Automatic cheese rod packaging equipment

Abstract

Automatic cheese rod packaging equipment comprises a stacking mechanism, a stacking mechanical arm, a taking and placing disc, a transferring mechanical arm, a finished product conveying belt and a finished product tray delivering mechanism, the stacking mechanical arm drives the taking and placing disc to suck single cheese rods on an injection molding machine through negative pressure, and then the single cheese rods are stacked in a first stacking tray or a second stacking tray layer by layer; when the number of stacked layers meets the requirement, the first stacking tray and the second stacking tray automatically and alternately receive the cheese rods, then the transferring mechanical arm transfers each pile of cheese rods to the finished product trays on the finished product conveying belt one by one, and finally the finished product trays full of the cheese rods are conveyed to the discharging position by the conveying belt to be boxed. Empty finished product trays automatically reach the preset position on the conveying belt through the finished product tray delivery mechanism, the whole packaging process of cheese rods from an injection molding machine to final boxing is controlled by a PLC, automation is achieved in the whole process, the production efficiency is greatly improved, manual operation is not needed in the whole process, and the sanitation and safety requirements of the cheese rods are met.

Description

Technical Field

[0001] The invention relates to the technical field of cheese stick packaging, in particular to an automatic cheese stick packaging device. Background Art

[0002] When eating boxed cheese or ice cream, you need to use a cheese stick to scoop it up. Figure 2 As shown in the figure, it is the shape structure diagram of cheese sticks. Plastic cheese sticks are manufactured by injection molding machines. As a cheese stick production and packaging company, a large number of cheese sticks need to be stacked, stacked and packed, and then shipped to food manufacturing companies. The existing manual operation has slow packing speed, low efficiency, and there is a hidden danger of unsanitary conditions. Therefore, the research and development of automatic packaging equipment for cheese sticks has become a problem that needs to be solved urgently. Summary of the invention

[0003] The object of the present invention is to provide an automatic cheese stick packaging device, which can automatically stack and pack cheese sticks, thereby solving the problem of low efficiency of manual packing.

[0004] To achieve the above object, the present invention adopts the following technical solution: An automatic cheese stick packaging device comprises a stacking mechanism, a stacking robot, a pick-and-place plate, a transfer robot, a finished product conveyor belt, and a finished product pallet delivery mechanism. The stacking robot takes out the cheese sticks molded on an injection molding machine from the injection molding machine and places them on the stacking mechanism. After multiple pick-and-place operations, the single cheese sticks are stacked in a vertical direction. The transfer robot grabs the stacked cheese sticks and places them on a finished product pallet. After being filled, the finished product pallet is output by the finished product conveyor belt to a material drop location for packaging and boxing. After the filled finished product pallet is removed, the finished product pallet delivery mechanism automatically transfers the next empty finished product pallet to the loading location on the finished product conveyor belt.

[0005] The above-mentioned cheese stick automated packaging equipment, the stacking mechanism includes stacking tray 1, stacking tray 2, stacking tray 2 support, drive motor, stacking tray 2 guide rail, stacking mechanism chassis, stacking tray 1 guide rail, stacking tray 1 driving cylinder, stacking tray 1 slide, lifting support column, the stacking tray 1 is installed on the lifting support column and can be lifted up and down, the lifting support column is installed on the stacking tray 1 slide, the stacking tray 1 slide is driven by the stacking tray 1 driving cylinder to reciprocate along the stacking tray 1 guide rail, the stacking tray 1 driving cylinder is installed on the stacking mechanism chassis, the stacking tray 2 is installed on the stacking tray 2 support, the stacking tray 2 support is driven by the drive motor to move along the stacking tray 2 guide rail, and the stacking tray 2 guide rail is installed on the stacking mechanism chassis.

