag. This technical solution not only helps protect the ice cream bars from damage, but also helps ensure the hygiene of the processed ice cream bars.

[0019] Furthermore, the alignment device is fixedly connected to the crossbeam, the alignment device is vertically arranged, the crossbeam is erected above the bag maker, and a first driving cylinder is provided at each end of the crossbeam. The first driving cylinder is used to support and raise the crossbeam. The first driving cylinder is used to drive the height adjustment of the crossbeam. The first driving cylinder is connected to the sliding mechanism, and the sliding mechanism is used to drive the first driving cylinder to reciprocate in a direction parallel to the extension direction of the bag making device.

[0020] The beneficial effect is that the alignment device aligns the misaligned ice cream by moving the end of the ice cream handle - this is conducive to aligning the heads and tails of the ice cream in the same row, thereby ensuring the accuracy of packaging and the accuracy of tray placement.

[0021] Furthermore, the drop device includes a pallet material rack and a placing mechanism, the placing mechanism includes a flipping drive shaft, a second driving cylinder, a carrying frame, and a second negative pressure picking member, the second driving cylinder is arranged between the carrying frame and the flipping drive shaft to adjust the distance between the carrying frame and the flipping drive shaft, the second driving cylinder is fixedly connected to the flipping drive shaft, the flipping drive shaft is used to adjust the direction of the second driving cylinder, and the second negative pressure picking member is mounted on the carrying frame.

[0022] The beneficial effect is that the tray can be automatically placed on the ice cream.

[0023] Furthermore, it includes four groups of the carrying racks, each of which is equipped with a second driving cylinder, and each of which is equipped with six groups of the second negative pressure picking parts. Each group of the second negative pressure picking parts is used to pick up a pallet, and the four carrying racks are grouped in pairs, and the two carrying racks in the same group are distributed on both sides of the flip driving shaft.

[0024] The beneficial effect is that it helps to greatly improve the efficiency of pallet placement, thereby improving the work efficiency of assembly line operations.

[0025] Furthermore, the flip drive shaft is connected to an air slip ring, the air slip ring is used to be mounted on a bracket, and the bracket is used to raise the pallet material rack.

[0026] The beneficial effects are: it is helpful to ensure the smooth rotation of the flip driving shaft and improve the efficiency of pallet buckling and placing.

[0027] Furthermore, the driving mechanism includes a rotary driver, to which a swinging member is fixedly connected, and two second connecting rods are hinged on the swinging member, one of the second connecting rods is hinged on the slider A, and the other second connecting rod is hinged on the slider B, and the slider A and the slider B are distributed on both sides of the middle number of sliders.

[0028] The beneficial effect is that it helps to ensure that an odd number of ice creams can be aligned in the middle with the center ice cream as the benchmark, which helps to align each layer of ice cream during the packing process, and thus helps to ensure the neatness of the packing work.

[0029] Furthermore, each of the silicone sheets is mounted on a horizontal frame, and a rocker is provided at each end of the horizontal frame. The rocker is fixed to the horizontal frame and rotatably connected to the frame. One of the rockers is hinged with a drive connecting rod, and the drive connection is hinged with the crank member.

[0030] The beneficial effect is that before the second end of the ice cream bag is closed, in addition to pressing the ice cream bag, it is also beneficial to slightly pull the ice cream bag from front to back. This slight pulling action helps reduce the length error of the packaged ice cream bag and also helps to ensure the neatness of the end seal.

[0031] Furthermore, each of the unwinding devices is distributed on the left and right sides of the bagging and packaging machine, the rotation axis of the unwinding device is perpendicular to the extension direction of the bag maker, and the frame is connected to a first guide rod and a second guide rod, the projection of the first guide rod in the horizontal plane is at a 45° angle to the extension direction of the bag maker, the second guide rod is perpendicular to the extension direction of the bag maker, and the second guide rod is arranged at the bottom of the bag maker.

[0032] The beneficial effect is that it helps to save the space occupied by the bagging and packaging machine and improve the space utilization rate.

