Full-automatic rice dumpling making machine

Abstract

The invention provides a full-automatic rice dumpling making machine, and relates to the technical field of food processing equipment. The full-automatic rice dumpling wrapping machine comprises a circulating workbench assembly, a discharging assembly, a rice dumpling leaf folding conical barrel assembly and a wrapping workbench, and is characterized in that the circulating workbench assembly comprises a rotating workbench, and a plurality of negative-pressure conical rice dumpling leaf supports are arranged on the upper circumference of the rotating workbench in an array mode; negative-pressure holes are formed in the inner sides of the multiple negative-pressure conical reed leaf supports, and a reed leaf placing station, a discharging station and a wrapping station are sequentially arranged on the rotary workbench in the rotating direction. A pneumatic leaf folding auxiliary needle is arranged on the rotary leaf folding mechanism, the leaf folding auxiliary needle can move downwards to the side where a reed leaf is flatly clamped after the reed leaf is flattened, overturned and clamped through the overturning leaf folding mechanism, the reed leaf folding auxiliary needle is matched with a first clamping jaw to clamp the tail end of the reed leaf, and then the reed leaf can be automatically folded through matched movement of an electric sliding table and an automatic mechanical arm. And folding the tail end of the reed leaf.

Description

Technical Field

[0001] The invention relates to the technical field of food processing equipment, in particular to a fully automatic rice dumpling wrapping machine. Background Art

[0002] Traditionally, the shaping of zongzi is done by hand, which involves folding the zongzi leaves into a cone, putting in the zongzi ingredients, and then folding the leaves into a multi-faceted three-dimensional structure, and finally tying them with ropes. This traditional manual operation has high labor intensity and low productivity. The quality of the products varies from person to person, and the technical level varies, making it difficult to unify the standards. However, the increasing demand for zongzi requires solving the problem of mass production, and the labor cost is also increasing.

[0003] In the prior art, patent application number CN201610619875.9 discloses a fully automatic rice dumpling wrapping machine, which realizes fully automatic production of rice dumplings through the cooperation of a rice dumpling leaf separator, a rice dumpling leaf circulation supply device, a rice dumpling conveyor, and an automatic bundling device. However, in the existing equipment, since the lengths of the rice dumpling leaves are not exactly the same, and in order to prevent the rice dumpling leaves from being incompletely wrapped, relatively long rice dumpling leaves are selected. After the rice dumpling leaves are folded and completely wrapped, a part of the protruding tail end will always be left on the rice dumpling body, which is not beautiful and easy to leak. When the rice dumplings are wrapped manually, the workers will directly fold the tail end and wrap it together, so this problem is not prominent. However, after the application of automated production, a large number of defective rice dumplings are easily produced, which require secondary rework, and there is further room for improvement. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a fully automatic rice dumpling wrapping machine, which solves the technical problems described in the above background technology.

[0006] (II) Technical solution

[0007] To achieve the above purpose, the present invention is implemented through the following technical solutions: a fully automatic rice dumpling wrapping machine, including a circulating worktable assembly, a feeding assembly, a rice dumpling leaf folding cone cylinder assembly and a wrapping worktable, the circulating worktable assembly includes a rotating worktable, a plurality of negative pressure cone rice dumpling leaf brackets are arranged in a circular array above the rotating worktable, and the inner sides of the plurality of negative pressure cone rice dumpling leaf brackets are all provided with negative pressure holes, and the rotating worktable is sequentially provided with a rice dumpling leaf placing station, a feeding station and a wrapping station according to the rotation direction The discharge assembly, the rice leaf folding cone cylinder assembly and the wrapping workbench are arranged on the discharge station, the rice leaf placing station and the wrapping station in sequence. The end of the rice leaf folding cone cylinder assembly away from the rice leaf placing station is the rice leaf folding cone cylinder station, and rice leaf grabbing mechanisms are arranged on both sides of the rice leaf folding cone cylinder station. The two rice leaf grabbing mechanisms are arranged with rice leaf lifting mechanisms at one end away from the rice leaf folding cone cylinder assembly, and the two rice leaf lifting mechanisms are arranged with a rotating feeding mechanism at one end away from the rice leaf grabbing mechanism.

[0008] Preferably, an automatic winding machine is provided on the side of the wrapping workbench away from the circulation workbench assembly.