[0006] The above-mentioned cheese stick automated packaging equipment, the finished product pallet delivery mechanism includes a finished product pallet delivery mechanism chassis, a finished product pallet fixing seat, a pushing plate, a supporting plate, a pushing plate slide rail, a pushing plate driving cylinder, a finished product pallet block assembly, and a finished product pallet lifting column. The finished product pallet fixing seat, the supporting plate, the pushing plate slide rail, the pushing plate driving cylinder, the finished product pallet block assembly, and the finished product pallet lifting column are all installed on the finished product pallet delivery mechanism chassis. The finished product pallet fixing seat is provided with four, enclosing a space that can accommodate the finished product pallet, and multiple finished product pallets are stacked in the space. The pushing plate is driven by the pushing plate driving cylinder to reciprocate along the pushing plate slide rail. The finished product pallet can be slidably placed on the supporting plate and pushed by the pushing plate to be pushed onto the finished product conveyor belt along the supporting plate. The finished product pallet block assembly includes an upper block, a lower block, and a rotating shaft. The rotating shaft is installed on the finished product pallet delivery mechanism chassis, and the upper block and the lower block can be rotated around the rotating shaft respectively by a motor, and the finished product pallet lifting column is driven by a cylinder to be lifted up and down.

[0007] The above-mentioned cheese stick automated packaging equipment, the stacking robot is provided with a pick-and-place tray, the pick-and-place tray is provided with a negative pressure suction head, each negative pressure suction head corresponds to the circular end of a cheese stick, and two adjacent negative pressure suction heads are used to suck and put down a cheese stick.

[0008] In the above-mentioned cheese stick automated packaging equipment, the upper surface of the support plate and the upper surface of the finished product conveyor belt are located on the same horizontal plane.

[0009] The present invention has the following advantages: In the present invention, the stacking manipulator drives the pick-and-place tray to absorb the single cheese stick on the injection molding machine through negative pressure, and then stacks and stacks the cheese sticks layer by layer in the stacking tray one or the stacking tray two. When the number of stacked layers reaches the requirement, the stacking tray one and the stacking tray two automatically receive the cheese sticks alternately, and then the transfer manipulator transfers each stack of cheese sticks to the finished product tray on the finished product conveyor belt one by one, and the finished product tray finally filled with cheese sticks is conveyed to the blanking place by the conveyor belt for boxing. The empty finished product tray automatically reaches the predetermined position on the conveyor belt through the finished product tray delivery mechanism, and the entire packaging process of the cheese sticks from the injection molding machine to the final boxing is controlled by PLC, and the whole process is automated, which greatly improves the production efficiency, does not require manual operation throughout the process, and ensures the hygienic and safety requirements of the cheese sticks. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of a top view of the present invention; Figure 2 It is a schematic diagram of the shape structure of a cheese stick; Figure 3 It is a schematic diagram of the stacking mechanism in direction A; Figure 4A schematic diagram of a finished product pallet delivery mechanism in the B direction without showing the bottom frame of the finished product pallet delivery mechanism; Figure 5 It is a schematic diagram of the structure of the pick-up and place tray; Figure 6 for Figure 4 A partial enlarged view of point C in the middle; The numbers in the figure represent: 1. Stacking mechanism, 2. Stacking manipulator, 3. Pick-up and placement tray, 4. Injection molding machine, 5. Transfer manipulator, 6. Finished product conveyor belt, 7. Finished product pallet delivery mechanism, 1-1. Stacking pallet 1, 1-2. Stacking pallet 2, 1-3. Stacking pallet 2 support, 1-4. Driving motor, 1-5. Stacking pallet 2 guide rail, 1-6. Stacking mechanism chassis, 1-7. Stacking pallet 1 guide rail, 1-8. Stacking pallet 1 driving cylinder, 1-9. Stacking pallet 1 Sliding seat, 1-10, lifting support column, 3-1, negative pressure suction head, 7-1, finished product pallet, 7-2, finished product pallet delivery mechanism chassis, 7-3, finished product pallet fixing seat, 7-4, pushing plate, 7-5, supporting plate, 7-6, pushing plate slide rail, 7-7, pushing plate driving cylinder, 7-8, finished product pallet clamping block assembly, 7-9, finished product pallet lifting column, 7-1-1, finished product pallet flange, 7-8-1, upper clamping block, 7-8-2, lower clamping block, 7-8-3, rotating shaft. DETAILED DESCRIPTION

[0011] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0012] The present invention provides an automatic cheese stick packaging device, such as Figure 1 As shown, there are stacking mechanism 1, stacking robot 2, pick-up and placement tray 3, transfer robot 5, finished product conveyor belt 6, and finished product pallet delivery mechanism 7. The injection molding machine 4, stacking robot 2, stacking mechanism 1, transfer robot 5, finished product conveyor belt 6, and finished product pallet delivery mechanism 7 are arranged and installed one by one at the workstations in the production workshop.