[0033] Furthermore, the cross-sections of the first guide rod and the second guide rod are respectively square rods, and each edge of the first guide rod and the second guide rod is provided with a transition fillet, the end of the first guide rod is rotatably connected to the frame of the bagging and packaging machine, and the end of the second guide rod is rotatably connected to the frame of the bagging and packaging machine, and a locking mechanism is provided between the first guide rod and the frame of the bagging and packaging machine, and between the second guide rod and the frame of the bagging and packaging machine.

[0034] The beneficial effect is: it is helpful to ensure the smoothness of the material belt conveying and avoid the material belt from being torn during conveying.

[0035] Furthermore, the extension member is a buffer cylinder.

[0036] The beneficial effect is that it is conducive to forming buffer protection for ice cream.

[0037] Furthermore, the bag maker includes a bottom groove and two side edges, each of the two side edges is bent from bottom to top and then from top to bottom, and each of the two side edges includes a material strip channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a top view schematic diagram of the present invention;

[0039] Figure 2 for Figure 1 A magnified schematic diagram of part A;

[0040] Figure 3 for Figure 1 An enlarged schematic diagram of part B;

[0041] Figure 4 for Figure 1 Enlarged view of part C;

[0042] Figure 5 for Figure 1 Enlarged view of part D in the middle;

[0043] Figure 6 It is a structural schematic diagram of the support device;

[0044] Figure 7 Schematic diagram of the working principle of the horizontal seal and side seal;

[0045] Figure 8 Schematic diagram of the connection of the silica gel sheet on the horizontal frame;

[0046] Figure 9 For Figure 8 Schematic diagram of the F-F cross-section;

[0047] Figure 10 Schematic diagram of the structure of the exhaust device;

[0048] Figure 11 Schematic three-dimensional diagram of the picking device;

[0049] Figure 12 For Figure 11 Front view schematic diagram;

[0050] Figure 13 For Figure 12 Schematic diagram of the G-G cross-section;

[0051] Figure 14 For Figure 12 Schematic diagram of the H-H cross-section;

[0052] Figure 15 Schematic diagram of the cross-section of the first guide rod;

[0053] In the figure: 1 bagging and sealing machine, 11 unwinding device, 12 bag making device, 13 packaging operation unit, 131 roller member, 132 pressing plate, 133 upper pressing block, 134 cutting knife, 135 raw material belt, 136 side seal edge, 14 first guide rod, 15 second guide rod, 16 front conveying device, 17 rear conveying device, 2 transfer device, 21 swing arm, 22 jaw cylinder, 23 swing arm drive shaft, 3 alignment device, 31 cross beam, 32 first drive cylinder, 33 sliding mechanism, 4 pallet dropping device, 41 pallet material rack, 42 flipping drive shaft, 43 second drive cylinder, 44 carrying rack, 45 second negative pressure picking member, 5 exhaust device, 51 silica gel sheet, 52 horizontal frame, 53 rocker, 54 crank member, 55 drive link, 6 diversion device, 61 diversion channel, 7 buffer conveyor, 71 partition board, 8 carton conveyor, 9 picking device, 91 picking rack, 92 slider, 93 sliding frame, 94 extension member, 95 first negative pressure picking member, 96 first link, 97 swinging member, 98 second link. Detailed implementation manners

[0054] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0055] During the description of the present invention, the terms "upper" and "lower" refer to the relative positional relationship between the technical features with respect to the distance from the ground during the use of the present invention. During the description of the present invention, it is defined that the ice cream is conveyed in the "front" to "rear" direction on the bagging and sealing machine.