[0009] Preferably, the rice leaf grabbing mechanism includes a rotating bracket, a flip frame, a driving motor, a sliding rod, a rotatable sliding sleeve and a flip suction cup, the bottom of the rotating bracket is rotatably connected to a workbench frame, the driving motor is fixedly connected to the outer side of the workbench frame at a position corresponding to the rotating bracket, the end of the rotating bracket away from the driving motor is rotatably connected to the flip frame, one side of the flip frame is fixedly connected to three flip suction cups, the flip frame is fixedly connected to a sliding rod at one end away from the flip suction cup and away from the driving motor, the end of the sliding rod away from the flip frame is slidably connected to a rotatable sliding sleeve, and the rotatable sliding sleeve is arranged on the workbench frame and located at the diagonal point of a square with the rotating bracket as the side length.

[0010] Preferably, an electric slide is slidably connected above the wrapping workbench, and a wrapping assembly is slidably provided at one end of the electric slide close to the rotating workbench. The wrapping assembly includes two automatic robotic arms that can move up, down, left and right, and the lower ends of the two automatic robotic arms are respectively fixedly connected with a rice filling wrapping pressure plate and a flip flap mechanism. A rotating motor is provided at one end of the flip flap mechanism away from the rice filling wrapping pressure plate, and a rotating folding leaf mechanism is fixedly connected to the output end of the rotating motor.

[0011] Preferably, the discharge component is a conventional rice filling discharge mechanism currently available on the market.

[0012] Preferably, the flipping leaf-folding mechanism includes a first cylinder body, and two groups of symmetrically arranged leaf-folding arms are rotatably connected at the bottom of the first cylinder body. A plurality of power cylinder rods are arranged at the middle part of the bottom of the first cylinder body, and the plurality of power cylinder rods are respectively transmission-connected to two corresponding leaf-folding arms, and leaf-pressing rollers are rotatably sleeved on the outer sides of the plurality of leaf-folding arms.

[0013] Preferably, the rotary folding mechanism includes a second cylinder body, and three output ends are arranged below the second cylinder body, including two symmetrically arranged power cylinder rods and a folding auxiliary needle in the middle, and the first clamping plate and the second clamping plate are rotatably connected to the two sides below the second cylinder body respectively, and the folding auxiliary needle is fixedly connected to the middle output end of the second cylinder body.

[0014] Preferably, the bottoms of the multiple power cylinder rods of the flipping folding mechanism are each provided with a bidirectional rack, the two power cylinder rods of the rotating folding mechanism are each provided with a unidirectional rack, the rotating ends of the folding arm, the first clamp and the second clamp are each fixedly connected with a gear, the multiple power cylinder rods of the first cylinder body are respectively connected to the racks of the two folding arms through the bidirectional racks, and the two power cylinder rods of the second cylinder body are respectively connected to the racks of the first clamp and the second clamp through the unidirectional racks.

[0015] Preferably, the rice filling wrapping pressing plates are two pressing plates that can be horizontally clamped and released from each other, and the corners above the two pressing plates are ninety-degree arcs.

[0016] Preferably, the rice dumpling leaf folding cone tube assembly includes a mobile mechanical arm that can automatically rise and fall and move, and the arm end of the mobile mechanical arm is provided with two rotating arms that can coaxially move forward and backward, the output ends of the two rotating arms are fixedly connected to bending arms, and the ends of the two bending arms away from the rotating arms are fixedly connected to power clamps, and the mobile mechanical arm, rotating arm, bending arm and power clamps are all existing structures.

[0017] Preferably, the rice leaf lifting mechanism includes a lifting frame, an M-shaped lifting plate, a lifting power cylinder, and a pulley cable. The inner side of the lifting frame is slidably connected to an M-shaped lifting plate at one end close to the rotating feeding mechanism, and the bottom of the lifting frame is fixedly connected to a lifting power cylinder. A pulley cable is provided in the middle of the lifting frame, and the output end of the lifting power cylinder is transmission-connected to the upper middle part of the M-shaped lifting plate through a pulley cable.

[0018] Preferably, the rotating feeding mechanism includes an electric rotating frame, a rice leaf frame and a lifting groove, and the rice leaf frames are hung around the electric rotating frame, and three lifting grooves corresponding to the M-shaped lifting plate are opened on the side of the multiple rice leaf frames away from the electric rotating frame.

[0019] Preferably, the upper outlet of the rice dumpling leaf frame is slightly smaller than the size of the rice dumpling leaf.