[0013] The present invention provides an automatic cheese stick packaging device, such as Figure 1 and Figure 3As shown, the stacking mechanism 1 includes a stacking tray 1-1, a stacking tray 2 1-2, a stacking tray 2 support 1-3, a drive motor 1-4, a stacking tray 2 guide rail 1-5, a stacking mechanism chassis 1-6, a stacking tray 1 guide rail 1-7, a stacking tray 1 drive cylinder 1-8, a stacking tray 1 slide 1-9, and a lifting support column 1-10. The stacking tray 1-1 is installed on the lifting support column 1-10 and can be lifted up and down. The lifting support column 1-10 is installed on the stacking tray 1 slide 1-9. The stacking tray 1 slide 1 -9 is driven by the stacking pallet one driving cylinder 1-8 to reciprocate along the stacking pallet one guide rail 1-7, and the stacking pallet one driving cylinder 1-8 is installed on the stacking mechanism chassis 1-6. The stacking pallet two 1-2 is installed on the stacking pallet two support 1-3, and the stacking pallet two support 1-3 is driven by the driving motor 1-4 to move along the stacking pallet two guide rail 1-5, and the stacking pallet two guide rail 1-5 is installed on the stacking mechanism chassis 1-6. The stacking pallet one 1-1 and the stacking pallet two 1-2 can automatically exchange positions with each other under the control of PLC.

[0014] The present invention provides an automatic cheese stick packaging device, such as Figure 1 and Figure 4 As shown, the finished product pallet delivery mechanism 7 includes a finished product pallet delivery mechanism chassis 7-2, a finished product pallet fixing seat 7-3, a pushing plate 7-4, a supporting plate 7-5, a pushing plate slide rail 7-6, a pushing plate driving cylinder 7-7, a finished product pallet block assembly 7-8, and a finished product pallet lifting column 7-9. The finished product pallet fixing seat 7-3, the supporting plate 7-5, the pushing plate slide rail 7-6, the pushing plate driving cylinder 7-7, the finished product pallet block assembly 7-8, and the finished product pallet lifting column 7-9 are all installed on the finished product pallet delivery mechanism chassis 7-2. There are four finished product pallet fixing seats 7-3, which enclose a space that can accommodate a finished product pallet 7-1. A plurality of finished product pallets 7-1 are stacked in the space. The pushing plate 7-4 is driven by the pushing plate driving cylinder 7-7 along The push plate slide rail 7-6 moves back and forth, and the finished product pallet 7-1 can be slidably placed on the support plate 7-5, and is pushed by the push plate 7-4 along the support plate 7-5 to the finished product conveyor belt 6. The finished product pallet block assembly 7-8 includes an upper block 7-8-1, a lower block 7-8-2, and a rotating shaft 7-8-3. The rotating shaft 7-8-3 is installed on the chassis 7-2 of the finished product pallet delivery mechanism. The upper block 7-8-1 and the lower block 7-8-2 can be rotated around the rotating shaft 7-8-3 respectively through a motor. The finished product pallet lifting column 7-9 is driven by a cylinder to rise and fall. The empty shell finished product pallets 7-1 to be loaded are stacked and placed between the finished product pallet fixing seats. Under the control of PLC, the finished product pallet 7-1 can be automatically pushed to the predetermined position on the conveyor belt 6.

[0015] The present invention provides an automatic cheese stick packaging device, such as Figure 5As shown, a pick-up and placement tray 3 is provided on the stacking robot 2, and a negative pressure suction head 3-1 is provided on the pick-up and placement tray 3. Two adjacent negative pressure suction heads 3-1 correspond to the positions of the two end circular parts on the cheese stick to suck and put down a cheese stick.