[0056] As Figure 1 shown, a twelve-channel pillow-type ice cream packaging system includes a bagging and sealing machine 1, a diversion device 6, a buffer conveyor 7, a carton conveyor 8, and a case-packing manipulator. The bagging and sealing machine 1 includes twelve bagging and sealing lines. The bagging and sealing line includes a unwind device 11, a transfer device 2, a bag former 12, an alignment device 3, a pallet-lowering device 4, a side-sealing device, a transverse-sealing and cutting integrated device, and an exhaust device 5; among which, the side-sealing device and the transverse-sealing and cutting integrated device are installed in the packaging operation unit 13. The unwind device 11 is used for unwinding the raw material tape. Each unwind device 11 is distributed on the left and right sides of the bagging and sealing machine 1, and the rotation axis of the unwind device 11 is perpendicular to the extension direction of the bag former 12. A first guide rod 14 and a second guide rod 15 are connected to the frame. The projection of the first guide rod 14 in the horizontal plane forms a 45° angle with the extension direction of the bag former 12, and the second guide rod 15 is perpendicular to the extension direction of the bag former 12. The second guide rod 15 is arranged at the bottom of the bag former 12. The feeding method of the raw material tape in the present invention is: the reel of the raw material tape is unwound through the unwind device 11, and the raw material tape changes its conveying direction through the first guide rod 14 and the second guide rod 15 in sequence, and then is guided to the conveying direction consistent with the extension direction of the bag former 12. This structure of the present invention is beneficial to saving the space occupied by the bagging and sealing machine, facilitating the arrangement of up to 12 packaging and sealing lines, improving the space utilization rate, and facilitating the improvement of the ice cream packaging efficiency.

[0057] As Figure 1 and Figure 15As shown, the cross-sections of the first guide rod and the second guide rod are square rods respectively. Transition fillets are provided at each edge of the first guide rod and the second guide rod. The end of the first guide rod is rotatably connected to the frame of the bagging and sealing machine. The end of the second guide rod is rotatably connected to the frame of the bagging and sealing machine. Locking mechanisms are provided between the first guide rod and the frame of the bagging and sealing machine, and between the second guide rod and the frame of the bagging and sealing machine respectively. Taking the first guide rod 14 as an example, transition fillets are provided at each edge of the first guide rod 14; a flange 141 is welded to the end of the first guide rod 14, and a number of indexing holes 142 are provided on the flange 141. The flange 141 is rotatably connected to the frame of the bagging and sealing machine, and a positioning pin is provided between the frame of the bagging and sealing machine. The positioning pin cooperates with the indexing hole to serve as a locking mechanism. The cross-sectional structure of the first guide rod and the second guide rod is beneficial to the smooth conveyance of the raw material belt and prevents tearing. At the same time, it is convenient to adjust the orientation of the transition fillet to better protect the raw material belt.

[0058] As Figure 1 and Figure 3 shown, the bag former 12 is used to pass through the raw material belt and then turn up both sides of the raw material belt. The bag former 12 includes a bottom groove and two side edges. The two side edges are each bent in the order of first from bottom to top and then from top to bottom. Each of the two side edges includes a tape passage 121. The working principle of the bag former 12 is to pass one side of the raw material belt through the tape passage 121 on one side of the bag former 12, and pass the other side of the raw material belt through the tape passage on the other side of the bag former 12, so as to turn the raw material belt over to the state where both sides are erected and the bottom is laid flat. This state is beneficial to receiving ice cream.

[0059] As Figure 1 shown, the alignment device 3 and the tray dropping device 4 are respectively arranged above the bag former 12.

[0060] As Figure 1 、 Figure 4 and Figure 5As shown, the alignment device 3 is fixed to a crossbeam 31. The alignment device 3 is vertically mounted above the bag-making machine 12. The alignment device 3 can be raised and lowered, and can reciprocate along the direction of the bag-making machine 12. The tray placement device 4 is used to place the ice cream trays. A first drive cylinder 32 is located at each end of the crossbeam 31. These first drive cylinders 32 support the crossbeam 31 horizontally and drive the height adjustment of the crossbeam 31. The first drive cylinders 32 are connected to a sliding mechanism 33, which can be a linear guide, with the base of the first drive cylinder 32 connected to the slide of the linear guide. The sliding mechanism 33 drives the first drive cylinder 32 to reciprocate in a direction parallel to the direction of the bag-making machine. The alignment device aligns misaligned ice cream bars by moving the ends of the ice cream bars' handles. This helps align the top and bottom ends of the ice cream bars in a row, ensuring accurate packaging and accurate tray placement. The working process of the alignment device is: through the driving action of the first driving cylinder 32 and the sliding mechanism 33 in two dimensions, the lower end of the alignment device 3 is moved to the front side of each ice cream handle, and then the lower end of the alignment device 3 is driven by the sliding mechanism 33 to align each ice cream.