[0020] A fully automatic method for wrapping rice dumplings, the method steps are as follows:

[0021] S1, first put the same size of the zongzi leaves into the zongzi leaves frame, the zongzi leaves frame with zongzi leaves are hung on the side of two electric rotating frames respectively, and then go to below two overturning suckers respectively, the M-shaped lifting plate of the zongzi leaves lifting mechanism holds the zongzi leaves, and gradually rises, and the overturning sucker draws a zongzi leaves from the zongzi leaves fixed frame respectively, and the two zongzi leaves are stacked together in an interlaced manner head to tail;

[0022] S2, the power clamps on the coaxial forward and reverse rotating arms on the mobile mechanical arm clamp the rice leaves obliquely from the outside to the inside respectively, the rotating arm rotates the rice leaves forward and backward to fold them into a tapered tube, the mechanical arm moves from one end to the top of the circulation workbench to place the tapered rice leaf tube into the negative pressure tapered rice leaf holder, and the negative pressure is released in the negative pressure tapered rice leaf holder to absorb the tapered rice leaf tube;

[0023] S3, the circulation workbench rotates, and the negative pressure conical rice dumpling leaf support with the conical rice dumpling leaf tube is moved to below the rice filling funnel of the discharge assembly, and the rice filling in the rice filling funnel is put into the conical rice dumpling leaf tube;

[0024] S4, the circulating workbench rotates, the negative pressure conical rice dumpling leaf support of the conical rice dumpling leaf cylinder with rice filling is moved to the bottom of the wrapping assembly, the rice filling wrapping pressing plate on the wrapping assembly is pressed on both sides and the top of the rice dumpling leaf cylinder to wrap the rice filling, the turning leaf mechanism on the wrapping assembly pushes the rice dumpling leaf from the tail end of the rice dumpling leaf cylinder, and when the rice dumpling leaf covers the rice filling, the turning leaf mechanism turns downward to clamp the rice dumpling leaf, and at the same time, the rice filling wrapping pressing plate exits backward;

[0025] S5, the tail end of the rice dumpling leaf is folded in half and clamped flat, the leaf folding auxiliary needle moves downward to clamp one side of the rice dumpling leaf flat and clamps the tail end of the rice dumpling leaf with the first clamping claw on the rotating leaf folding mechanism, the leaf folding mechanism is turned upward, the rotating leaf folding mechanism rotates, the leaf folding auxiliary needle and the first clamping claw move together with the tail end of the rice dumpling leaf to the side of the rice dumpling body, and the tail end of the rice dumpling leaf is folded. After the tail end of the rice dumpling leaf is attached to the rice dumpling body, the leaf folding auxiliary needle moves upward, and the second clamping claw rotates downward to clamp the rice dumpling together with the first clamping claw to lift it;

[0026] S6. After the rotating folding leaf mechanism of the wrapping component clamps the rice dumpling, the robotic arm lifts the rice dumpling and moves it above the winding machine. The winding shaft rotates, and the binding wire is wound around the rice dumpling. After the rice dumpling is wrapped with the wire, a knot is tied. This completes the wrapping of the entire rice dumpling and obtains a shaped rice dumpling.

[0027] (III) Beneficial effects

[0028] The present invention provides a fully automatic rice dumpling wrapping machine, which has the following beneficial effects:

[0029] 1. The rotary folding leaf mechanism of the present invention is provided with a pneumatic folding leaf auxiliary needle, which cooperates with the first clamping claw and the second clamping claw. After the folding leaf mechanism is turned over to flatten and flip and clamp the rice dumplings, the folding leaf auxiliary needle can move downward to one side of the flattened rice dumplings, and cooperate with the first clamping claw to clamp the tail end of the rice dumplings. Then, the tail end of the rice dumplings can be folded by the coordinated movement of the electric slide and the automatic mechanical arm. By improving the original transfer manipulator, it is convenient to carry out the subsequent wire binding operation together, avoiding the subsequent secondary rework and improving the production efficiency.

[0030] 2. The rice dumpling leaf grabbing mechanism provided in the present invention is provided with a rotating bracket and a flipping bracket, which cooperate with a slide rod and a rotatable sliding sleeve. Under the restriction of the rotatable sliding sleeve in a special position, the flipping suction cup can be reciprocated in two vertical directions through the cooperation of the slide rod and the rotatable sliding sleeve, which is convenient for moving the rice dumpling leaf to the processing position. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall layout of the present invention;

[0032] Figure 2 It is a structural schematic diagram of the rice dumpling leaf folding conical cylinder assembly of the present invention;

[0033] Figure 3 It is a structural schematic diagram of the rice dumpling leaf grabbing mechanism and the rice dumpling leaf lifting mechanism of the present invention;

[0034] Figure 4 A top view of the M-shaped lifting plate of the present invention;

[0035] Figure 5 for Figure 1 Enlarged view of point A.