[0016] The present invention provides an automated cheese stick packaging device, wherein the stacking tray 1-1 and the stacking tray 2 1-2 correspond to the outer dimensions of the pick-and-place tray 3 and the finished product tray 7-1, and the setting positions and number of the negative pressure suction heads 3-1 on the pick-and-place tray 3 correspond to the positions and number of chambers for accommodating cheese sticks on the stacking tray 1-1, the stacking tray 2 1-2 and the finished product tray 7-1. In this embodiment, the number of the chambers is 48.

[0017] The present invention discloses an automatic cheese stick packaging device, and its working principle is as follows: The placement position of the cheese sticks injection molded in the injection molding machine 4 corresponds to the position of the negative pressure suction head 3-1 of the pick-up and placement tray 3. There are 48 cavities in one mold, and the stacking robot 2 grabs 48 cheese sticks under negative pressure, and then places the cheese sticks in the stacking tray 2 1-2 after canceling the negative pressure. The cheese stick removal and placement action is repeated until the stack is full; at the same time, the stacked cheese sticks in the full stacking tray 1-1 are transferred to the robot 5 for grabbing and placing in the finished product tray 7-1. When the stacking tray 2 1-2 is full of stacks, the stacking tray 1-1 is emptied. At this time, the stacking tray 1-1 descends, and after the stacking tray 1-1 and the stacking tray 2 1-2 move and exchange positions, the stacking tray 1-1 rises, and then the loading and unloading actions are repeated, and the cycle is repeated.

[0018] The finished product tray 7 - 1 located at the position on the conveyor belt 6 for receiving the cheese sticks is transported by the conveyor belt 6 to the material drop location for boxing after being filled.

[0019] After the finished product tray 7-1 filled with cheese sticks on the conveyor belt 6 is removed, the finished product tray delivery mechanism 7 automatically delivers an empty finished product tray to this position for another loading operation.

[0020] The working process of the finished product pallet delivery mechanism 7 is as follows: a plurality of finished product pallets 7-1 are stacked in a row in a finished product pallet fixing seat 7-3 to form a space that can accommodate the finished product pallet, a finished product pallet flange 7-1-1 is provided at the lower edge of the finished product pallet 7-1, and a finished product pallet clamping block assembly 7-8 supports the finished product pallet at the finished product pallet flange 7-1-1 to prevent it from falling freely. When it is necessary to deliver an empty finished product pallet 7-1, the finished product pallet lifting column 7-9 rises. At this time, the lower clamping block 7-8-2 is below the finished product pallet flange 7-1-1 to support the finished product pallet, and the upper clamping block 7-8-1 is above the finished product pallet flange 7-1-1 and does not play a supporting role. When the finished product pallet lifting column 7-9 contacts the lower surface of the finished product pallet and lifts it slightly, the lower clamping block 7-8-2 rotates around the rotating shaft 7-8-3 to the edge of the finished product pallet flange 7-1-1. At this time, the finished product pallet falls onto the finished product pallet lifting column 7-9. After that, the finished product pallet lifting column 7-9 descends. During the continuous descent, the finished product pallet is placed on the support plate 7-5. Finally, the push plate 7-4 delivers the finished product pallet to the conveyor belt 6.

[0021] When the bottom finished product pallet falls onto the finished product pallet lifting column 7-9, the upper clamping block 7-8-1 supports the finished product pallet flange 7-1-1 of the second finished product pallet. When the second finished product pallet needs to be delivered, the upper clamping block 7-8-1 moves and is supported by the lower clamping block 7-8-2. This cycle is repeated to complete the sequential falling of the finished product pallets.

[0022] The gripper is equipped with a visual positioning device / or the position coordinates are designed in advance in the system, so that the cheese sticks can be accurately transferred to the finished product tray according to the position coordinates.

[0023] In the present invention, the actions of all execution components are completed by PLC control.