[0061] like Figure 1 and Figure 2 As shown, the transfer device 2 includes a swing arm 21 and a clamping cylinder 22 connected to the swing arm 21. The clamping cylinder 22 is used to clamp the popsicle sticks. The swing arm 21 is fixedly connected to the swing arm drive shaft 23 of the swing arm 21. The swing arm drive shaft 23 is mounted above the bag maker 12, and the swing arm drive shaft 23 is used to drive the swing arm 21 to swing. This structure of the transfer device is conducive to flipping the vertical popsicle into a horizontal position by clamping the popsicle handle, and then laying it flat on the inside of the continuously conveyed raw material belt, which is equivalent to placing it directly in the packaging bag. This technical solution is conducive to protecting the popsicle from damage and ensuring the hygiene of the processed popsicle.

[0062] like Figure 1 and Figure 6As shown, the pallet dropping device 4 includes a pallet material rack 41 and a placement mechanism; the placement mechanism includes a flipping drive shaft 42, a second drive cylinder 43, a carrier rack 44, and a second negative pressure pick-up member 45; the second drive cylinder 43 is arranged between the carrier rack 44 and the flipping drive shaft 42 for adjusting the distance between the carrier rack 44 and the flipping drive shaft 42, the second drive cylinder 43 is fixedly connected to the flipping drive shaft 42, the flipping drive shaft 42 is used for adjusting the orientation of the second drive cylinder 43, and the second negative pressure pick-up member 45 is carried on the carrier rack 44. There are four groups of carrier racks 44, each carrier rack 44 is equipped with a second drive cylinder, and each carrier rack 44 carries six groups of second negative pressure pick-up members 45. Each group of second negative pressure pick-up members 45 is used to pick up a pallet. The four carrier racks 44 are divided into two groups in pairs, and the two carrier racks 44 in the same group are distributed on both sides of the flipping drive shaft 42. The flipping drive shaft is connected to an air slip ring, the air slip ring is used to be carried on a support, and the support is used to elevate the pallet material rack 41.

[0063] As Figure 1 and Figure 6 shown, the pallet dropping device 4 is used to invert a pallet onto the ice cream on the raw material belt located in the bag making machine 12. The periphery of the opening of the pallet is surrounded by a pallet edge, and the pallet edge has elasticity. The pallets are stacked in the pallet material rack 41 with the opening facing up and the bottom facing down. The bottom of the pallet material rack 41 is provided with a part for limiting the pallet edge. When the lowermost pallet is pulled downward by an external force, the pallet edge undergoes elastic deformation, releasing the limiting effect of the bottom of the pallet material rack 41 on it, and then it can be taken out. The process of the pallet dropping device 4 taking a pallet is as follows: the second negative pressure pick-up member 45 aligns with the bottom of the pallet → the second negative pressure pick-up member 45 sucks the pallet under negative pressure → the second drive cylinder 43 pulls down the carrier rack 44, and then pulls down the second negative pressure pick-up member 45, and then takes out a pallet from the bottom of the pallet material rack 41 → the flipping drive shaft 42 rotates 180°, and then aligns the pallet with the ice cream to be packaged with the opening facing down → the second drive cylinder 43 pushes down the carrier rack 44 → the second negative pressure pick-up member 45 releases the pallet, and then inverts the pallet onto the ice cream.