[0036] Among them, 1. Circulation workbench assembly; 11. Rotating workbench; 12. Negative pressure conical bamboo leaf bracket; 2. Discharging assembly; 3. Bamboo leaf folding cone cylinder assembly; 31. Mobile mechanical arm; 32. Rotating arm; 33. Bending arm; 34. Power gripper; 4. Bamboo leaf grabbing mechanism; 41. Rotating bracket; 42. Turning frame; 43. Driving motor; 44. Sliding rod; 45. Rotatable sliding sleeve; 46. Turning suction cup; 5. Bamboo leaf lifting mechanism; 51. Lifting frame; 52. M-shaped lifting plate; 53. Lifting power cylinder; 54. Pulley cable; 6. Rotating feeding mechanism; 61. Electric rotating frame; 62. Zong leaf frame; 63. Lifting trough; 7. Wrapping workbench; 8. Electric slide; 9. Wrapping assembly; 91. Automatic robotic arm; 92. Rice stuffing wrapping pressing plate; 93. Rotating motor; 94. Folding leaf mechanism; 941. First cylinder body; 942. Folding leaf arm; 943. Leaf pressing roller; 95. Rotating folding leaf mechanism; 951. Second cylinder body; 952. First clamping plate; 953. Second clamping plate; 954. Folding leaf auxiliary needle. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1:

[0039] like Figure 1-5 As shown, an embodiment of the present invention provides a fully automatic rice dumpling wrapping machine and a fully automatic rice dumpling wrapping method, wherein the fully automatic rice dumpling wrapping machine comprises a circulating worktable assembly 1, a feeding assembly 2, a rice dumpling leaf folding conical cylinder assembly 3 and a wrapping worktable 7, the circulating worktable assembly 1 comprises a rotating worktable 11, a plurality of negative pressure conical rice dumpling leaf supports 12 are arranged in a circular array above the rotating worktable 11, and negative pressure holes are arranged on the inner sides of the plurality of negative pressure conical rice dumpling leaf supports 12 to prevent the conical cylinder from falling out and scattering, the rotating worktable 11 is sequentially provided with a rice dumpling leaf placing station, a feeding station and a wrapping station in the direction of rotation, the feeding assembly 2, the rice dumpling leaf folding conical cylinder assembly 3 and the wrapping worktable 7 The component 3 and the wrapping workbench 7 are sequentially arranged on the unloading station, the zongzi leaf placing station and the wrapping station, the zongzi leaf folding conical cylinder component 3 is far away from the zongzi leaf placing station. The zongzi leaf folding conical cylinder station is provided with a zongzi leaf grabbing mechanism 4 on both sides of the zongzi leaf folding conical cylinder station, and the two zongzi leaf grabbing mechanisms 4 are far away from the zongzi leaf folding conical cylinder component 3. The ends of the two zongzi leaf grabbing mechanisms 4 are far away from the zongzi leaf folding conical cylinder component 3 are provided with a zongzi leaf lifting mechanism 5, and the ends of the two zongzi leaf lifting mechanisms 5 are far away from the zongzi leaf grabbing mechanism 4 are provided with a rotating feeding mechanism 6, and the side of the wrapping workbench 7 away from the circulating workbench component 1 is provided with an automatic winding machine, and the unloading component 2 is a conventional rice filling unloading mechanism on the existing market;

[0040] The rice dumpling leaf folding cone cylinder assembly 3 includes a mobile mechanical arm 31 that can be automatically lifted and moved, and the arm end of the mobile mechanical arm 31 is provided with two rotating arms 32 that can coaxially move forward and backward, and the output ends of the two rotating arms 32 are fixedly connected to the bending arms 33, and the ends of the two bending arms 33 away from the rotating arms 32 are fixedly connected to the power clamps 34, and the mobile mechanical arm 31, the rotating arm 32, and the bending arm 33 are all existing structures;