Claims

1. An automatic cheese stick packaging device, characterized in that: The invention comprises a stacking mechanism (1), a stacking robot (2), a pick-up and placement tray (3), a transfer robot (5), a finished product conveyor belt (6), and a finished product pallet delivery mechanism (7). The stacking robot (2) takes out the cheese sticks molded on the injection molding machine (4) from the injection molding machine and places them on the stacking mechanism (1). After multiple pick-ups and placements, the single cheese sticks are stacked in a vertical direction. The transfer robot (5) grabs the stacked cheese sticks and places them on a finished product pallet (7-1). After the cheese sticks are filled, the finished product pallet (7-1) is output by the finished product conveyor belt (6) to a material drop location for packaging and boxing. After the filled finished product pallet (7-1) is removed, the finished product pallet delivery mechanism (7) automatically transfers the next empty finished product pallet (7-1) to the material loading location on the finished product conveyor belt (6).

2. The cheese stick automated packaging equipment according to claim 1, characterized in that: The stacking mechanism (1) comprises a stacking tray 1 (1-1), a stacking tray 2 (1-2), a stacking tray 2 support (1-3), a drive motor (1-4), a stacking tray 2 guide rail (1-5), a stacking mechanism bottom frame (1-6), a stacking tray 1 guide rail (1-7), a stacking tray 1 drive cylinder (1-8), a stacking tray 1 slide (1-9), and a lifting support column (1-10). The stacking tray 1 (1-1) is mounted on the lifting support column (1-10) and can be lifted up and down. The lifting support column (1-10) is mounted on the stacking tray The stacking tray one slide (1-9) is driven by a stacking tray one driving cylinder (1-8) to reciprocate along a stacking tray one guide rail (1-7), the stacking tray one driving cylinder (1-8) is mounted on a stacking mechanism chassis (1-6), the stacking tray two (1-2) is mounted on a stacking tray two support (1-3), the stacking tray two support (1-3) is driven by a driving motor (1-4) to move along a stacking tray two guide rail (1-5), and the stacking tray two guide rail (1-5) is mounted on a stacking mechanism chassis (1-6).

3. The cheese stick automated packaging equipment according to claim 1, characterized in that: The finished product pallet delivery mechanism (7) comprises a finished product pallet delivery mechanism chassis (7-2), a finished product pallet fixing seat (7-3), a push plate (7-4), a support plate (7-5), a push plate slide rail (7-6), a push plate driving cylinder (7-7), a finished product pallet block assembly (7-8), and a finished product pallet lifting column (7-9). The finished product pallet fixing seat (7-3), the support plate (7-5), the push plate slide rail (7-6), the push plate driving cylinder (7-7), the finished product pallet block assembly (7-8), and the finished product pallet lifting column (7-9) are all mounted on the finished product pallet delivery mechanism chassis (7-2). Four finished product pallet fixing seats (7-3) are provided to enclose a space capable of accommodating a finished product pallet (7-1). A plurality of finished product pallets (7-1) The stacks are stacked in the space, the push plate (7-4) is driven by the push plate driving cylinder (7-7) to reciprocate along the push plate slide rail (7-6), the finished product pallet (7-1) can be slidably placed on the support plate (7-5), and is pushed by the push plate (7-4) along the support plate (7-5) to the finished product conveyor belt (6), the finished product pallet clamping block assembly (7-8) comprises an upper clamping block (7-8-1), a lower clamping block (7-8-2), and a rotating shaft (7-8-3), the rotating shaft (7-8-3) is installed on the bottom frame (7-2) of the finished product pallet delivery mechanism, the upper clamping block (7-8-1) and the lower clamping block (7-8-2) can be rotated around the rotating shaft (7-8-3) respectively by a motor, and the finished product pallet lifting column (7-9) is driven by a cylinder to be lifted up and down.

4. The cheese stick automated packaging equipment according to claim 1, characterized in that: The stacking robot (2) is provided with a pick-up and placement tray (3), and the pick-up and placement tray (3) is provided with a negative pressure suction head (3-1), each negative pressure suction head (3-1) corresponds to the circular end of a cheese stick, and two adjacent negative pressure suction heads (3-1) are used to suck and place a cheese stick.

5. The cheese stick automated packaging equipment according to claim 1, characterized in that: The upper surface of the support plate (7-5) and the upper surface of the finished product conveyor belt (6) are located on the same horizontal plane.

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