[0064] As Figure 7As shown, the side sealing device includes two cooperating rollers 131 for squeezing the sides of the raw material strip 135 together. One of the two cooperating rollers can actively rotate to provide power for the raw material strip, and the roller is driven by a motor. At least one of the two cooperating rollers is provided with a heating device, which is used to heat and seal both sides of the raw material strip. The bag maker is located before the side sealing device. The transverse sealing and shearing integrated device is provided after the side sealing device. The transverse sealing and shearing integrated device is used to transversely seal and cut the packaging bag. The transverse sealing and shearing integrated device includes an upper pressure block 133 located above the raw material strip 135 and a lower pressure block located below the raw material strip 135. The lower pressure block and the upper pressure block are arranged opposite each other. The upper pressure block and / or the lower pressure block are provided with an electric heating component. The upper pressure block 133 is provided with a vertically transparent slide groove, in which a cutter 134 is slidably connected. The side-sealing device first heat-seals the packaging bag, forming a side seal 136. A pressure plate 132 is provided to guide this side seal 136 to a flat position. The packaging bag then enters the transverse sealing and shearing device for transverse sealing and then shearing, completing the sealing of the ice cream ends. Before the second end of the ice cream packaging strip is sealed, it is compressed by the exhaust device 5, which is located behind the transverse sealing and shearing device.

[0065] like Figure 1 、 Figure 7 、 [[ID=4 、 ​ and ​ As shown, the exhaust device 5 includes a silicone sheet 51. The silicone sheet 51 is folded in half, with the folded portion facing downward. The silicone sheet 51 can reciprocate up and down, and the folded portion is used to press and exhaust the packaging bag. Each silicone sheet 51 is mounted on a horizontal frame 52. A rocker 53 is provided at each end of the horizontal frame 52. The rocker 53 is fixed to the horizontal frame 52 and is rotatably connected to the frame. One of the rockers 53 is hinged to a drive link 55, which is hinged to a crank member 54. The crank member 54 is driven to rotate by a motor. Before the second end of the ice cream bag is closed, in addition to pressing the ice cream bag, it is also convenient to slightly pull the ice cream bag from front to back. This slight pulling action helps reduce the length error of the packaged ice cream bag, and also helps to ensure the neatness of the end seal and the quality of the packaging.

[0066] like ​ As shown, the diversion device 6 is installed after the bagging and packaging line. The diversion device is arranged with the front higher and the back lower, allowing the ice cream to slide down under its own weight. The diversion device 6 includes a diversion channel 61, which is used to guide the ice cream packaged in multiple lanes into a single channel for discharge one by one. Each diversion channel 61 is located at the end of a buffer conveyor 7. The conveyor belt of the buffer conveyor 7 is equipped with evenly spaced partitions 71, and the space between two adjacent partitions is used to accommodate one ice cream.

[0067] As ​ , ​ , ​ , ​ and ​ shown, the carton loading manipulator includes a robotic arm and a picking device 9 mounted on the robotic arm. The robotic arm in this embodiment is a three-degree-of-freedom robotic arm. During actual use, other robotic arms in the prior art can be flexibly selected. The picking device 9 includes a picking frame 91 and a set of sliders 92. The set of sliders 92 includes N sliders 92, where N is an odd number and not less than three. A sliding frame 93 is provided on the picking frame 91, and the sliding frame 93 is used for slidably connecting the set of sliders 92. One slider 92 in the middle number is relatively fixed to the sliding frame 93, and each slider 92 is provided with an extension 94. The extension 94 is a buffer cylinder. Each extension 94 is mounted with a first negative pressure picking member 95. Two first connecting rods 96 are hinged on each slider 92, and the four first connecting rods 96 between two adjacent sliders 92 are hinged into a rhombic link mechanism. A driving mechanism for driving the sliders 92 to slide is mounted on the picking frame 91. The carton conveyor 8 is used to convey cartons, and the carton loading manipulator is used to transfer and place ice creams located on the buffer conveyor 7 into the cartons located on the carton conveyor 8. The driving mechanism includes a rotational driver, a swinging member 97 is fixedly connected to the rotational driver, two second connecting rods 98 are hinged on the swinging member 97, one of the second connecting rods 98 is hinged on slider A, and the other second connecting rod 98 is hinged on slider B. Slider A and slider B are distributed on both sides of the slider 92 in the middle number. The picking device can concentrate a plurality of scattered ice creams together, which is beneficial to the compactness of the packaging and carton loading work. The picking device in this embodiment is provided with sliders, that is, five groups of first negative pressure picking members 95 are provided. The process of placing the ice creams by the picking device is as follows: Each of the five groups of first negative pressure picking members 95 picks up an ice cream, and these five ice creams are distributed between six adjacent partitions → The picking device is transferred above the packaging box for carton loading. Before carton loading, the driving mechanism drives the movable sliders to slide, so that the five ice creams are aligned towards the middle with the third one as the reference. This is beneficial to ensuring the accuracy of carton loading.