[0041] The rice dumpling leaf grabbing mechanism 4 comprises a rotating bracket 41, a turning bracket 42, a driving motor 43, a sliding rod 44, a rotatable sliding sleeve 45 and a turning suction cup 46. The bottom of the rotating bracket 41 is rotatably connected to a workbench, and the driving motor 43 is fixedly connected to the outer side of the workbench at a position corresponding to the rotating bracket 41. The end of the rotating bracket 41 away from the driving motor 43 is rotatably connected to the turning bracket 42, and one side of the turning bracket 42 is fixedly connected to three turning suction cups 46. The turning bracket 42 is fixedly connected to a side away from the turning suction cup 46 and an end away from the driving motor 43. The sliding rod 44 is slidably connected to an end of the sliding rod 44 away from the turning bracket 42. The rotatable sliding sleeve 45 is arranged on the workbench and is located at the diagonal point of a square with the rotating bracket 41 as the side length. Under the restriction of the rotatable sliding sleeve 45 at a special position, the turning suction cup 46 can be reciprocated in two vertical directions by the cooperation of the sliding rod 44 and the rotatable sliding sleeve 45, and the forward and reverse rotation of the motor is utilized to make the turning suction cup 46 reciprocate, so as to facilitate the rice dumpling leaf to be moved to a processing position.

[0042] The rice dumpling leaf lifting mechanism 5 includes a lifting frame 51, an M-shaped lifting plate 52, a lifting power cylinder 53, and a pulley cable 54. The inner side of the lifting frame 51 is close to one end of the rotating feeding mechanism 6 and is slidably connected to the M-shaped lifting plate 52. The bottom of the lifting frame 51 is fixedly connected to the lifting power cylinder 53. The middle part of the lifting frame 51 is provided with a pulley cable 54. The output end of the lifting power cylinder 53 is transmission-connected to the upper middle part of the M-shaped lifting plate 52 through the pulley cable 54.

[0043] The rotating feeding mechanism 6 includes an electric rotating frame 61, a bamboo leaf frame 62 and a lifting groove 63. The bamboo leaf frame 62 is hung around the electric rotating frame 61. The upper outlet of the bamboo leaf frame 62 is slightly smaller than the size of the bamboo leaf. The side of the plurality of bamboo leaf frames 62 away from the electric rotating frame 61 is provided with three lifting grooves 63 corresponding to the M-shaped lifting plate 52.

[0044] An electric slide 8 is slidably connected above the wrapping workbench 7, and a wrapping assembly 9 is slidably arranged at one end of the electric slide 8 close to the rotating workbench 11. The wrapping assembly 9 includes two automatic mechanical arms 91 that can move up, down, left, and right. The lower ends of the two automatic mechanical arms 91 are respectively fixedly connected with a rice filling wrapping pressing plate 92 and a flip flap mechanism 94. The rice filling wrapping pressing plate 92 is two pressing plates that can be horizontally clamped and released with each other, and the corners above the two pressing plates are ninety-degree arcs. A rotating motor 93 is arranged at one end of the flip flap mechanism 94 away from the rice filling wrapping pressing plate 92, and a rotating flap mechanism 95 is fixedly connected to the output end of the rotating motor 93;

[0045] The flap-turning mechanism 94 comprises a first cylinder 941, two sets of symmetrically arranged flap arms 942 are rotatably connected to the lower part of the first cylinder 941, a plurality of power cylinder rods are arranged in the middle part of the lower part of the first cylinder 941, and the plurality of power cylinder rods are respectively connected to the two corresponding flap arms 942 in a transmission manner, and the outer sides of the plurality of flap arms 942 are rotatably sleeved with flap pressing rollers 943;

[0046] The rotary leaf-folding mechanism 95 comprises a second cylinder 951, and three output ends are arranged below the second cylinder 951, including two symmetrically arranged power cylinder rods and a leaf-folding auxiliary needle 954 in the middle. The first clamping plate 952 and the second clamping plate 953 are rotatably connected to the two sides below the second cylinder 951, and the leaf-folding auxiliary needle 954 is fixedly connected to the output end in the middle of the second cylinder 951;

[0047] The bottoms of the multiple power cylinder rods of the flipping leaf mechanism 94 are all provided with bidirectional racks, and the two power cylinder rods of the rotating folding leaf mechanism 95 are all provided with unidirectional racks. The rotating ends of the folding leaf arm 942, the first clamping plate 952 and the second clamping plate 953 are all fixedly connected with a gear. The multiple power cylinder rods of the flipping leaf mechanism 94 are respectively connected to the racks of the two folding leaf arms 942 through bidirectional racks, and the two power cylinder rods of the rotating folding leaf mechanism 95 are respectively connected to the racks of the first clamping plate 952 and the second clamping plate 953 through unidirectional racks, forming a rack power drive structure.