[0068] As ​As shown in the figure, the working process of the present invention is as follows: The raw material belt 135 is successively guided by the unwinding device 11, the first guide rod 14, the second guide rod 15 and the bag making device 12 to the side sealing device for side sealing, and the side sealing device provides power for the transportation of the raw material bag. The ice cream is transported to the upper side of the raw material belt passing through the bag making device 12 by the transfer device 2, and the ice cream is transported synchronously with the raw material belt. Before the packaging bag is sealed, the ice cream is aligned by the alignment device, and then the tray is inverted by the tray dropping device 4. After the side sealing is completed, end sealing is carried out. Before the end sealing of the second end of the ice cream is completed, the ice cream is first pressed and exhausted and slightly pulled backward by the exhaust device. The fully packaged ice cream flows to the buffer conveyor 7 through the diversion device, and then is prepared for boxing. The boxing operation is completed by the boxing manipulator. Each bagging and sealing line is provided with a front conveying device 16 and a rear conveying device 17. The front conveying device is located before the cutting knife, and the rear conveying device is located after the cutting knife, so as to be used for the conveying connection before and after packaging.

Claims

1. A twelve-channel pillow-type ice cream packaging system, characterized in that, It includes a bagging and sealing machine, a diversion device, a buffer conveyor, a carton conveyor, and a case packing manipulator; The bagging and sealing machine includes twelve bagging and sealing lines. Each bagging and sealing line includes an unwinding device, a transfer device, a bag former, an alignment device, a pallet placing device, a side sealing device, a transverse sealing and cutting integrated device, and an exhaust device. The unwinding device is used for unwinding the raw material tape. The bag former is used to turn up the two sides of the raw material tape by passing through it. The alignment device and the pallet placing device are respectively arranged above the bag former. The alignment device can move up and down and reciprocate along the extending direction of the bag former. The pallet placing device is used for placing ice cream pallets. The side sealing device includes two cooperating rollers for squeezing the sides of the raw material tape together. One of the two cooperating rollers can rotate actively to provide power for the conveyance of the raw material tape. At least one of the two cooperating rollers is provided with a heating device for side sealing the two sides of the raw material tape. The bag former is arranged before the side sealing device. The transverse sealing and cutting integrated device is arranged after the side sealing device and is used for transverse sealing and cutting the packaging bag; The exhaust device is arranged behind the transverse sealing and cutting integrated device. The exhaust device includes a silicone sheet. The silicone sheet is folded in half to form a folded part. The folded part is arranged downward. The silicone sheet can move up and down reciprocally. The folded part is used for pressing and exhausting the packaging bag; The diversion device is arranged behind the bagging and sealing line. The diversion device includes a diversion channel for aggregating the ice creams completed by multiple channels into a single channel for discharging one by one. A buffer conveyor is arranged at the end of each diversion channel. Partition boards are arranged at equal intervals on the conveyor belt of the buffer conveyor. One ice cream can be accommodated between two adjacent partition boards; The case packing manipulator includes a robotic arm and a picking device mounted on the robotic arm. The picking device includes a picking frame and a slider group. The slider group includes N sliders, where N is an odd number and not less than three. A sliding frame is arranged on the picking frame for slidably connecting with the slider group. One slider in the middle number is relatively fixed to the sliding frame. An extension is arranged on each slider. A first negative pressure picking piece is mounted on each extension. Two first connecting rods are hinged on each slider. The four first connecting rods between two adjacent sliders are hinged to form a rhombic connecting rod mechanism. A driving mechanism for driving the sliders to slide is mounted on the picking frame; The carton conveyor is used for conveying cartons. The case packing manipulator is used for transferring and placing the ice creams on the buffer conveyor into the cartons on the carton conveyor; The transfer device includes a swing arm and a jaw cylinder connected to the swing arm. The jaw cylinder is used for clamping the ice cream stick. The swing arm is fixedly connected to a swing arm drive shaft. The swing arm drive shaft is erected above the bag former and is used for driving the swing arm to swing.