[0048] A fully automatic method for wrapping rice dumplings, the method steps are as follows:

[0049] S1, first put the same size of the zongzi leaves into the zongzi leaves frame, the zongzi leaves frame with zongzi leaves are hung on the side of two electric rotating frames respectively, and then go to below two overturning suckers respectively, the M-shaped lifting plate of the zongzi leaves lifting mechanism holds the zongzi leaves, and gradually rises, and the overturning sucker draws a zongzi leaves from the zongzi leaves fixed frame respectively, and the two zongzi leaves are stacked together in an interlaced manner head to tail;

[0050] S2, the power clamps on the coaxial forward and reverse rotating arms on the mobile mechanical arm clamp the rice leaves obliquely from the outside to the inside respectively, the rotating arm rotates the rice leaves forward and backward to fold them into a tapered tube, the mechanical arm moves from one end to the top of the circulation workbench to place the tapered rice leaf tube into the negative pressure tapered rice leaf holder, and the negative pressure is released in the negative pressure tapered rice leaf holder to absorb the tapered rice leaf tube;

[0051] S3, the circulation workbench rotates, and the negative pressure conical rice dumpling leaf support with the conical rice dumpling leaf tube is moved to below the rice filling funnel of the discharge assembly, and the rice filling in the rice filling funnel is put into the conical rice dumpling leaf tube;

[0052] S4, the circulating workbench rotates, the negative pressure conical rice dumpling leaf support of the conical rice dumpling leaf cylinder with rice filling is moved to the bottom of the wrapping assembly, the rice filling wrapping pressing plate on the wrapping assembly is pressed on both sides and the top of the rice dumpling leaf cylinder to wrap the rice filling, the turning leaf mechanism on the wrapping assembly pushes the rice dumpling leaf from the tail end of the rice dumpling leaf cylinder, and when the rice dumpling leaf covers the rice filling, the turning leaf mechanism turns downward to clamp the rice dumpling leaf, and at the same time, the rice filling wrapping pressing plate exits backward;

[0053] S5, the tail end of the rice dumpling leaf is folded in half and clamped flat, the leaf folding auxiliary needle moves downward to clamp one side of the rice dumpling leaf flat and clamps the tail end of the rice dumpling leaf with the first clamping claw on the rotating leaf folding mechanism, the leaf folding mechanism is turned upward, the rotating leaf folding mechanism rotates, the leaf folding auxiliary needle and the first clamping claw move together with the tail end of the rice dumpling leaf to the side of the rice dumpling body, and the tail end of the rice dumpling leaf is folded. After the tail end of the rice dumpling leaf is attached to the rice dumpling body, the leaf folding auxiliary needle moves upward, and the second clamping claw rotates downward to clamp the rice dumpling together with the first clamping claw to lift it;

[0054] S6. After the rotating folding leaf mechanism of the wrapping component clamps the rice dumpling, the robotic arm lifts the rice dumpling and moves it above the winding machine. The winding shaft rotates, and the binding wire is wound around the rice dumpling. After the rice dumpling is wrapped with the wire, a knot is tied. This completes the wrapping of the entire rice dumpling and obtains a shaped rice dumpling.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic rice dumpling wrapping machine, comprising a circulating workbench assembly (1), a material discharge assembly (2), a rice dumpling leaf folding conical cylinder assembly (3) and a wrapping workbench (7), characterized in that: The circulating workbench assembly (1) comprises a rotating workbench (11), a plurality of negative pressure conical rice leaf brackets (12) are arranged in a circular array above the rotating workbench (11), the inner sides of the plurality of negative pressure conical rice leaf brackets (12) are all provided with negative pressure holes, the rotating workbench (11) is provided with a rice leaf placing station, a material placing station and a wrapping station in sequence according to the rotation direction, the material placing assembly (2), the rice leaf folding conical cylinder assembly (3) and the wrapping workbench (7) are arranged in sequence at the placing station and the wrapping station. On the material station, the rice leaf placing station and the wrapping station, the rice leaf folding conical cylinder assembly (3) is located at one end away from the rice leaf placing station and is a rice leaf folding conical cylinder assembly, and rice leaf grabbing mechanisms (4) are arranged on both sides of the rice leaf folding conical cylinder assembly, the two rice leaf grabbing mechanisms (4) are located at one end away from the rice leaf folding conical cylinder assembly (3) and are located at one end of the two rice leaf lifting mechanisms (5) and are located at one end away from the rice leaf grabbing mechanisms (4) and are located at a rotating feeding mechanism (6); The rice dumpling leaf grabbing mechanism (4) comprises a rotating bracket (41), a turning bracket (42), a driving motor (43), a sliding rod (44), a rotatable sliding sleeve (45) and a turning suction cup (46); the bottom of the rotating bracket (41) is rotatably connected to a workbench; the driving motor (43) is fixedly connected to the outer side of the workbench at a position corresponding to the rotating bracket (41); the end of the rotating bracket (41) away from the driving motor (43) is rotatably connected to the turning bracket (42); one side of the turning bracket (42) is fixedly connected to three turning suction cups (46); the turning bracket (42) is fixedly connected to a side away from the turning suction cup (46) and to an end away from the driving motor (43); the sliding rod (44) is slidably connected to a rotatable sliding sleeve (45) at one end away from the turning bracket (42); the rotatable sliding sleeve (45) is arranged on the workbench and is located at a diagonal point of a square with the rotating bracket (41) as the side length; An electric slide (8) is slidably connected above the wrapping workbench (7); a wrapping assembly (9) is slidably provided at one end of the electric slide (8) close to the rotating workbench (11); the wrapping assembly (9) comprises two automatic mechanical arms (91) that can move up and down and left and right; the lower ends of the two automatic mechanical arms (91) are respectively fixedly connected to a rice filling wrapping pressure plate (92) and a flip flap mechanism (94); a rotating motor (93) is provided at one end of the flip flap mechanism (94) away from the rice filling wrapping pressure plate (92); and a rotating flap mechanism (95) is fixedly connected to the output end of the rotating motor (93); The flap-turning mechanism (94) comprises a first cylinder body (941), two groups of symmetrically arranged flap arms (942) are rotatably connected below the first cylinder body (941), a plurality of power cylinder rods are arranged in the middle of the lower part of the first cylinder body (941), and the plurality of power cylinder rods are respectively transmission-connected to two corresponding flap arms (942), and the outer sides of the plurality of flap arms (942) are rotatably sleeved with flap pressing rollers (943); The rotary leaf folding mechanism (95) comprises a second cylinder body (951), three output ends are arranged below the second cylinder body (951), including two symmetrically arranged power cylinder rods and a leaf folding auxiliary needle (954) in the middle, the first clamping plate (952) and the second clamping plate (953) are rotatably connected to the two sides below the second cylinder body (951), and the leaf folding auxiliary needle (954) is fixedly connected to the middle output end of the second cylinder body (951).

2. A fully automatic rice dumpling wrapping machine according to claim 1, characterized in that: An automatic winding machine is arranged on the side of the wrapping workbench (7) away from the circulation workbench assembly (1).

3. A fully automatic rice dumpling wrapping machine according to claim 1, characterized in that: The bottoms of the multiple power cylinder rods of the flipping leaf mechanism (94) are all provided with bidirectional racks, and the two power cylinder rods of the rotating leaf folding mechanism (95) are all provided with unidirectional racks. The rotating ends of the leaf folding arm (942), the first clamping plate (952) and the second clamping plate (953) are all fixedly connected with a gear. The multiple power cylinder rods of the flipping leaf folding mechanism (94) are respectively connected to the racks of the two leaf folding arms (942) through bidirectional racks, and the two power cylinder rods of the rotating leaf folding mechanism (95) are respectively connected to the racks of the first clamping plate (952) and the second clamping plate (953) through unidirectional racks.

4. A fully automatic rice dumpling wrapping machine according to claim 1, characterized in that: The rice filling wrapping pressing plates (92) are two pressing plates that can be clamped and released horizontally with each other, and the corners above the two pressing plates are 90-degree arcs.

5. A fully automatic rice dumpling wrapping machine according to claim 1, characterized in that: The discharge component (2) is a conventional rice filling discharge mechanism currently available on the market.

6. A fully automatic rice dumpling wrapping machine according to claim 1, characterized in that: The rice dumpling leaf folding cone cylinder assembly (3) comprises a mobile mechanical arm (31) that can automatically rise and fall and move; two rotating arms (32) that can coaxially move forward and backward are arranged at the arm end of the mobile mechanical arm (31); the output ends of the two rotating arms (32) are fixedly connected to a bending arm (33); the ends of the two bending arms (33) that are away from the rotating arms (32) are fixedly connected to a power clamp (34); the mobile mechanical arm (31), the rotating arm (32) and the bending arm (33) are all existing structures.