2. The twelve-channel pillow-shaped ice cream packaging system according to claim 1, characterized in that, The alignment device is fixedly connected to the cross beam. The alignment device is vertically arranged. The cross beam is erected above the bag making machine. At both ends of the cross beam, there is a first driving cylinder respectively. The first driving cylinder is used to support and lift the cross beam, and is used to drive the height adjustment of the cross beam. The first driving cylinder is connected to the sliding mechanism, and the sliding mechanism is used to drive the first driving cylinder to reciprocate along the direction parallel to the extension direction of the bag making device.

3. A twelve-channel pillow-type ice cream packaging system according to claim 1, characterized in that, The pallet dropping device includes a pallet material rack and a placing mechanism. The placing mechanism includes a turning drive shaft, a second driving cylinder, a carrying rack, and a second negative pressure picking member. The second driving cylinder is arranged between the carrying rack and the turning drive shaft to adjust the distance between the carrying rack and the turning drive shaft. The second driving cylinder is fixedly connected to the turning drive shaft. The turning drive shaft is used to adjust the orientation of the second driving cylinder. The second negative pressure picking member is carried on the carrying rack.

4. A twelve-channel pillow-type ice cream packaging system according to claim 3, characterized in that, There are four groups of the carrying racks. Each carrying rack is configured with a driving cylinder. Each carrying rack carries six groups of the second negative pressure picking members. Each group of the second negative pressure picking members is used to pick up a pallet. The four carrying racks are divided into two groups in pairs. The two carrying racks in the same group are distributed on both sides of the turning drive shaft.

5. The twelve-channel pillow-type ice cream packaging system according to claim 3, wherein, The turning drive shaft is connected to an air slip ring. The air slip ring is used to be carried on a bracket. The bracket is used to support and lift the pallet material rack.

6. The twelve-channel pillow-type ice cream packaging system according to claim 1, characterized in that, The driving mechanism includes a rotating driver. A swinging member is fixedly connected to the rotating driver. Two second link rods are hinged to the swinging member. One of the second link rods is hinged to slider A, and the other second link rod is hinged to slider B. Slider A and slider B are distributed on both sides of the sliders with the middle number.

7. A twelve-channel pillow-shaped ice cream packaging system according to claim 1, characterized in that Each of the silica gel sheets is carried on a cross frame. Rocking rods are provided at both ends of the cross frame. The rocking rods are fixedly connected to the cross frame. The rocking rods are rotatably connected to the machine frame. One of the rocking rods is hinged to a driving connecting rod, and the driving connecting rod is hinged to a crank member.

8. A twelve-channel pillow-type ice cream packaging system according to claim 7, characterized in that, Each of the unwinding devices is distributed on the left and right sides of the bag filling and sealing machine. The rotation axis of the unwinding device is perpendicular to the extension direction of the bag making machine. A first guide rod and a second guide rod are connected to the machine frame. The projection of the first guide rod in the horizontal plane forms a 45° angle with the extension direction of the bag making machine. The second guide rod is perpendicular to the extension direction of the bag making machine. The second guide rod is arranged at the bottom of the bag making machine.

9. A twelve-channel pillow-type ice cream packaging system according to claim 8, characterized in that, The cross section of the first guide rod and the second guide rod are square rods respectively. Rounded corners are provided at each edge of the first guide rod and the second guide rod. The end of the first guide rod is rotatably connected to the machine frame of the bag filling and sealing machine. The end of the second guide rod is rotatably connected to the machine frame of the bag filling and sealing machine. A locking mechanism is provided between the first guide rod and the machine frame of the bag filling and sealing machine, and between the second guide rod and the machine frame of the bag filling and sealing machine respectively.

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