7. A fully automatic rice dumpling wrapping machine according to claim 1, characterized in that: The rice dumpling leaf lifting mechanism (5) comprises a lifting frame (51), an M-shaped lifting plate (52), a lifting power cylinder (53), and a pulley cable (54); an inner side of the lifting frame (51) close to one end of the rotating feeding mechanism (6) is slidably connected to the M-shaped lifting plate (52) in a liftable manner; a lifting power cylinder (53) is fixedly connected to the bottom of the lifting frame (51); a pulley cable (54) is arranged in the middle of the lifting frame (51); and an output end of the lifting power cylinder (53) is transmission-connected to the upper middle of the M-shaped lifting plate (52) via the pulley cable (54).

8. A fully automatic rice dumpling wrapping machine according to claim 7, characterized in that: The rotary feeding mechanism (6) comprises an electric rotating frame (61), a rice leaf frame (62) and a lifting groove (63); the rice leaf frame (62) is suspended around the electric rotating frame (61); and three lifting grooves (63) corresponding to the M-shaped lifting plate (52) are provided on one side of the plurality of rice leaf frames (62) away from the electric rotating frame (61).

9. A fully automatic rice dumpling wrapping machine according to claim 8, characterized in that: The upper outlet of the rice dumpling leaf frame (62) is slightly smaller than the size of the rice dumpling leaf.

10. A fully automatic method for wrapping rice dumplings according to any one of claims 1 to 9, characterized in that: The method steps are: S1, first put the same size of the zongzi leaves into the zongzi leaves frame, the zongzi leaves frame with zongzi leaves are hung on the side of two electric rotating frames respectively, and then go to below two overturning suckers respectively, the M-shaped lifting plate of the zongzi leaves lifting mechanism holds the zongzi leaves, and gradually rises, and the overturning sucker draws a zongzi leaves from the zongzi leaves fixed frame respectively, and the two zongzi leaves are stacked together in an interlaced manner head to tail; S2, the power clamps on the coaxial forward and reverse rotating arms on the mobile mechanical arm clamp the rice leaves obliquely from the outside to the inside respectively, the rotating arm rotates the rice leaves forward and backward to fold them into a tapered tube, the mechanical arm moves from one end to the top of the circulation workbench to place the tapered rice leaf tube into the negative pressure tapered rice leaf holder, and the negative pressure is released in the negative pressure tapered rice leaf holder to absorb the tapered rice leaf tube; S3, the circulation workbench rotates, and the negative pressure conical rice dumpling leaf support with the conical rice dumpling leaf tube is moved to below the rice filling funnel of the discharge assembly, and the rice filling in the rice filling funnel is put into the conical rice dumpling leaf tube; S4, the circulating workbench rotates, the negative pressure conical rice dumpling leaf support of the conical rice dumpling leaf cylinder with rice filling is moved to the bottom of the wrapping assembly, the rice filling wrapping pressing plate on the wrapping assembly is pressed on both sides and the top of the rice dumpling leaf cylinder to wrap the rice filling, the turning leaf mechanism on the wrapping assembly pushes the rice dumpling leaf from the tail end of the rice dumpling leaf cylinder, and when the rice dumpling leaf covers the rice filling, the turning leaf mechanism turns downward to clamp the rice dumpling leaf, and at the same time, the rice filling wrapping pressing plate exits backward; S5, the tail end of the rice dumpling leaf is folded in half and clamped flat, the leaf folding auxiliary needle moves downward to clamp one side of the rice dumpling leaf flat and clamps the tail end of the rice dumpling leaf with the first clamping claw on the rotating leaf folding mechanism, the leaf folding mechanism is turned upward, the rotating leaf folding mechanism rotates, the leaf folding auxiliary needle and the first clamping claw move together with the tail end of the rice dumpling leaf to the side of the rice dumpling body, and the tail end of the rice dumpling leaf is folded. After the tail end of the rice dumpling leaf is attached to the rice dumpling body, the leaf folding auxiliary needle moves upward, and the second clamping claw rotates downward to clamp the rice dumpling together with the first clamping claw to lift it; S6. After the rotating folding leaf mechanism of the wrapping component clamps the rice dumpling, the robotic arm lifts the rice dumpling and moves it above the winding machine. The winding shaft rotates, and the binding wire is wound around the rice dumpling. After the rice dumpling is wrapped with the wire, a knot is tied. This completes the wrapping of the entire rice dumpling and obtains a shaped rice dumpling.

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